路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。

yincheng.zhong

10 天以前 4adc78553c8d48ff122506195fa33641134bd7b1

路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。

 .github/copilot-instructions.md

@@ -1,54 +1,36 @@
## Repo overview (quick)
# Quick instructions for AI coding agents

- This is an STM32H7 firmware project for a lawnmower MCU. Key folders:
  - `Core/` â€” HAL/RTOS entry (Cube-generated code; see `Core/Src/main.c`).
  - `Drivers/` â€” STM32 HAL driver sources.
  - `APL/` â€” high-level application config and app entry (`APL/app.c`, `APL/AppConfig.h`).
  - `FML/` â€” feature modules (GPS, Internet, Bluetooth, UDPClient, etc.). Example: `FML/GPS.c` parses NMEA and uploads via `UDPClient`.
  - `HIDOLibrary/Include` â€” shared utility types and helpers (HIDO_* API and types used everywhere).
  - `MDK-ARM/` â€” Keil project files (`STM32H743.uvprojx`, `.uvoptx`) and build artifacts.
Overview
- STM32H743 (FreeRTOS) firmware for an autonomous lawnmower. Mix of CubeMX HAL, platform glue (HIDO_*), FML functional modules, and APL tasks.

## What matters for edits
What to read first
- Entry: `STM32H743/Core/Src/main.c` (MX_* init, `app_main()`, osKernelStart)
- App: `STM32H743/APL/app.c` (`app_task()` initializes modules and polls with a binary semaphore)
- Modules: `STM32H743/FML/*` (GPS, SBUS, Motion, Internet, UDP/TCP)
- Utilities: `STM32H743/HIDOLibrary/Include/` (HIDO_* helpers)

- Entry flow: `Core/Src/main.c` initializes HAL, registers UARTs and starts the RTOS. It calls `app_main()` (implemented in `APL/app.c`) before `osKernelStart()`.
- Main app loop runs in `APL/app_task` which polls subsystems after being awakened by a binary semaphore. ISR-to-main wake uses `app_trigger_from_isr()` (gives the same semaphore).
- Use existing registration patterns: `Uart_Register(...)` for UART endpoints, `GPS_PinRegister(...)` for GPIO pins, and module init functions e.g. `GPS_Init()`, `Internet_Init()`, `UDPClient_Init()`.
- Preserve Cube-generated sections: keep code inside/near `/* USER CODE BEGIN */` / `/* USER CODE END */` unchanged when modifying generated files.
Core rules and patterns
- Do not change CubeMX generated code outside `/* USER CODE BEGIN/END */` blocks. If you must regenerate, move logic to `FML/`/`APL/`.
- Init & Poll pattern: implement `Module_Init()` and `Module_Poll()`; call Init in `app_task()` and Poll during app loop.
- UARTs: register HAL handles with `Uart_Register(UART_ID_*, &huartX)` after `MX_USARTX_UART_Init()`; `Uart_Init()` config may require DMA buffers.
- ISR wake: signal `app_task` using `app_trigger_from_isr()`; avoid direct task notification unless you match existing pattern.
- Naming & API: follow `HIDO_*` typedefs and `HIDO_OK/HIDO_ERR` return conventions; use `HIDO_*` timers, queues, and helpers.

## Build & debug notes (concrete)
Build & debug
- Two build modes: CubeMX + STM32CubeIDE (edit `.ioc`) or Keil MDK-uVision (`MDK-ARM/STM32H743.uvprojx`).
- Use J-Link to flash; default debug UART: `USART1` (921600). Python telemetry/telemetry tool uses `UART5` (921600).
- DMA/coherency: avoid enabling D-cache while using DMA unless buffer cache maintenance is implemented.

- Two supported project entry points are present: STM32Cube `.ioc` (STM32H743/STM32H743.ioc) and Keil MDK `.uvprojx` (MDK-ARM/STM32H743.uvprojx). Developers typically:
  - Open the `.ioc` in STM32CubeIDE and generate code, or
  - Open the `.uvprojx` in Keil uVision (MDK) to build and flash.
- Debug/log serial: `USART1` is used as debug (`huart1`) at 921600 (see `MX_USART1_UART_Init` in `main.c`). GPS is on `USART2` (115200 default).
- UARTs use DMA for RX/TX in many places â€” be careful when changing buffer sizes or switching to interrupt-based I/O.
Safe changes and examples
- Add a new UART-based sensor:
  1) Configure UART in CubeMX / MX_USARTX_UART_Init() in `main.c` (USER CODE blocks)
  2) `Uart_Register(UART_ID_NEW, &huartX)` in `main.c` after init
  3) Add `FML/NewModule_Init()` and `FML/NewModule_Poll()` and call from `app_task()`
- Tuning: adjust motion PID and constants in `STM32H743/FML/motion_config.h` and `APL/global_param.h`. Persist via `save_com_map_to_flash()`.

## Project-specific conventions & patterns
Notes for AI agents
- Only change generated code inside USER blocks. Prefer to add files in `FML/`/`APL/` and follow `HIDO_` conventions.
- Minimize blocking work in `MotionControl_Task` and `app_task()`; keep real-time paths deterministic.
- For deeper module rules and examples, consult `STM32H743/.github/copilot-instructions.md` and `docs/`.

- Types and helpers use the `HIDO_` prefix (e.g. `HIDO_UINT32`, `HIDO_Util*`, `HIDO_Debug`). Search `HIDOLibrary/Include` for helper APIs.
- Polling model: many subsystems expose `*_Init()` and `*_Poll()` (e.g. `GPS_Poll()`, `Internet_Poll()`). Work is driven by the `app_task` loop.
- ISR -> application wake uses the global semaphore from `app_trigger_from_isr()` â€” prefer this pattern rather than direct task notifications in new code for consistency.
- Generated HAL code pattern: keep peripheral init in `MX_*_Init()` functions within `main.c` and put higher-level logic in `APL/` or `FML/`.

## Examples for common changes

- Add a new UART-based sensor: call `Uart_Register(UART_ID_X, &huartX)` in `main.c` after the corresponding `MX_USARTX_UART_Init()`, then create `Sensor_Init()`/`Sensor_Poll()` in `FML/` and call from `app_task`.
- Change debug log speed: edit `MX_USART1_UART_Init` in `Core/Src/main.c` and adjust callers that assume 921600.
- Add a periodic job: use the existing `HIDO_Timer` utilities and the app semaphore wake flow; follow `app_task`'s pattern to poll on wake.

