ladislas/feature/replace mahony with new fusion #1287

ladislas · 2023-02-06T15:00:36Z

🚚 (spikes): Rename accel_gyro to sensors_imu_lsm6dsox
🔥 (IMUKit): Remove Mahony implementation

github-actions · 2023-02-06T15:11:52Z

Version comparison

-	Version	Same as filename	Same as os_version
os	`1.3.0+1676454580`	✔️	✔️
firmware (os + bootloader)	`1.3.0+1676454580`	✔️	✔️

github-actions · 2023-02-06T15:17:19Z

File comparision analysis report

🔖 Info

base: develop / 17ae227 + mbed-os@master+fixes+gcc-11-support + -std=c++20
head: ladislas/feature/replace-mahony-with-new-fusion / a735c11 + mbed-os@master+fixes+gcc-11-support + -std=c++20
toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
enable_log_debug: ON

Target	Flash Used (base/head)	Fash Used Δ	Flash Available (base/head)	Static RAM (base/head)	Static RAM Δ
bootloader	183068 (69%)	ø	79076 (30%) 79076 (30%)	41664 (7%)	ø
os	500620 (31%) 506812 (32%)	📈 +6192 (+1%)	1064052 (68%) 1057860 (67%)	94976 (18%) 95088 (18%)	📈 +112 (+0%)

Click to show memory sections

| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary

✔️ - existing target
✨ - new target
⚰️ - deleted target
✅ - files are the same
❌ - files are different

Target	Status	.bin	.map	Total Flash (base/head)	Total Flash Δ	Static RAM (base/head)	Static RAM Δ
LekaOS	✔️	❌	❌	500620 (23%) 506812 (24%)	📈 +6192 (+1%)	94976 (18%) 95088 (18%)	📈 +112 (+0%)
bootloader	✔️	✅	✅	183068 (8%)	ø	41664 (7%)	ø
functional_ut_boost_ut	✔️	✅	✅	409276 (19%)	ø	30608 (5%)	ø
functional_ut_core_imu	✔️	❌	❌	385076 (18%)	ø	31120 (5%)	ø
functional_ut_deep_sleep_core_buffered_serial	✔️	✅	✅	368332 (17%)	ø	30560 (5%)	ø
functional_ut_deep_sleep_core_motor	✔️	✅	✅	376140 (17%)	ø	30632 (5%)	ø
functional_ut_deep_sleep_core_pwm	✔️	✅	✅	378356 (18%)	ø	30632 (5%)	ø
functional_ut_deep_sleep_log_kit	✔️	✅	✅	365268 (17%)	ø	30976 (5%)	ø
functional_ut_deep_sleep_mbed_hal	✔️	✅	✅	366712 (17%)	ø	30560 (5%)	ø
functional_ut_file_manager	✔️	✅	✅	386812 (18%)	ø	30856 (5%)	ø
functional_ut_firmware_kit	✔️	✅	✅	378420 (18%)	ø	30840 (5%)	ø
functional_ut_imu_kit	✔️	❌	❌	380704 (18%) 388832 (18%)	📈 +8128 (+2%)	31120 (5%) 31296 (5%)	📈 +176 (+0%)
functional_ut_io_expander	✔️	✅	✅	371176 (17%)	ø	30576 (5%)	ø
functional_ut_qdac	✔️	✅	✅	372344 (17%)	ø	30576 (5%)	ø
spike_lk_audio	✔️	✅	✅	137172 (6%)	ø	25176 (4%)	ø
spike_lk_behavior_kit	✔️	✅	✅	198012 (9%)	ø	58680 (11%)	ø
spike_lk_ble	✔️	✅	✅	237980 (11%)	ø	39416 (7%)	ø
spike_lk_bluetooth	✔️	✅	✅	92364 (4%)	ø	22224 (4%)	ø
spike_lk_cg_animations	✔️	✅	✅	153672 (7%)	ø	57224 (10%)	ø
spike_lk_color_kit	✔️	✅	✅	88544 (4%)	ø	24376 (4%)	ø
spike_lk_command_kit	✔️	❌	❌	223140 (10%) 229348 (10%)	📈 +6208 (+2%)	63832 (12%) 63944 (12%)	📈 +112 (+0%)
spike_lk_config_kit	✔️	✅	✅	139228 (6%)	ø	25192 (4%)	ø
spike_lk_coreled	✔️	✅	✅	88108 (4%)	ø	24264 (4%)	ø
spike_lk_core_touch_sensor	✔️	✅	✅	93164 (4%)	ø	22824 (4%)	ø
spike_lk_event_queue	✔️	✅	✅	84152 (4%)	ø	22904 (4%)	ø
spike_lk_file_manager_kit	✔️	✅	✅	154432 (7%)	ø	25520 (4%)	ø
spike_lk_file_reception	✔️	✅	✅	339964 (16%)	ø	38448 (7%)	ø
spike_lk_flash_memory	✔️	✅	✅	86776 (4%)	ø	22216 (4%)	ø
spike_lk_fs	✔️	✅	✅	174964 (8%)	ø	48016 (9%)	ø
spike_lk_imu_kit	✔️	❌	❌	100944 (4%) 107152 (5%)	📈 +6208 (+6%)	23592 (4%) 23712 (4%)	📈 +120 (+0%)
spike_lk_lcd	✔️	✅	✅	173004 (8%)	ø	57520 (10%)	ø
spike_lk_led_kit	✔️	✅	✅	115204 (5%)	ø	25104 (4%)	ø
spike_lk_log_kit	✔️	✅	✅	84776 (4%)	ø	23408 (4%)	ø
spike_lk_motion_kit	✔️	❌	❌	110736 (5%) 116880 (5%)	📈 +6144 (+5%)	25824 (4%) 25944 (4%)	📈 +120 (+0%)
spike_lk_motors	✔️	✅	✅	86336 (4%)	ø	22248 (4%)	ø
spike_lk_qdac	✔️	✅	✅	91796 (4%)	ø	22768 (4%)	ø
spike_lk_reinforcer	✔️	❌	❌	218660 (10%) 224868 (10%)	📈 +6208 (+2%)	60512 (11%) 60624 (11%)	📈 +112 (+0%)
spike_lk_rfid	✔️	✅	✅	84216 (4%)	ø	22184 (4%)	ø
spike_lk_sensors_battery	✔️	✅	✅	87376 (4%)	ø	23312 (4%)	ø
spike_lk_sensors_imu_lsm6dsox	✔️	❌	❌	98544 (4%)	ø	23520 (4%)	ø
spike_lk_sensors_imu_lsm6dsox_fusion_calibration	✔️	❌	❌	104936 (5%)	ø	23096 (4%)	ø
spike_lk_sensors_light	✔️	✅	✅	84072 (4%)	ø	22216 (4%)	ø
spike_lk_sensors_microphone	✔️	✅	✅	84824 (4%)	ø	22216 (4%)	ø
spike_lk_sensors_temperature_humidity	✔️	✅	✅	90616 (4%)	ø	22192 (4%)	ø
spike_lk_serial_number	✔️	✅	✅	145028 (6%)	ø	25256 (4%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	82712 (3%)	ø	22232 (4%)	ø
spike_lk_touch_sensor_kit	✔️	✅	✅	96668 (4%)	ø	23392 (4%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	157244 (7%)	ø	26288 (5%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	100456 (4%)	ø	23240 (4%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	87520 (4%)	ø	24136 (4%)	ø
spike_lk_wifi	✔️	✅	✅	130984 (6%)	ø	25528 (4%)	ø
spike_mbed_blinky	✔️	✅	✅	57616 (2%)	ø	11496 (2%)	ø
spike_mbed_watchdog_ticker_vs_thread	✔️	✅	✅	84176 (4%)	ø	23080 (4%)	ø
spike_stl_cxxsupport	✔️	✅	✅	83488 (3%)	ø	22304 (4%)	ø

