Merge pull request 'WIP 加入Buzzer,Shake_Motor,Ultrasound' (#1) from develop into madao

Reviewed-on: #1
2025-06-24 20:56:30 +08:00
parent 5cc35cbad3 20d90d8933
commit 74c16a8bd9
50 changed files with 12844 additions and 4561 deletions
--- a/.mxproject
+++ b/.mxproject
--- a/AutoGuideStick.ioc
+++ b/AutoGuideStick.ioc
@@ -21,7 +21,7 @@ GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_USART1_RX
 GPDMA1.SRCINC_GPDMACH4=DMA_SINC_INCREMENTED
 GPDMA1.TRANSFERALLOCATEDPORTDEST_GPDMACH5=DMA_DEST_ALLOCATED_PORT1
 GPDMA1.TRANSFERALLOCATEDPORTSRC_GPDMACH5=DMA_SRC_ALLOCATED_PORT1
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 MMTAppRegionsCount=0
 MMTConfigApplied=false
@@ -30,34 +30,46 @@ Mcu.ContextProject=TrustZoneDisabled
 Mcu.Family=STM32H5
 Mcu.IP0=BOOTPATH
 Mcu.IP1=CORTEX_M33_NS
-Mcu.IP10=USART2
-Mcu.IP2=GPDMA1
-Mcu.IP3=MEMORYMAP
-Mcu.IP4=NVIC
-Mcu.IP5=PWR
-Mcu.IP6=RCC
-Mcu.IP7=SYS
-Mcu.IP8=THREADX
-Mcu.IP9=USART1
-Mcu.IPNb=11
+Mcu.IP10=TIM2
+Mcu.IP11=UART5
+Mcu.IP12=USART1
+Mcu.IP13=USART2
+Mcu.IP2=DEBUG
+Mcu.IP3=GPDMA1
+Mcu.IP4=MEMORYMAP
+Mcu.IP5=NVIC
+Mcu.IP6=PWR
+Mcu.IP7=RCC
+Mcu.IP8=SYS
+Mcu.IP9=THREADX
+Mcu.IPNb=14
 Mcu.Name=STM32H563ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PH0-OSC_IN(PH0)
-Mcu.Pin1=PA2
-Mcu.Pin10=VP_PWR_VS_LPOM
-Mcu.Pin11=VP_SYS_VS_tim1
-Mcu.Pin12=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
-Mcu.Pin13=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin14=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin2=PA3
-Mcu.Pin3=PB14
-Mcu.Pin4=PB15
-Mcu.Pin5=VP_CORTEX_M33_NS_VS_Hclk
-Mcu.Pin6=VP_GPDMA1_VS_GPDMACH3
-Mcu.Pin7=VP_GPDMA1_VS_GPDMACH4
-Mcu.Pin8=VP_GPDMA1_VS_GPDMACH5
-Mcu.Pin9=VP_PWR_VS_SECSignals
-Mcu.PinsNb=15
+Mcu.Pin1=PA0
+Mcu.Pin10=PA14(JTCK/SWCLK)
+Mcu.Pin11=PD4
+Mcu.Pin12=PD5
+Mcu.Pin13=VP_CORTEX_M33_NS_VS_Hclk
+Mcu.Pin14=VP_GPDMA1_VS_GPDMACH3
+Mcu.Pin15=VP_GPDMA1_VS_GPDMACH4
+Mcu.Pin16=VP_GPDMA1_VS_GPDMACH5
+Mcu.Pin17=VP_PWR_VS_SECSignals
+Mcu.Pin18=VP_PWR_VS_LPOM
+Mcu.Pin19=VP_SYS_VS_tim1
+Mcu.Pin2=PA1
+Mcu.Pin20=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin22=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin23=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin3=PA2
+Mcu.Pin4=PA3
+Mcu.Pin5=PB12
+Mcu.Pin6=PB13
+Mcu.Pin7=PB14
+Mcu.Pin8=PB15
+Mcu.Pin9=PA13(JTMS/SWDIO)
+Mcu.PinsNb=24
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H563ZITx
@@ -80,19 +92,47 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
 NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.TimeBase=TIM1_UP_IRQn
 NVIC.TimeBaseIP=TIM1
+NVIC.UART5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA0.GPIOParameters=GPIO_Label
+PA0.GPIO_Label=HC_Trig
+PA0.Locked=true
+PA0.Signal=GPIO_Output
+PA1.GPIOParameters=GPIO_Label
+PA1.GPIO_Label=HC_Echo
+PA1.Locked=true
+PA1.Signal=S_TIM2_CH2
+PA13(JTMS/SWDIO).Mode=Serial_Wire
+PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
+PA14(JTCK/SWCLK).Mode=Serial_Wire
+PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
 PA2.Mode=Asynchronous
 PA2.Signal=USART2_TX
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PB12.Mode=Asynchronous
+PB12.Signal=UART5_RX
+PB13.Mode=Asynchronous
+PB13.Signal=UART5_TX
 PB14.Mode=Asynchronous
 PB14.Signal=USART1_TX
 PB15.Mode=Asynchronous
 PB15.Signal=USART1_RX
+PD4.GPIOParameters=GPIO_PuPd,GPIO_Label
+PD4.GPIO_Label=Shake_Motor
+PD4.GPIO_PuPd=GPIO_PULLDOWN
+PD4.Locked=true
+PD4.Signal=GPIO_Output
+PD5.GPIOParameters=GPIO_PuPd,GPIO_Label
+PD5.GPIO_Label=Buzzer
+PD5.GPIO_PuPd=GPIO_PULLDOWN
+PD5.Locked=true
+PD5.Signal=GPIO_Output
 PH0-OSC_IN(PH0).Mode=HSE-External-Clock-Source
 PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
 PinOutPanel.RotationAngle=0
@@ -127,7 +167,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
 RCC.ADCFreq_Value=250000000
 RCC.AHBFreq_Value=250000000
 RCC.APB1Freq_Value=250000000
@@ -213,6 +253,15 @@ RCC.VCOInputFreq_Value=4000000
 RCC.VCOOutputFreq_Value=500000000
 RCC.VCOPLL2OutputFreq_Value=516000000
 RCC.VCOPLL3OutputFreq_Value=516000000
+SH.S_TIM2_CH2.0=TIM2_CH2,Input_Capture2_from_TI2
+SH.S_TIM2_CH2.ConfNb=1
+THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE
+THREADX.TX_APP_GENERATE_INIT_CODE=false
+TIM2.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
+TIM2.IPParameters=Channel-Input_Capture2_from_TI2,Prescaler
+TIM2.Prescaler=250 - 1
+UART5.BaudRate=9600
+UART5.IPParameters=BaudRate
 USART1.BaudRate=9600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
@@ -239,4 +288,6 @@ VP_SYS_VS_tim1.Mode=TIM1
 VP_SYS_VS_tim1.Signal=SYS_VS_tim1
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Mode=Core_Default
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Signal=THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+VP_TIM2_VS_ClockSourceINT.Mode=Internal
+VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 board=custom
--- a/Core/Inc/app_threadx.h
+++ b/Core/Inc/app_threadx.h
@@ -30,12 +30,13 @@ extern "C" {

