diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 691d59f..18930fb 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -33,3 +33,9 @@
[info] Log at : 2025/6/8|21:00:00|GMT+0800
+[info] Log at : 2025/6/9|21:24:00|GMT+0800
+
+[info] Log at : 2025/6/9|21:25:14|GMT+0800
+
+[info] Log at : 2025/6/9|21:25:19|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 6f290fb..10e59f4 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,33 +1,34 @@
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
-compiling main.c...
-compiling usart.c...
-compiling app_threadx.c...
-compiling stm32h5xx_hal_rcc.c...
-compiling gpio.c...
-compiling stm32h5xx_hal_rcc_ex.c...
-compiling stm32h5xx_hal_cortex.c...
compiling memorymap.c...
-compiling stm32h5xx_hal_msp.c...
-compiling stm32h5xx_hal_timebase_tim.c...
-compiling stm32h5xx_it.c...
compiling app_azure_rtos.c...
+compiling gpdma.c...
+compiling usart.c...
+compiling gpio.c...
compiling stm32h5xx_hal_tim_ex.c...
-compiling stm32h5xx_hal_flash.c...
-compiling stm32h5xx_hal_flash_ex.c...
compiling stm32h5xx_hal_tim.c...
-compiling stm32h5xx_hal_gpio.c...
+compiling app_threadx.c...
+compiling stm32h5xx_hal_cortex.c...
compiling stm32h5xx_hal_dma.c...
+compiling main.c...
+compiling stm32h5xx_hal_timebase_tim.c...
+compiling stm32h5xx_hal_msp.c...
+compiling stm32h5xx_it.c...
+compiling stm32h5xx_hal_dma_ex.c...
+compiling stm32h5xx_hal_rcc.c...
+compiling stm32h5xx_hal_flash.c...
+compiling stm32h5xx_hal_rcc_ex.c...
+compiling stm32h5xx_hal_flash_ex.c...
+compiling stm32h5xx_hal_gpio.c...
compiling stm32h5xx_hal_pwr.c...
compiling stm32h5xx_hal_pwr_ex.c...
-compiling stm32h5xx_hal_dma_ex.c...
compiling stm32h5xx_hal.c...
compiling stm32h5xx_hal_exti.c...
+compiling tx_initialize_high_level.c...
compiling stm32h5xx_hal_uart_ex.c...
compiling system_stm32h5xx.c...
-compiling stm32h5xx_hal_uart.c...
-compiling tx_initialize_high_level.c...
compiling tx_initialize_kernel_enter.c...
+compiling stm32h5xx_hal_uart.c...
compiling tx_initialize_kernel_setup.c...
compiling tx_thread_stack_error_handler.c...
compiling tx_thread_stack_error_notify.c...
@@ -52,12 +53,12 @@ compiling tx_byte_release.c...
compiling tx_event_flags_cleanup.c...
compiling tx_event_flags_create.c...
compiling tx_event_flags_delete.c...
-compiling tx_event_flags_get.c...
compiling tx_event_flags_info_get.c...
+compiling tx_event_flags_get.c...
compiling tx_event_flags_initialize.c...
compiling tx_event_flags_set.c...
-compiling tx_mutex_cleanup.c...
compiling tx_event_flags_set_notify.c...
+compiling tx_mutex_cleanup.c...
compiling tx_mutex_create.c...
compiling tx_mutex_delete.c...
compiling tx_mutex_get.c...
@@ -97,8 +98,8 @@ compiling tx_thread_preemption_change.c...
compiling tx_thread_priority_change.c...
compiling tx_thread_relinquish.c...
compiling tx_thread_reset.c...
-compiling tx_thread_resume.c...
compiling tx_thread_shell_entry.c...
+compiling tx_thread_resume.c...
compiling tx_thread_sleep.c...
compiling tx_thread_stack_analyze.c...
compiling tx_thread_suspend.c...
@@ -182,8 +183,9 @@ compiling txe_timer_create.c...
compiling txe_timer_deactivate.c...
compiling txe_timer_delete.c...
compiling txe_timer_info_get.c...
+compiling HCBle.c...
linking...
