diff --git a/MDK-ARM/hero.uvguix.yxm23 b/MDK-ARM/hero.uvguix.yxm23
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       <Doc>
         <Name>..\User\task\cmd.c</Name>
-        <ColumnNumber>7</ColumnNumber>
-        <TopLine>25</TopLine>
-        <CurrentLine>44</CurrentLine>
+        <ColumnNumber>5</ColumnNumber>
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         <Name>..\User\module\cmd.c</Name>
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-        <TopLine>112</TopLine>
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       </Doc>
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         <Name>..\User\module\config.c</Name>
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@@ -3679,7 +3679,7 @@
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diff --git a/MDK-ARM/hero/at9s_pro.o b/MDK-ARM/hero/at9s_pro.o
index c1fa327..a89e345 100644
Binary files a/MDK-ARM/hero/at9s_pro.o and b/MDK-ARM/hero/at9s_pro.o differ
diff --git a/MDK-ARM/hero/atti_esti.d b/MDK-ARM/hero/atti_esti.d
deleted file mode 100644
index 06eef49..0000000
--- a/MDK-ARM/hero/atti_esti.d
+++ /dev/null
@@ -1,60 +0,0 @@
-hero/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
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-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\gpio.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\module\gimbal.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\module\chassis.h \
-  ..\User\component\filter.h ..\User\component\mixer.h \
-  ..\User\component\pid.h ..\User\component\ahrs.h \
-  ..\User\device\bmi088.h
diff --git a/MDK-ARM/hero/atti_esti.o b/MDK-ARM/hero/atti_esti.o
deleted file mode 100644
index 8204bda..0000000
Binary files a/MDK-ARM/hero/atti_esti.o and /dev/null differ
diff --git a/MDK-ARM/hero/blink.d b/MDK-ARM/hero/blink.d
deleted file mode 100644
index 24968d6..0000000
--- a/MDK-ARM/hero/blink.d
+++ /dev/null
@@ -1,47 +0,0 @@
-hero/blink.o: ..\User\task\blink.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h
diff --git a/MDK-ARM/hero/blink.o b/MDK-ARM/hero/blink.o
deleted file mode 100644
index a982673..0000000
Binary files a/MDK-ARM/hero/blink.o and /dev/null differ
diff --git a/MDK-ARM/hero/can_1.d b/MDK-ARM/hero/can_1.d
deleted file mode 100644
index 5807602..0000000
--- a/MDK-ARM/hero/can_1.d
+++ /dev/null
@@ -1,50 +0,0 @@
-hero/can_1.o: ..\User\bsp\can.c ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero/can_1.o b/MDK-ARM/hero/can_1.o
deleted file mode 100644
index 4e20580..0000000
Binary files a/MDK-ARM/hero/can_1.o and /dev/null differ
diff --git a/MDK-ARM/hero/chassis.d b/MDK-ARM/hero/chassis.d
deleted file mode 100644
index 6460341..0000000
--- a/MDK-ARM/hero/chassis.d
+++ /dev/null
@@ -1,58 +0,0 @@
-hero/chassis.o: ..\User\module\chassis.c \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\mm.h \
-  ..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\module\chassis.h \
-  ..\User\component\filter.h ..\User\component\mixer.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\component\ahrs.h
diff --git a/MDK-ARM/hero/chassis.o b/MDK-ARM/hero/chassis.o
deleted file mode 100644
index efd30c7..0000000
Binary files a/MDK-ARM/hero/chassis.o and /dev/null differ
diff --git a/MDK-ARM/hero/cmd.d b/MDK-ARM/hero/cmd.d
deleted file mode 100644
index 7f604d3..0000000
--- a/MDK-ARM/hero/cmd.d
+++ /dev/null
@@ -1,62 +0,0 @@
-hero/cmd.o: ..\User\module\cmd.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\module\cmd.h \
-  ..\User\module\chassis.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\filter.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\component\ahrs.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\pid.h \
-  ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\User\device\at9s_pro.h ..\User\device\vt13.h ..\User\bsp\time.h
diff --git a/MDK-ARM/hero/cmd_1.d b/MDK-ARM/hero/cmd_1.d
deleted file mode 100644
index d37517b..0000000
--- a/MDK-ARM/hero/cmd_1.d
+++ /dev/null
@@ -1,61 +0,0 @@
