ESP32 Forum

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esptool.py --chip esp32 --no-stub elf2image app.elf
esptool.py --chip esp32 --no-stub image_info app.bin

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flash segments
[.drom.rodata len 0x00050 load 0x3f400018, .irom.text len 0x00a10 load 0x400c2000]
ram segments
[.dram.data len 0x00024 load 0x3ffb0000, .iram.text len 0x00854 load 0x40080400]

Image version: 1
Entry point: 400805f4
6 segments
Segment 1: len 0x00024 load 0x3ffb0000 file_offs 0x00000018
Segment 2: len 0x00854 load 0x40080400 file_offs 0x00000044
Segment 3: len 0x0f768 load 0x00000000 file_offs 0x000008a0
Segment 4: len 0x00050 load 0x3f400018 file_offs 0x00010010
Segment 5: len 0x11f88 load 0x00000000 file_offs 0x00010068
Segment 6: len 0x00a10 load 0x400c2000 file_offs 0x00021ff8
Checksum: 8a (valid)

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rst:0x10 (RTCWDT_RTC_RESET),boot:0x3e (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3ffb0000,len:36
load:0x40080400,len:2132
load:0x00000000,len:63336
ets Jun  8 2016 00:22:57

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MEMORY
{
    IRAM (RX) : ORIGIN = 0x40080000, LENGTH = 128K

    /* SRAM 1 will be used as DATA RAM */
    /* first 8 KB of SRAM 1 are used by bootloader */
    DRAM (RW) : ORIGIN = 0x3ffB0000, LENGTH = 320K

    /* esptool adds 24 bytes to the begin of the image */

    IROM (RX) : ORIGIN = 0x400C2000, LENGTH = 11512K - 24B

    DROM (R) : ORIGIN = 0x3F400018, LENGTH = 4M - 24B

    /* TODO RTC memory */
}

ENTRY(bootloader_start);

SECTIONS
{
  .vectors :
  {
    . = 0x0;
    KEEP(*(.WindowVectors.text));
    . = 0x180;
    KEEP(*(.Level2InterruptVector.text));
    . = 0x1c0;
    KEEP(*(.Level3InterruptVector.text));
    . = 0x200;
    KEEP(*(.Level4InterruptVector.text));
    . = 0x240;
    KEEP(*(.Level5InterruptVector.text));
    . = 0x280;
    KEEP(*(.DebugExceptionVector.text));
    . = 0x2c0;
    KEEP(*(.NMIExceptionVector.text));
    . = 0x300;
    KEEP(*(.KernelExceptionVector.text));
    . = 0x340;
    KEEP(*(.UserExceptionVector.text));
    . = 0x3C0;
    KEEP(*(.DoubleExceptionVector.text));
    . = 0x400;
    *(.*Vector.literal)
  } > IRAM

  .iram.text :
  {
    . = ALIGN (16);
    *(.entry.text)
    *(.init.literal)
    *(.init)
    *(.iram .iram.*)
    *libheap.a:multi_heap.o(.literal .text .literal.* .text.*)
    *libheap.a:multi_heap_poisoning.o(.literal .text .literal.* .text.*)
    *libesp32.a:core_dump.o(.literal .text .literal.* .text.*)
    *libapp_trace.a:(.literal .text .literal.* .text.*)
    *libxtensa-debug-module.a:eri.o(.literal .text .literal.* .text.*)
    *libsoc.a:(.literal .text .literal.* .text.*)
    *libhal.a:(.literal .text .literal.* .text.*)
    *libgcc.a:lib2funcs.o(.literal .text .literal.* .text.*)
    *libspi_flash.a:spi_flash_rom_patch.o(.literal .text .literal.* .text.*)
    *libgcov.a:(.literal .text .literal.* .text.*)
    INCLUDE esp32.spiram.rom-functions-iram.ld
  } > IRAM

  .dram.data :
  {
    *(.data)
    *(.data.*)
    *(.gnu.linkonce.d.*)
    *(.data1)
    *(.sdata)
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    *(.sdata2)
    *(.sdata2.*)
    *(.gnu.linkonce.s2.*)
    *(.jcr)
    *(.dram .dram.*)

    *libesp32.a:panic.o(.rodata .rodata.*)
    *libphy.a:(.rodata .rodata.*)
    *libsoc.a:rtc_clk.o(.rodata .rodata.*)
    *libapp_trace.a:(.rodata .rodata.*)
    *libgcov.a:(.rodata .rodata.*)
    *libheap.a:multi_heap.o(.rodata .rodata.*)
    *libheap.a:multi_heap_poisoning.o(.rodata .rodata.*)
    INCLUDE esp32.spiram.rom-functions-dram.ld
    . = ALIGN(4);
  } > DRAM

  .dram.bss (NOLOAD) :
  {
    . = ALIGN (8);
    _bss_start = ABSOLUTE(.);
    *(.dynsbss)
    *(.sbss)
    *(.sbss.*)
    *(.gnu.linkonce.sb.*)
    *(.scommon)
    *(.sbss2)
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    *(.dynbss)
    *(.bss)
    *(.bss.*)
    *(.gnu.linkonce.b.*)
    *(COMMON)
    . = ALIGN (8);
    _bss_end = ABSOLUTE(.);
  } > DRAM

