diff --git a/.vscode/iar-vsc.json b/.vscode/iar-vsc.json index aa45540..6dd2e11 100644 --- a/.vscode/iar-vsc.json +++ b/.vscode/iar-vsc.json @@ -11,5 +11,8 @@ }, "workspace": { "path": "${workspaceFolder}\\fft_az.eww" + }, + "workbench": { + "path": "C:\\iar\\ewarm-9.70.1" } } \ No newline at end of file diff --git a/Debug/.cache/clangd/index/dsp_manager.c.6CC0D5AAAF07899B.idx b/Debug/.cache/clangd/index/dsp_manager.c.6CC0D5AAAF07899B.idx index cd113c9..e8577e9 100644 Binary files a/Debug/.cache/clangd/index/dsp_manager.c.6CC0D5AAAF07899B.idx and b/Debug/.cache/clangd/index/dsp_manager.c.6CC0D5AAAF07899B.idx differ diff --git a/Debug/.cache/clangd/index/dsp_manager.h.0157A91E237F9ECC.idx b/Debug/.cache/clangd/index/dsp_manager.h.0157A91E237F9ECC.idx index 07d034b..181990e 100644 Binary files a/Debug/.cache/clangd/index/dsp_manager.h.0157A91E237F9ECC.idx and b/Debug/.cache/clangd/index/dsp_manager.h.0157A91E237F9ECC.idx differ diff --git a/Debug/.cache/clangd/index/imu.c.B3AACC478BCE1474.idx b/Debug/.cache/clangd/index/imu.c.B3AACC478BCE1474.idx index b6aca87..e280007 100644 Binary files a/Debug/.cache/clangd/index/imu.c.B3AACC478BCE1474.idx and b/Debug/.cache/clangd/index/imu.c.B3AACC478BCE1474.idx differ diff --git a/Debug/.cache/clangd/index/imu.h.C212CB2BB06D5AA4.idx b/Debug/.cache/clangd/index/imu.h.C212CB2BB06D5AA4.idx index ee68084..a2c2ebf 100644 Binary files a/Debug/.cache/clangd/index/imu.h.C212CB2BB06D5AA4.idx and b/Debug/.cache/clangd/index/imu.h.C212CB2BB06D5AA4.idx differ diff --git a/Debug/.cache/clangd/index/main.c.3730E6FA7C0A9185.idx b/Debug/.cache/clangd/index/main.c.3730E6FA7C0A9185.idx index d3e165c..000b026 100644 Binary files a/Debug/.cache/clangd/index/main.c.3730E6FA7C0A9185.idx and b/Debug/.cache/clangd/index/main.c.3730E6FA7C0A9185.idx differ diff --git a/Debug/.ninja_deps b/Debug/.ninja_deps index f491bb1..69ad428 100644 Binary files a/Debug/.ninja_deps and b/Debug/.ninja_deps differ diff --git a/Debug/.ninja_log b/Debug/.ninja_log index d1f31f3..b93b35a 100644 --- a/Debug/.ninja_log +++ b/Debug/.ninja_log @@ -1,75 +1,71 @@ # ninja log v6 -5 214 7998536262370001 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/system_stm32g4xx.o e08ff3badd7c40f5 -2 167 7998644654627746 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o d024d0bb51dcd376 +2 257 7999378171028018 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 14 30 7998536262464813 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/startup_stm32g431xx.o cede824c243c8d17 -2 158 7998644433371133 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 -2 226 7998597409153980 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o 168acc6e71127271 -167 210 7998644656273213 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc -167 210 7998644656273213 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +2 167 7998644654627746 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o d024d0bb51dcd376 +5 214 7998536262370001 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/system_stm32g4xx.o e08ff3badd7c40f5 +3 250 7999350367964823 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o 168acc6e71127271 +257 316 7999378173581102 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +257 316 7999378173581102 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc 4 180 7998536262360037 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/motors.o 42b442e6b374ce9e -3 155 7998656232758154 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 -3 155 7998656232758154 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 -156 196 7998656234296486 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C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +240 284 7999421349968464 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +240 284 7999421349968464 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +240 284 7999421349968464 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +240 284 7999421349968464 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +4 193 7999438526707707 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o d024d0bb51dcd376 +4 193 7999438526707707 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o d024d0bb51dcd376 +2 212 7999438526687706 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +2 212 7999438526687706 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +3 218 7999438526697706 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o 168acc6e71127271 +3 218 7999438526697706 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o 168acc6e71127271 +218 260 7999438528848033 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +218 260 7999438528848033 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +218 260 7999438528848033 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +218 260 7999438528848033 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +2 225 7999454175310564 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +2 225 7999454175310564 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +225 267 7999454177543170 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +225 267 7999454177543170 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +225 267 7999454177543170 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +225 267 7999454177543170 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +1 206 7999454385027598 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +1 206 7999454385027598 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o a960e0ba258d7538 +2 47 7999454394957983 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +2 