Signed-off-by: hx <3262531904@qq.com>

20240523

centralCtrSys/Core/Inc/usart.h

@@ -39,7 +39,7 @@ extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart3;
 
 /* USER CODE BEGIN Private defines */
-#define USART4_REC_LEN               (3000)         /* 定义最大接收字节数 200 */
+#define USART4_REC_LEN               (300)         /* 定义最大接收字节数 200 */
 #define USART3_REC_LEN               (300)         /* 定义最大接收字节数 200 */
 
 /* USER CODE END Private defines */

centralCtrSys/Core/Src/EC800.c

@@ -235,9 +235,9 @@ uint8_t EC800_getIMSI(void){
 	found = strstr(g_usart4_rx_buf, AT_RESP_OK);
 
 	if (found != NULL) {
-		printf("IMSI is get\r\n");
+//		printf("IMSI is get\r\n");
 	}else{
-		printf("IMSI is not get\r\n");
+//		printf("IMSI is not get\r\n");
 		return 1;
 	}
 
@@ -255,9 +255,9 @@ uint8_t EC800_getIMSI(void){
 
     if (numberFound) {
 		memcpy(s_messageDate.imsi, number, strlen(number));
-        printf("IMSI is: %s\n", number);
+//        printf("IMSI is: %s\n", number);
     } else {
-        printf("Error: Unable to extract the number\n");
+//        printf("Error: Unable to extract the number\n");
     }
 
 	return 0;
@@ -281,10 +281,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_TEST);
 	
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Module status normal\r\n");
+//				printf("Module status normal\r\n");
 			}else{
 				errrCnt++;
-				printf("Module status abnormal\r\n");
+//				printf("Module status abnormal\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -308,10 +308,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_ATE0);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Cancel module echo\r\n");
+//				printf("Cancel module echo\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to cancel module echo\r\n");
+//				printf("Failed to cancel module echo\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -326,10 +326,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_CPIN);
 
 			if (Accept_and_Compare_Str(AT_RESP_CPIN_READY) == 1) {
-				printf("SIM card normal\r\n");
+//				printf("SIM card normal\r\n");
 			}else{
 				errrCnt++;
-				printf("SIM card abnormal\r\n");
+//				printf("SIM card abnormal\r\n");
 			}
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -347,10 +347,10 @@ void EC800M_link(void){
 			
 			temp = EC800_extractSignal(g_usart4_rx_buf);
 			if (temp) {
-				printf("signal normal\r\n");
+//				printf("signal normal\r\n");
 			}else{
 				errrCnt++;
-				printf("signal abnormal\r\n");
+//				printf("signal abnormal\r\n");
 			}  
 
 			if(errrCnt == 0){
@@ -362,20 +362,11 @@ void EC800M_link(void){
 		case 5:
 			EC800M_SendCommand(AT_CMD_CREG);
 			
-//			EC800_recEnable();
-//			// 使用字符串处理函数判断是否为正常状态
-//		    if (strstr(g_usart4_rx_buf, "1") != NULL || strstr(g_usart4_rx_buf, "5") != NULL) {
-//		        printf("The module successfully registered on the GSM network\r\n");
-//		    } else {
-//		    	errrCnt++;
-//		        printf("The module failed to register on the GSM network\r\n");
-//		    }
-
 			if((Accept_and_Compare_Str("+CREG: 0,1") == 1) || (Accept_and_Compare_Str("+CREG: 0,5") == 1)){
-				 printf("The module successfully registered on the GSM network\r\n");
+//				 printf("The module successfully registered on the GSM network\r\n");
 			}else{
 				errrCnt++;
-		        printf("The module failed to register on the GSM network\r\n");
+//		        printf("The module failed to register on the GSM network\r\n");
 			}
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
 			g_usart4_rx_sta = 0; // 清除接收状态
@@ -390,10 +381,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_QIDEACT);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Successfully disabled mobile scene\r\n");
+//				printf("Successfully disabled mobile scene\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to disable mobile scene\r\n");
+//				printf("Failed to disable mobile scene\r\n");
 			}
 			
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -408,10 +399,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_QIACT);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Successfully enabled mobile scene\r\n");
+//				printf("Successfully enabled mobile scene\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to enable mobile scene\r\n");
+//				printf("Failed to enable mobile scene\r\n");
 			}
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -427,10 +418,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(command);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("MQTT heartbeat set successfully\r\n");
+//				printf("MQTT heartbeat set successfully\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to set MQTT heartbeat\r\n");
+//				printf("Failed to set MQTT heartbeat\r\n");
 			}
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -445,10 +436,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(AT_CMD_QMTCFG_SET_DATA_MODE);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Data receiving mode set successfully.\r\n");
+//				printf("Data receiving mode set successfully.\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to set data receiving mode\r\n");
+//				printf("Failed to set data receiving mode\r\n");
 			}
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -461,25 +452,15 @@ void EC800M_link(void){
 			break;
 		case 10:
 			sprintf(command,"AT+QMTOPEN=0,\"%s\",%d\r\n", s_ec800Date.ip, s_ec800Date.port);
-			EC800M_SendCommand(command);
-
-//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
-//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_QMTOPEN);
-//			
-//			if (found != NULL) {
-//				printf("Successfully opened a network for the module\r\n");
-//			}else{
-//				errrCnt++;
-//				printf("Failed to open a network for the module\r\n");
-//			}		
+			EC800M_SendCommand(command);	
 
 			temp = Accept_and_Compare_Str(AT_RESP_QMTOPEN);
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
 			if (temp == 1) {
-				printf("Successfully opened a network for the module\r\n");
+//				printf("Successfully opened a network for the module\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to open a network for the module\r\n");
+//				printf("Failed to open a network for the module\r\n");
 			}
 
 			if(errrCnt == 0){
@@ -493,10 +474,10 @@ void EC800M_link(void){
 			EC800M_SendCommand(command);
 			
 			if (Accept_and_Compare_Str(AT_RESP_QMTCONN) == 1) {
-				printf("Successfully connected to the MQTT server\r\n");
+//				printf("Successfully connected to the MQTT server\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to connect to the MQTT server\r\n");
+//				printf("Failed to connect to the MQTT server\r\n");
 			}
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -526,10 +507,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPS_0);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Turn off the GNSS module\r\n");
+//				printf("Turn off the GNSS module\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to turn off the GNSS module\r\n");
+//				printf("Failed to turn off the GNSS module\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -544,10 +525,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPS_1);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Turn on the GNSS module\r\n");
+//				printf("Turn on the GNSS module\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to turn on the GNSS module\r\n");
+//				printf("Failed to turn on the GNSS module\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -562,10 +543,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_out_port);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Outputting NMEA Sentences via Serial Debugging\r\n");
+//				printf("Outputting NMEA Sentences via Serial Debugging\r\n");
 			}else{
 				errrCnt++;
-				printf("The NMEA sentence output is set incorrectly\r\n");
+//				printf("The NMEA sentence output is set incorrectly\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -580,10 +561,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_nmeasrc);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Enabling NMEA sentence retrieval via AT+QGPSGNMEA\r\n");
+//				printf("Enabling NMEA sentence retrieval via AT+QGPSGNMEA\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to enable retrieving NMEA sentences via AT+QGPSGNMEA\r\n");
+//				printf("Failed to enable retrieving NMEA sentences via AT+QGPSGNMEA\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -598,10 +579,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_gpsnmeatype);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Configuring the output type of NMEA sentences to all formats\r\n");
+//				printf("Configuring the output type of NMEA sentences to all formats\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to configure the output type of NMEA sentences to all formats\r\n");
+//				printf("Failed to configure the output type of NMEA sentences to all formats\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -616,10 +597,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_gnssconfig);
 			