-hero/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\device\dr16.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\device.h ..\User\device\at9s_pro.h \
-  ..\User\module\config.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\motor_rm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\device\motor_dm.h \
-  ..\User\module\chassis.h ..\User\component\filter.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h ..\User\module\cmd.h
diff --git a/MDK-ARM/hero/cmd_1.o b/MDK-ARM/hero/cmd_1.o
deleted file mode 100644
index 4b4f53b..0000000
Binary files a/MDK-ARM/hero/cmd_1.o and /dev/null differ
diff --git a/MDK-ARM/hero/cmsis_os2.d b/MDK-ARM/hero/cmsis_os2.d
deleted file mode 100644
index f5fd310..0000000
--- a/MDK-ARM/hero/cmsis_os2.d
+++ /dev/null
@@ -1,55 +0,0 @@
-hero/cmsis_os2.o: \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h
diff --git a/MDK-ARM/hero/cmsis_os2.o b/MDK-ARM/hero/cmsis_os2.o
deleted file mode 100644
index e695a78..0000000
Binary files a/MDK-ARM/hero/cmsis_os2.o and /dev/null differ
diff --git a/MDK-ARM/hero/config.d b/MDK-ARM/hero/config.d
deleted file mode 100644
index c73cfc4..0000000
--- a/MDK-ARM/hero/config.d
+++ /dev/null
@@ -1,60 +0,0 @@
-hero/config.o: ..\User\module\config.c ..\User\module\config.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_rm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\device\motor_dm.h \
-  ..\User\module\chassis.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\filter.h ..\User\component\mixer.h \
-  ..\User\component\pid.h ..\User\component\ahrs.h ..\User\module\cmd.h
diff --git a/MDK-ARM/hero/config.o b/MDK-ARM/hero/config.o
deleted file mode 100644
index 69837f7..0000000
Binary files a/MDK-ARM/hero/config.o and /dev/null differ
diff --git a/MDK-ARM/hero/croutine.d b/MDK-ARM/hero/croutine.d
deleted file mode 100644
index 973675a..0000000
--- a/MDK-ARM/hero/croutine.d
+++ /dev/null
@@ -1,13 +0,0 @@
-hero/croutine.o: ..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h
diff --git a/MDK-ARM/hero/croutine.o b/MDK-ARM/hero/croutine.o
deleted file mode 100644
index cbbdd9b..0000000
Binary files a/MDK-ARM/hero/croutine.o and /dev/null differ
diff --git a/MDK-ARM/hero/ctrl_chassis.d b/MDK-ARM/hero/ctrl_chassis.d
deleted file mode 100644
index 4167787..0000000
--- a/MDK-ARM/hero/ctrl_chassis.d
+++ /dev/null
@@ -1,60 +0,0 @@
-hero/ctrl_chassis.o: ..\User\task\ctrl_chassis.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\module\chassis.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\filter.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\component\ahrs.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\module\config.h \
-  ..\User\component\pid.h ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\device\motor_dm.h ..\User\module\cmd.h
diff --git a/MDK-ARM/hero/ctrl_chassis.o b/MDK-ARM/hero/ctrl_chassis.o
deleted file mode 100644
index d874fa1..0000000
Binary files a/MDK-ARM/hero/ctrl_chassis.o and /dev/null differ
diff --git a/MDK-ARM/hero/ctrl_gimbal.d b/MDK-ARM/hero/ctrl_gimbal.d
deleted file mode 100644
index 4325aed..0000000
--- a/MDK-ARM/hero/ctrl_gimbal.d
+++ /dev/null
@@ -1,59 +0,0 @@
-hero/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\module\gimbal.h ..\User\component\filter.h \
-  ..\User\component\pid.h ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\module\config.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
-  ..\User\component\filter.h ..\User\component\mixer.h \
-  ..\User\component\pid.h ..\User\component\ahrs.h ..\User\module\cmd.h
diff --git a/MDK-ARM/hero/ctrl_gimbal.o b/MDK-ARM/hero/ctrl_gimbal.o
deleted file mode 100644
index 818f1ba..0000000
Binary files a/MDK-ARM/hero/ctrl_gimbal.o and /dev/null differ
diff --git a/MDK-ARM/hero/ctrl_shoot.d b/MDK-ARM/hero/ctrl_shoot.d
deleted file mode 100644
index 723f0c2..0000000
--- a/MDK-ARM/hero/ctrl_shoot.d
+++ /dev/null
@@ -1,61 +0,0 @@
-hero/ctrl_shoot.o: ..\User\task\ctrl_shoot.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\module\config.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\device\motor_dm.h \
