Merge branch 'madao'

Ble receive Successful
替换\n结尾,replace with $
2025-06-28 20:35:14 +08:00 · 2025-06-28 20:33:31 +08:00 · 2025-06-28 16:09:05 +08:00 · 2025-06-26 22:54:24 +08:00 · 2025-06-26 15:09:26 +08:00 · 2025-06-26 01:41:18 +08:00
34 changed files with 11522 additions and 6840 deletions
--- a/AZURE_RTOS/App/app_azure_rtos.c
+++ b/AZURE_RTOS/App/app_azure_rtos.c
@@ -22,7 +22,7 @@
 #include "app_azure_rtos.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "headfile.h"
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@@ -95,11 +95,12 @@ VOID tx_application_define(VOID *first_unused_memory)
      /* USER CODE BEGIN  App_ThreadX_Init_Error */
      while(1)
      {
+		  
      }
      /* USER CODE END  App_ThreadX_Init_Error */
    }
    /* USER CODE BEGIN  App_ThreadX_Init_Success */
-
+//	App_ThreadX_Init(first_unused_memory);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //app_thread_init()<29>ſ<EFBFBD><C5BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    /* USER CODE END  App_ThreadX_Init_Success */

  }
--- a/AutoGuideStick.ioc
+++ b/AutoGuideStick.ioc
@@ -50,42 +50,43 @@ Mcu.IPNb=18
 Mcu.Name=STM32H563ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PH0-OSC_IN(PH0)
-Mcu.Pin1=PC2
-Mcu.Pin10=PC7
-Mcu.Pin11=PC8
-Mcu.Pin12=PC9
-Mcu.Pin13=PA13(JTMS/SWDIO)
-Mcu.Pin14=PA14(JTCK/SWCLK)
-Mcu.Pin15=PC10
-Mcu.Pin16=PC11
-Mcu.Pin17=PC12
-Mcu.Pin18=PD2
-Mcu.Pin19=PD5
-Mcu.Pin2=PB1
-Mcu.Pin20=PD6
-Mcu.Pin21=PB8
-Mcu.Pin22=PB9
-Mcu.Pin23=VP_CORTEX_M33_NS_VS_Hclk
-Mcu.Pin24=VP_GPDMA1_VS_GPDMACH3
-Mcu.Pin25=VP_GPDMA1_VS_GPDMACH4
-Mcu.Pin26=VP_GPDMA1_VS_GPDMACH5
-Mcu.Pin27=VP_PWR_VS_SECSignals
-Mcu.Pin28=VP_PWR_VS_LPOM
-Mcu.Pin29=VP_SYS_VS_tim5
-Mcu.Pin3=PG0
-Mcu.Pin30=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
-Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin34=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin35=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin4=PG1
-Mcu.Pin5=PE9
-Mcu.Pin6=PE11
-Mcu.Pin7=PG2
-Mcu.Pin8=PG3
-Mcu.Pin9=PC6
-Mcu.PinsNb=36
+Mcu.Pin1=PH1-OSC_OUT(PH1)
+Mcu.Pin10=PC6
+Mcu.Pin11=PC7
+Mcu.Pin12=PC8
+Mcu.Pin13=PC9
+Mcu.Pin14=PA13(JTMS/SWDIO)
+Mcu.Pin15=PA14(JTCK/SWCLK)
+Mcu.Pin16=PC10
+Mcu.Pin17=PC11
+Mcu.Pin18=PC12
+Mcu.Pin19=PD2
+Mcu.Pin2=PC2
+Mcu.Pin20=PD5
+Mcu.Pin21=PD6
+Mcu.Pin22=PB8
+Mcu.Pin23=PB9
+Mcu.Pin24=VP_CORTEX_M33_NS_VS_Hclk
+Mcu.Pin25=VP_GPDMA1_VS_GPDMACH3
+Mcu.Pin26=VP_GPDMA1_VS_GPDMACH4
+Mcu.Pin27=VP_GPDMA1_VS_GPDMACH5
+Mcu.Pin28=VP_PWR_VS_SECSignals
+Mcu.Pin29=VP_PWR_VS_LPOM
+Mcu.Pin3=PB1
+Mcu.Pin30=VP_SYS_VS_tim6
+Mcu.Pin31=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin35=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin36=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin4=PG0
+Mcu.Pin5=PG1
+Mcu.Pin6=PE9
+Mcu.Pin7=PE11
+Mcu.Pin8=PG2
+Mcu.Pin9=PG3
+Mcu.PinsNb=37
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H563ZITx
@@ -109,9 +110,9 @@ NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
-NVIC.TIM5_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TimeBase=TIM5_IRQn
-NVIC.TimeBaseIP=TIM5
+NVIC.TIM6_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM6_IRQn
+NVIC.TimeBaseIP=TIM6
 NVIC.UART4_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.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
@@ -197,8 +198,10 @@ PG3.GPIOParameters=GPIO_Label
 PG3.GPIO_Label=BIN2
 PG3.Locked=true
 PG3.Signal=GPIO_Output
-PH0-OSC_IN(PH0).Mode=HSE-External-Clock-Source
+PH0-OSC_IN(PH0).Mode=HSE-External-Oscillator
 PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
+PH1-OSC_OUT(PH1).Mode=HSE-External-Oscillator
+PH1-OSC_OUT(PH1).Signal=RCC_OSC_OUT
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
@@ -231,7 +234,7 @@ 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_USART2_UART_Init-USART2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_UART4_Init-UART4-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_USART2_UART_Init-USART2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_UART4_Init-UART4-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_TIM8_Init-TIM8-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
@@ -331,8 +334,9 @@ SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
 SH.S_TIM8_CH2.ConfNb=1
-THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE
+THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE,TX_MINIMUM_STACK
 THREADX.TX_APP_GENERATE_INIT_CODE=false
+THREADX.TX_MINIMUM_STACK=400
 TIM2.IPParameters=Prescaler
 TIM2.Prescaler=250 - 1
 TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
@@ -365,8 +369,8 @@ VP_PWR_VS_LPOM.Mode=PowerOptimisation
 VP_PWR_VS_LPOM.Signal=PWR_VS_LPOM
 VP_PWR_VS_SECSignals.Mode=Security/Privilege
 VP_PWR_VS_SECSignals.Signal=PWR_VS_SECSignals
-VP_SYS_VS_tim5.Mode=TIM5
-VP_SYS_VS_tim5.Signal=SYS_VS_tim5
+VP_SYS_VS_tim6.Mode=TIM6
+VP_SYS_VS_tim6.Signal=SYS_VS_tim6
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Mode=Core_Default
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Signal=THREADX_VS_RTOSJjThreadXJjCoreJjDefault
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
--- a/Core/Inc/app_threadx.h
+++ b/Core/Inc/app_threadx.h
@@ -59,11 +59,11 @@ extern "C" {
 extern TX_QUEUE ble_tx_queue;
 extern TX_EVENT_FLAGS_GROUP system_events;