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Configuring the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
+//				printf("Configuring the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to configure the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
+//				printf("Failed to configure the supported GNSS satellite navigation systems to GPS+BeiDou\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -634,10 +615,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_autogps);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Disable GNSS auto-start\r\n");
+//				printf("Disable GNSS auto-start\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to disable GNSS auto-start\r\n");
+//				printf("Failed to disable GNSS auto-start\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -652,10 +633,10 @@ void EC800_gnss_init(void){
 			EC800M_SendCommand(AT_QGPSCFG_apflash);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Disable AP-Flash quick start function\r\n");
+//				printf("Disable AP-Flash quick start function\r\n");
 			}else{
 				errrCnt++;
-				printf("Failed to disable AP-Flash quick start function\r\n");
+//				printf("Failed to disable AP-Flash quick start function\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
@@ -791,28 +772,24 @@ uint8_t EC800_readGnssDate(void){
 	
 	EC800M_SendCommand(AT_QGPSGNMEA_RMC);
 
-//	EC800_recEnable();
-
-//	found = strstr(g_usart4_rx_buf, AT_RESP_OK);
-
 	if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-		printf("Location information received successfully\r\n");
+//		printf("Location information received successfully\r\n");
 	}else{
-		printf("Location information reception failed\r\n");
+//		printf("Location information reception failed\r\n");
 		return 0;
 	}	
 
-	printf("Location information:%s\r\n", g_usart4_rx_buf);
+//	printf("Location information:%s\r\n", g_usart4_rx_buf);
 
 	NMEA_GNRMC_Analysis(&s_nmea_msg, (uint8_t*)g_usart4_rx_buf);
 	utc_to_local_time(&(s_nmea_msg.utc), 8, &s_nmea_utc_time);
-	printf("timer-%d/%d/%d %d:%d:%d\r\n",s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,s_nmea_utc_time.hour,s_nmea_utc_time.min,s_nmea_utc_time.sec);
+//	printf("timer-%d/%d/%d %d:%d:%d\r\n",s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,s_nmea_utc_time.hour,s_nmea_utc_time.min,s_nmea_utc_time.sec);
 
 	s_messageDate.Timestamp = EC800_mktime(s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,s_nmea_utc_time.hour - 8,s_nmea_utc_time.min,s_nmea_utc_time.sec);
 	
 	g_usart4_rx_sta= 0;
 	memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
-	printf("latitude:%d%d--longitude:%d%d\r\n", s_nmea_msg.latitude, s_nmea_msg.nshemi, s_nmea_msg.longitude, s_nmea_msg.ewhemi);
+//	printf("latitude:%d%d--longitude:%d%d\r\n", s_nmea_msg.latitude, s_nmea_msg.nshemi, s_nmea_msg.longitude, s_nmea_msg.ewhemi);
 
 	/* 尝试获取互斥量，等待无限长时间 */
 	if(osMutexAcquire(s_messageDate_locationHandle, osWaitForever) == osOK)
@@ -848,10 +825,10 @@ uint8_t EC800_subscribeToTopic(const char* topic1){
 	memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
 
 	if (recTemp == 1) {
-		printf("Subscription to the topic successful\r\n");
+//		printf("Subscription to the topic successful\r\n");
 		return 1;
 	}else if (recTemp == 2){
-		printf("Subscription to the topic failed\r\n");
+//		printf("Subscription to the topic failed\r\n");
 		return 0;
 	}
 
@@ -876,36 +853,25 @@ uint8_t EC800_publishMessage(const char* topic, const char* message, uint16_t le
 		case 0:
 			sprintf(command,"AT+QMTPUBEX=0,0,0,0,\"%s\",%d\r\n",topic,len);
 			EC800M_SendCommand(command);
-			
-//			found = EC800M_RecRespond(g_usart4_rx_buf, responseCmd);
 
 			if (Accept_and_Compare_Str(responseCmd) == 1) {
-				printf("The topic has been linked\r\n");
+//				printf("The topic has been linked\r\n");
 				publishStep = 1;
 			}else{
-				printf("The topic link failed\r\n");
+//				printf("The topic link failed\r\n");
 				publishStep = 0;
 			}
 //			break;
 		case 1:
 			EC800M_SendCommand(message);
-//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_OK);
-//			found = EC800M_RecRespond(g_usart3_rx_buf, AT_RESP_QMTPUBEX);
-//			if (found != NULL) {
-//				printf("The message has been successfully posted\r\n");
-//				publishStep = 0;
-//			}else{
-//				printf("Message publication failed\r\n");
-//				publishStep = 0;
-//			}
 
 			recBack = Accept_and_Compare_Str(AT_RESP_QMTPUBEX);
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
 			if (recBack == 1) {
 				publishStep = 0;
-				printf("The message has been successfully posted\r\n");
+//				printf("The message has been successfully posted\r\n");
 			}else{
-				printf("Message publication failed\r\n");
+//				printf("Message publication failed\r\n");
 				publishStep = 0;
 			}	
 			
@@ -1160,12 +1126,12 @@ void parseServerTime(char* str){
 
 	s_messageDate.Timestamp = EC800_mktime(s_recDate.year,s_recDate.month,s_recDate.day,s_recDate.hour - 8,s_recDate.minute,s_recDate.sec);
 
-    printf("Year (int): %d\n", s_recDate.year);
-    printf("Month (int): %d\n", s_recDate.month);
-    printf("Day (int): %d\n", s_recDate.day);
-    printf("Hour (int): %d\n", s_recDate.hour);
-    printf("Minute (int): %d\n", s_recDate.minute);
-    printf("Second (int): %d\n", s_recDate.sec);
+//    printf("Year (int): %d\n", s_recDate.year);
+//    printf("Month (int): %d\n", s_recDate.month);
+//    printf("Day (int): %d\n", s_recDate.day);
+//    printf("Hour (int): %d\n", s_recDate.hour);
+//    printf("Minute (int): %d\n", s_recDate.minute);
+//    printf("Second (int): %d\n", s_recDate.sec);
 }
 
 /**
@@ -1179,26 +1145,26 @@ void EC800_parseRespondTime(cJSON *root, cJSON *item){
 	// 获取"resultCode"字段的值
     item = cJSON_GetObjectItem(root, "resultCode");
     if (item == NULL) {
-        printf("Field \"resultCode\" not found\n");
+//        printf("Field \"resultCode\" not found\n");
     }else{
 		 // 打印"resultCode"字段的值
-		 printf("resultCode: %d\n", item->valueint);
+//		 printf("resultCode: %d\n", item->valueint);
 
 		 if((item->valueint) == 1){
-			printf("The upload of synchronized data was successful.\n");
+//			printf("The upload of synchronized data was successful.\n");
 			temp = 1; // 上传成功
 		 }else{
-			printf("The upload of synchronized data has failed.\n");
+//			printf("The upload of synchronized data has failed.\n");
 		 }
 	}   
 
 	if(temp == 1){
 		item = cJSON_GetObjectItem(root, "serverTime");
 		if (item == NULL) {
-	        printf("Field \"serverTime\" not found\n");
+//	        printf("Field \"serverTime\" not found\n");
 	    }else{
 			// 打印"serverTime"字段的值
-		 	printf("serverTime: %s\n", item->valuestring);
+//		 	printf("serverTime: %s\n", item->valuestring);
 
 			parseServerTime(item->valuestring);
 		}
@@ -1246,8 +1212,8 @@ void EC800_parseRespondTime(cJSON *root, cJSON *item){
 	uint8ArrayToAsciiString(s_messageDate.VIN, sizeof(s_messageDate.VIN), command);
 	cJSON_AddItemToObject(rt000Object1, "rt027", cJSON_CreateString(command));
 