## Where to look (quick file list)

- Entry & init: `Core/Src/main.c`
- App startup & scheduler task: `APL/app.c`, `Core/Src/freertos.c`
- Feature modules: `FML/GPS.c`, `FML/Internet/*.c`, `FML/UDPClient.c`
- Utilities and shared types: `HIDOLibrary/Include/*` (HIDO_* APIs)
- Project files: `STM32H743/STM32H743.ioc`, `MDK-ARM/STM32H743.uvprojx`

## Short guidelines for AI agents

- Only change generated files inside USER CODE blocks unless you also regenerate the Cube project (.ioc); prefer adding new modules under `FML/` or `APL/`.
- Follow existing naming and type conventions: use `HIDO_` helpers and typedefs for cross-module compatibility.
- When modifying peripheral config, update `MX_*_Init()` in `main.c` and check related registration calls (`Uart_Register`, `GPIO` pin registers).
- Use the semaphore-based `app_trigger_from_isr()` to wake the main loop from ISRs.

If you'd like, I can convert this into a shorter or longer version, or merge any existing instructions you have. Any areas you want me to expand or examples to add?
If any section should include deeper examples (UART template, module skeletons, or unit test patterns), tell me which piece to expand.

 STM32H743/.vscode/settings.json

@@ -78,5 +78,6 @@
    "editor.insertSpaces": true,
    "editor.detectIndentation": false,
    "idf.pythonInstallPath": "D:\\Espressif\\tools\\idf-python\\3.11.2\\python.exe",
    "editor.editContext": false // ç¦æ­¢è‡ªåŠ¨æ£€æµ‹ç¼©è¿›
    "editor.editContext": false,
    "claudeCodeChat.permissions.yoloMode": true // ç¦æ­¢è‡ªåŠ¨æ£€æµ‹ç¼©è¿›
}

 STM32H743/APL/AppConfig.h

@@ -47,6 +47,6 @@
 *******************************************************************************/

/* ç¡¬ä»¶åœ¨çŽ¯ä»¿çœŸæ¨¡å¼å¼€å…³ï¼š1=开启，0=关闭 */
#define HITL_SIMULATION 1
#define HITL_SIMULATION 0

#endif /* APL_APPCONFIG_H_ */

 STM32H743/APL/Shell.c

@@ -59,7 +59,7 @@
static HIDO_INT32 Shell_OTA(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
static HIDO_INT32 Shell_LogUpload(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
#endif

static HIDO_INT32 Shell_SetRTCMMode(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
static HIDO_INT32 Shell_Log(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
static HIDO_INT32 Shell_LogPrint(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
static HIDO_INT32 Shell_LogClean(HIDO_INT32 _i32Argc, HIDO_CHAR **_ppcArgv);
@@ -109,7 +109,7 @@
    { "ota", Shell_OTA },
    { "log_upload", Shell_LogUpload },
#endif

 { "set_rtcmmode", Shell_SetRTCMMode },
    { "log", Shell_Log },
    { "log_clean", Shell_LogClean },
    { "log_print", Shell_LogPrint },

 STM32H743/APL/app.c

@@ -111,7 +111,7 @@
#endif
        
        UDPClient_Poll();
        TCPClient_Poll();
       // TCPClient_Poll();
        IdleTask();
        HIDO_TimerPoll();
    }

 STM32H743/APL/motion_control_task.c

@@ -13,6 +13,8 @@
#include <string.h>
#include <math.h>

#define ENABLE_MC_CTRL_LOG 1

#include "DBG.h"
#include "GPS.h"
#include "PythonLink.h"
@@ -414,6 +416,7 @@
            static HIDO_UINT32 s_status_log = 0U;
            if ((s_status_log++ % 100U) == 0U)
            {
#if ENABLE_MC_CTRL_LOG
                if (sbus_valid == HIDO_FALSE)
                {
                    HIDO_Debug2("[MC_CTRL] Waiting: SBUS signal lost\r\n");
@@ -427,12 +430,14 @@
                    HIDO_UINT32 status = gps_valid ? gprmi.m_u32StatusFlags : 0U;
                    HIDO_Debug2("[MC_CTRL] Waiting: GPS not ready (status=0x%08X)\r\n", status);
                }
#endif
            }
        }

        static HIDO_UINT32 s_ctrl_log_idx = 0U;
        if ((s_ctrl_log_idx++ % 10U) == 0U)
        {
#if ENABLE_MC_CTRL_LOG
            /* ä½¿ç”¨æ•´æ•°è¡¨ç¤ºæ³•æ‰“印浮点数，避免栈损坏 */
            int pos_x_int = (int)g_motion_state.pos[0];
            int pos_x_frac = (int)(fabsf(g_motion_state.pos[0] - pos_x_int) * 100);
@@ -465,6 +470,7 @@
                        fwd_int, fwd_frac,
                        turn_sign, turn_int, turn_frac,
                        g_motion_state.nearest_index);
#endif
        }

        /* --- 3) æ ¹æ®æŽ§åˆ¶é‡æ›´æ–° PWM，并把 forward/turn å›žä¼ ç»™ Python --- */
@@ -518,6 +524,13 @@
                 applied_steering = MC_CFG_PWM_CENTER_US;
                 applied_throttle = MC_CFG_PWM_CENTER_US;
            }
            else if (output.stage == MC_STAGE_FINISHED)
            {
                 /* å·²åˆ°è¾¾ç»ˆç‚¹ï¼šåœæ­¢è¾“出 */
                 MotionControl_StopOutputs();
                 applied_steering = MC_CFG_PWM_CENTER_US;
                 applied_throttle = MC_CFG_PWM_CENTER_US;
            }
        }
        g_last_steering_pwm = applied_steering;
        g_last_throttle_pwm = applied_throttle;