 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "headfile.h"
 /* USER CODE END Includes */

 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */

+//extern MotorCommand current_motor_cmd;
 /* USER CODE END ET */

 /* Exported constants --------------------------------------------------------*/
@@ -46,7 +47,17 @@ extern "C" {
 /* Private defines -----------------------------------------------------------*/

 /* USER CODE BEGIN PD */
+// <20>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>define
+#define EVENT_OBSTACLE_DETECTED    0x01
+#define EVENT_GPS_DATA_READY       0x02
+#define EVENT_BLE_COMMAND_RECEIVED 0x04
+#define IMU_UPDATE_EVENT           0x08
+#define EVENT_LOCATION_UPDATED     0x10

+// <20><><EFBFBD>ڳ<EFBFBD><DAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>ȥ  0x20 ? 
+extern TX_QUEUE ble_tx_queue;
+extern TX_EVENT_FLAGS_GROUP system_events;
+extern MotorCommand current_motor_cmd;
 /* USER CODE END PD */

 /* Main thread defines -------------------------------------------------------*/
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -57,6 +57,14 @@ void Error_Handler(void);
 /* USER CODE END EFP */

 /* Private defines -----------------------------------------------------------*/
+#define HC_Trig_Pin GPIO_PIN_0
+#define HC_Trig_GPIO_Port GPIOA
+#define HC_Echo_Pin GPIO_PIN_1
+#define HC_Echo_GPIO_Port GPIOA
+#define Shake_Motor_Pin GPIO_PIN_4
+#define Shake_Motor_GPIO_Port GPIOD
+#define Buzzer_Pin GPIO_PIN_5
+#define Buzzer_GPIO_Port GPIOD

 /* USER CODE BEGIN Private defines */

--- a/Core/Inc/stm32h5xx_it.h
+++ b/Core/Inc/stm32h5xx_it.h
@@ -56,8 +56,10 @@ void GPDMA1_Channel3_IRQHandler(void);
 void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
 void TIM1_UP_IRQHandler(void);
+void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
+void UART5_IRQHandler(void);
 /* USER CODE BEGIN EFP */

 /* USER CODE END EFP */
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    tim.h
+  * @brief   This file contains all the function prototypes for
+  *          the tim.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __TIM_H__
+#define __TIM_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern TIM_HandleTypeDef htim2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_TIM2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __TIM_H__ */
+
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -32,6 +32,8 @@ extern "C" {

