5 Commits

Author SHA1 Message Date
vadyschka01 1ff5db84a1 last_fft 2026-05-29 15:34:03 +03:00
vadyschka01 babc5a24e3 dhsot
Co-authored-by: Copilot <copilot@github.com>
2026-05-27 16:10:40 +03:00
vadyschka01 29749c6212 Cleanup: removed build artifacts and cache 2026-05-20 18:52:34 +03:00
vadyschka01 cf8f3908a0 Refactor code structure for improved readability and maintainability 2026-05-20 18:35:58 +03:00
vadyschka01 769ac3d0c7 filter_with_fmac
Co-authored-by: Copilot <copilot@github.com>
2026-05-19 14:01:03 +03:00
72 changed files with 1664 additions and 12356 deletions
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Debug/
Release/
settings/
.cache/
.vscode/
.cursor/
*.idx
*.o
*.out
*.map
*.pbi
*.pbd
*.browse
*.ninja*
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# ninja log v6
2 142 7990811054271711 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o 5e0322b232c2a5d3
3 42 7966528629542996 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/startup_stm32g431xx.o cede824c243c8d17
3 151 7990811054281708 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
5 225 7990798145102406 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/system_stm32g4xx.o a638ba64754599fe
1 142 7990802132054459 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o c37a5ec274783fe9
152 194 7990811055771090 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Exe/fft_az.out 2a7eadea1e12d4bc
152 194 7990811055771090 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/List/fft_az.map 2a7eadea1e12d4bc
4 201 7990798145092397 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/motors.o a560d5a92deba7a4
3 145 7990823775198550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o c37a5ec274783fe9
3 145 7990823775198550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/imu.o c37a5ec274783fe9
2 146 7990823775188550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o 5e0322b232c2a5d3
2 146 7990823775188550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/dsp_manager.o 5e0322b232c2a5d3
4 180 7990823775208550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
4 180 7990823775208550 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/Obj/main.o 26d4f707094ccf1a
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
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
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# ninja log v6
0 47 7966502781999309 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json c2e88d1a9fd20db6
47 53 7966502782467669 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json f2805c436342d4a3
1 42 7966507870657602 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json c925cce127c442d1
42 47 7966507871076259 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json f2805c436342d4a3
1 51 7966515015512471 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json c73736e68dde8d5b
51 93 7966515016017145 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json df9acf2922317761
93 100 7966515016435607 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json f9869b9765c84423
1 43 7966515300826578 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json 6336a72b836fa331
44 87 7966515301255203 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json ccafa4acf6c8efb6
87 144 7966515301693686 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json 32b0cc47dcdded7b
145 155 7966515302271934 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json f9869b9765c84423
1 45 7966604066593415 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json 9c35964d6486b4a1
45 87 7966604067045493 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json f694af6a41bfdaa
87 137 7966604067459479 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json a0b01bd5eafea8df
137 145 7966604067962840 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json f9869b9765c84423
1 48 7978610928370036 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json 4e8b5e267c39e01
48 90 7978610928842575 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json 68af54bb7858f4e7
90 131 7978610929263504 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/www_9707195405963337211.dir/motors.c.json 62c735074b1ccd3
131 174 7978610929668841 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json 6f9460db7aebd6c8
174 183 7978610930095352 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json 1bd0ce907ba5d744
0 47 7990786683033849 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json e794077e0c2ffc64
47 88 7990786683501675 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json 54791612b88d573c
88 130 7990786683908976 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/www_9707195405963337211.dir/motors.c.json bb7fc91e3ef758e8
130 171 7990786684326793 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json 646afb9920cd2258
171 180 7990786684737920 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json 1bd0ce907ba5d744
1 43 7990796633891554 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/dsp_manager.c.json e6ceb15748160c3e
43 84 7990796634316591 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json a10f8094ab7bfd80
85 125 7990796634722826 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json f77d52644bbecad8
125 171 7990796635127445 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/www_9707195405963337211.dir/motors.c.json 577cbf0bb345a57d
171 215 7990796635589952 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json 3aecf4a3fe30bd33
215 224 7990796636024305 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json b1b2177ae73507e4
1 48 7990796930105725 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/dsp_manager.c.json c879709adcdfdcbf
48 92 7990796930577061 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/imu.c.json 48a8db68295635ee
92 135 7990796931013386 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/main.c.json e659513826dc75a8
135 178 7990796931445598 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/www_9707195405963337211.dir/motors.c.json 6add127ffaafb420
178 220 7990796931878398 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/BrowseInfo/system_stm32g4xx.c.json 2f10fb49d0a51201
221 233 7990796932306580 C:/Users/vadychka/Documents/GitHub/leybl/fft/Debug/compile_commands.json b1b2177ae73507e4
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##IAR Ninja build file
#Rules
rule COMPDB_GEN
command = C$:\iar\ewarm-9.70.1\common\bin\ClangdCompDbGenerator.exe $gencommand -f "$rspfile_name"
description = Building $out...
rspfile = $rspfile_name
rspfile_content = $flags
rule COMPDB_LINK
command = C$:\iar\ewarm-9.70.1\common\bin\ClangdCompDbLinker.exe -f "$rspfile_name"
description = Building $out...
rspfile = $rspfile_name
rspfile_content = $flags
#Build steps
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\dsp_manager.c.json : COMPDB_GEN
flags = C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe C$:\Users\vadychka\Documents\GitHub\leybl\fft\dsp_manager.c -D STM32G431xx -D ARM_MATH_CM4 -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\ --no_cse --no_unroll --no_inline --no_code_motion --no_tbaa --no_clustering --no_scheduling --debug --endian=little --cpu=Cortex-M4 --fpu=VFPv4_sp --dlib_config C$:\iar\ewarm-9.70.1\arm\inc\c\DLib_Config_Normal.h -I C$:\Users\vadychka\Documents\GitHub\leybl\fft\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -Ol -I C$:\iar\ewarm-9.70.1\arm\CMSIS\Core\Include\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -D ARM_MATH_CM4 -e
gencommand = -output_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\dsp_manager.c.json -icc_path C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe -source_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\dsp_manager.c -work_dir C$:\Users\vadychka\Documents\GitHub\leybl\fft -keyword_map_path C$:\iar\ewarm-9.70.1\common\config\ClangdConfig.json -object_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\dsp_manager.o
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\dsp_manager.c.json.rsp
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\imu.c.json : COMPDB_GEN
flags = C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe C$:\Users\vadychka\Documents\GitHub\leybl\fft\imu.c -D STM32G431xx -D ARM_MATH_CM4 -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\ --no_cse --no_unroll --no_inline --no_code_motion --no_tbaa --no_clustering --no_scheduling --debug --endian=little --cpu=Cortex-M4 --fpu=VFPv4_sp --dlib_config C$:\iar\ewarm-9.70.1\arm\inc\c\DLib_Config_Normal.h -I C$:\Users\vadychka\Documents\GitHub\leybl\fft\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -Ol -I C$:\iar\ewarm-9.70.1\arm\CMSIS\Core\Include\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -D ARM_MATH_CM4 -e
gencommand = -output_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\imu.c.json -icc_path C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe -source_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\imu.c -work_dir C$:\Users\vadychka\Documents\GitHub\leybl\fft -keyword_map_path C$:\iar\ewarm-9.70.1\common\config\ClangdConfig.json -object_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\imu.o
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\imu.c.json.rsp
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\main.c.json : COMPDB_GEN
flags = C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe C$:\Users\vadychka\Documents\GitHub\leybl\fft\main.c -D STM32G431xx -D ARM_MATH_CM4 -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\ --no_cse --no_unroll --no_inline --no_code_motion --no_tbaa --no_clustering --no_scheduling --debug --endian=little --cpu=Cortex-M4 --fpu=VFPv4_sp --dlib_config C$:\iar\ewarm-9.70.1\arm\inc\c\DLib_Config_Normal.h -I C$:\Users\vadychka\Documents\GitHub\leybl\fft\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -Ol -I C$:\iar\ewarm-9.70.1\arm\CMSIS\Core\Include\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -D ARM_MATH_CM4 -e
gencommand = -output_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\main.c.json -icc_path C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe -source_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\main.c -work_dir C$:\Users\vadychka\Documents\GitHub\leybl\fft -keyword_map_path C$:\iar\ewarm-9.70.1\common\config\ClangdConfig.json -object_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\main.o
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\main.c.json.rsp