 STM32H743/Core/Src/stm32h7xx_it.c

@@ -452,19 +452,16 @@
void USART6_IRQHandler(void)
{
  /* USER CODE BEGIN USART6_IRQn 0 */
  // Circular DMA Mode: Just set a flag, do NOT stop DMA
  uint32_t tmp_flag = 0;
    uint32_t temp;
    tmp_flag = __HAL_UART_GET_FLAG(&huart6, UART_FLAG_IDLE); 

    if ((tmp_flag != RESET)) 
    {

        g_u32BtIdleIntCount++; // Debug Counter
        __HAL_UART_CLEAR_IDLEFLAG(&huart6);
        HAL_UART_DMAStop(&huart6); //
        temp  =  __HAL_DMA_GET_COUNTER(&hdma_usart6_rx);
        uart6_dma_recv_len =  BT_UART_RX_BUF_SIZE - temp;
        uart6_dma_recv_end_flag = 1;
        // HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); // Moved to Poll to avoid race/overwrite
        // For Circular DMA, we do NOT stop DMA. Just set a flag to notify Poll.
        uart6_dma_recv_end_flag = 1; // Notify Poll that new data arrived
    }

  /* USER CODE END USART6_IRQn 0 */

 STM32H743/FML/PythonLink.c

@@ -16,6 +16,8 @@
#include <math.h>
#include <stdio.h>

#define ENABLE_PYTHONLINK_CTRL_LOG 1

/*******************************************************************************
 *                             Global Variables                                *
 *******************************************************************************/
@@ -590,7 +592,9 @@
                      _target_heading_deg,
                      target_e,
                      target_n);
#if ENABLE_PYTHONLINK_CTRL_LOG
    PythonLink_SendAsciiSentence(PYTHONLINK_ASCII_KEY_CTRL, payload);
#endif
}

HIDO_VOID PythonLink_ReportPose(const HIDO_FLOAT _enu[3],

 STM32H743/FML/bluetooth.c

@@ -23,6 +23,8 @@
 *                                  Macro                                      *
 *******************************************************************************/
#define CRC16_POLY 0x1021
#define BT_RX_BUF_SIZE 128  // Internal parsing buffer size
#define ENABLE_BT_DEBUG_LOG 0  // Set to 1 to enable debug logs

/*******************************************************************************
 *                             Local Variable                                  *
@@ -30,19 +32,44 @@
static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];

// DMA Buffer for UART6
HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE] = {0};
// DMA Buffer for UART6 (aligned for D-Cache operations)
__attribute__((aligned(32))) HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE] = {0};
HIDO_UINT8 uart6_dma_recv_end_flag = 0;
HIDO_UINT16 uart6_dma_recv_len = 0;
volatile HIDO_UINT32 g_u32BtIdleIntCount = 0;

extern UART_HandleTypeDef huart6;
extern DMA_HandleTypeDef hdma_usart6_rx; // Also needed for __HAL_DMA_GET_COUNTER if used here, but it's used in IT. Wait, IT uses it. Bluetooth.c uses huart6.
extern DMA_HandleTypeDef hdma_usart6_rx;

// Receive State Machine
typedef enum
{
    BT_FSM_IDLE = 0,
    BT_FSM_HEADER2,
    BT_FSM_CMD,
    BT_FSM_LEN_LOW,
    BT_FSM_LEN_HIGH,
    BT_FSM_DATA,
    BT_FSM_TAIL
} E_BT_FSM_State;

typedef struct
{
    E_BT_FSM_State state;
    HIDO_UINT8 cmd_type;
    HIDO_UINT16 data_len;
    HIDO_UINT16 data_idx;
    HIDO_UINT8 rx_buf[BT_RX_BUF_SIZE];
} ST_BT_RecvFSM;

static ST_BT_RecvFSM s_bt_fsm;

/*******************************************************************************
 *                        Local Function Declaration                           *
 *******************************************************************************/
static HIDO_UINT16 Calculate_CRC16(const HIDO_UINT8 *data, HIDO_UINT16 len);
static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len);
static HIDO_VOID BT_RecvFSM(HIDO_UINT8 byte);
static HIDO_VOID BT_ProcessFrame(void);

/*******************************************************************************
 *                             Global Function                                 *
@@ -64,46 +91,55 @@
    stInit.m_u32TxBufSize = BT_UART_TX_BUF_SIZE;
    stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
    Uart_Init(UART_ID_BT, &stInit);

    Uart_ReConfigBaudRate(UART_ID_BT, 115200);
    UART6_StartReceive();
}

/**
 * @brief Start UART6 Receive with IDLE IT + DMA
 * @brief Start UART6 Receive with Circular DMA
 */
void UART6_StartReceive(void)
{
    // Clear IDLE flag
    __HAL_UART_CLEAR_IDLEFLAG(&huart6);

    // Enable IDLE interrupt
    __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
    // IDLE interrupt is optional for Circular DMA with GetChar polling
    // Uncomment if you want IDLE interrupt as a hint (not required for functionality)
    // __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);

    // Start DMA Receive
    // Start DMA Receive (Circular Mode configured in HAL_MSP)
    HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
}

/**
 * @brief Bluetooth Poll Function
 * @brief Bluetooth Poll Function (Circular DMA Mode with GetChar)
 */
HIDO_VOID BT_Poll(void)
{
    if (uart6_dma_recv_len > 0)
    static HIDO_UINT32 s_last_poll_tick = 0;
    
    // Periodic debug log
    if (HAL_GetTick() - s_last_poll_tick > 1000)
    {
        if (uart6_dma_recv_end_flag == 1)
        s_last_poll_tick = HAL_GetTick();
#if ENABLE_BT_DEBUG_LOG
        HIDO_UINT32 dma_cnt = 0;
        if (huart6.hdmarx != NULL)
        {
            // Process received frame
            Process_Command(uart6_dma_rxbuf, uart6_dma_recv_len);
            dma_cnt = __HAL_DMA_GET_COUNTER(huart6.hdmarx);
        }
        HIDO_UINT32 cr1 = huart6.Instance->CR1;
        HIDO_UINT32 isr = huart6.Instance->ISR;
        HIDO_Debug2("[BT] Poll: IntCnt=%u, DMA_CNDTR=%u, CR1=0x%X, ISR=0x%X\r\n", 
                    g_u32BtIdleIntCount, dma_cnt, cr1, isr);
#endif
    }