-  ..\User\module\chassis.h ..\User\component\filter.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h ..\User\module\cmd.h
diff --git a/MDK-ARM/hero/ctrl_shoot.o b/MDK-ARM/hero/ctrl_shoot.o
deleted file mode 100644
index 42e5361..0000000
Binary files a/MDK-ARM/hero/ctrl_shoot.o and /dev/null differ
diff --git a/MDK-ARM/hero/event_groups.d b/MDK-ARM/hero/event_groups.d
deleted file mode 100644
index 5ae5928..0000000
--- a/MDK-ARM/hero/event_groups.d
+++ /dev/null
@@ -1,18 +0,0 @@
-hero/event_groups.o: \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h
diff --git a/MDK-ARM/hero/event_groups.o b/MDK-ARM/hero/event_groups.o
deleted file mode 100644
index 09093dc..0000000
Binary files a/MDK-ARM/hero/event_groups.o and /dev/null differ
diff --git a/MDK-ARM/hero/freertos.d b/MDK-ARM/hero/freertos.d
deleted file mode 100644
index cc9c6fc..0000000
--- a/MDK-ARM/hero/freertos.d
+++ /dev/null
@@ -1,48 +0,0 @@
-hero/freertos.o: ..\Core\Src\freertos.c \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
diff --git a/MDK-ARM/hero/freertos.o b/MDK-ARM/hero/freertos.o
deleted file mode 100644
index 5b432c9..0000000
Binary files a/MDK-ARM/hero/freertos.o and /dev/null differ
diff --git a/MDK-ARM/hero/gimbal.d b/MDK-ARM/hero/gimbal.d
deleted file mode 100644
index 111d524..0000000
--- a/MDK-ARM/hero/gimbal.d
+++ /dev/null
@@ -1,55 +0,0 @@
-hero/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\bsp\time.h
diff --git a/MDK-ARM/hero/gimbal.o b/MDK-ARM/hero/gimbal.o
deleted file mode 100644
index 45a6743..0000000
Binary files a/MDK-ARM/hero/gimbal.o and /dev/null differ
diff --git a/MDK-ARM/hero/heap_4.d b/MDK-ARM/hero/heap_4.d
deleted file mode 100644
index cc4a0c1..0000000
--- a/MDK-ARM/hero/heap_4.d
+++ /dev/null
@@ -1,14 +0,0 @@
-hero/heap_4.o: \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
diff --git a/MDK-ARM/hero/heap_4.o b/MDK-ARM/hero/heap_4.o
deleted file mode 100644
index f9b359e..0000000
Binary files a/MDK-ARM/hero/heap_4.o and /dev/null differ
diff --git a/MDK-ARM/hero/hero.build_log.htm b/MDK-ARM/hero/hero.build_log.htm
index 2300427..00c42af 100644
--- a/MDK-ARM/hero/hero.build_log.htm
+++ b/MDK-ARM/hero/hero.build_log.htm
@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero.uvprojx
-Project File Date:  11/12/2025
+Project File Date:  12/05/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@@ -31,31 +31,307 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to
 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'.
-compiling rc.c...
-../User/module/cmd.c(25): warning: enumeration values 'CMD_SRC_NUM' and 'CMD_SRC_ERR' not handled in switch [-Wswitch]
-        switch (source) {
-                ^
-../User/module/cmd.c(102): error: unknown type name 'DR16_DataPC_t'
-    DR16_DataPC_t dr16;
-    ^
-../User/module/cmd.c(105): error: unknown type name 'DR16_DataPC_t'
-    DR16_DataPC_t dr16;
-    ^
-../User/module/cmd.c(121): error: no member named 'dr16' in 'union rc_inputdata_u'
-    pc_data_buffer.dr16= rc_buffer.dr16.data.pc;
-                         ~~~~~~~~~ ^
-../User/module/cmd.c(122): error: no member named 'dr16' in 'union rc_inputdata_u'
-    rc->online = rc->data->dr16.header.online;                    
-                 ~~~~~~~~  ^
-../User/module/cmd.c(131): error: no member named 'dr16' in 'union rc_inputdata_u'
-    pc->online=rc_buffer.dr16.header.online;
-               ~~~~~~~~~ ^
-../User/module/cmd.c(259): error: no member named 'online' in 'AT9S_t'
-        c->output.shoot.cmd.online = at9s_out.online;
-                                     ~~~~~~~~ ^
-1 warning and 6 errors generated.
+../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...
-"hero\hero.axf" - 6 Error(s), 1 Warning(s).
+../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).
 
 <h2>Software Packages used:</h2>
 
@@ -80,7 +356,7 @@ Package Vendor: Keil
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
 Target not created.
