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Co-authored-by: Copilot <copilot@github.com>
This commit is contained in:
vadyschka01
2026-05-19 14:01:03 +03:00
parent 4d694ecf43
commit 769ac3d0c7
13 changed files with 587 additions and 403 deletions
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Debug/.ninja_deps
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Debug/.ninja_log
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@@ -17,3 +17,17 @@
181 222 7990823776968303 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc
181 222 7990823776968303 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc
181 222 7990823776968303 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc
3 145 8008901051719254 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/motors.o a560d5a92deba7a4
3 145 8008901051719254 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/motors.o a560d5a92deba7a4
2 153 8008901051709367 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o c37a5ec274783fe9
2 153 8008901051709367 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o c37a5ec274783fe9
3 166 8008901051719254 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
3 166 8008901051719254 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
154 167 8008901053232593 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/startup_stm32g431xx.o cede824c243c8d17
154 167 8008901053232593 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/startup_stm32g431xx.o cede824c243c8d17
146 248 8008901053147116 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/system_stm32g4xx.o a638ba64754599fe
146 248 8008901053147116 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/system_stm32g4xx.o a638ba64754599fe
1 147 8008905075728681 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o 5e0322b232c2a5d3
1 147 8008905075728681 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o 5e0322b232c2a5d3
2 163 8008905075738649 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
2 163 8008905075738649 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
Debug/Exe/fft_az.out
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Debug/Exe/fft_az.out.rsp
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@@ -0,0 +1 @@
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\dsp_manager.o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\imu.o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\main.o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\motors.o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\startup_stm32g431xx.o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\system_stm32g4xx.o --no_out_extension -o C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out --redirect _Printf=_PrintfFullNoMb --redirect _Scanf=_ScanfFullNoMb --map C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\List\fft_az.map --config C:\iar\ewarm-9.70.1\arm/config/linker/ST/stm32g431xB.icf --semihosting --entry __iar_program_start C:\iar\ewarm-9.70.1\arm\CMSIS\Lib\IAR\iar_cortexM4lf_math.a --vfe --text_out locale --cpu=Cortex-M4 --fpu=VFPv4_sp
Debug/List/fft_az.map
+415 -400
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@@ -1,6 +1,6 @@
###############################################################################
#
# IAR ELF Linker V9.70.1.475/W64 for ARM 28/Apr/2026 15:26:17
# IAR ELF Linker V9.70.1.475/W64 for ARM 19/May/2026 13:41:59
# Copyright 2007-2025 IAR Systems AB.
#
# Output file =
@@ -32,6 +32,21 @@
#
###############################################################################
*******************************************************************************
*** MESSAGES
***
Error[Li005]: no definition for "Biquad_Filter" [referenced from
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\dsp_manager.o]
Error[Li005]: no definition for "dsp_buffer_ready" [referenced from
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\dsp_manager.o]
Error[Lp011]: section placement failed
unable to allocate space for sections/blocks with a total estimated
minimum size of 0x1'fe48 bytes (max align 0x4) in
<[0x800'0000-0x801'ffff]> (total uncommitted space
0x1'fe28).
*******************************************************************************
*** RUNTIME MODEL ATTRIBUTES
***
@@ -73,199 +88,202 @@ No sections matched the following patterns:
section .textrw in "P2"
Section Kind Address Alignment Size Object
------- ---- ------- --------- ---- ------
"A0": 0x1d8
.intvec ro code 0x800'0000 4 0x1d8 startup_stm32g431xx.o [1]
- 0x800'01d8 0x1d8
Section Kind Address Alignment Size Object
------- ---- ------- --------- ---- ------
"A0": 0x1d8
.intvec ro code 0x800'0000 4 0x1d8 startup_stm32g431xx.o [1]
- 0x800'01d8 0x1d8
"P1": 0x1'fe28
.rodata const 0x800'01d8 4 0x8000 arm_common_tables.o [3]
.rodata const 0x800'81d8 4 0x4000 arm_common_tables.o [3]
.rodata const 0x800'c1d8 4 0x4000 arm_common_tables.o [3]
.rodata const 0x801'01d8 4 0x2000 arm_common_tables.o [3]
.rodata const 0x801'21d8 4 0x2000 arm_common_tables.o [3]
.rodata const 0x801'41d8 4 0x1f80 arm_common_tables.o [3]
.rodata const 0x801'6158 4 0x1dc0 arm_common_tables.o [3]
.rodata const 0x801'7f18 4 0x1000 arm_common_tables.o [3]
.rodata const 0x801'8f18 4 0x1000 arm_common_tables.o [3]
.rodata const 0x801'9f18 4 0xe10 arm_common_tables.o [3]
.rodata const 0x801'ad28 4 0x804 arm_common_tables.o [3]
.rodata const 0x801'b52c 4 0x800 arm_common_tables.o [3]
.rodata const 0x801'bd2c 4 0x800 arm_common_tables.o [3]
.text ro code 0x801'c52c 4 0x704 arm_cfft_f32.o [3]
.text ro code 0x801'cc30 4 0x592 arm_cfft_radix8_f32.o [3]
.text ro code 0x801'd1c2 2 0x2a copy_init3.o [5]
.text ro code 0x801'd1ec 4 0x46 arm_bitreversal2.o [3]
.rodata const 0x801'd234 4 0x400 arm_common_tables.o [3]
.rodata const 0x801'd634 4 0x400 arm_common_tables.o [3]
.rodata const 0x801'da34 4 0x380 arm_common_tables.o [3]
.rodata const 0x801'ddb4 4 0x370 arm_common_tables.o [3]
.text ro code 0x801'e124 4 0x360 imu.o [1]
.text ro code 0x801'e484 4 0x214 cos_sin_tan_32.o [4]
.text ro code 0x801'e698 4 0x1e U64Shr.o [5]
.text ro code 0x801'e6b8 4 0x248 main.o [1]
.text ro code 0x801'e900 4 0x128 motors.o [1]
.text ro code 0x801'ea28 4 0x1c0 dsp_manager.o [1]
.text ro code 0x801'ebe8 4 0xa0 system_stm32g4xx.o [1]
.text ro code 0x801'ec88 4 0x1bc arm_rfft_fast_init_f32.o [3]
.text ro code 0x801'ee44 4 0x90 arm_cos_f32.o [3]
.text ro code 0x801'eed4 4 0x10e arm_mult_f32.o [3]
.text ro code 0x801'efe4 4 0x182 arm_rfft_fast_f32.o [3]
.text ro code 0x801'f168 4 0x154 arm_cmplx_mag_f32.o [3]
