STM32F103四轴飞行器，MPU6050陀螺仪获取姿态角度，X模式飞行，PID控制电机的PPM，让其保持稳定状态.zip

T1D40 000:065 SEGGER J-Link V4.72 Log File (0001ms, 0065ms total) T1D40 000:065 DLL Compiled: Jun 12 2013 15:47:08 (0001ms, 0065ms total) T1D40 000:065 Logging started @ 2013-08-07 22:20 (0001ms, 0065ms total) T1D40 000:066 JLINK_SetWarnOutHandler(...) (0000ms, 0065ms total) T1D40 000:066 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. (0029ms, 0094ms total) T1D40 000:095 JLINK_SetErrorOutHandler(...) (0000ms, 0094ms total) T1D40 000:095 JLINK_ExecCommand("ProjectFile = "D:\EDA\四轴\STM32\KEIL\ANO_USB\JLinkSettings.ini"", ...) returns 0x00 (0000ms, 0094ms total) T1D40 000:095 JLINK_ExecCommand("Device = STM32F103C8", ...) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) Device "STM32F103C8" selected (64 KB flash, 20 KB RAM). returns 0x00 (0001ms, 0095ms total) T1D40 000:096 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0095ms total) T1D40 000:096 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0006ms, 0101ms total) T1D40 000:102 JLINK_SetSpeed(10000) (0002ms, 0103ms total) T1D40 000:104 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0103ms total) T1D40 000:104 JLINK_GetDLLVersion() returns 47200 (0000ms, 0103ms total) T1D40 000:104 JLINK_GetFirmwareString(...) (0000ms, 0103ms total) T1D40 000:105 JLINK_GetDLLVersion() returns 47200 (0000ms, 0103ms total) T1D40 000:105 JLINK_GetCompileDateTime() (0000ms, 0103ms total) T1D40 000:105 JLINK_GetFirmwareString(...) (0000ms, 0103ms total) T1D40 000:106 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0103ms total) T1D40 000:107 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >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> >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >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> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>TPIU 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> >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-M3 r1p1, Little endian. >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0126ms, 0229ms total) T1D40 000:233 JLINK_GetDeviceFamily() returns 3 (0000ms, 0229ms total) T1D40 000:233 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 (0003ms, 0232ms total) T1D40 000:236 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, 0233ms total) T1D40 000:237 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, 0234ms total) T1D40 000:238 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 31 C2 1F 41 returns 0x01 (0001ms, 0235ms total) T1D40 000:239 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0235ms total) T1D40 000:239 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) (0023ms, 0258ms total) T1D40 000:262 JLINK_ReadReg(R15 (PC)) returns 0x08000188 (0000ms, 0258ms total) T1D40 000:262 JLINK_ReadReg(XPSR) returns 0x01000000 (0000ms, 0258ms total) T1D40 000:262 JLINK_Halt() returns 0x00 (0000ms, 0258ms total) T1D40 000:262 JLINK_IsHalted() returns TRUE (0000ms, 0258ms total) T1D40 000:262 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- Data: 03 00 03 00 returns 0x01 (0001ms, 0259ms total) T1D40 000:263 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0260ms total) T1D40 000:264 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0261ms total) T1D40 000:266 JLINK_GetHWStatus(...) returns 0x00 (0001ms, 0262ms total) T1D40 000:267 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0001ms, 0263ms total) T1D40 000:268 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0263ms total) T1D40 000:268 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0263ms total) T1D40 000:268 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0263ms total) T1D40 000:269 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 01 00 00 00 returns 0x01 (0001ms, 0264ms total) T1D40 000:270 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 01 00 00 00 returns 0x01 (0001ms, 0265ms total) T1D40 000:271 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, 0266ms total) T1D40 000:272 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, 0267ms total) T1D40 000:273 JLINK_ReadReg(R15 (PC)) returns 0x08000188 (0000ms, 0267ms total) T1D40 000:273 JLINK_ReadReg(XPSR) returns 0x01000000 (0000ms, 0267ms total) T1D40 000:483 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0267ms total) T1D40 000:483 JLINK_Reset() -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE0002000) (0026ms, 0293ms total) T1D40 000:509 JLINK_ReadReg(R15 (PC)) returns 0x08000188 (0000ms, 0293ms total) T1D40 000:509 JLINK_ReadReg(XPSR) returns 0x01000000 (0000ms, 0293ms total) T1D40 000:510 JLINK_ReadMem (0x08000188, 0x003C Bytes, ...) -- CPU_ReadMem(128 bytes @ 0x08000180) -- Updating C cache (128 bytes @ 0x08000180) -- Read from C cache (60 bytes @ 0x08000188) -- Data: 09 48 80 47 09 48 00 47 FE E7 FE E7 FE E7 FE E7 ... returns 0x00 (0002ms, 0295ms total) T1D40 002:203 JLINK_ReadMem (0x080025A8, 0x003C Bytes, ...) -- CPU_ReadMem(128 bytes @ 0x08002580) -- Updating C cache (128 bytes @ 0x08002580) -- Read from C cache (60 bytes @