🗺️ Map files diff output

Click to show diff list

LekaOS (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/LekaOS-map.txt	2023-02-15 09:55:59.212741918 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/LekaOS-map.txt	2023-02-15 09:55:59.588747084 +0000
@@ -1,54 +1,55 @@
 | Module                     |           .text |       .data |          .bss |
 |----------------------------|-----------------|-------------|---------------|
-| [fill]                     |       626(+626) |     18(+18) |     263(+263) |
+| [fill]                     |       654(+654) |     18(+18) |     267(+267) |
 | [lib]/ActivityKit.a        |   10590(+10590) |       0(+0) |         0(+0) |
 | [lib]/BLEKit.a             |     1476(+1476) |       0(+0) |         0(+0) |
 | [lib]/BatteryKit.a         |       324(+324) |       0(+0) |         0(+0) |
 | [lib]/BehaviorKit.a        |     1652(+1652) |   460(+460) |         0(+0) |
 | [lib]/ColorKit.a           |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CommandKit.a         |     1120(+1120) |       0(+0) |         0(+0) |
 | [lib]/CoreBattery.a        |       544(+544) |       0(+0) |         0(+0) |
 | [lib]/CoreBufferedSerial.a |       196(+196) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a     |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a     |         44(+44) |       0(+0) |         0(+0) |
 | [lib]/CoreFlashMemory.a    |       546(+546) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a            |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a            |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a            |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a    |       118(+118) |       0(+0) |         0(+0) |
 | [lib]/CoreMCU.a            |         16(+16) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a          |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CoreMutex.a          |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a            |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreQSPI.a           |       160(+160) |       0(+0) |         0(+0) |
 | [lib]/CoreRFIDReader.a     |       580(+580) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a            |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a       |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a        |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a          |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/CriticalSection.a    |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/EventLoopKit.a       |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a     |     1732(+1732) |       0(+0) |         0(+0) |
 | [lib]/FirmwareKit.a        |       906(+906) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a             |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a         |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a             |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a             |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a             |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a          |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/RFIDKit.a            |     1054(+1054) |       0(+0) |         8(+8) |
 | [lib]/ReinforcerKit.a      |     1242(+1242) |   460(+460) |         0(+0) |
 | [lib]/SerialNumberKit.a    |       584(+584) |       0(+0) |         0(+0) |
-| [lib]/Utils.a              |         82(+82) |       0(+0) |         0(+0) |
+| [lib]/Utils.a              |         34(+34) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a           |       738(+738) |       0(+0) |       36(+36) |
 | [lib]/bootutil.a           |     1362(+1362) |     12(+12) |     132(+132) |
 | [lib]/c.a                  |   48840(+48840) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a                |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a                  |     2092(+2092) |       0(+0) |         0(+0) |
+| [lib]/gcc.a                |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a                  |     5368(+5368) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a     | 181458(+181458) |   773(+773) | 19755(+19755) |
 | [lib]/misc                 |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a              |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a             |   12012(+12012) |     16(+16) |     204(+204) |
 | __/__                      |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj               | 138762(+138762) |   108(+108) | 38881(+38881) |
-| Subtotals                  | 455140(+455140) | 4424(+4424) | 90224(+90224) |
-Total Static RAM memory (data + bss): 94648(+94648) bytes
-Total Flash memory (text + data): 459564(+459564) bytes
+| main.cpp.obj               | 138730(+138730) |   108(+108) | 38825(+38825) |
+| Subtotals                  | 460352(+460352) | 4424(+4424) | 90336(+90336) |
+Total Static RAM memory (data + bss): 94760(+94760) bytes
+Total Flash memory (text + data): 464776(+464776) bytes

Flash used: 506812&nbsp;(24%) / total: 2097152
SRAM used: 95088&nbsp;(18%) / total: 524288

functional_ut_core_imu (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/functional_ut_core_imu-map.txt	2023-02-15 09:56:00.988766316 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/functional_ut_core_imu-map.txt	2023-02-15 09:56:01.276770273 +0000
@@ -1,21 +1,21 @@
 | Module                      |           .text |       .data |          .bss |
 |-----------------------------|-----------------|-------------|---------------|
-| [fill]                      |       236(+236) |     16(+16) |       45(+45) |
+| [fill]                      |       224(+224) |     16(+16) |       45(+45) |
 | [lib]/CoreEventQueue.a      |         44(+44) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a             |         88(+88) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a             |     6786(+6786) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a             |     6798(+6798) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a     |       222(+222) |       0(+0) |         0(+0) |
 | [lib]/CriticalSection.a     |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/c.a                   |   72552(+72552) | 2574(+2574) |       97(+97) |
 | [lib]/gcc.a                 |     7416(+7416) |       0(+0) |         0(+0) |
 | [lib]/m.a                   |       372(+372) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a      |   63024(+63024) |   460(+460) | 10875(+10875) |
 | [lib]/misc                  |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a               |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a              | 174832(+174832) |   145(+145) |   5720(+5720) |
 | __/__                       |     3988(+3988) |       1(+1) | 10841(+10841) |
 | suite_core_lsm6dsox.cpp.obj |     8104(+8104) |       0(+0) |         2(+2) |
 | Subtotals                   | 337892(+337892) | 3200(+3200) | 27608(+27608) |
 Total Static RAM memory (data + bss): 30808(+30808) bytes
 Total Flash memory (text + data): 341092(+341092) bytes

functional_ut_imu_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/functional_ut_imu_kit-map.txt	2023-02-15 09:56:05.864833178 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/functional_ut_imu_kit-map.txt	2023-02-15 09:56:06.148837031 +0000
@@ -1,23 +1,23 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       200(+200) |     16(+16) |       45(+45) |
+| [fill]                  |       238(+238) |     16(+16) |       49(+49) |
 | [lib]/CoreEventQueue.a  |         44(+44) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         88(+88) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6786(+6786) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6798(+6798) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       222(+222) |       0(+0) |         0(+0) |
 | [lib]/CriticalSection.a |           8(+8) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |       916(+916) |       0(+0) |         0(+0) |
-| [lib]/Utils.a           |         48(+48) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       730(+730) |       0(+0) |     164(+164) |
 | [lib]/c.a               |   72544(+72544) | 2574(+2574) |       97(+97) |
-| [lib]/gcc.a             |     7416(+7416) |       0(+0) |         0(+0) |
-| [lib]/m.a               |       468(+468) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7956(+7956) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     5176(+5176) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   63024(+63024) |   460(+460) | 10875(+10875) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          | 174492(+174492) |   145(+145) |   5720(+5720) |
 | __/__                   |     3988(+3988) |       1(+1) | 10841(+10841) |
-| suite_imu_kit.cpp.obj   |     3324(+3324) |       0(+0) |         2(+2) |
-| Subtotals               | 333788(+333788) | 3200(+3200) | 27608(+27608) |
-Total Static RAM memory (data + bss): 30808(+30808) bytes
-Total Flash memory (text + data): 336988(+336988) bytes
+| suite_imu_kit.cpp.obj   |     3292(+3292) |       0(+0) |         2(+2) |
+| Subtotals               | 340856(+340856) | 3200(+3200) | 27776(+27776) |
+Total Static RAM memory (data + bss): 30976(+30976) bytes
+Total Flash memory (text + data): 344056(+344056) bytes

Flash used: 388832&nbsp;(18%) / total: 2097152
SRAM used: 31296&nbsp;(5%) / total: 524288

spike_lk_command_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_command_kit-map.txt	2023-02-15 09:56:10.220892273 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_command_kit-map.txt	2023-02-15 09:56:10.456895475 +0000
@@ -1,39 +1,40 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       304(+304) |     13(+13) |       36(+36) |
+| [fill]                  |       308(+308) |     13(+13) |       40(+40) |
 | [lib]/ColorKit.a        |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CommandKit.a      |     1152(+1152) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a  |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a  |         94(+94) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       136(+136) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a       |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a         |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a         |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a    |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a     |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a       |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/CriticalSection.a |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/EventLoopKit.a    |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a  |     1174(+1174) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a          |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a       |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/ReinforcerKit.a   |     1726(+1726) |   460(+460) |         0(+0) |
-| [lib]/Utils.a           |         82(+82) |       0(+0) |         0(+0) |
+| [lib]/Utils.a           |         34(+34) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a        |       922(+922) |       0(+0) |       36(+36) |
 | [lib]/c.a               |   40920(+40920) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a             |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a               |     2092(+2092) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     5368(+5368) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   78492(+78492) |   464(+464) | 10951(+10951) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   10716(+10716) |     16(+16) |     204(+204) |
 | __/__                   |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj            |     8766(+8766) |   278(+278) | 17532(+17532) |
-| Subtotals               | 192852(+192852) | 3808(+3808) | 59704(+59704) |
-Total Static RAM memory (data + bss): 63512(+63512) bytes
-Total Flash memory (text + data): 196660(+196660) bytes
+| main.cpp.obj            |     8758(+8758) |   278(+278) | 17476(+17476) |
+| Subtotals               | 198064(+198064) | 3808(+3808) | 59816(+59816) |
+Total Static RAM memory (data + bss): 63624(+63624) bytes
+Total Flash memory (text + data): 201872(+201872) bytes

