From 21fd13e6c3a846d4b409173ca88f738201fd46b7 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Fri, 26 Sep 2025 15:09:20 +0800
Subject: [PATCH] =?UTF-8?q?=E7=94=B5=E6=9C=BA=E4=BF=AE=E5=A5=BD=E4=BA=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CMakeLists.txt                                |   4 +-
 MDK-ARM/DevC.uvprojx                          |   4 +-
 MDK-ARM/DevC/DevC.lnp                         | 192 ++++----
 User/device/motor_lz.c                        |   1 +
 User/module/balance_chassis.c                 |  35 +-
 User/module/config.c                          |  18 +-
 build.ninja                                   | 451 ++++++++++++------
 compile_commands.json                         | 246 +++++++++-
 .../module => utils}/mod_wheelleg_chassis.cpp |   0
 9 files changed, 649 insertions(+), 302 deletions(-)
 rename {User/module => utils}/mod_wheelleg_chassis.cpp (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4c18279..1755f05 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,10 +71,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/dm_imu.c
     User/device/dr16.c
     User/device/motor.c
-    User/device/motor_lk.c
     User/device/motor_dm.c
-    User/device/motor_rm.c
+    User/device/motor_lk.c
     User/device/motor_lz.c
+    User/device/motor_rm.c
 