.text ro code 0x801'f2bc 4 0x98 arm_cfft_init_f32.o [3]
.rodata const 0x801'f354 4 0x200 arm_common_tables.o [3]
.rodata const 0x801'f554 4 0x200 arm_common_tables.o [3]
.rodata const 0x801'f754 4 0x1a0 arm_common_tables.o [3]
.rodata const 0x801'f8f4 4 0x100 arm_common_tables.o [3]
.rodata const 0x801'f9f4 4 0x100 arm_common_tables.o [3]
.rodata const 0x801'faf4 4 0x80 arm_common_tables.o [3]
.rodata const 0x801'fb74 4 0x80 arm_common_tables.o [3]
.rodata const 0x801'fbf4 4 0x70 arm_common_tables.o [3]
.rodata const 0x801'fc64 4 0x60 arm_common_tables.o [3]
.text ro code 0x801'fcc4 2 0x38 zero_init3.o [5]
.rodata const 0x801'fcfc 4 0x28 arm_common_tables.o [3]
.text ro code 0x801'fd24 4 0x28 data_init.o [5]
.text ro code 0x801'fd4c 4 0x22 fpinit_M.o [4]
.text ro code 0x801'fd70 4 0x22 cmain.o [5]
.text ro code 0x801'fd92 2 0x4 low_level_init.o [2]
.text ro code 0x801'fd96 2 0x4 exit.o [2]
.text ro code 0x801'fd9c 4 0x4 cexit.o [5]
.text ro code 0x801'fda0 4 0xa cexit_2.o [5]
.text ro code 0x801'fdac 4 0x14 exit.o [6]
.iar.init_table const 0x801'fdc0 4 0x24 - Linker created -
.text ro code 0x801'fde4 4 0x1e cstartup_M.o [5]
.rodata const 0x801'fe04 4 0x10 system_stm32g4xx.o [1]
.rodata const 0x801'fe14 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe24 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe34 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe44 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe54 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe64 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe74 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe84 4 0x10 arm_const_structs.o [3]
.rodata const 0x801'fe94 4 0x10 arm_const_structs.o [3]
.text ro code 0x801'fea4 4 0x10 startup_stm32g431xx.o [1]
.text ro code 0x801'feb4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'feb8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'febc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fec0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fec4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fec8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fecc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fed0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fed4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fed8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fedc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fee0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fee4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fee8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'feec 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fef0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fef4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fef8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'fefc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff00 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff04 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff08 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff0c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff10 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff14 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff18 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff1c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff20 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff24 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff28 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff2c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff30 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff34 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff38 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff3c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff40 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff44 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff48 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff4c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff50 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff54 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff58 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff5c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff60 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff64 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff68 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff6c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff70 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff74 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff78 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff7c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff80 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff84 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff88 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff8c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff90 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff94 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff98 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ff9c 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffa0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffa4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffa8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffac 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffb0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffb4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffb8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffbc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffc0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffc4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffc8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffcc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffd0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffd4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffd8 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffdc 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffe0 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffe4 2 0x4 startup_stm32g431xx.o [1]
.text ro code 0x801'ffe8 2 0x4 startup_stm32g431xx.o [1]
.rodata const 0x801'ffec 0x0 zero_init3.o [5]
.rodata const 0x801'ffec 0x0 copy_init3.o [5]
Initializer bytes const 0x801'ffec 4 0x14 <for P3 s0>
- 0x802'0000 0x1'fe28
"P3", part 1 of 3: 0x14
P3 s0 0x2000'0000 0x14 <Init block>
