基于百科荣创竞赛平台main车的重构代码

TB528 000:075.774 SEGGER J-Link V7.22b Log File TB528 000:076.851 DLL Compiled: Jun 17 2021 17:22:49 TB528 000:076.875 Logging started @ 2023-09-15 04:21 TB528 000:076.900 - 76.914ms TB528 000:077.113 JLINK_SetWarnOutHandler(...) TB528 000:077.291 - 0.188ms TB528 000:077.314 JLINK_OpenEx(...) TB528 000:079.034 Firmware: J-Link ARM V8 compiled Jan 31 2018 18:34:52 TB528 000:079.650 Firmware: J-Link ARM V8 compiled Jan 31 2018 18:34:52 TB528 000:083.851 Hardware: V8.00 TB528 000:083.919 S/N: 20080643 TB528 000:083.953 OEM: SEGGER TB528 000:083.988 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull TB528 000:085.447 TELNET listener socket opened on port 19021 TB528 000:085.589 WEBSRV Starting webserver TB528 000:085.706 WEBSRV Webserver running on local port 19080 TB528 000:085.742 - 8.439ms returns "O.K." TB528 000:085.776 JLINK_GetEmuCaps() TB528 000:085.800 - 0.036ms returns 0xB9FF7BBF TB528 000:085.828 JLINK_TIF_GetAvailable(...) TB528 000:086.285 - 0.486ms TB528 000:086.330 JLINK_SetErrorOutHandler(...) TB528 000:086.349 - 0.027ms TB528 000:086.682 JLINK_ExecCommand("ProjectFile = "E:\Project\stm32\BKRC_CAR\new_bkrc_car\new_bkrc_car\MDK-ARM\JLinkSettings.ini"", ...). TB528 000:111.487 - 24.829ms returns 0x00 TB528 000:113.557 JLINK_ExecCommand("Device = STM32F407IGTx", ...). TB528 000:116.609 Device "STM32F407IG" selected. TB528 000:117.115 - 3.533ms returns 0x00 TB528 000:117.152 JLINK_GetHardwareVersion() TB528 000:117.227 - 0.087ms returns 80000 TB528 000:117.255 JLINK_GetDLLVersion() TB528 000:117.278 - 0.034ms returns 72202 TB528 000:117.303 JLINK_GetOEMString(...) TB528 000:117.328 JLINK_GetFirmwareString(...) TB528 000:117.355 - 0.038ms TB528 000:124.884 JLINK_GetDLLVersion() TB528 000:124.939 - 0.067ms returns 72202 TB528 000:124.966 JLINK_GetCompileDateTime() TB528 000:124.989 - 0.035ms TB528 000:129.881 JLINK_GetFirmwareString(...) TB528 000:129.929 - 0.058ms TB528 000:137.122 JLINK_GetHardwareVersion() TB528 000:137.203 - 0.093ms returns 80000 TB528 000:152.040 JLINK_GetSN() TB528 000:152.088 - 0.059ms returns 20080643 TB528 000:155.594 JLINK_GetOEMString(...) TB528 000:171.909 JLINK_TIF_Select(JLINKARM_TIF_SWD) TB528 000:174.551 - 2.672ms returns 0x00 TB528 000:174.600 JLINK_HasError() TB528 000:174.796 JLINK_SetSpeed(5000) TB528 000:175.184 - 0.410ms TB528 000:175.224 JLINK_GetId() TB528 000:181.201 InitTarget() start TB528 000:181.250 J-Link Script File: Executing InitTarget() TB528 000:225.445 InitTarget() end TB528 000:233.340 Found SW-DP with ID 0x2BA01477 TB528 000:243.432 Old FW that does not support reading DPIDR via DAP jobs TB528 000:260.406 DPv0 detected TB528 000:273.732 Scanning AP map to find all available APs TB528 000:286.956 AP[1]: Stopped AP scan as end of AP map has been reached TB528 000:296.139 AP[0]: AHB-AP (IDR: 0x24770011) TB528 000:301.509 Iterating through AP map to find AHB-AP to use TB528 000:315.886 AP[0]: Core found TB528 000:319.808 AP[0]: AHB-AP ROM base: 0xE00FF000 TB528 000:331.644 CPUID register: 0x410FC241. Implementer code: 0x41 (ARM) TB528 000:336.076 Found Cortex-M4 r0p1, Little endian. TB528 000:438.751 -- Max. mem block: 0x000020B0 TB528 000:439.210 CPU_ReadMem(4 bytes @ 0xE000EDF0) TB528 000:439.870 CPU_ReadMem(4 bytes @ 0xE0002000) TB528 000:446.453 FPUnit: 6 code (BP) slots and 2 literal slots TB528 000:446.527 CPU_ReadMem(4 bytes @ 0xE000EDFC) TB528 000:447.221 CPU_WriteMem(4 bytes @ 0xE000EDFC) TB528 000:447.899 CPU_ReadMem(4 bytes @ 0xE0001000) TB528 000:448.573 CPU_WriteMem(4 bytes @ 0xE0001000) TB528 000:449.275 CPU_ReadMem(4 bytes @ 0xE000ED88) TB528 000:449.920 CPU_WriteMem(4 bytes @ 0xE000ED88) TB528 000:450.568 CPU_ReadMem(4 bytes @ 0xE000ED88) TB528 000:451.195 CPU_WriteMem(4 bytes @ 0xE000ED88) TB528 000:456.407 CoreSight components: TB528 000:460.182 ROMTbl[0] @ E00FF000 TB528 000:460.255 