仿真跑起来了，但是起点转向不太对。

yincheng.zhong

2025-11-24 346cc7d685283df529aadbcf9c156de040ce44f9

 STM32H743/MDK-ARM/STM32H743/STM32H743_STM32H743.dep

@@ -280,7 +280,7 @@
I (..\APL\TCPClient.h)(0x6912F9C0)

I (../FML/SBUS.h)(0x6915AFBD)

I (../FML/pwm_ctrol.h)(0x691599B3)

I (../FML/PythonLink.h)(0x69230CC0)

I (../FML/PythonLink.h)(0x69232A0C)

I (..\APL\motion_control_task.h)(0x6921AD3B)

F (..\APL\UDPClient.c)(0x6921A178)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\udpclient.o --omf_browse stm32h743\udpclient.crf --depend stm32h743\udpclient.d)

I (..\APL\UDPClient.h)(0x6912F9C0)

@@ -886,7 +886,7 @@
I (..\FML\DBG.h)(0x6921AFCB)

I (../HAL/Uart.h)(0x691B11A6)

I (../APL/UDPClient.h)(0x6912F9C0)

I (..\FML\PythonLink.h)(0x69230CC0)

I (..\FML\PythonLink.h)(0x69232A0C)

I (../FML/Internet/TTS.h)(0x6912F9C1)

I (../HIDOLibrary/Include/HIDO_VLQueue.h)(0x6912F9C1)

I (../HIDOLibrary/Include/HIDO_BaseQueue.h)(0x6912F9C1)

@@ -1030,11 +1030,11 @@
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x692048F0)

I (D:\Keil_v5\ARM\ARMCC\include\string.h)(0x5E53505C)

I (..\FML\pwm_ctrol.h)(0x691599B3)

I (..\FML\PythonLink.h)(0x69230CC0)

I (..\FML\PythonLink.h)(0x69232A0C)

I (..\FML\GPS.h)(0x691C27FF)

I (../HAL/GPIO.h)(0x6912F9C1)

F (..\FML\PythonLink.c)(0x69230CC0)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\pythonlink.o --omf_browse stm32h743\pythonlink.crf --depend stm32h743\pythonlink.d)

I (..\FML\PythonLink.h)(0x69230CC0)

F (..\FML\PythonLink.c)(0x69232A0C)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\pythonlink.o --omf_browse stm32h743\pythonlink.crf --depend stm32h743\pythonlink.d)

I (..\FML\PythonLink.h)(0x69232A0C)

I (../HIDOLibrary/Include/HIDO_TypeDef.h)(0x6912F9C1)

I (..\FML\GPS.h)(0x691C27FF)

I (../HAL/GPIO.h)(0x6912F9C1)

@@ -2109,8 +2109,8 @@
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x69204891)

I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x69204891)

F (..\HIDOLibrary\HIDOLibrary.lib)(0x6912F9C1)()

F (..\FML\motion_control.c)(0x6921EB36)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\motion_control.o --omf_browse stm32h743\motion_control.crf --depend stm32h743\motion_control.d)

I (..\FML\motion_control.h)(0x6922FD04)

F (..\FML\motion_control.c)(0x692330C2)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\motion_control.o --omf_browse stm32h743\motion_control.crf --depend stm32h743\motion_control.d)

I (..\FML\motion_control.h)(0x69232A0C)

I (../HIDOLibrary/Include/HIDO_TypeDef.h)(0x6912F9C1)

I (..\FML\GPS.h)(0x691C27FF)

I (../HAL/GPIO.h)(0x6912F9C1)

@@ -2153,7 +2153,7 @@
I (../Middlewares/ST/ARM/DSP/Inc/arm_math.h)(0x6920442F)

I (D:\Keil_v5\ARM\ARMCC\include\float.h)(0x5E53505C)

I (D:\Keil_v5\ARM\ARMCC\include\limits.h)(0x5E53505A)

I (..\FML\motion_config.h)(0x6921AC1D)

I (..\FML\motion_config.h)(0x6923309E)

F (..\FML\motion_path_data.c)(0x6921A647)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\motion_path_data.o --omf_browse stm32h743\motion_path_data.crf --depend stm32h743\motion_path_data.d)

I (..\FML\motion_path_data.h)(0x6921A647)

I (../HIDOLibrary/Include/HIDO_TypeDef.h)(0x6912F9C1)

@@ -2197,7 +2197,7 @@
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x692048F0)

I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x692048F0)

I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h)(0x692048F0)

F (..\APL\motion_control_task.c)(0x692313A6)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\motion_control_task.o --omf_browse stm32h743\motion_control_task.crf --depend stm32h743\motion_control_task.d)

F (..\APL\motion_control_task.c)(0x69232A0C)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\motion_control_task.o --omf_browse stm32h743\motion_control_task.crf --depend stm32h743\motion_control_task.d)

I (..\APL\motion_control_task.h)(0x6921AD3B)

I (../HIDOLibrary/Include/HIDO_TypeDef.h)(0x6912F9C1)

I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x69204891)

@@ -2248,10 +2248,10 @@
I (../FML/DBG.h)(0x6921AFCB)

I (../FML/GPS.h)(0x691C27FF)

I (../HAL/GPIO.h)(0x6912F9C1)

I (../FML/PythonLink.h)(0x69230CC0)

I (../FML/PythonLink.h)(0x69232A0C)

I (../FML/geo_utils.h)(0x6921AD3B)

I (../FML/motion_config.h)(0x6921AC1D)

I (../FML/motion_control.h)(0x6922FD04)

I (../FML/motion_config.h)(0x6923309E)

I (../FML/motion_control.h)(0x69232A0C)

I (../FML/motion_path_data.h)(0x6921A647)

I (../FML/pwm_ctrol.h)(0x691599B3)

F (..\FML\arm_math_compat.c)(0x6921B09A)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../HIDOLibrary/Include -I ../HAL -I ../FML -I ../APL -I ../FML/Internet -I ../FML/Internet/Module -I ../FML/Internet/Module/EG800 -I ../Middlewares/ST/ARM/DSP/Inc

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include

-D__UVISION_VERSION="530" -D_RTE_ -DSTM32H743xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H743xx -D_USE_OS_ -D__TARGET_FPU_VFP

-o stm32h743\arm_math_compat.o --omf_browse stm32h743\arm_math_compat.crf --depend stm32h743\arm_math_compat.d)