47 7999454394957983 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc +2 47 7999454394957983 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc +2 47 7999454394957983 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc diff --git a/Debug/Exe/fft_az.out b/Debug/Exe/fft_az.out index 442f44d..3dfcc0f 100644 Binary files a/Debug/Exe/fft_az.out and b/Debug/Exe/fft_az.out differ diff --git a/Debug/Exe/fft_az.sim b/Debug/Exe/fft_az.sim index fc0f079..39d8df4 100644 Binary files a/Debug/Exe/fft_az.sim and b/Debug/Exe/fft_az.sim differ diff --git a/Debug/List/fft_az.map b/Debug/List/fft_az.map index af075c9..35d1bae 100644 --- a/Debug/List/fft_az.map +++ b/Debug/List/fft_az.map @@ -1,6 +1,6 @@ ############################################################################### # -# IAR ELF Linker V9.70.1.475/W64 for ARM 07/May/2026 18:06:49 +# IAR ELF Linker V9.70.1.475/W64 for ARM 08/May/2026 15:10:39 # Copyright 2007-2025 IAR Systems AB. # # Output file = @@ -79,7 +79,7 @@ No sections matched the following patterns: .intvec ro code 0x800'0000 4 0x1d8 startup_stm32g431xx.o [1] - 0x800'01d8 0x1d8 -"P1": 0x1'fbd8 +"P1": 0x1'fc24 .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] @@ -101,68 +101,49 @@ No sections matched the following patterns: .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 0x298 imu.o [1] - .text ro code 0x801'e3bc 4 0x284 dsp_manager.o [1] - .text ro code 0x801'e640 4 0x1bc arm_rfft_fast_init_f32.o [3] - .text ro code 0x801'e7fc 4 0x90 arm_cos_f32.o [3] - .text ro code 0x801'e88c 4 0x10e arm_mult_f32.o [3] - .text ro code 0x801'e99c 4 0x182 arm_rfft_fast_f32.o [3] - .text ro code 0x801'eb20 4 0x154 arm_cmplx_mag_f32.o [3] - .text ro code 0x801'ec74 4 0x8c arm_sin_f32.o [3] - .text ro code 0x801'ed00 4 0x98 arm_cfft_init_f32.o [3] - .text ro code 0x801'ed98 4 0x214 main.o [1] - .text ro code 0x801'efac 4 0xc8 motors.o [1] - .text ro code 0x801'f074 4 0x9c system_stm32g4xx.o [1] - .rodata const 0x801'f110 4 0x200 arm_common_tables.o [3] - .rodata const 0x801'f310 4 0x200 arm_common_tables.o [3] - .rodata const 0x801'f510 4 0x1a0 arm_common_tables.o [3] - .rodata const 0x801'f6b0 4 0x100 arm_common_tables.o [3] - .rodata const 0x801'f7b0 4 0x100 arm_common_tables.o [3] - .rodata const 0x801'f8b0 4 0x80 arm_common_tables.o [3] - .rodata const 0x801'f930 4 0x80 arm_common_tables.o [3] - .rodata const 0x801'f9b0 4 0x70 arm_common_tables.o [3] - .rodata const 0x801'fa20 4 0x60 arm_common_tables.o [3] - .text ro code 0x801'fa80 2 0x38 zero_init3.o [5] - .rodata const 0x801'fab8 4 0x28 arm_common_tables.o [3] - .text ro code 0x801'fae0 4 0x28 data_init.o [5] - .text ro code 0x801'fb08 4 0x22 fpinit_M.o [4] - .text ro code 0x801'fb2c 4 0x22 cmain.o [5] - .text ro code 0x801'fb4e 2 0x4 low_level_init.o [2] - .text ro code 0x801'fb52 2 0x4 exit.o [2] - .text ro code 0x801'fb58 4 0x4 cexit.o [5] - .text ro code 0x801'fb5c 4 0xa cexit_2.o [5] - .text ro code 0x801'fb68 4 0x14 exit.o [6] - .iar.init_table const 0x801'fb7c 4 0x24 - Linker created - - .text ro code 0x801'fba0 4 0x1e cstartup_M.o [5] - .rodata const 0x801'fbc0 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fbd0 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fbe0 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fbf0 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fc00 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fc10 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fc20 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fc30 4 0x10 arm_const_structs.o [3] - .rodata const 0x801'fc40 4 0x10 arm_const_structs.o [3] - .text ro code 0x801'fc50 4 0x10 startup_stm32g431xx.o [1] - .text ro code 0x801'fc60 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc64 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc68 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc6c 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc70 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc74 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc78 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc7c 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc80 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc84 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc88 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc8c 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc90 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc94 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc98 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fc9c 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fca0 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fca4 2 0x4 startup_stm32g431xx.o [1] - .text ro code 0x801'fca8 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'e124 4 0x2b4 dsp_manager.o [1] + .text ro code 0x801'e3d8 4 0x1bc arm_rfft_fast_init_f32.o [3] + .text ro code 0x801'e594 4 0x90 arm_cos_f32.o [3] + .text ro code 0x801'e624 4 0x10e arm_mult_f32.o [3] + .text ro code 0x801'e734 4 0x182 arm_rfft_fast_f32.o [3] + .text ro code 0x801'e8b8 4 0x154 arm_cmplx_mag_f32.o [3] + .text ro code 0x801'ea0c 4 0x2b4 imu.o [1] + .text ro code 0x801'ecc0 4 0x8c arm_sin_f32.o [3] + .text ro code 0x801'ed4c 4 0x98 arm_cfft_init_f32.o [3] + .text ro code 0x801'ede4 4 0x214 main.o [1] + .text ro code 0x801'eff8 4 0xc8 motors.o [1] + .text ro code 0x801'f0c0 4 0x9c system_stm32g4xx.o [1] + .rodata const 0x801'f15c 4 0x200 arm_common_tables.o [3] + .rodata const 0x801'f35c 4 0x200 arm_common_tables.o [3] + .rodata const 0x801'f55c 4 0x1a0 arm_common_tables.o [3] + .rodata const 0x801'f6fc 4 0x100 arm_common_tables.o [3] + .rodata const 0x801'f7fc 4 0x100 arm_common_tables.o [3] + .rodata const 0x801'f8fc 4 0x80 arm_common_tables.o [3] + .rodata const 0x801'f97c 4 0x80 arm_common_tables.o [3] + .rodata const 0x801'f9fc 4 0x70 arm_common_tables.o [3] + .rodata const 0x801'fa6c 4 0x60 arm_common_tables.o [3] + .text ro code 0x801'facc 2 0x38 zero_init3.o [5] + .rodata const 0x801'fb04 4 0x28 arm_common_tables.o [3] + .text ro code 0x801'fb2c 4 0x28 data_init.o [5] + .text ro code 0x801'fb54 4 0x22 fpinit_M.o [4] + .text ro code 0x801'fb78 4 0x22 cmain.o [5] + .text ro code 0x801'fb9a 2 0x4 low_level_init.o [2] + .text ro code 0x801'fb9e 2 0x4 exit.o [2] + .text ro code 0x801'fba4 4 0x4 cexit.o [5] + .text ro code 0x801'fba8 4 0xa cexit_2.o [5] + .text ro code 0x801'fbb4 4 0x14 exit.o [6] + .iar.init_table const 0x801'fbc8 4 0x24 - Linker created - + .text ro code 0x801'fbec 4 0x1e cstartup_M.o [5] + .rodata const 0x801'fc0c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc1c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc2c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc3c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc4c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc5c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc6c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc7c 4 0x10 arm_const_structs.o [3] + .rodata const 0x801'fc8c 4 0x10 arm_const_structs.o [3] + .text ro code 0x801'fc9c 4 0x10 startup_stm32g431xx.o [1] .text ro code 0x801'fcac 2 0x4 startup_stm32g431xx.o [1] .text ro code 0x801'fcb0 2 0x4 startup_stm32g431xx.o [1] .text ro code 0x801'fcb4 2 0x4 startup_stm32g431xx.o [1] @@ -222,10 +203,29 @@ No sections matched the following patterns: .text ro code 0x801'fd8c 2 0x4 startup_stm32g431xx.o [1] .text ro code 0x801'fd90 2 0x4 startup_stm32g431xx.o [1] .text ro code 0x801'fd94 2 0x4 startup_stm32g431xx.o [1] - .rodata const 0x801'fd98 0x0 zero_init3.o [5] - .rodata const 0x801'fd98 0x0 copy_init3.o [5] - Initializer bytes const 0x801'fd98 4 0x18 - - 0x801'fdb0 0x1'fbd8 + .text ro code 0x801'fd98 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fd9c 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fda0 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fda4 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fda8 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdac 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdb0 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdb4 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdb8 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdbc 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdc0 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdc4 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdc8 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdcc 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdd0 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdd4 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fdd8 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fddc 2 0x4 startup_stm32g431xx.o [1] + .text ro code 0x801'fde0 2 0x4 startup_stm32g431xx.o [1] + .rodata const 0x801'fde4 0x0 zero_init3.o [5] + .rodata const 0x801'fde4 0x0 copy_init3.o [5] + Initializer bytes const 0x801'fde4 4 0x18 + - 0x801'fdfc 0x1'fc24 "P3", part 1 of 3: 0x18 P3 s0 0x2000'0000 0x18 @@ -249,7 +249,7 @@ Unused ranges: From To Size ---- -- ---- - 0x801'fdb0 0x801'ffff 0x250 + 0x801'fdfc 0x801'ffff 0x204 0x2000'1cac 0x2000'1caf 0x4 0x2000'24b0 0x2000'3fff 0x1b50 0x2000'4000 0x2000'57ff 0x1800 @@ -267,7 +267,7 @@ Zero (__iar_zero_init3) Copy (__iar_copy_init3) 1 source range, total size 0x18: - 0x801'fd98 0x18 + 0x801'fde4 0x18 1 destination range, total size 0x18: 0x2000'0000 0x18 @@ -284,14 +284,14 @@ command line/config: Total: C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj: [1] - dsp_manager.o 644 7'220 - imu.o 664 96 + dsp_manager.o 692 7'220 + imu.o 692 96 main.o 532 20 20 motors.o 200 startup_stm32g431xx.o 800 system_stm32g4xx.o 156 4 4 --------------------------------------------------- - Total: 2'996 24 7'340 + Total: 3'072 24 7'340 dl7M_tln.a: [2] exit.o 4 @@ -339,7 +339,7 @@ shb_l.a: [6] Gaps 10 4 Linker created 36 2'048 ------------------------------------------------------- - Grand Total: 8'452 122'028 9'388 + Grand Total: 8'528 122'028 9'388 ******************************************************************************* @@ -348,204 +348,204 @@ shb_l.a: [6] Entry Address Size Type Object ----- ------- ---- ---- ------ -.iar.init_table$$Base 0x801'fb7c -- Gb - Linker created - -.iar.init_table$$Limit 0x801'fba0 -- Gb - Linker created - -?main 0x801'fb2d Code Gb cmain.o [5] -ADC1_2_IRQHandler 0x801'fcc9 Code Wk startup_stm32g431xx.o [1] -AHBPrescTable 0x801'f100 0x10 Data Gb system_stm32g4xx.o [1] -BusFault_Handler 0x801'fc6d Code Wk startup_stm32g431xx.o [1] -COMP1_2_3_IRQHandler 0x801'fd65 Code Wk startup_stm32g431xx.o [1] -COMP4_IRQHandler 0x801'fd69 Code Wk startup_stm32g431xx.o [1] -CORDIC_IRQHandler 0x801'fd91 Code Wk startup_stm32g431xx.o [1] -CRS_IRQHandler 0x801'fd6d Code Wk startup_stm32g431xx.o [1] +.iar.init_table$$Base 0x801'fbc8 -- Gb - Linker created - +.iar.init_table$$Limit 0x801'fbec -- Gb - Linker created - +?main 0x801'fb79 Code Gb cmain.o [5] +ADC1_2_IRQHandler 0x801'fd15 Code Wk startup_stm32g431xx.o [1] +AHBPrescTable 0x801'f14c 0x10 Data Gb system_stm32g4xx.o [1] +BusFault_Handler 0x801'fcb9 Code Wk startup_stm32g431xx.o [1] +COMP1_2_3_IRQHandler 0x801'fdb1 Code Wk