基于STM32两轮平衡车

T220C 000:271 SEGGER J-Link V4.54a Log File (0001ms, 0271ms total) T220C 000:271 DLL Compiled: Sep 17 2012 15:58:45 (0001ms, 0271ms total) T220C 000:271 Logging started @ 2014-09-26 17:35 (0001ms, 0271ms total) T220C 000:272 JLINK_SetWarnOutHandler(...) (0000ms, 0271ms total) T220C 000:272 JLINK_OpenEx(...) Firmware: J-Link ARM V8 compiled Nov 14 2012 22:34:52 Hardware: V8.00 S/N: 99999994 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFULL returns O.K. (0024ms, 0295ms total) T220C 000:296 JLINK_SetErrorOutHandler(...) (0000ms, 0295ms total) T220C 000:296 JLINK_ExecCommand("ProjectFile = "E:\07 - 项目\00 - 个人\10 - 两轮自平衡小车\4.IMU_AHRS\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0296ms total) T220C 000:309 JLINK_ExecCommand("Device = STM32F103T8", ...) JLINK_ExecCommand("map ram 0x20000000 - 0x20004FFF", ...) returns 0x00 (0000ms, 0000ms total) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) Device "STM32F103T8" selected (64 KB flash, 20 KB RAM). returns 0x00 (0013ms, 0309ms total) T220C 000:322 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0309ms total) T220C 000:322 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0002ms, 0311ms total) T220C 000:324 JLINK_SetSpeed(10000) (0001ms, 0312ms total) T220C 000:325 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0312ms total) T220C 000:325 JLINK_GetDLLVersion() returns 45401 (0000ms, 0312ms total) T220C 000:325 JLINK_GetFirmwareString(...) (0000ms, 0312ms total) T220C 000:344 JLINK_GetDLLVersion() returns 45401 (0000ms, 0312ms total) T220C 000:344 JLINK_GetCompileDateTime() (0000ms, 0312ms total) T220C 000:347 JLINK_GetFirmwareString(...) (0000ms, 0312ms total) T220C 000:352 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0312ms total) T220C 000:365 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 (0081ms, 0393ms total) T220C 000:446 JLINK_GetDeviceFamily() returns 3 (0000ms, 0393ms total) T220C 000:449 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 (0001ms, 0394ms total) T220C 000:450 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, 0395ms total) T220C 000:451 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, 0396ms total) T220C 000:452 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 31 C2 1F 41 returns 0x01 (0001ms, 0397ms total) T220C 000:453 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0397ms total) T220C 000:453 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) (0018ms, 0415ms total) T220C 000:471 JLINK_Halt() returns 0x00 (0000ms, 0415ms total) T220C 000:471 JLINK_IsHalted() returns TRUE (0000ms, 0415ms total) T220C 000:471 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- Data: 03 00 03 00 returns 0x01 (0001ms, 0416ms total) T220C 000:472 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0417ms total) T220C 000:473 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0418ms total) T220C 000:485 JLINK_GetHWStatus(...) returns 0x00 (0001ms, 0419ms total) T220C 000:495 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0419ms total) T220C 000:495 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x2000 (0000ms, 0419ms total) T220C 000:495 JLINK_GetNumWPUnits() returns 0x04 (0000ms, 0419ms total) T220C 000:503 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0419ms total) T220C 000:508 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 01 00 00 00 returns 0x01 (0001ms, 0420ms total) T220C 000:509 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 01 00 00 00 returns 0x01 (0001ms, 0421ms total) T220C 000:510 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, 0422ms total) T220C 000:512 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, 0424ms total) T220C 000:513 JLINK_Halt() returns 0x00 (0000ms, 0424ms total) T220C 000:513 JLINK_IsHalted() returns TRUE (0000ms, 0424ms total) T220C 000:516 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, 0427ms total) T220C 000:519 JLINK_WriteReg(R0, 0x08000000) returns 0x00 (0000ms, 0427ms total) T220C 000:519 JLINK_WriteReg(R1, 0x007A1200) returns 0x00 (0000ms, 0427ms total) T220C 000:519 JLINK_WriteReg(R2, 0x00000001) returns 0x00 (0000ms, 0427ms total) T220C 000:519 JLINK_WriteReg(R3, 0x00000000) returns 0x00 (0000ms, 0427ms total) T220C 000:519 JLINK_WriteReg(R4, 0x00000000) returns 0x00 (0000ms, 0427ms total) T220C 000:519 JLINK_WriteReg(R5, 0x00000000) returns 0x00 (0001ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R6, 0x00000000) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R7, 0x00000000) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R8, 0x00000000) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R9, 0x20000160) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R10, 0x00000000) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_WriteReg(R11, 0x00000000) returns 0x00 (0000ms, 0428ms total) T220C 000:520 JLINK_Writ