Flash used: 229348&nbsp;(10%) / total: 2097152
SRAM used: 63944&nbsp;(12%) / total: 524288

spike_lk_imu_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_imu_kit-map.txt	2023-02-15 09:56:13.916942140 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_imu_kit-map.txt	2023-02-15 09:56:14.088944411 +0000
@@ -1,23 +1,23 @@
 | Module                  |         .text |       .data |          .bss |
 |-------------------------|---------------|-------------|---------------|
-| [fill]                  |     152(+152) |       8(+8) |       34(+34) |
+| [fill]                  |     138(+138) |       8(+8) |       38(+38) |
 | [lib]/CoreEventQueue.a  |       94(+94) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |         0(+0) |
 | [lib]/CriticalSection.a |         8(+8) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |   2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |       94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |   1324(+1324) |       0(+0) |         0(+0) |
-| [lib]/Utils.a           |       48(+48) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |     754(+754) |       0(+0) |     164(+164) |
 | [lib]/c.a               | 24948(+24948) | 2472(+2472) |       58(+58) |
-| [lib]/gcc.a             |   7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a               |   1888(+1888) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |   7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a               |   5164(+5164) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  | 39896(+39896) |   444(+444) |   8784(+8784) |
 | [lib]/misc              |     188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   5424(+5424) |       8(+8) |       44(+44) |
-| main.cpp.obj            |   2682(+2682) |       0(+0) | 11420(+11420) |
-| Subtotals               | 90900(+90900) | 2936(+2936) | 20368(+20368) |
-Total Static RAM memory (data + bss): 23304(+23304) bytes
-Total Flash memory (text + data): 93836(+93836) bytes
+| main.cpp.obj            |   2662(+2662) |       0(+0) | 11364(+11364) |
+| Subtotals               | 96112(+96112) | 2936(+2936) | 20480(+20480) |
+Total Static RAM memory (data + bss): 23416(+23416) bytes
+Total Flash memory (text + data): 99048(+99048) bytes

Flash used: 107152&nbsp;(5%) / total: 2097152
SRAM used: 23712&nbsp;(4%) / total: 524288

spike_lk_motion_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_motion_kit-map.txt	2023-02-15 09:56:15.516963268 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_motion_kit-map.txt	2023-02-15 09:56:15.692965592 +0000
@@ -1,32 +1,32 @@
-| Module                     |         .text |       .data |          .bss |
-|----------------------------|---------------|-------------|---------------|
-| [fill]                     |     194(+194) |       8(+8) |       34(+34) |
-| [lib]/CoreBufferedSerial.a |     196(+196) |       0(+0) |         0(+0) |
-| [lib]/CoreEventFlags.a     |     138(+138) |       0(+0) |         0(+0) |
-| [lib]/CoreEventQueue.a     |       44(+44) |       0(+0) |         0(+0) |
-| [lib]/CoreI2C.a            |       36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a            |   6716(+6716) |       0(+0) |         0(+0) |
-| [lib]/CoreInterruptIn.a    |     222(+222) |       0(+0) |         0(+0) |
-| [lib]/CoreMotor.a          |     176(+176) |       0(+0) |         0(+0) |
-| [lib]/CorePwm.a            |       60(+60) |       0(+0) |         0(+0) |
-| [lib]/CoreRFIDReader.a     |     616(+616) |       0(+0) |         0(+0) |
-| [lib]/CoreTimeout.a        |     204(+204) |       0(+0) |         0(+0) |
-| [lib]/CriticalSection.a    |         8(+8) |       0(+0) |         0(+0) |
-| [lib]/EventLoopKit.a       |     348(+348) |       0(+0) |         0(+0) |
-| [lib]/HelloWorld.a         |       94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a             |   1356(+1356) |       0(+0) |         0(+0) |
-| [lib]/MotionKit.a          |     884(+884) |       0(+0) |         0(+0) |
-| [lib]/RFIDKit.a            |   1046(+1046) |       0(+0) |         8(+8) |
-| [lib]/Utils.a              |       48(+48) |       0(+0) |         0(+0) |
-| [lib]/c.a                  | 25048(+25048) | 2472(+2472) |       58(+58) |
-| [lib]/gcc.a                |   7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a                  |   1888(+1888) |       0(+0) |         0(+0) |
-| [lib]/mbed-os-static.a     | 42828(+42828) |   444(+444) |   8860(+8860) |
-| [lib]/misc                 |     188(+188) |       4(+4) |       28(+28) |
-| [lib]/nosys.a              |       32(+32) |       0(+0) |         0(+0) |
-| [lib]/stdc++.a             |   5424(+5424) |       8(+8) |       44(+44) |
-| main.cpp.obj               |   4278(+4278) |       0(+0) | 13568(+13568) |
-| Subtotals                  | 99220(+99220) | 2936(+2936) | 22600(+22600) |
-Total Static RAM memory (data + bss): 25536(+25536) bytes
-Total Flash memory (text + data): 102156(+102156) bytes
+| Module                     |           .text |       .data |          .bss |
+|----------------------------|-----------------|-------------|---------------|
+| [fill]                     |       154(+154) |       8(+8) |       38(+38) |
+| [lib]/CoreBufferedSerial.a |       196(+196) |       0(+0) |         0(+0) |
+| [lib]/CoreEventFlags.a     |       138(+138) |       0(+0) |         0(+0) |
+| [lib]/CoreEventQueue.a     |         44(+44) |       0(+0) |         0(+0) |
+| [lib]/CoreI2C.a            |         36(+36) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a            |     6728(+6728) |       0(+0) |         0(+0) |
+| [lib]/CoreInterruptIn.a    |       222(+222) |       0(+0) |         0(+0) |
+| [lib]/CoreMotor.a          |       176(+176) |       0(+0) |         0(+0) |
+| [lib]/CorePwm.a            |         60(+60) |       0(+0) |         0(+0) |
+| [lib]/CoreRFIDReader.a     |       616(+616) |       0(+0) |         0(+0) |
+| [lib]/CoreTimeout.a        |       204(+204) |       0(+0) |         0(+0) |
+| [lib]/CriticalSection.a    |           8(+8) |       0(+0) |         0(+0) |
+| [lib]/EventLoopKit.a       |       348(+348) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a             |     2036(+2036) |       0(+0) |         0(+0) |
+| [lib]/HelloWorld.a         |         94(+94) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a             |       756(+756) |       0(+0) |     164(+164) |
+| [lib]/MotionKit.a          |       884(+884) |       0(+0) |         0(+0) |
+| [lib]/RFIDKit.a            |     1046(+1046) |       0(+0) |         8(+8) |
+| [lib]/c.a                  |   25048(+25048) | 2472(+2472) |       58(+58) |
+| [lib]/gcc.a                |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a                  |     5164(+5164) |       0(+0) |         0(+0) |
+| [lib]/mbed-os-static.a     |   42828(+42828) |   444(+444) |   8860(+8860) |
+| [lib]/misc                 |       188(+188) |       4(+4) |       28(+28) |
+| [lib]/nosys.a              |         32(+32) |       0(+0) |         0(+0) |
+| [lib]/stdc++.a             |     5424(+5424) |       8(+8) |       44(+44) |
+| main.cpp.obj               |     4250(+4250) |       0(+0) | 13512(+13512) |
+| Subtotals                  | 104368(+104368) | 2936(+2936) | 22712(+22712) |
+Total Static RAM memory (data + bss): 25648(+25648) bytes
+Total Flash memory (text + data): 107304(+107304) bytes

Flash used: 116880&nbsp;(5%) / total: 2097152
SRAM used: 25944&nbsp;(4%) / total: 524288

spike_lk_reinforcer (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_reinforcer-map.txt	2023-02-15 09:56:16.692978798 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_reinforcer-map.txt	2023-02-15 09:56:16.920981808 +0000
@@ -1,38 +1,38 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       288(+288) |     11(+11) |       44(+44) |
+| [fill]                  |       316(+316) |     11(+11) |       48(+48) |
 | [lib]/ColorKit.a        |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a  |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a  |         94(+94) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       136(+136) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a       |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a         |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a         |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a    |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a     |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a       |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/CriticalSection.a |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/EventLoopKit.a    |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a  |     1174(+1174) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a          |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a       |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/ReinforcerKit.a   |     1696(+1696) |   460(+460) |         0(+0) |
-| [lib]/Utils.a           |         48(+48) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a        |       936(+936) |       0(+0) |       36(+36) |
 | [lib]/c.a               |   40920(+40920) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a             |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a               |     2092(+2092) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     5368(+5368) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   78492(+78492) |   464(+464) | 10951(+10951) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   10716(+10716) |     16(+16) |     204(+204) |
 | __/__                   |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj            |     6336(+6336) |       8(+8) | 14476(+14476) |
-| Subtotals               | 189204(+189204) | 3536(+3536) | 56656(+56656) |
-Total Static RAM memory (data + bss): 60192(+60192) bytes
-Total Flash memory (text + data): 192740(+192740) bytes
+| main.cpp.obj            |     6304(+6304) |       8(+8) | 14420(+14420) |
+| Subtotals               | 194416(+194416) | 3536(+3536) | 56768(+56768) |
+Total Static RAM memory (data + bss): 60304(+60304) bytes
+Total Flash memory (text + data): 197952(+197952) bytes