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\www_9707195405963337211.dir\motors.c.json : COMPDB_GEN
flags = C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe C$:\Users\vadychka\Documents\GitHub\leybl\www\motors.c -D STM32G431xx -D ARM_MATH_CM4 -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\ --no_cse --no_unroll --no_inline --no_code_motion --no_tbaa --no_clustering --no_scheduling --debug --endian=little --cpu=Cortex-M4 --fpu=VFPv4_sp --dlib_config C$:\iar\ewarm-9.70.1\arm\inc\c\DLib_Config_Normal.h -I C$:\Users\vadychka\Documents\GitHub\leybl\fft\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -Ol -I C$:\iar\ewarm-9.70.1\arm\CMSIS\Core\Include\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -D ARM_MATH_CM4 -e
gencommand = -output_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\www_9707195405963337211.dir\motors.c.json -icc_path C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe -source_file C$:\Users\vadychka\Documents\GitHub\leybl\www\motors.c -work_dir C$:\Users\vadychka\Documents\GitHub\leybl\www -keyword_map_path C$:\iar\ewarm-9.70.1\common\config\ClangdConfig.json -object_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\motors.o
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\www_9707195405963337211.dir\motors.c.json.rsp
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\system_stm32g4xx.c.json : COMPDB_GEN
flags = C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe C$:\Users\vadychka\Documents\GitHub\leybl\fft\system_stm32g4xx.c -D STM32G431xx -D ARM_MATH_CM4 -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\ --no_cse --no_unroll --no_inline --no_code_motion --no_tbaa --no_clustering --no_scheduling --debug --endian=little --cpu=Cortex-M4 --fpu=VFPv4_sp --dlib_config C$:\iar\ewarm-9.70.1\arm\inc\c\DLib_Config_Normal.h -I C$:\Users\vadychka\Documents\GitHub\leybl\fft\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -Ol -I C$:\iar\ewarm-9.70.1\arm\CMSIS\Core\Include\ -I C$:\iar\ewarm-9.70.1\arm\CMSIS\DSP\Include\ -D ARM_MATH_CM4 -e
gencommand = -output_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\system_stm32g4xx.c.json -icc_path C$:\iar\ewarm-9.70.1\arm\bin\iccarm.exe -source_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\system_stm32g4xx.c -work_dir C$:\Users\vadychka\Documents\GitHub\leybl\fft -keyword_map_path C$:\iar\ewarm-9.70.1\common\config\ClangdConfig.json -object_file C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj\system_stm32g4xx.o
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\system_stm32g4xx.c.json.rsp
build C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\compile_commands.json : COMPDB_LINK C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\dsp_manager.c.json | C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\imu.c.json $
C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\main.c.json $
C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\www_9707195405963337211.dir\motors.c.json $
C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\system_stm32g4xx.c.json
flags = -o C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\compile_commands.json C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\dsp_manager.c.json C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\imu.c.json C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\main.c.json C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\www_9707195405963337211.dir\motors.c.json C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\BrowseInfo\system_stm32g4xx.c.json
rspfile_name = C$:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\compile_commands.json.rsp
-953
View File
@@ -1,953 +0,0 @@
{
"arguments" :
[
"C:\\iar\\ewarm-9.70.1\\arm\\bin\\iccarm.exe",
"C:\\Users\\vadychka\\Documents\\GitHub\\leybl\\fft\\dsp_manager.c",
"-nostdinc",
"-undef",
"-Wno-unaligned-access",
"-fiar-compiler",
"-ferror-limit=0",
"-D__IAR_CLANGD__",
"-isystem",
"C:\\iar\\ewarm-9.70.1\\arm\\inc\\c\\aarch32",
"-isystem",
"C:\\iar\\ewarm-9.70.1\\arm\\inc",
"-isystem",
"C:\\iar\\ewarm-9.70.1\\arm\\inc\\c",
"-I",
"C:\\Users\\vadychka\\Documents\\GitHub\\leybl\\fft\\",
"-I",
"C:\\iar\\ewarm-9.70.1\\arm\\CMSIS\\DSP\\Include\\",
"-I",
"C:\\iar\\ewarm-9.70.1\\arm\\CMSIS\\Core\\Include\\",
"-I",
"C:\\iar\\ewarm-9.70.1\\arm\\CMSIS\\DSP\\Include\\",
"--target=armv7m-none-eabi",
"-D",
"__CHAR_BITS__=8",
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"__CHAR_MAX__=0xff",
"-D",
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"__SIGNED_CHAR_MIN__=(-__SIGNED_CHAR_MAX__-1)",
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"__LONG_LONG_SIZE__=8",
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"-D",
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"-D",
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"__INT8_T_TYPE__=signed char",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
"__INT64_T_MAX__=9223372036854775807LL",
"-D",
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"-D",
"__UINT64_T_TYPE__=unsigned long long int",
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"-D",
"__INT16_C_SUFFIX__=",
"-D",
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"-D",
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"-D",
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"-D",
"__INT_FAST16_T_MAX__=2147483647",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"-D",
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"__DATA_MEMORY_LIST3__(_P1,_P2)=__DATA_MEM_HELPER3__(__data, 0, _P1, _P2)",
"-D",
"__DATA_MEM0__=__data",
"-D",
"__DATA_MEM0_POINTER_OK__=1",
"-D",
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View File
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"__EDG_ABI_CHANGES_FOR_PLACEMENT_DELETE=1",
"-D",
"__EDG_BSD=0",
"-D",
"__EDG_SYSV=0",
"-D",
"__EDG_ANSIC=1",
"-D",
"__EDG_CPP11_IL_EXTENSIONS_SUPPORTED=1",
"-D",
"__EDG_HOST_HAS_FLOAT16_TYPE=0",
"-D",
"__EDG_FLOAT80_ENABLING_POSSIBLE=0",
"-D",
"__EDG_FLOAT128_ENABLING_POSSIBLE=0",
"-D",
"__EDG_INT128_EXTENSIONS_ALLOWED=0",
"-D",
"_DLIB_CONFIG_FILE_HEADER_NAME=\"C:\\iar\\ewarm-9.70.1\\arm\\inc\\c\\DLib_Config_Normal.h\"",
"-D",
"_DLIB_CONFIG_FILE_STRING=\"C:\\\\iar\\\\ewarm-9.70.1\\\\arm\\\\inc\\\\c\\\\DLib_Config_Normal.h\"",
"-D",
"__VERSION__=\"IAR ANSI C/C++ Compiler V9.70.1.475/W64 for ARM\"",
"-D",
"_VA_DEFINED=",
"-D_VA_LIST=__builtin_va_list",
"-D",
"STM32G431xx=1",
"-D",
"ARM_MATH_CM4=1",
"-D",
"ARM_MATH_CM4=1",
"-D__ALIGNOF__=__alignof__",
"-D__absolute=",
"-D__arm=",
"-D__assignment_by_bitwise_copy_allowed(Ty0)=1",
"-D__c99_generic(...)=",
"-D__code=",
"-D__constrange(a,...)=",
"-D__construction_by_bitwise_copy_allowed(Ty0)=1",
"-D__data=",
"-D__has_constructor=__is_trivially_constructible",
"-D__has_destructor=__is_trivially_constructible",
"-D__iar_generic(...)=",
"-D__inline=",
"-D__inline__=",
"-D__interwork=",
"-D__intrinsic=",
"-D__monitor=",
"-D__naked=",
"-D__nested=",
"-D__no_alloc=",
"-D__no_alloc16=",
"-D__no_init=",
"-D__no_scratch=",
"-D__noreturn=",
"-D__nounwind=",
"-D__out_of_image=",
"-D__packed=",
"-D__ramfunc=",
"-D__ro_placement=",
"-D__root=",
"-D__section_begin(...)=((void *) 0)",
"-D__section_end(...)=((void *) 0)",
"-D__section_size(...)=0",
"-D__segment_begin(...)=((void *) 0)",
"-D__segment_end(...)=((void *) 0)",
"-D__segment_size(...)=0",
"-D__sfb(...)=((void *) 0)",
"-D__sfe(...)=((void *) 0)",
"-D__sfs(...)=0",
"-D__spec_string=",
"-D__stackless=",
"-D__swi=",
"-D__task=",
"-D__thumb=",
"-D__weak=",
"-D__aeabi_memclr(Ty0, Ty1)=",
"-D__aeabi_memcpy(Ty0, Ty1, Ty2)=",
"-D__aeabi_memmove(Ty0, Ty1, Ty2)=",
"-D__aeabi_memset(Ty0, Ty1, Ty2)=",
"-D__aeabi_memclr4(Ty0, Ty1)=",
"-D__aeabi_memcpy4(Ty0, Ty1, Ty2)=",
"-D__aeabi_memmove4(Ty0, Ty1, Ty2)=",
"-D__aeabi_memset4(Ty0, Ty1, Ty2)=",
"-D__aeabi_memclr8(Ty0, Ty1)=",
"-D__aeabi_memcpy8(Ty0, Ty1, Ty2)=",
"-D__aeabi_memmove8(Ty0, Ty1, Ty2)=",
"-D__aeabi_memset8(Ty0, Ty1, Ty2)=",
"-D__get_SP()=0",
"-D__get_PC()=0",
"-D__iar_fp2bits32(Ty0)=0",
"-D__iar_fp2bits64(Ty0)=0",
"-D__iar_fpgethi64(Ty0)=0",
"-D__iar_fpsethi64(Ty0, Ty1)=0.0",
"-D__iar_bits2fp32(Ty0)=0.0f",
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"-D__iar_atomic_init(Ty0, Ty1)=",
"-D__iar_atomic_init(Ty0, Ty1, Ty2)=",
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"-D__iar_atomic_compare_exchange_strong(Ty0, Ty1, Ty2, Ty3, Ty4)=0",
"-D__iar_atomic_compare_exchange_weak(Ty0, Ty1, Ty2, Ty3, Ty4)=0",
"-D__iar_atomic_fetch_add(...)=0",
"-D__iar_atomic_fetch_sub(...)=0",
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"-D__iar_atomic_fetch_and(...)=0",
"-Dtypeof(Ty0)=__typeof__(Ty0)",
"-D__no_alloc_str(...)=((unsigned long)0)",
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"-D_LIBCPP_HAS_NO_VENDOR_AVAILABILITY_ANNOTATIONS",
"-funsigned-char",
"-fiar-extensions",
"-std=gnu11",
"-x",
"c"
],
"directory" : "C:\\Users\\vadychka\\Documents\\GitHub\\leybl\\www",
"file" : "C:\\Users\\vadychka\\Documents\\GitHub\\leybl\\www\\motors.c",
"output" : "C:\\Users\\vadychka\\Documents\\GitHub\\leybl\\fft\\Debug\\Obj\\motors.o"
}
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@@ -1,631 +0,0 @@
###############################################################################
#
# IAR ELF Linker V9.70.1.475/W64 for ARM 28/Apr/2026 15:26:17
# Copyright 2007-2025 IAR Systems AB.
#
# Output file =
# C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out
# Map file =
# C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\List\fft_az.map
# Command line =
# -f
# C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out.rsp
# (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)
# --diagnostics_format=sarif_stdout --dependencies=n
# C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out.iar_deps
# --dynamic_output
# C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out.iar_dynout
#
###############################################################################
*******************************************************************************
*** RUNTIME MODEL ATTRIBUTES
***
CppFlavor = *
__CPP_Runtime = 1
__SystemLibrary = DLib
__dlib_version = 6
*******************************************************************************
*** HEAP SELECTION
***
The basic heap was selected because no calls to memory allocation
functions were found in the application outside of system library
functions, there are calls to deallocation functions in the
application, and the application appears to be primarily
optimized for speed.