-	double point1Lat = s_messageDate.latitude / 100000;
-	double point1Lng = s_messageDate.longitude / 100000;
+	double point1Lat = (double)s_messageDate.latitude / 100000;
+	double point1Lng = (double)s_messageDate.longitude / 100000;
 	memset(command, 0, 50);
 	snprintf(command, sizeof(command), "%.5f,%.5f", point1Lat, point1Lng);
 	cJSON_AddItemToObject(rt000Object1, "rt028", cJSON_CreateString(command));
@@ -1296,15 +1262,15 @@ void EC800_respondRealDate(cJSON *root, cJSON *item){
 	// 获取"name"字段的值
     item = cJSON_GetObjectItem(root, "resultCode");
     if (item == NULL) {
-        printf("Field \"resultCode\" not found\n");
+//        printf("Field \"resultCode\" not found\n");
     }else{
 		 // 打印"name"字段的值
-		 printf("resultCode: %d\n", item->valueint);
+//		 printf("resultCode: %d\n", item->valueint);
 
 		 if((item->valueint) == 1){
-			printf("Uploaded real-time data successfully\n");
+//			printf("Uploaded real-time data successfully\n");
 		 }else{
-			printf("The upload of real-time data has failed\n");
+//			printf("The upload of real-time data has failed\n");
 		 }
 	}   
 
@@ -1320,33 +1286,33 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	/* 获取address对象 */
     cJSON *hardwareUpdate = cJSON_GetObjectItem(root, "paramList");
 	if (hardwareUpdate == NULL) {
-        printf("Failed to parse paramList data\n");
+//        printf("Failed to parse paramList data\n");
         return ;
     }
 
 	// 获取"name"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "function");
     if (item == NULL) {
-        printf("Field \"update\" not found\n");
+//        printf("Field \"update\" not found\n");
     }else{
 		 // 打印"name"字段的值
-		 printf("function: %d\n", item->valueint); 
+//		 printf("function: %d\n", item->valueint); 
 
 		// 1：表示固件更新 当后台下发升级指令，并且行车状态为静止态允许更新固件
 		if(((item->valueint) == 1) && (s_comData.driveStatus == 0x02)){
 			s_ec800Date.hardwareUpdate = 1; // 更新固件
-			printf("update begin\n");
+//			printf("update begin\n");
 		}else{
-			printf("no update\n");
+//			printf("no update\n");
 		}
 	}  
 
 	// 获取"ftpAddr"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "ftpAddr");
     if (item == NULL) {
-        printf("Field \"ftpAddr\" not found\n");
+//        printf("Field \"ftpAddr\" not found\n");
     }else{
-		printf("ftpAddr: %s\n", item->valuestring);
+//		printf("ftpAddr: %s\n", item->valuestring);
 
 		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
 	    strncpy(p_ftpInfo->ftpAddr, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);
@@ -1358,10 +1324,10 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	// 获取"ftpPort"字段的值
 		item = cJSON_GetObjectItem(hardwareUpdate, "ftpPort");
 		if (item == NULL) {
-			printf("Field \"ftpPort\" not found\n");
+//			printf("Field \"ftpPort\" not found\n");
 		}else{
 			 // 打印"name"字段的值
-			 printf("ftpPort: %d\n", item->valueint);
+//			 printf("ftpPort: %d\n", item->valueint);
 	
 			 p_ftpInfo->ftpPort = item->valueint;
 		} 
@@ -1370,9 +1336,9 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	// 获取"account"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "account");
     if (item == NULL) {
-        printf("Field \"account\" not found\n");
+//        printf("Field \"account\" not found\n");
     }else{
-		printf("account: %s\n", item->valuestring);
+//		printf("account: %s\n", item->valuestring);
 
 		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
 	    strncpy(p_ftpInfo->account, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);
@@ -1384,9 +1350,9 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	// 获取"passWord"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "passWord");
     if (item == NULL) {
-        printf("Field \"passWord\" not found\n");
+//        printf("Field \"passWord\" not found\n");
     }else{
-		printf("account: %s\n", item->valuestring);
+//		printf("account: %s\n", item->valuestring);
 
 		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
 	    strncpy(p_ftpInfo->passWord, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);
@@ -1398,9 +1364,9 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	// 获取"passWord"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "textDirectory");
     if (item == NULL) {
-        printf("Field \"textDirectory\" not found\n");
+//        printf("Field \"textDirectory\" not found\n");
     }else{
-		printf("textDirectory: %s\n", item->valuestring);
+//		printf("textDirectory: %s\n", item->valuestring);
 
 		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
 	    strncpy(p_ftpInfo->textDirectory, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);
@@ -1412,9 +1378,9 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 	// 获取"passWord"字段的值
     item = cJSON_GetObjectItem(hardwareUpdate, "textName");
     if (item == NULL) {
-        printf("Field \"textName\" not found\n");
+//        printf("Field \"textName\" not found\n");
     }else{
-		printf("textName: %s\n", item->valuestring);
+//		printf("textName: %s\n", item->valuestring);
 
 		/* 复制字符串到ftpInfo结构体的ftpAddr成员 */
 	    strncpy(p_ftpInfo->textName, item->valuestring, sizeof(p_ftpInfo->ftpAddr) - 1);
@@ -1437,21 +1403,21 @@ void EC800_respondUpdateDate(cJSON *root, cJSON *item, ftpInfo *p_ftpInfo){
 int parse_Latitude_Longitude_Data(cJSON *root, double Latitude[], double Longitude[]) {
     // 确保输入不为空
     if (root == NULL) {
-        printf("Root object is NULL\n");
+//        printf("Root object is NULL\n");
         return 0;
     }
 
     // 获取 polygonLat 数组
     cJSON *polygonLat = cJSON_GetObjectItem(root, "polygonLat");
     if (polygonLat == NULL || polygonLat->type != cJSON_Array) {
-        printf("polygonLat is not an array or is missing\n");
+//        printf("polygonLat is not an array or is missing\n");
         return 0;
     }
     
     // 获取 polygonLng 数组
     cJSON *polygonLng = cJSON_GetObjectItem(root, "polygonLon");
     if (polygonLng == NULL || polygonLat->type != cJSON_Array) {
-        printf("polygonLng is not an array or is missing\n");
+//        printf("polygonLng is not an array or is missing\n");
         return 0;
     }
 
@@ -1459,7 +1425,7 @@ int parse_Latitude_Longitude_Data(cJSON *root, double Latitude[], double Longitu
     int polygonLatSize = cJSON_GetArraySize(polygonLat);
     int polygonLngSize = cJSON_GetArraySize(polygonLng);
     if (polygonLatSize != polygonLngSize || polygonLatSize > REC_COORDINATE_DEPTH) {
-        printf("Array sizes mismatch or exceed maximum allowed size\n");
+//        printf("Array sizes mismatch or exceed maximum allowed size\n");
         return 0;
     }
 
