STM32 PID电机闭环控制参考代码

T1918 000:453 SEGGER J-Link V4.20p Log File (0001ms, 0451ms total) T1918 000:453 DLL Compiled: Nov 19 2010 15:55:07 (0002ms, 0451ms total) T1918 000:453 Logging started @ 2014-10-03 20:48 (0002ms, 0451ms total) T1918 000:455 JLINK_SetWarnOutHandler(...) (0000ms, 0453ms total) T1918 000:455 JLINK_OpenEx(...) Firmware: J-Link ARM V8 compiled Jun 19 2012 11:29:30 Hardware: V8.00 S/N: 20090626 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFULL returns O.K. (0203ms, 0453ms total) T1918 000:658 JLINK_SetErrorOutHandler(...) (0000ms, 0656ms total) T1918 000:659 JLINK_ExecCommand("Device = STM32F103ZE", ...) JLINK_ExecCommand("map ram 0x20000000 - 0x2000FFFF", ...) returns 0x00 (0000ms, 0000ms total) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0000ms, 0000ms total) returns 0x00 (0002ms, 0656ms total) T1918 000:663 JLINK_ExecCommand("ProjectFile = "C:\Users\Administrator\Desktop\JasonLin V1.1\USER\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0658ms total) T1918 000:665 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0659ms total) T1918 000:666 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0004ms, 0659ms total) T1918 000:670 JLINK_SetSpeed(10000) (0002ms, 0663ms total) T1918 000:672 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0665ms total) T1918 000:672 JLINK_GetDLLVersion() returns 42016 (0000ms, 0665ms total) T1918 000:672 JLINK_GetFirmwareString(...) (0000ms, 0665ms total) T1918 000:672 JLINK_GetDLLVersion() returns 42016 (0000ms, 0665ms total) T1918 000:672 JLINK_GetCompileDateTime() (0000ms, 0665ms total) T1918 000:672 JLINK_GetFirmwareString(...) (0000ms, 0665ms total) T1918 000:672 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0665ms total) T1918 000:673 JLINK_Reset() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x9B TIF> >0x9B TIF> >0x1D7 TIF> >0x13A TIF> >0x13A TIF>TPIU fitted. >0x13A TIF>ETM fitted. >0x13A TIF> FPUnit: 6 code (BP) slots and 2 literal slots >0x13A TIF> >0x13A TIF> >0x1D7 TIF> >0x1D7 TIF> >0x20C TIF> >0x13A TIF> >0x13A TIF> >0x1D7 TIF> >0x1D7 TIF> >0x13A TIF> >0x13A TIF> >0x11E4 TIF> >0x1D7 TIF> >0x13A TIF> >0x11E4 TIF> (0074ms, 0665ms total) T1918 000:747 JLINK_GetId() >0x33 TIF> returns 0x1BA01477 (0002ms, 0739ms total) T1918 000:749 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0001ms, 0741ms total) T1918 000:750 JLINK_ReadMem (0xE00FF000, 0x0018 Bytes, ...) -- 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, 0742ms total) T1918 000:751 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 31 C2 1F 41 returns 0x01 (0001ms, 0743ms total) T1918 000:755 JLINK_Halt() returns 0x00 (0001ms, 0744ms total) T1918 000:756 JLINK_IsHalted() returns TRUE (0000ms, 0745ms total) T1918 000:756 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- Data: 03 00 03 00 returns 0x01 (0002ms, 0745ms total) T1918 000:758 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0001ms, 0747ms total) T1918 000:759 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0001ms, 0748ms total) T1918 000:760 JLINK_ReadMemU32(0xE0002000, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE0002000) -- Data: 60 02 00 00 returns 0x01 (0001ms, 0749ms total) T1918 000:761 JLINK_ReadMemU32(0xE0001000, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE0001000) -- Data: 01 00 00 40 returns 0x01 (0001ms, 0750ms total) T1918 000:763 JLINK_GetHWStatus(...) returns 0x00 (0002ms, 0751ms total) T1918 000:765 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0753ms total) T1918 000:765 JLINK_GetNumBPUnits(Type = 0xF0) returns 0x800 (0000ms, 0753ms total) T1918 000:765 