startup_stm32g431xx.o [1] +COMP4_IRQHandler 0x801'fdb5 Code Wk startup_stm32g431xx.o [1] +CORDIC_IRQHandler 0x801'fddd Code Wk startup_stm32g431xx.o [1] +CRS_IRQHandler 0x801'fdb9 Code Wk startup_stm32g431xx.o [1] CSTACK$$Base 0x2000'1cb0 -- Gb - Linker created - CSTACK$$Limit 0x2000'24b0 -- Gb - Linker created - DMA1_Channel1_IRQHandler - 0x801'fcb1 Code Wk startup_stm32g431xx.o [1] + 0x801'fcfd Code Wk startup_stm32g431xx.o [1] DMA1_Channel2_IRQHandler - 0x801'fcb5 Code Wk startup_stm32g431xx.o [1] + 0x801'fd01 Code Wk startup_stm32g431xx.o [1] DMA1_Channel3_IRQHandler - 0x801'fcb9 Code Wk startup_stm32g431xx.o [1] + 0x801'fd05 Code Wk startup_stm32g431xx.o [1] DMA1_Channel4_IRQHandler - 0x801'fcbd Code Wk startup_stm32g431xx.o [1] + 0x801'fd09 Code Wk startup_stm32g431xx.o [1] DMA1_Channel5_IRQHandler - 0x801'fcc1 Code Wk startup_stm32g431xx.o [1] + 0x801'fd0d Code Wk startup_stm32g431xx.o [1] DMA1_Channel6_IRQHandler - 0x801'fcc5 Code Wk startup_stm32g431xx.o [1] + 0x801'fd11 Code Wk startup_stm32g431xx.o [1] DMA2_Channel1_IRQHandler - 0x801'fd4d Code Wk startup_stm32g431xx.o [1] + 0x801'fd99 Code Wk startup_stm32g431xx.o [1] DMA2_Channel2_IRQHandler - 0x801'fd51 Code Wk startup_stm32g431xx.o [1] + 0x801'fd9d Code Wk startup_stm32g431xx.o [1] DMA2_Channel3_IRQHandler - 0x801'fd55 Code Wk startup_stm32g431xx.o [1] + 0x801'fda1 Code Wk startup_stm32g431xx.o [1] DMA2_Channel4_IRQHandler - 0x801'fd59 Code Wk startup_stm32g431xx.o [1] + 0x801'fda5 Code Wk startup_stm32g431xx.o [1] DMA2_Channel5_IRQHandler - 0x801'fd5d Code Wk startup_stm32g431xx.o [1] + 0x801'fda9 Code Wk startup_stm32g431xx.o [1] DMA2_Channel6_IRQHandler - 0x801'fd8d Code Wk startup_stm32g431xx.o [1] -DMAMUX_OVR_IRQHandler 0x801'fd89 Code Wk startup_stm32g431xx.o [1] -DSP_AddSample 0x801'e40d 0x2c Code Gb dsp_manager.o [1] -DSP_Init 0x801'e3bd 0x50 Code Gb dsp_manager.o [1] -DSP_Process 0x801'e439 0x1d2 Code Gb dsp_manager.o [1] -DebugMon_Handler 0x801'fc79 Code Wk startup_stm32g431xx.o [1] -EXTI0_IRQHandler 0x801'fc9d Code Wk startup_stm32g431xx.o [1] -EXTI15_10_IRQHandler 0x801'fd21 Code Wk startup_stm32g431xx.o [1] -EXTI1_IRQHandler 0x801'fca1 Code Wk startup_stm32g431xx.o [1] -EXTI2_IRQHandler 0x801'fca5 Code Wk startup_stm32g431xx.o [1] -EXTI3_IRQHandler 0x801'fca9 Code Wk startup_stm32g431xx.o [1] -EXTI4_IRQHandler 0x801'fcad Code Wk startup_stm32g431xx.o [1] -EXTI9_5_IRQHandler 0x801'fcdd Code Wk startup_stm32g431xx.o [1] -FDCAN1_IT0_IRQHandler 0x801'fcd5 Code Wk startup_stm32g431xx.o [1] -FDCAN1_IT1_IRQHandler 0x801'fcd9 Code Wk startup_stm32g431xx.o [1] -FLASH_IRQHandler 0x801'fc95 Code Wk startup_stm32g431xx.o [1] -FMAC_IRQHandler 0x801'fd95 Code Wk startup_stm32g431xx.o [1] -FMAC_Init 0x801'e125 0x4a Code Gb imu.o [1] -FPU_IRQHandler 0x801'fd75 Code Wk startup_stm32g431xx.o [1] -HardFault_Handler 0x801'fc65 Code Wk startup_stm32g431xx.o [1] -I2C1_ER_IRQHandler 0x801'fd01 Code Wk startup_stm32g431xx.o [1] -I2C1_EV_IRQHandler 0x801'fcfd Code Wk startup_stm32g431xx.o [1] -I2C1_Init 0x801'e16f 0x4c Code Gb imu.o [1] -I2C2_ER_IRQHandler 0x801'fd09 Code Wk startup_stm32g431xx.o [1] -I2C2_EV_IRQHandler 0x801'fd05 Code Wk startup_stm32g431xx.o [1] -I2C3_ER_IRQHandler 0x801'fd85 Code Wk startup_stm32g431xx.o [1] -I2C3_EV_IRQHandler 0x801'fd81 Code Wk startup_stm32g431xx.o [1] -I2C_ReadMulti 0x801'e1bb 0x40 Code Gb imu.o [1] -IMU_Calibrate 0x801'e2d1 0x4c Code Gb imu.o [1] -IMU_Init 0x801'e26b 0x66 Code Gb imu.o [1] -IMU_ReadRawData 0x801'e31d 0x54 Code Gb imu.o [1] -IMU_SetBank 0x801'e223 0xa Code Gb imu.o [1] -IMU_WriteReg 0x801'e1fb 0x28 Code Lc imu.o [1] -LPTIM1_IRQHandler 0x801'fd3d Code Wk startup_stm32g431xx.o [1] -LPUART1_IRQHandler 0x801'fd7d Code Wk startup_stm32g431xx.o [1] -MemManage_Handler 0x801'fc69 Code Wk startup_stm32g431xx.o [1] -Motors_Init 0x801'efad 0x9a Code Gb motors.o [1] -NMI_Handler 0x801'fc61 Code Wk startup_stm32g431xx.o [1] -PVD_PVM_IRQHandler 0x801'fc89 Code Wk startup_stm32g431xx.o [1] -PendSV_Handler 0x801'fc7d Code Wk startup_stm32g431xx.o [1] -RCC_IRQHandler 0x801'fc99 Code Wk startup_stm32g431xx.o [1] -RNG_IRQHandler 0x801'fd79 Code Wk startup_stm32g431xx.o [1] -RTC_Alarm_IRQHandler 0x801'fd25 Code Wk startup_stm32g431xx.o [1] + 0x801'fdd9 Code Wk startup_stm32g431xx.o [1] +DMAMUX_OVR_IRQHandler 0x801'fdd5 Code Wk startup_stm32g431xx.o [1] +DSP_AddSample 0x801'e175 0x2c Code Gb dsp_manager.o [1] +DSP_Init 0x801'e125 0x50 Code Gb dsp_manager.o [1] +DSP_Process 0x801'e1a1 0x1fc Code Gb dsp_manager.o [1] +DebugMon_Handler 0x801'fcc5 Code Wk startup_stm32g431xx.o [1] +EXTI0_IRQHandler 0x801'fce9 Code Wk startup_stm32g431xx.o [1] +EXTI15_10_IRQHandler 0x801'fd6d Code Wk startup_stm32g431xx.o [1] +EXTI1_IRQHandler 0x801'fced Code Wk startup_stm32g431xx.o [1] +EXTI2_IRQHandler 0x801'fcf1 Code Wk startup_stm32g431xx.o [1] +EXTI3_IRQHandler 0x801'fcf5 Code Wk startup_stm32g431xx.o [1] +EXTI4_IRQHandler 0x801'fcf9 Code Wk startup_stm32g431xx.o [1] +EXTI9_5_IRQHandler 0x801'fd29 Code Wk startup_stm32g431xx.o [1] +FDCAN1_IT0_IRQHandler 0x801'fd21 Code Wk startup_stm32g431xx.o [1] +FDCAN1_IT1_IRQHandler 0x801'fd25 Code Wk startup_stm32g431xx.o [1] +FLASH_IRQHandler 0x801'fce1 Code Wk startup_stm32g431xx.o [1] +FMAC_IRQHandler 0x801'fde1 Code Wk startup_stm32g431xx.o [1] +FMAC_Init 0x801'ea0d 0x4a Code Gb imu.o [1] +FPU_IRQHandler 0x801'fdc1 Code Wk startup_stm32g431xx.o [1] +HardFault_Handler 0x801'fcb1 Code Wk startup_stm32g431xx.o [1] +I2C1_ER_IRQHandler 0x801'fd4d Code Wk startup_stm32g431xx.o [1] +I2C1_EV_IRQHandler 0x801'fd49 Code Wk startup_stm32g431xx.o [1] +I2C1_Init 0x801'ea57 