@@ -1467,7 +1433,7 @@ int parse_Latitude_Longitude_Data(cJSON *root, double Latitude[], double Longitu
     for (int i = 0; i < polygonLatSize; ++i) {
         cJSON *latItem = cJSON_GetArrayItem(polygonLat, i);
         if (latItem == NULL || latItem->type != cJSON_Number) {
-            printf("Lat item is not a number or is missing\n");
+//            printf("Lat item is not a number or is missing\n");
             return 0;
         }
         Latitude[i] = latItem->valuedouble;
@@ -1477,7 +1443,7 @@ int parse_Latitude_Longitude_Data(cJSON *root, double Latitude[], double Longitu
     for (int i = 0; i < polygonLngSize; ++i) {
         cJSON *lngItem = cJSON_GetArrayItem(polygonLng, i);
         if (lngItem == NULL || lngItem->type != cJSON_Number) {
-            printf("Lng item is not a number or is missing\n");
+//            printf("Lng item is not a number or is missing\n");
             return 0;
         }
         Longitude[i] = lngItem->valuedouble;
@@ -1522,16 +1488,16 @@ void parse_Login_Response(cJSON *root, cJSON *item){
 	// 获取"name"字段的值
     item = cJSON_GetObjectItem(root, "resultCode");
     if (item == NULL) {
-        printf("Field \"resultCode\" not found\n");
+//        printf("Field \"resultCode\" not found\n");
     }else{
 		 // 打印"name"字段的值
-		 printf("resultCode: %d\n", item->valueint);
+//		 printf("resultCode: %d\n", item->valueint);
 
 		 if((item->valueint) == 1){
 		 	s_messageDate.loginResult = 1; // 登录成功
-			printf("Login response data successfully\n");
+//			printf("Login response data successfully\n");
 		 }else{
-			printf("Login response has failed\n");
+//			printf("Login response has failed\n");
 		 }
 	}   
 }
@@ -1547,30 +1513,30 @@ void processRemoteControl(cJSON *root, cJSON *item){
 	// 解析paramList
 	cJSON* paramList = cJSON_GetObjectItem(root, "paramList");
 	if (cJSON_GetArraySize(paramList) == 0) {
-	    printf("paramList is empty\n");
+//	    printf("paramList is empty\n");
 	    return;
 	}
 	cJSON* firstParam = cJSON_GetArrayItem(paramList, 0);
 	if (!firstParam) {
-	    printf("paramList is empty\n");
+//	    printf("paramList is empty\n");
 	    return;
 	}
 
 	// 解析paramList中的第一个元素
 	cJSON* id = cJSON_GetObjectItem(firstParam, "id");
 	if (item == NULL){
-		printf("id is not a string\n");
+//		printf("id is not a string\n");
 		return;
 	}else{
-		printf("id: %d\n", id->valueint);
+//		printf("id: %d\n", id->valueint);
 	}
 
 	item = cJSON_GetObjectItem(firstParam, "value");
 	if (item == NULL){
-		printf("value is not a string\n");
+//		printf("value is not a string\n");
 		return;
 	}else{
-		printf("value: %d\n", item->valueint);
+//		printf("value: %d\n", item->valueint);
 	}
 
 	// 解析指令
@@ -1609,14 +1575,14 @@ short EC800_respondParse(ec800Date *p_ec800Date){
 	// 找到JSON数据的起始位置
     const char* start = strchr(g_usart4_rx_buf, '{');
     if (start == NULL) {
-        printf("JSON data not found\n");
+//        printf("JSON data not found\n");
         return 0;
     }
 
 	// 解析JSON数据
     root = cJSON_Parse(start);
     if (root == NULL) {
-        printf("Failed to parse JSON data\n");
+//        printf("Failed to parse JSON data\n");
 		cJSON_Delete(root);
         return 0;
     }
@@ -1624,10 +1590,10 @@ short EC800_respondParse(ec800Date *p_ec800Date){
 	// 获取"controlCode"字段的值
     item = cJSON_GetObjectItem(root, "controlCode");
     if (item == NULL) {
-        printf("Field \"devId\" not found\n");
+//        printf("Field \"devId\" not found\n");
     }else{
 		 // 打印"controlCode"字段的值
-		 printf("controlCode: %d\n", item->valueint);
+//		 printf("controlCode: %d\n", item->valueint);
 
 		 cmd = item->valueint;
 	} 
@@ -1765,7 +1731,15 @@ global_par *p_global_par = &s_global_par;
 				p_global_par->fence_update = 0;
 			}
 			break;
-		case 5:
+		case 5: // 与服务器对时
+			right = EC800_time_calibration(); 
+
+			if(right == 1){
+				respondSt = 1; // 等待响应
+				stateStep = 8; // 去步骤6等待对时响应 收到对时响应后，发布实时消息
+			}
+			break;
+		case 6:
 			// 获取定位信息
 			right = EC800_readGnssDate();
 
@@ -1778,21 +1752,14 @@ global_par *p_global_par = &s_global_par;
 					p_global_par->positionErrorCnt++;
 				}else{
 					p_global_par->positionErrorCnt = 3;
-					stateStep = 6;
+					stateStep = 7;
 				}
 			}else{
 				p_global_par->positionErrorCnt = 0;
-				stateStep = 6;
-			}
-			break;
-		case 6: // 与服务器对时
-			right = EC800_time_calibration(); 
-
-			if(right == 1){
-				respondSt = 1; // 等待响应
-				stateStep = 8; // 去步骤6等待对时响应 收到对时响应后，发布实时消息
+				stateStep = 7;
 			}
 			break;
+		
 		case 7: // 发布消息
 			right = EC800_uploadRealDate();
 
@@ -1812,7 +1779,7 @@ global_par *p_global_par = &s_global_par;
 					timesCnt++;
 				}else{
 					timesCnt= 0;
-					stateStep = 5;
+					stateStep = 6;
 					HAL_UART_DMAStop(&huart4);
 					HAL_UART_Receive_DMA(&huart4, (uint8_t*)g_usart4_rx_buf, USART4_REC_LEN); //设置接收缓冲区
 				}
@@ -1821,7 +1788,7 @@ global_par *p_global_par = &s_global_par;
 					timesCnt++;
 				}else{
 					timesCnt= 0;
-					stateStep = 5;
+					stateStep = 6;
 					HAL_UART_DMAStop(&huart4);
 					HAL_UART_Receive_DMA(&huart4, (uint8_t*)g_usart4_rx_buf, USART4_REC_LEN); //设置接收缓冲区
 				}
@@ -1862,7 +1829,7 @@ void handleReceive(void) {
 	uint16_t right = 1; // 返回是否为正确
 	
    if(g_usart4_rx_sta!=0){
-		HAL_UART_Transmit(&huart1, (uint8_t*)g_usart4_rx_buf, strlen(g_usart4_rx_buf), HAL_MAX_DELAY); // 打印数据除去URC
+//		HAL_UART_Transmit(&huart1, (uint8_t*)g_usart4_rx_buf, strlen(g_usart4_rx_buf), HAL_MAX_DELAY); // 打印数据除去URC
 
 		right = EC800_respondParse(&s_ec800Date);
 		if((right == CTR_CODE_LOGIN) && (s_messageDate.loginResult == 1)){ // 登录响应
@@ -1883,7 +1850,7 @@ void handleReceive(void) {
 			respondSt = 2; // 成功响应
 		}
 		else if(right == CTR_CODE_JUDETIME){ // 对时响应
-			stateStep = 7;
+			stateStep = 6;
 			right = 0;
 //			timesCnt = 0;
 			respondSt = 2; // 成功响应

centralCtrSys/Core/Src/task_communication.c

@@ -96,10 +96,10 @@ void evaluateGeofenceBoundary(comData *p_comData, double PolygonLat[], double Po
 	if(osMutexAcquire(s_messageDate_locationHandle, osWaitForever) == osOK)
 	{
 	  /* 安全地访问s_rs485RecDate结构体 */
-//	  point1Lat = (double)s_messageDate.latitude / 100000;
-//	  point1Lng = (double)s_messageDate.longitude / 100000;
-	  point1Lat = 34.15792;
-	  point1Lng = 108.97439;
+	  point1Lat = (double)s_messageDate.latitude / 100000;
+	  point1Lng = (double)s_messageDate.longitude / 100000;
+//	  point1Lat = 34.15792;
+//	  point1Lng = 108.97439;
 	  