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:07
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/hero/hero_hero.dep b/MDK-ARM/hero/hero_hero.dep
index 6ea71b6..514545d 100644
--- a/MDK-ARM/hero/hero_hero.dep
+++ b/MDK-ARM/hero/hero_hero.dep
@@ -43,7 +43,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -100,7 +100,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\task\user_task.h)(0x6932C3FE)
 F (../Core/Src/can.c)(0x690CA972)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/can.o -MD)
 I (..\Core\Inc\can.h)(0x690CA973)
 I (..\Core\Inc\main.h)(0x690CA974)
@@ -404,7 +404,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1191,7 +1191,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1205,7 +1205,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1220,7 +1220,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 F (../Middlewares/Third_Party/FreeRTOS/Source/queue.c)(0x68AD8208)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/queue.o -MD)
@@ -1233,7 +1233,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1247,7 +1247,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1262,7 +1262,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1277,7 +1277,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1295,7 +1295,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1344,11 +1344,11 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x68AD8208)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/port.o -MD)
+F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x00000000)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/port.o -MD)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -1356,7 +1356,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1408,7 +1408,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1503,7 +1503,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 F (..\User\bsp\mm.h)(0x690DC361)()
 F (..\User\bsp\pwm.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/pwm.o -MD)
@@ -1598,7 +1598,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Core\Inc\main.h)(0x690CA974)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1677,8 +1677,8 @@ I (..\User\bsp\uart.h)(0x690DC361)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x690DC361)
 F (..\User\bsp\uart.h)(0x690DC361)()
-F (..\User\device\AT9S_Pro.c)(0x69132759)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/at9s_pro.o -MD)
-I (..\User\device\AT9S_Pro.h)(0x6913274F)
+F (..\User\device\AT9S_Pro.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/at9s_pro.o -MD)
+I (..\User\device\AT9S_Pro.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -1686,7 +1686,7 @@ I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\bsp\uart.h)(0x690DC361)
 I (..\Core\Inc\usart.h)(0x690CA973)
@@ -1724,7 +1724,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\bsp\bsp.h)(0x690DC361)
-F (..\User\device\AT9S_Pro.h)(0x6913274F)()
+F (..\User\device\AT9S_Pro.h)(0x6932C3FE)()
 F (..\User\device\bmi088.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/bmi088.o -MD)
 I (..\User\device\bmi088.h)(0x690DC344)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -1734,7 +1734,7 @@ I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\Core\Inc\gpio.h)(0x690CA970)
 I (..\Core\Inc\main.h)(0x690CA974)
@@ -1777,17 +1777,17 @@ I (..\User\bsp\gpio.h)(0x690DC361)
 I (..\User\bsp\spi.h)(0x690DC361)
 I (..\Core\Inc\spi.h)(0x690CA973)
 F (..\User\device\bmi088.h)(0x690DC344)()
-F (..\User\device\device.h)(0x6911EB88)()
+F (..\User\device\device.h)(0x6932C3FE)()
 F (..\User\device\motor.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/motor.o -MD)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 F (..\User\device\motor.h)(0x690DC344)()
 F (..\User\device\motor_dm.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/motor_dm.o -MD)
 I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\device\motor.h)(0x690DC344)
@@ -1835,7 +1835,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1849,7 +1849,7 @@ F (..\User\device\motor_dm.h)(0x690DC344)()
 F (..\User\device\motor_rm.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/motor_rm.o -MD)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\bsp\can.h)(0x690DC361)
@@ -1896,7 +1896,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -1950,10 +1950,10 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x690DC361)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 F (..\User\device\vofa.h)(0x690DC344)()
-F (..\User\device\dr16.c)(0x69133E05)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/dr16.o -MD)
-I (..\User\device\dr16.h)(0x69133DC7)
+F (..\User\device\dr16.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/dr16.o -MD)
+I (..\User\device\dr16.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -1961,7 +1961,7 @@ I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\bsp\uart.h)(0x690DC361)
 I (..\Core\Inc\usart.h)(0x690CA973)
 I (..\Core\Inc\main.h)(0x690CA974)
@@ -2000,7 +2000,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\bsp\bsp.h)(0x690DC361)