     # User/module sources
     User/module/balance_chassis.c
diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx
index 6257dff..f03a6b2 100644
--- a/MDK-ARM/DevC.uvprojx
+++ b/MDK-ARM/DevC.uvprojx
@@ -49,7 +49,7 @@
             <NotGenerated>0</NotGenerated>
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
-          <OutputDirectory>DevC\</OutputDirectory>
+          <OutputDirectory>.\DevC\</OutputDirectory>
           <OutputName>DevC</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
@@ -82,7 +82,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>1</RunUserProg2>
+            <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
diff --git a/MDK-ARM/DevC/DevC.lnp b/MDK-ARM/DevC/DevC.lnp
index db4e409..455e580 100644
--- a/MDK-ARM/DevC/DevC.lnp
+++ b/MDK-ARM/DevC/DevC.lnp
@@ -1,99 +1,99 @@
 --cpu=Cortex-M4.fp.sp
-"devc\startup_stm32f407xx.o"
-"devc\main.o"
-"devc\gpio.o"
-"devc\freertos.o"
-"devc\adc.o"
-"devc\can.o"
-"devc\crc.o"
-"devc\dma.o"
-"devc\i2c.o"
-"devc\rng.o"
-"devc\spi.o"
-"devc\tim.o"
-"devc\usart.o"
-"devc\stm32f4xx_it.o"
-"devc\stm32f4xx_hal_msp.o"
-"devc\usb_device.o"
-"devc\usbd_desc.o"
-"devc\usbd_cdc_if.o"
-"devc\usbd_conf.o"
-"devc\stm32f4xx_hal_pcd.o"
-"devc\stm32f4xx_hal_pcd_ex.o"
-"devc\stm32f4xx_ll_usb.o"
-"devc\stm32f4xx_hal_rcc.o"
-"devc\stm32f4xx_hal_rcc_ex.o"
-"devc\stm32f4xx_hal_flash.o"
-"devc\stm32f4xx_hal_flash_ex.o"
-"devc\stm32f4xx_hal_flash_ramfunc.o"
-"devc\stm32f4xx_hal_gpio.o"
-"devc\stm32f4xx_hal_dma_ex.o"
-"devc\stm32f4xx_hal_dma.o"
-"devc\stm32f4xx_hal_pwr.o"
-"devc\stm32f4xx_hal_pwr_ex.o"
-"devc\stm32f4xx_hal_cortex.o"
-"devc\stm32f4xx_hal.o"
-"devc\stm32f4xx_hal_exti.o"
-"devc\stm32f4xx_hal_adc.o"
-"devc\stm32f4xx_hal_adc_ex.o"
-"devc\stm32f4xx_ll_adc.o"
-"devc\stm32f4xx_hal_can.o"
-"devc\stm32f4xx_hal_crc.o"
-"devc\stm32f4xx_hal_i2c.o"
-"devc\stm32f4xx_hal_i2c_ex.o"
-"devc\stm32f4xx_hal_rng.o"
-"devc\stm32f4xx_hal_spi.o"
-"devc\stm32f4xx_hal_tim.o"
-"devc\stm32f4xx_hal_tim_ex.o"
-"devc\stm32f4xx_hal_uart.o"
-"devc\system_stm32f4xx.o"
-"devc\croutine.o"
-"devc\event_groups.o"
-"devc\list.o"
-"devc\queue.o"
-"devc\stream_buffer.o"
-"devc\tasks.o"
-"devc\timers.o"
-"devc\cmsis_os2.o"
-"devc\heap_4.o"
-"devc\port.o"
-"devc\usbd_core.o"
-"devc\usbd_ctlreq.o"
-"devc\usbd_ioreq.o"
-"devc\usbd_cdc.o"
-"devc\can_1.o"
-"devc\dwt.o"
-"devc\gpio_1.o"
-"devc\mm.o"
-"devc\pwm.o"
-"devc\spi_1.o"
-"devc\time.o"
-"devc\uart.o"
-"devc\ahrs.o"
-"devc\cmd.o"
-"devc\filter.o"
-"devc\limiter.o"
-"devc\pid.o"
-"devc\user_math.o"
-"devc\kinematics.o"
-"devc\lqr.o"
-"devc\vmc.o"
-"devc\buzzer.o"
-"devc\dm_imu.o"
-"devc\dr16.o"
-"devc\motor.o"
-"devc\motor_lk.o"
-"devc\motor_lz.o"
-"devc\config.o"
-"devc\balance_chassis.o"
-"devc\blink.o"
-"devc\init.o"
-"devc\rc.o"
-"devc\user_task.o"
-"devc\atti_esti.o"
-"devc\ctrl_chassis.o"
-"devc\ctrl_gimbal.o"
---strict --scatter "DevC\DevC.sct"
+".\devc\startup_stm32f407xx.o"
+".\devc\main.o"
+".\devc\gpio.o"
+".\devc\freertos.o"
+".\devc\adc.o"
+".\devc\can.o"
+".\devc\crc.o"
+".\devc\dma.o"
+".\devc\i2c.o"
+".\devc\rng.o"
+".\devc\spi.o"
+".\devc\tim.o"
+".\devc\usart.o"
+".\devc\stm32f4xx_it.o"
+".\devc\stm32f4xx_hal_msp.o"
+".\devc\usb_device.o"
+".\devc\usbd_desc.o"
+".\devc\usbd_cdc_if.o"
+".\devc\usbd_conf.o"
+".\devc\stm32f4xx_hal_pcd.o"
+".\devc\stm32f4xx_hal_pcd_ex.o"
+".\devc\stm32f4xx_ll_usb.o"
+".\devc\stm32f4xx_hal_rcc.o"
+".\devc\stm32f4xx_hal_rcc_ex.o"
+".\devc\stm32f4xx_hal_flash.o"
+".\devc\stm32f4xx_hal_flash_ex.o"
+".\devc\stm32f4xx_hal_flash_ramfunc.o"
+".\devc\stm32f4xx_hal_gpio.o"
+".\devc\stm32f4xx_hal_dma_ex.o"
+".\devc\stm32f4xx_hal_dma.o"
+".\devc\stm32f4xx_hal_pwr.o"
+".\devc\stm32f4xx_hal_pwr_ex.o"
+".\devc\stm32f4xx_hal_cortex.o"
+".\devc\stm32f4xx_hal.o"
+".\devc\stm32f4xx_hal_exti.o"
+".\devc\stm32f4xx_hal_adc.o"
+".\devc\stm32f4xx_hal_adc_ex.o"
+".\devc\stm32f4xx_ll_adc.o"
+".\devc\stm32f4xx_hal_can.o"
+".\devc\stm32f4xx_hal_crc.o"
+".\devc\stm32f4xx_hal_i2c.o"
+".\devc\stm32f4xx_hal_i2c_ex.o"
+".\devc\stm32f4xx_hal_rng.o"
+".\devc\stm32f4xx_hal_spi.o"
+".\devc\stm32f4xx_hal_tim.o"
+".\devc\stm32f4xx_hal_tim_ex.o"
+".\devc\stm32f4xx_hal_uart.o"
+".\devc\system_stm32f4xx.o"
+".\devc\croutine.o"
+".\devc\event_groups.o"
+".\devc\list.o"
+".\devc\queue.o"
+".\devc\stream_buffer.o"
+".\devc\tasks.o"
+".\devc\timers.o"
+".\devc\cmsis_os2.o"
+".\devc\heap_4.o"
+".\devc\port.o"
+".\devc\usbd_core.o"
+".\devc\usbd_ctlreq.o"
+".\devc\usbd_ioreq.o"
+".\devc\usbd_cdc.o"
+".\devc\can_1.o"
+".\devc\dwt.o"
+".\devc\gpio_1.o"
+".\devc\mm.o"
+".\devc\pwm.o"
+".\devc\spi_1.o"
+".\devc\time.o"
+".\devc\uart.o"
+".\devc\ahrs.o"
+".\devc\cmd.o"
+".\devc\filter.o"
+".\devc\limiter.o"
+".\devc\pid.o"
+".\devc\user_math.o"
+".\devc\kinematics.o"
+".\devc\lqr.o"
+".\devc\vmc.o"
+".\devc\buzzer.o"
+".\devc\dm_imu.o"
+".\devc\dr16.o"
+".\devc\motor.o"
+".\devc\motor_lk.o"
+".\devc\motor_lz.o"
+".\devc\config.o"
+".\devc\balance_chassis.o"
+".\devc\blink.o"
+".\devc\init.o"
+".\devc\rc.o"
+".\devc\user_task.o"
+".\devc\atti_esti.o"
+".\devc\ctrl_chassis.o"
+".\devc\ctrl_gimbal.o"
+--strict --scatter ".\DevC\DevC.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers
---list "DevC.map" -o DevC\DevC.axf
\ No newline at end of file
+--list "DevC.map" -o .\DevC\DevC.axf
\ No newline at end of file
diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c
index eb55f36..59ba153 100644
--- a/User/device/motor_lz.c
+++ b/User/device/motor_lz.c
@@ -378,6 +378,7 @@ int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     
     // 构建扩展ID - 使能命令
+    // 格式: 0x300FF7X, 其中X是motor_id的低4位
     uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id);
     
