基于stm32的平衡车代码

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  • 2022-02-25 09:44
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本代码是基于stm32F103的程序,包括MPU6050的陀螺仪解算和滤波,还有PID算法控制,实测能用
平衡车.zip
内容介绍
TA2B4 000:282 SEGGER J-Link V4.98e Log File (0001ms, 0266ms total) TA2B4 000:282 DLL Compiled: May 5 2015 11:00:52 (0001ms, 0266ms total) TA2B4 000:282 Logging started @ 2015-12-30 14:21 (0001ms, 0266ms total) TA2B4 000:283 JLINK_SetWarnOutHandler(...) (0000ms, 0266ms total) TA2B4 000:283 JLINK_OpenEx(...) Firmware: J-Link ARM V8 compiled Nov 28 2014 13:44:46 Hardware: V8.00 S/N: 308621590 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFULL returns O.K. (0263ms, 0529ms total) TA2B4 000:546 JLINK_SetErrorOutHandler(...) (0000ms, 0529ms total) TA2B4 000:546 JLINK_ExecCommand("ProjectFile = "G:\9__两轮平衡车\1.程序\10.整机-F103RB互补\USER\JLinkSettings.ini"", ...) returns 0x00 (0001ms, 0530ms total) TA2B4 000:559 JLINK_ExecCommand("Device = STM32F103RB", ...)Device "STM32F103RB" selected. returns 0x00 (0008ms, 0538ms total) TA2B4 000:567 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x01 (0000ms, 0538ms total) TA2B4 000:567 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0538ms total) TA2B4 000:567 JLINK_GetDLLVersion() returns 49805 (0000ms, 0538ms total) TA2B4 000:567 JLINK_GetFirmwareString(...) (0000ms, 0538ms total) TA2B4 000:579 JLINK_GetDLLVersion() returns 49805 (0000ms, 0538ms total) TA2B4 000:579 JLINK_GetCompileDateTime() (0000ms, 0538ms total) TA2B4 000:582 JLINK_GetFirmwareString(...) (0000ms, 0539ms total) TA2B4 000:586 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0539ms total) TA2B4 000:591 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0001ms, 0540ms total) TA2B4 000:592 JLINK_SetSpeed(200) (0000ms, 0540ms total) TA2B4 000:592 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x0D TIF> >0x0D TIF>STM32Fxxxx: Cannot attach to CPU. Trying connect under reset. >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> JLINK_EMU_HasCapEx(0x0000002C) returns 0x01 (0000ms, 0000ms total) >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_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 @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88) -- CPU_ReadMem(4 bytes @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88)CoreSight components:ROMTbl 0 @ E00FF000 -- CPU_ReadMem(16 bytes @ 0xE00FF000) -- CPU_ReadMem(16 bytes @ 0xE000EFF0) -- CPU_ReadMem(16 bytes @ 0xE000EFE0)ROMTbl 0 [0]: FFF0F000, CID: B105E00D, PID: 001BB000 SCS -- CPU_ReadMem(16 bytes @ 0xE0001FF0) -- CPU_ReadMem(16 bytes @ 0xE0001FE0)ROMTbl 0 [1]: FFF02000, CID: B105E00D, PID: 001BB002 DWT -- CPU_ReadMem(16 bytes @ 0xE0002FF0) -- CPU_ReadMem(16 bytes @ 0xE0002FE0)ROMTbl 0 [2]: FFF03000, CID: B105E00D, PID: 000BB003 FPB -- CPU_ReadMem(16 bytes @ 0xE0000FF0) -- CPU_ReadMem(16 bytes @ 0xE0000FE0)ROMTbl 0 [3]: FFF01000, CID: B105E00D, PID: 001BB001 ITM -- CPU_ReadMem(16 bytes @ 0xE00FF010) -- CPU_ReadMem(16 bytes @ 0xE0040FF0) -- CPU_ReadMem(16 bytes @ 0xE0040FE0)ROMTbl 0 [4]: FFF41000, CID: B105900D, PID: 001BB923 TPIU-Lite >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0261ms, 0801ms total) TA2B4 000:853 JLINK_GetDLLVersion() returns 49805 (0000ms, 0801ms total) TA2B4 000:853 JLINK_CORE_GetFound() returns 0x30000FF (0000ms, 0801ms total) TA2B4 000:853 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0801ms total) TA2B4 000:858 JLINK_ReadMem (0xE00FF000, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE00FF000) - Data: 03 F0 F0 FF 03 20 F0 FF 03 30 F0 FF 03 10 F0 FF ... returns 0x00 (0006ms, 0807ms total) TA2B4 000:864 JLINK_ReadMem (0xE000EFF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE000EFF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0004ms, 0811ms total) TA2B4 000:868 JLINK_ReadMem (0xE000EFD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE000EFD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0005ms, 0816ms total) TA2B4 000:873 JLINK_ReadMem (0xE0001FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0001FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0004ms, 0820ms total) TA2B4 000:877 JLINK_ReadMem (0xE0001FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0001FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0005ms, 0825ms total) TA2B4 000:882 JLINK_ReadMem (0xE0002FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0002FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0004ms, 0829ms total) TA2B4 000:886 JLINK_ReadMem (0xE0002FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0002FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0005ms, 0834ms total) TA2B4 000:891 JLINK_ReadMem (0xE0000FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0000FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0005ms, 0839ms total) TA2B4 000:896 JLINK_ReadMem (0xE0000FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0000FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0005ms, 0844ms total) TA2B4 000:901 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 (0004ms, 0848ms total) TA2B4 000:905 JLINK_ReadMem (0xE0040FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0040FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0005ms, 0853ms total) TA2B4 000:910 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) - Data: 31 C2 1F 41 returns 0x01 (0003ms, 0856ms total) TA2B4 000:913 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0856ms total) TA2B4 000:913 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) (0085ms, 0941ms total) TA2B4 000:998 JLINK_Halt() returns 0x00 (0000ms, 0941ms total) TA2B4 000:998 JLINK_IsHalted() returns TRUE (0000ms, 0941ms total) TA2B4 000:998 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) - Data: 03 00 03 00 returns 0x01 (0004ms, 0945ms total) TA2B4 001:002 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) returns 0x00 (0002ms, 0947ms total) TA2B4 001:004 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) returns 0x00 (0002ms, 0949ms total) TA2B4 001:020 JLINK_GetHWStatus(...) returns 0x00 (0001ms, 0950ms total) TA2B4 001:029 JLINK_GetNumBPUnits(Type = 0xFFFFFF00) returns 0x06 (0000ms, 0950ms total) TA2B4 001:029 JLINK_GetNumBP
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