基于匿名飞控代码修改了输出为50Hz，同时利用串口通讯到上位机是一个匿名飞控的代码

T2174 000:037 SEGGER J-Link V4.68 Log File (0001ms, 0038ms total) T2174 000:037 DLL Compiled: Apr 6 2013 00:10:46 (0001ms, 0038ms total) T2174 000:037 Logging started @ 2016-04-22 19:45 (0001ms, 0038ms total) T2174 000:038 JLINK_SetWarnOutHandler(...) (0000ms, 0038ms total) T2174 000:038 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. (0011ms, 0049ms total) T2174 000:049 JLINK_SetErrorOutHandler(...) (0000ms, 0049ms total) T2174 000:049 JLINK_ExecCommand("ProjectFile = "G:\四旋翼\项目\代码\ANO_FLY_F4-飞行发布v1.0\ANO_FLY_F4\Project\JLinkSettings.ini"", ...) returns 0x00 (0004ms, 0053ms total) T2174 000:057 JLINK_ExecCommand("Device = STM32F407VG", ...) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) Device "STM32F407VG" selected (1024 KB flash, 128 KB RAM). returns 0x00 (0013ms, 0066ms total) T2174 000:070 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0066ms total) T2174 000:070 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0066ms total) T2174 000:070 JLINK_GetDLLVersion() returns 46800 (0000ms, 0066ms total) T2174 000:070 JLINK_GetFirmwareString(...) (0000ms, 0066ms total) T2174 000:078 JLINK_GetDLLVersion() returns 46800 (0000ms, 0066ms total) T2174 000:078 JLINK_GetCompileDateTime() (0000ms, 0066ms total) T2174 000:080 JLINK_GetFirmwareString(...) (0001ms, 0067ms total) T2174 000:084 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0067ms total) T2174 000:094 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0001ms, 0068ms total) T2174 000:095 JLINK_SetSpeed(5000) (0000ms, 0068ms total) T2174 000:095 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x2BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x108 TIF>Found SWD-DP with ID 0x2BA01477 >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>TPIU fitted.ETM fitted. >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>FPUnit: 6 code (BP) slots and 2 literal slots >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>Found Cortex-M4 r0p1, Little endian. >0x0D TIF> >0x21 TIF> returns 0x2BA01477 (0044ms, 0112ms total) T2174 000:139 JLINK_GetDLLVersion() returns 46800 (0000ms, 0112ms total) T2174 000:139 JLINK_CORE_GetFound() returns 0xE0000FF (0000ms, 0112ms total) T2174 000:142 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0112ms total) T2174 000:142 JLINK_GetDebugInfo(0x101) returns 0xFFFFFFFF (0000ms, 0112ms total) T2174 000:142 JLINK_ReadMem (0xE0041FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0041FF0) -- Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0000ms, 0112ms total) T2174 000:142 JLINK_GetDebugInfo(0x102) returns 0xFFFFFFFF (0000ms, 0112ms total) T2174 000:142 JLINK_GetDebugInfo(0x103) returns 0xFFFFFFFF (0000ms, 0112ms total) T2174 000:142 JLINK_ReadMem (0xE0040FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0040FF0) -- Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0001ms, 0113ms total) T2174 000:143 JLINK_GetDebugInfo(0x104) returns 0xFFFFFFFF (0000ms, 0113ms total) T2174 000:143 JLINK_GetDebugInfo(0x105) returns 0xFFFFFFFF (0000ms, 0113ms total) T2174 000:143 JLINK_GetDebugInfo(0x106) returns 0xFFFFFFFF (0000ms, 0113ms total) T2174 000:143 JLINK_GetDebugInfo(0x107) returns 0xFFFFFFFF (0000ms, 0113ms total) T2174 000:143 JLINK_GetDebugInfo(0x10C) returns 0xFFFFFFFF (0000ms, 0113ms total) T2174 000:143 JLINK_ReadMemU32(0xE000EF40, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF40) -- Data: 21 00 11 10 returns 0x01 (0001ms, 0114ms total) T2174 000:144 JLINK_ReadMemU32(0xE000EF44, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF44) -- Data: 11 00 00 11 returns 0x01 (0000ms, 0114ms total) T2174 000:144 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 41 C2 0F 41 returns 0x01 (0000ms, 0114ms total) T2174 000:144 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0114ms total) T2174 000:144 JLINK_Reset() -- 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) -- CPU_WriteMem(4 bytes @ 0xE0002000) (0017ms, 0131ms total) T2174 000:161 JLINK_Halt() returns 0x00 (0000ms, 0131ms total) T2174 000:161 JLINK_IsHalted() returns TRUE (0000ms, 0131ms total) T2174 000:161 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- Data: 03 00 03 00 returns 0x01 (0001ms, 0132ms total) T2174 000:162 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0000ms, 0132ms total) T2174 000:162 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0133ms total) T2174 000:172 JLINK_GetHWStatus(...) returns 0x00 (0000ms, 0133ms total) T2174 000:180 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0133ms total) T2174 000:180 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0133ms total) T2174 000:180 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0133ms total) T2174 000:187 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0133ms total) T2174 000:193 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 02 00 00 00 returns 0x01 (0000ms, 0133ms total) T2174 000:193 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 02 00 00 00 returns 0x01 (0001ms, 0134ms total) T2174 000:194 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 (0000ms, 0134ms total) T2174 000:194 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, 0135ms total) T2174 000:195 JLINK_Halt() returns 0x00 (0000ms, 0135ms total) T2174 000:195 JLINK_IsHalted() returns TRUE (0000ms, 0135ms total) T2174 000:246 JLINK_WriteMem(0x20000000, 0x0180 Bytes, ...) -- Data: 00 BE 0A E0