-typedef struct
-{
-	uint8_t msg_type; // 1=λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
-	char data[128];
-}BLE_Message;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD>ݽṹ
+//typedef struct
+//{
+////	uint32_t msg_type;  // 应该使用 int --- 4字节
+//	char data[128];
+//}BLE_Message;  // 

 /* USER CODE END PD */

--- a/Core/Inc/stm32h5xx_it.h
+++ b/Core/Inc/stm32h5xx_it.h
@@ -57,7 +57,7 @@ void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void TIM3_IRQHandler(void);
-void TIM5_IRQHandler(void);
+void TIM6_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void UART4_IRQHandler(void);
--- a/Core/Inc/tx_user.h
+++ b/Core/Inc/tx_user.h
@@ -115,7 +115,7 @@
 /*#define TX_TIMER_THREAD_STACK_SIZE                1024*/
 /*#define TX_TIMER_THREAD_PRIORITY                0*/

-/*#define TX_MINIMUM_STACK                200*/
+#define TX_MINIMUM_STACK                400

 /* Determine if timer expirations (application timers, timeouts, and tx_thread_sleep) calls
   should be processed within the a system timer thread or directly in the timer ISR.
--- a/Core/Src/app_threadx.c
+++ b/Core/Src/app_threadx.c
@@ -34,6 +34,15 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */

+// BLE define 
+#define BLE_RX_THREAD_STACK_SIZE 2048
+#define BLE_RX_THREAD_PRIORITY    10
+#define BLE_TX_THREAD_STACK_SIZE 2048
+#define BLE_TX_THREAD_PRIORITY    10
+//
+
+
+
 /* USER CODE END PD */

 /* Private macro -------------------------------------------------------------*/
@@ -43,12 +52,29 @@

 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-/* ȫ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
-TX_QUEUE ble_tx_queue;
+/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+
 TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;

+// Ble thread vd
+TX_THREAD ble_rx_thread;
+TX_THREAD ble_tx_thread;
+UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
+UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
+
+TX_QUEUE ble_tx_queue;
+#define BLE_TX_QUEUE_LEN 10
+//ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN]; // 一定要是ULONG类型 之前使用的是BLE_Message
+
+#define BLE_TX_MSG_LEN 64
+#define BLE_TX_QUEUE_LEN 10
+
+__attribute__((aligned(4)))
+ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
+
+//

 /* USER CODE END PV */

@@ -56,7 +82,6 @@ _GPSData gps_data;
 /* USER CODE BEGIN PFP */


-
 /* USER CODE END 1 */
 /* USER CODE END 1 */

@@ -69,16 +94,53 @@ _GPSData gps_data;
  */
 UINT App_ThreadX_Init(VOID *memory_ptr)
 {
-  UINT ret = TX_SUCCESS;
-  /* USER CODE BEGIN App_ThreadX_MEM_POOL */
+    HCBle_SendData("进入 App_ThreadX_Init\r\n");
+//	HCBle_SendData("%d",sizeof(ULONG));
+	UINT status;

-  /* USER CODE END App_ThreadX_MEM_POOL */
-  /* USER CODE BEGIN App_ThreadX_Init */
-  /* USER CODE END App_ThreadX_Init */
+	// === 创建 BLE RX 线程 ===
+    status = tx_thread_create(&ble_rx_thread, "BLE RX Thread",
+                              ble_rx_task_entry, 0,
+                              ble_rx_stack, BLE_RX_THREAD_STACK_SIZE,
+                              BLE_RX_THREAD_PRIORITY, BLE_RX_THREAD_PRIORITY,
+                              TX_NO_TIME_SLICE, TX_AUTO_START);
 	
