From 375bfe3929eb6045634501d3593eeb38c6b7c39d Mon Sep 17 00:00:00 2001 From: Andrey Mironov Date: Sat, 26 May 2018 11:04:02 +0300 Subject: [PATCH] Marked crucial functions inlined into ITCM-RAM explicitly --- src/main/fc/fc_core.c | 4 ++-- src/main/flight/pid.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c index c6d4026a7e..1c837565f1 100644 --- a/src/main/fc/fc_core.c +++ b/src/main/fc/fc_core.c @@ -835,7 +835,7 @@ bool processRx(timeUs_t currentTimeUs) return true; } -static void subTaskPidController(timeUs_t currentTimeUs) +static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs) { uint32_t startTime = 0; if (debugMode == DEBUG_PIDLOOP) {startTime = micros();} @@ -951,7 +951,7 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs) DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime); } -static void subTaskMotorUpdate(timeUs_t currentTimeUs) +static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs) { uint32_t startTime = 0; if (debugMode == DEBUG_CYCLETIME) { diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index ad173080b5..9ee7d62829 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -540,7 +540,7 @@ static void handleItermRotation() // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. // Based on 2DOF reference design (matlab) -void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) +void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) { static float previousGyroRateDterm[2]; static float previousPidSetpoint[2];