 I (..\User\bsp\time.h)(0x690DC361)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\device\dr16.h)(0x69133DC7)()
+F (..\User\device\dr16.h)(0x6932C3FE)()
 F (..\User\component\ahrs.c)(0x690DC361)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ahrs.o -MD)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\component\user_math.h)(0x690DD4C7)
@@ -2048,8 +2048,8 @@ I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 F (..\User\component\mixer.h)(0x690DC361)()
-F (..\User\module\config.c)(0x691468DB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/config.o -MD)
-I (..\User\module\config.h)(0x690CA16F)
+F (..\User\module\config.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/config.o -MD)
+I (..\User\module\config.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\component\pid.h)(0x690DC361)
 I (..\User\component\filter.h)(0x690DC361)
@@ -2059,7 +2059,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
@@ -2104,21 +2104,21 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\shoot.h)(0x6932C3FE)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
-I (..\User\module\cmd.h)(0x69134909)
-F (..\User\module\config.h)(0x690CA16F)()
-F (..\User\module\gimbal.c)(0x6900CCBC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/gimbal.o -MD)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\cmd.h)(0x6932C3FE)
+F (..\User\module\config.h)(0x6932C3FE)()
+F (..\User\module\gimbal.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/gimbal.o -MD)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2129,7 +2129,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\component\filter.h)(0x690DC361)
 I (..\User\component\pid.h)(0x690DC361)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\device\motor_dm.h)(0x690DC344)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
@@ -2174,17 +2174,17 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\bsp\time.h)(0x690DC361)
-F (..\User\module\gimbal.h)(0x6900CCBC)()
-F (..\User\module\shoot.c)(0x6911DD87)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/shoot.o -MD)
+F (..\User\module\gimbal.h)(0x6932C3FE)()
+F (..\User\module\shoot.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/shoot.o -MD)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\shoot.h)(0x6911DC53)
+I (..\User\module\shoot.h)(0x6932C3FE)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Core\Inc\main.h)(0x690CA974)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -2228,7 +2228,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
 I (..\User\bsp\bsp.h)(0x690DC361)
@@ -2239,14 +2239,14 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\User\bsp\time.h)(0x690DC361)
-F (..\User\module\shoot.h)(0x6911DC53)()
-F (..\User\module\chassis.c)(0x690C9F73)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/chassis.o -MD)
+F (..\User\module\shoot.h)(0x6932C3FE)()
+F (..\User\module\chassis.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/chassis.o -MD)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2295,7 +2295,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -2305,86 +2305,16 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\device\device.h)(0x6932C3FE)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\filter.h)(0x690DC361)
 I (..\User\component\mixer.h)(0x690DC361)
 I (..\User\component\pid.h)(0x690DC361)
-F (..\User\module\chassis.h)(0x690C9F84)()
-F (..\User\module\cmd.c)(0x69146A45)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/cmd.o -MD)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\cmd.h)(0x69134909)
-I (..\User\module\chassis.h)(0x690C9F84)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\bsp\can.h)(0x690DC361)
-I (..\Core\Inc\can.h)(0x690CA973)
-I (..\Core\Inc\main.h)(0x690CA974)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x690CA974)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\User\bsp\bsp.h)(0x690DC361)
-I (..\User\bsp\mm.h)(0x690DC361)
-I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\component\filter.h)(0x690DC361)
-I (..\User\component\user_math.h)(0x690DD4C7)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\component\mixer.h)(0x690DC361)
-I (..\User\component\pid.h)(0x690DC361)
-I (..\User\component\ahrs.h)(0x690DC361)
-I (..\User\device\motor_rm.h)(0x690DC344)
-I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
-I (..\User\module\gimbal.h)(0x6900CCBC)
-I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\device\at9s_pro.h)(0x6913274F)
-I (..\User\device\vt13.h)(0x69133181)
-I (..\User\bsp\time.h)(0x690DC361)
-F (..\User\module\cmd.h)(0x69134909)()
+F (..\User\module\chassis.h)(0x6932C3FE)()
+F (..\User\module\cmd.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/cmd.o -MD)
+F (..\User\module\cmd.h)(0x6932C3FE)()
 F (..\User\task\atti_esti.c)(0x6900CCBC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/atti_esti.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2393,7 +2323,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -2442,19 +2372,19 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\component\pid.h)(0x690DC361)