 	  /* 访问完成，释放互斥量 */
 	  osMutexRelease(s_messageDate_locationHandle);
@@ -107,7 +107,7 @@ void evaluateGeofenceBoundary(comData *p_comData, double PolygonLat[], double Po
 
     // 测试点在多边形内部的情况
     bool result1 = isPointInPolygon(point1Lat, point1Lng, PolygonLat, PolygonLng, REC_COORDINATE_DEPTH);
-    printf("Test case 1: Point (%f, %f) is%s inside the polygon.\n", point1Lat, point1Lng, result1 ? "" : " not");
+//    printf("Test case 1: Point (%f, %f) is%s inside the polygon.\n", point1Lat, point1Lng, result1 ? "" : " not");
 
 	if(result1){ // 处于围栏内
 		p_comData->fenceStatus = 0;

centralCtrSys/Core/Src/task_ec800_upload.c

@@ -63,8 +63,8 @@ void upload_fault_info(void) {
 
 	// 检查存在MQTT故障，4G模块故障，或者未完成初始化，且记录索引等于上传索引 -- 不进行故障上传
 	if((s_ec800Date.ec800InitFlag == 0)
-//		|| (BIT_CHECK(s_comData.Malfunction, init_4G_error)) 
-//		|| (BIT_CHECK(s_comData.Malfunction, errorMqtt)) 
+		|| (BIT_CHECK(s_comData.Malfunction, init_4G_error)) 
+		|| (BIT_CHECK(s_comData.Malfunction, errorMqtt)) 
 		|| (s_param_boot.faultRecordIndex <= s_param_boot.faultUploadIndex)){
 		return;
 	}

centralCtrSys/MDK-ARM/centralCtrSys/centralCtrSys.build_log.htm

@@ -27,9 +27,26 @@ Project File Date:  05/13/2024
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 6 (build 750)', folder: 'C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\Bin'
 Build target 'centralCtrSys'
+compiling turnDetection.c...
+compiling task_communication.c...
+compiling dma.c...
 compiling task_ec800_upload.c...
+compiling stm32f1xx_it.c...
+compiling tim.c...
+compiling EC800_FTP_OTA.c...
+compiling freertos.c...
+compiling stm32f1xx_hal_msp.c...
+compiling comm_car_485.c...
+compiling usart.c...
+compiling gpio.c...
+compiling spi.c...
+compiling main.c...
+compiling EC800.c...
+compiling global.c...
+compiling task_handleData.c...
+compiling norflash.c...
 linking...
-Program Size: Code=73984 RO-data=4672 RW-data=2104 ZI-data=33544  
+Program Size: Code=68444 RO-data=4436 RW-data=2100 ZI-data=30844  
 FromELF: creating hex file...
 After Build - User command #1: C:\H_1_software\H_2_mdk529\install\\ARM\ARMCC\bin\fromelf.exe --bin --output=Bin\centralCtrSys.bin centralCtrSys\centralCtrSys.axf
 "centralCtrSys\centralCtrSys.axf" - 0 Error(s), 0 Warning(s).
@@ -55,7 +72,7 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>
 
    * Component: ARM::CMSIS:CORE:5.3.0
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:06
 </pre>
 </body>
 </html>

centralCtrSys/MDK-ARM/centralCtrSys/centralCtrSys.hex

@@ -1,39 +1,39 @@
 :020000040800F2
-:10280000409B0020DD29000811990008AD8E0008CA
-:10281000499500084D3C0008F9A50008000000009B
+:10280000B0900020DD290008A18900083D7F000864
+:10281000D98500084D3C000889960008000000009A
 :102820000000000000000000000000004529000832
-:10283000FD3C00080000000089290008019B0008F9
+:10283000FD3C00080000000089290008918B000879
 :10284000F7290008F7290008F7290008F7290008E8
 :10285000F7290008F7290008F7290008F7290008D8
 :10286000F7290008F7290008F7290008F7290008C8
 :10287000F7290008513C0008F7290008F72900084B
 :10288000F7290008F7290008F7290008F7290008A8
 :10289000F7290008F7290008F7290008F729000898
-:1028A000F72900089D9B0008F7290008F729000870
-:1028B000AD9B0008F7290008BD9B0008F729000818
+:1028A000F72900082D8C0008F7290008F7290008EF
+:1028B0003D8C0008F72900084D8C0008F729000816
 :1028C000F7290008F7290008F7290008F729000868
-:1028D000F7290008D9A30008F7290008E9A3000890
+:1028D000F729000869940008F7290008799400088E
 :1028E000F7290008F7290008F7290008F729000848
 :1028F000F7290008F7290008F7290008F729000838
 :10290000F7290008F7290008F7290008F729000827
-:10291000E19D0008F7290008F7290008F7290008B9
+:10291000718E0008F7290008F7290008F729000838
 :10292000F7290008F7290008613C0008F72900088A
-:10293000DFF80CD000F018FF0048004719DE00084F
-:10294000409B0020224B19680868B0E8F00F80F324
+:10293000DFF80CD000F018FF0048004741CC000839
+:10294000B0900020224B19680868B0E8F00F80F3BF
 :102950000988BFF36F8F4FF0000080F311884EF0AD
 :102960000D0E70470000000006480068006880F304
 :10297000088862B661B6BFF34F8FBFF36F8F00DF79
 :1029800000BF00BF08ED00E0EFF30980BFF36F8FD9
 :102990000F4B1A6820E9F00F106008B54FF0500097
-:1029A00080F31188BFF34F8FBFF36F8F10F092FE4B
+:1029A00080F31188BFF34F8FBFF36F8F0FF0C0FB21
 :1029B0004FF0000080F31188BDE8084019680868EE
 :1029C000B0E8F00F80F30988BFF36F8F704700BF46
 :1029D00064160020EFF3058070470000064880472A
 :1029E00006480047FEE7FEE7FEE7FEE7FEE7FEE7F4
-:1029F000FEE7FEE7FEE7FEE79B9B000831290008A3
+:1029F000FEE7FEE7FEE7FEE72B8C00083129000822
 :102A0000202A04DB203A21FA02F00021704721FA43
 :102A100002F3D040C2F120029140084319467047AA
-:102A200000487047FC58010810B50446FFF7F8FF4E
+:102A2000004870475443010810B50446FFF7F8FF0B
 :102A30000068005D00F0010010BDA0F141011929FE
 :102A400000D82030704740EA01039B0703D009E01B
 :102A500008C9121F08C0042AFAD203E011F8013B8A
@@ -79,7 +79,7 @@
 :102CD000220701D5088011E008600FE02868011D77
 :102CE00029600068210502D580F8008006E02107F0
 :102CF00002D5A0F8008001E0C0F8008038467EE7E9
-:102D000070B5064607F0F8FC046805460A22002163
+:102D000070B5064606F030FD046805460A2200212B
 :102D1000304600F0DDFB2C6070BDF0B480EA0102AB
 :102D2000D40F4200B2EB410F02D2024608461146D0
 :102D30004A0042D0C30DDDB2C1F3C752AD1A202DF7
@@ -208,9 +208,9 @@
 :1034E000015B2DB1FFF79CFA0068405DC007F6D183
 :1034F0002B2D02D02D2D18D0641E4A463946204669
 :1035000000F0DAFA27B13968A14201D1C7F800808A
-:1035100071054FF002040BD54042002803DD07F08F
-:10352000EBF80460A007BDE8F08746F48066E4E7A6
-:103530000028F8DA07F0E0F804606FF00040F2E7E6
+:1035100071054FF002040BD54042002803DD06F090
+:1035200023F90460A007BDE8F08746F48066E4E76D
+:103530000028F8DA06F018F904606FF00040F2E7AE
 :103540000029A8BF7047401C490008BF20F00100B7
 :10355000704710B4B0FA80FC00FA0CF050EA010495
 :1035600004BF10BC704749B1CCF1200421FA04F427
@@ -247,7 +247,7 @@
 :10375000704740F233439A42A2F2334202DC5242B3
 :10376000FFF74EB9FFF751BE064C074D06E0E06883
 :1037700040F0010394E8070098471034AC42F6D3B8
-:10378000FFF7DAF8205B0108405B01082DE9F34FF1
+:10378000FFF7DAF890440108B04401082DE9F34F3F
 :103790008BB04FF0000801F10C000C464FF0010B0C
 :1037A00046460DF1080A019062690121019890478F
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 :00000001FF