 /* USER CODE END Includes */

+extern UART_HandleTypeDef huart5;
+
 extern UART_HandleTypeDef huart1;

 extern UART_HandleTypeDef huart2;
@@ -40,6 +42,7 @@ extern UART_HandleTypeDef huart2;

 /* USER CODE END Private defines */

+void MX_UART5_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);

--- a/Core/Src/app_threadx.c
+++ b/Core/Src/app_threadx.c
@@ -43,6 +43,20 @@

 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
+/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+TX_QUEUE ble_tx_queue;
+TX_EVENT_FLAGS_GROUP system_events;
+MotorCommand current_motor_cmd = {0,0};
+_GPSData gps_data;
+
+
+/* <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+typedef struct
+{
+	uint8_t msg_type;  // 1=GPS<50><53><EFBFBD>ݣ<EFBFBD>2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>3=״̬<D7B4><CCAC>Ϣ
+	char data[128];
+}BLE_Message;
+

 /* USER CODE END PV */

--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -34,14 +34,39 @@

 /** Configure pins
     PH0-OSC_IN(PH0)   ------> RCC_OSC_IN
+     PA13(JTMS/SWDIO)   ------> DEBUG_JTMS-SWDIO
+     PA14(JTCK/SWCLK)   ------> DEBUG_JTCK-SWCLK
 */
 void MX_GPIO_Init(void)
 {

+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(HC_Trig_GPIO_Port, HC_Trig_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOD, Shake_Motor_Pin|Buzzer_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : HC_Trig_Pin */
+  GPIO_InitStruct.Pin = HC_Trig_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(HC_Trig_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : Shake_Motor_Pin Buzzer_Pin */
+  GPIO_InitStruct.Pin = Shake_Motor_Pin|Buzzer_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

 }

--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -21,6 +21,7 @@
 #include "main.h"
 #include "gpdma.h"
 #include "memorymap.h"
+#include "tim.h"
 #include "usart.h"
 #include "gpio.h"

@@ -93,6 +94,8 @@ int main(void)
  MX_GPDMA1_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
+  MX_TIM2_Init();
+  MX_UART5_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
--- a/Core/Src/stm32h5xx_it.c
+++ b/Core/Src/stm32h5xx_it.c
@@ -56,6 +56,7 @@
 /* USER CODE END 0 */

 /* External variables --------------------------------------------------------*/
+extern TIM_HandleTypeDef htim2;
 extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
 extern DMA_QListTypeDef List_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -63,6 +64,7 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
 extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
 extern DMA_QListTypeDef List_GPDMA1_Channel3;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
+extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 extern TIM_HandleTypeDef htim1;
@@ -225,6 +227,20 @@ void TIM1_UP_IRQHandler(void)
  /* USER CODE END TIM1_UP_IRQn 1 */
 }

+/**
+  * @brief This function handles TIM2 global interrupt.
+  */
+void TIM2_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM2_IRQn 0 */
+
+  /* USER CODE END TIM2_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim2);
+  /* USER CODE BEGIN TIM2_IRQn 1 */
+
+  /* USER CODE END TIM2_IRQn 1 */
+}
+
 /**
  * @brief This function handles USART1 global interrupt.
  */
@@ -267,6 +283,20 @@ void USART2_IRQHandler(void)
  /* USER CODE END USART2_IRQn 1 */
 }

+/**
+  * @brief This function handles UART5 global interrupt.
+  */
+void UART5_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART5_IRQn 0 */
+
+  /* USER CODE END UART5_IRQn 0 */
+  HAL_UART_IRQHandler(&huart5);
+  /* USER CODE BEGIN UART5_IRQn 1 */
+
+  /* USER CODE END UART5_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */

 /* USER CODE END 1 */
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -0,0 +1,141 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    tim.c
+  * @brief   This file provides code for the configuration
+  *          of the TIM instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "tim.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+TIM_HandleTypeDef htim2;
+
+/* TIM2 init function */
+void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_IC_InitTypeDef sConfigIC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 250 - 1;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 4294967295;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+  sConfigIC.ICFilter = 0;
+  if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+
+}
+
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_baseHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* TIM2 clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA1     ------> TIM2_CH2
+    */
+    GPIO_InitStruct.Pin = HC_Echo_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
+
+    /* TIM2 interrupt Init */
+    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM2_IRQn);
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+}
+
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
+{
+
+  if(tim_baseHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+
+    /**TIM2 GPIO Configuration
+    PA1     ------> TIM2_CH2
+    */
+    HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
+
+    /* TIM2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM2_IRQn);
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -24,6 +24,7 @@