-  return ret;
+	if(status != TX_SUCCESS)
+	{
+		return status;
 	}
 	
+    // === 创建 BLE TX 线程 ===
+    status = tx_thread_create(&ble_tx_thread, "BLE TX Thread",
+                              ble_tx_task_entry, 0,
+                              ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
+                              BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
+                              TX_NO_TIME_SLICE, TX_AUTO_START);
+	
+    if (status != TX_SUCCESS) {
+        HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
+        return status;
+    }
+	
+	    // === 创建 BLE TX 消息队列 ===
+	status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
+							 (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
+							 ble_tx_queue_buffer,
+							 sizeof(ble_tx_queue_buffer));
+
+
+     if (status != TX_SUCCESS) {
+        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
+        return status;
+    }
+
+	
+    HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
+	
+    return TX_SUCCESS;
+}
+
+
  /**
  * @brief  Function that implements the kernel's initialization.
  * @param  None
@@ -87,7 +149,7 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
 void MX_ThreadX_Init(void)
 {
  /* USER CODE BEGIN Before_Kernel_Start */
-
+	HCBle_InitEventFlags();  // 这必须在任何使用前调用一次
  /* USER CODE END Before_Kernel_Start */

  tx_kernel_enter();
@@ -98,11 +160,9 @@ void MX_ThreadX_Init(void)
 }

 /* USER CODE BEGIN 1 */
-#ifdef TEST  //Ŀǰ<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD>
+#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>


-
-/* USER CODE BEGIN 1 */
 /* USER CODE BEGIN 1 */
 void main_control_thread_entry(ULONG thread_input)
 {
@@ -126,11 +186,7 @@ void main_control_thread_entry(ULONG thread_input)
            Buzzer_Close();
            Shake_Motor_Close();
            
-            // 发送报警到手机
-            BLE_Message msg;
-            msg.msg_type = 2;
-            snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
-            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
+
        }
        
        // 处理蓝牙控制指令
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -34,6 +34,7 @@

 /** Configure pins
     PH0-OSC_IN(PH0)   ------> RCC_OSC_IN
+     PH1-OSC_OUT(PH1)   ------> RCC_OSC_OUT
     PA13(JTMS/SWDIO)   ------> DEBUG_JTMS-SWDIO
     PA14(JTCK/SWCLK)   ------> DEBUG_JTCK-SWCLK
 */
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -101,7 +101,9 @@ int main(void)
  MX_TIM1_Init();
  MX_TIM8_Init();
  /* USER CODE BEGIN 2 */
-
+//	HCBle_InitDMAReception();
+//	HAL_Delay(200);
+//	GPS_Init();
  /* USER CODE END 2 */

  MX_ThreadX_Init();
@@ -182,7 +184,7 @@ void SystemClock_Config(void)

 /**
  * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM5 interrupt took place, inside
+  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
@@ -193,7 +195,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM5)
+  if (htim->Instance == TIM6)
  {
    HAL_IncTick();
  }
--- a/Core/Src/stm32h5xx_hal_timebase_tim.c
+++ b/Core/Src/stm32h5xx_hal_timebase_tim.c
@@ -25,12 +25,12 @@
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef        htim5;
+TIM_HandleTypeDef        htim6;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/

 /**
-  * @brief  This function configures the TIM5 as a time base source.
+  * @brief  This function configures the TIM6 as a time base source.
  *         The time source is configured  to have 1ms time base with a dedicated
  *         Tick interrupt priority.
  * @note   This function is called  automatically at the beginning of program after
@@ -47,15 +47,15 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)

  HAL_StatusTypeDef     status;

-  /* Enable TIM5 clock */
-  __HAL_RCC_TIM5_CLK_ENABLE();
+  /* Enable TIM6 clock */
+  __HAL_RCC_TIM6_CLK_ENABLE();

  /* Get clock configuration */
  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);

  /* Get APB1 prescaler */
  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
-  /* Compute TIM5 clock */
+  /* Compute TIM6 clock */
  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
  {
    uwTimclock = HAL_RCC_GetPCLK1Freq();
@@ -65,34 +65,34 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
  }

-  /* Compute the prescaler value to have TIM5 counter clock equal to 100KHz */
+  /* Compute the prescaler value to have TIM6 counter clock equal to 100KHz */
  uwPrescalerValue = (uint32_t) ((uwTimclock / 100000U) - 1U);

-  /* Initialize TIM5 */
-  htim5.Instance = TIM5;
+  /* Initialize TIM6 */
+  htim6.Instance = TIM6;

  /* Initialize TIMx peripheral as follow:
-   * Period = [(TIM5CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
   * Prescaler = (uwTimclock/100000 - 1) to have a 100KHz counter clock.
   * ClockDivision = 0
   * Counter direction = Up
   */
-  htim5.Init.Period = (100000U / 1000U) - 1U;
-  htim5.Init.Prescaler = uwPrescalerValue;
-  htim5.Init.ClockDivision = 0;
-  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.Period = (100000U / 1000U) - 1U;
+  htim6.Init.Prescaler = uwPrescalerValue;
+  htim6.Init.ClockDivision = 0;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;