*******************************************************************************
*** PLACEMENT SUMMARY
***
"A0": place at address 0x800'0000 { ro section .intvec };
"P1": place in [from 0x800'0000 to 0x801'ffff] { ro };
define block CSTACK with size = 2K, alignment = 8 { };
define block PROC_STACK with size = 0, alignment = 8 { };
define block HEAP with size = 4K, alignment = 8 { };
"P3": place in [from 0x2000'0000 to 0x2000'3fff] |
[from 0x2000'4000 to 0x2000'57ff] {
rw, block CSTACK, block PROC_STACK, block HEAP };
initialize by copy { rw };
No sections matched the following patterns:
ro section otp_data in "P4"
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
"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 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
Unused ranges:
From To Size
---- -- ----
0x2000'2490 0x2000'3fff 0x1b70
0x2000'4000 0x2000'57ff 0x1800
*******************************************************************************
*** INIT TABLE
***
Address Size
------- ----
Zero (__iar_zero_init3)
1 destination range, total size 0x1c7a:
0x2000'0014 0x1c7a
Copy (__iar_copy_init3)
1 source range, total size 0x14:
0x801'ffec 0x14
1 destination range, total size 0x14:
0x2000'0000 0x14
*******************************************************************************
*** MODULE SUMMARY
***
Module ro code ro data rw data
------ ------- ------- -------
command line/config:
---------------------------------------------------
Total:
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj: [1]
dsp_manager.o 448 7'195
imu.o 864 94
main.o 584 16 17
motors.o 296
startup_stm32g431xx.o 800
system_stm32g4xx.o 160 20 4
---------------------------------------------------
Total: 3'152 36 7'310
dl7M_tln.a: [2]
exit.o 4
low_level_init.o 4
---------------------------------------------------
Total: 8
iar_cortexM4lf_math.a: [3]
arm_bitreversal2.o 70
arm_cfft_f32.o 1'796
arm_cfft_init_f32.o 152
arm_cfft_radix8_f32.o 1'426
arm_cmplx_mag_f32.o 340
arm_common_tables.o 121'820
arm_const_structs.o 144
arm_cos_f32.o 144
arm_mult_f32.o 270
arm_rfft_fast_f32.o 386
arm_rfft_fast_init_f32.o 444
---------------------------------------------------
Total: 5'028 121'964
m7M_tls.a: [4]
cos_sin_tan_32.o 532
fpinit_M.o 34
---------------------------------------------------
Total: 566
rt7M_tl.a: [5]
U64Shr.o 30
cexit.o 4
cexit_2.o 10
cmain.o 34
copy_init3.o 42
cstartup_M.o 30
data_init.o 40
zero_init3.o 56
---------------------------------------------------
Total: 246
shb_l.a: [6]
exit.o 20
---------------------------------------------------
Total: 20
Gaps 12 4
Linker created 36 2'048
-------------------------------------------------------
Grand Total: 9'032 122'040 9'358
*******************************************************************************
*** ENTRY LIST
***
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]
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]
DMA1_Channel2_IRQHandler
0x801'ff09 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel3_IRQHandler
0x801'ff0d Code Wk startup_stm32g431xx.o [1]
DMA1_Channel4_IRQHandler
0x801'ff11 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel5_IRQHandler
0x801'ff15 Code Wk startup_stm32g431xx.o [1]
DMA1_Channel6_IRQHandler
0x801'ff19 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel1_IRQHandler
0x801'ffa1 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel2_IRQHandler
0x801'ffa5 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel3_IRQHandler
0x801'ffa9 Code Wk startup_stm32g431xx.o [1]
DMA2_Channel4_IRQHandler
0x801'ffad Code Wk startup_stm32g431xx.o [1]
DMA2_Channel5_IRQHandler
0x801'ffb1 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]
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]
SystemClock_Config_160MHz
0x801'e77f 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]
TIM1_BRK_TIM15_IRQHandler
0x801'ff35 Code Wk startup_stm32g431xx.o [1]
TIM1_CC_IRQHandler 0x801'ff41 Code Wk startup_stm32g431xx.o [1]
TIM1_TRG_COM_TIM17_IRQHandler
0x801'ff3d 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]
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]
__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]
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]
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]
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]
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]
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]
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]
arm_radix8_butterfly_f32
0x801'cc31 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]
arm_rfft_128_fast_init_f32
0x801'eccd 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]
arm_rfft_256_fast_init_f32
0x801'ecef 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]
arm_rfft_4096_fast_init_f32
0x801'ed85 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]
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]
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]
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]
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]
[1] = C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Obj
[2] = dl7M_tln.a
[3] = iar_cortexM4lf_math.a
[4] = m7M_tls.a
[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
Errors: none
Warnings: none
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+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()
+446
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@@ -0,0 +1,446 @@
#include "stm32g4xx.h"
#include "gpio.h"
#include "dshot2.h"
#define DSHOT_FREQ_SCALE 10'000'000
#define DSHOT_FRAME_DATA 16
#define DSHOT_FRAME_SIZE 20
#define DSHOT_COUNT 4
#define DSHOT_TIM 2
#define DSHOT_TIM2 0
#define DSHOT_TIM1 1
#define DSHOT_CCR 2
#define DSHOT_CCR1 0
#define DSHOT_CCR2 1
#define DSHOT_CCR3 0
#define DSHOT_CCR4 1
static bool DSHOT_Bidirect;
static unsigned short DSHOT_Shift, DSHOT_PeriodTX, DSHOT_PeriodRX, DSHOT_Bit_0, DSHOT_Bit_1;
static unsigned short DSHOT_TX_Buff[DSHOT_TIM][DSHOT_FRAME_SIZE*DSHOT_CCR]; // TIM | CCR1 + CCR2
#define DSHOT_RX_SAMP 4
#define DSHOT_RX_SIZE 32
static unsigned short DSHOT_RX_Buff[DSHOT_RX_SIZE*DSHOT_RX_SAMP];
static GPIO_TypeDef* DSHOT_RX_Port;
static unsigned long DSHOT_RX_Mode, DSHOT_TX_Mode;
static unsigned short DSHOT_RX_Index[DSHOT_COUNT];
// Таблица декодирования GCR (DShot RPM)
static const unsigned char GCR_DECODE_TABLE[32]
{
[0x19] = 0x0, // 11001b -> 0
[0x1B] = 0x1, // 11011b -> 1
[0x12] = 0x2, // 10010b -> 2
[0x13] = 0x3, // 10011b -> 3
[0x1D] = 0x4, // 11101b -> 4
[0x15] = 0x5, // 10101b -> 5
[0x16] = 0x6, // 10110b -> 6
[0x17] = 0x7, // 10111b -> 7
[0x1A] = 0x8, // 11010b -> 8
[0x09] = 0x9, // 01001b -> 9
[0x0A] = 0xA, // 01010b -> A
[0x0B] = 0xB, // 01011b -> B
[0x1E] = 0xC, // 11110b -> C
[0x0D] = 0xD, // 01101b -> D
[0x0E] = 0xE, // 01110b -> E
[0x0F] = 0xF, // 01111b -> F
// Остальные значения 0xFF (ошибки)
[0x00] = 0xFF, [0x01] = 0xFF, [0x02] = 0xFF, [0x03] = 0xFF,
[0x04] = 0xFF, [0x05] = 0xFF, [0x06] = 0xFF, [0x07] = 0xFF,
[0x08] = 0xFF, [0x0C] = 0xFF, [0x10] = 0xFF, [0x11] = 0xFF,
[0x14] = 0xFF, [0x18] = 0xFF, [0x1C] = 0xFF, [0x1F] = 0xFF
};
inline unsigned char decodeGCR(unsigned char gcr_val)
{
return GCR_DECODE_TABLE[gcr_val & 0x1F]; // gcr_val должен быть от 0 до 31 (5 бит)
}
//------------------------------------------------------------------------------
static unsigned long CalcERPM(unsigned long code)
{
code = code ^ (code>>1);
const unsigned long mask = 0x1F;
unsigned long gcr1 = (code >> 0) & mask;
unsigned long gcr2 = (code >> 5) & mask;
unsigned long gcr3 = (code >> 10) & mask;
unsigned long gcr4 = (code >> 15) & mask;
gcr1=decodeGCR(gcr1);
gcr2=decodeGCR(gcr2);
gcr3=decodeGCR(gcr3);
gcr4=decodeGCR(gcr4);
unsigned long crc = (~(gcr2 ^ gcr3 ^ gcr4)) & 0x0F;
bool valid = crc==gcr1;
if (!valid || gcr1==0xFF || gcr2==0xFF || gcr3==0xFF || gcr4==0xFF) return -1;
unsigned short data = (gcr4 << 8) | (gcr3 << 4) | gcr2;
unsigned long e = (data >> 9) & 0x07; // Старшие 3 бита
unsigned long m = data & 0x1FF;
unsigned long p = m<<e;
if (p==0) return -1;
return 1'000'000/p;
}
//------------------------------------------------------------------------------
static void Begin_ModeRX()
{
TIM6->ARR = 2300; // 20us
TIM6->EGR = TIM_EGR_UG;
TIM6->SR = 0;
TIM6->DIER = TIM_DIER_UIE;
TIM6->CR1 = TIM_CR1_CEN;
}
//------------------------------------------------------------------------------
extern "C" void DMA2_Channel1_IRQHandler()
{
unsigned long sr = DMA2->ISR;
if(sr & DMA_ISR_TCIF1)
{
DMA2->IFCR = DMA_IFCR_CTCIF1;
Begin_ModeRX();
}
}
//------------------------------------------------------------------------------
extern "C" void TIM6_DAC_IRQHandler()
{
DSHOT_RX_Port->MODER &= DSHOT_RX_Mode;
TIM6->ARR = DSHOT_PeriodRX;