     // 数据区清零
diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index adda0b1..c9ca0b9 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -14,11 +14,13 @@
  */
 static int8_t Chassis_MotorEnable(Chassis_t *c) {
     if (c == NULL) return CHASSIS_ERR_NULL;
-     BSP_TIME_Delay_us(400);
+    
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_Enable(&c->param->joint_motors[i]);
     }
-        BSP_TIME_Delay_us(200);
+
+    BSP_TIME_Delay_us(200);
+
     for (int i = 0; i < 2; i++) {
         MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
     }
@@ -121,7 +123,7 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq){
         MOTOR_LK_Register(&c->param->wheel_motors[i]);
     }
 
-    Chassis_MotorEnable(c);
+    // Chassis_MotorEnable(c);
     
     /*初始化VMC控制器*/
     VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
@@ -262,14 +264,14 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
             fn = -20.0f;
 
 
-            tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
-            tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
+            // tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
+            // tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
 
             VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
             VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
-
+            // Chassis_MotorEnable(c);
             c->output.wheel[0] = 0.0f;
             c->output.wheel[1] = 0.0f;
             Chassis_Output(c); // 统一输出
@@ -330,18 +332,15 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
 
 void Chassis_Output(Chassis_t *c) {
     if (c == NULL) return;
-
-
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_MotionParam_t param = {0};
         param.torque = c->output.joint[i].torque;
         MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
     }
     BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
-
     for (int i = 0; i < 2; i++) {
-        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
-        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
+        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
+        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
     }
     