-  status = HAL_TIM_Base_Init(&htim5);
+  status = HAL_TIM_Base_Init(&htim6);
  if (status == HAL_OK)
  {
    /* Start the TIM time Base generation in interrupt mode */
-    status = HAL_TIM_Base_Start_IT(&htim5);
+    status = HAL_TIM_Base_Start_IT(&htim6);
    if (status == HAL_OK)
    {
      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
      {
-        /* Enable the TIM5 global Interrupt */
-        HAL_NVIC_SetPriority(TIM5_IRQn, TickPriority, 0U);
+        /* Enable the TIM6 global Interrupt */
+        HAL_NVIC_SetPriority(TIM6_IRQn, TickPriority, 0U);
        uwTickPrio = TickPriority;
      }
      else
@@ -102,8 +102,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
    }
 }

-  /* Enable the TIM5 global Interrupt */
-  HAL_NVIC_EnableIRQ(TIM5_IRQn);
+  /* Enable the TIM6 global Interrupt */
+  HAL_NVIC_EnableIRQ(TIM6_IRQn);

  /* Return function status */
  return status;
@@ -111,25 +111,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)

 /**
  * @brief  Suspend Tick increment.
-  * @note   Disable the tick increment by disabling TIM5 update interrupt.
+  * @note   Disable the tick increment by disabling TIM6 update interrupt.
  * @param  None
  * @retval None
  */
 void HAL_SuspendTick(void)
 {
-  /* Disable TIM5 update Interrupt */
-  __HAL_TIM_DISABLE_IT(&htim5, TIM_IT_UPDATE);
+  /* Disable TIM6 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
 }

 /**
  * @brief  Resume Tick increment.
-  * @note   Enable the tick increment by Enabling TIM5 update interrupt.
+  * @note   Enable the tick increment by Enabling TIM6 update interrupt.
  * @param  None
  * @retval None
  */
 void HAL_ResumeTick(void)
 {
-  /* Enable TIM5 Update interrupt */
-  __HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
+  /* Enable TIM6 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
 }

--- a/Core/Src/stm32h5xx_it.c
+++ b/Core/Src/stm32h5xx_it.c
@@ -68,7 +68,7 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
 extern UART_HandleTypeDef huart4;
 extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
-extern TIM_HandleTypeDef htim5;
+extern TIM_HandleTypeDef htim6;

 /* USER CODE BEGIN EV */

@@ -243,17 +243,17 @@ void TIM3_IRQHandler(void)
 }

 /**
-  * @brief This function handles TIM5 global interrupt.
+  * @brief This function handles TIM6 global interrupt.
  */
-void TIM5_IRQHandler(void)
+void TIM6_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM5_IRQn 0 */
+  /* USER CODE BEGIN TIM6_IRQn 0 */

-  /* USER CODE END TIM5_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim5);
-  /* USER CODE BEGIN TIM5_IRQn 1 */
+  /* USER CODE END TIM6_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_IRQn 1 */

-  /* USER CODE END TIM5_IRQn 1 */
+  /* USER CODE END TIM6_IRQn 1 */
 }

 /**
--- a/MDK-ARM/AutoGuideStick.uvguix.madao
+++ b/MDK-ARM/AutoGuideStick.uvguix.madao
--- a/MDK-ARM/AutoGuideStick.uvoptx
+++ b/MDK-ARM/AutoGuideStick.uvoptx
@@ -117,6 +117,21 @@
        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(6010=-1,-1,-1,-1,0)(6018=-1,-1,-1,-1,0)(6019=-1,-1,-1,-1,0)(6008=-1,-1,-1,-1,0)(6009=-1,-1,-1,-1,0)(6014=-1,-1,-1,-1,0)(6015=-1,-1,-1,-1,0)(6003=-1,-1,-1,-1,0)(6000=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>CMSIS_AGDI_V8M</Key>
@@ -130,10 +145,96 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -S0 -C0 -A1 -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM)</Name>
+          <Name>-U004200403132511238363431 -O2254 -SF10000 -C0 -A1 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>162</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134296028</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\fun\HCBle.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\AutoGuideStick\../fun/HCBle.c\162</Expression>
+        </Bp>
+      </Breakpoint>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>HC_Send_Data</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ble_rx_ring.buffer[ble_rx_ring.head]</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>uart_dma_rx_buf</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ble_rx_ring</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>json_buf[idx++]</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ble_rx_ring.head,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>uart_dma_rx_buf[last_pos]</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>json_buf</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tx_event_flags_get</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>GPS</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>status</ItemText>
+        </Ww>
+      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>json_buf[128]</ItemText>
+        </Ww>
+      </WatchWindow2>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
@@ -178,7 +279,7 @@
      <pMultCmdsp></pMultCmdsp>
      <DebugDescription>
        <Enable>1</Enable>
-        <EnableFlashSeq>1</EnableFlashSeq>
+        <EnableFlashSeq>0</EnableFlashSeq>
        <EnableLog>0</EnableLog>
        <Protocol>2</Protocol>
        <DbgClock>10000000</DbgClock>
@@ -348,7 +449,7 @@

  <Group>
    <GroupName>Application/User/AZURE_RTOS/App</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- a/MDK-ARM/AutoGuideStick.uvprojx
+++ b/MDK-ARM/AutoGuideStick.uvprojx
@@ -138,7 +138,7 @@
          </Flash1>
          <bUseTDR>1</bUseTDR>
          <Flash2>BIN\UL2V8M.DLL</Flash2>
-          <Flash3></Flash3>
+          <Flash3>"" ()</Flash3>
          <Flash4></Flash4>
          <pFcarmOut></pFcarmOut>
          <pFcarmGrp></pFcarmGrp>
--- 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
@@ -22,206 +22,20 @@ Dialog DLL:      TCM.DLL V1.56.4.0
 