0x4c Code Gb imu.o [1] +I2C2_ER_IRQHandler 0x801'fd55 Code Wk startup_stm32g431xx.o [1] +I2C2_EV_IRQHandler 0x801'fd51 Code Wk startup_stm32g431xx.o [1] +I2C3_ER_IRQHandler 0x801'fdd1 Code Wk startup_stm32g431xx.o [1] +I2C3_EV_IRQHandler 0x801'fdcd Code Wk startup_stm32g431xx.o [1] +I2C_ReadMulti 0x801'eaa3 0x40 Code Gb imu.o [1] +IMU_Calibrate 0x801'ebb9 0x4c Code Gb imu.o [1] +IMU_Init 0x801'eb53 0x66 Code Gb imu.o [1] +IMU_ReadRawData 0x801'ec05 0x54 Code Gb imu.o [1] +IMU_SetBank 0x801'eb0b 0xa Code Gb imu.o [1] +IMU_WriteReg 0x801'eae3 0x28 Code Lc imu.o [1] +LPTIM1_IRQHandler 0x801'fd89 Code Wk startup_stm32g431xx.o [1] +LPUART1_IRQHandler 0x801'fdc9 Code Wk startup_stm32g431xx.o [1] +MemManage_Handler 0x801'fcb5 Code Wk startup_stm32g431xx.o [1] +Motors_Init 0x801'eff9 0x9a Code Gb motors.o [1] +NMI_Handler 0x801'fcad Code Wk startup_stm32g431xx.o [1] +PVD_PVM_IRQHandler 0x801'fcd5 Code Wk startup_stm32g431xx.o [1] +PendSV_Handler 0x801'fcc9 Code Wk startup_stm32g431xx.o [1] +RCC_IRQHandler 0x801'fce5 Code Wk startup_stm32g431xx.o [1] +RNG_IRQHandler 0x801'fdc5 Code Wk startup_stm32g431xx.o [1] +RTC_Alarm_IRQHandler 0x801'fd71 Code Wk startup_stm32g431xx.o [1] RTC_TAMP_LSECSS_IRQHandler - 0x801'fc8d Code Wk startup_stm32g431xx.o [1] -RTC_WKUP_IRQHandler 0x801'fc91 Code Wk startup_stm32g431xx.o [1] -Region$$Table$$Base 0x801'fb7c -- Gb - Linker created - -Region$$Table$$Limit 0x801'fba0 -- Gb - Linker created - -Reset_Handler 0x801'fc51 Code Wk startup_stm32g431xx.o [1] -SAI1_IRQHandler 0x801'fd71 Code Wk startup_stm32g431xx.o [1] -SPI1_IRQHandler 0x801'fd0d Code Wk startup_stm32g431xx.o [1] -SPI2_IRQHandler 0x801'fd11 Code Wk startup_stm32g431xx.o [1] -SPI3_IRQHandler 0x801'fd41 Code Wk startup_stm32g431xx.o [1] -SVC_Handler 0x801'fc75 Code Wk startup_stm32g431xx.o [1] -Set_Motor_Individual 0x801'f055 0x10 Code Gb motors.o [1] -Set_Motors 0x801'f047 0xe Code Gb motors.o [1] -SysTick_Handler 0x801'fc81 Code Wk startup_stm32g431xx.o [1] + 0x801'fcd9 Code Wk startup_stm32g431xx.o [1] +RTC_WKUP_IRQHandler 0x801'fcdd Code Wk startup_stm32g431xx.o [1] +Region$$Table$$Base 0x801'fbc8 -- Gb - Linker created - +Region$$Table$$Limit 0x801'fbec -- Gb - Linker created - +Reset_Handler 0x801'fc9d Code Wk startup_stm32g431xx.o [1] +SAI1_IRQHandler 0x801'fdbd Code Wk startup_stm32g431xx.o [1] +SPI1_IRQHandler 0x801'fd59 Code Wk startup_stm32g431xx.o [1] +SPI2_IRQHandler 0x801'fd5d Code Wk startup_stm32g431xx.o [1] +SPI3_IRQHandler 0x801'fd8d Code Wk startup_stm32g431xx.o [1] +SVC_Handler 0x801'fcc1 Code Wk startup_stm32g431xx.o [1] +Set_Motor_Individual 0x801'f0a1 0x10 Code Gb motors.o [1] +Set_Motors 0x801'f093 0xe Code Gb motors.o [1] +SysTick_Handler 0x801'fccd Code Wk startup_stm32g431xx.o [1] SystemClock_Config_160MHz - 0x801'ee79 0x4c Code Gb main.o [1] + 0x801'eec5 0x4c Code Gb main.o [1] SystemCoreClock 0x2000'0014 0x4 Data Gb system_stm32g4xx.o [1] -SystemCoreClockUpdate 0x801'f081 0x6c Code Gb system_stm32g4xx.o [1] -SystemInit 0x801'f075 0xc Code Gb system_stm32g4xx.o [1] +SystemCoreClockUpdate 0x801'f0cd 0x6c Code Gb system_stm32g4xx.o [1] +SystemInit 0x801'f0c1 0xc Code Gb system_stm32g4xx.o [1] TIM1_BRK_TIM15_IRQHandler - 0x801'fce1 Code Wk startup_stm32g431xx.o [1] -TIM1_CC_IRQHandler 0x801'fced Code Wk startup_stm32g431xx.o [1] + 0x801'fd2d Code Wk startup_stm32g431xx.o [1] +TIM1_CC_IRQHandler 0x801'fd39 Code Wk startup_stm32g431xx.o [1] TIM1_TRG_COM_TIM17_IRQHandler - 0x801'fce9 Code Wk startup_stm32g431xx.o [1] -TIM1_UP_TIM16_IRQHandler - 0x801'fce5 Code Wk startup_stm32g431xx.o [1] -TIM2_IRQHandler 0x801'fcf1 Code Wk startup_stm32g431xx.o [1] -TIM3_IRQHandler 0x801'fcf5 Code Wk startup_stm32g431xx.o [1] -TIM4_IRQHandler 0x801'fcf9 Code Wk startup_stm32g431xx.o [1] -TIM6_DAC_IRQHandler 0x801'ef59 0x14 Code Gb main.o [1] -TIM6_Init_1000Hz 0x801'ef29 0x30 Code Gb main.o [1] -TIM7_IRQHandler 0x801'fd49 Code Wk startup_stm32g431xx.o [1] -TIM8_BRK_IRQHandler 0x801'fd2d Code Wk startup_stm32g431xx.o [1] -TIM8_CC_IRQHandler 0x801'fd39 Code Wk startup_stm32g431xx.o [1] -TIM8_TRG_COM_IRQHandler 0x801'fd35 Code Wk startup_stm32g431xx.o [1] -TIM8_UP_IRQHandler 0x801'fd31 Code Wk startup_stm32g431xx.o [1] -UART2_Init_921600 0x801'eec5 0x48 Code Gb main.o [1] -UART4_IRQHandler 0x801'fd45 Code Wk startup_stm32g431xx.o [1] -UART_SendPacket 0x801'ef0d 0x1c Code Gb main.o [1] -UCPD1_IRQHandler 0x801'fd61 Code Wk startup_stm32g431xx.o [1] -USART1_IRQHandler 0x801'fd15 Code Wk startup_stm32g431xx.o [1] -USART2_IRQHandler 0x801'fd19 Code Wk startup_stm32g431xx.o [1] -USART3_IRQHandler 0x801'fd1d Code Wk startup_stm32g431xx.o [1] -USBWakeUp_IRQHandler 0x801'fd29 Code Wk startup_stm32g431xx.o [1] -USB_HP_IRQHandler 0x801'fccd Code Wk startup_stm32g431xx.o [1] -USB_LP_IRQHandler 0x801'fcd1 Code Wk startup_stm32g431xx.o [1] -Update_FMAC_Coeffs 0x801'e371 0x22 Code Gb imu.o [1] -UsageFault_Handler 0x801'fc71 Code Wk startup_stm32g431xx.o [1] -WWDG_IRQHandler 0x801'fc85 Code Wk startup_stm32g431xx.o [1] -__cmain 0x801'fb2d Code Gb cmain.o [5] -__exit 0x801'fb69 0x14 Code Gb exit.o [6] +TIM1_UP_TIM16_IRQHandler + 0x801'fd31 Code Wk startup_stm32g431xx.o [1] +TIM2_IRQHandler 0x801'fd3d Code Wk startup_stm32g431xx.o [1] +TIM3_IRQHandler 0x801'fd41 Code Wk startup_stm32g431xx.o [1] +TIM4_IRQHandler 0x801'fd45 Code Wk startup_stm32g431xx.o [1] +TIM6_DAC_IRQHandler 0x801'efa5 0x14 Code Gb main.o [1] +TIM6_Init_1000Hz 0x801'ef75 0x30 Code Gb main.o [1] +TIM7_IRQHandler 0x801'fd95 Code Wk startup_stm32g431xx.o [1] +TIM8_BRK_IRQHandler 0x801'fd79 Code Wk startup_stm32g431xx.o [1] +TIM8_CC_IRQHandler 