Flash used: 224868&nbsp;(10%) / total: 2097152
SRAM used: 60624&nbsp;(11%) / total: 524288

spike_lk_sensors_imu_lsm6dsox (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_sensors_imu_lsm6dsox-map.txt	2023-02-15 09:56:17.864994274 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_sensors_imu_lsm6dsox-map.txt	2023-02-15 09:56:18.032996493 +0000
@@ -1,21 +1,21 @@
 | Module                  |         .text |       .data |          .bss |
 |-------------------------|---------------|-------------|---------------|
-| [fill]                  |     188(+188) |       8(+8) |       34(+34) |
+| [fill]                  |     176(+176) |       8(+8) |       34(+34) |
 | [lib]/CoreEventQueue.a  |       94(+94) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |         0(+0) |
 | [lib]/CriticalSection.a |         8(+8) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |       94(+94) |       0(+0) |         0(+0) |
 | [lib]/c.a               | 24948(+24948) | 2472(+2472) |       58(+58) |
 | [lib]/gcc.a             |   7148(+7148) |       0(+0) |         0(+0) |
 | [lib]/m.a               |     360(+360) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  | 39896(+39896) |   444(+444) |   8784(+8784) |
 | [lib]/misc              |     188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   5424(+5424) |       8(+8) |       44(+44) |
 | main.cpp.obj            |   3114(+3114) |       0(+0) | 11348(+11348) |
 | Subtotals               | 88468(+88468) | 2936(+2936) | 20296(+20296) |
 Total Static RAM memory (data + bss): 23232(+23232) bytes
 Total Flash memory (text + data): 91404(+91404) bytes

spike_lk_sensors_imu_lsm6dsox_fusion_calibration (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-ON/spike_lk_sensors_imu_lsm6dsox_fusion_calibration-map.txt	2023-02-15 09:56:18.240999239 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-ON/spike_lk_sensors_imu_lsm6dsox_fusion_calibration-map.txt	2023-02-15 09:56:18.405001405 +0000
@@ -1,21 +1,21 @@
 | Module                  |         .text |       .data |          .bss |
 |-------------------------|---------------|-------------|---------------|
-| [fill]                  |     148(+148) |       8(+8) |       30(+30) |
+| [fill]                  |     136(+136) |       8(+8) |       30(+30) |
 | [lib]/CoreEventQueue.a  |       94(+94) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |         0(+0) |
 | [lib]/CriticalSection.a |         8(+8) |       0(+0) |         0(+0) |
 | [lib]/Fusion.a          |   2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/c.a               | 24948(+24948) | 2472(+2472) |       58(+58) |
 | [lib]/gcc.a             |   7688(+7688) |       0(+0) |         0(+0) |
 | [lib]/m.a               |   5164(+5164) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  | 39672(+39672) |   444(+444) |   8784(+8784) |
 | [lib]/misc              |     188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   4576(+4576) |       8(+8) |       28(+28) |
 | main.cpp.obj            |   2920(+2920) |       0(+0) | 10944(+10944) |
 | Subtotals               | 94448(+94448) | 2936(+2936) | 19872(+19872) |
 Total Static RAM memory (data + bss): 22808(+22808) bytes
 Total Flash memory (text + data): 97384(+97384) bytes

github-actions · 2023-02-06T15:18:54Z

File comparision analysis report

🔖 Info

base: develop / 17ae227 + mbed-os@master+fixes+gcc-11-support + -std=c++20
head: ladislas/feature/replace-mahony-with-new-fusion / a735c11 + mbed-os@master+fixes+gcc-11-support + -std=c++20
toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
enable_log_debug: OFF

Target	Flash Used (base/head)	Fash Used Δ	Flash Available (base/head)	Static RAM (base/head)	Static RAM Δ
bootloader	170784 (65%)	ø	91360 (34%) 91360 (34%)	30968 (5%)	ø
os	439584 (28%) 445776 (28%)	📈 +6192 (+1%)	1125088 (71%) 1118896 (71%)	83760 (15%) 83872 (15%)	📈 +112 (+0%)

Click to show memory sections

| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary

✔️ - existing target
✨ - new target
⚰️ - deleted target
✅ - files are the same
❌ - files are different

Target	Status	.bin	.map	Total Flash (base/head)	Total Flash Δ	Static RAM (base/head)	Static RAM Δ
LekaOS	✔️	❌	❌	439584 (20%) 445776 (21%)	📈 +6192 (+1%)	83760 (15%) 83872 (15%)	📈 +112 (+0%)
bootloader	✔️	✅	✅	170784 (8%)	ø	30968 (5%)	ø
functional_ut_boost_ut	✔️	✅	✅	394140 (18%)	ø	20456 (3%)	ø
functional_ut_core_imu	✔️	❌	❌	377528 (18%)	ø	20968 (3%)	ø
functional_ut_deep_sleep_core_buffered_serial	✔️	✅	✅	360600 (17%)	ø	20440 (3%)	ø
functional_ut_deep_sleep_core_motor	✔️	✅	✅	364540 (17%)	ø	20480 (3%)	ø
functional_ut_deep_sleep_core_pwm	✔️	✅	✅	366676 (17%)	ø	20480 (3%)	ø
functional_ut_deep_sleep_log_kit	✔️	✅	✅	352568 (16%)	ø	20408 (3%)	ø
functional_ut_deep_sleep_mbed_hal	✔️	✅	✅	354344 (16%)	ø	20408 (3%)	ø
functional_ut_file_manager	✔️	✅	✅	374928 (17%)	ø	20696 (3%)	ø
functional_ut_firmware_kit	✔️	✅	✅	366972 (17%)	ø	20688 (3%)	ø
functional_ut_imu_kit	✔️	❌	❌	373156 (17%) 381284 (18%)	📈 +8128 (+2%)	20968 (3%) 21144 (4%)	📈 +176 (+0%)
functional_ut_io_expander	✔️	✅	✅	359576 (17%)	ø	20424 (3%)	ø
functional_ut_qdac	✔️	✅	✅	360744 (17%)	ø	20424 (3%)	ø
spike_lk_audio	✔️	✅	✅	126988 (6%)	ø	14600 (2%)	ø
spike_lk_behavior_kit	✔️	✅	✅	189464 (9%)	ø	48104 (9%)	ø
spike_lk_ble	✔️	✅	✅	229600 (10%)	ø	28472 (5%)	ø
spike_lk_bluetooth	✔️	✅	✅	82948 (3%)	ø	11544 (2%)	ø
spike_lk_cg_animations	✔️	✅	✅	145976 (6%)	ø	46528 (8%)	ø
spike_lk_color_kit	✔️	✅	✅	65840 (3%)	ø	13744 (2%)	ø
spike_lk_command_kit	✔️	❌	❌	214304 (10%) 220512 (10%)	📈 +6208 (+2%)	52752 (10%) 52864 (10%)	📈 +112 (+0%)
spike_lk_config_kit	✔️	✅	✅	127284 (6%)	ø	14368 (2%)	ø
spike_lk_coreled	✔️	✅	✅	76292 (3%)	ø	13688 (2%)	ø
spike_lk_core_touch_sensor	✔️	✅	✅	80508 (3%)	ø	12248 (2%)	ø
spike_lk_event_queue	✔️	✅	✅	74800 (3%)	ø	12072 (2%)	ø
spike_lk_file_manager_kit	✔️	✅	✅	139400 (6%)	ø	14440 (2%)	ø
spike_lk_file_reception	✔️	✅	✅	336000 (16%)	ø	27792 (5%)	ø
spike_lk_flash_memory	✔️	✅	✅	63880 (3%)	ø	11448 (2%)	ø
spike_lk_fs	✔️	✅	✅	175668 (8%)	ø	47928 (9%)	ø
spike_lk_imu_kit	✔️	❌	❌	92356 (4%) 98572 (4%)	📈 +6216 (+6%)	12880 (2%) 13000 (2%)	📈 +120 (+0%)
spike_lk_lcd	✔️	✅	✅	163312 (7%)	ø	46688 (8%)	ø
spike_lk_led_kit	✔️	✅	✅	103424 (4%)	ø	14528 (2%)	ø
spike_lk_log_kit	✔️	✅	✅	63288 (3%)	ø	12256 (2%)	ø
spike_lk_motion_kit	✔️	❌	❌	105700 (5%) 111908 (5%)	📈 +6208 (+5%)	15280 (2%) 15400 (2%)	📈 +120 (+0%)
spike_lk_motors	✔️	✅	✅	62864 (2%)	ø	11488 (2%)	ø
spike_lk_qdac	✔️	✅	✅	78852 (3%)	ø	11808 (2%)	ø
spike_lk_reinforcer	✔️	❌	❌	211536 (10%) 217728 (10%)	📈 +6192 (+2%)	49944 (9%) 50056 (9%)	📈 +112 (+0%)
spike_lk_rfid	✔️	✅	✅	79084 (3%)	ø	11504 (2%)	ø
spike_lk_sensors_battery	✔️	✅	✅	78388 (3%)	ø	12600 (2%)	ø
spike_lk_sensors_imu_lsm6dsox	✔️	❌	❌	89404 (4%)	ø	12808 (2%)	ø
spike_lk_sensors_imu_lsm6dsox_fusion_calibration	✔️	❌	❌	97852 (4%) 97916 (4%)	📈 +64 (+0%)	12944 (2%)	ø
spike_lk_sensors_light	✔️	✅	✅	60056 (2%)	ø	11440 (2%)	ø
spike_lk_sensors_microphone	✔️	✅	✅	72496 (3%)	ø	11504 (2%)	ø
spike_lk_sensors_temperature_humidity	✔️	✅	✅	67272 (3%)	ø	11424 (2%)	ø
spike_lk_serial_number	✔️	✅	✅	133084 (6%)	ø	14304 (2%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	69052 (3%)	ø	11632 (2%)	ø
spike_lk_touch_sensor_kit	✔️	✅	✅	87896 (4%)	ø	12824 (2%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	145452 (6%)	ø	15584 (2%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	77632 (3%)	ø	12352 (2%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	80196 (3%)	ø	13288 (2%)	ø
spike_lk_wifi	✔️	✅	✅	116544 (5%)	ø	14808 (2%)	ø
spike_mbed_blinky	✔️	✅	✅	58032 (2%)	ø	11400 (2%)	ø
spike_mbed_watchdog_ticker_vs_thread	✔️	✅	✅	63208 (3%)	ø	12448 (2%)	ø
spike_stl_cxxsupport	✔️	✅	✅	58456 (2%)	ø	11400 (2%)	ø