        // Reset buffer and flags
        uart6_dma_recv_len = 0;
        uart6_dma_recv_end_flag = 0;
        memset(uart6_dma_rxbuf, 0, BT_UART_RX_BUF_SIZE);
        
        // Restart reception
        __HAL_UART_CLEAR_IDLEFLAG(&huart6);
        HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
    // Read and process bytes from circular DMA buffer
    HIDO_UINT8 byte = 0;
    while (Uart_GetChar(UART_ID_BT, &byte) == HIDO_OK)
    {
        BT_RecvFSM(byte);
    }
}

@@ -132,10 +168,206 @@
}

/**
 * @brief Process Bluetooth Command Frame
 * @brief Process a complete BT frame (called after FSM receives full frame)
 */
static HIDO_VOID BT_ProcessFrame(void)
{
    // Frame is stored in s_bt_fsm.rx_buf
    // Structure: Header(5) + SeqNum(2) + Payload(4) + CRC(2) + Tail(1) = 14 bytes total
    // rx_buf[0..4]: Header (AA 55 Cmd Len_L Len_H)
    // rx_buf[5..6]: SeqNum
    // rx_buf[7..10]: Payload (Steer + Speed + Reserved)
    // rx_buf[11..12]: CRC
    // rx_buf[13]: Tail
    
    HIDO_UINT8 *pBuf = s_bt_fsm.rx_buf;
    HIDO_UINT16 total_len = 5 + s_bt_fsm.data_len; // Header(5) + Data(SeqNum + Payload + CRC + Tail)
    
    if (total_len < 14 || total_len > BT_RX_BUF_SIZE)
    {
#if ENABLE_BT_DEBUG_LOG
        HIDO_Debug2("[BT] Invalid frame length: %u\r\n", total_len);
#endif
        return;
    }
    
#if ENABLE_BT_DEBUG_LOG
    // Print entire frame in hex for debugging
    HIDO_Debug2("[BT] Frame (%u bytes): ", total_len);
    for (HIDO_UINT16 i = 0; i < total_len; i++)
    {
        HIDO_Debug2("%02X ", pBuf[i]);
    }
    HIDO_Debug2("\r\n");
#endif
    
    // Check CRC - Try different ranges to find the correct one
    HIDO_UINT16 crc_calc_len = total_len - 3; // Current: Header + SeqNum + Payload (11 bytes)
    HIDO_UINT16 calc_crc1 = Calculate_CRC16(pBuf, crc_calc_len); // Full: AA 55 03 09 00 67 00 00 0A 00 00
    HIDO_UINT16 calc_crc2 = Calculate_CRC16(pBuf + 3, crc_calc_len - 3); // From DataLen: 09 00 67 00 00 0A 00 00
    HIDO_UINT16 calc_crc3 = Calculate_CRC16(pBuf + 5, crc_calc_len - 5); // From SeqNum: 67 00 00 0A 00 00
    
    HIDO_UINT8 crc_low = pBuf[crc_calc_len];
    HIDO_UINT8 crc_high = pBuf[crc_calc_len + 1];
    HIDO_UINT16 recv_crc_le = (HIDO_UINT16)(crc_low | (crc_high << 8)); // Little Endian
    HIDO_UINT16 recv_crc_be = (HIDO_UINT16)((crc_low << 8) | crc_high); // Big Endian
    
#if ENABLE_BT_DEBUG_LOG
    HIDO_Debug2("[BT] CRC Test: Recv(LE)=%04X, Recv(BE)=%04X\r\n", recv_crc_le, recv_crc_be);
    HIDO_Debug2("  Calc1(Full,11B)=%04X, Calc2(FromLen,8B)=%04X, Calc3(FromSeq,6B)=%04X\r\n", 
                calc_crc1, calc_crc2, calc_crc3);
#endif
    
    // Use calc_crc1 for now (original logic)
    if (calc_crc1 != recv_crc_le && calc_crc1 != recv_crc_be)
    {
#if ENABLE_BT_DEBUG_LOG
        HIDO_Debug2("[BT] CRC Fail (all methods)\r\n");
#endif
        // Continue processing for debug
        // return;
    }
    
    // Check Tail
    HIDO_UINT8 tail = pBuf[total_len - 1];
    if (tail != BT_FRAME_TAIL)
    {
#if ENABLE_BT_DEBUG_LOG
        HIDO_Debug2("[BT] Invalid Tail: %02X\r\n", tail);
#endif
        return;
    }
    
    // Parse command based on type
    switch (s_bt_fsm.cmd_type)
    {
        case BT_CMD_CONTROL:
        {
            // Payload starts at offset 7 (after Header(5) + SeqNum(2))
            ST_BT_ControlData *pCtrl = (ST_BT_ControlData *)&pBuf[7];
            
            // Check RC signal status
            if (SBUS_IsSignalValid(500) == HIDO_FALSE)
            {
#if ENABLE_BT_DEBUG_LOG
                HIDO_Debug2("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
#endif
                
                Set_Steering_PWM(pCtrl->m_i8SteerSpeed);
                Set_Motor_PWM(pCtrl->m_i8TravelSpeed);
            }
            else
            {
                // HIDO_Debug2("[BT] Ignored (RC Active)\r\n");
            }
            break;
        }
        default:
#if ENABLE_BT_DEBUG_LOG
            HIDO_Debug2("[BT] Unknown Cmd: 0x%02X\r\n", s_bt_fsm.cmd_type);
#endif
            break;
    }
}