.data inited 0x2000'0000 4 0x4 main.o [1]
.data inited 0x2000'0004 4 0x4 main.o [1]
.data inited 0x2000'0008 4 0x4 main.o [1]
.data inited 0x2000'000c 4 0x4 main.o [1]
.data inited 0x2000'0010 4 0x4 system_stm32g4xx.o [1]
- 0x2000'0014 0x14
"P3", part 1 of 3: 0x14
P3 s0 0x2000'0000 0x14 <Init block>
.data inited 0x2000'0000 4 0x4 main.o [1]
.data inited 0x2000'0004 4 0x4 main.o [1]
.data inited 0x2000'0008 4 0x4 main.o [1]
.data inited 0x2000'000c 4 0x4 main.o [1]
.data inited 0x2000'0010 4 0x4 system_stm32g4xx.o [1]
- 0x2000'0014 0x14
"P3", part 2 of 3: 0x1c7c
.bss zero 0x2000'0014 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'0814 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'1014 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'1814 4 0x400 dsp_manager.o [1]
.bss zero 0x2000'1c14 4 0x1c imu.o [1]
.bss zero 0x2000'1c30 4 0x1c imu.o [1]
.bss zero 0x2000'1c4c 4 0x1c imu.o [1]
.bss zero 0x2000'1c68 4 0x18 dsp_manager.o [1]
.bss zero 0x2000'1c80 4 0x4 imu.o [1]
.bss zero 0x2000'1c84 4 0x4 imu.o [1]
.bss zero 0x2000'1c88 2 0x2 dsp_manager.o [1]
.bss zero 0x2000'1c8a 2 0x2 imu.o [1]
.bss zero 0x2000'1c8c 0x1 main.o [1]
- 0x2000'1c8d 0x1c79
"P3", part 2 of 3: 0x1c7c
.bss zero 0x2000'0014 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'0814 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'1014 4 0x800 dsp_manager.o [1]
.bss zero 0x2000'1814 4 0x400 dsp_manager.o [1]
.bss zero 0x2000'1c14 4 0x1c imu.o [1]
.bss zero 0x2000'1c30 4 0x1c imu.o [1]
.bss zero 0x2000'1c4c 4 0x1c imu.o [1]
.bss zero 0x2000'1c68 4 0x18 dsp_manager.o [1]
.bss zero 0x2000'1c80 4 0x4 imu.o [1]
.bss zero 0x2000'1c84 4 0x4 imu.o [1]
.bss zero 0x2000'1c88 2 0x2 dsp_manager.o [1]
.bss zero 0x2000'1c8a 2 0x2 imu.o [1]
.bss zero 0x2000'1c8c 0x1 dsp_manager.o [1]
.bss zero 0x2000'1c8d 0x1 main.o [1]
- 0x2000'1c8e 0x1c7a
"P3", part 3 of 3: 0x800
CSTACK 0x2000'1c90 8 0x800 <Block>
CSTACK uninit 0x2000'1c90 0x800 <Block tail>
- 0x2000'2490 0x800
"P3", part 3 of 3: 0x800
CSTACK 0x2000'1c90 8 0x800 <Block>
CSTACK uninit 0x2000'1c90 0x800 <Block tail>
- 0x2000'2490 0x800
"P1", part 1 of 2 (*** FAILED ***): 0x1'fe34
.rodata const 0x8000 arm_common_tables.o [3]
.rodata const 0x4000 arm_common_tables.o [3]
.rodata const 0x4000 arm_common_tables.o [3]
.rodata const 0x2000 arm_common_tables.o [3]
.rodata const 0x2000 arm_common_tables.o [3]
.rodata const 0x1f80 arm_common_tables.o [3]
.rodata const 0x1dc0 arm_common_tables.o [3]
.rodata const 0x1000 arm_common_tables.o [3]
.rodata const 0x1000 arm_common_tables.o [3]
.rodata const 0xe10 arm_common_tables.o [3]
.rodata const 0x804 arm_common_tables.o [3]
.rodata const 0x800 arm_common_tables.o [3]
.rodata const 0x800 arm_common_tables.o [3]
.text ro code 0x704 arm_cfft_f32.o [3]
.text ro code 0x592 arm_cfft_radix8_f32.o [3]
.text ro code 0x2a copy_init3.o [5]
.text ro code 0x46 arm_bitreversal2.o [3]
.rodata const 0x400 arm_common_tables.o [3]
.rodata const 0x400 arm_common_tables.o [3]
.rodata const 0x380 arm_common_tables.o [3]
.rodata const 0x370 arm_common_tables.o [3]
.text ro code 0x360 imu.o [1]
.text ro code 0x214 cos_sin_tan_32.o [4]
.text ro code 0x1e U64Shr.o [5]
.text ro code 0x248 main.o [1]
.text ro code 0x128 motors.o [1]
.text ro code 0x1e0 dsp_manager.o [1]
.text ro code 0xa0 system_stm32g4xx.o [1]
.text ro code 0x1bc arm_rfft_fast_init_f32.o [3]
.text ro code 0x90 arm_cos_f32.o [3]
.text ro code 0x10e arm_mult_f32.o [3]
.text ro code 0x182 arm_rfft_fast_f32.o [3]
.text ro code 0x154 arm_cmplx_mag_f32.o [3]
.text ro code 0x98 arm_cfft_init_f32.o [3]
.rodata const 0x200 arm_common_tables.o [3]
.rodata const 0x200 arm_common_tables.o [3]
.rodata const 0x1a0 arm_common_tables.o [3]
.rodata const 0x100 arm_common_tables.o [3]
.rodata const 0x100 arm_common_tables.o [3]
.rodata const 0x80 arm_common_tables.o [3]
.rodata const 0x80 arm_common_tables.o [3]
.rodata const 0x70 arm_common_tables.o [3]
.rodata const 0x60 arm_common_tables.o [3]
.text ro code 0x38 zero_init3.o [5]
.rodata const 0x28 arm_common_tables.o [3]
.text ro code 0x28 data_init.o [5]
.text ro code 0x22 fpinit_M.o [4]
.text ro code 0x22 cmain.o [5]
.text ro code 0x4 low_level_init.o [2]
.text ro code 0x4 exit.o [2]
.text ro code 0x4 cexit.o [5]
.text ro code 0xa cexit_2.o [5]
.text ro code 0x14 exit.o [6]
.iar.init_table const 0x18 - Linker created -
.text ro code 0x1e cstartup_M.o [5]
.rodata const 0x10 system_stm32g4xx.o [1]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.rodata const 0x10 arm_const_structs.o [3]
.text ro code 0x10 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.text ro code 0x4 startup_stm32g431xx.o [1]
.rodata const 0x0 zero_init3.o [5]
.rodata const 0x0 copy_init3.o [5]
0x1'fe34
"P1", part 2 of 2 (*** FAILED ***): 0x14
Initializer bytes const 0x14 <for P3 s0> (used: 0x0)
0x14
Unused ranges:
From To Size
---- -- ----
0x2000'2490 0x2000'3fff 0x1b70
0x2000'4000 0x2000'57ff 0x1800
From To Size
---- -- ----
0x800'01d8 0x801'ffff 0x1'fe28
0x2000'2490 0x2000'3fff 0x1b70
0x2000'4000 0x2000'57ff 0x1800
*******************************************************************************
@@ -275,12 +293,10 @@ Unused ranges:
Address Size
------- ----
Zero (__iar_zero_init3)
1 destination range, total size 0x1c7a:
0x2000'0014 0x1c7a
1 destination range, total size 0x1c79:
0x2000'0014 0x1c79
Copy (__iar_copy_init3)
1 source range, total size 0x14:
0x801'ffec 0x14
1 destination range, total size 0x14:
0x2000'0000 0x14
@@ -297,14 +313,14 @@ command line/config:
Total:
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj: [1]
dsp_manager.o 448 7'195
dsp_manager.o 480 7'194
imu.o 864 94
main.o 584 16 17
main.o 584 17
motors.o 296
startup_stm32g431xx.o 800
system_stm32g4xx.o 160 20 4
system_stm32g4xx.o 160 16 4
---------------------------------------------------
Total: 3'152 36 7'310
Total: 3'184 16 7'309
dl7M_tln.a: [2]
exit.o 4
@@ -351,9 +367,9 @@ shb_l.a: [6]
Total: 20
Gaps 12 4
Linker created 36 2'048
Linker created 44 2'048
-------------------------------------------------------
Grand Total: 9'032 122'040 9'358
Grand Total: 9'064 122'028 9'357
*******************************************************************************
@@ -362,258 +378,257 @@ shb_l.a: [6]
Entry Address Size Type Object
----- ------- ---- ---- ------
.iar.init_table$$Base 0x801'fdc0 -- Gb - Linker created -
.iar.init_table$$Limit 0x801'fde4 -- Gb - Linker created -
?main 0x801'fd71 Code Gb cmain.o [5]
ADC1_2_IRQHandler 0x801'ff1d Code Wk startup_stm32g431xx.o [1]
AHBPrescTable 0x801'fe04 0x10 Data Gb system_stm32g4xx.o [1]