TIM6->EGR = TIM_EGR_UG;
TIM6->DIER = TIM_DIER_UDE;
}
//------------------------------------------------------------------------------
static void Begin_ModeTX()
{
DSHOT_RX_Port->MODER |= DSHOT_TX_Mode;
}
//------------------------------------------------------------------------------
extern "C" void DMA2_Channel3_IRQHandler()
{
unsigned long sr = DMA2->ISR;
if(sr & DMA_ISR_TCIF3)
{
DMA2->IFCR = DMA_IFCR_CTCIF3;
TIM6->DIER = 0;
Begin_ModeTX();
}
}
//------------------------------------------------------------------------------
bool DSHOT_Mode(unsigned long Freq, bool Bidirect)
{
if(Freq<150'000) Freq=150'000;
DSHOT_PeriodTX=SystemCoreClock/Freq;
DSHOT_PeriodRX=(DSHOT_PeriodTX-DSHOT_PeriodTX/4)/DSHOT_RX_SAMP;
DSHOT_Bit_0 = DSHOT_PeriodTX*379/1024; // 37%
DSHOT_Bit_1 = DSHOT_PeriodTX*767/1024; // 75%
DSHOT_Bidirect=Bidirect;
}
//------------------------------------------------------------------------------
// Режим приема
static bool Init_ModeRX()
{
if(RCC->APB1ENR1 & RCC_APB1ENR1_TIM6EN) return false;
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM6EN;
if(DMAMUX1_Channel8->CCR & DMAMUX_CxCR_DMAREQ_ID_Msk) return false;
DMAMUX1_Channel8->CCR = (8 << DMAMUX_CxCR_DMAREQ_ID_Pos); // TIM6_UP
DMA2_Channel3->CCR = 0;
DMA2_Channel3->CPAR = (unsigned long)&GPIOA->IDR;
DMA2_Channel3->CMAR = (unsigned long)DSHOT_RX_Buff;
DMA2_Channel3->CCR = DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0 | DMA_CCR_TCIE;
NVIC_SetPriority(DMA2_Channel3_IRQn, 0);
NVIC_EnableIRQ(DMA2_Channel3_IRQn);
NVIC_SetPriority(TIM6_DAC_IRQn, 0);
NVIC_EnableIRQ(TIM6_DAC_IRQn);
return true;
}
//------------------------------------------------------------------------------
// Режим передачи
static void Init_TIM2_TX()
{
TIM2->CR1 = 0;
TIM2->SMCR = (6 << TIM_SMCR_SMS_Pos); // Slaver
TIM2->PSC = 0;
TIM2->ARR = DSHOT_PeriodTX;
TIM2->CCMR1 = (6 << TIM_CCMR1_OC1M_Pos) | TIM_CCMR1_OC1PE | (6 << TIM_CCMR1_OC2M_Pos) | TIM_CCMR1_OC2PE;
TIM2->CCR1=TIM2->CCR2=0;
TIM2->EGR = TIM_EGR_UG;
if(DSHOT_Bidirect) TIM2->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P | TIM_CCER_CC2E | TIM_CCER_CC2P;
else TIM2->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E;
TIM2->DIER = TIM_DIER_UDE;
TIM2->DCR = (0x0D << TIM_DCR_DBA_Pos) | (1 << TIM_DCR_DBL_Pos); // Burst CCR1 & CCR2
TIM2->BDTR = TIM_BDTR_MOE;
DMAMUX1_Channel6->CCR = (60 << DMAMUX_CxCR_DMAREQ_ID_Pos); // TIM2_UP
// TX DMA TIM2
DMA2_Channel1->CPAR = (unsigned long)&TIM2->DMAR;
DMA2_Channel1->CMAR = (unsigned long)DSHOT_TX_Buff[DSHOT_TIM2];
DMA2_Channel1->CCR = DMA_CCR_DIR | DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_1;
if(DSHOT_Bidirect) DMA2_Channel1->CCR |= DMA_CCR_TCIE;
NVIC_SetPriority(DMA2_Channel1_IRQn, 0);
NVIC_EnableIRQ(DMA2_Channel1_IRQn);
}
//------------------------------------------------------------------------------
static void Init_TIM1_TX()
{
TIM1->CR1 = 0;
TIM1->CR2 |= (0x01 << TIM_CR2_MMS_Pos); // Master генерирует TRGO при включении (CEN=1)
TIM1->PSC = 0;
TIM1->ARR = DSHOT_PeriodTX;
TIM1->CCMR2 = (6 << TIM_CCMR2_OC3M_Pos) | TIM_CCMR2_OC3PE | (6 << TIM_CCMR2_OC4M_Pos) | TIM_CCMR2_OC4PE;
TIM1->CCR3=TIM1->CCR4=0;
TIM1->EGR = TIM_EGR_UG;
if(DSHOT_Bidirect) TIM1->CCER = TIM_CCER_CC3E | TIM_CCER_CC3P | TIM_CCER_CC4E | TIM_CCER_CC4P;
else TIM1->CCER = TIM_CCER_CC3E | TIM_CCER_CC4E;
TIM1->DIER = TIM_DIER_UDE;
TIM1->DCR = (0x0F << TIM_DCR_DBA_Pos) | (1 << TIM_DCR_DBL_Pos); // Burst CCR3 & CCR4
TIM1->BDTR = TIM_BDTR_MOE;
DMAMUX1_Channel7->CCR = (46 << DMAMUX_CxCR_DMAREQ_ID_Pos); // TIM1_UP
// TX DMA TIM1
DMA2_Channel2->CPAR = (unsigned long)&TIM1->DMAR;
DMA2_Channel2->CMAR = (unsigned long)DSHOT_TX_Buff[DSHOT_TIM1];
DMA2_Channel2->CCR |= DMA_CCR_DIR | DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0;
}
//------------------------------------------------------------------------------
bool DSHOT_Init(unsigned long Freq, bool Bidirect)
{
if(RCC->APB2ENR & RCC_APB2ENR_TIM1EN) return false;
if(RCC->APB1ENR1 & RCC_APB1ENR1_TIM2EN) return false;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN | RCC_AHB1ENR_DMAMUX1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
GPIO_InitPin(GPIO_PIN_0 | GPIO_PORT_A | GPIO_ALTER | GPIO_PULLUP | GPIO_AF1); // TIM2_CH1
GPIO_InitPin(GPIO_PIN_1 | GPIO_PORT_A | GPIO_ALTER | GPIO_PULLUP | GPIO_AF1); // TIM2_CH2
GPIO_InitPin(GPIO_PIN_10 | GPIO_PORT_A | GPIO_ALTER | GPIO_PULLUP | GPIO_AF6); // TIM1_CH3
GPIO_InitPin(GPIO_PIN_11 | GPIO_PORT_A | GPIO_ALTER | GPIO_PULLUP | GPIO_AF11); // TIM1_CH4
DSHOT_RX_Port=GPIOA;
DSHOT_TX_Mode=GPIO_MODER_MODE0_1 | GPIO_MODER_MODE1_1 | GPIO_MODER_MODE10_1 | GPIO_MODER_MODE11_1;
DSHOT_RX_Mode=~(GPIO_MODER_MODE0 | GPIO_MODER_MODE1 | GPIO_MODER_MODE10 | GPIO_MODER_MODE11);
DSHOT_RX_Index[0]=1<<GPIO_PIN_0;
DSHOT_RX_Index[1]=1<<GPIO_PIN_1;
DSHOT_RX_Index[2]=1<<GPIO_PIN_10;
DSHOT_RX_Index[3]=1<<GPIO_PIN_11;
DSHOT_Mode(Freq, Bidirect);
for (int a = 0; a < DSHOT_TIM; a++) // Zero end in buffer
for (int b = DSHOT_FRAME_DATA*DSHOT_CCR; b < DSHOT_FRAME_SIZE*DSHOT_CCR; b++)
DSHOT_TX_Buff[a][b] = 0;
if(Bidirect) Init_ModeRX();
Init_TIM2_TX();
Init_TIM1_TX();
return true;
}
//------------------------------------------------------------------------------
static void ds_packet1(unsigned short throttle, bool tele, unsigned short* buff)
{
unsigned short packet = (throttle << 5) | ((tele) << 4);
unsigned short checksum;
if(DSHOT_Bidirect) checksum = ~(packet >> 4 ^ packet >> 8 ^ packet >> 12) & 0x0F;
else checksum = (packet >> 4 ^ packet >> 8 ^ packet >> 12) & 0x0F;
packet |= checksum;
for (int a = 0; a < DSHOT_FRAME_DATA; a++) buff[a] = (packet & (0x8000 >> a)) ? DSHOT_Bit_1 : DSHOT_Bit_0;
}
//------------------------------------------------------------------------------
static void ds_packet2(unsigned short throttle, bool tele, unsigned short* buff, unsigned long shift)
{
unsigned short packet = (throttle << 5) | ((tele) << 4);
unsigned short checksum;
if(DSHOT_Bidirect) checksum = ~(packet >> 4 ^ packet >> 8 ^ packet >> 12) & 0x0F;
else checksum = (packet >> 4 ^ packet >> 8 ^ packet >> 12) & 0x0F;
packet |= checksum;
for (int a = 0, b = shift; a < DSHOT_FRAME_DATA; a++, b+=2) buff[b] = (packet & (0x8000 >> a)) ? DSHOT_Bit_1 : DSHOT_Bit_0;
}
//------------------------------------------------------------------------------
bool DSHOT_SetCommand(unsigned short Command[4], bool Forced)
{
if(!Command) return false;
if(!Forced)
{
if(DMA2_Channel1->CNDTR || DMA2_Channel2->CNDTR) return false;
if(DSHOT_Bidirect && DMA2_Channel3->CNDTR) return false;
}
TIM2->CR1 = TIM1->CR1 = TIM6->CR1 = 0;
TIM2->DIER = TIM1->DIER = TIM6->DIER = 0;
if(Forced) Begin_ModeTX();
ds_packet2(Command[0] & 0x0FFF, Command[0] >> 15, DSHOT_TX_Buff[DSHOT_TIM2], DSHOT_CCR1);
ds_packet2(Command[1] & 0x0FFF, Command[1] >> 15, DSHOT_TX_Buff[DSHOT_TIM2], DSHOT_CCR2);
ds_packet2(Command[2] & 0x0FFF, Command[2] >> 15, DSHOT_TX_Buff[DSHOT_TIM1], DSHOT_CCR3);
ds_packet2(Command[3] & 0x0FFF, Command[3] >> 15, DSHOT_TX_Buff[DSHOT_TIM1], DSHOT_CCR4);
DMA2_Channel1->CCR &= ~DMA_CCR_EN;
DMA2_Channel1->CNDTR = DSHOT_FRAME_SIZE*DSHOT_CCR;
DMA2_Channel1->CCR |= DMA_CCR_EN;
DMA2_Channel2->CCR &= ~DMA_CCR_EN;
DMA2_Channel2->CNDTR = DSHOT_FRAME_SIZE*DSHOT_CCR;
DMA2_Channel2->CCR |= DMA_CCR_EN;
TIM2->DIER = TIM1->DIER = TIM_DIER_UDE;
if(DSHOT_Bidirect)
{
DMA2_Channel3->CCR &= ~DMA_CCR_EN;
DMA2_Channel3->CNDTR = DSHOT_RX_SIZE*DSHOT_RX_SAMP;
DMA2_Channel3->CCR |= DMA_CCR_EN;
}
TIM1->CR1 = TIM_CR1_CEN; // TIM1(master) & TIM2(slaver)
return true;
}
//------------------------------------------------------------------------------
bool DSHOT_GetERPM(unsigned short eRPM[4], bool Error[4])
{
if(!eRPM) return false;
struct
{
bool prev=true;
unsigned long len=0;
unsigned long code=0;
unsigned long count=0;
}data[DSHOT_COUNT];
for(int a=1; a<DSHOT_RX_SIZE*DSHOT_RX_SAMP-1; a++)
{
unsigned short* buf = DSHOT_RX_Buff;
unsigned short filt = (buf[a-1] & buf[a]) | (buf[a] & buf[a+1]) | (buf[a-1] & buf[a+1]);
for(int b=0; b<DSHOT_COUNT; b++)
{
bool bit = filt & DSHOT_RX_Index[b];
bool prv = data[b].prev;
if(prv!=bit)
{
unsigned long cnt = data[b].len ? data[b].count : 0;
if(cnt>=DSHOT_RX_SAMP*3-2)
{
data[b].len+=3;
data[b].code<<=3;
if(prv) data[b].code|=0x07;
}
else if(cnt>=DSHOT_RX_SAMP*2-2)
{
data[b].len+=2;
data[b].code<<=2;
if(prv) data[b].code|=0x03;
}
else
{
data[b].len+=1;
data[b].code<<=1;
if(prv) data[b].code|=0x01;
}
data[b].prev=bit;
data[b].count=0;
}
else
{
data[b].count++;
}
}
}
for(int a=0; a<4; a++)
{
if(data[a].len==21)
{
data[a].code<<=1;
data[a].code|=1;
}
else if(data[a].len==20)
{
data[a].code<<=2;
data[a].code|=3;
}
short erpm = CalcERPM(data[a].code);
if(Error)
{
Error[a]=erpm==-1;
if(Error[a] && !a)
int z=0;
}
eRPM[a] = erpm;
}
}
//------------------------------------------------------------------------------
+9