🗺️ Map files diff output

Click to show diff list

LekaOS (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/LekaOS-map.txt	2023-02-15 09:58:31.124595355 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/LekaOS-map.txt	2023-02-15 09:58:31.592644107 +0000
@@ -1,54 +1,55 @@
 | Module                     |           .text |       .data |          .bss |
 |----------------------------|-----------------|-------------|---------------|
-| [fill]                     |       660(+660) |     18(+18) |     242(+242) |
+| [fill]                     |       692(+692) |     18(+18) |     246(+246) |
 | [lib]/ActivityKit.a        |   10590(+10590) |       0(+0) |         0(+0) |
 | [lib]/BLEKit.a             |     1476(+1476) |       0(+0) |         0(+0) |
 | [lib]/BatteryKit.a         |       324(+324) |       0(+0) |         0(+0) |
 | [lib]/BehaviorKit.a        |     1652(+1652) |   460(+460) |         0(+0) |
 | [lib]/ColorKit.a           |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CommandKit.a         |     1120(+1120) |       0(+0) |         0(+0) |
 | [lib]/CoreBattery.a        |       544(+544) |       0(+0) |         0(+0) |
 | [lib]/CoreBufferedSerial.a |       196(+196) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a     |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a     |         44(+44) |       0(+0) |         0(+0) |
 | [lib]/CoreFlashMemory.a    |       546(+546) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a            |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a            |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a            |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a    |       118(+118) |       0(+0) |         0(+0) |
 | [lib]/CoreMCU.a            |         16(+16) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a          |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CoreMutex.a          |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a            |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreQSPI.a           |       160(+160) |       0(+0) |         0(+0) |
 | [lib]/CoreRFIDReader.a     |       580(+580) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a            |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a       |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a        |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a          |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/CriticalSection.a    |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/EventLoopKit.a       |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a     |     1732(+1732) |       0(+0) |         0(+0) |
 | [lib]/FirmwareKit.a        |       906(+906) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a             |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a         |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a             |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a             |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a             |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a          |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/RFIDKit.a            |     1054(+1054) |       0(+0) |         8(+8) |
 | [lib]/ReinforcerKit.a      |     1242(+1242) |   460(+460) |         0(+0) |
 | [lib]/SerialNumberKit.a    |       584(+584) |       0(+0) |         0(+0) |
-| [lib]/Utils.a              |         82(+82) |       0(+0) |         0(+0) |
+| [lib]/Utils.a              |         34(+34) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a           |       752(+752) |       0(+0) |       36(+36) |
 | [lib]/bootutil.a           |     1362(+1362) |     12(+12) |     132(+132) |
 | [lib]/c.a                  |   49944(+49944) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a                |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a                  |     2092(+2092) |       0(+0) |         0(+0) |
+| [lib]/gcc.a                |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a                  |     5368(+5368) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a     | 180206(+180206) |   773(+773) | 19667(+19667) |
 | [lib]/misc                 |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a              |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a             |   11964(+11964) |     16(+16) |     204(+204) |
 | __/__                      |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj               |   78494(+78494) |   108(+108) | 27774(+27774) |
-| Subtotals                  | 394724(+394724) | 4424(+4424) | 79008(+79008) |
-Total Static RAM memory (data + bss): 83432(+83432) bytes
-Total Flash memory (text + data): 399148(+399148) bytes
+| main.cpp.obj               |   78458(+78458) |   108(+108) | 27718(+27718) |
+| Subtotals                  | 399936(+399936) | 4424(+4424) | 79120(+79120) |
+Total Static RAM memory (data + bss): 83544(+83544) bytes
+Total Flash memory (text + data): 404360(+404360) bytes

Flash used: 445776&nbsp;(21%) / total: 2097152
SRAM used: 83872&nbsp;(15%) / total: 524288

functional_ut_core_imu (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/functional_ut_core_imu-map.txt	2023-02-15 09:58:33.144805780 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/functional_ut_core_imu-map.txt	2023-02-15 09:58:33.440836615 +0000
@@ -1,19 +1,19 @@
 | Module                      |           .text |       .data |          .bss |
 |-----------------------------|-----------------|-------------|---------------|
-| [fill]                      |       200(+200) |     16(+16) |       41(+41) |
+| [fill]                      |       188(+188) |     16(+16) |       41(+41) |
 | [lib]/CoreEventQueue.a      |         76(+76) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a             |         88(+88) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a             |     6786(+6786) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a             |     6798(+6798) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a     |       222(+222) |       0(+0) |         0(+0) |
 | [lib]/c.a                   |   73780(+73780) | 2574(+2574) |       97(+97) |
 | [lib]/gcc.a                 |     7416(+7416) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a      |   59044(+59044) |   460(+460) | 10751(+10751) |
 | [lib]/misc                  |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a               |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a              | 174264(+174264) |   145(+145) |   5720(+5720) |
 | __/__                       |     1938(+1938) |       1(+1) |     817(+817) |
 | suite_core_lsm6dsox.cpp.obj |     7642(+7642) |       0(+0) |         2(+2) |
 | Subtotals                   | 331676(+331676) | 3200(+3200) | 17456(+17456) |
 Total Static RAM memory (data + bss): 20656(+20656) bytes
 Total Flash memory (text + data): 334876(+334876) bytes