BusFault_Handler 0x801'fec1 Code Wk startup_stm32g431xx.o [1]
By2Pi 0x801'e67c 0x1c Data Lc cos_sin_tan_32.o [4]
COMP1_2_3_IRQHandler 0x801'ffb9 Code Wk startup_stm32g431xx.o [1]
COMP4_IRQHandler 0x801'ffbd Code Wk startup_stm32g431xx.o [1]
CORDIC_IRQHandler 0x801'ffe5 Code Wk startup_stm32g431xx.o [1]
CRS_IRQHandler 0x801'ffc1 Code Wk startup_stm32g431xx.o [1]
.iar.init_table$$Base 0x1'fc08 -- Gb - Linker created -
.iar.init_table$$Limit 0x1'fc2c -- Gb - Linker created -
?main 0x1'fbb9 Code Gb cmain.o [5]
ADC1_2_IRQHandler 0x1'fd65 Code Wk startup_stm32g431xx.o [1]
AHBPrescTable 0x1'fc4c 0x10 Data Gb system_stm32g4xx.o [1]
BusFault_Handler 0x1'fd09 Code Wk startup_stm32g431xx.o [1]
By2Pi 0x1'e4a4 0x1c Data Lc cos_sin_tan_32.o [4]
COMP1_2_3_IRQHandler 0x1'fe01 Code Wk startup_stm32g431xx.o [1]
COMP4_IRQHandler 0x1'fe05 Code Wk startup_stm32g431xx.o [1]
CORDIC_IRQHandler 0x1'fe2d Code Wk startup_stm32g431xx.o [1]
CRS_IRQHandler 0x1'fe09 Code Wk startup_stm32g431xx.o [1]
CSTACK$$Base 0x2000'1c90 -- Gb - Linker created -
CSTACK$$Limit 0x2000'2490 -- Gb - Linker created -
DMA1_Channel1_IRQHandler
0x801'ff05 Code Wk startup_stm32g431xx.o [1]
0x1'fd4d Code Wk startup_stm32g431xx.o [1]
DMA1_Channel2_IRQHandler
0x801'ff09 Code Wk startup_stm32g431xx.o [1]
0x1'fd51 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel3_IRQHandler
0x801'ff0d Code Wk startup_stm32g431xx.o [1]
0x1'fd55 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel4_IRQHandler
0x801'ff11 Code Wk startup_stm32g431xx.o [1]
0x1'fd59 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel5_IRQHandler
0x801'ff15 Code Wk startup_stm32g431xx.o [1]
0x1'fd5d Code Wk startup_stm32g431xx.o [1]
DMA1_Channel6_IRQHandler
0x801'ff19 Code Wk startup_stm32g431xx.o [1]
0x1'fd61 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel1_IRQHandler
0x801'ffa1 Code Wk startup_stm32g431xx.o [1]
0x1'fde9 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel2_IRQHandler
0x801'ffa5 Code Wk startup_stm32g431xx.o [1]
0x1'fded Code Wk startup_stm32g431xx.o [1]
DMA2_Channel3_IRQHandler
0x801'ffa9 Code Wk startup_stm32g431xx.o [1]
0x1'fdf1 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel4_IRQHandler
0x801'ffad Code Wk startup_stm32g431xx.o [1]
0x1'fdf5 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel5_IRQHandler
0x801'ffb1 Code Wk startup_stm32g431xx.o [1]
0x1'fdf9 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel6_IRQHandler
0x801'ffe1 Code Wk startup_stm32g431xx.o [1]
DMAMUX_OVR_IRQHandler 0x801'ffdd Code Wk startup_stm32g431xx.o [1]
DSP_AddSample 0x801'ea79 0x2e Code Gb dsp_manager.o [1]
DSP_Init 0x801'ea29 0x50 Code Gb dsp_manager.o [1]
DSP_Process 0x801'eaa9 0x108 Code Gb dsp_manager.o [1]
DebugMon_Handler 0x801'fecd Code Wk startup_stm32g431xx.o [1]
EXTI0_IRQHandler 0x801'fef1 Code Wk startup_stm32g431xx.o [1]
EXTI15_10_IRQHandler 0x801'ff75 Code Wk startup_stm32g431xx.o [1]
EXTI1_IRQHandler 0x801'fef5 Code Wk startup_stm32g431xx.o [1]
EXTI2_IRQHandler 0x801'fef9 Code Wk startup_stm32g431xx.o [1]
EXTI3_IRQHandler 0x801'fefd Code Wk startup_stm32g431xx.o [1]
EXTI4_IRQHandler 0x801'ff01 Code Wk startup_stm32g431xx.o [1]
EXTI9_5_IRQHandler 0x801'ff31 Code Wk startup_stm32g431xx.o [1]
FDCAN1_IT0_IRQHandler 0x801'ff29 Code Wk startup_stm32g431xx.o [1]
FDCAN1_IT1_IRQHandler 0x801'ff2d Code Wk startup_stm32g431xx.o [1]
FLASH_IRQHandler 0x801'fee9 Code Wk startup_stm32g431xx.o [1]
FMAC_IRQHandler 0x801'ffe9 Code Wk startup_stm32g431xx.o [1]
FPU_IRQHandler 0x801'ffc9 Code Wk startup_stm32g431xx.o [1]
HardFault_Handler 0x801'feb9 Code Wk startup_stm32g431xx.o [1]
I2C1_ER_IRQHandler 0x801'ff55 Code Wk startup_stm32g431xx.o [1]
I2C1_EV_IRQHandler 0x801'ff51 Code Wk startup_stm32g431xx.o [1]
I2C1_Init 0x801'e1f7 0x56 Code Gb imu.o [1]
I2C2_ER_IRQHandler 0x801'ff5d Code Wk startup_stm32g431xx.o [1]
I2C2_EV_IRQHandler 0x801'ff59 Code Wk startup_stm32g431xx.o [1]
I2C3_ER_IRQHandler 0x801'ffd9 Code Wk startup_stm32g431xx.o [1]
I2C3_EV_IRQHandler 0x801'ffd5 Code Wk startup_stm32g431xx.o [1]
I2C_ReadMulti 0x801'e24d 0x5c Code Gb imu.o [1]
IMU_Calibrate 0x801'e375 0x5c Code Gb imu.o [1]
IMU_Init 0x801'e2ed 0x88 Code Gb imu.o [1]
IMU_ReadRawData 0x801'e3d1 0x50 Code Gb imu.o [1]
IMU_SetBank 0x801'e2d9 0x12 Code Gb imu.o [1]
IMU_WriteReg 0x801'e2a9 0x30 Code Lc imu.o [1]
LPTIM1_IRQHandler 0x801'ff91 Code Wk startup_stm32g431xx.o [1]
LPUART1_IRQHandler 0x801'ffd1 Code Wk startup_stm32g431xx.o [1]
MemManage_Handler 0x801'febd Code Wk startup_stm32g431xx.o [1]
Motors_Init 0x801'e901 0xb2 Code Gb motors.o [1]
NMI_Handler 0x801'feb5 Code Wk startup_stm32g431xx.o [1]
PVD_PVM_IRQHandler 0x801'fedd Code Wk startup_stm32g431xx.o [1]
PendSV_Handler 0x801'fed1 Code Wk startup_stm32g431xx.o [1]
RCC_IRQHandler 0x801'feed Code Wk startup_stm32g431xx.o [1]
RNG_IRQHandler 0x801'ffcd Code Wk startup_stm32g431xx.o [1]
RTC_Alarm_IRQHandler 0x801'ff79 Code Wk startup_stm32g431xx.o [1]
0x1'fe29 Code Wk startup_stm32g431xx.o [1]
DMAMUX_OVR_IRQHandler 0x1'fe25 Code Wk startup_stm32g431xx.o [1]
DSP_AddSample 0x1'e8a1 0x2e Code Gb dsp_manager.o [1]
DSP_Init 0x1'e851 0x50 Code Gb dsp_manager.o [1]
DSP_Process 0x1'e8d1 0x128 Code Gb dsp_manager.o [1]
DebugMon_Handler 0x1'fd15 Code Wk startup_stm32g431xx.o [1]
EXTI0_IRQHandler 0x1'fd39 Code Wk startup_stm32g431xx.o [1]
EXTI15_10_IRQHandler 0x1'fdbd Code Wk startup_stm32g431xx.o [1]
EXTI1_IRQHandler 0x1'fd3d Code Wk startup_stm32g431xx.o [1]
EXTI2_IRQHandler 0x1'fd41 Code Wk startup_stm32g431xx.o [1]
EXTI3_IRQHandler 0x1'fd45 Code Wk startup_stm32g431xx.o [1]
EXTI4_IRQHandler 0x1'fd49 Code Wk startup_stm32g431xx.o [1]
EXTI9_5_IRQHandler 0x1'fd79 Code Wk startup_stm32g431xx.o [1]
FDCAN1_IT0_IRQHandler 0x1'fd71 Code Wk startup_stm32g431xx.o [1]
FDCAN1_IT1_IRQHandler 0x1'fd75 Code Wk startup_stm32g431xx.o [1]
FLASH_IRQHandler 0x1'fd31 Code Wk startup_stm32g431xx.o [1]
FMAC_IRQHandler 0x1'fe31 Code Wk startup_stm32g431xx.o [1]
FPU_IRQHandler 0x1'fe11 Code Wk startup_stm32g431xx.o [1]
HardFault_Handler 0x1'fd01 Code Wk startup_stm32g431xx.o [1]
I2C1_ER_IRQHandler 0x1'fd9d Code Wk startup_stm32g431xx.o [1]
I2C1_EV_IRQHandler 0x1'fd99 Code Wk startup_stm32g431xx.o [1]
I2C1_Init 0x1'e01f 0x56 Code Gb imu.o [1]
I2C2_ER_IRQHandler 0x1'fda5 Code Wk startup_stm32g431xx.o [1]
I2C2_EV_IRQHandler 0x1'fda1 Code Wk startup_stm32g431xx.o [1]
I2C3_ER_IRQHandler 0x1'fe21 Code Wk startup_stm32g431xx.o [1]
I2C3_EV_IRQHandler 0x1'fe1d Code Wk startup_stm32g431xx.o [1]
I2C_ReadMulti 0x1'e075 0x5c Code Gb imu.o [1]
