MPU6500读取与卡尔曼滤波,mpu6050卡尔曼滤波姿态解算,C,C++

T17B8 000:275 SEGGER J-Link V4.98e Log File (0002ms, 0256ms total) T17B8 000:275 DLL Compiled: May 5 2015 11:00:52 (0002ms, 0256ms total) T17B8 000:275 Logging started @ 2017-06-25 00:16 (0002ms, 0256ms total) T17B8 000:277 JLINK_SetWarnOutHandler(...) (0000ms, 0256ms total) T17B8 000:277 JLINK_OpenEx(...) Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 Hardware: V7.00 S/N: 20090928 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull returns O.K. (0260ms, 0516ms total) T17B8 000:537 JLINK_SetErrorOutHandler(...) (0000ms, 0516ms total) T17B8 000:537 JLINK_ExecCommand("ProjectFile = "J:\远大工作\stm32f427开发板RM\信仰板加imu标准版程序_20170511\沈阳大学树莓派车_加2006版本\整车\整车\Project\JLinkSettings.ini"", ...)Device "UNSPECIFIED" selected. returns 0x00 (0002ms, 0518ms total) T17B8 000:544 JLINK_ExecCommand("Device = STM32F427IIHx", ...)Device "UNSPECIFIED" selected. returns 0x00 (0003ms, 0521ms total) T17B8 000:547 JLINK_ExecCommand("DisableConnectionTimeout", ...) returns 0x01 (0000ms, 0521ms total) T17B8 000:547 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0521ms total) T17B8 000:547 JLINK_GetDLLVersion() returns 49805 (0000ms, 0521ms total) T17B8 000:547 JLINK_GetFirmwareString(...) (0000ms, 0521ms total) T17B8 000:562 JLINK_GetDLLVersion() returns 49805 (0000ms, 0521ms total) T17B8 000:562 JLINK_GetCompileDateTime() (0000ms, 0521ms total) T17B8 000:566 JLINK_GetFirmwareString(...) (0000ms, 0521ms total) T17B8 000:570 JLINK_GetHardwareVersion() returns 0x11170 (0000ms, 0521ms total) T17B8 000:587 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0001ms, 0522ms total) T17B8 000:588 JLINK_SetSpeed(5000) (0000ms, 0522ms total) T17B8 000:588 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x2BA01477 >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-M4 r0p1, 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 @ 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: 000BB00C SCS -- CPU_ReadMem(16 bytes @ 0xE0001FF0) -- CPU_ReadMem(16 bytes @ 0xE0001FE0)ROMTbl 0 [1]: FFF02000, CID: B105E00D, PID: 003BB002 DWT -- CPU_ReadMem(16 bytes @ 0xE0002FF0) -- CPU_ReadMem(16 bytes @ 0xE0002FE0) ROMTbl 0 [2]: FFF03000, CID: B105E00D, PID: 002BB003 FPB -- CPU_ReadMem(16 bytes @ 0xE0000FF0) -- CPU_ReadMem(16 bytes @ 0xE0000FE0)ROMTbl 0 [3]: FFF01000, CID: B105E00D, PID: 003BB001 ITM -- CPU_ReadMem(16 bytes @ 0xE00FF010) -- CPU_ReadMem(16 bytes @ 0xE0040FF0) -- CPU_ReadMem(16 bytes @ 0xE0040FE0)ROMTbl 0 [4]: FFF41000, CID: B105900D, PID: 000BB9A1 TPIU -- CPU_ReadMem(16 bytes @ 0xE0041FF0) -- CPU_ReadMem(16 bytes @ 0xE0041FE0)ROMTbl 0 [5]: FFF42000, CID: B105900D, PID: 000BB925 ETM >0x0D TIF> >0x21 TIF> returns 0x2BA01477 (0073ms, 0595ms total) T17B8 000:661 JLINK_GetDLLVersion() returns 49805 (0000ms, 0595ms total) T17B8 000:661 JLINK_CORE_GetFound() returns 0xE0000FF (0000ms, 0595ms total) T17B8 000:661 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003 returns 0x00 (0000ms, 0595ms total) T17B8 000:664 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 (0001ms, 0596ms total) T17B8 000:665 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, 0597ms total) T17B8 000:666 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, 0598ms total) T17B8 000:667 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 (0001ms, 0599ms total) T17B8 000:668 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, 0600ms total) T17B8 000:669 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 (0000ms, 0600ms total) T17B8 000:669 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, 0601ms total) T17B8 000:670 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 (0001ms, 0602ms total) T17B8 000:671 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, 0603ms total) T17B8 000:672 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, 0604ms total) T17B8 000:673 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, 0605ms total) T17B8 000:674 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, 0606ms total) T17B8 000:675 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, 0607ms total) T17B8 000:676 JLINK_ReadMemU32(0xE000EF40, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF40) - Data: 21 00 11 10 returns 0x01 (0000ms, 0607ms total) T17B8 000:676 JLINK_ReadMemU32(0xE000EF44, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EF44) - Data: 11 00 00 11 returns 0x01 (0001ms, 0608ms total) T17B8 000:677 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) - Data: 41 C2 0F 41 returns 0x01 (0001ms, 0609ms total) T17B8 000:678 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0609ms total) T17B8 000:678 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_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) -- C