步进电机控制平衡车的实现

T2CBC 000:573 SEGGER J-Link V4.90 Log File (0000ms, 0263ms total) T2CBC 000:573 DLL Compiled: Jul 28 2014 10:35:20 (0000ms, 0263ms total) T2CBC 000:573 Logging started @ 2018-04-07 11:15 (0000ms, 0263ms total) T2CBC 000:573 JLINK_SetWarnOutHandler(...) (0000ms, 0263ms total) T2CBC 000:573 JLINK_OpenEx(...) Firmware: J-Link ARM V8 compiled Nov 28 2014 13:44:46 Hardware: V8.00 S/N: 286370559 Feature(s): RDI,FlashDL,FlashBP,JFlash returns O.K. (0265ms, 0528ms total) T2CBC 000:838 JLINK_SetErrorOutHandler(...) (0000ms, 0528ms total) T2CBC 000:838 JLINK_ExecCommand("ProjectFile = "E:\桌面\STM32BalanceCar\USER\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0529ms total) T2CBC 000:847 JLINK_ExecCommand("Device = STM32F103C8", ...)Device "STM32F103C8" selected (64 KB flash, 20 KB RAM). returns 0x00 (0028ms, 0557ms total) T2CBC 000:875 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x01 (0000ms, 0557ms total) T2CBC 000:875 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0557ms total) T2CBC 000:875 JLINK_GetDLLVersion() returns 49000 (0000ms, 0557ms total) T2CBC 000:875 JLINK_GetFirmwareString(...) (0000ms, 0557ms total) T2CBC 000:901 JLINK_GetDLLVersion() returns 49000 (0000ms, 0557ms total) T2CBC 000:901 JLINK_GetCompileDateTime() (0000ms, 0557ms total) T2CBC 000:903 JLINK_GetFirmwareString(...) (0000ms, 0557ms total) T2CBC 000:905 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0557ms total) T2CBC 000:912 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0001ms, 0558ms total) T2CBC 000:913 JLINK_SetSpeed(5000) (0000ms, 0558ms total) T2CBC 000:913 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> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 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> >0x28 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> >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>Found Cortex-M3 r1p1, Little endian. -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_ReadMem(4 bytes @ 0xE0002000)FPUnit: 6 code (BP) slots and 2 literal slots -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) -- CPU_WriteMem(4 bytes @ 0xE0001000) -- CPU_ReadMem(4 bytes @ 0xE00FF010)TPIU fitted. -- CPU_ReadMem(4 bytes @ 0xE00FF014) -- CPU_ReadMem(4 bytes @ 0xE00FF018) >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0031ms, 0589ms total) T2CBC 000:944 JLINK_GetDLLVersion() returns 49000 (0000ms, 0589ms total) T2CBC 000:944 JLINK_CORE_GetFound() returns 0x30000FF (0000ms, 0589ms total) T2CBC 000:947 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0589ms total) T2CBC 000:947 JLINK_GetDebugInfo(0x101) returns 0xFFFFFFFF (0000ms, 0589ms total) T2CBC 000:947 JLINK_ReadMem (0xE0041FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0041FF0) - Data: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 returns 0x00 (0001ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x102) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x103) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 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 (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x104) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x105) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x106) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x107) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_GetDebugInfo(0x10C) returns 0xFFFFFFFF (0000ms, 0590ms total) T2CBC 000:948 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) - Data: 31 C2 1F 41 returns 0x01 (0001ms, 0591ms total) T2CBC 000:949 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0591ms total) T2CBC 000:949 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) -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) (0017ms, 0608ms total) T2CBC 000:966 JLINK_Halt() returns 0x00 (0000ms, 0608ms total) T2CBC 000:966 JLINK_IsHalted() returns TRUE (0000ms, 0608ms total) T2CBC 000:966 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) - Data: 03 00 03 00 returns 0x01 (0000ms, 0608ms total) T2CBC 000:966 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0609ms total) T2CBC 000:967 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0610ms total) T2CBC 000:975 JLINK_GetHWStatus(...) returns 0x00 (0001ms, 0611ms total) T2CBC 000:981 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0611ms total) T2CBC 000:981 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0611ms total) T2CBC 000:981 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0611ms total) T2CBC 000:986 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0611ms total) T2CBC 000:990 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 01 00 00 00 returns 0x01 (0000ms, 0611ms total) T2CBC 000:990 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 01 00 00 00 returns 0x01 (0001ms, 0612ms total) T2CBC 000:991 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, 0613ms total) T2CBC 000:992 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, 0614ms total) T2CBC 000:993 JLINK_Halt() returns 0x00 (0000ms, 0614ms total) T2CBC 000:993 JLINK_IsHalted() returns TRUE (0000ms, 0614ms total) T2CBC 000:995 JLINK_WriteMem(0x20000000, 0x0164 Bytes, ...) - Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(356 bytes @ 0x20000000) returns 0x164 (0003ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R0, 0x08000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R1, 0x00B71B00) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R2, 0x00000001) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R3, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R4, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R5, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R6, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R7, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R8, 0x00000000) returns 0x00 (0000ms, 0617ms total) T2CBC 000:998 JLINK_WriteReg(R9, 0x20000160) returns 0x