IMU_Calibrate 0x1'e19d 0x5c Code Gb imu.o [1]
IMU_Init 0x1'e115 0x88 Code Gb imu.o [1]
IMU_ReadRawData 0x1'e1f9 0x50 Code Gb imu.o [1]
IMU_SetBank 0x1'e101 0x12 Code Gb imu.o [1]
IMU_WriteReg 0x1'e0d1 0x30 Code Lc imu.o [1]
LPTIM1_IRQHandler 0x1'fdd9 Code Wk startup_stm32g431xx.o [1]
LPUART1_IRQHandler 0x1'fe19 Code Wk startup_stm32g431xx.o [1]
MemManage_Handler 0x1'fd05 Code Wk startup_stm32g431xx.o [1]
Motors_Init 0x1'e729 0xb2 Code Gb motors.o [1]
NMI_Handler 0x1'fcfd Code Wk startup_stm32g431xx.o [1]
PVD_PVM_IRQHandler 0x1'fd25 Code Wk startup_stm32g431xx.o [1]
PendSV_Handler 0x1'fd19 Code Wk startup_stm32g431xx.o [1]
RCC_IRQHandler 0x1'fd35 Code Wk startup_stm32g431xx.o [1]
RNG_IRQHandler 0x1'fe15 Code Wk startup_stm32g431xx.o [1]
RTC_Alarm_IRQHandler 0x1'fdc1 Code Wk startup_stm32g431xx.o [1]
RTC_TAMP_LSECSS_IRQHandler
0x801'fee1 Code Wk startup_stm32g431xx.o [1]
RTC_WKUP_IRQHandler 0x801'fee5 Code Wk startup_stm32g431xx.o [1]
Region$$Table$$Base 0x801'fdc0 -- Gb - Linker created -
Region$$Table$$Limit 0x801'fde4 -- Gb - Linker created -
Reset_Handler 0x801'fea5 Code Wk startup_stm32g431xx.o [1]
SAI1_IRQHandler 0x801'ffc5 Code Wk startup_stm32g431xx.o [1]
SPI1_IRQHandler 0x801'ff61 Code Wk startup_stm32g431xx.o [1]
SPI2_IRQHandler 0x801'ff65 Code Wk startup_stm32g431xx.o [1]
SPI3_IRQHandler 0x801'ff95 Code Wk startup_stm32g431xx.o [1]
SVC_Handler 0x801'fec9 Code Wk startup_stm32g431xx.o [1]
Set_Motor_Individual 0x801'e9c5 0x16 Code Gb motors.o [1]
Set_Motors 0x801'e9b3 0x12 Code Gb motors.o [1]
SysTick_Handler 0x801'fed5 Code Wk startup_stm32g431xx.o [1]
0x1'fd29 Code Wk startup_stm32g431xx.o [1]
RTC_WKUP_IRQHandler 0x1'fd2d Code Wk startup_stm32g431xx.o [1]
Region$$Table$$Base 0x1'fc08 -- Gb - Linker created -
Region$$Table$$Limit 0x1'fc2c -- Gb - Linker created -
Reset_Handler 0x1'fced Code Wk startup_stm32g431xx.o [1]
SAI1_IRQHandler 0x1'fe0d Code Wk startup_stm32g431xx.o [1]
SPI1_IRQHandler 0x1'fda9 Code Wk startup_stm32g431xx.o [1]
SPI2_IRQHandler 0x1'fdad Code Wk startup_stm32g431xx.o [1]
SPI3_IRQHandler 0x1'fddd Code Wk startup_stm32g431xx.o [1]
SVC_Handler 0x1'fd11 Code Wk startup_stm32g431xx.o [1]
Set_Motor_Individual 0x1'e7ed 0x16 Code Gb motors.o [1]
Set_Motors 0x1'e7db 0x12 Code Gb motors.o [1]
SysTick_Handler 0x1'fd1d Code Wk startup_stm32g431xx.o [1]
SystemClock_Config_160MHz
0x801'e77f 0x54 Code Gb main.o [1]
0x1'e5a7 0x54 Code Gb main.o [1]
SystemCoreClock 0x2000'0010 0x4 Data Gb system_stm32g4xx.o [1]
SystemCoreClockUpdate 0x801'ebf5 0x78 Code Gb system_stm32g4xx.o [1]
SystemInit 0x801'ebe9 0xc Code Gb system_stm32g4xx.o [1]
SystemCoreClockUpdate 0x1'ea3d 0x78 Code Gb system_stm32g4xx.o [1]
SystemInit 0x1'ea31 0xc Code Gb system_stm32g4xx.o [1]
TIM1_BRK_TIM15_IRQHandler
0x801'ff35 Code Wk startup_stm32g431xx.o [1]
TIM1_CC_IRQHandler 0x801'ff41 Code Wk startup_stm32g431xx.o [1]
0x1'fd7d Code Wk startup_stm32g431xx.o [1]
TIM1_CC_IRQHandler 0x1'fd89 Code Wk startup_stm32g431xx.o [1]
TIM1_TRG_COM_TIM17_IRQHandler
0x801'ff3d Code Wk startup_stm32g431xx.o [1]
0x1'fd85 Code Wk startup_stm32g431xx.o [1]
TIM1_UP_TIM16_IRQHandler
0x801'ff39 Code Wk startup_stm32g431xx.o [1]
TIM2_IRQHandler 0x801'ff45 Code Wk startup_stm32g431xx.o [1]
TIM3_IRQHandler 0x801'ff49 Code Wk startup_stm32g431xx.o [1]
TIM4_IRQHandler 0x801'ff4d Code Wk startup_stm32g431xx.o [1]
TIM6_DAC_IRQHandler 0x801'e87b 0x14 Code Gb main.o [1]
TIM6_Init_1000Hz 0x801'e845 0x36 Code Gb main.o [1]
TIM7_IRQHandler 0x801'ff9d Code Wk startup_stm32g431xx.o [1]
TIM8_BRK_IRQHandler 0x801'ff81 Code Wk startup_stm32g431xx.o [1]
TIM8_CC_IRQHandler 0x801'ff8d Code Wk startup_stm32g431xx.o [1]
0x1'fd81 Code Wk startup_stm32g431xx.o [1]
TIM2_IRQHandler 0x1'fd8d Code Wk startup_stm32g431xx.o [1]
TIM3_IRQHandler 0x1'fd91 Code Wk startup_stm32g431xx.o [1]
TIM4_IRQHandler 0x1'fd95 Code Wk startup_stm32g431xx.o [1]
TIM6_DAC_IRQHandler 0x1'e6a3 0x14 Code Gb main.o [1]
TIM6_Init_1000Hz 0x1'e66d 0x36 Code Gb main.o [1]
TIM7_IRQHandler 0x1'fde5 Code Wk startup_stm32g431xx.o [1]
TIM8_BRK_IRQHandler 0x1'fdc9 Code Wk startup_stm32g431xx.o [1]
TIM8_CC_IRQHandler 0x1'fdd5 Code Wk startup_stm32g431xx.o [1]
TIM8_TRG_COM_IRQHandler
0x801'ff89 Code Wk startup_stm32g431xx.o [1]
TIM8_UP_IRQHandler 0x801'ff85 Code Wk startup_stm32g431xx.o [1]
UART2_Init_921600 0x801'e7d3 0x50 Code Gb main.o [1]
UART4_IRQHandler 0x801'ff99 Code Wk startup_stm32g431xx.o [1]
UART_SendPacket 0x801'e823 0x22 Code Gb main.o [1]
UCPD1_IRQHandler 0x801'ffb5 Code Wk startup_stm32g431xx.o [1]
USART1_IRQHandler 0x801'ff69 Code Wk startup_stm32g431xx.o [1]
USART2_IRQHandler 0x801'ff6d Code Wk startup_stm32g431xx.o [1]
USART3_IRQHandler 0x801'ff71 Code Wk startup_stm32g431xx.o [1]
USBWakeUp_IRQHandler 0x801'ff7d Code Wk startup_stm32g431xx.o [1]
USB_HP_IRQHandler 0x801'ff21 Code Wk startup_stm32g431xx.o [1]
USB_LP_IRQHandler 0x801'ff25 Code Wk startup_stm32g431xx.o [1]
UsageFault_Handler 0x801'fec5 Code Wk startup_stm32g431xx.o [1]
WWDG_IRQHandler 0x801'fed9 Code Wk startup_stm32g431xx.o [1]
__NVIC_EnableIRQ 0x801'e6b9 0x1c Code Lc main.o [1]
__aeabi_llsr 0x801'e699 Code Gb U64Shr.o [5]
__cmain 0x801'fd71 Code Gb cmain.o [5]
__exit 0x801'fdad 0x14 Code Gb exit.o [6]
__iar_Sin_accurate32 0x801'e485 0x1c8 Code Lc cos_sin_tan_32.o [4]
__iar_copy_init3 0x801'd1c3 0x2a Code Gb copy_init3.o [5]
__iar_cos_accurate32 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_accuratef 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_medium32 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_mediumf 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_small32 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_smallf 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cosf 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_data_init3 0x801'fd25 0x28 Code Gb data_init.o [5]
__iar_init_vfp 0x801'fd4d Code Gb fpinit_M.o [4]
__iar_program_start 0x801'fde5 Code Gb cstartup_M.o [5]
__iar_sin_accurate32 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_accuratef 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_medium32 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_mediumf 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_small32 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_smallf 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sinf 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_zero_init3 0x801'fcc5 0x38 Code Gb zero_init3.o [5]
__low_level_init 0x801'fd93 0x4 Code Gb low_level_init.o [2]
0x1'fdd1 Code Wk startup_stm32g431xx.o [1]
