Heh.. ok, let's go through it.
Note: You are looking at RTOS booting on a micro-controller.
Code:
1.795 : 0 IST8303[2:0x18]:Init...
1.800 : 0 IST8303[2:0x18]:set mode failed
1.800 : 0 ist83xx:0 ret:-14
1.800 : 0 IST8303[2:0x1e]:Init...
1.805 : 0 IST8303[2:0x1e]:set mode failed
1.805 : 0 ist83xx:1 ret:-14
2.012 : 0 ms5607:0 ret:0 spi_id:0 init ok
2.420 : 0 [BAT]read barcode data success num:1
2.420 : 0 [BAT]read begin:12211232 end:12345678
2.420 : 0 [BAT]barcode[0]:6171152308289
2.465 : 0 eeprom load 0 0 22 32
Ok, so the uC got power. Now, it doesn't have the OS yet.. it's just a loader. But the loader does initial reboot and initialization of connected HW. Ans what we have connected:
- IST8303 - compass, which is slow to react and can't answer yet
- ms5607 - IMU - which basically says it exists and nothing more, yet
- [BAT] - battery, which presents itself with a serial number, for some reason called "barcode".
And that's it. Now it's time to load the OS. It is stored in Electronically Erasable Programable ROM, and now there's a bunch of messages about reading it. No errors, so nothing interesting.
Next:
Code:
4.212 : 0 eeprom load 36 1312 96 104
4.390 : 0 mis cali 55 55 220f fff0 cnt:0
4.390 : 0 imu status:20
4.390 : 0 [hardfault]:******************check fault info and trace ************
4.390 : 0 [hardfault]:-----fault is null: addr(0x40024000),flag(0x9b9bed05)-----
4.390 : 0 [hardfault]:-----fault is null: addr(0x400241a0),flag(0x115105aa)-----
4.390 : 0 [hardfault]:-----task info is null: addr(0x40024340),flag(0x773c29ee)-----
4.390 : 0 [hardfault]:-----trace info is null: addr(0x400244d0),flag(0xbade97de)-----
4.390 : 0 [hardfault]:******************check last trace ******************
4.390 : 0 [hardfault]:-----trace info is null: addr(0x40024790),flag(0xc1b3e860)-----
4.390 : 0 [hardfault]:-----wdg_time_info is null: addr(0x40024a50),flag(0x117fa180)-----
4.390 : 0 startup:4.287657||
4.390 : 0 Board:"wm320v2"
so we got two messages about talking to IMU, some calibration data for it - we can't understand the values anyway, so meh.
Then the RTOS does its initial checking - [hardfault] is not really any real fault, this is how RTOS checks whether its fault mechanisms are working. And then the OS is aware enough to figure out what it is - it proudly claims it's wm320v2 - "I'm a phantom!" it screams.
Next:
Code:
4.395 : 0 imu err status 20
4.410 : 1 airport limit inited[1]
4.410 : 1 compass calibration init!
4.410 : 1 [LED] changed: test led when startup
4.410 : 1 app connect changed:last(255) != current(0)
4.410 : 1 assistant connect changed:last(255) != current(0)
4.410 : 1 [FDI MAGN[1]] event:turn on
4.410 : 1 [FDI GYRO[1]] event:turn on
4.410 : 1 [FDI ACC[1]] event:turn on
4.410 : 1 [FDI BARO[1]] event:turn on
4.412 : 1 [FDI AHRS[1]]:turn on
4.412 : 1 [FDI CTRL] event: turn on
4.412 : 1 temp cali (0.000000,0.000000) 0 fw:4 4||
4.413 : 1 temp cali 0 bw:0.000000 0.000000 0.000000 ba:0.000000 0.000000 0.000000||
4.413 : 1 app temp cali (35.000000,65.002945) aa fw:6 6||
4.413 : 1 app temp cali aa bw:-0.000485 -0.000430 0.000706 ba:-0.000182 0.000181 -0.000402||
4.413 : 1 read gps date:20200630
The software initialization continues. IMU seem to still have some error flags set (not sure if 20 is dec or hex, so not sure if 1 or 2 error bits), but compass is now answering. We also turn on LEDs into startup blinking and check temperature calibration data. We enable software events for monitoring various sensors. Even GPS now sends first report.