-Program Size: Code=40362 RO-data=726 RW-data=16 ZI-data=4536
+Program Size: Code=54718 RO-data=726 RW-data=16 ZI-data=5296
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:24
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 4a1fdf0..07705c7 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/6/8 21:00:51
\ No newline at end of file
+2025/6/9 21:28:26
\ No newline at end of file
diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
index 8e41484..6fa7c87 100644
Binary files a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf and b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf differ
diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
index edb1065..9ddcf7c 100644
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
@@ -21,12 +21,195 @@ Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0
Dialog DLL: TCM.DLL V1.56.4.0
Project:
-D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
+d:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
Project File Date: 06/09/2025
Output:
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
+compiling memorymap.c...
+compiling app_azure_rtos.c...
+compiling gpdma.c...
+compiling usart.c...
+compiling gpio.c...
+compiling stm32h5xx_hal_tim_ex.c...
+compiling stm32h5xx_hal_tim.c...
+compiling app_threadx.c...
+compiling stm32h5xx_hal_cortex.c...
+compiling stm32h5xx_hal_dma.c...
+compiling main.c...
+compiling stm32h5xx_hal_timebase_tim.c...
+compiling stm32h5xx_hal_msp.c...
+compiling stm32h5xx_it.c...
+compiling stm32h5xx_hal_dma_ex.c...
+compiling stm32h5xx_hal_rcc.c...
+compiling stm32h5xx_hal_flash.c...
+compiling stm32h5xx_hal_rcc_ex.c...
+compiling stm32h5xx_hal_flash_ex.c...
+compiling stm32h5xx_hal_gpio.c...
+compiling stm32h5xx_hal_pwr.c...
+compiling stm32h5xx_hal_pwr_ex.c...
+compiling stm32h5xx_hal.c...
+compiling stm32h5xx_hal_exti.c...
+compiling tx_initialize_high_level.c...
+compiling stm32h5xx_hal_uart_ex.c...
+compiling system_stm32h5xx.c...
+compiling tx_initialize_kernel_enter.c...
+compiling stm32h5xx_hal_uart.c...
+compiling tx_initialize_kernel_setup.c...
+compiling tx_thread_stack_error_handler.c...
+compiling tx_thread_stack_error_notify.c...
+compiling tx_thread_system_resume.c...
+compiling tx_block_allocate.c...
+compiling tx_block_pool_cleanup.c...
+compiling tx_block_pool_create.c...
+compiling tx_block_pool_delete.c...
+compiling tx_block_pool_info_get.c...
+compiling tx_block_pool_initialize.c...
+compiling tx_block_pool_prioritize.c...
+compiling tx_block_release.c...
+compiling tx_byte_allocate.c...
+compiling tx_byte_pool_cleanup.c...
+compiling tx_byte_pool_create.c...
+compiling tx_byte_pool_delete.c...
+compiling tx_byte_pool_info_get.c...
+compiling tx_byte_pool_initialize.c...
+compiling tx_byte_pool_prioritize.c...
+compiling tx_byte_pool_search.c...
+compiling tx_byte_release.c...
+compiling tx_event_flags_cleanup.c...
+compiling tx_event_flags_create.c...
+compiling tx_event_flags_delete.c...
+compiling tx_event_flags_info_get.c...
+compiling tx_event_flags_get.c...
+compiling tx_event_flags_initialize.c...
+compiling tx_event_flags_set.c...
+compiling tx_event_flags_set_notify.c...
+compiling tx_mutex_cleanup.c...
+compiling tx_mutex_create.c...
+compiling tx_mutex_delete.c...
+compiling tx_mutex_get.c...
+compiling tx_mutex_info_get.c...
+compiling tx_mutex_initialize.c...
+compiling tx_mutex_prioritize.c...
+compiling tx_mutex_priority_change.c...
+compiling tx_mutex_put.c...
+compiling tx_queue_cleanup.c...
+compiling tx_queue_create.c...
+compiling tx_queue_delete.c...
+compiling tx_queue_flush.c...
+compiling tx_queue_front_send.c...
+compiling tx_queue_info_get.c...
+compiling tx_queue_initialize.c...
+compiling tx_queue_prioritize.c...
+compiling tx_queue_receive.c...
+compiling tx_queue_send.c...
+compiling tx_queue_send_notify.c...
+compiling tx_semaphore_ceiling_put.c...
+compiling tx_semaphore_cleanup.c...
+compiling tx_semaphore_create.c...
+compiling tx_semaphore_delete.c...
+compiling tx_semaphore_get.c...
+compiling tx_semaphore_info_get.c...
+compiling tx_semaphore_initialize.c...
+compiling tx_semaphore_prioritize.c...
+compiling tx_semaphore_put.c...
+compiling tx_semaphore_put_notify.c...