 
@@ -381,7 +380,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     xhat = c->chassis_state.position_x;
     
     // 目标设定
-    target_dot_x = c_cmd->move_vec.vx;
+    target_dot_x = c_cmd->move_vec.vx*2;
     // target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
     c->chassis_state.target_x += target_dot_x * c->dt;
     
@@ -405,7 +404,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         target_state.d_theta = 0.0f; // 目标摆杆角速度
         // target_state.x = 0; // 目标位置
         // target_state.d_x = 0.0f; // 目标速度
-        target_state.phi = -0.2f; // 目标俯仰角
+        target_state.phi = -0.1f; // 目标俯仰角
         target_state.d_phi = 0.0f; // 目标俯仰角速度
         // target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
         // target_state.d_theta = 0.0f; // 目标摆杆角速度
@@ -474,8 +473,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol, c->feedback.imu.gyro.x, c->dt);
     
     // 目标腿长设定
-    target_L0[0] = 0.15f + c_cmd->height * 0.01f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
-    target_L0[1] = 0.15f + c_cmd->height * 0.01f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
+    target_L0[0] = 0.15f + c_cmd->height * 0.2f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
+    target_L0[1] = 0.15f + c_cmd->height * 0.2f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
     
     // 获取腿长变化率
     VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
@@ -495,7 +494,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         
         // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
         virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) + 
-                            pid_output + 20.0f;
+                            pid_output + 25.0f;
                             //  + // PID腿长控制输出
                             // 45.0f; // 基础支撑力
         
@@ -503,8 +502,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         // virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败
         // Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
         // Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
-        // if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
-        if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
+        if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
+        // if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
             if (leg == 0) {
                 VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
             } else {
diff --git a/User/module/config.c b/User/module/config.c
index a255515..ca2b67f 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -25,7 +25,7 @@ Config_RobotParam_t robot_config = {
     .joint_motors[0] = { // 左膝关节
         .can = BSP_CAN_1,
         .motor_id = 124,
-        .host_id = 130,
+        .host_id = 0XFF,
         .module = MOTOR_LZ_RSO3,
         .reverse = false,
         .mode = MOTOR_LZ_MODE_MOTION,
@@ -33,7 +33,7 @@ Config_RobotParam_t robot_config = {
     .joint_motors[1] = { // 左髋关节
         .can = BSP_CAN_1,
         .motor_id = 125,
-        .host_id = 130,
+        .host_id = 0XFF,
         .module = MOTOR_LZ_RSO3,
         .reverse = false,
         .mode = MOTOR_LZ_MODE_MOTION,
@@ -41,7 +41,7 @@ Config_RobotParam_t robot_config = {
     .joint_motors[2] = { // 右髋关节
         .can = BSP_CAN_1,
         .motor_id = 126,
-        .host_id = 130,
+        .host_id = 0XFF,
         .module = MOTOR_LZ_RSO3,
         .reverse = false,
         .mode = MOTOR_LZ_MODE_MOTION,
@@ -49,7 +49,7 @@ Config_RobotParam_t robot_config = {
     .joint_motors[3] = { // 右膝关节
         .can = BSP_CAN_1,
         .motor_id = 127,
-        .host_id = 130,
+        .host_id = 0XFF,
         .module = MOTOR_LZ_RSO3,
         .reverse = false,
         .mode = MOTOR_LZ_MODE_MOTION,
@@ -92,7 +92,7 @@ Config_RobotParam_t robot_config = {
 