JLINK_GetNumWPUnits() returns 0x00 (0001ms, 0753ms total) T1918 000:766 JLINK_GetSpeed() returns 0xFA0 (0000ms, 0754ms total) T1918 000:767 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) -- Data: 01 00 00 00 returns 0x01 (0002ms, 0754ms total) T1918 000:769 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, 0756ms total) T1918 000:770 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 (0002ms, 0757ms total) T1918 000:772 JLINK_ReadReg(R15) returns 0xFFFFFFFF (0000ms, 0759ms total) T1918 000:772 JLINK_ReadReg(XPSR) returns 0xFFFFFFFF (0000ms, 0759ms total) T1918 002:286 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0001ms, 0759ms total) T1918 002:287 JLINK_Reset() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x33 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x35 TIF> >0x33 TIF> >0x33 TIF> >0x9B TIF> >0x9B TIF> >0x1D7 TIF> >0x13A TIF> >0x13A TIF>TPIU fitted. >0x13A TIF>ETM fitted. >0x13A TIF> FPUnit: 6 code (BP) slots and 2 literal slots >0x13A TIF> >0x13A TIF> >0x1D7 TIF> >0x1D7 TIF> >0x20C TIF> >0x13A TIF> >0x13A TIF> >0x1D7 TIF> >0x1D7 TIF> >0x13A TIF> >0x13A TIF> >0x1D7 TIF> >0x13A TIF> >0x11E4 TIF> (0073ms, 0760ms total) T1918 002:361 JLINK_ReadReg(R15) returns 0x080001D0 (0000ms, 0833ms total) T1918 002:361 JLINK_ReadReg(XPSR) returns 0x01000000 (0001ms, 0833ms total) T1918 002:362 JLINK_ReadReg(R0) returns 0x00000000 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R1) returns 0x00000003 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R2) returns 0x40022000 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R3) returns 0x04C11DB7 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R4) returns 0x00000000 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R5) returns 0x00000000 (0000ms, 0834ms total) T1918 002:362 JLINK_ReadReg(R6) returns 0x00000000 (0001ms, 0834ms total) T1918 002:363 JLINK_ReadReg(R7) returns 0x00000000 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R8) returns 0x00000000 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R9) returns 0x20000160 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R10) returns 0x00000000 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R11) returns 0x00000000 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R12) returns 0x00000000 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R13) returns 0x200007C0 (0000ms, 0835ms total) T1918 002:363 JLINK_ReadReg(R14) returns 0xFFFFFFFF (0001ms, 0835ms total) T1918 002:364 JLINK_ReadReg(R15) returns 0x080001D0 (0000ms, 0836ms total) T1918 002:364 JLINK_ReadReg(XPSR) returns 0x01000000 (0000ms, 0836ms total) T1918 002:364 JLINK_ReadReg(MSP) returns 0x200007C0 (0000ms, 0836ms total) T1918 002:364 JLINK_ReadReg(PSP) returns 0x20000800 (0000ms, 0836ms total) T1918 002:364 JLINK_ReadReg(CFBP) returns 0x00000000 (0000ms, 0836ms total) T1918 002:364 JLINK_WriteReg(R0, 0x00000000) returns 0x00 (0000ms, 0836ms total) T1918 002:364 JLINK_WriteReg(R1, 0x00000003) returns 0x00 (0000ms, 0836ms total) T1918 002:365 JLINK_WriteReg(R2, 0x40022000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R3, 0x04C11DB7) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R4, 0x00000000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R5, 0x00000000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R6, 0x00000000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R7, 0x00000000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R8, 0x00000000) returns 0x00 (0000ms, 0837ms total) T1918 002:365 JLINK_WriteReg(R9, 0x20000160) returns 0x00 (0001ms, 0837ms total) T1918 002:366 JLINK_WriteReg(R10, 0x00000000)