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@@ -0,0 +1,9 @@
#include "stm32g4xx.h"
bool DSHOT_Init(unsigned long Freq, bool Bidirect);
bool DSHOT_Mode(unsigned long Freq, bool Bidirect);
bool DSHOT_SetCommand(unsigned short Command[4], bool Forced); // tele - 0x8000 | data - 0x0FFF
bool DSHOT_GetERPM(unsigned short eRPM[4], bool Error[4]);
+103 -40
View File
@@ -1,73 +1,136 @@
#include "dsp_manager.h"
#include "imu.h"
#include <math.h>
// Буферы для расчета
static float32_t fft_input[FFT_SIZE];
static float32_t fft_output[FFT_SIZE];
static float32_t magnitudes[FFT_SIZE / 2];
static float32_t fft_input[FFT_SIZE] __attribute__((section(".sram2")));
static float32_t fft_output[FFT_SIZE] __attribute__((section(".sram2")));
static float32_t magnitudes[FFT_SIZE / 2] __attribute__((section(".sram2")));
static float32_t hann_window[FFT_SIZE] __attribute__((section(".sram2")));
// 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;
// Структура БПФ из библиотеки
// FFT handler
static arm_rfft_fast_instance_f32 fft_handler;
// Публичные переменные (см. dsp_manager.h)
uint8_t fft_ready = 0;
uint16_t fft_index = 0;
volatile uint16_t notch_report_hz[3] = {0, 0, 0};
// Внутренние состояния и телеметрия
static float32_t notch_freq_smoothed[3] = {0.0f, 0.0f, 0.0f};
volatile float32_t motor_erpm_avg = 0.0f;
volatile float32_t motor_mech_rpm = 0.0f;
volatile float32_t motor_elec_hz = 0.0f;
void DSP_SetMotorErpm(const uint16_t eRPM[4], uint8_t pole_pairs) {
// ERPM используем только как debug-метрику, не как источник notch-частот
float base_hz = (float)eRPM[3] / 60.0f;
motor_erpm_avg = (float)eRPM[3];
motor_elec_hz = base_hz;
motor_mech_rpm = (float)eRPM[3] / (float)pole_pairs;
}
void DSP_Init(void) {
// Инициализируем структуру БПФ
arm_rfft_fast_init_f32(&fft_handler, FFT_SIZE);
// Генерируем окно Ханна (делается один раз)
const float32_t sin_delta = 0.0246374509f;
const float32_t cos_delta = 0.9996964600f;
float32_t sin_angle = 0.0f;
float32_t cos_angle = 1.0f;
for (int i = 0; i < FFT_SIZE; i++) {
hann_window[i] = 0.5f * (1.0f - arm_cos_f32(2.0f * PI * i / (FFT_SIZE - 1)));
hann_window[i] = 0.5f * (1.0f - cos_angle);
float32_t next_cos = (cos_angle * cos_delta) - (sin_angle * sin_delta);
float32_t next_sin = (sin_angle * cos_delta) + (cos_angle * sin_delta);
cos_angle = next_cos;
sin_angle = next_sin;
}
}
void DSP_AddSample(float32_t sample) {
if (dsp_buffer_ready) return; // Ждем, пока обработают прошлую пачку
if (fft_ready) return; // Ждем, пока обработают прошлую пачку
fft_input[sample_count++] = sample;
fft_input[fft_index++] = sample;
if (sample_count >= FFT_SIZE) {
sample_count = 0;
dsp_buffer_ready = 1; // Сигнализируем в main
if (fft_index >= FFT_SIZE) {
fft_index = 0;
fft_ready = 1; // Сигнализируем в main
}
}
void DSP_Process(void) {
// 1. Применяем окно Ханна (умножаем входные данные на "колокол")
// 1. Окно Ханна
arm_mult_f32(fft_input, hann_window, fft_input, FFT_SIZE);
// 2. САМО БПФ (Быстрое преобразование Фурье)
// 2. БПФ
arm_rfft_fast_f32(&fft_handler, fft_input, fft_output, 0);
// 3. Считаем амплитуды (Magnitudes)
// 3. Амплитуды
arm_cmplx_mag_f32(fft_output, magnitudes, FFT_SIZE / 2);
// 4. Поиск 3-х самых мощных пиков
float32_t top_freqs[3] = {0};
float32_t top_mags[3] = {0};
// Ищем 3 сильнейших пика в спектре и на них строим notch'и.
// Телеметрия ERPM здесь не участвует, чтобы не уводить фильтры в неверные Гц.
float32_t peak_freqs[3] = {0.0f, 0.0f, 0.0f};
const uint32_t start_bin = (uint32_t)((50.0f * FFT_SIZE) / DSP_SAMPLE_RATE_HZ);
// Ищем в диапазоне от 50 Гц до 450 Гц (чтобы не задеть полезный сигнал наклона)
// Т.к. частота опроса 1000 Гц, а точек 1024, индекс массива почти равен частоте в Гц
for (uint32_t i = 50; i < 450; i++) {
if (magnitudes[i] > top_mags[0]) {
// Сдвигаем старые значения
top_mags[2] = top_mags[1]; top_freqs[2] = top_freqs[1];
top_mags[1] = top_mags[0]; top_freqs[1] = top_freqs[0];
// Записываем новый топ-1
top_mags[0] = magnitudes[i];
top_freqs[0] = (float32_t)i;
for (int k = 0; k < 3; k++) {
float32_t max_val = 0.0f;
int32_t max_idx = -1;
for (uint32_t i = start_bin; i < (FFT_SIZE / 2); i++) {
float32_t freq_hz = ((float32_t)i * DSP_SAMPLE_RATE_HZ) / FFT_SIZE;
// Не даём второму и третьему ноту садиться на уже выбранные пики.
uint8_t too_close = 0;
for (int j = 0; j < k; j++) {
if (peak_freqs[j] > 1.0f && fabsf(freq_hz - peak_freqs[j]) < 40.0f) {
too_close = 1;
break;
}
}
if (too_close) {
continue;
}
if (magnitudes[i] > max_val) {
max_val = magnitudes[i];
max_idx = (int32_t)i;
}
}
if (max_idx >= 0) {
peak_freqs[k] = ((float32_t)max_idx * DSP_SAMPLE_RATE_HZ) / FFT_SIZE;
}
}
// 5. ПЕРЕНАСТРОЙКА ФИЛЬТРОВ в imu.c "на лету"
// динамически меняем частоты notch1, notch2, notch3
if (top_mags[0] > 10.0f) biquad_init_notch(&notch1, top_freqs[0], 1.0f, 1000.0f);
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);
// Лёгкое сглаживание только чтобы частоты не дрожали между соседними бинами
for (int k = 0; k < 3; k++) {
if (peak_freqs[k] > 1.0f) {
if (notch_freq_smoothed[k] < 1.0f) {
notch_freq_smoothed[k] = peak_freqs[k];
} else {
const float32_t alpha = 0.25f;
notch_freq_smoothed[k] = (alpha * peak_freqs[k]) + ((1.0f - alpha) * notch_freq_smoothed[k]);
}
}
}
dsp_buffer_ready = 0; // Разрешаем новый сбор данных
}
// 5. ПЕРЕНАСТРОЙКА ФИЛЬТРОВ
float32_t Notch_Q = 2.5f;
biquad_init_notch(&notch1, notch_freq_smoothed[0], Notch_Q, DSP_SAMPLE_RATE_HZ);
biquad_init_notch(&notch2, notch_freq_smoothed[1], Notch_Q, DSP_SAMPLE_RATE_HZ);
biquad_init_notch(&notch3, notch_freq_smoothed[2], Notch_Q, DSP_SAMPLE_RATE_HZ);
// В телеметрию
notch_report_hz[0] = (uint16_t)notch_freq_smoothed[0];
notch_report_hz[1] = (uint16_t)notch_freq_smoothed[1];
notch_report_hz[2] = (uint16_t)notch_freq_smoothed[2];
// Готово
fft_ready = 0;
}
+15 -5
View File
@@ -2,16 +2,26 @@
#define DSP_MANAGER_H
#include "arm_math.h"
#include <stdint.h>
// Размер окна Фурье (степень двойки)
#define FFT_SIZE 512
// Размер окна Фурье (степень двойки) - Уменьшен для экономии памяти
#define FFT_SIZE 256
#define DSP_SAMPLE_RATE_HZ 1000.0f
// Прототипы
void DSP_Init(void);
void DSP_AddSample(float32_t sample); // Добавить одну точку в "копилку"
void DSP_Process(void); // Запустить расчет (когда накопили 1024)
void DSP_Process(void); // Запустить расчет (когда накопили FFT_SIZE)
void DSP_SetMotorErpm(const uint16_t eRPM[4], uint8_t pole_pairs);
// Флаг готовности данных (чтобы main знал, когда пора вызывать Process)
extern uint8_t dsp_buffer_ready;
// Debug values for Live Watch (переименованы для ясности)
extern volatile float32_t motor_erpm_avg;
extern volatile float32_t motor_mech_rpm;
extern volatile float32_t motor_elec_hz;
// Объявление переменных (ясные имена)
extern uint8_t fft_ready; // флаг: готовность FFT-пакета
extern uint16_t fft_index; // индекс накопления сэмплов
extern volatile uint16_t notch_report_hz[3]; // частоты, отправляемые в телеметрию
#endif
+289 -9
View File
@@ -297,7 +297,7 @@
<option>
<name>CCAllowList</name>
<version>1</version>
<state>00000000</state>
<state>11111110</state>
</option>
<option>
<name>CCDebugInfo</name>
@@ -374,16 +374,16 @@
</option>
<option>
<name>CCOptLevel</name>
<state>1</state>
<state>3</state>
</option>
<option>
<name>CCOptStrategy</name>
<version>0</version>
<state>0</state>
<state>1</state>
</option>
<option>
<name>CCOptLevelSlave</name>
<state>1</state>
<state>3</state>
</option>
<option>
<name>CCPosIndRopi</name>
@@ -399,7 +399,7 @@
</option>
<option>
<name>IccLang</name>
<state>0</state>
<state>1</state>
</option>
<option>
<name>IccCDialect</name>
@@ -432,7 +432,7 @@
<option>
<name>CCOptStrategySlave</name>
<version>0</version>
<state>0</state>
<state>1</state>
</option>
<option>
<name>CCGuardCalls</name>
@@ -684,7 +684,7 @@
</option>
<option>
<name>OOCOutputFile</name>
<state></state>
<state>fft_az.srec</state>
</option>
<option>
<name>OOCCommandLineProducer</name>
@@ -2236,12 +2236,24 @@
<file>
<name>$EW_DIR$\arm\CMSIS\DSP\Include\arm_math.h</name>
</file>
<file>
<name>$PROJ_DIR$\dshot2.cpp</name>
</file>
<file>
<name>$PROJ_DIR$\dshot2.h</name>
</file>
<file>
<name>$PROJ_DIR$\dsp_manager.c</name>
</file>
<file>
<name>$PROJ_DIR$\dsp_manager.h</name>
</file>
<file>
<name>$PROJ_DIR$\gpio.cpp</name>
</file>
<file>
<name>$PROJ_DIR$\gpio.h</name>
</file>
<file>
<name>$PROJ_DIR$\imu.c</name>
</file>
@@ -2252,10 +2264,10 @@
<name>$PROJ_DIR$\main.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\www\motors.c</name>
<name>$PROJ_DIR$\motors.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\www\motors.h</name>
<name>$PROJ_DIR$\motors.h</name>
</file>
<file>
<name>$PROJ_DIR$\startup_stm32g431xx.s</name>
@@ -2268,6 +2280,274 @@
</file>
<file>
<name>$PROJ_DIR$\system_stm32g4xx.c</name>
<configuration>
<name>Debug</name>
<settings>
<name>ICCARM</name>