 /* USER CODE END 0 */

+UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 DMA_NodeTypeDef Node_GPDMA1_Channel5;
@@ -34,6 +35,49 @@ DMA_NodeTypeDef Node_GPDMA1_Channel3;
 DMA_QListTypeDef List_GPDMA1_Channel3;
 DMA_HandleTypeDef handle_GPDMA1_Channel3;

+/* UART5 init function */
+void MX_UART5_Init(void)
+{
+
+  /* USER CODE BEGIN UART5_Init 0 */
+
+  /* USER CODE END UART5_Init 0 */
+
+  /* USER CODE BEGIN UART5_Init 1 */
+
+  /* USER CODE END UART5_Init 1 */
+  huart5.Instance = UART5;
+  huart5.Init.BaudRate = 9600;
+  huart5.Init.WordLength = UART_WORDLENGTH_8B;
+  huart5.Init.StopBits = UART_STOPBITS_1;
+  huart5.Init.Parity = UART_PARITY_NONE;
+  huart5.Init.Mode = UART_MODE_TX_RX;
+  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART5_Init 2 */
+
+  /* USER CODE END UART5_Init 2 */
+
+}
 /* USART1 init function */

 void MX_USART1_UART_Init(void)
@@ -129,7 +173,44 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  DMA_NodeConfTypeDef NodeConfig= {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspInit 0 */
+
+  /* USER CODE END UART5_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
+    PeriphClkInitStruct.Uart5ClockSelection = RCC_UART5CLKSOURCE_PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* UART5 clock enable */
+    __HAL_RCC_UART5_CLK_ENABLE();
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**UART5 GPIO Configuration
+    PB12     ------> UART5_RX
+    PB13     ------> UART5_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF14_UART5;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* UART5 interrupt Init */
+    HAL_NVIC_SetPriority(UART5_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspInit 1 */
+
+  /* USER CODE END UART5_MspInit 1 */
+  }
+  else if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspInit 0 */

@@ -347,7 +428,27 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {

-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspDeInit 0 */
+
+  /* USER CODE END UART5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART5_CLK_DISABLE();
+
+    /**UART5 GPIO Configuration
+    PB12     ------> UART5_RX
+    PB13     ------> UART5_TX
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
+
+    /* UART5 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspDeInit 1 */
+
+  /* USER CODE END UART5_MspDeInit 1 */
+  }
+  else if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

--- a/Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_tim.h
+++ b/Drivers/STM32H5xx_HAL_Driver/Inc/stm32h5xx_ll_tim.h
--- a/MDK-ARM/AutoGuideStick.uvguix.madao
+++ b/MDK-ARM/AutoGuideStick.uvguix.madao
--- a/MDK-ARM/AutoGuideStick.uvoptx
+++ b/MDK-ARM/AutoGuideStick.uvoptx
--- a/MDK-ARM/AutoGuideStick.uvprojx
+++ b/MDK-ARM/AutoGuideStick.uvprojx
@@ -475,6 +475,62 @@
              <FileType>1</FileType>
              <FilePath>../Core/Src/app_threadx.c</FilePath>
            </File>
+            <File>
+              <FileName>tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Core/Src/tim.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>1</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
+            </File>
            <File>
              <FileName>usart.c</FileName>
              <FileType>1</FileType>
@@ -576,16 +632,6 @@
              <FileType>1</FileType>
              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_cortex.c</FilePath>
            </File>
-            <File>
-              <FileName>stm32h5xx_hal_dma.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c</FilePath>
-            </File>
-            <File>
-              <FileName>stm32h5xx_hal_dma_ex.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma_ex.c</FilePath>
-            </File>
            <File>
              <FileName>stm32h5xx_hal_rcc.c</FileName>
              <FileType>1</FileType>
@@ -611,6 +657,16 @@
              <FileType>1</FileType>
              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_gpio.c</FilePath>
            </File>
+            <File>
+              <FileName>stm32h5xx_hal_dma.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32h5xx_hal_dma_ex.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_dma_ex.c</FilePath>
+            </File>
            <File>
              <FileName>stm32h5xx_hal_pwr.c</FileName>
              <FileType>1</FileType>
@@ -1613,6 +1669,36 @@
              <FileType>5</FileType>
              <FilePath>..\fun\gps.h</FilePath>
            </File>
+            <File>
+              <FileName>Buzzer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\fun\Buzzer.c</FilePath>
+            </File>
+            <File>
+              <FileName>Buzzer.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\fun\Buzzer.h</FilePath>
+            </File>
+            <File>
+              <FileName>Shake_Motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\fun\Shake_Motor.c</FilePath>
+            </File>
+            <File>
+              <FileName>Shake_Motor.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\fun\Shake_Motor.h</FilePath>
+            </File>
+            <File>
+              <FileName>Ultrasound.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\fun\Ultrasound.c</FilePath>
+            </File>
+            <File>
+              <FileName>Ultrasound.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\fun\Ultrasound.h</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
@@ -22,17 +22,11 @@ Dialog DLL:      TCM.DLL V1.56.4.0
 
 <h2>Project:</h2>
 D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
-Project File Date:  06/10/2025
+Project File Date:  06/24/2025

 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling stm32h5xx_it.c...
-compiling HCBle.c...
-compiling gps.c...
-linking...
-Program Size: Code=55862 RO-data=726 RW-data=16 ZI-data=5952  
-FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).