0x801'fd85 Code Wk startup_stm32g431xx.o [1] +TIM8_TRG_COM_IRQHandler + 0x801'fd81 Code Wk startup_stm32g431xx.o [1] +TIM8_UP_IRQHandler 0x801'fd7d Code Wk startup_stm32g431xx.o [1] +UART2_Init_921600 0x801'ef11 0x48 Code Gb main.o [1] +UART4_IRQHandler 0x801'fd91 Code Wk startup_stm32g431xx.o [1] +UART_SendPacket 0x801'ef59 0x1c Code Gb main.o [1] +UCPD1_IRQHandler 0x801'fdad Code Wk startup_stm32g431xx.o [1] +USART1_IRQHandler 0x801'fd61 Code Wk startup_stm32g431xx.o [1] +USART2_IRQHandler 0x801'fd65 Code Wk startup_stm32g431xx.o [1] +USART3_IRQHandler 0x801'fd69 Code Wk startup_stm32g431xx.o [1] +USBWakeUp_IRQHandler 0x801'fd75 Code Wk startup_stm32g431xx.o [1] +USB_HP_IRQHandler 0x801'fd19 Code Wk startup_stm32g431xx.o [1] +USB_LP_IRQHandler 0x801'fd1d Code Wk startup_stm32g431xx.o [1] +Update_FMAC_Coeffs 0x801'ec5d 0x38 Code Gb imu.o [1] +UsageFault_Handler 0x801'fcbd Code Wk startup_stm32g431xx.o [1] +WWDG_IRQHandler 0x801'fcd1 Code Wk startup_stm32g431xx.o [1] +__cmain 0x801'fb79 Code Gb cmain.o [5] +__exit 0x801'fbb5 0x14 Code Gb exit.o [6] __iar_copy_init3 0x801'd1c3 0x2a Code Gb copy_init3.o [5] -__iar_data_init3 0x801'fae1 0x28 Code Gb data_init.o [5] -__iar_init_vfp 0x801'fb09 Code Gb fpinit_M.o [4] -__iar_program_start 0x801'fba1 Code Gb cstartup_M.o [5] -__iar_zero_init3 0x801'fa81 0x38 Code Gb zero_init3.o [5] -__low_level_init 0x801'fb4f 0x4 Code Gb low_level_init.o [2] +__iar_data_init3 0x801'fb2d 0x28 Code Gb data_init.o [5] +__iar_init_vfp 0x801'fb55 Code Gb fpinit_M.o [4] +__iar_program_start 0x801'fbed Code Gb cstartup_M.o [5] +__iar_zero_init3 0x801'facd 0x38 Code Gb zero_init3.o [5] +__low_level_init 0x801'fb9b 0x4 Code Gb low_level_init.o [2] __vector_table 0x800'0000 Data Gb startup_stm32g431xx.o [1] -_call_main 0x801'fb39 Code Gb cmain.o [5] -_exit 0x801'fb59 Code Gb cexit.o [5] -_exit_2 0x801'fb5d Code Gb cexit_2.o [5] +_call_main 0x801'fb85 Code Gb cmain.o [5] +_exit 0x801'fba5 Code Gb cexit.o [5] +_exit_2 0x801'fba9 Code Gb cexit_2.o [5] active_notch_freqs 0x2000'0418 0xc Data Gb dsp_manager.o [1] armBitRevIndexTable1024 0x801'9f18 0xe10 Data Gb arm_common_tables.o [3] -armBitRevIndexTable128 0x801'f510 0x1a0 Data Gb arm_common_tables.o [3] -armBitRevIndexTable16 0x801'fab8 0x28 Data Gb arm_common_tables.o [3] +armBitRevIndexTable128 0x801'f55c 0x1a0 Data Gb arm_common_tables.o [3] +armBitRevIndexTable16 0x801'fb04 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'fa20 0x60 Data Gb arm_common_tables.o [3] +armBitRevIndexTable32 0x801'fa6c 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'f9b0 0x70 Data Gb arm_common_tables.o [3] +armBitRevIndexTable64 0x801'f9fc 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'ed01 0x98 Code Gb arm_cfft_init_f32.o [3] +arm_cfft_init_f32 0x801'ed4d 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] arm_cfft_sR_f32_len1024 - 0x801'fc20 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len128 0x801'fbf0 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len16 0x801'fbc0 0x10 Data Gb arm_const_structs.o [3] + 0x801'fc6c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len128 0x801'fc3c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len16 0x801'fc0c 0x10 Data Gb arm_const_structs.o [3] arm_cfft_sR_f32_len2048 - 0x801'fc30 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len256 0x801'fc00 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len32 0x801'fbd0 0x10 Data Gb arm_const_structs.o [3] + 0x801'fc7c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len256 0x801'fc4c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len32 0x801'fc1c 0x10 Data Gb arm_const_structs.o [3] arm_cfft_sR_f32_len4096 - 0x801'fc40 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len512 0x801'fc10 0x10 Data Gb arm_const_structs.o [3] -arm_cfft_sR_f32_len64 0x801'fbe0 0x10 Data Gb arm_const_structs.o [3] -arm_cmplx_mag_f32 0x801'eb21 0x154 Code Gb arm_cmplx_mag_f32.o [3] -arm_cos_f32 0x801'e7fd 0x90 Code Gb arm_cos_f32.o [3] -arm_mult_f32 0x801'e88d 0x10e Code Gb arm_mult_f32.o [3] + 0x801'fc8c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len512 0x801'fc5c 0x10 Data Gb arm_const_structs.o [3] +arm_cfft_sR_f32_len64 0x801'fc2c 0x10 Data Gb arm_const_structs.o [3] +arm_cmplx_mag_f32 0x801'e8b9 0x154 Code Gb arm_cmplx_mag_f32.o [3] +arm_cos_f32 0x801'e595 0x90 Code Gb arm_cos_f32.o [3] +arm_mult_f32 0x801'e625 0x10e Code Gb arm_mult_f32.o [3] arm_radix8_butterfly_f32 0x801'cc31 0x592 Code Gb arm_cfft_radix8_f32.o [3] arm_rfft_1024_fast_init_f32 - 0x801'e6f1 0x26 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e489 0x26 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_128_fast_init_f32 - 0x801'e685 0x22 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e41d 0x22 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_2048_fast_init_f32 - 0x801'e717 0x26 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e4af 0x26 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_256_fast_init_f32 - 0x801'e6a7 0x24 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e43f 0x24 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_32_fast_init_f32 - 0x801'e641 0x22 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e3d9 0x22 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_4096_fast_init_f32 - 0x801'e73d 0x26 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e4d5 0x26 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_512_fast_init_f32 - 0x801'e6cb 0x26 Code Lc arm_rfft_fast_init_f32.o [3] + 0x801'e463 0x26 Code Lc arm_rfft_fast_init_f32.o [3] arm_rfft_64_fast_init_f32 - 0x801'e663 0x22 Code Lc arm_rfft_fast_init_f32.o [3] -arm_rfft_fast_f32 0x801'eae5 0x3a Code Gb arm_rfft_fast_f32.o [3] -arm_rfft_fast_init_f32 0x801'e763 0x5a Code Gb arm_rfft_fast_init_f32.o [3] -arm_sin_f32 0x801'ec75 0x8c Code Gb arm_sin_f32.o [3] -biquad_apply 0x801'e22d 0x3e Code Gb imu.o [1] + 0x801'e3fb 0x22 Code Lc arm_rfft_fast_init_f32.o [3] +arm_rfft_fast_f32 0x801'e87d 0x3a Code Gb arm_rfft_fast_f32.o [3] +arm_rfft_fast_init_f32 0x801'e4fb 0x5a Code Gb arm_rfft_fast_init_f32.o [3] +arm_sin_f32 0x801'ecc1 0x8c Code Gb arm_sin_f32.o [3] +biquad_apply 0x801'eb15 0x3e Code Gb imu.o [1] dsp_buffer_ready 0x2000'0c30 0x1 Data Gb dsp_manager.o [1] dyn_notch_filters 0x2000'1c50 0x54 Data Gb imu.o [1] -exit 0x801'fb53 0x4 Code Gb exit.o [2] +exit 0x801'fb9f 0x4 Code Gb exit.o [2] fft_handler 0x2000'1434 0x18 Data Lc dsp_manager.o [1] fft_input 0x2000'144c 0x800 Data Lc dsp_manager.o [1] fft_output 0x2000'0430 0x800 Data Lc dsp_manager.o [1] @@ -558,30 +558,30 @@ m2_speed 0x2000'0008 0x4 Data Gb main.o [1] m3_speed 0x2000'000c 0x4 Data Gb main.o [1] m4_speed 0x2000'0010 0x4 Data Gb main.o [1] magnitudes 0x2000'0018 0x400 Data Lc dsp_manager.o [1] -main 0x801'ed99 0xe0 Code Gb main.o [1] -merge_rfft_f32 0x801'ea45 0xa0 Code Gb arm_rfft_fast_f32.o [3] +main 0x801'ede5 0xe0 Code Gb main.o [1] +merge_rfft_f32 0x801'e7dd 0xa0 Code Gb arm_rfft_fast_f32.o [3] raw_gx 0x2000'1c4c 0x2 Data Gb imu.o [1] sample_count 0x2000'0c32 0x2 Data Lc dsp_manager.o [1] sinTable_f32 0x801'ad28 0x804 Data Gb arm_common_tables.o [3] smoothed_freqs 0x2000'0424 0xc Data Lc dsp_manager.o [1] -stage_rfft_f32 0x801'e99d 0xa8 Code Gb arm_rfft_fast_f32.o [3] +stage_rfft_f32 0x801'e735 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'f8b0 0x80 Data Gb arm_common_tables.o [3] +twiddleCoef_16 0x801'f8fc 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'f6b0 0x100 Data Gb arm_common_tables.o [3] +twiddleCoef_32 0x801'f6fc 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'f110 0x200 Data Gb arm_common_tables.o [3] +twiddleCoef_64 0x801'f15c 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'f310 0x200 Data Gb arm_common_tables.o [3] +twiddleCoef_rfft_128 0x801'f35c 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'f930 0x80 Data Gb arm_common_tables.o [3] +twiddleCoef_rfft_32 0x801'f97c 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'f7b0 0x100 Data Gb arm_common_tables.o [3] +twiddleCoef_rfft_64 0x801'f7fc 0x100 Data Gb arm_common_tables.o [3] [1] = C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj @@ -591,7 +591,7 @@ twiddleCoef_rfft_64 0x801'f7b0 0x100 Data Gb arm_common_tables.o [3] [5] = rt7M_tl.a [6] = shb_l.a - 8'452 bytes of readonly code memory + 8'528 bytes of readonly code memory 122'028 bytes of readonly data memory 9'388 bytes of readwrite data memory diff --git a/Debug/Obj/dsp_manager.o b/Debug/Obj/dsp_manager.o index 2432d70..4f5e4e6 100644 Binary files a/Debug/Obj/dsp_manager.o and b/Debug/Obj/dsp_manager.o differ diff --git a/Debug/Obj/imu.o b/Debug/Obj/imu.o index 046bd9a..7107b66 100644 Binary files a/Debug/Obj/imu.o and b/Debug/Obj/imu.o differ diff --git a/Debug/Obj/main.o b/Debug/Obj/main.o index 32a4da8..e8c2858 100644 Binary files a/Debug/Obj/main.o and b/Debug/Obj/main.o differ diff --git a/dsp_manager.c b/dsp_manager.c index f15d714..ac17a14 100644 --- a/dsp_manager.c +++ b/dsp_manager.c @@ -6,7 +6,7 @@ static float32_t fft_input[FFT_SIZE]; static float32_t fft_output[FFT_SIZE]; static float32_t magnitudes[FFT_SIZE / 2]; -// Буфер для окна Ханна (чтобы убрать шумы по краям выборки) +// Буфер для окна Ханна (убрать шумы по краям выборки) static float32_t hann_window[FFT_SIZE]; static uint16_t sample_count = 0; @@ -20,7 +20,7 @@ float active_notch_freqs[3] = {0.0f, 0.0f, 0.0f}; //альфа static float32_t smoothed_freqs[3] = {0.0f, 0.0f, 0.0f}; -#define FREQ_ALPHA 0.05f // Чем МЕНЬШЕ значение, тем дольше фильтр "едет" к новой частоте +#define FREQ_ALPHA 0.05f // время зависания nocha на частотном пике void DSP_Init(void) { // Инициализируем структуру БПФ @@ -33,13 +33,13 @@ void DSP_Init(void) { } void DSP_AddSample(float32_t sample) { - if (dsp_buffer_ready) return; // Ждем, пока обработают прошлую пачку + if (dsp_buffer_ready) return; // ожидание обработки прошлой пачки fft_input[sample_count++] = sample; if (sample_count >= FFT_SIZE) { sample_count = 0; - dsp_buffer_ready = 1; // Сигнализируем в main + dsp_buffer_ready = 1; // Сигнал в main } } @@ -57,10 +57,10 @@ void DSP_Process(void) { float32_t top_freq_indices[3] = {0}; float32_t top_mags[3] = {0}; - // Индексы для поиска от 50 Гц до 450 Гц + // Индексы для поиска примерно от 95 Гц до 480 Гц // index = freq * FFT_SIZE / fs = freq * 512 / 1000 - uint32_t start_idx = 25; // ~50 Гц (50 * 512 / 1000 = 25) - uint32_t end_idx = 230; // ~450 Гц (450 * 512 / 1000 = 230) + uint32_t start_idx = 48; // ~94 Гц (95 * 512 / 1000 = 48.6) + uint32_t end_idx = 245; // ~479 Гц (480 * 512 / 1000 = 245.8) for (int k = 0; k < 3; k++) { float32_t max_m = 0; @@ -90,7 +90,7 @@ void DSP_Process(void) { // --- 5. ПЕРЕНАСТРОЙКА ТРЕХ КАСКАДОВ FMAC --- const float fs = 1000.0f; // Частота дискретизации - const float Q = 3.5f; // Добротность + const float Q = 2.5f; // Добротность (уменьшена для расширения ямы, чтобы соседние пики подавлялись) const float bin_to_hz = fs / (float)FFT_SIZE; for (int i = 0; i < 3; i++) { @@ -101,7 +101,7 @@ void DSP_Process(void) { // Если фильтр сейчас ВЫКЛЮЧЕН (active_notch_freqs == 0) if (active_notch_freqs[i] == 0) { if (mag > 4000.0f) { - // Включаем фильтр! Чтобы не полз с нуля, присваиваем