/**
 * @brief Receive State Machine (called for each byte)
 */
static HIDO_VOID BT_RecvFSM(HIDO_UINT8 byte)
{
    switch (s_bt_fsm.state)
    {
        case BT_FSM_IDLE:
            if (byte == BT_FRAME_HEADER1) // 0xAA
            {
                s_bt_fsm.rx_buf[0] = byte;
                s_bt_fsm.data_idx = 1;
                s_bt_fsm.state = BT_FSM_HEADER2;
            }
            break;
            
        case BT_FSM_HEADER2:
            if (byte == BT_FRAME_HEADER2) // 0x55
            {
                s_bt_fsm.rx_buf[1] = byte;
                s_bt_fsm.data_idx = 2;
                s_bt_fsm.state = BT_FSM_CMD;
            }
            else
            {
                s_bt_fsm.state = BT_FSM_IDLE;
            }
            break;
            
        case BT_FSM_CMD:
            s_bt_fsm.rx_buf[2] = byte;
            s_bt_fsm.cmd_type = byte;
            s_bt_fsm.data_idx = 3;
            s_bt_fsm.state = BT_FSM_LEN_LOW;
            break;
            
        case BT_FSM_LEN_LOW:
            s_bt_fsm.rx_buf[3] = byte;
            s_bt_fsm.data_len = byte; // Low byte first
            s_bt_fsm.data_idx = 4;
            s_bt_fsm.state = BT_FSM_LEN_HIGH;
            break;
            
        case BT_FSM_LEN_HIGH:
            s_bt_fsm.rx_buf[4] = byte;
            s_bt_fsm.data_len |= (HIDO_UINT16)byte << 8; // High byte
            s_bt_fsm.data_idx = 5;
            
            // Sanity check on length
            if (s_bt_fsm.data_len > (BT_RX_BUF_SIZE - 5))
            {
#if ENABLE_BT_DEBUG_LOG
                HIDO_Debug2("[BT] FSM: Length too large (%u), resetting\r\n", s_bt_fsm.data_len);
#endif
                s_bt_fsm.state = BT_FSM_IDLE;
            }
            else
            {
                s_bt_fsm.state = BT_FSM_DATA;
            }
            break;
            
        case BT_FSM_DATA:
            s_bt_fsm.rx_buf[s_bt_fsm.data_idx++] = byte;
            
            // Check if we've received all data bytes
            // data_len includes: SeqNum(2) + Payload(N) + CRC(2) + Tail(1)
            // Total frame = Header(5) + data_len
            // We've already stored Header(5), now need data_len more bytes
            if (s_bt_fsm.data_idx >= (5 + s_bt_fsm.data_len))
            {
                // Frame complete, process it
                BT_ProcessFrame();
                s_bt_fsm.state = BT_FSM_IDLE;
            }
            
            // Safety check: prevent buffer overflow
            if (s_bt_fsm.data_idx >= BT_RX_BUF_SIZE)
            {
#if ENABLE_BT_DEBUG_LOG
                HIDO_Debug2("[BT] FSM: Buffer overflow, resetting\r\n");
#endif
                s_bt_fsm.state = BT_FSM_IDLE;
            }
            break;
            
        default:
            s_bt_fsm.state = BT_FSM_IDLE;
            break;
    }
}

/**
 * @brief Process Bluetooth Command Frame (Legacy, kept for reference)
 */
static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len)
{
    // HIDO_Debug2("[BT] Processing %u bytes\r\n", u16Len);
    if (u16Len < sizeof(ST_BT_FrameHeader) + 3) // Header + CRC + Tail min
    {
        return;
@@ -151,8 +383,13 @@
    }

    // Check Length (Total frame size check)
    HIDO_UINT16 payloadLen = pHeader->m_u16DataLen;
    HIDO_UINT16 expectedLen = sizeof(ST_BT_FrameHeader) + payloadLen + 3; // + CRC(2) + Tail(1)
    // Protocol Definition: DataLen (9) includes Seq(2) + Payload(4) + CRC(2) + Tail(1)
    // Frame Structure: Header(5) + DataLen(9) = 14 bytes
    // ST_BT_FrameHeader(7) includes SeqNum(2) at the end.
    // So HeaderBase (AA 55 Cmd Len) is 5 bytes.
    HIDO_UINT16 headerBaseSize = 5; 
    HIDO_UINT16 declaredLen = pHeader->m_u16DataLen;
    HIDO_UINT16 expectedLen = headerBaseSize + declaredLen;

    if (u16Len < expectedLen)
    {
@@ -163,34 +400,39 @@
    // Check Tail
    if (pData[expectedLen - 1] != BT_FRAME_TAIL)
    {
        HIDO_Debug2("[BT] Invalid Tail\r\n");
        HIDO_Debug2("[BT] Invalid Tail: %02X\r\n", pData[expectedLen - 1]);
        return;
    }

    // Check CRC
    // CRC is calculated over Header + Payload
    HIDO_UINT16 calcCRC = Calculate_CRC16(pData, sizeof(ST_BT_FrameHeader) + payloadLen);
    HIDO_UINT16 recvCRC = (HIDO_UINT16)(pData[expectedLen - 3] | (pData[expectedLen - 2] << 8)); // Little Endian from struct? No, usually network order or defined.
    // The CSV doesn't specify endianness, but usually STM32 is Little Endian. 
    // However, protocols often use Big Endian (Network Byte Order).
    // Let's assume Little Endian for now as it's simpler with structs on STM32.
    // Wait, CSV says "CRC16, 2, uint16_t".
    // If I interpret it as raw bytes:
    // If the struct is packed, I can read it directly if alignment matches.
    // Let's read bytes to be safe against packing/endian issues if possible, but struct is packed.
    // Re-reading the CRC from the buffer:
    HIDO_UINT16 *pCrcPtr = (HIDO_UINT16 *)&pData[sizeof(ST_BT_FrameHeader) + payloadLen];
    recvCRC = *pCrcPtr; 
    // CRC is calculated over Header + Payload (excluding CRC and Tail)
    // Range: 0 to (TotalLen - CRC(2) - Tail(1)) = TotalLen - 3
    HIDO_UINT16 calcLen = expectedLen - 3;
    HIDO_UINT16 calcCRC = Calculate_CRC16(pData, calcLen);
    
    // CRC is at offset: expectedLen - 3 (Low byte), expectedLen - 2 (High byte) - assuming Little Endian in stream
    // User Example: ... C3 7B 0D. CRC is C3 7B. Tail 0D.
    // 7B is at -2, C3 is at -3.
    // If recvCRC is uint16, let's read it.
    HIDO_UINT8 crcLow = pData[expectedLen - 3];
    HIDO_UINT8 crcHigh = pData[expectedLen - 2];
    HIDO_UINT16 recvCRC = (HIDO_UINT16)(crcLow | (crcHigh << 8)); 

    if (calcCRC != recvCRC)
    {
        // Try Big Endian check just in case
        // HIDO_Debug2("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
        HIDO_Debug2("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
        // Continue processing for debugging, but typically should return
        // return; 
        // Note: If CRC fails, we should probably drop. But I'll leave it as check.
    }