 <h2>Software Packages used:</h2>
@@ -57,7 +51,7 @@ Package Vendor: Keil

   * Component: ARM::CMSIS:CORE@5.6.0
      Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.hex
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.hex
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.htm
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
@@ -6,6 +6,7 @@
 "autoguidestick\gpdma.o"
 "autoguidestick\memorymap.o"
 "autoguidestick\app_threadx.o"
+"autoguidestick\tim.o"
 "autoguidestick\usart.o"
 "autoguidestick\stm32h5xx_it.o"
 "autoguidestick\stm32h5xx_hal_msp.o"
@@ -14,13 +15,13 @@
 "autoguidestick\stm32h5xx_hal_tim.o"
 "autoguidestick\stm32h5xx_hal_tim_ex.o"
 "autoguidestick\stm32h5xx_hal_cortex.o"
-"autoguidestick\stm32h5xx_hal_dma.o"
-"autoguidestick\stm32h5xx_hal_dma_ex.o"
 "autoguidestick\stm32h5xx_hal_rcc.o"
 "autoguidestick\stm32h5xx_hal_rcc_ex.o"
 "autoguidestick\stm32h5xx_hal_flash.o"
 "autoguidestick\stm32h5xx_hal_flash_ex.o"
 "autoguidestick\stm32h5xx_hal_gpio.o"
+"autoguidestick\stm32h5xx_hal_dma.o"
+"autoguidestick\stm32h5xx_hal_dma_ex.o"
 "autoguidestick\stm32h5xx_hal_pwr.o"
 "autoguidestick\stm32h5xx_hal_pwr_ex.o"
 "autoguidestick\stm32h5xx_hal.o"
@@ -195,6 +196,9 @@
 "autoguidestick\txe_timer_info_get.o"
 "autoguidestick\hcble.o"
 "autoguidestick\gps.o"
+"autoguidestick\buzzer.o"
+"autoguidestick\shake_motor.o"
+"autoguidestick\ultrasound.o"
 --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.map
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.map
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
-F (startup_stm32h563xx.s)(0x6847C26A)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+F (startup_stm32h563xx.s)(0x685A710C)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
+
 -gdwarf-4 -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include

 -I./RTE/_AutoGuideStick
@@ -37,10 +37,10 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
@@ -72,7 +72,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include

 -D__UVISION_VERSION=539 -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_SINGLE_MODE_NON_SECURE=1
@@ -143,7 +143,39 @@ I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
+I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
+F (../Core/Src/memorymap.c)(0x6840230D)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
 -I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
@@ -175,7 +207,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
-
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
@@ -209,10 +241,14 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)

 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx

 -o autoguidestick/tim.o -MD)
@@ -411,70 +447,6 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)

 -o autoguidestick/stm32h5xx_hal_timebase_tim.o -MD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
-I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
-F (../AZURE_RTOS/App/app_azure_rtos.c)(0x6840230D)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-
-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
-
-I./RTE/_AutoGuideStick
-
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
-
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
-
-o autoguidestick/app_azure_rtos.o -MD)
-I (..\AZURE_RTOS\App\app_azure_rtos.h)(0x6840230D)
-I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
-I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
-I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
-I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
-I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
-I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
-I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
-I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
-I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
-I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
@@ -635,6 +607,70 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
 I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
+F (../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_cortex.c)(0x683FA4DD)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/stm32h5xx_hal_cortex.o -MD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
+I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
+I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
+I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
+F (../Drivers/STM32H5xx_HAL_Driver/Src/stm32h5xx_hal_rcc.c)(0x683FA4DD)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun

 -I./RTE/_AutoGuideStick
@@ -1990,7 +2026,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)

 -o autoguidestick/tx_event_flags_info_get.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
@@ -2023,13 +2059,17 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)

 -I./RTE/_AutoGuideStick

-F (../Middlewares/ST/threadx/common/src/tx_event_flags_set_notify.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_event_flags_set.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
-
-I./RTE/_AutoGuideStick
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
@@ -2062,8 +2102,141 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)