+compiling tx_thread_create.c...
+compiling tx_thread_delete.c...
+compiling tx_thread_entry_exit_notify.c...
+compiling tx_thread_identify.c...
+compiling tx_thread_info_get.c...
+compiling tx_thread_initialize.c...
+compiling tx_thread_preemption_change.c...
+compiling tx_thread_priority_change.c...
+compiling tx_thread_relinquish.c...
+compiling tx_thread_reset.c...
+compiling tx_thread_shell_entry.c...
+compiling tx_thread_resume.c...
+compiling tx_thread_sleep.c...
+compiling tx_thread_stack_analyze.c...
+compiling tx_thread_suspend.c...
+compiling tx_thread_system_preempt_check.c...
+compiling tx_thread_system_suspend.c...
+compiling tx_thread_terminate.c...
+compiling tx_thread_time_slice.c...
+compiling tx_thread_time_slice_change.c...
+compiling tx_thread_timeout.c...
+compiling tx_thread_wait_abort.c...
+compiling tx_time_get.c...
+compiling tx_time_set.c...
+compiling txe_block_allocate.c...
+compiling txe_block_pool_create.c...
+compiling txe_block_pool_delete.c...
+compiling txe_block_pool_info_get.c...
+compiling txe_block_pool_prioritize.c...
+compiling txe_block_release.c...
+compiling txe_byte_allocate.c...
+compiling txe_byte_pool_create.c...
+compiling txe_byte_pool_delete.c...
+compiling txe_byte_pool_info_get.c...
+compiling txe_byte_pool_prioritize.c...
+compiling txe_byte_release.c...
+compiling txe_event_flags_create.c...
+compiling txe_event_flags_delete.c...
+compiling txe_event_flags_get.c...
+compiling txe_event_flags_info_get.c...
+compiling txe_event_flags_set.c...
+compiling txe_event_flags_set_notify.c...
+compiling txe_mutex_create.c...
+compiling txe_mutex_delete.c...
+compiling txe_mutex_get.c...
+compiling txe_mutex_info_get.c...
+compiling txe_mutex_prioritize.c...
+compiling txe_mutex_put.c...
+compiling txe_queue_create.c...
+compiling txe_queue_delete.c...
+compiling txe_queue_flush.c...
+compiling txe_queue_front_send.c...
+compiling txe_queue_info_get.c...
+compiling txe_queue_prioritize.c...
+compiling txe_queue_receive.c...
+compiling txe_queue_send.c...
+compiling txe_queue_send_notify.c...
+compiling txe_semaphore_ceiling_put.c...
+compiling txe_semaphore_create.c...
+compiling txe_semaphore_delete.c...
+compiling txe_semaphore_get.c...
+compiling txe_semaphore_info_get.c...
+compiling txe_semaphore_prioritize.c...
+compiling txe_semaphore_put.c...
+compiling txe_semaphore_put_notify.c...
+compiling txe_thread_create.c...
+compiling txe_thread_delete.c...
+compiling txe_thread_entry_exit_notify.c...
+compiling txe_thread_info_get.c...
+compiling txe_thread_preemption_change.c...
+compiling txe_thread_priority_change.c...
+compiling txe_thread_relinquish.c...
+compiling txe_thread_reset.c...
+compiling txe_thread_resume.c...
+compiling txe_thread_suspend.c...
+compiling txe_thread_terminate.c...
+compiling txe_thread_time_slice_change.c...
+compiling txe_thread_wait_abort.c...
+compiling tx_timer_activate.c...
+compiling tx_timer_change.c...
+compiling tx_timer_create.c...
+compiling tx_timer_deactivate.c...
+compiling tx_timer_delete.c...
+compiling tx_timer_expiration_process.c...
+compiling tx_timer_info_get.c...
+compiling tx_timer_initialize.c...
+compiling tx_timer_system_activate.c...
+compiling tx_timer_system_deactivate.c...
+compiling tx_timer_thread_entry.c...
+compiling txe_timer_activate.c...
+compiling txe_timer_change.c...
+compiling txe_timer_create.c...
+compiling txe_timer_deactivate.c...
+compiling txe_timer_delete.c...
+compiling txe_timer_info_get.c...
compiling HCBle.c...
linking...
Program Size: Code=54718 RO-data=726 RW-data=16 ZI-data=5296
@@ -55,7 +238,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h
-Build Time Elapsed: 00:00:03
+Build Time Elapsed: 00:00:24