TIM8_UP_IRQHandler 0x1'fdcd Code Wk startup_stm32g431xx.o [1]
UART2_Init_921600 0x1'e5fb 0x50 Code Gb main.o [1]
UART4_IRQHandler 0x1'fde1 Code Wk startup_stm32g431xx.o [1]
UART_SendPacket 0x1'e64b 0x22 Code Gb main.o [1]
UCPD1_IRQHandler 0x1'fdfd Code Wk startup_stm32g431xx.o [1]
USART1_IRQHandler 0x1'fdb1 Code Wk startup_stm32g431xx.o [1]
USART2_IRQHandler 0x1'fdb5 Code Wk startup_stm32g431xx.o [1]
USART3_IRQHandler 0x1'fdb9 Code Wk startup_stm32g431xx.o [1]
USBWakeUp_IRQHandler 0x1'fdc5 Code Wk startup_stm32g431xx.o [1]
USB_HP_IRQHandler 0x1'fd69 Code Wk startup_stm32g431xx.o [1]
USB_LP_IRQHandler 0x1'fd6d Code Wk startup_stm32g431xx.o [1]
UsageFault_Handler 0x1'fd0d Code Wk startup_stm32g431xx.o [1]
WWDG_IRQHandler 0x1'fd21 Code Wk startup_stm32g431xx.o [1]
__NVIC_EnableIRQ 0x1'e4e1 0x1c Code Lc main.o [1]
__aeabi_llsr 0x1'e4c1 Code Gb U64Shr.o [5]
__cmain 0x1'fbb9 Code Gb cmain.o [5]
__exit 0x1'fbf5 0x14 Code Gb exit.o [6]
__iar_Sin_accurate32 0x1'e2ad 0x1c8 Code Lc cos_sin_tan_32.o [4]
__iar_copy_init3 0x1'cfeb 0x2a Code Gb copy_init3.o [5]
__iar_cos_accurate32 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_accuratef 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_medium32 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_mediumf 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_small32 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cos_smallf 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_cosf 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_data_init3 0x1'fb6d 0x28 Code Gb data_init.o [5]
__iar_init_vfp 0x1'fb95 Code Gb fpinit_M.o [4]
__iar_program_start 0x1'fc2d Code Gb cstartup_M.o [5]
__iar_sin_accurate32 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_accuratef 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_medium32 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_mediumf 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_small32 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sin_smallf 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_sinf 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
__iar_zero_init3 0x1'fb0d 0x38 Code Gb zero_init3.o [5]
__low_level_init 0x1'fbdb 0x4 Code Gb low_level_init.o [2]
__vector_table 0x800'0000 Data Gb startup_stm32g431xx.o [1]
_call_main 0x801'fd7d Code Gb cmain.o [5]
_exit 0x801'fd9d Code Gb cexit.o [5]
_exit_2 0x801'fda1 Code Gb cexit_2.o [5]
_call_main 0x1'fbc5 Code Gb cmain.o [5]
_exit 0x1'fbe5 Code Gb cexit.o [5]
_exit_2 0x1'fbe9 Code Gb cexit_2.o [5]
armBitRevIndexTable1024
0x801'9f18 0xe10 Data Gb arm_common_tables.o [3]
armBitRevIndexTable128 0x801'f754 0x1a0 Data Gb arm_common_tables.o [3]
armBitRevIndexTable16 0x801'fcfc 0x28 Data Gb arm_common_tables.o [3]
0x1'9d40 0xe10 Data Gb arm_common_tables.o [3]
armBitRevIndexTable128 0x1'f59c 0x1a0 Data Gb arm_common_tables.o [3]
armBitRevIndexTable16 0x1'fb44 0x28 Data Gb arm_common_tables.o [3]
armBitRevIndexTable2048
0x801'6158 0x1dc0 Data Gb arm_common_tables.o [3]
armBitRevIndexTable256 0x801'ddb4 0x370 Data Gb arm_common_tables.o [3]
armBitRevIndexTable32 0x801'fc64 0x60 Data Gb arm_common_tables.o [3]
0x1'5f80 0x1dc0 Data Gb arm_common_tables.o [3]
armBitRevIndexTable256 0x1'dbdc 0x370 Data Gb arm_common_tables.o [3]
armBitRevIndexTable32 0x1'faac 0x60 Data Gb arm_common_tables.o [3]
armBitRevIndexTable4096
0x801'41d8 0x1f80 Data Gb arm_common_tables.o [3]
armBitRevIndexTable512 0x801'da34 0x380 Data Gb arm_common_tables.o [3]
armBitRevIndexTable64 0x801'fbf4 0x70 Data Gb arm_common_tables.o [3]
arm_bitreversal_32 0x801'd1ed 0x46 Code Gb arm_bitreversal2.o [3]
arm_cfft_f32 0x801'caad 0x184 Code Gb arm_cfft_f32.o [3]
arm_cfft_init_f32 0x801'f2bd 0x98 Code Gb arm_cfft_init_f32.o [3]
arm_cfft_radix8by2_f32 0x801'c52d 0x16a Code Gb arm_cfft_f32.o [3]
arm_cfft_radix8by4_f32 0x801'c699 0x412 Code Gb arm_cfft_f32.o [3]
0x1'4000 0x1f80 Data Gb arm_common_tables.o [3]
armBitRevIndexTable512 0x1'd85c 0x380 Data Gb arm_common_tables.o [3]
armBitRevIndexTable64 0x1'fa3c 0x70 Data Gb arm_common_tables.o [3]
arm_bitreversal_32 0x1'd015 0x46 Code Gb arm_bitreversal2.o [3]
arm_cfft_f32 0x1'c8d5 0x184 Code Gb arm_cfft_f32.o [3]
arm_cfft_init_f32 0x1'f105 0x98 Code Gb arm_cfft_init_f32.o [3]
arm_cfft_radix8by2_f32 0x1'c355 0x16a Code Gb arm_cfft_f32.o [3]
arm_cfft_radix8by4_f32 0x1'c4c1 0x412 Code Gb arm_cfft_f32.o [3]
arm_cfft_sR_f32_len1024
0x801'fe74 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len128 0x801'fe44 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len16 0x801'fe14 0x10 Data Gb arm_const_structs.o [3]
0x1'fcbc 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len128 0x1'fc8c 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len16 0x1'fc5c 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len2048
0x801'fe84 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len256 0x801'fe54 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len32 0x801'fe24 0x10 Data Gb arm_const_structs.o [3]
0x1'fccc 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len256 0x1'fc9c 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len32 0x1'fc6c 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len4096
0x801'fe94 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len512 0x801'fe64 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len64 0x801'fe34 0x10 Data Gb arm_const_structs.o [3]
arm_cmplx_mag_f32 0x801'f169 0x154 Code Gb arm_cmplx_mag_f32.o [3]
arm_cos_f32 0x801'ee45 0x90 Code Gb arm_cos_f32.o [3]
arm_mult_f32 0x801'eed5 0x10e Code Gb arm_mult_f32.o [3]
0x1'fcdc 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len512 0x1'fcac 0x10 Data Gb arm_const_structs.o [3]
arm_cfft_sR_f32_len64 0x1'fc7c 0x10 Data Gb arm_const_structs.o [3]
arm_cmplx_mag_f32 0x1'efb1 0x154 Code Gb arm_cmplx_mag_f32.o [3]
arm_cos_f32 0x1'ec8d 0x90 Code Gb arm_cos_f32.o [3]
arm_mult_f32 0x1'ed1d 0x10e Code Gb arm_mult_f32.o [3]
arm_radix8_butterfly_f32
0x801'cc31 0x592 Code Gb arm_cfft_radix8_f32.o [3]
0x1'ca59 0x592 Code Gb arm_cfft_radix8_f32.o [3]
arm_rfft_1024_fast_init_f32
0x801'ed39 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'eb81 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_128_fast_init_f32
0x801'eccd 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'eb15 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_2048_fast_init_f32
0x801'ed5f 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'eba7 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_256_fast_init_f32