 <h2>Project:</h2>
 D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
-Project File Date:  06/25/2025
+Project File Date:  06/26/2025

 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling tim.c...
-compiling gpdma.c...
-compiling gpio.c...
-compiling main.c...
-compiling memorymap.c...
-assembling startup_stm32h563xx.s...
-compiling stm32h5xx_hal_timebase_tim.c...
-compiling stm32h5xx_it.c...
-compiling stm32h5xx_hal_tim_ex.c...
-compiling stm32h5xx_hal_tim.c...
-compiling usart.c...
-compiling stm32h5xx_hal_msp.c...
-compiling app_azure_rtos.c...
-compiling app_threadx.c...
-compiling stm32h5xx_hal_cortex.c...
-compiling stm32h5xx_hal_rcc.c...
-compiling stm32h5xx_hal_flash.c...
-compiling stm32h5xx_hal_flash_ex.c...
-compiling stm32h5xx_hal_gpio.c...
-compiling stm32h5xx_hal_rcc_ex.c...
-compiling stm32h5xx_hal_pwr.c...
-compiling stm32h5xx_hal_dma.c...
-compiling stm32h5xx_hal_pwr_ex.c...
-compiling stm32h5xx_hal_dma_ex.c...
-compiling stm32h5xx_hal.c...
-compiling stm32h5xx_hal_exti.c...
-compiling stm32h5xx_hal_uart_ex.c...
-compiling stm32h5xx_hal_uart.c...
-compiling system_stm32h5xx.c...
-compiling tx_initialize_high_level.c...
-compiling tx_initialize_kernel_enter.c...
-compiling tx_thread_stack_error_notify.c...
-compiling tx_initialize_kernel_setup.c...
-compiling tx_thread_system_resume.c...
-compiling tx_thread_stack_error_handler.c...
-compiling tx_block_pool_create.c...
-compiling tx_block_allocate.c...
-compiling tx_block_pool_cleanup.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_initialize.c...
-compiling tx_byte_pool_prioritize.c...
-compiling tx_byte_pool_search.c...
-compiling tx_byte_pool_info_get.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_get.c...
-compiling tx_event_flags_info_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_create.c...
-compiling tx_mutex_delete.c...
-compiling tx_mutex_initialize.c...
-compiling tx_mutex_info_get.c...
-compiling tx_mutex_priority_change.c...
-compiling tx_mutex_get.c...
-compiling tx_mutex_prioritize.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_send.c...
-compiling tx_queue_send_notify.c...
-compiling tx_queue_receive.c...
-compiling tx_semaphore_cleanup.c...
-compiling tx_semaphore_ceiling_put.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_resume.c...
-compiling tx_thread_shell_entry.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_timeout.c...
-compiling tx_thread_time_slice_change.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_info_get.c...
-compiling txe_queue_front_send.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_thread_entry_exit_notify.c...
-compiling txe_semaphore_put.c...
-compiling txe_thread_info_get.c...
-compiling txe_thread_preemption_change.c...
-compiling txe_thread_create.c...
-compiling txe_semaphore_put_notify.c...
-compiling txe_thread_priority_change.c...
-compiling txe_thread_delete.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...
+../fun/HCBle.c(124): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
+  124 |     HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
+      |                       ^~~~~~~~~~~~~~~~ ~~~~~~~~
+1 warning generated.
 compiling HCBle.c...
-compiling gps.c...
-compiling Ultrasound.c...
-compiling Buzzer.c...
-compiling Shake_Motor.c...
-compiling IMU.c...
 linking...
-Program Size: Code=65138 RO-data=726 RW-data=16 ZI-data=6200  
+Program Size: Code=83284 RO-data=1592 RW-data=16 ZI-data=11480  
 FromELF: creating hex file...
-"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
+"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).

 <h2>Software Packages used:</h2>

@@ -245,7 +59,7 @@ Package Vendor: Keil

   * Component: ARM::CMSIS:CORE@5.6.0
      Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:46
+Build Time Elapsed:  00:00:02
 </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.map
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.map
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
@@ -1,13 +1,13 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
-F (startup_stm32h563xx.s)(0x685BB52D)(--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)(0x685D3117)(--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

 -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

 -Wa,armasm,--pd,"__UVISION_VERSION SETA 539" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32H563xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"TX_SINGLE_MODE_NON_SECURE SETA 1"
@@ -43,9 +43,9 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.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)
+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\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)
@@ -77,7 +77,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 -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

 -o autoguidestick/tx_initialize_low_level.o)
@@ -110,7 +110,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 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 (..\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)
@@ -140,14 +140,14 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -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/gpdma.o -MD)
+
+-o autoguidestick/gpdma.o -MD)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
 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 (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)
@@ -182,9 +182,9 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
 -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/memorymap.o -MD)
@@ -214,9 +214,9 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.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_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_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)
@@ -246,9 +246,9 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.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\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)
@@ -290,7 +290,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)

 -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)
+-o autoguidestick/tim.o -MD)
 I (..\Core\Inc\main.h..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -320,9 +320,9 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_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_uart_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
-F (../Core/Src/usart.c)(0x685BB195)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+F (../Core/Src/usart.c)(0x685BB8D6)(-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