centralCtrSys/MDK-ARM/centralCtrSys/centralCtrSys_centralCtrSys.dep

@@ -1,7 +1,7 @@
 Dependencies for Project 'centralCtrSys', Target 'centralCtrSys': (DO NOT MODIFY !)
 CompilerVersion: 5060750::V5.06 update 6 (build 750)::ARMCC
 F (startup_stm32f103xe.s)(0x6641D36F)(--cpu Cortex-M3 -g --apcs=interwork --pd "__MICROLIB SETA 1" -I ..\Core\Inc

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

--pd "__UVISION_VERSION SETA 529" --pd "_RTE_ SETA 1" --pd "STM32F10X_HD SETA 1"

--list startup_stm32f103xe.lst --xref -o centralctrsys\startup_stm32f103xe.o --depend centralctrsys\startup_stm32f103xe.d)
-F (..\Core\Src\task_communication.c)(0x6645E2F6)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_communication.o --omf_browse centralctrsys\task_communication.crf --depend centralctrsys\task_communication.d)
+F (..\Core\Src\task_communication.c)(0x664C0084)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_communication.o --omf_browse centralctrsys\task_communication.crf --depend centralctrsys\task_communication.d)
 I (../Core/Inc/task_communication.h)(0x66441AA0)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x65F943FB)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stddef.h)(0x5D9AD218)
@@ -44,8 +44,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
 I (../Drivers/BSP/Flash/flash.h)(0x664416F2)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -65,7 +65,7 @@ I (../User/global/global.h)(0x664428B5)
 I (../Core/Inc/gpio.h)(0x662DCC16)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
-F (..\Core\Src\task_ec800_upload.c)(0x6646B208)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_ec800_upload.o --omf_browse centralctrsys\task_ec800_upload.crf --depend centralctrsys\task_ec800_upload.d)
+F (..\Core\Src\task_ec800_upload.c)(0x664C159D)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_ec800_upload.o --omf_browse centralctrsys\task_ec800_upload.crf --depend centralctrsys\task_ec800_upload.d)
 I (../Core/Inc/task_ec800_upload.h)(0x663C8E38)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x65F943FB)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stddef.h)(0x5D9AD218)
@@ -108,8 +108,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
 I (../Drivers/BSP/Flash/flash.h)(0x664416F2)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -138,9 +138,9 @@ I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\float.h)(0x5D9AD218)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\limits.h)(0x5D9AD212)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\ctype.h)(0x5D9AD21A)
 I (../Core/Inc/cJSON.h)(0x54DDD7A2)
-F (..\Core\Src\EC800.c)(0x6645BC76)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\ec800.o --omf_browse centralctrsys\ec800.crf --depend centralctrsys\ec800.d)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+F (..\Core\Src\EC800.c)(0x664C5F94)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\ec800.o --omf_browse centralctrsys\ec800.crf --depend centralctrsys\ec800.d)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
 I (../Core/Inc/stm32f1xx_hal_conf.h)(0x6641B521)
@@ -284,8 +284,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -351,8 +351,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -414,8 +414,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
 I (../Drivers/BSP/Flash/flash.h)(0x664416F2)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -480,8 +480,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -545,8 +545,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -609,8 +609,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -632,7 +632,7 @@ I (../User/global/global.h)(0x664428B5)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
 F (../Core/Src/usart.c)(0x663F1313)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\usart.o --omf_browse centralctrsys\usart.crf --depend centralctrsys\usart.d)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
 I (../Core/Inc/stm32f1xx_hal_conf.h)(0x6641B521)
@@ -674,7 +674,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -737,8 +737,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -802,8 +802,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -1663,7 +1663,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-F (..\User\mpu6050_app\turnDetection.c)(0x663ED23F)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\turndetection.o --omf_browse centralctrsys\turndetection.crf --depend centralctrsys\turndetection.d)
+F (..\User\mpu6050_app\turnDetection.c)(0x664C0107)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\turndetection.o --omf_browse centralctrsys\turndetection.crf --depend centralctrsys\turndetection.d)
 I (..\User\mpu6050_app\turnDetection.h)(0x6639E40D)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
@@ -1706,8 +1706,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -1728,7 +1728,7 @@ I (../Core/Inc/gpio.h)(0x662DCC16)
 I (../User/global/global.h)(0x664428B5)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
-F (..\User\OTA\EC800_FTP_OTA.c)(0x663ECAF8)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\ec800_ftp_ota.o --omf_browse centralctrsys\ec800_ftp_ota.crf --depend centralctrsys\ec800_ftp_ota.d)
+F (..\User\OTA\EC800_FTP_OTA.c)(0x664C0791)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\ec800_ftp_ota.o --omf_browse centralctrsys\ec800_ftp_ota.crf --depend centralctrsys\ec800_ftp_ota.d)
 I (..\User\OTA\EC800_FTP_OTA.h)(0x663ECB0C)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
 I (../Core/Inc/stm32f1xx_hal_conf.h)(0x6641B521)
@@ -1758,7 +1758,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
@@ -1772,7 +1772,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -1793,7 +1793,7 @@ I (../Core/Inc/gpio.h)(0x662DCC16)
 I (../User/global/global.h)(0x664428B5)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
-F (..\User\comm_car_485\comm_car_485.c)(0x663D863E)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\comm_car_485.o --omf_browse centralctrsys\comm_car_485.crf --depend centralctrsys\comm_car_485.d)
+F (..\User\comm_car_485\comm_car_485.c)(0x664C060E)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\comm_car_485.o --omf_browse centralctrsys\comm_car_485.crf --depend centralctrsys\comm_car_485.d)
 I (..\User\comm_car_485\comm_car_485.h)(0x663B4D86)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x65F943FB)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stddef.h)(0x5D9AD218)
@@ -1836,8 +1836,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
 I (../Drivers/BSP/Flash/flash.h)(0x664416F2)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -1858,7 +1858,7 @@ I (../Core/Inc/task_communication.h)(0x66441AA0)
 I (../Core/Inc/gpio.h)(0x662DCC16)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
-F (..\User\global\global.c)(0x6645C219)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\global.o --omf_browse centralctrsys\global.crf --depend centralctrsys\global.d)
+F (..\User\global\global.c)(0x664C63E9)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\global.o --omf_browse centralctrsys\global.crf --depend centralctrsys\global.d)
 I (..\User\global\global.h)(0x664428B5)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
 I (../Core/Inc/stm32f1xx_hal_conf.h)(0x6641B521)
@@ -1888,7 +1888,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
@@ -1902,7 +1902,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -1923,7 +1923,7 @@ I (../Core/Inc/gpio.h)(0x662DCC16)
 I (../User/global/global.h)(0x664428B5)
 I (..\User\norflash\norflash.h)(0x664431CB)
 I (../Core/Inc/spi.h)(0x6641D1FA)
-F (..\User\Task_handleData\task_handleData.c)(0x6645BBC8)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_handledata.o --omf_browse centralctrsys\task_handledata.crf --depend centralctrsys\task_handledata.d)
+F (..\User\Task_handleData\task_handleData.c)(0x664C00C5)(--c99 -c --cpu Cortex-M3 -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3 -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/BSP/ATK_MS6050/eMPL -I ../Drivers/BSP/ATK_MS6050 -I ../User/mpu6050_app -I ../Drivers/BSP/Flash -I ../User/OTA -I ../User/comm_car_485 -I ../User/global -I ../User/Task_handleData -I ..\User\norflash