0x801'ecef 0x24 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'eb37 0x24 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_32_fast_init_f32
0x801'ec89 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'ead1 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_4096_fast_init_f32
0x801'ed85 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'ebcd 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_512_fast_init_f32
0x801'ed13 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
0x1'eb5b 0x26 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_64_fast_init_f32
0x801'ecab 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_fast_f32 0x801'f12d 0x3a Code Gb arm_rfft_fast_f32.o [3]
arm_rfft_fast_init_f32 0x801'edab 0x5a Code Gb arm_rfft_fast_init_f32.o [3]
biquad_apply 0x801'e125 0x42 Code Gb imu.o [1]
biquad_init_notch 0x801'e169 0x8e Code Gb imu.o [1]
cosf 0x801'e675 0x4 Code Gb cos_sin_tan_32.o [4]
dsp_buffer_ready 0x2000'1c8c 0x1 Data Gb dsp_manager.o [1]
exit 0x801'fd97 0x4 Code Gb exit.o [2]
0x1'eaf3 0x22 Code Lc arm_rfft_fast_init_f32.o [3]
arm_rfft_fast_f32 0x1'ef75 0x3a Code Gb arm_rfft_fast_f32.o [3]
arm_rfft_fast_init_f32 0x1'ebf3 0x5a Code Gb arm_rfft_fast_init_f32.o [3]
biquad_apply 0x1'df4d 0x42 Code Gb imu.o [1]
biquad_init_notch 0x1'df91 0x8e Code Gb imu.o [1]
cosf 0x1'e49d 0x4 Code Gb cos_sin_tan_32.o [4]
exit 0x1'fbdf 0x4 Code Gb exit.o [2]
fft_handler 0x2000'1c68 0x18 Data Lc dsp_manager.o [1]
fft_input 0x2000'0014 0x800 Data Lc dsp_manager.o [1]
fft_output 0x2000'0814 0x800 Data Lc dsp_manager.o [1]
filt_gx 0x2000'1c80 0x4 Data Gb imu.o [1]
gyro_bias_x 0x2000'1c84 0x4 Data Gb imu.o [1]
hann_window 0x2000'1014 0x800 Data Lc dsp_manager.o [1]
imu_flag 0x2000'1c8d 0x1 Data Gb main.o [1]
imu_flag 0x2000'1c8c 0x1 Data Gb main.o [1]
m1_speed 0x2000'0000 0x4 Data Gb main.o [1]
m2_speed 0x2000'0004 0x4 Data Gb main.o [1]
m3_speed 0x2000'0008 0x4 Data Gb main.o [1]
m4_speed 0x2000'000c 0x4 Data Gb main.o [1]
magnitudes 0x2000'1814 0x400 Data Lc dsp_manager.o [1]
main 0x801'e6d5 0xaa Code Gb main.o [1]
merge_rfft_f32 0x801'f08d 0xa0 Code Gb arm_rfft_fast_f32.o [3]
main 0x1'e4fd 0xaa Code Gb main.o [1]
merge_rfft_f32 0x1'eed5 0xa0 Code Gb arm_rfft_fast_f32.o [3]
notch1 0x2000'1c14 0x1c Data Gb imu.o [1]
notch2 0x2000'1c30 0x1c Data Gb imu.o [1]
notch3 0x2000'1c4c 0x1c Data Gb imu.o [1]
raw_gx 0x2000'1c8a 0x2 Data Gb imu.o [1]
sample_count 0x2000'1c88 0x2 Data Lc dsp_manager.o [1]
sinTable_f32 0x801'ad28 0x804 Data Gb arm_common_tables.o [3]
sinf 0x801'e679 0x4 Code Gb cos_sin_tan_32.o [4]
stage_rfft_f32 0x801'efe5 0xa8 Code Gb arm_rfft_fast_f32.o [3]
twiddleCoef_1024 0x801'01d8 0x2000 Data Gb arm_common_tables.o [3]
twiddleCoef_128 0x801'd234 0x400 Data Gb arm_common_tables.o [3]
twiddleCoef_16 0x801'faf4 0x80 Data Gb arm_common_tables.o [3]
twiddleCoef_2048 0x800'81d8 0x4000 Data Gb arm_common_tables.o [3]
twiddleCoef_256 0x801'b52c 0x800 Data Gb arm_common_tables.o [3]
twiddleCoef_32 0x801'f8f4 0x100 Data Gb arm_common_tables.o [3]
twiddleCoef_4096 0x800'01d8 0x8000 Data Gb arm_common_tables.o [3]
twiddleCoef_512 0x801'7f18 0x1000 Data Gb arm_common_tables.o [3]
twiddleCoef_64 0x801'f354 0x200 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_1024 0x801'8f18 0x1000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_128 0x801'f554 0x200 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_2048 0x801'21d8 0x2000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_256 0x801'd634 0x400 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_32 0x801'fb74 0x80 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_4096 0x800'c1d8 0x4000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_512 0x801'bd2c 0x800 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_64 0x801'f9f4 0x100 Data Gb arm_common_tables.o [3]
sinTable_f32 0x1'ab50 0x804 Data Gb arm_common_tables.o [3]
sinf 0x1'e4a1 0x4 Code Gb cos_sin_tan_32.o [4]
stage_rfft_f32 0x1'ee2d 0xa8 Code Gb arm_rfft_fast_f32.o [3]
twiddleCoef_1024 0x1'0000 0x2000 Data Gb arm_common_tables.o [3]
twiddleCoef_128 0x1'd05c 0x400 Data Gb arm_common_tables.o [3]
twiddleCoef_16 0x1'f93c 0x80 Data Gb arm_common_tables.o [3]
twiddleCoef_2048 0x8000 0x4000 Data Gb arm_common_tables.o [3]
twiddleCoef_256 0x1'b354 0x800 Data Gb arm_common_tables.o [3]
twiddleCoef_32 0x1'f73c 0x100 Data Gb arm_common_tables.o [3]
twiddleCoef_4096 0x0 0x8000 Data Gb arm_common_tables.o [3]
twiddleCoef_512 0x1'7d40 0x1000 Data Gb arm_common_tables.o [3]
twiddleCoef_64 0x1'f19c 0x200 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_1024 0x1'8d40 0x1000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_128 0x1'f39c 0x200 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_2048 0x1'2000 0x2000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_256 0x1'd45c 0x400 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_32 0x1'f9bc 0x80 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_4096 0xc000 0x4000 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_512 0x1'bb54 0x800 Data Gb arm_common_tables.o [3]
twiddleCoef_rfft_64 0x1'f83c 0x100 Data Gb arm_common_tables.o [3]
[1] = C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj
@@ -623,9 +638,9 @@ twiddleCoef_rfft_64 0x801'f9f4 0x100 Data Gb arm_common_tables.o [3]
[5] = rt7M_tl.a
[6] = shb_l.a
9'032 bytes of readonly code memory
122'040 bytes of readonly data memory
9'358 bytes of readwrite data memory
9'064 bytes of readonly code memory
122'028 bytes of readonly data memory
9'357 bytes of readwrite data memory
Errors: none
Errors: 3
Warnings: none
Debug/Obj/dsp_manager.o
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Debug/Obj/imu.o
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Debug/Obj/main.o
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Debug/Obj/startup_stm32g431xx.o
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Debug/Obj/system_stm32g4xx.o
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drone_par_on_gx_up.py
+133
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@@ -0,0 +1,133 @@
import serial
import struct
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
from matplotlib.ticker import MultipleLocator
# --- НАСТРОЙКИ ---
PORT = 'COM3'
BAUD = 921600
FS = 1000
SAMPLES = 512
PACKET_SIZE = 12 # Изменено: 2(AA BB) + 2(gx) + 2(fgx) + 2(f1) + 2(f2) + 2(f3)
try:
ser = serial.Serial(PORT, BAUD, timeout=0.01)
ser.set_buffer_size(rx_size=12800, tx_size=12800)
ser.reset_input_buffer()
print(f"Подключено к {PORT}. Ожидание данных (12-байтные пакеты)...")