@@ -352,14 +352,14 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 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 (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.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)
@@ -397,7 +397,7 @@ I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000)
 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 (..\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)
@@ -429,7 +429,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 -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
@@ -461,7 +461,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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.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)
@@ -493,7 +493,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 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)
@@ -525,7 +525,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
@@ -557,7 +557,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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_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)
@@ -589,7 +589,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)

 -o autoguidestick/stm32h5xx_hal_tim.o -MD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD)
-I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
+I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
 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)
@@ -621,7 +621,7 @@ 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_tim_ex.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
+-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

@@ -653,7 +653,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 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.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)
@@ -685,7 +685,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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 (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)
@@ -717,7 +717,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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
+-I./RTE/_AutoGuideStick

 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include

@@ -749,7 +749,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.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_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)
@@ -781,7 +781,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 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_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)
@@ -813,7 +813,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)

 -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
+-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

@@ -845,7 +845,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_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_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)
@@ -877,7 +877,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 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\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)
@@ -919,7 +919,7 @@ I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683
 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_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)
@@ -2070,9 +2070,9 @@ 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 (..\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 (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_event_flags.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_event_flags_initialize.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
@@ -2111,11 +2111,11 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)

 -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 (..\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\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_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
 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

@@ -2154,11 +2154,11 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)

 -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 (..\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)
+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
@@ -2197,11 +2197,11 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)

 -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 (..\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_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

@@ -2240,11 +2240,11 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 -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 (..\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_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

@@ -2283,10 +2283,10 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 -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)
-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+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_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_mutex_priority_change.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c

@@ -2325,4 +2325,4 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)

 -o autoguidestick/tx_mutex_put.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 (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
--- a/MDK-ARM/AutoGuideStick/ExtDll.iex
+++ b/MDK-ARM/AutoGuideStick/ExtDll.iex
@@ -0,0 +1,2 @@
+[EXTDLL]
+Count=0
--- a/MDK-ARM/AutoGuideStick/app_azure_rtos.o
+++ b/MDK-ARM/AutoGuideStick/app_azure_rtos.o
--- a/MDK-ARM/AutoGuideStick/app_threadx.o
+++ b/MDK-ARM/AutoGuideStick/app_threadx.o
--- a/MDK-ARM/AutoGuideStick/gpio.o
+++ b/MDK-ARM/AutoGuideStick/gpio.o
--- a/MDK-ARM/AutoGuideStick/gps.o
+++ b/MDK-ARM/AutoGuideStick/gps.o
--- a/MDK-ARM/AutoGuideStick/hcble.o
+++ b/MDK-ARM/AutoGuideStick/hcble.o
--- a/MDK-ARM/AutoGuideStick/main.o
+++ b/MDK-ARM/AutoGuideStick/main.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_hal_timebase_tim.o
--- a/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
+++ b/MDK-ARM/AutoGuideStick/stm32h5xx_it.o
--- a/MDK-ARM/AutoGuideStick/txe_thread_create.o
+++ b/MDK-ARM/AutoGuideStick/txe_thread_create.o
--- a/MDK-ARM/EventRecorderStub.scvd
+++ b/MDK-ARM/EventRecorderStub.scvd
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>
--- a/fun/HCBle.c
+++ b/fun/HCBle.c
@@ -1,13 +1,21 @@
 #include "HCBle.h"

 /**
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> δ<><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
 <EFBFBD><EFBFBD>ʾ: <20><>Ȼ BLE <20>Լ<EFBFBD> GPS<50><53><EFBFBD><EFBFBD>DMA+ UART<52><54><EFBFBD>գ<EFBFBD><D5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬ
 BLE --- DMA + IDLE <20>ж<EFBFBD>  ѭ<><D1AD> DMA + <20><><EFBFBD><EFBFBD><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  UART IDLE  
 GPS --- DMA +<2B>̶<EFBFBD><CCB6><EFBFBD><EFBFBD><EFBFBD> + TC<54>ж<EFBFBD>   <20><><EFBFBD>ù̶<C3B9><CCB6><EFBFBD><EFBFBD><EFBFBD> DMA    DMA<4D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>

+#{
+  "lat": 23.123456,
+  "lon": 113.654321,
+  "angle": 95.0
+}\n
 **/

 // <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
 extern   UART_HandleTypeDef huart4;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
@@ -28,12 +36,21 @@ MotorCommand cmd;
 LocationData current_location = {0};
 float imu_angle = 0.0f;

+TX_EVENT_FLAGS_GROUP ble_event_flags;
+#define BLE_EVENT_DATA_READY  0x01
+
+
+void HCBle_InitEventFlags(void)
+{	tx_event_flags_create(&ble_event_flags, "BLE Events");}

 //<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
 void HCBle_InitDMAReception(void)
 {
-	HAL_UART_Receive_DMA(&huart4,uart_dma_rx_buf,UART_DMA_RX_BUF_SIZE);
-	__HAL_UART_ENABLE_IT(&huart4,UART_IT_IDLE); //ʹ<>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD>ж<EFBFBD>
+	HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+//	HAL_UART_Receive_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+//	HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+	// ֻ<><D6BB>Ҫֱ<D2AA>Ӵ<EFBFBD><D3B4><EFBFBD> <20><><EFBFBD>ڿ<EFBFBD><DABF>н<EFBFBD><D0BD><EFBFBD> 
+	// HAL_UARTEx_RxEventCallback --- <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>
 }