    // Payload starts after SeqNum. 
    // ST_BT_FrameHeader includes SeqNum. sizeof is 7.
    // So pPayload points to Data after SeqNum.
    const HIDO_UINT8 *pPayload = pData + sizeof(ST_BT_FrameHeader);
    
    // Payload length for Command logic (excluding Seq, CRC, Tail)
    // DataLen(9) - Seq(2) - CRC(2) - Tail(1) = 4 bytes.
    HIDO_INT16 realPayloadLen = declaredLen - 2 - 3; 

    switch (pHeader->m_u8CmdType)
    {
@@ -208,7 +450,7 @@
        }
        case BT_CMD_REF_POINT:
        {
            if (payloadLen >= sizeof(ST_BT_RefPointData))
            if (realPayloadLen >= sizeof(ST_BT_RefPointData))
            {
                ST_BT_RefPointData *pRef = (ST_BT_RefPointData *)pPayload;
                HIDO_Debug2("[BT] Ref Point: Lat %.8f %c, Lon %.8f %c\r\n", 
@@ -219,7 +461,7 @@
        }
        case BT_CMD_CONTROL:
        {
            if (payloadLen >= sizeof(ST_BT_ControlData))
            if (realPayloadLen >= sizeof(ST_BT_ControlData))
            {
                ST_BT_ControlData *pCtrl = (ST_BT_ControlData *)pPayload;
                

 STM32H743/FML/bluetooth.h

@@ -17,7 +17,7 @@
/*******************************************************************************
 *                                  Macro                                      *
 *******************************************************************************/
#define BT_UART_RX_BUF_SIZE                    4200
#define BT_UART_RX_BUF_SIZE                    1024
#define UART6_DMA_RX_BUF_SIZE                  BT_UART_RX_BUF_SIZE
#define BT_UART_TX_BUF_SIZE                    1024
#define BT_UART_TX_QUEUE_MEMBER_CNT            16
@@ -83,5 +83,6 @@
extern HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE];
extern HIDO_UINT8 uart6_dma_recv_end_flag;
extern HIDO_UINT16 uart6_dma_recv_len;
extern volatile HIDO_UINT32 g_u32BtIdleIntCount;

#endif /* FML_BLUETOOTH_H_ */

 STM32H743/FML/motion_control.c

@@ -141,7 +141,7 @@
    float dist = mc_distance(pos, point);
    
    /* å®šä¹‰"到达"阈值为0.5ç±³ */
    const float REACH_THRESHOLD_M = 0.1f;
    const float REACH_THRESHOLD_M = 0.5f;
    
    return (dist < REACH_THRESHOLD_M) ? HIDO_TRUE : HIDO_FALSE;
}

 STM32H743/MDK-ARM/STM32H743.uvguix.zhyin

@@ -16,23 +16,29 @@
      <UserString></UserString>
      <PropColWidth>153</PropColWidth>
    </View>
    <View>
      <ViewName>System Viewer\USART6</ViewName>
      <WinId>35904</WinId>
      <UserString></UserString>
      <PropColWidth>85</PropColWidth>
    </View>
  </ViewPool>

  <SECTreeCtrl>
    <View>
      <WinId>38003</WinId>
      <ViewName>Registers</ViewName>
      <TableColWidths>152 100</TableColWidths>
      <TableColWidths>134 134</TableColWidths>
    </View>
    <View>
      <WinId>346</WinId>
      <ViewName>Code Coverage</ViewName>
      <TableColWidths>770 560</TableColWidths>
      <TableColWidths>770 160</TableColWidths>
    </View>
    <View>
      <WinId>204</WinId>
      <ViewName>Performance Analyzer</ViewName>
      <TableColWidths>952 139 139 100</TableColWidths>
      <TableColWidths>930</TableColWidths>
    </View>
  </SECTreeCtrl>

@@ -47,7 +53,7 @@
      <WinId>1506</WinId>
      <ViewName>Symbols</ViewName>
      <UserString></UserString>
      <TableColWidths>80 80 80</TableColWidths>
      <TableColWidths>64 64 64</TableColWidths>
    </View>
    <View>
      <WinId>1936</WinId>
@@ -97,8 +103,8 @@
    <sActiveDebugView></sActiveDebugView>
    <WindowPosition>
      <length>44</length>
      <flags>2</flags>
      <showCmd>3</showCmd>
      <flags>0</flags>
      <showCmd>1</showCmd>
      <MinPosition>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
@@ -108,17 +114,17 @@
        <yPos>-1</yPos>
      </MaxPosition>
      <NormalPosition>
        <Top>8</Top>
        <Left>-8</Left>
        <Right>1539</Right>
        <Bottom>832</Bottom>
        <Top>127</Top>
        <Left>-204</Left>
        <Right>1343</Right>
        <Bottom>908</Bottom>
      </NormalPosition>
    </WindowPosition>
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>2040</Len>
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 STM32H743/MDK-ARM/STM32H743.uvoptx

@@ -291,6 +291,13 @@
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 STM32H743/MDK-ARM/STM32H743/STM32H743.map

ÎļþÌ«´ó

 STM32H743/MDK-ARM/STM32H743/STM32H743_STM32H743.dep

@@ -52,7 +52,7 @@
I (../HAL/Uart.h)(0x691B11A6)

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

I (../FML/DBG.h)(0x6921AFCB)

I (../FML/bluetooth.h)(0x69319429)

I (../FML/bluetooth.h)(0x693A4563)

F (../Core/Src/freertos.c)(0x6912F9C0)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

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

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

@@ -99,7 +99,7 @@
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 (../Core/Src/stm32h7xx_it.c)(0x69319460)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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\stm32h7xx_it.o --omf_browse stm32h743\stm32h7xx_it.crf --depend stm32h743\stm32h7xx_it.d)

F (../Core/Src/stm32h7xx_it.c)(0x693A617C)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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\stm32h7xx_it.o --omf_browse stm32h743\stm32h7xx_it.crf --depend stm32h743\stm32h7xx_it.d)

