基于STM32F405的四轴开源飞控代码

T1714 000:384 SEGGER J-Link V4.40c Log File (0002ms, 0383ms total) T1714 000:384 DLL Compiled: Jan 24 2012 09:30:33 (0002ms, 0383ms total) T1714 000:384 Logging started @ 2013-09-01 09:52 (0002ms, 0383ms total) T1714 000:386 JLINK_SetWarnOutHandler(...) (0000ms, 0385ms total) T1714 000:386 JLINK_OpenEx(...) Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 Hardware: V7.00 S/N: 20090928 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull returns O.K. (0177ms, 0385ms total) T1714 000:563 JLINK_SetErrorOutHandler(...) (0000ms, 0562ms total) T1714 000:563 JLINK_ExecCommand("Device = STM32F405RG", ...) JLINK_ExecCommand("map ram 0x20000000 - 0x2001FFFF", ...) returns 0x00 (0000ms, 0000ms total) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) Device "STM32F405RG" selected (1024 KB flash, 128 KB RAM). returns 0x00 (0003ms, 0562ms total) T1714 000:567 JLINK_ExecCommand("ProjectFile = "D:\竞赛\四轴飞行器\大飞行器\AutoPloit_F405\AutoPloit_F405\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0565ms total) T1714 000:571 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0566ms total) T1714 000:571 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0002ms, 0566ms total) T1714 000:573 JLINK_SetSpeed(2000) (0000ms, 0568ms total) T1714 000:573 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0568ms total) T1714 000:573 JLINK_GetDLLVersion() returns 44003 (0000ms, 0568ms total) T1714 000:573 JLINK_GetFirmwareString(...) (0000ms, 0568ms total) T1714 000:577 JLINK_GetDLLVersion() returns 44003 (0000ms, 0568ms total) T1714 000:577 JLINK_GetCompileDateTime() (0000ms, 0568ms total) T1714 000:578 JLINK_GetFirmwareString(...) (0000ms, 0568ms total) T1714 000:579 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0568ms total) T1714 000:584 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x2BA01477 >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x33 TIF>TPIU fitted.ETM fitted. >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> FPUnit: 6 code (BP) slots and 2 literal slots >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF>Found Cortex-M4 r0p1, Little endian. >0x33 TIF> returns 0x2BA01477 (0031ms, 0568ms total) T1714 000:615 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0599ms total) T1714 000:616 JLINK_ReadMem (0xE00FFFF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE00FFFF0) -- Data: 0D 00 00 00 10 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0002ms, 0599ms total) T1714 000:618 JLINK_ReadMem (0xE00FFFD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE00FFFD0) -- Data: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0001ms, 0601ms total) T1714 000:619 JLINK_ReadMem (0xE00FF000, 0x0018 Bytes, ...) -- CPU is running -- CPU_ReadMem(24 bytes @ 0xE00FF000) -- Data: 03 F0 F0 FF 03 20 F0 FF 03 30 F0 FF 03 10 F0 FF ... returns 0x00 (0001ms, 0602ms total) T1714 000:620 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 41 C2 0F 41 returns 0x01 (0001ms, 0603ms total) T1714 000:621 JLINK_ReadMemU32(0xE000EF40, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF40) -- Data: 21 00 11 10 returns 0x01 (0001ms, 0604ms total) T1714 000:622 JLINK_ReadMemU32(0xE000EF44, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF44) -- Data: 11 00 00 11 returns 0x01 (0001ms, 0605ms total) T1714 000:623 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0606ms total) T1714 000:623 JLINK_Reset() >0x108 TIF>Found SWD-DP with ID 0x2BA01477 >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x33 TIF>TPIU fitted.ETM fitted. >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> FPUnit: 6 code (BP) slots and 2 literal slots >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF>Found Cortex-M4 r0p1, Little endian. -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) (0046ms, 0606ms total) T1714 000:669 JLINK_Halt() returns 0x00 (0000ms, 0652ms total) T1714 000:669 JLINK_IsHalted() returns TRUE (0000ms, 0652ms total) T1714 000:669 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- Data: 03 00 03 00 returns 0x01 (0001ms, 0652ms total) T1714 000:670 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0653ms total) T1714 000:671 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0654ms total) T1714 000:677 JLINK_GetHWStatus(...) returns 0x00 (0000ms, 0655ms total) T1714 000:681 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0655ms total) T1714 000:681 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0655ms total) T1714 000:681 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0655ms total) T1714 000:685 JLINK_GetSpeed() returns 0x7D0 (0000ms, 0655ms total) T1714 000:687 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 02 00 00 00 returns 0x01 (0001ms, 0655ms total) T1714 000:688 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 02 00 00 00 returns 0x01 (0001ms, 0656ms total) T1714 000:689 JLINK_WriteMem(0xE0001000, 0x001C Bytes, ...) -- Data: 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... -- CPU_WriteMem(28 bytes @ 0xE0001000) returns 0x1C (0001ms, 0657ms total) T1714 000:690 JLINK_ReadMem (0xE0001000, 0x001C Bytes, ...) -- CPU_ReadMem(28 bytes @ 0xE0001000) -- Data: 01 00 00 40 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0001ms, 0658ms total) T1714 000:691 JLINK_Halt() returns 0x00 (0000ms, 0659ms total) T1714 000:691 JLINK_IsHalted() returns TRUE (0000ms, 0659ms total) T1714 000:694 JLINK_WriteMem(0x20000000, 0x0180 Bytes, ...) -- Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(384 bytes @ 0x20000000) returns 0x180 (0005ms, 0659ms total) T1714 000:699 JLINK_WriteReg(R0, 0x08000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R1, 0x007A1200) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R2, 0x00000001) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R3, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R4, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R5, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R6, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R7, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R8, 0x00000000) returns 0x00 (0000ms, 0664ms total) T1714 000:699 JLINK_WriteReg(R9, 0x2000017C) returns 0x00 (0000ms, 0664ms total