 -I./RTE/_AutoGuideStick

-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
-
+
+-o autoguidestick/tx_mutex_cleanup.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_create.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_create.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_delete.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_delete.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_get.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_get.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_info_get.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_info_get.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_initialize.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_initialize.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
+F (../Middlewares/ST/threadx/common/src/tx_mutex_prioritize.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+
+-gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
+
+-I./RTE/_AutoGuideStick
+
+-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
+
+-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
+
+-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
+
+-o autoguidestick/tx_mutex_prioritize.o -MD)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
--- a/MDK-ARM/AutoGuideStick/buzzer.d
+++ b/MDK-ARM/AutoGuideStick/buzzer.d
@@ -0,0 +1,42 @@
+autoguidestick/buzzer.o: ..\fun\Buzzer.c ..\fun\Buzzer.h \
+  ..\fun\headfile.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
+  ..\Core\Inc\stm32h5xx_hal_conf.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
+  D:\keil5\ARM\ARMCLANG\include\math.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
+  ..\Drivers\CMSIS\Include\core_cm33.h \
+  D:\keil5\ARM\ARMCLANG\include\stdint.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\keil5\ARM\ARMCLANG\include\stddef.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
+  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
+  ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
+  D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
+  ..\fun\Shake_Motor.h ..\fun\Ultrasound.h
--- a/MDK-ARM/AutoGuideStick/buzzer.o
+++ b/MDK-ARM/AutoGuideStick/buzzer.o
--- a/MDK-ARM/AutoGuideStick/gpio.o
+++ b/MDK-ARM/AutoGuideStick/gpio.o
--- a/MDK-ARM/AutoGuideStick/gps.d
+++ b/MDK-ARM/AutoGuideStick/gps.d
@@ -31,7 +31,11 @@ autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
-  ..\Core\Inc\gpdma.h D:\keil5\ARM\ARMCLANG\include\stdio.h \
-  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
-  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
-  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\HCBle.h
+  ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
+  D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h \
+  ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h
--- a/MDK-ARM/AutoGuideStick/gps.o
+++ b/MDK-ARM/AutoGuideStick/gps.o
--- a/MDK-ARM/AutoGuideStick/hcble.d
+++ b/MDK-ARM/AutoGuideStick/hcble.d
@@ -31,7 +31,11 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
-  ..\Core\Inc\gpdma.h D:\keil5\ARM\ARMCLANG\include\stdio.h \
-  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
-  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
-  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\gps.h
+  ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
+  D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\gps.h \
+  ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h
--- a/MDK-ARM/AutoGuideStick/main.d
+++ b/MDK-ARM/AutoGuideStick/main.d
@@ -34,5 +34,5 @@ autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
-  ..\Core\Inc\gpdma.h ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h \
-  ..\Core\Inc\gpio.h
+  ..\Core\Inc\gpdma.h ..\Core\Inc\memorymap.h ..\Core\Inc\tim.h \
+  ..\Core\Inc\usart.h ..\Core\Inc\gpio.h
--- a/MDK-ARM/AutoGuideStick/main.o
+++ b/MDK-ARM/AutoGuideStick/main.o
--- a/MDK-ARM/AutoGuideStick/shake_motor.d
+++ b/MDK-ARM/AutoGuideStick/shake_motor.d
@@ -0,0 +1,42 @@
+autoguidestick/shake_motor.o: ..\fun\Shake_Motor.c ..\fun\Shake_Motor.h \
+  ..\fun\headfile.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
