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    µVision Build Log
    Tool Versions:
    IDE-Version: ¦ÌVision V5.34.0.0
    Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
    License Information: jasmine yxm2389287465@outlook.com, qut, LIC=JL28G-VQ49I-NNHAF-6ERW1-ZPP1C-KLZJD

    Tool Versions:
    Toolchain:       MDK-ARM Plus  Version: 5.34.0.0
    Toolchain Path:  D:\cangming\ARM\ARMCLANG\Bin
    C Compiler:      ArmClang.exe V6.16
    Assembler:       Armasm.exe V6.16
    Linker/Locator:  ArmLink.exe V6.16
    Library Manager: ArmAr.exe V6.16
    Hex Converter:   FromElf.exe V6.16
    CPU DLL:         SARMCM3.DLL V5.34.0.0
    Dialog DLL:      DCM.DLL V1.17.3.0
    Target DLL:      Segger\JL2CM3.dll V2.99.38.0
    Dialog DLL:      TCM.DLL V1.48.0.0

    Project:
    D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero.uvprojx
    Project File Date:  12/05/2025

    Output:
    *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
    Build target 'hero'
    Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to 'hero\can_1.o'.
    Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero\gpio.o' to 'hero\gpio_1.o'.
    Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero\spi.o' to 'hero\spi_1.o'.
    Note: source file '..\User\task\cmd.c' - object file renamed from 'hero\cmd.o' to 'hero\cmd_1.o'.
    ../Core/Src/main.c(21): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling main.c...
    compiling stm32f4xx_hal_flash_ramfunc.c...
    compiling gpio.c...
    compiling dma.c...
    compiling stm32f4xx_hal_rcc_ex.c...
    compiling i2c.c...
    compiling stm32f4xx_hal_can.c...
    compiling stm32f4xx_hal_pwr.c...
    compiling stm32f4xx_hal_dma.c...
    compiling stm32f4xx_hal_msp.c...
    compiling usart.c...
    compiling stm32f4xx_hal_pwr_ex.c...
    compiling tim.c...
    compiling stm32f4xx_hal_flash_ex.c...
    compiling spi.c...
    ../Core/Src/freertos.c(21): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling freertos.c...
    compiling stm32f4xx_hal_gpio.c...
    compiling stm32f4xx_hal_i2c_ex.c...
    compiling stm32f4xx_hal_rcc.c...
    compiling stm32f4xx_hal_cortex.c...
    compiling stm32f4xx_hal_dma_ex.c...
    compiling stm32f4xx_hal.c...
    ../Core/Src/stm32f4xx_it.c(23): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling stm32f4xx_it.c...
    compiling stm32f4xx_hal_exti.c...
    compiling stm32f4xx_hal_flash.c...
    compiling can.c...
    compiling stm32f4xx_hal_tim_ex.c...
    compiling stm32f4xx_hal_uart.c...
    compiling stm32f4xx_hal_spi.c...
    compiling stm32f4xx_hal_i2c.c...
    compiling stm32f4xx_hal_tim.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/croutine.c(28): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling croutine.c...
    compiling system_stm32f4xx.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c(37): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling event_groups.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/list.c(30): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling list.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/queue.c(36): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling queue.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c(38): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling stream_buffer.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c(38): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling tasks.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/timers.c(36): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling timers.c...
    ArmClang: error: no such file or directory: '../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c'
    ArmClang: error: no input files
    compiling port.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(43): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling heap_4.c...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(28): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling cmsis_os2.c...
    ../User/bsp/can.c(2): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling can.c...
    compiling dwt.c...
    ../User/bsp/mm.c(4): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling mm.c...
    compiling gpio.c...
    compiling pwm.c...
    ../User/bsp/time.c(6): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling time.c...
    compiling uart.c...
    compiling spi.c...
    compiling AT9S_Pro.c...
    compiling bmi088.c...
    compiling motor.c...
    ../User/device/motor_dm.c(7): warning: In file included from...
    ../User\device/motor_dm.h(10): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling motor_dm.c...
    ../User/device/motor_rm.c(5): warning: In file included from...
    ../User/device/motor_rm.h(11): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling motor_rm.c...
    compiling vofa.c...
    compiling dr16.c...
    compiling ahrs.c...
    compiling filter.c...
    compiling mixer.c...
    compiling user_math.c...
    compiling pid.c...
    ../User/module/gimbal.c(6): warning: In file included from...
    ../User/module/gimbal.h(16): warning: In file included from...
    ../User\device/motor_dm.h(10): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling gimbal.c...
    ../User/module/config.c(6): warning: In file included from...
    ../User\module/config.h(14): warning: In file included from...
    ../User\device/motor_rm.h(11): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling config.c...
    ../User/module/shoot.c(36): warning: In file included from...
    ../User/module/shoot.h(14): warning: In file included from...
    ../User\device/motor_rm.h(11): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling shoot.c...
    ../User/module/chassis.c(8): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling chassis.c...
    ../User/module/cmd.c(4): warning: In file included from...
    ../User\module/cmd.h(11): warning: In file included from...
    ../User\module/chassis.h(13): warning: In file included from...
    ../User\bsp/can.h(13): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling cmd.c...
    ../User/task/atti_esti.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling atti_esti.c...
    ../User/task/init.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling init.c...
    ../User/task/rc.c(9): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling rc.c...
    ../User/task/user_task.c(1): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling user_task.c...
    ../User/task/blink.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling blink.c...
    ../User/task/ctrl_chassis.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling ctrl_chassis.c...
    ../User/task/ctrl_gimbal.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling ctrl_gimbal.c...
    ../User/task/ctrl_shoot.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling ctrl_shoot.c...
    ../User/task/cmd.c(7): warning: In file included from...
    ../User\task/user_task.h(8): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
    ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
            #include "portmacro.h"
                     ^~~~~~~~~~~~~
    1 error generated.
    compiling cmd.c...
    "hero\hero.axf" - 33 Error(s), 0 Warning(s).

    Software Packages used:

    Package Vendor: ARM
                    http://www.keil.com/pack/ARM.CMSIS.5.7.0.pack
                    ARM.CMSIS.5.7.0
                    CMSIS (Cortex Microcontroller Software Interface Standard)
       * Component: CORE Version: 5.4.0

    Package Vendor: Keil
                    http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.15.0.pack
                    Keil.STM32F4xx_DFP.2.15.0
                    STMicroelectronics STM32F4 Series Device Support, Drivers and Examples

    Collection of Component include folders:
      .\RTE\_hero
      D:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include
      D:\cangming\keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

    Collection of Component Files used:

       * Component: ARM::CMSIS:CORE:5.4.0
          Include file:  CMSIS\Core\Include\tz_context.h
    Target not created.
    Build Time Elapsed:  00:00:07