         .leg_length={
             .k = 20.0f,
-            .p = 1.0f,
+            .p = 10.0f,
             .i = 0.0f,
             .d = 0.0f,
             .i_limit = 0.0f,
@@ -131,7 +131,7 @@ Config_RobotParam_t robot_config = {
             { // 左髋关节
                 .can = BSP_CAN_1,
                 .motor_id = 124,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = false,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -139,7 +139,7 @@ Config_RobotParam_t robot_config = {
             { // 左膝关节
                 .can = BSP_CAN_1,
                 .motor_id = 125,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = false,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -147,7 +147,7 @@ Config_RobotParam_t robot_config = {
             { // 右膝关节
                 .can = BSP_CAN_1,
                 .motor_id = 126,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = true,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -155,7 +155,7 @@ Config_RobotParam_t robot_config = {
             { // 右髋关节
                 .can = BSP_CAN_1,
                 .motor_id = 127,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = true,
                 .mode = MOTOR_LZ_MODE_MOTION,
diff --git a/build.ninja b/build.ninja
index 9d82baa..c63ebac 100644
--- a/build.ninja
+++ b/build.ninja
@@ -53,211 +53,441 @@ build CMakeFiles/DevC.dir/USB_DEVICE/Target/usbd_conf.c.o: C_COMPILER__DevC_unsc
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   FLAGS = -g -std=gnu11 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX15.5.sdk -mmacosx-version-min=15.3
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+  INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/User -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles/DevC.dir
   OBJECT_FILE_DIR = CMakeFiles/DevC.dir/USB_DEVICE/Target
-  TARGET_COMPILE_PDB = CMakeFiles/DevC.dir/
-  TARGET_PDB = DevC.pdb
 
 build CMakeFiles/DevC.dir/USB_DEVICE/App/usb_device.c.o: C_COMPILER__DevC_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/USB_DEVICE/App/usb_device.c || cmake_object_order_depends_target_DevC
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+  INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/User -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
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   OBJECT_FILE_DIR = CMakeFiles/DevC.dir/USB_DEVICE/App
-  TARGET_COMPILE_PDB = CMakeFiles/DevC.dir/
-  TARGET_PDB = DevC.pdb
 
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   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles/DevC.dir/USB_DEVICE/App/usbd_desc.c.o.d
   FLAGS = -g -std=gnu11 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX15.5.sdk -mmacosx-version-min=15.3
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+  INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/User -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = CMakeFiles/DevC.dir
   OBJECT_FILE_DIR = CMakeFiles/DevC.dir/USB_DEVICE/App
-  TARGET_COMPILE_PDB = CMakeFiles/DevC.dir/
-  TARGET_PDB = DevC.pdb
 
 build CMakeFiles/DevC.dir/USB_DEVICE/App/usbd_cdc_if.c.o: C_COMPILER__DevC_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/USB_DEVICE/App/usbd_cdc_if.c || cmake_object_order_depends_target_DevC
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
   DEP_FILE = CMakeFiles/DevC.dir/USB_DEVICE/App/usbd_cdc_if.c.o.d
   FLAGS = -g -std=gnu11 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX15.5.sdk -mmacosx-version-min=15.3
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+  INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/User -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
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   DEP_FILE = CMakeFiles/DevC.dir/Core/Src/main.c.o.d
   FLAGS = -g -std=gnu11 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX15.5.sdk -mmacosx-version-min=15.3
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 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -331,8 +558,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -341,8 +566,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -351,8 +574,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -361,8 +582,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -371,8 +590,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -381,8 +598,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -391,8 +606,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -401,8 +614,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -411,8 +622,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -421,8 +630,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -431,8 +638,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -441,8 +646,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -451,8 +654,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -461,8 +662,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -471,8 +670,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -481,8 +678,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -491,8 +686,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -501,8 +694,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -511,8 +702,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -521,8 +710,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -531,8 +718,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -541,8 +726,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -551,8 +734,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -561,8 +742,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -571,8 +750,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -581,8 +758,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -591,8 +766,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c.o: C_COMPILER__STM32_Drivers_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c || cmake_object_order_depends_target_STM32_Drivers
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -601,8 +774,6 @@ build cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/__/__/Drivers/STM32F4xx_HAL_Driver/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/STM32_Drivers.dir/
-  TARGET_PDB = ""
 
