卡尔曼滤波（我亲测可以用）

T1E08 000:229 SEGGER J-Link V4.62 Log File (0001ms, 0080ms total) T1E08 000:229 DLL Compiled: Jan 25 2013 15:19:47 (0001ms, 0080ms total) T1E08 000:229 Logging started @ 2014-08-27 16:15 (0001ms, 0080ms total) T1E08 000:230 JLINK_SetWarnOutHandler(...) (0000ms, 0080ms total) T1E08 000:230 JLINK_OpenEx(...) Firmware: J-Link ARM V8 compiled Nov 14 2012 22:34:52 Hardware: V8.00 S/N: 17935099 Feature(s): RDI,FlashDL,FlashBP,JFlash returns O.K. (0026ms, 0106ms total) T1E08 000:256 JLINK_SetErrorOutHandler(...) (0000ms, 0106ms total) T1E08 000:256 JLINK_ExecCommand("ProjectFile = "C:\Users\Administrator\Desktop\ALIENTEK MINISTM32 实验8 PWM输出实验\USER\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0107ms total) T1E08 000:257 JLINK_ExecCommand("Device = STM32F103RB", ...) JLINK_ExecCommand("map ram 0x20000000 - 0x20004FFF", ...) returns 0x00 (0000ms, 0000ms total) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) Device "STM32F103RB" selected (128 KB flash, 20 KB RAM). returns 0x00 (0001ms, 0108ms total) T1E08 000:258 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0108ms total) T1E08 000:258 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0005ms, 0113ms total) T1E08 000:263 JLINK_SetSpeed(10000) (0001ms, 0114ms total) T1E08 000:264 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0114ms total) T1E08 000:264 JLINK_GetDLLVersion() returns 46200 (0000ms, 0114ms total) T1E08 000:264 JLINK_GetFirmwareString(...) (0000ms, 0114ms total) T1E08 000:264 JLINK_GetDLLVersion() returns 46200 (0000ms, 0114ms total) T1E08 000:264 JLINK_GetCompileDateTime() (0000ms, 0114ms total) T1E08 000:264 JLINK_GetFirmwareString(...) (0000ms, 0114ms total) T1E08 000:264 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0114ms total) T1E08 000:265 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0114ms total) T1E08 000:265 JLINK_Reset() >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. -- 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) (0144ms, 0258ms total) T1E08 000:409 JLINK_GetId() >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0002ms, 0260ms total) T1E08 000:421 JLINK_GetFirmwareString(...) (0000ms, 0260ms total) T1E08 007:550 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0003ms, 0263ms total) T1E08 007:553 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0002ms, 0265ms total) T1E08 007:555 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0002ms, 0267ms total) T1E08 007:557 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0002ms, 0269ms total) T1E08 007:559 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0002ms, 0271ms total) T1E08 007:561 JLINK_SWO_Control(JLINKARM_SWO_CMD_GET_SPEED_INFO, ...) returns 0x00 (0002ms, 0273ms total) T1E08 021:807 JLINK_Close() >0x42 TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> (0031ms, 0304ms total) T1E08 021:838 JLINK_Close() (0000ms, 0304ms total) T1E08 021:838 JLINK_Close() (0000ms, 0304ms total)