-I.\RTE\_centralCtrSys

-IC:\H_1_software\H_2_mdk529\pack\ARM\CMSIS\5.6.0\CMSIS\Core\Include

-IC:\H_1_software\H_2_mdk529\pack\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="529" -D_RTE_ -DSTM32F10X_HD -DUSE_HAL_DRIVER -DSTM32F103xE

-o centralctrsys\task_handledata.o --omf_browse centralctrsys\task_handledata.crf --depend centralctrsys\task_handledata.d)
 I (..\User\Task_handleData\task_handleData.h)(0x6641E30E)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x65F943FE)
 I (../Core/Inc/stm32f1xx_hal_conf.h)(0x6641B521)
@@ -1953,7 +1953,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x65F943FE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x65F943FE)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (../Core/Inc/main.h)(0x6641B522)
 I (../Drivers/BSP/ATK_MS6050/eMPL/inv_mpu.h)(0x66273296)
 I (../Drivers/BSP/ATK_MS6050/atk_ms6050.h)(0x66121A9B)
@@ -1967,7 +1967,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)
@@ -2032,8 +2032,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x65F943FB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x65F943FB)
-I (../Core/Inc/EC800.h)(0x66432A66)
-I (../Core/Inc/usart.h)(0x6639F147)
+I (../Core/Inc/EC800.h)(0x664C0FB7)
+I (../Core/Inc/usart.h)(0x664C643F)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdio.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\stdlib.h)(0x5D9AD21A)
 I (C:\H_1_software\H_2_mdk529\install\ARM\ARMCC\include\string.h)(0x5D9AD218)

centralCtrSys/User/OTA/EC800_FTP_OTA.c

@@ -5,16 +5,16 @@
 /* typedef -----------------------------------------------------------*/
 
 ftpInfo s_ftpInfo = {
-	.account = "cdzupdate",
-	.passWord = "cdz2021!Z",
+//	.account = "cdzupdate",
+//	.passWord = "cdz2021!Z",
 	.fileType = 1,
 	.transmode = 1,
 	.rsptimeout = 90,
 	
-	.ftpAddr = "39.98.211.244",
-	.ftpPort = 21,
-	.textDirectory = "/data/cdz",
-	.textName = "centralCtrSys.bin",
+//	.ftpAddr = "39.98.211.244",
+//	.ftpPort = 21,
+//	.textDirectory = "/data/cdz",
+//	.textName = "centralCtrSys.bin",
 	};
 
 /* define ------------------------------------------------------------*/
@@ -78,10 +78,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(AT_QIACT_query);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("PDP Context Status OK\r\n");
+//				printf("PDP Context Status OK\r\n");
 			}else{
 				errorCnt++;
-				printf("PDP Context Status error\r\n");
+//				printf("PDP Context Status error\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -89,10 +89,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(AT_QFTPCFG_ID_1);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("Set PDP context to 1.\r\n");
+//				printf("Set PDP context to 1.\r\n");
 			}else{
 				errorCnt++;
-				printf("ERROR! Set PDP context to 1.\r\n");
+//				printf("ERROR! Set PDP context to 1.\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -106,10 +106,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(atCmd);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("FINISH! Set username and password.\r\n");
+//				printf("FINISH! Set username and password.\r\n");
 			}else{
 				errorCnt++;
-				printf("ERROR! Set username and password.\r\n");
+//				printf("ERROR! Set username and password.\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -118,10 +118,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(atCmd);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("FINISH! Set username and password.\r\n");
+//				printf("FINISH! Set username and password.\r\n");
 			}else{
 				errorCnt++;
-				printf("ERROR! Set username and password.\r\n");
+//				printf("ERROR! Set username and password.\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -130,10 +130,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(atCmd);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("FINISH! Set to passive transfer mode.\r\n");
+//				printf("FINISH! Set to passive transfer mode.\r\n");
 			}else{
 				errorCnt++;
-				printf("ERROR! Set to passive transfer mode.\r\n");
+//				printf("ERROR! Set to passive transfer mode.\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -142,10 +142,10 @@ void EC800_LogIn_FTP(void){
 			EC800M_SendCommand(atCmd);
 
 			if (Accept_and_Compare_Str(AT_RESP_OK) == 1) {
-				printf("FINISH! Set username and password.\r\n");
+//				printf("FINISH! Set username and password.\r\n");
 			}else{
 				errorCnt++;
-				printf("ERROR! Set username and password.\r\n");
+//				printf("ERROR! Set username and password.\r\n");
 			}	
 