@@ -49,7 +66,7 @@ void HCBle_SendData(char *p,...)
 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 #ifdef DEBUG_EN
 	//  <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
-	HAL_UART_Transmit(&huart1,(uint8_t *)HC_Send_Data,strlen(HC_Send_Data),100);
+	HAL_UART_Transmit(&huart4,(uint8_t *)HC_Send_Data,strlen(HC_Send_Data),100);
 // HAL_UART_Transmi(&huart1,(uint8_t *)formatBuf,strlen(formatBuf),1);
 // <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ʹ<EFBFBD><CAB9><EFBFBD>жϵĴ<CFB5><C4B4>ڷ<EFBFBD><DAB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 #else 
@@ -60,109 +77,120 @@ void HCBle_SendData(char *p,...)
 // <20><><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD>һ<EFBFBD><D2BB>DMA


-
-
-// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+// <20>ҷ<EFBFBD><D2B7>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD> --- \n <20><><EFBFBD>ֿ<EFBFBD><D6BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ծ<EFBFBD>һֱ<D2BB><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
    if (huart->Instance == UART4)
    {
-		if(rx_data == '\n')
-		{
-			if(rx_index > 0)
-			{
-				HC_Recevie[rx_index] = '\0';
-				data_received = 1;
-				rx_index = 0;  //<2F><><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD> memset
-			}else if(rx_index < RX_DataSize - 1)
+        for (uint16_t i = 0; i < Size; i++)
        {
+            uint8_t ch = uart_dma_rx_buf[i];
+            uint16_t next_head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;

-			}else
+			if(next_head != ble_rx_ring.tail)
 			{
-				rx_index = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-				memset(HC_Recevie,'\0',RX_DataSize);
+				 ble_rx_ring.buffer[ble_rx_ring.head] = ch;
+				 ble_rx_ring.head = next_head;
 			}
        }

-		HAL_UART_Receive_IT(huart,&rx_data,1);
+		tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR);
+        HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
    }
 }



-// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD> Json<6F><6E><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD> <20>Լ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>ֻ<EFBFBD>App
-
-
-// Json<6F><6E><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>  <20><><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>Thread x <20><><EFBFBD>н<EFBFBD><D0BD><EFBFBD>
-void HCBle_ExtractAndParseFrame(void)
+// <20>ѳɹ<EFBFBD>ʵ<EFBFBD><EFBFBD> Ble<6C><65>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+void HCBle_ParseAndHandleFrame(const char *frame)
 {
+    int left, right;
+    float lat, lon, angle;
+
+    if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
+        cmd.LeftSpeed = left;
+        cmd.RightSpeed = right;
+        HCBle_SendData("left=%d, right=%d\r\n", left, right);
+        return;
+    }
+
+//	if (sscanf(frame, "%*[^0-9]%d%*[^0-9]%d", &left, &right) == 2) {
+//        cmd.LeftSpeed = left;
+//        cmd.RightSpeed = right;
+//        HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
+//        return;
+//    }
+
+    HCBle_SendData("? <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: %s\r\n", frame);
+}
+
+
+
+
+//Ϊɶһֱʹ<D6B1>ò<EFBFBD><C3B2>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD>һֱ<D2BB>ٵȴ<D9B5>TX<54><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// <20>ں<EFBFBD>̨<EFBFBD><CCA8><EFBFBD>е<EFBFBD>һ<EFBFBD><D2BB><EFBFBD>̣߳<DFB3><CCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD>UART<52>յ<EFBFBD>BLE<4C><45><EFBFBD>ݺ󴥷<DDBA><F3B4A5B7><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD><EFBFBD>
+void ble_rx_task_entry(ULONG thread_input)
+{
+    HCBle_InitDMAReception();
+
+    ULONG actual_flags;
    static char json_buf[128];
    static int idx = 0;
-	static int in_frame = 0;
+    static int parsing = 0;
+
+    while (1)
+    {
+        tx_event_flags_get(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR_CLEAR, &actual_flags, TX_WAIT_FOREVER);

        while (ble_rx_ring.tail != ble_rx_ring.head)
        {
            char c = ble_rx_ring.buffer[ble_rx_ring.tail];
            ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;

-		// ֡<><D6A1>ʼ<EFBFBD><CABC>#
+            if (!parsing) {
                if (c == '#') {
+                    parsing = 1;
                    idx = 0;
-			in_frame = 1;
                    json_buf[idx++] = c;
                }
-		else if (in_frame) {
+                continue;
+            }
+
            if (idx < sizeof(json_buf) - 1) {
                json_buf[idx++] = c;
-
-				// ֡<><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n
-				if (c == '\n') {
+                if (c == '$') {
                    json_buf[idx] = '\0';
-
-					// ? JSON<4F><4E><EFBFBD><EFBFBD>
-					if (strstr(json_buf, "leftSpeed") && strstr(json_buf, "rightSpeed")) {
-						sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &cmd.LeftSpeed, &cmd.RightSpeed);
-						tx_event_flags_set(&system_events,EVENT_BLE_COMMAND_RECEIVED,TX_OR);
-						//SetMotorSpeed(cmd.LeftSpeed, cmd.RightSpeed); <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-					}
-
-					in_frame = 0;
+                    HCBle_ParseAndHandleFrame(json_buf);
+                    parsing = 0;
                    idx = 0;
                }
            } else {
-				// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǿ<EFBFBD><C7BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-				in_frame = 0;
+                parsing = 0;
                idx = 0;
            }
        }
    }
 }