 I (..\User\component\filter.h)(0x690DC361)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\device\motor_dm.h)(0x690DC344)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\User\device\motor_rm.h)(0x690DC344)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
 I (..\User\device\bmi088.h)(0x690DC344)
-F (..\User\task\init.c)(0x69132AA7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/init.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+F (..\User\task\init.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/init.o -MD)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2463,18 +2393,18 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\device\dr16.h)(0x69133DC7)
+I (..\User\device\dr16.h)(0x6932C3FE)
 I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
-I (..\User\device\at9s_pro.h)(0x6913274F)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\device\device.h)(0x6932C3FE)
+I (..\User\device\at9s_pro.h)(0x6932C3FE)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\component\filter.h)(0x690DC361)
 I (..\User\component\pid.h)(0x690DC361)
@@ -2519,11 +2449,11 @@ I (..\User\bsp\bsp.h)(0x690DC361)
 I (..\User\bsp\mm.h)(0x690DC361)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\User\device\motor_rm.h)(0x690DC344)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\shoot.h)(0x6932C3FE)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
-F (..\User\task\rc.c)(0x69146A45)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/rc.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+F (..\User\task\rc.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/rc.o -MD)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2532,18 +2462,18 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\device\at9s_pro.h)(0x6913274F)
+I (..\User\device\at9s_pro.h)(0x6932C3FE)
 I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 F (..\User\task\user_task.c)(0x6900CCBC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/user_task.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2552,13 +2482,13 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-F (..\User\task\user_task.h)(0x690DF200)()
+F (..\User\task\user_task.h)(0x6932C3FE)()
 F (..\User\task\blink.c)(0x6900CCBC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/blink.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2567,7 +2497,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -2608,8 +2538,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\bsp\bsp.h)(0x690DC361)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-F (..\User\task\ctrl_chassis.c)(0x6911D91D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ctrl_chassis.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+F (..\User\task\ctrl_chassis.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ctrl_chassis.o -MD)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2618,11 +2548,11 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
 I (..\Core\Inc\main.h)(0x690CA974)
@@ -2671,14 +2601,14 @@ I (..\User\component\pid.h)(0x690DC361)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
-I (..\User\module\config.h)(0x690CA16F)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\device\device.h)(0x6932C3FE)
+I (..\User\module\config.h)(0x6932C3FE)
+I (..\User\module\shoot.h)(0x6932C3FE)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\module\cmd.h)(0x69134909)
+I (..\User\module\cmd.h)(0x6932C3FE)
 F (..\User\task\ctrl_gimbal.c)(0x6900CCBC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ctrl_gimbal.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2687,7 +2617,7 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
@@ -2696,11 +2626,11 @@ I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\filter.h)(0x690DC361)
 I (..\User\component\pid.h)(0x690DC361)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\device\motor_dm.h)(0x690DC344)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
@@ -2741,13 +2671,13 @@ I (..\User\bsp\bsp.h)(0x690DC361)
 I (..\User\bsp\mm.h)(0x690DC361)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\User\device\motor_rm.h)(0x690DC344)
-I (..\User\module\config.h)(0x690CA16F)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\config.h)(0x6932C3FE)
+I (..\User\module\shoot.h)(0x6932C3FE)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
-I (..\User\module\cmd.h)(0x69134909)
-F (..\User\task\ctrl_shoot.c)(0x691325FA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ctrl_shoot.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\module\cmd.h)(0x6932C3FE)
+F (..\User\task\ctrl_shoot.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/ctrl_shoot.o -MD)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2756,11 +2686,11 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\module\shoot.h)(0x6911DC53)
+I (..\User\module\shoot.h)(0x6932C3FE)
 I (..\Core\Inc\main.h)(0x690CA974)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x690CA974)
@@ -2802,21 +2732,21 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\device\motor_rm.h)(0x690DC344)