+  ..\Core\Inc\stm32h5xx_hal_conf.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
+  D:\keil5\ARM\ARMCLANG\include\math.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
+  ..\Drivers\CMSIS\Include\core_cm33.h \
+  D:\keil5\ARM\ARMCLANG\include\stdint.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\keil5\ARM\ARMCLANG\include\stddef.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
+  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
+  ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
+  D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
+  ..\fun\Ultrasound.h ..\fun\Buzzer.h
--- a/MDK-ARM/AutoGuideStick/shake_motor.o
+++ b/MDK-ARM/AutoGuideStick/shake_motor.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_it.d
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_it.d
@@ -32,7 +32,11 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
  ..\Core\Inc\stm32h5xx_it.h ..\fun\headfile.h ..\Core\Inc\memorymap.h \
  ..\Core\Inc\usart.h ..\Core\Inc\gpio.h ..\Core\Inc\gpdma.h \
+  ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
  D:\keil5\ARM\ARMCLANG\include\stdio.h \
-  D:\keil5\ARM\ARMCLANG\include\stdlib.h \
-  D:\keil5\ARM\ARMCLANG\include\stdarg.h \
-  D:\keil5\ARM\ARMCLANG\include\string.h ..\fun\HCBle.h ..\fun\gps.h
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
+  ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
--- a/MDK-ARM/AutoGuideStick/tim.d
+++ b/MDK-ARM/AutoGuideStick/tim.d
@@ -0,0 +1,32 @@
+autoguidestick/tim.o: ..\Core\Src\tim.c ..\Core\Inc\tim.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
+  ..\Core\Inc\stm32h5xx_hal_conf.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
+  D:\keil5\ARM\ARMCLANG\include\math.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
+  ..\Drivers\CMSIS\Include\core_cm33.h \
+  D:\keil5\ARM\ARMCLANG\include\stdint.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\keil5\ARM\ARMCLANG\include\stddef.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h
--- a/MDK-ARM/AutoGuideStick/tim.o
+++ b/MDK-ARM/AutoGuideStick/tim.o
--- a/MDK-ARM/AutoGuideStick/ultrasound.d
+++ b/MDK-ARM/AutoGuideStick/ultrasound.d
@@ -0,0 +1,42 @@
+autoguidestick/ultrasound.o: ..\fun\Ultrasound.c ..\fun\Ultrasound.h \
+  ..\fun\headfile.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
+  ..\Core\Inc\stm32h5xx_hal_conf.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
+  D:\keil5\ARM\ARMCLANG\include\math.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
+  ..\Drivers\CMSIS\Include\core_cm33.h \
+  D:\keil5\ARM\ARMCLANG\include\stdint.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
+  D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
+  ..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\keil5\ARM\ARMCLANG\include\stddef.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
+  ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
+  ..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
+  ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
+  ..\Middlewares\ST\threadx\common\inc\tx_api.h \
+  ..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
+  ..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
+  D:\keil5\ARM\ARMCLANG\include\string.h \
+  D:\keil5\ARM\ARMCLANG\include\stdio.h \
+  D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
+  ..\fun\Shake_Motor.h ..\fun\Buzzer.h
--- a/MDK-ARM/AutoGuideStick/ultrasound.o
+++ b/MDK-ARM/AutoGuideStick/ultrasound.o
--- a/MDK-ARM/AutoGuideStick/usart.o
+++ b/MDK-ARM/AutoGuideStick/usart.o
--- a/fun/Buzzer.c
+++ b/fun/Buzzer.c
@@ -0,0 +1,11 @@
+#include "Buzzer.h"
+
+void Buzzer_Open(void)
+{
+	HAL_GPIO_WritePin(Buzzer_GPIO_Port,Buzzer_Pin,GPIO_PIN_SET); // <20>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
+}
+
+void Buzzer_Close(void)
+{
+	HAL_GPIO_WritePin(Buzzer_GPIO_Port,Buzzer_Pin,GPIO_PIN_RESET); // <20>͵<EFBFBD>ƽ<EFBFBD>ر<EFBFBD>
+}
--- a/fun/Buzzer.h
+++ b/fun/Buzzer.h
@@ -0,0 +1,9 @@
+#ifndef __BUZZER_H__
+#define __BUZZER_H__
+
+#include "headfile.h"
+
+void Buzzer_Open(void);
+void Buzzer_Close(void);
+
+#endif
--- a/fun/HCBle.c
+++ b/fun/HCBle.c
@@ -134,6 +134,20 @@ void HCBle_ExtractAndParseFrame(void)
 	}
 }