-#ifdef TEST  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>app_thread.h<><68>
-// 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>
-        HCBle_ExtractAndParseFrame();
-		tx_thread_sleep(10);
-	}
-}

+// "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
+//                 HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", 
+//                                  current_location.lat, current_location.lon, current_location.angle);
 void ble_tx_task_entry(ULONG thread_input) {
-    BLE_Message msg;
+	char recv_msg[128];
    while(1) {
-        if (tx_queue_receive(&ble_tx_queue, &msg, TX_WAIT_FOREVER) == TX_SUCCESS) {
-            HCBle_SendData("%s", msg.data);
+
+//        HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
+//        tx_thread_sleep(500);
+		if(tx_queue_receive(&ble_tx_queue,&recv_msg,TX_WAIT_FOREVER) == TX_SUCCESS)
+		{
+			HCBle_SendData("%s",recv_msg);
 		}
    }
 }


-#endif 



--- a/fun/HCBle.h
+++ b/fun/HCBle.h
@@ -5,7 +5,7 @@
 //#define DEBUG_EN   		1   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> ʹ<><CAB9>DMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> <20><><EFBFBD><EFBFBD>ʽ
 #define RX_DataSize		128
 #define RING_BUFFER_SIZE	256	
-#define UART_DMA_RX_BUF_SIZE  64
+#define UART_DMA_RX_BUF_SIZE  20


 // HCBle <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD>
@@ -37,8 +37,14 @@ extern RingBuffer ble_rx_ring; //
 extern uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
 extern LocationData current_location;

+extern uint8_t flag;
+
+void HCBle_SendData(char *p,...);
 void HCBle_InitDMAReception(void);
 void HCBle_ExtractAndParseFrame(void);

 void ble_rx_task_entry(ULONG thread_input);
+void ble_tx_task_entry(ULONG thread_input);
+void HCBle_InitEventFlags(void);
+
 #endif
--- a/fun/gps.c
+++ b/fun/gps.c
@@ -25,8 +25,8 @@ _GPSData GPS;

 void GPS_Init(void)
 {
-    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
-    __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT);  // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
+    HAL_UARTEx_ReceiveToIdle_IT(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
+//    __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT);  // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
 }

 #ifdef parse
@@ -161,29 +161,21 @@ void GPS_Data_CLR(void)
 }


-
-//void GPS_DMA_Start(void)
+//void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 //{
-//	HAL_UART_Receive_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
-//	__HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_HT);  //<2F>봫<EFBFBD><EBB4AB><EFBFBD>ж<EFBFBD>
-//	__HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_TC);  //ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+//	if(huart->Instance == USART2)
+//	{
+//		// <20><><EFBFBD><EFBFBD> Size <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//		memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
+//		GPS.GPS_Buffer[Size] = '\0';
+//		GPS.isGetData = 1;  //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
+//		
+//		tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
+//		//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//		HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
+//	}
+//	
 //}
-
-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
-{
-	if(huart->Instance == USART2)
-	{
-		// <20><><EFBFBD><EFBFBD> Size <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
-		GPS.GPS_Buffer[Size] = '\0';
-		GPS.isGetData = 1;  //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
-		
-		//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
-		__HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3,DMA_IT_HT);
-	}
-	
-}


 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʹ<D2AA>õ<EFBFBD>ThreadX <20>Ͱ<EFBFBD>gps.h<>е<EFBFBD> TEST <20>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -208,22 +200,13 @@ void gps_thread_entry(ULONG thread_input)
            current_location.lon = Convert_to_degrees(GPS.longitude);
            tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR);

-            BLE_Message msg;
-            msg.msg_type = 1;
-            snprintf(msg.data, sizeof(msg.data), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
+            char msg[128];
+            snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
                     current_location.lat,
                     current_location.lon,
                     current_location.angle);
            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);

-            if (!gps_first_fix_sent)
-            {
-                gps_first_fix_sent = 1;
-                BLE_Message fix_msg;
-                fix_msg.msg_type = 2;
-                snprintf(fix_msg.data, sizeof(fix_msg.data), "#{\"info\":\"GPS fixed and ready\"}\n");
-                tx_queue_send(&ble_tx_queue, &fix_msg, TX_WAIT_FOREVER);
-            }
        }
    }
 }
--- a/fun/gps.h
+++ b/fun/gps.h
@@ -34,6 +34,6 @@ extern _GPSData GPS;
 extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];

 void gps_thread_entry(ULONG thread_input);
-
+void GPS_Init(void);

 #endif
Author	SHA1	Message	Date
MADAO	8b51db6587	Merge branch 'madao'	2025-06-28 20:35:14 +08:00
MADAO	9ca28fd516	Ble receive Successful	2025-06-28 20:33:31 +08:00
MADAO	03dba7bcc3	替换\n结尾,replace with $	2025-06-28 16:09:05 +08:00
MADAO	10be34ec09	加入了消息队列，线程是可以正常运行的,rx接收任务一直运行不成功，暂时放弃	2025-06-26 22:54:24 +08:00
MADAO	36ddb0a136	tx task success,rx dont	2025-06-26 15:09:26 +08:00
MADAO	59f65128b0	BLE transmit and receive success	2025-06-26 01:41:18 +08:00
MADAO	331d7dedb7	Ble Transmit Success	2025-06-25 21:34:21 +08:00