mpu6050+姿态解算

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  • 2022-05-25 04:27
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mpu6050,姿态解算,四元数转欧拉角,硬件使用的stm32f103zet6,
mpu6050.rar
内容介绍
T09FC 000:030 SEGGER J-Link V4.58a Log File (0000ms, 0029ms total) T09FC 000:030 DLL Compiled: Dec 5 2012 18:38:08 (0000ms, 0029ms total) T09FC 000:030 Logging started @ 2015-06-28 19:46 (0000ms, 0029ms total) T09FC 000:030 JLINK_SetWarnOutHandler(...) (0000ms, 0029ms total) T09FC 000:030 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. (0019ms, 0048ms total) T09FC 000:049 JLINK_SetErrorOutHandler(...) (0000ms, 0048ms total) T09FC 000:049 JLINK_ExecCommand("ProjectFile = "D:\win7我的文档-桌面-收藏夹\Desktop\stm32f103 learnagain\SiZhou\JLinkSettings.ini"", ...) returns 0x00 (0000ms, 0048ms total) T09FC 000:055 JLINK_ExecCommand("Device = STM32F103ZE", ...) JLINK_ExecCommand("map ram 0x20000000 - 0x2000FFFF", ...) returns 0x00 (0000ms, 0000ms total) JLINK_AddMirrorAreaEx(Addr = 0x00000000, Size = 0x00000000) (0001ms, 0001ms total) Device "STM32F103ZE" selected (512 KB flash, 64 KB RAM). returns 0x00 (0005ms, 0053ms total) T09FC 000:060 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x00 (0000ms, 0054ms total) T09FC 000:061 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0054ms total) T09FC 000:061 JLINK_GetDLLVersion() returns 45801 (0000ms, 0054ms total) T09FC 000:061 JLINK_GetFirmwareString(...) (0000ms, 0054ms total) T09FC 000:065 JLINK_GetDLLVersion() returns 45801 (0000ms, 0054ms total) T09FC 000:065 JLINK_GetCompileDateTime() (0000ms, 0054ms total) T09FC 000:066 JLINK_GetFirmwareString(...) (0000ms, 0054ms total) T09FC 000:068 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 0054ms total) T09FC 000:074 JLINK_TIF_Select(JLINKARM_TIF_JTAG) returns 0x00 (0000ms, 0054ms total) T09FC 000:074 JLINK_SetSpeed(5000) (0001ms, 0055ms total) T09FC 000:075 JLINK_GetIdData(...) >0x2F8 JTAG>TotalIRLen = 9, IRPrint = 0x0011 >0x30 JTAG> >0x210 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x2F8 JTAG>TotalIRLen = 9, IRPrint = 0x0011 >0x30 JTAG> >0x210 JTAG> >0x80 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x38 JTAG> >0x80 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x80 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x80 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> Found Cortex-M3 r1p1, Little endian. >0x50 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x30 JTAG> >0x50 JTAG> >0x40 JTAG> >0x80 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG>TPIU fitted. >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG>ETM fitted. >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG>FPUnit: 6 code (BP) slots and 2 literal slots >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x30 JTAG> >0x50 JTAG> >0x40 JTAG> ScanLen=9 NumDevices=2 aId[0]=0x3BA00477 aIrRead[0]=0 aScanLen[0]=0 aScanRead[0]=0 (0110ms, 0165ms total) T09FC 000:185 JLINK_JTAG_GetDeviceID(DeviceIndex = 0) returns 0x3BA00477 (0000ms, 0165ms total) T09FC 000:185 JLINK_JTAG_GetDeviceInfo(DeviceIndex = 0) returns 0x00 (0000ms, 0165ms total) T09FC 000:185 JLINK_JTAG_GetDeviceID(DeviceIndex = 1) returns 0x6414041 (0001ms, 0166ms total) T09FC 000:186 JLINK_JTAG_GetDeviceInfo(DeviceIndex = 1) returns 0x00 (0000ms, 0166ms total) T09FC 000:186 JLINK_GetDLLVersion() returns 45801 (0000ms, 0166ms total) T09FC 000:186 JLINK_CORE_GetFound() returns 0x30000FF (0000ms, 0166ms total) T09FC 000:188 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 (0005ms, 0171ms total) T09FC 000:193 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 (0001ms, 0172ms total) T09FC 000:194 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 (0001ms, 0173ms total) T09FC 000:195 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 (0002ms, 0175ms total) T09FC 000:197 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 (0001ms, 0176ms total) T09FC 000:198 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 (0001ms, 0177ms total) T09FC 000:199 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 (0001ms, 0178ms total) T09FC 000:200 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 (0002ms, 0180ms total) T09FC 000:202 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 (0001ms, 0181ms total) T09FC 000:203 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 (0001ms, 0182ms total) T09FC 000:204 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 (0001ms, 0183ms total) T09FC 000:205 JLINK_ReadMem (0xE0041FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0041FF0) -- Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00 returns 0x00 (0001ms, 0184ms total) T09FC 000:207 JLINK_ReadMem (0xE0041FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0041FD0) -- Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... returns 0x00 (0001ms, 0185ms total) T09FC 000:208 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) -- Data: 31 C2 1F 41 returns 0x01 (0001ms, 0186ms total) T09FC 000:209 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0186ms total) T09FC 000:209 JLINK_Reset() >0x88 JTAG> >0x80 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x80 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x80 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x40 JTAG> >0x50 JTAG> >0x40 JTAG>Found Cortex-M3 r1p1, Little endian. >0x50 JTAG> >0x50 JTAG> >0x40 JTAG> >0x40 JTAG> >0x30 JTAG> >0x30 JTAG> >0x50
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