except Exception as e:
print(f"Ошибка порта: {e}")
exit()
# Буферы данных
raw_buffer = np.zeros(SAMPLES)
filt_buffer = np.zeros(SAMPLES)
peak_freqs = [0, 0, 0] # Для хранения частот из STM32
data_packet = bytearray()
fig, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 8))
# 1. Временной график
line_raw, = ax1.plot(raw_buffer, color='red', lw=2.5, alpha=0.3, label='Грязный (Raw)')
line_filt, = ax1.plot(filt_buffer, color='blue', lw=1.2, label='Фильтр') # Обновлено название
ax1.set_title("Осциллограф: Гироскоп X")
ax1.set_ylim(-2000, 2000)
ax1.legend(loc='upper right')
ax1.grid(True, alpha=0.3)
# Текст для отображения частот на графике
peak_text = ax1.text(0.02, 0.95, '', transform=ax1.transAxes, verticalalignment='top',
bbox=dict(boxstyle='round', facecolor='white', alpha=0.7), fontsize=12, color='darkgreen')
# 2. Частотный график
freqs = np.fft.rfftfreq(SAMPLES, 1/FS)
line_spec_filt, = ax2.plot(freqs, np.zeros(len(freqs)), color='blue', lw=1.5, label='Спектр (После фильтров)', zorder=10)
fill_poly = None
# Вертикальные линии для визуализации работы Notch-фильтров
peak_lines = [ax2.axvline(0, color='green', linestyle='--', alpha=0.0) for _ in range(3)]
ax2.set_title("Частотный анализ (FFT)")
ax2.set_xlabel("Частота (Гц)")
ax2.set_xlim(0, 500)
ax2.set_ylim(0, 30000)
ax2.xaxis.set_major_locator(MultipleLocator(50))
ax2.grid(True, alpha=0.3)
def update(frame):
global raw_buffer, filt_buffer, data_packet, fill_poly, peak_freqs
new_data = ser.read_all()
if new_data:
data_packet.extend(new_data)
# Парсинг пакетов (длина 12)
while len(data_packet) >= PACKET_SIZE:
header_idx = data_packet.find(b'\xaa\xbb')
if header_idx == -1:
data_packet.clear()
break
if header_idx + PACKET_SIZE <= len(data_packet):
# Читаем: 2(gx), 2(fgx), 2(f1), 2(f2), 2(f3)
chunk = data_packet[header_idx+2 : header_idx+PACKET_SIZE]
try:
# <hhHHH -> int16, int16, uint16, uint16, uint16
r_val, f_val, f1, f2, f3 = struct.unpack('<hhHHH', chunk)
raw_buffer[:-1] = raw_buffer[1:]
raw_buffer[-1] = r_val
filt_buffer[:-1] = filt_buffer[1:]
filt_buffer[-1] = f_val
peak_freqs = [f1, f2, f3]
except Exception as e:
print(f"Unpack error: {e}")
del data_packet[:header_idx+PACKET_SIZE]
else:
break
# Обновление временных линий
line_raw.set_ydata(raw_buffer)
line_filt.set_ydata(filt_buffer)
# Обновление текста с частотами
peak_text.set_text(f"Notch 1: {peak_freqs[0]} Hz\nNotch 2: {peak_freqs[1]} Hz\nNotch 3: {peak_freqs[2]} Hz")
# FFT
sig_r = raw_buffer - np.mean(raw_buffer)
sig_f = filt_buffer - np.mean(filt_buffer)
fft_r = np.abs(np.fft.rfft(sig_r))
fft_f = np.abs(np.fft.rfft(sig_f))
line_spec_filt.set_ydata(fft_f)
# Обновление вертикальных линий (показываем где фильтры)
for i in range(3):
if peak_freqs[i] > 0:
peak_lines[i].set_xdata([peak_freqs[i], peak_freqs[i]])
peak_lines[i].set_alpha(0.6)
else:
peak_lines[i].set_alpha(0.0)
if fill_poly:
fill_poly.remove()
fill_poly = ax2.fill_between(freqs, 0, fft_r, color='red', alpha=0.15, zorder=1)
# Автомасштаб спектра
#m = np.max(fft_r) if len(fft_r) > 0 else 5000
#curr_limit = ax2.get_ylim()[1]
#if m > curr_limit:
# ax2.set_ylim(0, m * 1.2)
#elif m < curr_limit * 0.2 and curr_limit > 5000:
# ax2.set_ylim(0, 5000)
return line_raw, line_filt, line_spec_filt, peak_text
ani = FuncAnimation(fig, update, interval=30, cache_frame_data=False)
plt.tight_layout()
plt.show()
ser.close()
dsp_manager.c
+20 -3
View File
@@ -1,5 +1,6 @@
#include "dsp_manager.h"
#include "imu.h"
#include <math.h>
// Буферы для расчета
static float32_t fft_input[FFT_SIZE];
@@ -9,12 +10,20 @@ static float32_t magnitudes[FFT_SIZE / 2];
// Буфер для окна Ханна (чтобы убрать шумы по краям выборки)
static float32_t hann_window[FFT_SIZE];
static uint16_t sample_count = 0;
uint8_t dsp_buffer_ready = 0;
// Коэффициенты биквадратного фильтра
static float32_t b[3] = {1.0f, -2.0f, 1.0f}; // Примерные значения
static float32_t a[3] = {1.0f, -1.8f, 0.81f};
// Буфер состояния фильтра
static float32_t x[3] = {0};
static float32_t y[3] = {0};
// Структура БПФ из библиотеки
static arm_rfft_fast_instance_f32 fft_handler;
// Уточнение области видимости переменной sample_count
static uint16_t sample_count = 0;
void DSP_Init(void) {
// Инициализируем структуру БПФ
arm_rfft_fast_init_f32(&fft_handler, FFT_SIZE);
@@ -69,5 +78,13 @@ void DSP_Process(void) {
if (top_mags[1] > 10.0f) biquad_init_notch(&notch2, top_freqs[1], 1.0f, 1000.0f);
if (top_mags[2] > 10.0f) biquad_init_notch(&notch3, top_freqs[2], 1.0f, 1000.0f);
// 6. Применяем биквадратный фильтр к входным данным
for (int i = 0; i < FFT_SIZE; i++) {
fft_input[i] = Biquad_Filter(fft_input[i]);
}
dsp_buffer_ready = 0; // Разрешаем новый сбор данных
}
}
// Прототип функции Biquad_Filter
float32_t Biquad_Filter(float32_t input);
dsp_manager.h
+4
View File
@@ -14,4 +14,8 @@ void DSP_Process(void); // Запустить расчет (ког
// Флаг готовности данных (чтобы main знал, когда пора вызывать Process)
extern uint8_t dsp_buffer_ready;
// Добавление объявления переменной и прототипа функции
extern uint16_t sample_count;
float32_t Biquad_Filter(float32_t input);
#endif