 I (..\User\device\motor.h)(0x690DC344)
-I (..\User\device\device.h)(0x6911EB88)
+I (..\User\device\device.h)(0x6932C3FE)
 I (..\User\bsp\can.h)(0x690DC361)
 I (..\Core\Inc\can.h)(0x690CA973)
 I (..\User\bsp\bsp.h)(0x690DC361)
 I (..\User\bsp\mm.h)(0x690DC361)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-I (..\User\module\config.h)(0x690CA16F)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\config.h)(0x6932C3FE)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
-I (..\User\module\cmd.h)(0x69134909)
-F (..\User\task\cmd.c)(0x69132ADB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/cmd_1.o -MD)
-I (..\User\task\user_task.h)(0x690DF200)
+I (..\User\module\cmd.h)(0x6932C3FE)
+F (..\User\task\cmd.c)(0x6932C3FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_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/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_hero

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o hero/cmd_1.o -MD)
+I (..\User\task\user_task.h)(0x6932C3FE)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2825,18 +2755,18 @@ I (..\Core\Inc\FreeRTOSConfig.h)(0x690CA972)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\device\dr16.h)(0x69133DC7)
+I (..\User\device\dr16.h)(0x6932C3FE)
 I (..\User\component\user_math.h)(0x690DD4C7)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x6911EB88)
-I (..\User\device\at9s_pro.h)(0x6913274F)
-I (..\User\module\config.h)(0x690CA16F)
+I (..\User\device\device.h)(0x6932C3FE)
+I (..\User\device\at9s_pro.h)(0x6932C3FE)
+I (..\User\module\config.h)(0x6932C3FE)
 I (..\User\component\pid.h)(0x690DC361)
 I (..\User\component\filter.h)(0x690DC361)
 I (..\User\device\motor.h)(0x690DC344)
@@ -2879,10 +2809,10 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\bsp\bsp.h)(0x690DC361)
 I (..\User\bsp\mm.h)(0x690DC361)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-I (..\User\module\shoot.h)(0x6911DC53)
-I (..\User\module\gimbal.h)(0x6900CCBC)
+I (..\User\module\shoot.h)(0x6932C3FE)
+I (..\User\module\gimbal.h)(0x6932C3FE)
 I (..\User\component\ahrs.h)(0x690DC361)
 I (..\User\device\motor_dm.h)(0x690DC344)
-I (..\User\module\chassis.h)(0x690C9F84)
+I (..\User\module\chassis.h)(0x6932C3FE)
 I (..\User\component\mixer.h)(0x690DC361)
-I (..\User\module\cmd.h)(0x69134909)
+I (..\User\module\cmd.h)(0x6932C3FE)
diff --git a/MDK-ARM/hero/init.d b/MDK-ARM/hero/init.d
deleted file mode 100644
index 7a19a8a..0000000
--- a/MDK-ARM/hero/init.d
+++ /dev/null
@@ -1,61 +0,0 @@
-hero/init.o: ..\User\task\init.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\device\dr16.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\device.h ..\User\device\at9s_pro.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\device\motor.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\User\module\chassis.h ..\User\component\filter.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h
diff --git a/MDK-ARM/hero/init.o b/MDK-ARM/hero/init.o
deleted file mode 100644
index d130a40..0000000
Binary files a/MDK-ARM/hero/init.o and /dev/null differ
diff --git a/MDK-ARM/hero/list.d b/MDK-ARM/hero/list.d
deleted file mode 100644
index 2bc2c84..0000000
--- a/MDK-ARM/hero/list.d
+++ /dev/null
@@ -1,12 +0,0 @@
-hero/list.o: ..\Middlewares\Third_Party\FreeRTOS\Source\list.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
diff --git a/MDK-ARM/hero/list.o b/MDK-ARM/hero/list.o
deleted file mode 100644
index bc8ea78..0000000
Binary files a/MDK-ARM/hero/list.o and /dev/null differ
diff --git a/MDK-ARM/hero/main.d b/MDK-ARM/hero/main.d
deleted file mode 100644
index bada505..0000000
--- a/MDK-ARM/hero/main.d
+++ /dev/null
@@ -1,49 +0,0 @@
-hero/main.o: ..\Core\Src\main.c ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h ..\Core\Inc\dma.h \
-  ..\Core\Inc\i2c.h ..\Core\Inc\spi.h ..\Core\Inc\tim.h \
-  ..\Core\Inc\usart.h ..\Core\Inc\gpio.h
diff --git a/MDK-ARM/hero/main.o b/MDK-ARM/hero/main.o
deleted file mode 100644
index f05cb1e..0000000
Binary files a/MDK-ARM/hero/main.o and /dev/null differ
diff --git a/MDK-ARM/hero/mm.d b/MDK-ARM/hero/mm.d
deleted file mode 100644
index 15bfeac..0000000
--- a/MDK-ARM/hero/mm.d
+++ /dev/null
@@ -1,10 +0,0 @@
-hero/mm.o: ..\User\bsp\mm.c ..\User\bsp\mm.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h
diff --git a/MDK-ARM/hero/mm.o b/MDK-ARM/hero/mm.o
deleted file mode 100644
index 2a376e3..0000000
Binary files a/MDK-ARM/hero/mm.o and /dev/null differ
diff --git a/MDK-ARM/hero/motor_dm.d b/MDK-ARM/hero/motor_dm.d
deleted file mode 100644
index c5f0a68..0000000
--- a/MDK-ARM/hero/motor_dm.d
+++ /dev/null
@@ -1,54 +0,0 @@
-hero/motor_dm.o: ..\User\device\motor_dm.c ..\User\device\motor_dm.h \
-  ..\User\device\device.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\bsp\time.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero/motor_dm.o b/MDK-ARM/hero/motor_dm.o
deleted file mode 100644
index 20afaee..0000000
Binary files a/MDK-ARM/hero/motor_dm.o and /dev/null differ