<data>
<version>40</version>
<wantNonLocal>0</wantNonLocal>
<debug>1</debug>
<option>
<name>CCOptimizationNoSizeConstraints</name>
<state>0</state>
</option>
<option>
<name>CCDefines</name>
<state>STM32G431xx</state>
<state>ARM_MATH_CM4</state>
</option>
<option>
<name>CCPreprocFile</name>
<state>0</state>
</option>
<option>
<name>CCPreprocComments</name>
<state>0</state>
</option>
<option>
<name>CCPreprocLine</name>
<state>0</state>
</option>
<option>
<name>CCListCFile</name>
<state>0</state>
</option>
<option>
<name>CCListCMnemonics</name>
<state>0</state>
</option>
<option>
<name>CCListCMessages</name>
<state>0</state>
</option>
<option>
<name>CCListAssFile</name>
<state>0</state>
</option>
<option>
<name>CCListAssSource</name>
<state>0</state>
</option>
<option>
<name>CCEnableRemarks</name>
<state>0</state>
</option>
<option>
<name>CCDiagSuppress</name>
<state></state>
</option>
<option>
<name>CCDiagRemark</name>
<state></state>
</option>
<option>
<name>CCDiagWarning</name>
<state></state>
</option>
<option>
<name>CCDiagError</name>
<state></state>
</option>
<option>
<name>CCObjPrefix</name>
<state>1</state>
</option>
<option>
<name>CCAllowList</name>
<version>1</version>
<state>11111110</state>
</option>
<option>
<name>CCDebugInfo</name>
<state>1</state>
</option>
<option>
<name>IEndianMode</name>
<state>1</state>
</option>
<option>
<name>IProcessor</name>
<state>1</state>
</option>
<option>
<name>IExtraOptionsCheck</name>
<state>0</state>
</option>
<option>
<name>IExtraOptions</name>
<state></state>
</option>
<option>
<name>CCLangConformance</name>
<state>0</state>
</option>
<option>
<name>CCSignedPlainChar</name>
<state>1</state>
</option>
<option>
<name>CCRequirePrototypes</name>
<state>0</state>
</option>
<option>
<name>CCDiagWarnAreErr</name>
<state>0</state>
</option>
<option>
<name>CCCompilerRuntimeInfo</name>
<state>0</state>
</option>
<option>
<name>IFpuProcessor</name>
<state>1</state>
</option>
<option>
<name>OutputFile</name>
<state>$FILE_BNAME$.o</state>
</option>
<option>
<name>CCLibConfigHeader</name>
<state>1</state>
</option>
<option>
<name>PreInclude</name>
<state></state>
</option>
<option>
<name>CCIncludePath2</name>
<state>$PROJ_DIR$</state>
<state>$TOOLKIT_DIR$\CMSIS\DSP\Include</state>
</option>
<option>
<name>CCStdIncCheck</name>
<state>0</state>
</option>
<option>
<name>CCCodeSection</name>
<state>.text</state>
</option>
<option>
<name>IProcessorMode2</name>
<state>1</state>
</option>
<option>
<name>CCOptLevel</name>
<state>3</state>
</option>
<option>
<name>CCOptStrategy</name>
<version>0</version>
<state>1</state>
</option>
<option>
<name>CCOptLevelSlave</name>
<state>3</state>
</option>
<option>
<name>CCPosIndRopi</name>
<state>0</state>
</option>
<option>
<name>CCPosIndRwpi</name>
<state>0</state>
</option>
<option>
<name>CCPosIndNoDynInit</name>
<state>0</state>
</option>
<option>
<name>IccLang</name>
<state>0</state>
</option>
<option>
<name>IccCDialect</name>
<state>1</state>
</option>
<option>
<name>IccAllowVLA</name>
<state>0</state>
</option>
<option>
<name>IccStaticDestr</name>
<state>1</state>
</option>
<option>
<name>IccCppInlineSemantics</name>
<state>0</state>
</option>
<option>
<name>IccCmsis</name>
<state>1</state>
</option>
<option>
<name>IccFloatSemantics</name>
<state>0</state>
</option>
<option>
<name>CCNoLiteralPool</name>
<state>0</state>
</option>
<option>
<name>CCOptStrategySlave</name>
<version>0</version>
<state>1</state>
</option>
<option>
<name>CCEncSource</name>
<state>0</state>
</option>
<option>
<name>CCEncOutput</name>
<state>0</state>
</option>
<option>
<name>CCEncOutputBom</name>
<state>1</state>
</option>
<option>
<name>CCEncInput</name>
<state>0</state>
</option>
<option>
<name>IccExceptions2</name>
<state>0</state>
</option>
<option>
<name>IccRTTI2</name>
<state>0</state>
</option>
<option>
<name>CCStackProtection</name>
<state>0</state>
</option>
<option>
<name>CCPointerAutentiction</name>
<state>0</state>
</option>
<option>
<name>CCBranchTargetIdentification</name>
<state>0</state>
</option>
<option>
<name>CCPosRadRwpi</name>
<state>0</state>
</option>
<option>
<name>CCPosSharedSlave</name>
<state>0</state>
</option>
<option>
<name>CCUseIarExtensions</name>
<state>1</state>
</option>
<option>
<name>CCUseGnuExtensions</name>
<state>0</state>
</option>
</data>
</settings>
</configuration>
</file>
<file>
<name>$PROJ_DIR$\system_stm32g4xx.h</name>
+14 -2
View File
@@ -3424,12 +3424,24 @@
<file>
<name>$EW_DIR$\arm\CMSIS\DSP\Include\arm_math.h</name>
</file>
<file>
<name>$PROJ_DIR$\dshot2.cpp</name>
</file>
<file>
<name>$PROJ_DIR$\dshot2.h</name>
</file>
<file>
<name>$PROJ_DIR$\dsp_manager.c</name>
</file>
<file>
<name>$PROJ_DIR$\dsp_manager.h</name>
</file>
<file>
<name>$PROJ_DIR$\gpio.cpp</name>
</file>
<file>
<name>$PROJ_DIR$\gpio.h</name>
</file>
<file>
<name>$PROJ_DIR$\imu.c</name>
</file>
@@ -3440,10 +3452,10 @@
<name>$PROJ_DIR$\main.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\www\motors.c</name>
<name>$PROJ_DIR$\motors.c</name>
</file>
<file>
<name>$PROJ_DIR$\..\www\motors.h</name>
<name>$PROJ_DIR$\motors.h</name>
</file>
<file>
<name>$PROJ_DIR$\startup_stm32g431xx.s</name>
+37
View File
@@ -0,0 +1,37 @@
#include "stm32g4xx.h"
#include "gpio.h"
void GPIO_InitPin(unsigned long I_Pin)
{
unsigned long port = (I_Pin & 0x000000F0UL) >> 4;
GPIO_TypeDef* gpio = (GPIO_TypeDef*)(((unsigned char*)GPIOA) + (port * 0x0400));
unsigned long rcc = 1UL << port;
unsigned long pin = I_Pin & 0x0000000FUL;
unsigned long af = (I_Pin & 0x0F000000UL) >> 24;
unsigned long pupd = (I_Pin & 0x00F00000UL) >> 20;
unsigned long ospeed = (I_Pin & 0x000F0000UL) >> 16;
unsigned long mode = (I_Pin & 0x0000F000UL) >> 12;
unsigned long otype = (I_Pin & 0x00000100UL) >> 8;
unsigned long set = (I_Pin & 0x00000200UL) >> 9;
//---
if (!(RCC->AHB2ENR & rcc)) RCC->AHB2ENR |= rcc;
//---
gpio->AFR[pin >> 3] &= ~(0x0000000FUL << ((pin & 0x07) * 4));
gpio->AFR[pin >> 3] |= af << ((pin & 0x07) * 4);
//---
gpio->OSPEEDR &= ~(0x00000003UL << (pin * 2));
gpio->OSPEEDR |= ospeed << (pin * 2);
//---
gpio->OTYPER &= ~(0x00000001UL << pin);
gpio->OTYPER |= otype << pin;
//---
gpio->PUPDR &= ~(0x00000003UL << (pin * 2));
gpio->PUPDR |= pupd << (pin * 2);
//---
gpio->BSRR = 1 << (set ? pin : pin+16);
//---
gpio->MODER &= ~(0x00000003UL << (pin * 2));
gpio->MODER |= mode << (pin * 2);
}
//------------------------------------------------------------------------------
+69
View File
@@ -0,0 +1,69 @@
#pragma once
#define GPIO_PIN_0 0x00000000UL
#define GPIO_PIN_1 0x00000001UL
#define GPIO_PIN_2 0x00000002UL
#define GPIO_PIN_3 0x00000003UL
#define GPIO_PIN_4 0x00000004UL
#define GPIO_PIN_5 0x00000005UL
#define GPIO_PIN_6 0x00000006UL
#define GPIO_PIN_7 0x00000007UL
#define GPIO_PIN_8 0x00000008UL
#define GPIO_PIN_9 0x00000009UL
#define GPIO_PIN_10 0x0000000AUL
#define GPIO_PIN_11 0x0000000BUL
#define GPIO_PIN_12 0x0000000CUL
#define GPIO_PIN_13 0x0000000DUL
#define GPIO_PIN_14 0x0000000EUL
#define GPIO_PIN_15 0x0000000FUL
#define GPIO_PORT_A 0x00000000UL
#define GPIO_PORT_B 0x00000010UL
#define GPIO_PORT_C 0x00000020UL
#define GPIO_PORT_D 0x00000030UL
#define GPIO_PORT_E 0x00000040UL
#define GPIO_PORT_F 0x00000070UL
#define GPIO_PORT_G 0x00000080UL
#define GPIO_PORT_H 0x00000090UL
#define GPIO_PORT_I 0x000000A0UL
#define GPIO_PORT_J 0x000000B0UL
#define GPIO_PORT_K 0x000000C0UL
#define GPIO_PUSHPULL 0x00000000UL
#define GPIO_OPENDRAIN 0x00000100UL
#define GPIO_RESET 0x00000000UL
#define GPIO_SET 0x00000200UL
#define GPIO_INPUT 0x00000000UL
#define GPIO_OUTPUT 0x00001000UL
#define GPIO_ALTER 0x00002000UL
#define GPIO_ANALOG 0x00003000UL
#define GPIO_OSPEED_LOW 0x00000000UL
#define GPIO_OSPEED_MEDIUM 0x00010000UL
#define GPIO_OSPEED_FAST 0x00020000UL
#define GPIO_OSPEED_HIGH 0x00030000UL
#define GPIO_NOPUPD 0x00000000UL
#define GPIO_PULLUP 0x00100000UL
#define GPIO_PULLDOWN 0x00200000UL
#define GPIO_AF0 0x00000000UL
#define GPIO_AF1 0x01000000UL
#define GPIO_AF2 0x02000000UL
#define GPIO_AF3 0x03000000UL
#define GPIO_AF4 0x04000000UL
#define GPIO_AF5 0x05000000UL
#define GPIO_AF6 0x06000000UL
#define GPIO_AF7 0x07000000UL
#define GPIO_AF8 0x08000000UL
#define GPIO_AF9 0x09000000UL
#define GPIO_AF10 0x0A000000UL
#define GPIO_AF11 0x0B000000UL
#define GPIO_AF12 0x0C000000UL
#define GPIO_AF13 0x0D000000UL
#define GPIO_AF14 0x0E000000UL
#define GPIO_AF15 0x0F000000UL
void GPIO_InitPin(unsigned long I_Pin);
+27 -10
View File
@@ -1,4 +1,5 @@
#include "imu.h"
#include "arm_math.h"
#include <math.h>
volatile int16_t raw_ax, raw_ay, raw_az;
@@ -17,16 +18,33 @@ float biquad_apply(biquad_t *f, float x) {
}
void biquad_init_notch(biquad_t *f, float center_freq, float Q, float fs) {
// Защита: при слишком низкой/высокой частоте уводим фильтр в bypass.