functional_ut_imu_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/functional_ut_imu_kit-map.txt	2023-02-15 09:58:38.217334175 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/functional_ut_imu_kit-map.txt	2023-02-15 09:58:38.509364599 +0000
@@ -1,22 +1,22 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       192(+192) |     16(+16) |       41(+41) |
+| [fill]                  |       230(+230) |     16(+16) |       45(+45) |
 | [lib]/CoreEventQueue.a  |         76(+76) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         88(+88) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6786(+6786) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6798(+6798) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       222(+222) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |       916(+916) |       0(+0) |         0(+0) |
-| [lib]/Utils.a           |         48(+48) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       730(+730) |       0(+0) |     164(+164) |
 | [lib]/c.a               |   73772(+73772) | 2574(+2574) |       97(+97) |
-| [lib]/gcc.a             |     7416(+7416) |       0(+0) |         0(+0) |
-| [lib]/m.a               |         96(+96) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7956(+7956) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     4804(+4804) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   59044(+59044) |   460(+460) | 10751(+10751) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          | 173924(+173924) |   145(+145) |   5720(+5720) |
 | __/__                   |     1938(+1938) |       1(+1) |     817(+817) |
-| suite_imu_kit.cpp.obj   |     2834(+2834) |       0(+0) |         2(+2) |
-| Subtotals               | 327572(+327572) | 3200(+3200) | 17456(+17456) |
-Total Static RAM memory (data + bss): 20656(+20656) bytes
-Total Flash memory (text + data): 330772(+330772) bytes
+| suite_imu_kit.cpp.obj   |     2802(+2802) |       0(+0) |         2(+2) |
+| Subtotals               | 334640(+334640) | 3200(+3200) | 17624(+17624) |
+Total Static RAM memory (data + bss): 20824(+20824) bytes
+Total Flash memory (text + data): 337840(+337840) bytes

Flash used: 381284&nbsp;(18%) / total: 2097152
SRAM used: 21144&nbsp;(4%) / total: 524288

spike_lk_command_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_command_kit-map.txt	2023-02-15 09:58:42.613792200 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_command_kit-map.txt	2023-02-15 09:58:42.837815539 +0000
@@ -1,39 +1,40 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       288(+288) |     13(+13) |       32(+32) |
+| [fill]                  |       320(+320) |     13(+13) |       36(+36) |
 | [lib]/ColorKit.a        |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CommandKit.a      |     1152(+1152) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a  |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a  |       126(+126) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       136(+136) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a       |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a         |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a         |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a    |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a     |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a       |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/CriticalSection.a |           8(+8) |       0(+0) |         0(+0) |
 | [lib]/EventLoopKit.a    |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a  |     1174(+1174) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a          |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a       |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/ReinforcerKit.a   |     1726(+1726) |   460(+460) |         0(+0) |
-| [lib]/Utils.a           |         82(+82) |       0(+0) |         0(+0) |
+| [lib]/Utils.a           |         34(+34) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a        |       936(+936) |       0(+0) |       36(+36) |
 | [lib]/c.a               |   42000(+42000) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a             |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a               |     1732(+1732) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     5008(+5008) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   74512(+74512) |   464(+464) | 10827(+10827) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   10296(+10296) |     16(+16) |     204(+204) |
 | __/__                   |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj            |     5360(+5360) |   278(+278) |   6580(+6580) |
-| Subtotals               | 185796(+185796) | 3808(+3808) | 48624(+48624) |
-Total Static RAM memory (data + bss): 52432(+52432) bytes
-Total Flash memory (text + data): 189604(+189604) bytes
+| main.cpp.obj            |     5324(+5324) |   278(+278) |   6524(+6524) |
+| Subtotals               | 191008(+191008) | 3808(+3808) | 48736(+48736) |
+Total Static RAM memory (data + bss): 52544(+52544) bytes
+Total Flash memory (text + data): 194816(+194816) bytes

Flash used: 220512&nbsp;(10%) / total: 2097152
SRAM used: 52864&nbsp;(10%) / total: 524288

spike_lk_imu_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_imu_kit-map.txt	2023-02-15 09:58:46.458191767 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_imu_kit-map.txt	2023-02-15 09:58:46.638210443 +0000
@@ -1,22 +1,22 @@
 | Module                  |         .text |       .data |        .bss |
 |-------------------------|---------------|-------------|-------------|
-| [fill]                  |     166(+166) |       8(+8) |     30(+30) |
+| [fill]                  |     152(+152) |       8(+8) |     34(+34) |
 | [lib]/CoreEventQueue.a  |     126(+126) |       0(+0) |       0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |       0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |       0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |       0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |       0(+0) |
+| [lib]/Fusion.a          |   2036(+2036) |       0(+0) |       0(+0) |
 | [lib]/HelloWorld.a      |       94(+94) |       0(+0) |       0(+0) |
-| [lib]/IMUKit.a          |   1324(+1324) |       0(+0) |       0(+0) |
-| [lib]/Utils.a           |       48(+48) |       0(+0) |       0(+0) |
+| [lib]/IMUKit.a          |     754(+754) |       0(+0) |   164(+164) |
 | [lib]/c.a               | 26028(+26028) | 2472(+2472) |     58(+58) |
-| [lib]/gcc.a             |   7084(+7084) |       0(+0) |       0(+0) |
-| [lib]/m.a               |   1528(+1528) |       0(+0) |       0(+0) |
+| [lib]/gcc.a             |   7624(+7624) |       0(+0) |       0(+0) |
+| [lib]/m.a               |   4804(+4804) |       0(+0) |       0(+0) |
 | [lib]/mbed-os-static.a  | 35916(+35916) |   444(+444) | 8660(+8660) |
 | [lib]/misc              |     188(+188) |       4(+4) |     28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |       0(+0) |
 | [lib]/stdc++.a          |   4116(+4116) |       8(+8) |     28(+28) |
-| main.cpp.obj            |     540(+540) |       0(+0) |   852(+852) |
-| Subtotals               | 84164(+84164) | 2936(+2936) | 9656(+9656) |
-Total Static RAM memory (data + bss): 12592(+12592) bytes
-Total Flash memory (text + data): 87100(+87100) bytes
+| main.cpp.obj            |     520(+520) |       0(+0) |   796(+796) |
+| Subtotals               | 89376(+89376) | 2936(+2936) | 9768(+9768) |
+Total Static RAM memory (data + bss): 12704(+12704) bytes
+Total Flash memory (text + data): 92312(+92312) bytes

Flash used: 98572&nbsp;(4%) / total: 2097152
SRAM used: 13000&nbsp;(2%) / total: 524288