diff --git a/MDK-ARM/hero/motor_rm.d b/MDK-ARM/hero/motor_rm.d
deleted file mode 100644
index 0800ada..0000000
--- a/MDK-ARM/hero/motor_rm.d
+++ /dev/null
@@ -1,54 +0,0 @@
-hero/motor_rm.o: ..\User\device\motor_rm.c ..\User\device\motor_rm.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h \
-  ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h
diff --git a/MDK-ARM/hero/motor_rm.o b/MDK-ARM/hero/motor_rm.o
deleted file mode 100644
index 4f18681..0000000
Binary files a/MDK-ARM/hero/motor_rm.o and /dev/null differ
diff --git a/MDK-ARM/hero/port.o b/MDK-ARM/hero/port.o
deleted file mode 100644
index c29a740..0000000
Binary files a/MDK-ARM/hero/port.o and /dev/null differ
diff --git a/MDK-ARM/hero/queue.d b/MDK-ARM/hero/queue.d
deleted file mode 100644
index 6a99215..0000000
--- a/MDK-ARM/hero/queue.d
+++ /dev/null
@@ -1,16 +0,0 @@
-hero/queue.o: ..\Middlewares\Third_Party\FreeRTOS\Source\queue.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h
diff --git a/MDK-ARM/hero/queue.o b/MDK-ARM/hero/queue.o
deleted file mode 100644
index 4c69229..0000000
Binary files a/MDK-ARM/hero/queue.o and /dev/null differ
diff --git a/MDK-ARM/hero/rc.d b/MDK-ARM/hero/rc.d
deleted file mode 100644
index 0428422..0000000
--- a/MDK-ARM/hero/rc.d
+++ /dev/null
@@ -1,18 +0,0 @@
-hero/rc.o: ..\User\task\rc.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\device\at9s_pro.h ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\device.h
diff --git a/MDK-ARM/hero/rc.o b/MDK-ARM/hero/rc.o
deleted file mode 100644
index 868ee32..0000000
Binary files a/MDK-ARM/hero/rc.o and /dev/null differ
diff --git a/MDK-ARM/hero/shoot.d b/MDK-ARM/hero/shoot.d
deleted file mode 100644
index 69016f1..0000000
--- a/MDK-ARM/hero/shoot.d
+++ /dev/null
@@ -1,57 +0,0 @@
-hero/shoot.o: ..\User\module\shoot.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
-  ..\User\module\shoot.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\bsp\time.h
diff --git a/MDK-ARM/hero/shoot.o b/MDK-ARM/hero/shoot.o
deleted file mode 100644
index 170223c..0000000
Binary files a/MDK-ARM/hero/shoot.o and /dev/null differ
diff --git a/MDK-ARM/hero/stm32f4xx_it.d b/MDK-ARM/hero/stm32f4xx_it.d
deleted file mode 100644
index 4230157..0000000
--- a/MDK-ARM/hero/stm32f4xx_it.d
+++ /dev/null
@@ -1,47 +0,0 @@
-hero/stm32f4xx_it.o: ..\Core\Src\stm32f4xx_it.c ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\Core\Inc\stm32f4xx_it.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\bsp\uart.h ..\Core\Inc\usart.h ..\Core\Inc\main.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\bsp.h
diff --git a/MDK-ARM/hero/stm32f4xx_it.o b/MDK-ARM/hero/stm32f4xx_it.o
deleted file mode 100644
index 1ec6dd3..0000000
Binary files a/MDK-ARM/hero/stm32f4xx_it.o and /dev/null differ
diff --git a/MDK-ARM/hero/stream_buffer.d b/MDK-ARM/hero/stream_buffer.d
deleted file mode 100644
index 312fdb3..0000000
--- a/MDK-ARM/hero/stream_buffer.d
+++ /dev/null
@@ -1,15 +0,0 @@
-hero/stream_buffer.o: \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h
diff --git a/MDK-ARM/hero/stream_buffer.o b/MDK-ARM/hero/stream_buffer.o
deleted file mode 100644
index c6ad84d..0000000
Binary files a/MDK-ARM/hero/stream_buffer.o and /dev/null differ
diff --git a/MDK-ARM/hero/tasks.d b/MDK-ARM/hero/tasks.d
deleted file mode 100644
index 9313802..0000000
--- a/MDK-ARM/hero/tasks.d
+++ /dev/null
@@ -1,17 +0,0 @@
-hero/tasks.o: ..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h
diff --git a/MDK-ARM/hero/tasks.o b/MDK-ARM/hero/tasks.o
deleted file mode 100644
index 7ea156e..0000000
Binary files a/MDK-ARM/hero/tasks.o and /dev/null differ
diff --git a/MDK-ARM/hero/time.d b/MDK-ARM/hero/time.d
deleted file mode 100644
index b1c92bd..0000000
--- a/MDK-ARM/hero/time.d
+++ /dev/null
@@ -1,46 +0,0 @@
-hero/time.o: ..\User\bsp\time.c ..\User\bsp\time.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\bsp\bsp.h \
-  ..\User\bsp\bsp.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
diff --git a/MDK-ARM/hero/time.o b/MDK-ARM/hero/time.o
deleted file mode 100644
index 0f75f93..0000000
Binary files a/MDK-ARM/hero/time.o and /dev/null differ
diff --git a/MDK-ARM/hero/timers.d b/MDK-ARM/hero/timers.d
deleted file mode 100644
index f8c73cb..0000000
--- a/MDK-ARM/hero/timers.d
+++ /dev/null
@@ -1,16 +0,0 @@
-hero/timers.o: ..\Middlewares\Third_Party\FreeRTOS\Source\timers.c \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h
diff --git a/MDK-ARM/hero/timers.o b/MDK-ARM/hero/timers.o
deleted file mode 100644
index 04816cf..0000000
Binary files a/MDK-ARM/hero/timers.o and /dev/null differ
diff --git a/MDK-ARM/hero/user_task.d b/MDK-ARM/hero/user_task.d
deleted file mode 100644
index 0931cba..0000000
--- a/MDK-ARM/hero/user_task.d
+++ /dev/null
@@ -1,13 +0,0 @@
-hero/user_task.o: ..\User\task\user_task.c ..\User\task\user_task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
diff --git a/MDK-ARM/hero/user_task.o b/MDK-ARM/hero/user_task.o
deleted file mode 100644
index f2dd3f8..0000000
Binary files a/MDK-ARM/hero/user_task.o and /dev/null differ