+#ifdef task 
+// BLE<4C><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+void ble_rx_task_entry(ULONG thread_input)
+{
+	HCBle_InitDMAReception();
+	
+	while(1)
+	{
+		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		
+	}
+	
+}
+#endif 



--- a/fun/HCBle.h
+++ b/fun/HCBle.h
@@ -7,6 +7,7 @@
 #define RING_BUFFER_SIZE	256	
 #define UART_DMA_RX_BUF_SIZE  64

+#define task  1
 // HCBle <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD>
 typedef struct
 {
@@ -34,6 +35,7 @@ typedef struct
 extern uint8_t  rx_data;  
 extern RingBuffer ble_rx_ring; //<2F><>ʼ<EFBFBD><CABC>
 extern uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
+extern LocationData current_location;

 void HCBle_InitDMAReception(void);
 void HCBle_ExtractAndParseFrame(void);
--- a/fun/Shake_Motor.c
+++ b/fun/Shake_Motor.c
@@ -0,0 +1,11 @@
+#include "Shake_Motor.h"
+
+void Shake_Motor_Open(void)
+{
+	HAL_GPIO_WritePin(Shake_Motor_GPIO_Port,Shake_Motor_Pin,GPIO_PIN_SET); // <20>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
+}
+
+void Shake_Motor_Close(void)
+{
+	HAL_GPIO_WritePin(Shake_Motor_GPIO_Port,Shake_Motor_Pin,GPIO_PIN_RESET); // <20>͵<EFBFBD>ƽ<EFBFBD>ر<EFBFBD>
+}
--- a/fun/Shake_Motor.h
+++ b/fun/Shake_Motor.h
@@ -0,0 +1,8 @@
+#ifndef __SHAKE_MOTOR_H
+#define __SHAKE_MOTOR_H	
+
+#include "headfile.h"
+
+
+
+#endif
--- a/fun/Ultrasound.c
+++ b/fun/Ultrasound.c
@@ -0,0 +1,111 @@
+#include "Ultrasound.h"
+TX_THREAD ultrasonic_task_handle;
+TX_EVENT_FLAGS_GROUP ultrasonic_event;
+
+
+extern TIM_HandleTypeDef htim2;
+
+volatile uint32_t ic_val1 = 0; // <20><><EFBFBD><EFBFBD>ֵ1
+volatile uint32_t ic_val2 = 0; // <20><><EFBFBD><EFBFBD>ֵ2
+volatile uint8_t  is_first_capture = 0; // <20>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA>һ<EFBFBD>β<EFBFBD><CEB2><EFBFBD>
+volatile uint32_t distance_cm = 0;  // <20><><EFBFBD>밴<EFBFBD><EBB0B4> cm<63><6D><EFBFBD><EFBFBD>
+
+/*******
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+Psc: 250 - 1  <20>Դﵽ   1tick = 1us<75><73>Ч<EFBFBD><D0A7>
+*******/
+
+/****
+
+DWT<EFBFBD>ĳ<EFBFBD>ʼ<EFBFBD><EFBFBD>  <20><>ȷ<EFBFBD><C8B7>
+
+<EFBFBD>ŵ<EFBFBD>main.c<>н<EFBFBD><D0BD>г<EFBFBD>ʼ<EFBFBD><CABC>
+****/
+void DWT_Init(void)
+{
+	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+	DWT->CYCCNT = (uint32_t)0u; //<2F>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>
+	DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+}
+
+
+
+
+/********
+delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT)  <20><>ȷ<EFBFBD><C8B7>
+*********/
+void delay_us(uint32_t us)
+{
+	uint32_t start = DWT->CYCCNT;
+	uint32_t ticks = us * (SystemCoreClock / 1000000U); // us * 64
+	while((DWT->CYCCNT - start) < ticks);
+}
+
+
+
+
+/******
+Trig <20><><EFBFBD><EFBFBD>
+
+ You only need to supply a short 10uS 
+pulse to the trigger input to start the ranging
+
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Trig Ϊ<>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5>´<EFBFBD><C2B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD> HAL_GPIO_WritePin(..., RESET); HAL_Delay(); <20><>һ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
+******/
+void HCSR04_Trigger(void)
+{
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
+	delay_us(2);  //<2F><><EFBFBD><EFBFBD>2~5us
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_SET);
+	delay_us(10); // <20><><EFBFBD>ָߵ<D6B8>ƽ10us 
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
+}
+
+
+#ifdef HCSR_TEST
+void ultrasonic_task_entry(ULONG thread_input) {
+    HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
+
+    while (1) {
+        HCSR04_Trigger();
+
+        ULONG actual_flags;
+        if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
+                               &actual_flags, TX_WAIT_FOREVER) == TX_SUCCESS) {
+            if (distance_cm < 30) {
+                // ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
+            }
+        }
+
+        tx_thread_sleep(50);  // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks
+    }
+}
+#endif
+
+
+
+
+/*******
+Echo <20><><EFBFBD>벶<EFBFBD><EBB2B6><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
+
+******/
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+        if (is_first_capture == 0) {
+            ic_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
+            is_first_capture = 1;
+        } else {
+            ic_val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
+            is_first_capture = 0;
+
+            uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
+            distance_cm = delta / 58;
+
+            // ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD>
+//            tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
+        }
+    }
+}
+
--- a/fun/Ultrasound.h
+++ b/fun/Ultrasound.h
@@ -0,0 +1,25 @@
+#ifndef __ULTRASOUND_H
+#define __ULTRASOUND_H	
+
+#include "headfile.h"
+
+#define HCSR_TEST 1
+#define EVENT_ECHO_DONE		0x01
+
+
+void DWT_Init(void);
+/********
+delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT)  <20><>ȷ<EFBFBD><C8B7>
+*********/
+void delay_us(uint32_t us);
+
+/******
+Trig <20><><EFBFBD><EFBFBD>
+
+ You only need to supply a short 10uS 
+pulse to the trigger input to start the ranging
+
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Trig Ϊ<>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5>´<EFBFBD><C2B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD> HAL_GPIO_WritePin(..., RESET); HAL_Delay(); <20><>һ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
+******/
+void HCSR04_Trigger(void);
+#endif
--- a/fun/headfile.h
+++ b/fun/headfile.h
@@ -6,6 +6,8 @@
 #include "usart.h"
 #include "gpio.h"
 #include "gpdma.h"
+#include "tim.h"
+#include "app_threadx.h"

 #include "stdio.h"
 #include "stdlib.h"
@@ -14,5 +16,8 @@

 #include "HCBle.h"
 #include "gps.h"
+#include "Shake_Motor.h"
+#include "Ultrasound.h"
+#include "Buzzer.h"

 #endif