spike_lk_motion_kit (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_motion_kit-map.txt	2023-02-15 09:58:48.102362342 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_motion_kit-map.txt	2023-02-15 09:58:48.266379358 +0000
@@ -1,31 +1,31 @@
-| Module                     |         .text |       .data |          .bss |
-|----------------------------|---------------|-------------|---------------|
-| [fill]                     |     156(+156) |       8(+8) |       34(+34) |
-| [lib]/CoreBufferedSerial.a |     196(+196) |       0(+0) |         0(+0) |
-| [lib]/CoreEventFlags.a     |     138(+138) |       0(+0) |         0(+0) |
-| [lib]/CoreEventQueue.a     |       76(+76) |       0(+0) |         0(+0) |
-| [lib]/CoreI2C.a            |       36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a            |   6716(+6716) |       0(+0) |         0(+0) |
-| [lib]/CoreInterruptIn.a    |     222(+222) |       0(+0) |         0(+0) |
-| [lib]/CoreMotor.a          |     176(+176) |       0(+0) |         0(+0) |
-| [lib]/CorePwm.a            |       60(+60) |       0(+0) |         0(+0) |
-| [lib]/CoreRFIDReader.a     |     616(+616) |       0(+0) |         0(+0) |
-| [lib]/CoreTimeout.a        |     204(+204) |       0(+0) |         0(+0) |
-| [lib]/EventLoopKit.a       |     348(+348) |       0(+0) |         0(+0) |
-| [lib]/HelloWorld.a         |       94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a             |   1356(+1356) |       0(+0) |         0(+0) |
-| [lib]/MotionKit.a          |     884(+884) |       0(+0) |         0(+0) |
-| [lib]/RFIDKit.a            |   1046(+1046) |       0(+0) |         8(+8) |
-| [lib]/Utils.a              |       48(+48) |       0(+0) |         0(+0) |
-| [lib]/c.a                  | 26128(+26128) | 2472(+2472) |       58(+58) |
-| [lib]/gcc.a                |   7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a                  |   1528(+1528) |       0(+0) |         0(+0) |
-| [lib]/mbed-os-static.a     | 42372(+42372) |   444(+444) |   8772(+8772) |
-| [lib]/misc                 |     188(+188) |       4(+4) |       28(+28) |
-| [lib]/nosys.a              |       32(+32) |       0(+0) |         0(+0) |
-| [lib]/stdc++.a             |   4116(+4116) |       8(+8) |       28(+28) |
-| main.cpp.obj               |   1992(+1992) |       0(+0) |   3128(+3128) |
-| Subtotals                  | 95876(+95876) | 2936(+2936) | 12056(+12056) |
-Total Static RAM memory (data + bss): 14992(+14992) bytes
-Total Flash memory (text + data): 98812(+98812) bytes
+| Module                     |           .text |       .data |          .bss |
+|----------------------------|-----------------|-------------|---------------|
+| [fill]                     |       188(+188) |       8(+8) |       38(+38) |
+| [lib]/CoreBufferedSerial.a |       196(+196) |       0(+0) |         0(+0) |
+| [lib]/CoreEventFlags.a     |       138(+138) |       0(+0) |         0(+0) |
+| [lib]/CoreEventQueue.a     |         76(+76) |       0(+0) |         0(+0) |
+| [lib]/CoreI2C.a            |         36(+36) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a            |     6728(+6728) |       0(+0) |         0(+0) |
+| [lib]/CoreInterruptIn.a    |       222(+222) |       0(+0) |         0(+0) |
+| [lib]/CoreMotor.a          |       176(+176) |       0(+0) |         0(+0) |
+| [lib]/CorePwm.a            |         60(+60) |       0(+0) |         0(+0) |
+| [lib]/CoreRFIDReader.a     |       616(+616) |       0(+0) |         0(+0) |
+| [lib]/CoreTimeout.a        |       204(+204) |       0(+0) |         0(+0) |
+| [lib]/EventLoopKit.a       |       348(+348) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a             |     2036(+2036) |       0(+0) |         0(+0) |
+| [lib]/HelloWorld.a         |         94(+94) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a             |       756(+756) |       0(+0) |     164(+164) |
+| [lib]/MotionKit.a          |       884(+884) |       0(+0) |         0(+0) |
+| [lib]/RFIDKit.a            |     1046(+1046) |       0(+0) |         8(+8) |
+| [lib]/c.a                  |   26128(+26128) | 2472(+2472) |       58(+58) |
+| [lib]/gcc.a                |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a                  |     4804(+4804) |       0(+0) |         0(+0) |
+| [lib]/mbed-os-static.a     |   42372(+42372) |   444(+444) |   8772(+8772) |
+| [lib]/misc                 |       188(+188) |       4(+4) |       28(+28) |
+| [lib]/nosys.a              |         32(+32) |       0(+0) |         0(+0) |
+| [lib]/stdc++.a             |     4116(+4116) |       8(+8) |       28(+28) |
+| main.cpp.obj               |     1956(+1956) |       0(+0) |   3072(+3072) |
+| Subtotals                  | 101088(+101088) | 2936(+2936) | 12168(+12168) |
+Total Static RAM memory (data + bss): 15104(+15104) bytes
+Total Flash memory (text + data): 104024(+104024) bytes

Flash used: 111908&nbsp;(5%) / total: 2097152
SRAM used: 15400&nbsp;(2%) / total: 524288

spike_lk_reinforcer (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_reinforcer-map.txt	2023-02-15 09:58:49.242480624 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_reinforcer-map.txt	2023-02-15 09:58:49.478505111 +0000
@@ -1,37 +1,37 @@
 | Module                  |           .text |       .data |          .bss |
 |-------------------------|-----------------|-------------|---------------|
-| [fill]                  |       294(+294) |     11(+11) |       40(+40) |
+| [fill]                  |       322(+322) |     11(+11) |       44(+44) |
 | [lib]/ColorKit.a        |       864(+864) |       0(+0) |         0(+0) |
 | [lib]/CoreEventFlags.a  |       138(+138) |       0(+0) |         0(+0) |
 | [lib]/CoreEventQueue.a  |       126(+126) |       0(+0) |         0(+0) |
 | [lib]/CoreI2C.a         |         36(+36) |       0(+0) |         0(+0) |
-| [lib]/CoreIMU.a         |     6716(+6716) |       0(+0) |         0(+0) |
+| [lib]/CoreIMU.a         |     6728(+6728) |       0(+0) |         0(+0) |
 | [lib]/CoreInterruptIn.a |       136(+136) |       0(+0) |         0(+0) |
 | [lib]/CoreMotor.a       |       176(+176) |       0(+0) |         0(+0) |
 | [lib]/CorePwm.a         |         60(+60) |       0(+0) |         0(+0) |
 | [lib]/CoreSPI.a         |         28(+28) |       0(+0) |         0(+0) |
 | [lib]/CoreSTM32Hal.a    |       930(+930) |       0(+0) |         0(+0) |
 | [lib]/CoreTimeout.a     |       204(+204) |       0(+0) |         0(+0) |
 | [lib]/CoreVideo.a       |     7954(+7954) |       1(+1) | 30800(+30800) |
 | [lib]/EventLoopKit.a    |       348(+348) |       0(+0) |         0(+0) |
 | [lib]/FileManagerKit.a  |     1174(+1174) |       0(+0) |         0(+0) |
+| [lib]/Fusion.a          |     2036(+2036) |       0(+0) |         0(+0) |
 | [lib]/HelloWorld.a      |         94(+94) |       0(+0) |         0(+0) |
-| [lib]/IMUKit.a          |     1356(+1356) |       0(+0) |         0(+0) |
+| [lib]/IMUKit.a          |       756(+756) |       0(+0) |     164(+164) |
 | [lib]/LedKit.a          |   19050(+19050) |       0(+0) |       20(+20) |
 | [lib]/MotionKit.a       |       838(+838) |       0(+0) |         0(+0) |
 | [lib]/ReinforcerKit.a   |     1696(+1696) |   460(+460) |         0(+0) |
-| [lib]/Utils.a           |         48(+48) |       0(+0) |         0(+0) |
 | [lib]/VideoKit.a        |       936(+936) |       0(+0) |       36(+36) |
 | [lib]/c.a               |   42000(+42000) | 2572(+2572) |       97(+97) |
-| [lib]/gcc.a             |     7148(+7148) |       0(+0) |         0(+0) |
-| [lib]/m.a               |     1732(+1732) |       0(+0) |         0(+0) |
+| [lib]/gcc.a             |     7688(+7688) |       0(+0) |         0(+0) |
+| [lib]/m.a               |     5008(+5008) |       0(+0) |         0(+0) |
 | [lib]/mbed-os-static.a  |   74512(+74512) |   464(+464) | 10827(+10827) |
 | [lib]/misc              |       188(+188) |       4(+4) |       28(+28) |
 | [lib]/nosys.a           |         32(+32) |       0(+0) |         0(+0) |
 | [lib]/stdc++.a          |   10296(+10296) |     16(+16) |     204(+204) |
 | __/__                   |       108(+108) |       0(+0) |         0(+0) |
-| main.cpp.obj            |     4274(+4274) |       8(+8) |   4036(+4036) |
-| Subtotals               | 183492(+183492) | 3536(+3536) | 46088(+46088) |
-Total Static RAM memory (data + bss): 49624(+49624) bytes
-Total Flash memory (text + data): 187028(+187028) bytes
+| main.cpp.obj            |     4242(+4242) |       8(+8) |   3980(+3980) |
+| Subtotals               | 188704(+188704) | 3536(+3536) | 46200(+46200) |
+Total Static RAM memory (data + bss): 49736(+49736) bytes
+Total Flash memory (text + data): 192240(+192240) bytes

Flash used: 217728&nbsp;(10%) / total: 2097152
SRAM used: 50056&nbsp;(9%) / total: 524288

spike_lk_sensors_imu_lsm6dsox (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_sensors_imu_lsm6dsox-map.txt	2023-02-15 09:58:50.462607207 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_sensors_imu_lsm6dsox-map.txt	2023-02-15 09:58:50.630624638 +0000
@@ -1,19 +1,19 @@
 | Module                  |         .text |       .data |        .bss |
 |-------------------------|---------------|-------------|-------------|
-| [fill]                  |     170(+170) |       8(+8) |     30(+30) |
+| [fill]                  |     158(+158) |       8(+8) |     30(+30) |
 | [lib]/CoreEventQueue.a  |     126(+126) |       0(+0) |       0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |       0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |       0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |       0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |       0(+0) |
 | [lib]/HelloWorld.a      |       94(+94) |       0(+0) |       0(+0) |
 | [lib]/c.a               | 26028(+26028) | 2472(+2472) |     58(+58) |
 | [lib]/gcc.a             |   7084(+7084) |       0(+0) |       0(+0) |
 | [lib]/mbed-os-static.a  | 35916(+35916) |   444(+444) | 8660(+8660) |
 | [lib]/misc              |     188(+188) |       4(+4) |     28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |       0(+0) |
 | [lib]/stdc++.a          |   4116(+4116) |       8(+8) |     28(+28) |
 | main.cpp.obj            |     556(+556) |       0(+0) |   780(+780) |
 | Subtotals               | 81284(+81284) | 2936(+2936) | 9584(+9584) |
 Total Static RAM memory (data + bss): 12520(+12520) bytes
 Total Flash memory (text + data): 84220(+84220) bytes

spike_lk_sensors_imu_lsm6dsox_fusion_calibration (click to expand)