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清除数据buff
@@ -162,9 +162,9 @@ void EC800_LogIn_FTP(void){
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
 			if(errorCnt == 1){
 				errorCnt = 0;
-				printf("FINISH! Log in to the FTP server.\r\n");
+//				printf("FINISH! Log in to the FTP server.\r\n");
 			}else{
-				printf("ERROR! Log in to the FTP server.\r\n");
+//				printf("ERROR! Log in to the FTP server.\r\n");
 			}
 
 			if(errorCnt == 0){
@@ -342,9 +342,9 @@ void EC800_FTP_DownloadText(void){
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区
 			if (errorCnt == 1) {
 				errorCnt = 0;
-				printf("FINISH! Set the file directory.\r\n");
+//				printf("FINISH! Set the file directory.\r\n");
 			}else{
-				printf("ERROR! Set the file directory.\r\n");
+//				printf("ERROR! Set the file directory.\r\n");
 			}	
 
 			if(errorCnt == 0){
@@ -359,18 +359,18 @@ void EC800_FTP_DownloadText(void){
 			
 			if (errorCnt == 1) {
 				errorCnt = 0;
-				printf("FINISH! Get the length of the file.\r\n");
+//				printf("FINISH! Get the length of the file.\r\n");
 				// 使用sscanf从字符串中解析整数
 			    if(sscanf(g_usart4_rx_buf, "\r\nOK\r\n\r\n+QFTPSIZE: %*d,%u", &(p_ftpInfo->filesize)) == 1) {
 			        // 解析成功，filesize变量现在包含值1000
-			        printf("The filesize is: %u\n", p_ftpInfo->filesize);
+//			        printf("The filesize is: %u\n", p_ftpInfo->filesize);
 			    } else {
 			        // 解析失败
 			        errorCnt++;
-			        printf("Failed to parse the filesize.\n");
+//			        printf("Failed to parse the filesize.\n");
 			    }
 			}else{
-				printf("ERROR! Get the length of the file.\r\n");
+//				printf("ERROR! Get the length of the file.\r\n");
 			}	
 			
 			memset(g_usart4_rx_buf, 0, USART4_REC_LEN); // 清空输入缓冲区

centralCtrSys/User/Task_handleData/task_handleData.c

@@ -22,17 +22,17 @@ void gyroscope_fault_deal(void){
 	
 		recBack = atk_ms6050_init();
 		if(recBack != 0){
-			printf("ATK-MS6050 init failed!\r\n");
+//			printf("ATK-MS6050 init failed!\r\n");
 			return;
 		}
-		printf("ATK-MS6050 init\r\n");
+//		printf("ATK-MS6050 init\r\n");
 
 		recBack = atk_ms6050_dmp_init();
 		if(recBack != 0){
-			printf("ATK-MS6050 DMP init failed!\r\n");
+//			printf("ATK-MS6050 DMP init failed!\r\n");
 			return;
 		}
-		printf("ATK-MS6050 DMP init!\r\n");
+//		printf("ATK-MS6050 DMP init!\r\n");
 
 		BIT_CLEAR(s_comData.Malfunction, gyroscope);
 	}
@@ -58,9 +58,9 @@ void task_handle_data(void){
 
 	// 判断车辆是否正在转弯 陀螺仪数据
 	if (isTurning()) {
-		printf("The vehicle is turning.\r\n");
+//		printf("The vehicle is turning.\r\n");
 	} else {
-		printf("Vehicle not turning.\r\n");
+//		printf("Vehicle not turning.\r\n");
 	}
 
 	osDelay(100);

centralCtrSys/User/comm_car_485/comm_car_485.c

@@ -132,7 +132,7 @@ int parseModbus03Response(uint8_t *response, uint16_t responseSize) {
 
     // 最小长度检查
     if (responseSize < 5 || response[1] != 0x03) {
-        printf("Response too short or function code mismatch!\n");
+//        printf("Response too short or function code mismatch!\n");
         return -1;
     }
 
@@ -165,7 +165,7 @@ int parseModbus03Response(uint8_t *response, uint16_t responseSize) {
 int parseModbus10Response(uint8_t *response, uint16_t responseSize) {
     // 最小长度检查
     if (responseSize != 8 || response[1] != 0x10) {
-        printf("Response length mismatch or function code mismatch!\n");
+//        printf("Response length mismatch or function code mismatch!\n");
         return -1;
     }
 
@@ -173,8 +173,12 @@ int parseModbus10Response(uint8_t *response, uint16_t responseSize) {
     uint16_t startAddress = response[2] << 8 | response[3];
     uint16_t numRegisters = response[4] << 8 | response[5];
 
+	// 避免警告
+	startAddress = startAddress;
+	numRegisters = numRegisters;
+
     // 打印结果
-    printf("Written to start address: %d, number of registers: %d\n", startAddress, numRegisters);
+//    printf("Written to start address: %d, number of registers: %d\n", startAddress, numRegisters);
 
     return 0; // 成功
 }
@@ -193,7 +197,7 @@ int parseModbusResponse(uint8_t *response, uint16_t responseSize){
 
 	// 检查CRC
     if (checkModbusCRC(response, responseSize) != 0) {
-        printf("CRC check failed!\n");
+//        printf("CRC check failed!\n");
         return -1;
     }
 

centralCtrSys/User/global/global.c

@@ -67,17 +67,17 @@ void centralCtrSys_Init(param_boot *p_param_boot, global_par *p_global_par){
 	// 6. 陀螺仪的初始化
 	recBack = atk_ms6050_init();
 	if(recBack != 0){
-		printf("ATK-MS6050 init failed!\r\n");
+//		printf("ATK-MS6050 init failed!\r\n");
 		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
 	}
-	printf("ATK-MS6050 init\r\n");
+//	printf("ATK-MS6050 init\r\n");
 	
 	recBack = atk_ms6050_dmp_init();
 	if(recBack != 0){
-		printf("ATK-MS6050 DMP init failed!\r\n");
+//		printf("ATK-MS6050 DMP init failed!\r\n");
 		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
 	}
-	printf("ATK-MS6050 DMP init!\r\n");
+//	printf("ATK-MS6050 DMP init!\r\n");
 
 	// 7. 外部flash初始化
 	norflash_init();

centralCtrSys/User/mpu6050_app/turnDetection.c

@@ -50,9 +50,9 @@ int isTurning(void) {
 
 	// 获取姿态角度数据
 	while(atk_ms6050_dmp_get_data(&pitch,&roll,&yaw)!=0){}
-	printf("pitch:%.1f\n", pitch);
-    printf("roll:%.1f\n", roll);
-    printf("yaw:%.1f\n", yaw);
+//	printf("pitch:%.1f\n", pitch);
+//    printf("roll:%.1f\n", roll);
+//    printf("yaw:%.1f\n", yaw);
 
 	// 故障判断
 	if((pitch == 0) && (roll == 0) && (yaw == 0)){
@@ -75,9 +75,9 @@ int isTurning(void) {
     float pitchChangeRate = fabs(pitch - previousPitch);
     float rollChangeRate = fabs(roll - previousRoll);
     float yawChangeRate = fabs(yaw - previousYaw);
-	printf("pitchChangeRate:%.1f\n", pitchChangeRate);
-    printf("rollChangeRate:%.1f\n", rollChangeRate);
-    printf("yawChangeRate:%.1f\n", yawChangeRate);
+//	printf("pitchChangeRate:%.1f\n", pitchChangeRate);
+//    printf("rollChangeRate:%.1f\n", rollChangeRate);
+//    printf("yawChangeRate:%.1f\n", yawChangeRate);
 
     // 判断车辆是否正在转弯
 	if (pitchChangeRate > TURNING_THRESHOLD || rollChangeRate > TURNING_THRESHOLD || yawChangeRate > TURNING_THRESHOLD) {	

centralCtrSys/readme.txt

@@ -48,6 +48,10 @@ Heap_Size      EQU     0x1000 保证程序正常运行。
 9. 测试需要，注释掉故障存储的条件判断，测试是否可以完整的存储500条数据并上传，测试通过，已解除注释；
 10. 发现时间戳计算错误，原因为输入时间是北京时间而不是utc时间，已更改；
 
+15:27 2024/5/20
+ 1. 发现问题，上传的定位信息没有小时点后的数据，数据处理问题，已修改；
+
+
 获取围栏增加 -- 报警 限速 锁车
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