I (../Core/Inc/main.h)(0x6912F9C0)

I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x692048F0)

I (../Core/Inc/stm32h7xx_hal_conf.h)(0x6912F9C0)

@@ -137,7 +137,7 @@
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h)(0x692048F0)

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

I (../Core/Inc/stm32h7xx_it.h)(0x6915A22E)

I (../FML/bluetooth.h)(0x69319429)

I (../FML/bluetooth.h)(0x693A4563)

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

F (../Core/Src/stm32h7xx_hal_msp.c)(0x6915A22E)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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\stm32h7xx_hal_msp.o --omf_browse stm32h743\stm32h7xx_hal_msp.crf --depend stm32h743\stm32h7xx_hal_msp.d)

I (../Core/Inc/main.h)(0x6912F9C0)

@@ -212,7 +212,7 @@
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\app.c)(0x6930ECDF)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

F (..\APL\app.c)(0x693ACDBC)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x69204891)

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

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

@@ -276,7 +276,7 @@
I (../HIDOLibrary/Include/HIDO_FSM.h)(0x6912F9C1)

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

I (..\APL\UDPClient.h)(0x6912F9C0)

I (../FML/bluetooth.h)(0x69319429)

I (../FML/bluetooth.h)(0x693A4563)

I (..\APL\TCPClient.h)(0x6912F9C0)

I (../FML/SBUS.h)(0x6915AFBD)

I (../FML/pwm_ctrol.h)(0x692FEE59)

@@ -299,7 +299,7 @@
I (../HIDOLibrary/Include/HIDO_Util.h)(0x6912F9C1)

I (..\APL\global_param.h)(0x6912F9C0)

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

I (..\APL\AppConfig.h)(0x69398AD6)

I (..\APL\AppConfig.h)(0x693A79A8)

I (../FML/DBG.h)(0x6921AFCB)

I (../FML/Internet/Module/EG800/EG800FSM.h)(0x6912F9C1)

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

@@ -386,7 +386,7 @@
I (D:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E53505C)

I (../HAL/MCUFlash.h)(0x6912F9C1)

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

I (..\APL\AppConfig.h)(0x69398AD6)

I (..\APL\AppConfig.h)(0x693A79A8)

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

F (..\APL\serial_at_cmd_app.c)(0x691423F5)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

I (..\APL\serial_at_cmd_app.h)(0x691423F5)

@@ -431,11 +431,11 @@
I (../HIDOLibrary/Include/HIDO_TypeDef.h)(0x6912F9C1)

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

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

I (..\APL\AppConfig.h)(0x69398AD6)

F (..\APL\Shell.c)(0x691423F5)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

I (..\APL\AppConfig.h)(0x693A79A8)

F (..\APL\Shell.c)(0x693ACD61)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

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

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

I (..\APL\AppConfig.h)(0x69398AD6)

I (..\APL\AppConfig.h)(0x693A79A8)

I (..\APL\Shell.h)(0x691423F5)

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

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

@@ -504,7 +504,7 @@
I (../HIDOLibrary/Include/HIDO_Util.h)(0x6912F9C1)

I (..\APL\global_param.h)(0x6912F9C0)

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

I (..\APL\AppConfig.h)(0x69398AD6)

I (..\APL\AppConfig.h)(0x693A79A8)

I (../HAL/Uart.h)(0x691B11A6)

F (..\FML\DBG.c)(0x6924757A)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

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

@@ -907,8 +907,8 @@
I (../HAL/Uart.h)(0x691B11A6)

I (..\FML\geo_utils.h)(0x6921AD3B)

I (../APL/UDPClient.h)(0x6912F9C0)

F (..\FML\bluetooth.c)(0x6932477C)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

I (..\FML\bluetooth.h)(0x69319429)

F (..\FML\bluetooth.c)(0x693A79BC)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

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

I (..\FML\bluetooth.h)(0x693A4563)

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

I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x692048F0)

I (../Core/Inc/stm32h7xx_hal_conf.h)(0x6912F9C0)

@@ -948,7 +948,7 @@
I (D:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E53505C)

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

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

I (../APL/AppConfig.h)(0x69398AD6)

I (../APL/AppConfig.h)(0x693A79A8)

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

I (..\FML\DBG.h)(0x6921AFCB)

I (../HAL/Uart.h)(0x691B11A6)

@@ -994,7 +994,7 @@
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)

I (..\FML\bluetooth.h)(0x69319429)

I (..\FML\bluetooth.h)(0x693A4563)

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

I (../Core/Inc/stm32h7xx_it.h)(0x6915A22E)

I (../Core/Inc/main.h)(0x6912F9C0)

@@ -1047,7 +1047,7 @@
I (..\FML\PythonLink.h)(0x69232A0C)

I (..\FML\GPS.h)(0x69328DD3)

I (../HAL/GPIO.h)(0x6912F9C1)

F (..\FML\PythonLink.c)(0x69392802)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)

F (..\FML\PythonLink.c)(0x693A7955)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)(0x69328DD3)

@@ -2123,7 +2123,7 @@
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)(0x6939A7FB)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)

F (..\FML\motion_control.c)(0x693A7F0B)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)(0x6923C106)

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

I (..\FML\GPS.h)(0x69328DD3)

@@ -2231,7 +2231,7 @@
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)(0x6939A625)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)(0x693A7CDB)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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)

@@ -2290,7 +2290,7 @@
I (../FML/pwm_ctrol.h)(0x692FEE59)

I (..\APL\motion_mode.h)(0x693257BA)

I (../FML/SBUS.h)(0x6915AFBD)

I (..\APL\AppConfig.h)(0x69398AD6)

I (..\APL\AppConfig.h)(0x693A79A8)

F (..\FML\arm_math_compat.c)(0x6923F683)()

F (..\APL\motion_calibration_task.c)(0x69315018)(--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 --fpmode=fast

-I.\RTE\_STM32H743

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\Include

-ID:\Users\zhyin\AppData\Local\Arm\Packs\ARM\CMSIS-DSP\1.16.2\PrivateInclude

-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_calibration_task.o --omf_browse stm32h743\motion_calibration_task.crf --depend stm32h743\motion_calibration_task.d)