One thing worth mentioning is that our RAM was filled with '1's at start. Lot of them. ie. eight '1's make the value of 255. So we see report about changing some values from 255 to 0 - which really means that value was just set for the first time.
Next:
Code:
4.470 : 4 [esc_is_stall] status changed: last(0xffffffff) != current(0x00000000)
4.472 : 4 [esc_is_empty] status changed: last(0xffffffff) != current(0x00000000)
4.510 : 6 app connect changed:last(0) != current(1)
4.590 : 10 [FDI GPS[1]] event:turn on
4.730 : 17 sub_cmd:10,data_len:15
4.730 : 17 set app type:1
4.730 : 17 sub_cmd:10,data_len:15
4.730 : 17 set app type:1
4.790 : 20 sub_cmd:9,data_len:14
4.790 : 20 MONITOR_CHECK_UUID_SET status:0
4.830 : 22 sub_cmd:9,data_len:14
4.830 : 22 MONITOR_CHECK_UUID_SET status:0
4.910 : 26 sub_cmd:7,data_len:40
4.910 : 26 [set uuid]:937035302917046272
4.910 : 26 sub_cmd:7,data_len:40
4.910 : 26 [set uuid]:937035302917046272
4.912 : 26 uid ex flash index:0
4.912 : 26 iwdg_set_max_timeout befor set swdg_timeout(0x00000120)!
4.912 : 26 iwdg_set_time_out time_out(0x00000ffa)!
4.912 : 26 iwdg_set_swdg_time_out time_out(4090) set g_swdg_timeout_max(0x000007ab) ||
We have even more values which were filled with '1's before - 32 of them make up 0xffffffff.
Some Universally Unique IDentifiers are set, I have no idea what they identify. Doesn't matter.
Then we enable watchdog - iwdg_* lines - it's a mechanism for hang detection, which can reboot the uC if it crashes or hangs, so your drone have a chance of surviving that.
Next:
Code:
6.713 : 28 ESC0 link up||
6.725 : 28 ESC1 link up||
6.737 : 29 ESC2 link up||
6.748 : 29 ESC3 link up||
6.748 : 29 esc alive info = 0xf||
6.750 : 30 Battery barcode:6171193104605
6.768 : 30 ESC0 version: Protocol = [V1.0] Hardware = "WM320_ESC_V9"
6.768 : 30 Loader = [V01.00.02.02]
6.768 : 30 Firmware = [V01.12.00.00] ||
6.777 : 31 ESC1 version: Protocol = [V1.0] Hardware = "WM320_ESC_V9"
6.777 : 31 Loader = [V01.00.02.02]
6.777 : 31 Firmware = [V01.12.00.00] ||
6.785 : 31 ESC2 version: Protocol = [V1.0] Hardware = "WM320_ESC_V9"
6.785 : 31 Loader = [V01.00.02.02]
6.785 : 31 Firmware = [V01.12.00.00] ||
6.793 : 32 ESC3 version: Protocol = [V1.0] Hardware = "WM320_ESC_V9"
6.793 : 32 Loader = [V01.00.02.02]
6.793 : 32 Firmware = [V01.12.00.00] ||
Now we start contacting Electronic Speed Controllers, one by one. Each of them says which firmware it has.
Next:
Code:
6.810 : 33 Battery barcode:6171193104605
7.010 : 43 Battery name :ATL NVT DJ005.||
7.010 : 43 manufacture Date:2019/7/27||
7.010 : 43 Serial number :46||
7.450 : 64 IMU data error 1835 11 0 1 11 11 11 1 12
8.175 : 101 [FDI AHRS[1]]:ahrs_init begin
8.190 : 102 [FDI AHRS[1]]:bias fdi turn on
8.190 : 102 [FDI AHRS[1]]:init fdi turn on
8.190 : 102 [FDI AHRS[1]]:wait for sensor check
8.370 : 111 [LED] changed: imu error
Ok, here's maybe a cause for concern. First the FC talks to battery, sets up some structures required for orientation sensors. But then - it changes the LED blinking scheme to IMU error.
You didn't told your LEDs are blinking indicating an error?
There seem to be IMU issue in your drone.