if (center_freq < 1.0f || center_freq > (0.45f * fs) || Q <= 0.05f) {
f->b0 = 1.0f; f->b1 = 0; f->b2 = 0;
f->a1 = 0; f->a2 = 0;
f->d1 = 0; f->d2 = 0;
return;
}
float w0 = 2.0f * 3.14159265f * center_freq / fs;
float alpha = sinf(w0) / (2.0f * Q);
float cosw0 = cosf(w0);
float a0 = 1.0f + alpha;
f->b0 = 1.0f / a0;
f->b1 = -2.0f * cosw0 / a0;
f->b2 = 1.0f / a0;
f->a1 = -2.0f * cosw0 / a0;
f->a2 = (1.0f - alpha) / a0;
f->d1 = 0; f->d2 = 0;
float inv_a0 = 1.0f / (1.0f + alpha); // Считаем один раз инверсию
f->b0 = inv_a0;
f->b1 = -2.0f * cosw0 * inv_a0;
f->b2 = inv_a0;
f->a1 = -2.0f * cosw0 * inv_a0;
f->a2 = (1.0f - alpha) * inv_a0;
// Защита от NaN/Inf, чтобы не обнулялся выход при некорректной перенастройке.
if (!isfinite(f->b0) || !isfinite(f->b1) || !isfinite(f->b2) ||
!isfinite(f->a1) || !isfinite(f->a2)) {
f->b0 = 1.0f; f->b1 = 0; f->b2 = 0;
f->a1 = 0; f->a2 = 0;
f->d1 = 0; f->d2 = 0;
}
}
void I2C1_Init(void) {
@@ -73,7 +91,7 @@ void IMU_Init(void) {
IMU_WriteReg(0x07, 0x00);
IMU_SetBank(2);
IMU_WriteReg(0x01, 0x01); // Bypass (отключаем встроенный фильтр для анализа)
IMU_WriteReg(0x01, 0x01); // Bypass (отключили встроенный фильтр для анализа)
IMU_SetBank(0);
// Начальная инициализация ( на 0 Гц dsp_manager сам их включит)
@@ -99,8 +117,7 @@ void IMU_ReadRawData(void) {
raw_gx = (int16_t)(buf[6] << 8 | buf[7]);
float x = (float)raw_gx - gyro_bias_x;
// Последовательно применяем 3 режекторных фильтра
// dsp_manager будет менять их коэффициенты в фоновом режиме
// Последовательно применяем 3 режекторных фильтра dsp_manager будет менять их коэффициенты в фоновом режиме
x = biquad_apply(&notch1, x);
x = biquad_apply(&notch2, x);
x = biquad_apply(&notch3, x);
+39 -21
View File
@@ -2,27 +2,31 @@
#include "imu.h"
#include "motors.h"
#include "dsp_manager.h"
#include "dshot2.h"
// 1. ПЕРЕМЕННЫЕ
volatile uint8_t imu_flag = 0;
volatile uint32_t m1_speed = 900;
volatile uint32_t m2_speed = 900;
volatile uint32_t m3_speed = 900;
volatile uint32_t m4_speed = 900;
uint32_t m1_speed = 0;
uint32_t m2_speed = 0;
uint32_t m3_speed = 0;
uint32_t m4_speed = 0;
#pragma pack(push, 1)
typedef struct {
uint8_t header[2];
int16_t gx;
int16_t filt_gx;
uint16_t notch1_hz;
uint16_t notch2_hz;
uint16_t notch3_hz;
} 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);
void TIM7_Init_1000Hz(void);
void UART_SendPacket(Telemetry_t *p);
// 3. ОСНОВНОЙ ЦИКЛ
@@ -39,7 +43,7 @@ int main(void) {
DSP_Init(); // Инициализация нашего анализатора Фурье
TIM6_Init_1000Hz();
TIM7_Init_1000Hz();
__enable_irq();
Telemetry_t pkt;
@@ -48,27 +52,41 @@ int main(void) {
while (1) {
if (imu_flag) {
imu_flag = 0;
static unsigned short dshot_erpm[4];
DSHOT_GetERPM(dshot_erpm, 0);
DSP_SetMotorErpm(dshot_erpm, 7);
IMU_ReadRawData();
//Motors_PollTelemetry();
//сохраняем во временную переменную
int16_t gx_val = raw_gx;
DSP_AddSample((float32_t)gx_val);
if (dsp_buffer_ready) {
if (fft_ready) {
DSP_Process();
}
float32_t filt_gx_value = filt_gx;
pkt.gx = gx_val;
pkt.filt_gx = (int16_t)filt_gx;
pkt.filt_gx = (int16_t)filt_gx_value;
pkt.notch1_hz = notch_report_hz[0];
pkt.notch2_hz = notch_report_hz[1];
pkt.notch3_hz = notch_report_hz[2];
UART_SendPacket(&pkt);
Set_Motor_Individual(m1_speed, m2_speed, m3_speed, m4_speed);
uint32_t m1 = m1_speed;
uint32_t m2 = m2_speed;
uint32_t m3 = m3_speed;
uint32_t m4 = m4_speed;
Set_Motor_Individual(m1, m2, m3, m4);
}
}
}
// 4. РЕАЛИЗАЦИЯ ФУНКЦИЙ (Тут был провал - их не хватало!)
// 4. РЕАЛИЗАЦИЯ ФУНКЦИЙ
void SystemClock_Config_160MHz(void) {
RCC->CR |= RCC_CR_HSION;
@@ -104,18 +122,18 @@ void UART_SendPacket(Telemetry_t *p) {
}
}
void TIM6_Init_1000Hz(void) {
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM6EN;
TIM6->PSC = 16000 - 1;
TIM6->ARR = 10 - 1;
TIM6->DIER |= TIM_DIER_UIE;
NVIC_EnableIRQ(TIM6_DAC_IRQn);
TIM6->CR1 |= TIM_CR1_CEN;
void TIM7_Init_1000Hz(void) {
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM7EN;
TIM7->PSC = 16000 - 1;
TIM7->ARR = 10 - 1;
TIM7->DIER |= TIM_DIER_UIE;
NVIC_EnableIRQ(TIM7_DAC_IRQn);
TIM7->CR1 |= TIM_CR1_CEN;
}
void TIM6_DAC_IRQHandler(void) {
if (TIM6->SR & TIM_SR_UIF) {
TIM6->SR = 0;
extern "C" void TIM7_DAC_IRQHandler(void) {
if (TIM7->SR & TIM_SR_UIF) {
TIM7->SR = 0;
imu_flag = 1;
}
}
+19 -46
View File
@@ -1,73 +1,46 @@
#include "stm32g4xx.h"
#include "motors.h"
#include "pid.h"
#include "mixer.h"
//#include "pid.h"
//#include "mixer.h"
#include "dshot2.h"
void Motors_Init(void) {
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
// PA0, PA1 -> TIM2 CH1/CH2
GPIOA->MODER &= ~(GPIO_MODER_MODE0 | GPIO_MODER_MODE1);
GPIOA->MODER |= (GPIO_MODER_MODE0_1 | GPIO_MODER_MODE1_1);
GPIOA->AFR[0] &= ~((0xF << 0) | (0xF << 4));
GPIOA->AFR[0] |= ((1 << 0) | (1 << 4));
// PA10, PA11 -> TIM1 CH3/CH4
GPIOA->MODER &= ~(GPIO_MODER_MODE10 | GPIO_MODER_MODE11);
GPIOA->MODER |= (GPIO_MODER_MODE10_1 | GPIO_MODER_MODE11_1);
GPIOA->AFR[1] &= ~((0xF << 8) | (0xF << 12));
GPIOA->AFR[1] |= ((6 << 8) | (11 << 12));
// TIM2 — 100 Гц
TIM2->PSC = 16 - 1;
TIM2->ARR = 10000 - 1;
TIM2->CCMR1 = 0x6060;
TIM2->CCER = 0x11;
TIM2->CR1 = TIM_CR1_CEN;
// TIM1 — 100 Гц
TIM1->PSC = 16 - 1;
TIM1->ARR = 10000 - 1;
TIM1->CCMR2 = 0x6060;
TIM1->CCER = 0x1100;
TIM1->BDTR |= TIM_BDTR_MOE;
TIM1->CR1 = TIM_CR1_CEN;
DSHOT_Init(300'000, true);
}
void Set_Motors(int val) {
TIM2->CCR1 = val; // M1
TIM2->CCR2 = val; // M2
TIM1->CCR3 = val; // M3
TIM1->CCR4 = val; // M4
unsigned short cmd[4]={val,val,val,val};
DSHOT_SetCommand(cmd, true);
}
void Set_Motor_Individual(int m1, int m2, int m3, int m4) {
TIM2->CCR1 = m1;
TIM2->CCR2 = m2;
TIM1->CCR3 = m3;
TIM1->CCR4 = m4;
unsigned short cmd[4]={m1,m2,m3,m4};
DSHOT_SetCommand(cmd, true);
}
void Motors_StartupDelay(void) {
Set_Motors(900);
unsigned short cmd[4]={0,0,0,0};
DSHOT_SetCommand(cmd, true);
for (volatile int i = 0; i < 6000000; i++) __NOP();
}
void Motors_Stop(void) {
Set_Motors(900);
unsigned short cmd[4]={0,0,0,0};
DSHOT_SetCommand(cmd, true);
}
void Motors_Idle(void) {
Set_Motors(1050);
unsigned short cmd[4]={150,150,150,150};
DSHOT_SetCommand(cmd, true);
}
void Motors_Arm(void) {
Set_Motors(1050);
unsigned short cmd[4]={150,150,150,150};
DSHOT_SetCommand(cmd, true);
}
void Motors_Disarm(void) {
Set_Motors(900);
unsigned short cmd[4]={0,0,0,0};
DSHOT_SetCommand(cmd, true);
}
-40
View File
@@ -1,40 +0,0 @@
@REM This batch file has been generated by the IAR Embedded Workbench
@REM C-SPY Debugger, as an aid to preparing a command line for running
@REM the cspybat command line utility using the appropriate settings.