--- build_artifacts/base_ref-build-enable_log_debug-OFF/spike_lk_sensors_imu_lsm6dsox_fusion_calibration-map.txt	2023-02-15 09:58:50.842646634 +0000
+++ build_artifacts/head_ref-build-enable_log_debug-OFF/spike_lk_sensors_imu_lsm6dsox_fusion_calibration-map.txt	2023-02-15 09:58:50.998662820 +0000
@@ -1,20 +1,20 @@
 | Module                  |         .text |       .data |        .bss |
 |-------------------------|---------------|-------------|-------------|
-| [fill]                  |     138(+138) |       8(+8) |     26(+26) |
+| [fill]                  |     190(+190) |       8(+8) |     26(+26) |
 | [lib]/CoreEventQueue.a  |     126(+126) |       0(+0) |       0(+0) |
 | [lib]/CoreI2C.a         |       36(+36) |       0(+0) |       0(+0) |
-| [lib]/CoreIMU.a         |   6716(+6716) |       0(+0) |       0(+0) |
+| [lib]/CoreIMU.a         |   6728(+6728) |       0(+0) |       0(+0) |
 | [lib]/CoreInterruptIn.a |     222(+222) |       0(+0) |       0(+0) |
 | [lib]/Fusion.a          |   2036(+2036) |       0(+0) |       0(+0) |
 | [lib]/c.a               | 26028(+26028) | 2472(+2472) |     58(+58) |
 | [lib]/gcc.a             |   7624(+7624) |       0(+0) |       0(+0) |
 | [lib]/m.a               |   4804(+4804) |       0(+0) |       0(+0) |
 | [lib]/mbed-os-static.a  | 35692(+35692) |   444(+444) | 8660(+8660) |
 | [lib]/misc              |     188(+188) |       4(+4) |     28(+28) |
 | [lib]/nosys.a           |       32(+32) |       0(+0) |       0(+0) |
 | [lib]/stdc++.a          |   4116(+4116) |       8(+8) |     28(+28) |
 | main.cpp.obj            |     978(+978) |       0(+0) |   920(+920) |
-| Subtotals               | 88736(+88736) | 2936(+2936) | 9720(+9720) |
+| Subtotals               | 88800(+88800) | 2936(+2936) | 9720(+9720) |
 Total Static RAM memory (data + bss): 12656(+12656) bytes
-Total Flash memory (text + data): 91672(+91672) bytes
+Total Flash memory (text + data): 91736(+91736) bytes

Flash used: 97916&nbsp;(4%) / total: 2097152
SRAM used: 12944&nbsp;(2%) / total: 524288

codecov · 2023-02-06T15:21:15Z

Codecov Report

Merging #1287 (a735c11) into develop (17ae227) will increase coverage by 0.02%.
The diff coverage is 100.00%.

@@             Coverage Diff             @@
##           develop    #1287      +/-   ##
===========================================
+ Coverage    98.70%   98.73%   +0.02%     
===========================================
  Files          147      145       -2     
  Lines         3789     3715      -74     
===========================================
- Hits          3740     3668      -72     
+ Misses          49       47       -2

Impacted Files	Coverage Δ
libs/MotionKit/source/MotionKit.cpp	`100.00% <ø> (ø)`
libs/IMUKit/include/IMUKit.hpp	`100.00% <100.00%> (ø)`
libs/IMUKit/source/IMUKit.cpp	`100.00% <100.00%> (ø)`

📣 We’re building smart automated test selection to slash your CI/CD build times. Learn more

ladislas

Personal comments

ladislas · 2023-02-08T12:54:25Z

libs/IMUKit/source/IMUKit.cpp

+	// TODO(@ladislas): to implement
+	// ? Reseting the algorithm might not be the best answer as it takes a few second to stabilize
+	// ? Because the readings are very stable, it would be easier to take the current yaw
+	// ? and start counting from there


This will be implemented in a follow up PR

spikes/lk_imu_kit/main.cpp

HPezz

Nice job

One remark on the spike's start : yaw stays at 0.0 for several seconds then begin to really log value.

libs/IMUKit/include/IMUKit.hpp

spikes/lk_imu_kit/main.cpp

HPezz

LTGM

Still have a question about testing. IMUKit unit tests are very light and functional tests are not updated yet. Is fusion inertial calibration which prevent to write generic functional tests or you plan to do some ?

libs/IMUKit/source/IMUKit.cpp

YannLocatelli

Validate with

lk_imu_kit spike

The whole integration looks good to me. I have some suggestions:

Complete a unit test
Fix failing test in CI for clang-format
Add some "documentation"

Also found a potential bug

libs/IMUKit/tests/IMUKit_test.cpp

tests/unit/mocks/mocks/leka/LSM6DSOX.h

libs/IMUKit/external/CMakeLists.txt

libs/IMUKit/source/IMUKit.cpp

…nces

YannLocatelli

That's good for me 👍

HPezz

👍

sonarcloud · 2023-02-15T10:14:42Z

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
0 Security Hotspots
3 Code Smells

100.0% Coverage
0.0% Duplication

ladislas self-assigned this Feb 6, 2023

ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch from 689821d to e386be6 Compare February 7, 2023 08:46

ladislas added the 01 - type: task Something to do label Feb 7, 2023

ladislas added this to the v1.4.0 milestone Feb 7, 2023

ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch 3 times, most recently from 0e5866e to c282404 Compare February 8, 2023 11:04

ladislas commented Feb 8, 2023

View reviewed changes

ladislas requested review from HPezz and YannLocatelli February 8, 2023 13:23

HPezz reviewed Feb 8, 2023

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libs/IMUKit/include/IMUKit.hpp Outdated Show resolved Hide resolved

spikes/lk_imu_kit/main.cpp Outdated Show resolved Hide resolved

ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch 2 times, most recently from c6a0495 to 63007fb Compare February 9, 2023 14:37

HPezz reviewed Feb 9, 2023

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ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch from 63007fb to 1d394b4 Compare February 9, 2023 21:29

YannLocatelli requested changes Feb 10, 2023

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libs/IMUKit/tests/IMUKit_test.cpp Outdated Show resolved Hide resolved

tests/unit/mocks/mocks/leka/LSM6DSOX.h Show resolved Hide resolved

libs/IMUKit/external/CMakeLists.txt Show resolved Hide resolved

libs/IMUKit/source/IMUKit.cpp Show resolved Hide resolved

ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch from 1d394b4 to cb305b1 Compare February 15, 2023 08:37

ladislas added 9 commits February 15, 2023 10:30

🔥 (IMUKit): Remove Mahony implementation

22b7de9

🚚 (IMUKit): Move Fusion lib from spike to lib external dir

2006879

♻️ (IMUKit): Rename getAngles to getEulerAngles + return struct

7154b27

✨ (IMUKit): Implement xioTechnologies/Fusion to get Euler angles

caa341c

💡 (IMUKit): Add comment about setOrigin implementation

20cde9d

🤡 (LSM6DSOX): Update mock to be able to call on drdy callback

2dd12c9

✅ (IMUKit): Add unit tests

638ee32

♻️ (IMUKit): Make getEulerAngles const

e8253ad

⚗️ (spikes): IMUKit - Get angles once and rely on values being refere…

5e35b6d

…nces

ladislas added 2 commits February 15, 2023 10:40

♻️ (LSM6DSOX): Force drdy_callback_t to pass by value vs reference

c63bf24

♻️ (IMUKit): Pass and return sensor data by value

a735c11

ladislas force-pushed the ladislas/feature/replace-mahony-with-new-fusion branch from cb305b1 to a735c11 Compare February 15, 2023 09:40

ladislas requested review from YannLocatelli and HPezz February 15, 2023 09:42

YannLocatelli approved these changes Feb 15, 2023

View reviewed changes

HPezz approved these changes Feb 15, 2023

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ladislas merged commit 37ed32d into develop Feb 15, 2023

ladislas deleted the ladislas/feature/replace-mahony-with-new-fusion branch February 15, 2023 10:56

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ladislas/feature/replace mahony with new fusion #1287

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