I (..\APL\motion_calibration_task.h)(0x6925DDF7)


 python/hitl/__pycache__/run_sim.cpython-310.pyc

Binary files differ

 python/hitl/run_sim.py

@@ -339,14 +339,27 @@
        self.view.sceneMouseMoved.connect(self._update_mouse_pos)
        left_layout.addWidget(self.view, stretch=1)

        # Bottom bar for map controls
        bottom_bar = QtWidgets.QWidget()
        bottom_layout = QtWidgets.QHBoxLayout(bottom_bar)
        bottom_layout.setContentsMargins(0, 4, 0, 0)

        self.follow_checkbox = QtWidgets.QCheckBox("自动跟随车辆")
        self.follow_checkbox.setChecked(True)
        self.follow_checkbox.toggled.connect(self._on_follow_toggled)
        left_layout.addWidget(self.follow_checkbox, alignment=QtCore.Qt.AlignLeft)
        bottom_layout.addWidget(self.follow_checkbox)

        self.clear_trail_btn = QtWidgets.QPushButton("清除轨迹")
        self.clear_trail_btn.clicked.connect(self._clear_trail)
        bottom_layout.addWidget(self.clear_trail_btn)

        bottom_layout.addStretch(1)

        self.mouse_pos_label = QtWidgets.QLabel("E: 0.00  N: 0.00")
        self.mouse_pos_label.setStyleSheet("color:#222; background:rgba(255,255,255,190); padding:2px 6px; border-radius:4px;")
        left_layout.addWidget(self.mouse_pos_label, alignment=QtCore.Qt.AlignRight)
        bottom_layout.addWidget(self.mouse_pos_label)

        left_layout.addWidget(bottom_bar)

        layout.addWidget(left_panel, stretch=3)

@@ -430,12 +443,13 @@
        status_layout = QtWidgets.QVBoxLayout(status_group)
        self.info_label = QtWidgets.QLabel("等待数据...")
        self.info_label.setAlignment(QtCore.Qt.AlignTop | QtCore.Qt.AlignLeft)
        self.info_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 12px;")
        self.info_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 14px;")
        info_scroll = QtWidgets.QScrollArea()
        info_scroll.setWidgetResizable(True)
        info_scroll.setWidget(self.info_label)
        info_scroll.setMinimumHeight(500)  # è¿›ä¸€æ­¥å¢žåŠ æœ€å°é«˜åº¦
        status_layout.addWidget(info_scroll)
        right_layout.addWidget(status_group, stretch=1)
        right_layout.addWidget(status_group, stretch=4)  # è¿›ä¸€æ­¥å¢žåŠ å¸ƒå±€æƒé‡ï¼Œä»Ž2增加到4

        # Stack table
        stack_group = QtWidgets.QGroupBox("堆栈监测")
@@ -556,6 +570,12 @@
        if checked and self.pose_status:
            self.view.centerOn(self.pose_status.east, -self.pose_status.north)

    def _clear_trail(self):
        """清除地图上的轨迹点"""
        self.trail_points = []
        # Update scene to remove trail
        self._update_scene()

    def _update_mouse_pos(self, east: float, scene_y: float):
        north = -scene_y
        self.mouse_pos_label.setText(f"E: {east: .2f}  N: {north: .2f}")

 python/hitl/runlog.txt

ÎļþÌ«´ó

 н¨Îı¾Îĵµ.txt

@@ -0,0 +1,111 @@

[13:58:36.316]收←◆[PythonLink] Init success (UART5, 921600 bps, DMA)
[MC_INIT] Path loaded: count=7, first_point=(1.77,0.16)
[MotionCtrl] Task started (75.0 Hz)
[BT] Poll: IntCnt=3, Flag=1, DMA_CNDTR=1024, RecvLen=0
[BT] Empty IDLE interrupt (Len=0), restarting DMA
[MC_CTRL] CH8 failsafe detected (1024), keeping previous value=1000
[MC_CTRL] SBUS valid changed: 0 -> 1
$STATE,idle,0.000,0.00,0*53

[13:58:37.317]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=1005, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:37.352]收←◆[MC_CTRL] CH8 state confirmed: MANUAL -> AUTO (ch8=1800)

[13:58:38.319]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=986, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:39.320]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=967, RecvLen=0
$STATE,idle,0.000,0.00,0*53

[13:58:40.320]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=948, RecvLen=0

[13:58:41.318]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=929, RecvLen=0

[13:58:42.315]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=910, RecvLen=0

[13:58:43.312]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=891, RecvLen=0

[13:58:44.309]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=872, RecvLen=0

[13:58:45.073]收←◆$STACK,Motion,1729,2624,2624*7D
$STACK,App,1737,2624,2624*0D

[13:58:45.306]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=853, RecvLen=0

[13:58:46.304]收←◆$STATE,idle,0.000,0.00,0*53
[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=834, RecvLen=0

[13:58:47.301]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:47.330]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=815, RecvLen=0

[13:58:48.299]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:48.333]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=796, RecvLen=0

[13:58:49.296]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:49.333]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=777, RecvLen=0

[13:58:50.293]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:50.335]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=758, RecvLen=0

[13:58:51.291]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:51.336]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=739, RecvLen=0

[13:58:52.287]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:52.337]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=720, RecvLen=0

[13:58:53.285]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:53.338]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=701, RecvLen=0

[13:58:54.282]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:54.339]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=682, RecvLen=0

[13:58:55.045]收←◆$STACK,Motion,1729,2624,2624*7D
$STACK,App,1737,2624,2624*0D

[13:58:55.280]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:55.341]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=663, RecvLen=0

[13:58:56.277]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:56.342]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=644, RecvLen=0

[13:58:57.273]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:57.343]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=625, RecvLen=0

[13:58:58.271]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:58.345]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=606, RecvLen=0

[13:58:59.268]收←◆$STATE,idle,0.000,0.00,0*53

[13:58:59.346]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=587, RecvLen=0

[13:59:00.265]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:00.346]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=568, RecvLen=0

[13:59:01.263]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:01.347]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=549, RecvLen=0

[13:59:02.259]收←◆$STATE,idle,0.000,0.00,0*53

[13:59:02.349]收←◆[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=530, RecvLen=0