@REM
@REM Note that this file is generated every time a new debug session
@REM is initialized, so you may want to move or rename the file before
@REM making changes.
@REM
@REM You can launch cspybat by typing the name of this batch file followed
@REM by the name of the debug file (usually an ELF/DWARF or UBROF file).
@REM
@REM Read about available command line parameters in the C-SPY Debugging
@REM Guide. Hints about additional command line parameters that may be
@REM useful in specific cases:
@REM --download_only Downloads a code image without starting a debug
@REM session afterwards.
@REM --silent Omits the sign-on message.
@REM --timeout Limits the maximum allowed execution time.
@REM
@echo off
if not "%~1" == "" goto debugFile
@echo on
"C:\iar\ewarm-9.70.1\common\bin\cspybat" -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.general.xcl" --backend -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.driver.xcl"
@echo off
goto end
:debugFile
@echo on
"C:\iar\ewarm-9.70.1\common\bin\cspybat" -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.general.xcl" "--debug_file=%~1" --backend -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.driver.xcl"
@echo off
:end
-31
View File
@@ -1,31 +0,0 @@
param([String]$debugfile = "");
# This powershell file has been generated by the IAR Embedded Workbench
# C - SPY Debugger, as an aid to preparing a command line for running
# the cspybat command line utility using the appropriate settings.
#
# Note that this file is generated every time a new debug session
# is initialized, so you may want to move or rename the file before
# making changes.
#
# You can launch cspybat by typing Powershell.exe -File followed by the name of this batch file, followed
# by the name of the debug file (usually an ELF / DWARF or UBROF file).
#
# Read about available command line parameters in the C - SPY Debugging
# Guide. Hints about additional command line parameters that may be
# useful in specific cases :
# --download_only Downloads a code image without starting a debug
# session afterwards.
# --silent Omits the sign - on message.
# --timeout Limits the maximum allowed execution time.
#
if ($debugfile -eq "")
{
& "C:\iar\ewarm-9.70.1\common\bin\cspybat" -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.general.xcl" --backend -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.driver.xcl"
}
else
{
& "C:\iar\ewarm-9.70.1\common\bin\cspybat" -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.general.xcl" --debug_file=$debugfile --backend -f "C:\Users\vadychka\Documents\GitHub\leybl\fft\settings\fft_az.Debug.driver.xcl"
}
-31
View File
@@ -1,31 +0,0 @@
--endian=little
--cpu=Cortex-M4
--fpu=VFPv4_SP
-p
C:\iar\ewarm-9.70.1\arm\config\debugger\ST\STM32G431CB.ddf
--drv_verify_download
--semihosting
--device=STM32G431CB
--drv_interface=SWD
--stlink_reset_strategy=0,0
--drv_swo_clock_setup=170000000,1,2000000
--drv_catch_exceptions=0x000
--drv_debug_ap=0
--stlink_probe_supplied_power=3.3
-15
View File
@@ -1,15 +0,0 @@
C:\iar\ewarm-9.70.1\arm\bin\armproc.dll
C:\iar\ewarm-9.70.1\arm\bin\armstlink.dll
C:\Users\vadychka\Documents\GitHub\leybl\fft\Debug\Exe\fft_az.out
--plugin=C:\iar\ewarm-9.70.1\arm\bin\armLibSupportUniversal.dll
--device_macro=C:\iar\ewarm-9.70.1\arm/config/debugger/ST/STM32G4xx.dmac
--flash_loader=C:\iar\ewarm-9.70.1\arm/config/flashloader/ST/FlashSTM32G43xxB.board
-13
View File
@@ -1,13 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<crun>
<version>1</version>
<filter_entries>
<filter index="0" type="default">
<type>*</type>
<start_file>*</start_file>
<end_file>*</end_file>
<action_debugger>0</action_debugger>
<action_log>1</action_log>
</filter>
</filter_entries>
</crun>
File diff suppressed because one or more lines are too long
-157
View File
@@ -1,157 +0,0 @@
<?xml version="1.0"?>
<settings>
<TerminalIO>
<InputSource>1</InputSource>
<InputMode2>10</InputMode2>
<Filename>$PROJ_DIR$\TermIOInput.txt</Filename>
<InputEcho>1</InputEcho>
<ShowReset>0</ShowReset>
<InputEncodingICU>0</InputEncodingICU>
<OutputEncodingICU>0</OutputEncodingICU>
</TerminalIO>
<Stack>
<FillEnabled>0</FillEnabled>
<OverflowWarningsEnabled>1</OverflowWarningsEnabled>
<WarningThreshold>90</WarningThreshold>
<SpWarningsEnabled>1</SpWarningsEnabled>
<WarnLogOnly>1</WarnLogOnly>
<UseTrigger>1</UseTrigger>
<TriggerName>main</TriggerName>
<LimitSize>0</LimitSize>
<ByteLimit>50</ByteLimit>
</Stack>
<Trace1>
<Enabled>0</Enabled>
<ShowSource>1</ShowSource>
</Trace1>
<DebugChecksum>
<Checksum>636460332</Checksum>
</DebugChecksum>
<Disassembly>
<MixedMode>1</MixedMode>
<InstrCount>0</InstrCount>
</Disassembly>
<CallStack>
<ShowArgs>0</ShowArgs>
</CallStack>
<Exceptions>
<StopOnUncaught>_ 0</StopOnUncaught>
<StopOnThrow>_ 0</StopOnThrow>
</Exceptions>
<Interrupts>
<Enabled>1</Enabled>
</Interrupts>
<MemConfig>
<Base>1</Base>
<Manual>0</Manual>
<Ddf>1</Ddf>
<TypeViol>0</TypeViol>
<Stop>1</Stop>
</MemConfig>
<Simulator>
<Freq>10000000</Freq>
<FreqHi>0</FreqHi>
<MultiCoreRunAll>1</MultiCoreRunAll>
</Simulator>
<StLinkDriver>
<stlinkserialNo>37FF71064E57343663691343</stlinkserialNo>
<stlinkfoundProbes />
<LeaveTargetRunning>_ 0</LeaveTargetRunning>
<CStepIntDis>_ 0</CStepIntDis>
<stlinkResetStyle>0</stlinkResetStyle>
<stlinkResetStrategy>0</stlinkResetStrategy>
</StLinkDriver>
<PlDriver>
<FirstRun>0</FirstRun>
<MemConfigValue>C:\iar\ewarm-9.70.1\arm\config\debugger\ST\STM32G431CB.ddf</MemConfigValue>
</PlDriver>
<SWOTraceHWSettings>
<OverrideDefaultClocks>0</OverrideDefaultClocks>
<CpuClock>170000000</CpuClock>
<ClockAutoDetect>1</ClockAutoDetect>
<ClockWanted>2000000</ClockWanted>
<JtagSpeed>2000000</JtagSpeed>
<Prescaler>85</Prescaler>
<TimeStampPrescIndex>0</TimeStampPrescIndex>
<TimeStampPrescData>0</TimeStampPrescData>
<PcSampCYCTAP>1</PcSampCYCTAP>
<PcSampPOSTCNT>15</PcSampPOSTCNT>
<PcSampIndex>0</PcSampIndex>
<DataLogMode>0</DataLogMode>
<ITMportsEnable>0</ITMportsEnable>
<ITMportsTermIO>0</ITMportsTermIO>
<ITMportsLogFile>0</ITMportsLogFile>
<ITMlogFile>$PROJ_DIR$\ITM.log</ITMlogFile>
</SWOTraceHWSettings>
<ArmDriver>
<EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
<EnableCache>0</EnableCache>
</ArmDriver>
<Trace2>
<Enabled>0</Enabled>
<ShowSource>0</ShowSource>
</Trace2>
<SWOTraceWindow>
<PcSampling>0</PcSampling>
<InterruptLogs>0</InterruptLogs>
<ForcedTimeStamps>0</ForcedTimeStamps>
<EventCPI>0</EventCPI>
<EventEXC>0</EventEXC>
<EventFOLD>0</EventFOLD>
<EventLSU>0</EventLSU>
<EventSLEEP>0</EventSLEEP>
</SWOTraceWindow>
<DataLog>
<GraphEnabled>0</GraphEnabled>
<LogEnabled>0</LogEnabled>
<ShowTimeLog>1</ShowTimeLog>
<SumEnabled>0</SumEnabled>
<ShowTimeSum>1</ShowTimeSum>
</DataLog>
<InterruptLog>
<GraphEnabled>0</GraphEnabled>
<LogEnabled>0</LogEnabled>
<ShowTimeLog>1</ShowTimeLog>
<SumEnabled>0</SumEnabled>
<ShowTimeSum>1</ShowTimeSum>
<SumSortOrder>0</SumSortOrder>
</InterruptLog>
<EventLog>
<GraphEnabled>0</GraphEnabled>
<LogEnabled>0</LogEnabled>
<ShowTimeLog>1</ShowTimeLog>
<Title_0>Ch3</Title_0>
<Symbol_0>0 0 1</Symbol_0>
<Title_1>Ch2</Title_1>
<Symbol_1>0 0 1</Symbol_1>
<Title_2>Ch1</Title_2>
<Symbol_2>0 0 1</Symbol_2>
<Title_3>Ch0</Title_3>
<Symbol_3>0 0 1</Symbol_3>
<SumEnabled>0</SumEnabled>
<ShowTimeSum>1</ShowTimeSum>
<SumSortOrder>0</SumSortOrder>
</EventLog>
<DriverProfiling>
<Enabled>0</Enabled>
<Mode>3</Mode>
<Graph>0</Graph>
<Symbiont>0</Symbiont>
<Exclusions />
</DriverProfiling>
<Aliases>
<Count>0</Count>
<SuppressDialog>0</SuppressDialog>
<SuppressResolveSourcesForDebugTarget>1</SuppressResolveSourcesForDebugTarget>
</Aliases>
<TermIOLog>
<LoggingEnabled>_ 0</LoggingEnabled>
<LogFile>_ ""</LogFile>
</TermIOLog>
<DisassembleMode>
<mode>0</mode>
</DisassembleMode>
<Breakpoints2>
<Count>0</Count>
</Breakpoints2>
</settings>
File diff suppressed because one or more lines are too long
-2
View File
@@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<userBookmarks />