基于stm32主控的机械臂+源代码+文档说明

T214C 000:058.497 SEGGER J-Link V7.86b Log File T214C 000:058.809 DLL Compiled: Mar 1 2023 16:53:12 T214C 000:058.840 Logging started @ 2023-03-29 07:29 T214C 000:058.863 - 58.876ms T214C 000:058.907 JLINK_SetWarnOutHandler(...) T214C 000:058.936 - 0.041ms T214C 000:058.964 JLINK_OpenEx(...) T214C 000:061.738 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 T214C 000:062.412 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 T214C 000:065.215 Hardware: V7.00 T214C 000:065.279 S/N: 20090929 T214C 000:065.314 OEM: SEGGER T214C 000:065.349 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull T214C 000:066.958 TELNET listener socket opened on port 19021 T214C 000:067.142 WEBSRV WEBSRV_Init(): Starting webserver thread(s) T214C 000:067.440 WEBSRV Webserver running on local port 19080 T214C 000:110.317 - 51.397ms returns "O.K." T214C 000:110.428 JLINK_SetErrorOutHandler(...) T214C 000:110.450 - 0.032ms T214C 000:110.553 JLINK_ExecCommand("ProjectFile = "E:\yueqian\stm32\05_Code\Delay\Project\JLinkSettings.ini"", ...). T214C 000:132.402 Ref file found at: d:\Keil_v5\ARM\Segger\JLinkDevices.ref T214C 000:132.663 REF file references invalid XML file: d:\Program Files\SEGGER\JLink\JLinkDevices.xml T214C 000:132.978 - 22.437ms returns 0x00 T214C 000:136.943 JLINK_ExecCommand("Device = STM32F103C8", ...). T214C 000:139.928 Device "STM32F103C8" selected. T214C 000:140.301 - 3.336ms returns 0x00 T214C 000:140.327 JLINK_ExecCommand("DisableConnectionTimeout", ...). T214C 000:140.344 - 0.008ms returns 0x01 T214C 000:140.360 JLINK_GetHardwareVersion() T214C 000:140.373 - 0.019ms returns 70000 T214C 000:140.392 JLINK_GetDLLVersion() T214C 000:140.405 - 0.018ms returns 78602 T214C 000:140.419 JLINK_GetOEMString(...) T214C 000:140.433 JLINK_GetFirmwareString(...) T214C 000:140.446 - 0.018ms T214C 000:154.940 JLINK_GetDLLVersion() T214C 000:154.980 - 0.047ms returns 78602 T214C 000:155.000 JLINK_GetCompileDateTime() T214C 000:155.017 - 0.024ms T214C 000:157.590 JLINK_GetFirmwareString(...) T214C 000:157.622 - 0.038ms T214C 000:160.684 JLINK_GetHardwareVersion() T214C 000:160.717 - 0.040ms returns 70000 T214C 000:163.423 JLINK_GetSN() T214C 000:163.455 - 0.039ms returns 20090929 T214C 000:166.429 JLINK_GetOEMString(...) T214C 000:170.922 JLINK_TIF_Select(JLINKARM_TIF_SWD) T214C 000:171.632 - 0.725ms returns 0x00 T214C 000:171.659 JLINK_HasError() T214C 000:171.697 JLINK_SetSpeed(5000) T214C 000:171.850 - 0.160ms T214C 000:171.868 JLINK_GetId() T214C 000:174.477 InitTarget() start T214C 000:174.522 J-Link Script File: Executing InitTarget() T214C 000:176.881 SWD selected. Executing JTAG -> SWD switching sequence. T214C 000:183.178 DAP initialized successfully. T214C 000:198.472 InitTarget() end - Took 19ms T214C 000:201.343 Found SW-DP with ID 0x1BA01477 T214C 000:205.371 Old FW that does not support reading DPIDR via DAP jobs T214C 000:211.705 DPv0 detected T214C 000:214.881 CoreSight SoC-400 or earlier T214C 000:218.127 Scanning AP map to find all available APs T214C 000:224.689 AP[1]: Stopped AP scan as end of AP map has been reached T214C 000:230.842 AP[0]: AHB-AP (IDR: 0x14770011) T214C 000:234.153 Iterating through AP map to find AHB-AP to use T214C 000:244.999 AP[0]: Core found T214C 000:248.239 AP[0]: AHB-AP ROM base: 0xE00FF000 T214C 000:254.892 CPUID register: 0x411FC231. Implementer code: 0x41 (ARM) T214C 000:259.519 Found Cortex-M3 r1p1, Little endian. T214C 000:260.080 -- Max. mem block: 0x00002C18 T214C 000:260.638 CPU_ReadMem(4 bytes @ 0xE000EDF0) T214C 000:261.117 CPU_ReadMem(4 bytes @ 0xE0002000) T214C 000:265.612 FPUnit: 6 code (BP) slots and 2 literal slots T214C 000:265.679 CPU_ReadMem(4 bytes @ 0xE000EDFC) T214C 000:266.156 CPU_WriteMem(4 bytes @ 0xE000EDFC) T214C 000:266.839 CPU_ReadMem(4 bytes @ 0xE0001000) T214C 000:267.349 CPU_WriteMem(4 bytes @ 0xE0001000) T214C 000:267.828 CPU_ReadMem(4 bytes @ 