 
 
@@ -627,8 +798,6 @@ build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/S
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Core/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c.o: C_COMPILER__USB_Device_Library_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c || cmake_object_order_depends_target_USB_Device_Library
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -637,8 +806,6 @@ build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/S
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Core/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c.o: C_COMPILER__USB_Device_Library_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c || cmake_object_order_depends_target_USB_Device_Library
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -647,8 +814,6 @@ build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/S
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Core/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c.o: C_COMPILER__USB_Device_Library_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c || cmake_object_order_depends_target_USB_Device_Library
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -657,8 +822,6 @@ build cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/S
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/__/__/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/USB_Device_Library.dir/
-  TARGET_PDB = ""
 
 
 
@@ -683,8 +846,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -693,8 +854,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/list.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/list.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -703,8 +862,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/queue.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/queue.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -713,8 +870,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -723,8 +878,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/tasks.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/tasks.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -733,8 +886,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/timers.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/timers.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -743,8 +894,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -753,8 +902,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -763,8 +910,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c.o: C_COMPILER__FreeRTOS_unscanned_Debug /Users/lvzucheng/Documents/R/balance_infantry/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c || cmake_object_order_depends_target_FreeRTOS
   DEFINES = -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER
@@ -773,8 +918,6 @@ build cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/Fr
   INCLUDES = -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/App -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../USB_DEVICE/Target -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I/Users/lvzucheng/Documents/R/balance_infantry/cmake/stm32cubemx/../../Drivers/CMSIS/Include
   OBJECT_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir
   OBJECT_FILE_DIR = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/__/__/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
-  TARGET_COMPILE_PDB = cmake/stm32cubemx/CMakeFiles/FreeRTOS.dir/
-  TARGET_PDB = ""
 
 
 
@@ -840,14 +983,14 @@ build cmake/stm32cubemx/all: phony cmake/stm32cubemx/STM32_Drivers cmake/stm32cu
 #############################################
 # Re-run CMake if any of its inputs changed.
 
-build build.ninja: RERUN_CMAKE | /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeASMCompiler.cmake.in /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeASMInformation.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCCompiler.cmake.in /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCCompilerABI.c /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCInformation.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCXXCompiler.cmake.in /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCXXCompilerABI.cpp /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCXXInformation.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCommonLanguageInclude.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeCompilerIdDetection.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineASMCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCXXCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCompileFeatures.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeDetermineSystem.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeFindBinUtils.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeGenericSystem.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeInitializeConfigs.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeLanguageInformation.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeNinjaFindMake.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeParseImplicitIncludeInfo.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeParseImplicitLinkInfo.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeParseLibraryArchitecture.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeSystem.cmake.in /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeSystemSpecificInformation.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeSystemSpecificInitialize.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeTestASMCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeTestCCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeTestCXXCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/CMakeTestCompilerCommon.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/ADSP-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/ARMCC-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/ARMClang-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/AppleClang-ASM.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/AppleClang-C.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/AppleClang-CXX.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/AppleClang-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Borland-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Bruce-C-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/CMakeCommonCompilerMacros.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Clang-ASM.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Clang-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Clang-DetermineCompilerInternal.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Clang.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Compaq-C-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Cray-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/CrayClang-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Embarcadero-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/Fujitsu-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/FujitsuClang-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/GHS-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/GNU-C-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/GNU.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/HP-C-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/HP-CXX-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/IAR-DetermineCompiler.cmake /opt/ST/STM32CubeCLT_1.18.0/CMake/share/cmake-3.28/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake 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   pool = console
 
 
 #############################################
 # A missing CMake input file is not an error.
 
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diff --git a/compile_commands.json b/compile_commands.json
index ba8b490..8fdbf44 100644
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diff --git a/User/module/mod_wheelleg_chassis.cpp b/utils/mod_wheelleg_chassis.cpp
similarity index 100%
rename from User/module/mod_wheelleg_chassis.cpp
rename to utils/mod_wheelleg_chassis.cpp