MyTask_Init中初始化了DWT，所以放到前面，调大内存池占用

CMakePresets.json

@@ -28,7 +28,7 @@
         "BUILD_PERIPHERAL": "ON",
         "BUILD_LIST": "ON",
         "BUILD_BSPMCU": "ON",
-        "MEM_POOL_TOTAL_SIZE": "96*1024",
+        "MEM_POOL_TOTAL_SIZE": "128*1024",
         "IOC_100PIN": true,
         "USE_UART": true,
         "CONFIG_UART_IT_IDLEDMA": false,

Core/Src/freertos.c

@@ -133,8 +133,8 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
-  Drv_InterfaceInit();
   MyTask_Init();
+  Drv_InterfaceInit();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */

robot

@@ -1 +1 @@
-Subproject commit b80d44894ff5bf2135372500b4c0f16b6cfea5dd
+Subproject commit b32de2c39bb63c74ce20bf2ed13a51a193426b98