0xE000ED88) T214C 000:268.339 CPU_WriteMem(4 bytes @ 0xE000ED88) T214C 000:268.909 CPU_ReadMem(4 bytes @ 0xE000ED88) T214C 000:269.421 CPU_WriteMem(4 bytes @ 0xE000ED88) T214C 000:276.050 CoreSight components: T214C 000:279.480 ROMTbl[0] @ E00FF000 T214C 000:279.530 CPU_ReadMem(64 bytes @ 0xE00FF000) T214C 000:280.578 CPU_ReadMem(32 bytes @ 0xE000EFE0) T214C 000:284.872 [0][0]: E000E000 CID B105E00D PID 001BB000 SCS T214C 000:284.925 CPU_ReadMem(32 bytes @ 0xE0001FE0) T214C 000:291.159 [0][1]: E0001000 CID B105E00D PID 001BB002 DWT T214C 000:291.231 CPU_ReadMem(32 bytes @ 0xE0002FE0) T214C 000:296.866 [0][2]: E0002000 CID B105E00D PID 000BB003 FPB T214C 000:296.924 CPU_ReadMem(32 bytes @ 0xE0000FE0) T214C 000:302.296 [0][3]: E0000000 CID B105E00D PID 001BB001 ITM T214C 000:302.360 CPU_ReadMem(32 bytes @ 0xE0040FE0) T214C 000:309.006 [0][4]: E0040000 CID B105900D PID 001BB923 TPIU-Lite T214C 000:309.848 - 138.014ms returns 0x1BA01477 T214C 000:309.913 JLINK_GetDLLVersion() T214C 000:309.936 - 0.033ms returns 78602 T214C 000:309.962 JLINK_CORE_GetFound() T214C 000:309.986 - 0.035ms returns 0x30000FF T214C 000:310.087 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) T214C 000:310.112 Value=0xE00FF000 T214C 000:310.142 - 0.065ms returns 0 T214C 000:314.129 JLINK_ReadMem(0xE00FF000, 0x20 Bytes, ...) T214C 000:314.206 CPU_ReadMem(32 bytes @ 0xE00FF000) T214C 000:315.101 Data: 03 F0 F0 FF 03 20 F0 FF 03 30 F0 FF 03 10 F0 FF ... T214C 000:315.148 - 1.027ms returns 0 T214C 000:315.173 JLINK_ReadMem(0xE000EFF0, 0x10 Bytes, ...) T214C 000:315.203 CPU_ReadMem(16 bytes @ 0xE000EFF0) T214C 000:315.931 Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 T214C 000:315.978 - 0.814ms returns 0 T214C 000:316.004 JLINK_ReadMem(0xE000EFD0, 0x20 Bytes, ...) T214C 000:316.033 CPU_ReadMem(32 bytes @ 0xE000EFD0) T214C 000:316.888 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T214C 000:316.938 - 0.944ms returns 0 T214C 000:316.966 JLINK_ReadMem(0xE0001FF0, 0x10 Bytes, ...) T214C 000:316.999 CPU_ReadMem(16 bytes @ 0xE0001FF0) T214C 000:317.703 Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 T214C 000:317.755 - 0.799ms returns 0 T214C 000:317.783 JLINK_ReadMem(0xE0001FD0, 0x20 Bytes, ...) T214C 000:317.816 CPU_ReadMem(32 bytes @ 0xE0001FD0) T214C 000:318.690 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T214C 000:318.747 - 0.975ms returns 0 T214C 000:318.778 JLINK_ReadMem(0xE0002FF0, 0x10 Bytes, ...) T214C 000:318.816 CPU_ReadMem(16 bytes @ 0xE0002FF0) T214C 000:319.429 Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 T214C 000:319.487 - 0.720ms returns 0 T214C 000:319.520 JLINK_ReadMem(0xE0002FD0, 0x20 Bytes, ...) T214C 000:319.558 CPU_ReadMem(32 bytes @ 0xE0002FD0) T214C 000:320.374 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T214C 000:320.421 - 0.914ms returns 0 T214C 000:320.454 JLINK_ReadMem(0xE0000FF0, 0x10 Bytes, ...) T214C 000:320.492 CPU_ReadMem(16 bytes @ 0xE0000FF0) T214C 000:321.244 Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 T214C 000:321.307 - 0.864ms returns 0 T214C 000:321.340 JLINK_ReadMem(0xE0000FD0, 0x20 Bytes, ...) T214C 000:321.485 CPU_ReadMem(32 bytes @ 0xE0000FD0) T214C 000:322.501 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T214C 000:322.559 - 1.230ms returns 0 T214C 000:322.590 JLINK_ReadMem(0xE0040FF0, 0x10 Bytes, ...) T214C 000:322.625 CPU_ReadMem(16 bytes @ 0xE0040FF0) T214C 000:323.498 Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 T214C 000:323.559 - 0.981ms returns 0 T214C 000:323.592 JLINK_ReadMem(0xE0040FD0, 0x20 Bytes, ...) T214C 000:323.630 CPU_ReadMem(32 bytes @ 0xE0040FD0) T214C 000:324.713 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T214C 000:324.779 - 1.200ms returns 0 T214C 000:324.815 JLINK_ReadMemU32(0xE000ED00, 0x1 Items) T214C 000:324.856 CPU_ReadMem(4 bytes @ 0xE000ED00) T214C 000:325.671 Data: 31 C2 1F 41 T214C 000:325.739 Debug reg: CPUID T