частоту сразу: + // Включаем фильтр. Чтобы не полз с нуля, присваиваем частоту сразу: smoothed_freqs[i] = new_freq; active_notch_freqs[i] = new_freq; } @@ -113,7 +113,14 @@ void DSP_Process(void) { active_notch_freqs[i] = 0; } else { // Продолжаем отслеживать с Альфой (EMA) - smoothed_freqs[i] = (smoothed_freqs[i] * (1.0f - FREQ_ALPHA)) + (new_freq * FREQ_ALPHA); + if (fabsf(new_freq - smoothed_freqs[i]) > 20.0f) { + // Большой прыжок частоты: сбрасываем память фильтра, чтобы не тянуть старый хвост + dyn_notch_filters[i].d1 = 0.0f; + dyn_notch_filters[i].d2 = 0.0f; + smoothed_freqs[i] = new_freq; + } else { + smoothed_freqs[i] = (smoothed_freqs[i] * (1.0f - FREQ_ALPHA)) + (new_freq * FREQ_ALPHA); + } active_notch_freqs[i] = smoothed_freqs[i]; } } diff --git a/imu.c b/imu.c index dcaaef0..50ae6ae 100644 --- a/imu.c +++ b/imu.c @@ -22,8 +22,7 @@ #define FMAC_MEM_SIZE 256 #define STAGE_SIZE 10 // Резервируем с запасом под каждый каскад -// raw_ax, raw_ay, raw_az удалены (не используются) -volatile int16_t raw_gx; // Нужен только для гироскопа X +volatile int16_t raw_gx; // только гироскопа X float filt_gx; float gyro_bias_x = 0; @@ -127,7 +126,7 @@ void IMU_Init(void) { // Значение GYRO_DLPFCFG = 7 для макс. ширины без полного байпаса: ~361.4 Hz LPF. // (0 - это 196Hz, 1 - 151Hz, 2 - 119Hz, 3 - 51Hz, 7 - 361.4Hz) // GYRO_FS_SEL = 3 (2000 dps) - // ВНИМАНИЕ: На ICM-20948 бит GYRO_FCHOICE (бит 0) включает LPF, если равен 1! (а 0 = Bypass) + // ВНИМАНИЕ: На ICM-20948 бит GYRO_FCHOICE (бит 0) включает LPF, если равен 1. (а 0 = Bypass) IMU_WriteReg(0x01, (7 << 3) | (3 << 1) | 1); IMU_SetBank(0); @@ -164,16 +163,16 @@ void IMU_ReadRawData(void) { // 2. Центрируем относительно нуля (убираем дрейф) float x = (float)gyro_x_raw - gyro_bias_x; - // 3. СОХРАНЯЕМ это в raw_gx (это будет красная линия в Python) + // 3. Сохраняем это в raw_gx raw_gx = (int16_t)x; - // 4. Прогоняем через 3 каскада программных фильтров (режекторные) + // 4. Прогоняем через 3 каскада программных фильтров (режектор) float x_filtered = x; x_filtered = biquad_apply(&dyn_notch_filters[0], x_filtered); x_filtered = biquad_apply(&dyn_notch_filters[1], x_filtered); x_filtered = biquad_apply(&dyn_notch_filters[2], x_filtered); - // 5. Сохраняем в filt_gx (это будет синяя линия) + // 5. Сохраняем в filt_gx filt_gx = x_filtered; } @@ -186,6 +185,13 @@ void Update_FMAC_Coeffs(int stage, float b0, float b1, float b2, float a1, float dyn_notch_filters[stage].b2 = b2; dyn_notch_filters[stage].a1 = a1; dyn_notch_filters[stage].a2 = a2; + + // Если переходим из Bypass (b0≈1) в активный фильтр (b0<1), + // обнуляем состояние, чтобы избежать скачков + if (b0 < 0.9f) { + dyn_notch_filters[stage].d1 = 0; + dyn_notch_filters[stage].d2 = 0; + } } // Внутренняя функция для обработки одного каскада через FMAC @@ -213,7 +219,7 @@ static int16_t FMAC_Step(fmac_coeffs_t *c, fmac_state_t *s, int16_t input) { FMAC->WDATA = input; uint32_t timeout = 1000; - while ((FMAC->SR & 0x01) && --timeout); + while (!(FMAC->SR & 0x01) && --timeout); // Ждем флаг VLD (Valid Data) if (timeout == 0) return input; diff --git a/main.c b/main.c index cf2eae6..ba6af3a 100644 --- a/main.c +++ b/main.c @@ -23,7 +23,7 @@ typedef struct { } Telemetry_t; #pragma pack(pop) -// 2. ПРОТОТИПЫ (Чтобы компилятор не ругался) +// 2. ПРОТОТИПЫ void SystemClock_Config_160MHz(void); void UART2_Init_921600(void); void TIM6_Init_1000Hz(void); @@ -54,31 +54,31 @@ int main(void) { // В основном цикле while(1) внутри if (imu_flag) -while (1) { - if (imu_flag) { - imu_flag = 0; - IMU_ReadRawData(); - DSP_AddSample((float32_t)raw_gx); - - pkt.gx = raw_gx; - pkt.filt_gx = (int16_t)filt_gx; - - // Заполняем частоты из dsp_manager.c - // extern float active_notch_freqs[3]; // Если компилятор не видит, добавьте в заголовок - pkt.freq1 = (uint16_t)active_notch_freqs[0]; - pkt.freq2 = (uint16_t)active_notch_freqs[1]; - pkt.freq3 = (uint16_t)active_notch_freqs[2]; + while (1) { + if (imu_flag) { + imu_flag = 0; + IMU_ReadRawData(); + DSP_AddSample((float32_t)raw_gx); + + pkt.gx = raw_gx; + pkt.filt_gx = (int16_t)filt_gx; + + // Заполняем частоты из dsp_manager.c + // extern float active_notch_freqs[3]; // Если компилятор не видит, добавьте в заголовок + pkt.freq1 = (uint16_t)active_notch_freqs[0]; + pkt.freq2 = (uint16_t)active_notch_freqs[1]; + pkt.freq3 = (uint16_t)active_notch_freqs[2]; - UART_SendPacket(&pkt); - Set_Motor_Individual(m1_speed, m2_speed, m3_speed, m4_speed); + UART_SendPacket(&pkt); + Set_Motor_Individual(m1_speed, m2_speed, m3_speed, m4_speed); + } + + if (dsp_buffer_ready) { + DSP_Process(); + } } - - if (dsp_buffer_ready) { - DSP_Process(); } -} -} -// 4. РЕАЛИЗАЦИЯ ФУНКЦИЙ (Тут был провал - их не хватало!) +// 4. РЕАЛИЗАЦИЯ ФУНКЦИЙ void SystemClock_Config_160MHz(void) { RCC->CR |= RCC_CR_HSION; diff --git a/settings/fft_az.dbgdt b/settings/fft_az.dbgdt index b55d9a0..987432d 100644 --- a/settings/fft_az.dbgdt +++ b/settings/fft_az.dbgdt @@ -154,11 +154,11 @@ 1 1 1 - 65010000210024970000010000001397000017000000158100000400000010860000970000005F860000010000003A9700000200000001E10000010000000C8100001F000000159700001C000000568600000200000017810000060000001297000026000000128600008B00000003840000010000001481000002000000319700000300000000810000050000001F810000090000000E8100000E00000000E100000100000028970000020000000B8100000A00000014970000190000000584000002000000148600000600000005810000020000000284000003000000118600004C00000010840000030000003284000001000000549200000200000002E10000010000001697000001000000 + 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