  .drom.rodata :
  {
    _rodata_start = ABSOLUTE(.);
    *(.rodata)
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    *(.rodata1)
    __XT_EXCEPTION_TABLE_ = ABSOLUTE(.);
    *(.xt_except_table)
    *(.gcc_except_table .gcc_except_table.*)
    *(.gnu.linkonce.e.*)
    *(.gnu.version_r)
    . = (. + 3) & ~ 3;
    __eh_frame = ABSOLUTE(.);
    KEEP(*(.eh_frame))
    . = (. + 7) & ~ 3;
    /*  C++ constructor and destructor tables, properly ordered:  */
    __init_array_start = ABSOLUTE(.);
    KEEP (*crtbegin.o(.ctors))
    KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
    KEEP (*(SORT(.ctors.*)))
    KEEP (*(.ctors))
    __init_array_end = ABSOLUTE(.);
    KEEP (*crtbegin.o(.dtors))
    KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
    KEEP (*(SORT(.dtors.*)))
    KEEP (*(.dtors))
    /*  C++ exception handlers table:  */
    __XT_EXCEPTION_DESCS_ = ABSOLUTE(.);
    *(.xt_except_desc)
    *(.gnu.linkonce.h.*)
    __XT_EXCEPTION_DESCS_END__ = ABSOLUTE(.);
    *(.xt_except_desc_end)
    *(.dynamic)
    *(.gnu.version_d)
    _rodata_end = ABSOLUTE(.);
    /* Literals are also RO data. */
    _lit4_start = ABSOLUTE(.);
    *(*.lit4)
    *(.lit4.*)
    *(.gnu.linkonce.lit4.*)
    _lit4_end = ABSOLUTE(.);
    . = ALIGN(4);
    _thread_local_start = ABSOLUTE(.);
    *(.tdata)
    *(.tdata.*)
    *(.tbss)
    *(.tbss.*)
    _thread_local_end = ABSOLUTE(.);
    . = ALIGN(4);
  } > DROM

  .irom.text :
  {
    *(.literal .text .literal.* .text.* .stub .gnu.warning .gnu.linkonce.literal.* .gnu.linkonce.t.*.literal .gnu.linkonce.t.*)
    *(.fini.literal)
    *(.fini)
    *(.gnu.version)
  } > IROM

}

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#define SOC_IROM_LOW    0x400D0000
#define SOC_IROM_HIGH   0x40400000
#define SOC_DROM_LOW    0x3F400000
#define SOC_DROM_HIGH   0x3F800000

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while (true)
{
	if (data_available) // at 8 kHz or 32 kHz
	{
		read_data_over_SPI(); // at 8 MHz or 20 MHz
		compute_crazy_things(); // FPU will have to do a job
		send_signal_to_motors(); // via MCPWM or RMT
	}
}

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    while (true)
    {
        if (imu.Data_Ready()) // is ready every 1 ms
        {
            // <-- measured here
            data_type = imu.Read_Data(accel, gyro);

            complementary.Compute(accel, gyro, complementary_euler);

            if (data_type == IMU::Read_Data_Type::ACCEL_GYRO)
            {
                logger.Log_Next(&accel, sizeof(accel));
                logger.Log_Next(&gyro, sizeof(gyro));

                motors_controller.Feed_Stab_PIDs(complementary_euler);
                motors_controller.Feed_Rate_PIDs(gyro);
            } else
                motors_controller.Feed_Rate_PIDs(gyro);
        }
    }

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void Complementary_Filter::Compute(IMU::Sensor_Data accel, IMU::Sensor_Data gyro, IMU::Euler_Angles &euler)
{
    float delta_t;

    if (this->last_time == 0)
    {
        delta_t = 0;

        this->last_time = esp_timer_get_time();
    } else
    {
        int64_t tmp = esp_timer_get_time();
        delta_t = (tmp - this->last_time) * 0.000001f;

        this->last_time = tmp;
    }

    float accel_roll = atan2f(accel.y, accel.z) * Math::RAD_TO_DEG;

    float accel_pitch =
            atan2f(-accel.x, sqrtf(accel.y * accel.y + accel.z * accel.z)) * Math::RAD_TO_DEG;

    this->euler.roll = this->COMPLEMENTARY_COEFFICIENT * (this->euler.roll + gyro.y * delta_t)
                       + (1 - this->COMPLEMENTARY_COEFFICIENT) * accel_roll;

    this->euler.pitch = this->COMPLEMENTARY_COEFFICIENT * (this->euler.pitch + gyro.x * delta_t)
                        + (1 - this->COMPLEMENTARY_COEFFICIENT) * accel_pitch;

    this->euler.yaw += gyro.z * delta_t;

    if (this->euler.yaw > 180)
        this->euler.yaw -= 360;
    else if (this->euler.yaw < -180)
        this->euler.yaw += 360;

    euler = this->euler;
}

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my IMU task          1
my WiFi task         0
main                 0
IDLE                 1
IDLE                 0
tiT                  2147483647
Tmr Svc              0
eventTask            0
ipc1                 1
esp_timer            0
pmT                  2147483647
wifi                 0
ipc0                 0

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[Segment A: 10K]
[Padding:   54K]
[Segment B: 20K]
[Padding:   44K]
[Segment C: 30K]