CPU_ReadMem(64 bytes @ 0xE00FF000) TB528 000:461.317 CPU_ReadMem(32 bytes @ 0xE000EFE0) TB528 000:467.286 ROMTbl[0][0]: E000E000, CID: B105E00D, PID: 000BB00C SCS-M7 TB528 000:467.427 CPU_ReadMem(32 bytes @ 0xE0001FE0) TB528 000:472.230 ROMTbl[0][1]: E0001000, CID: B105E00D, PID: 003BB002 DWT TB528 000:472.297 CPU_ReadMem(32 bytes @ 0xE0002FE0) TB528 000:477.329 ROMTbl[0][2]: E0002000, CID: B105E00D, PID: 002BB003 FPB TB528 000:477.400 CPU_ReadMem(32 bytes @ 0xE0000FE0) TB528 000:481.601 ROMTbl[0][3]: E0000000, CID: B105E00D, PID: 003BB001 ITM TB528 000:481.657 CPU_ReadMem(32 bytes @ 0xE0040FE0) TB528 000:485.571 ROMTbl[0][4]: E0040000, CID: B105900D, PID: 000BB9A1 TPIU TB528 000:485.633 CPU_ReadMem(32 bytes @ 0xE0041FE0) TB528 000:489.776 ROMTbl[0][5]: E0041000, CID: B105900D, PID: 000BB925 ETM TB528 000:492.063 - 316.894ms returns 0x2BA01477 TB528 000:492.156 JLINK_GetDLLVersion() TB528 000:492.179 - 0.035ms returns 72202 TB528 000:492.206 JLINK_CORE_GetFound() TB528 000:492.232 - 0.037ms returns 0xE0000FF TB528 000:492.255 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) TB528 000:492.285 Value=0xE00FF000 TB528 000:492.317 - 0.072ms returns 0 TB528 000:498.680 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) TB528 000:498.733 Value=0xE00FF000 TB528 000:498.767 - 0.098ms returns 0 TB528 000:498.792 JLINK_GetDebugInfo(0x101 = JLINKARM_DEBUG_INFO_ETM_ADDR_INDEX) TB528 000:498.816 Value=0xE0041000 TB528 000:498.851 - 0.070ms returns 0 TB528 000:498.887 JLINK_ReadMemEx(0xE0041FD0, 0x20 Bytes, Flags = 0x02000004) TB528 000:498.947 CPU_ReadMem(32 bytes @ 0xE0041FD0) TB528 000:499.908 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... TB528 000:499.948 - 1.070ms returns 32 (0x20) TB528 000:499.972 JLINK_GetDebugInfo(0x102 = JLINKARM_DEBUG_INFO_MTB_ADDR_INDEX) TB528 000:499.991 Value=0x00000000 TB528 000:500.017 - 0.056ms returns 0 TB528 000:500.038 JLINK_GetDebugInfo(0x103 = JLINKARM_DEBUG_INFO_TPIU_ADDR_INDEX) TB528 000:500.055 Value=0xE0040000 TB528 000:500.081 - 0.051ms returns 0 TB528 000:500.099 JLINK_GetDebugInfo(0x104 = JLINKARM_DEBUG_INFO_ITM_ADDR_INDEX) TB528 000:500.116 Value=0xE0000000 TB528 000:500.142 - 0.053ms returns 0 TB528 000:500.161 JLINK_GetDebugInfo(0x105 = JLINKARM_DEBUG_INFO_DWT_ADDR_INDEX) TB528 000:500.178 Value=0xE0001000 TB528 000:500.203 - 0.050ms returns 0 TB528 000:500.220 JLINK_GetDebugInfo(0x106 = JLINKARM_DEBUG_INFO_FPB_ADDR_INDEX) TB528 000:500.238 Value=0xE0002000 TB528 000:500.263 - 0.055ms returns 0 TB528 000:500.285 JLINK_GetDebugInfo(0x107 = JLINKARM_DEBUG_INFO_NVIC_ADDR_INDEX) TB528 000:500.302 Value=0xE000E000 TB528 000:500.329 - 0.052ms returns 0 TB528 000:500.347 JLINK_GetDebugInfo(0x10C = JLINKARM_DEBUG_INFO_DBG_ADDR_INDEX) TB528 000:500.364 Value=0xE000EDF0 TB528 000:500.390 - 0.052ms returns 0 TB528 000:500.409 JLINK_GetDebugInfo(0x01 = Unknown) TB528 000:500.431 Value=0x00000001 TB528 000:500.456 - 0.056ms returns 0 TB528 000:500.475 JLINK_ReadMemU32(0xE000ED00, 0x1 Items) TB528 000:500.504 CPU_ReadMem(4 bytes @ 0xE000ED00) TB528 000:501.149 Data: 41 C2 0F 41 TB528 000:501.201 Debug reg: CPUID TB528 000:501.227 - 0.760ms returns 1 (0x1) TB528 000:501.247 JLINK_GetDebugInfo(0x10F = JLINKARM_DEBUG_INFO_HAS_CORTEX_M_SECURITY_EXT_INDEX) TB528 000:501.265 Value=0x00000000 TB528 000:501.293 - 0.057ms returns 0 TB528 000:501.316 JLINK_HasError() TB528 000:501.335 JLINK_SetResetType(JLINKARM_CM3_RESET_TYPE_NORMAL) TB528 000:501.353 - 0.026ms returns JLINKARM_CM3_RESET_TYPE_NORMAL TB528 000:501.371 JLINK_Reset() TB528 000:501.405 CPU is running TB528 000:501.452 CPU_WriteMem(4 bytes @ 0xE000EDF0) TB528 000:502.071 CPU is running TB528 000:502.105 CPU_WriteMem(4 bytes @ 0xE000EDFC) TB528 000:506.003 Reset: Halt core after reset via DEMCR.VC_CORERESET. TB528 000:509.807 Reset: Reset device via AIRCR.SYSRESETREQ. TB528 000:509.864 CPU is runn