基于esp32 wroom 32u编译报错如何解决？

SDK idf4.2.1

ubuntu20.04



编译报错如下

/root/.espressif/tools/xtensa-esp32-elf/esp-2020r3-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: balance_car.elf section `.iram0.text' will not fit in region `iram0_0_seg'

/root/.espressif/tools/xtensa-esp32-elf/esp-2020r3-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: IRAM0 segment data does not fit.

/root/.espressif/tools/xtensa-esp32-elf/esp-2020r3-8.4.0/xtensa-esp32-elf/bin/../lib/gcc/xtensa-esp32-elf/8.4.0/../../../../xtensa-esp32-elf/bin/ld: region `iram0_0_seg' overflowed by 1040 bytes

collect2: error: ld returned 1 exit status

make[3]: *** [CMakeFiles/balance_car.elf.dir/build.make:403: balance_car.elf] Error 1

make[2]: *** [CMakeFiles/Makefile2:2053: CMakeFiles/balance_car.elf.dir/all] Error 2

make[1]: *** [CMakeFiles/Makefile2:4315: esp-idf/esptool_py/CMakeFiles/app-flash.dir/rule] Error 2

make: *** [Makefile:1308: app-flash] Error 2

make failed with exit code 2