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Marked crucial functions inlined into ITCM-RAM explicitly

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This commit is contained in:
Andrey Mironov 2018-05-26 11:04:02 +03:00
parent 98fb4d7c66
commit 375bfe3929
2 changed files with 3 additions and 3 deletions
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4
src/main/fc/fc_core.c
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@ -835,7 +835,7 @@ bool processRx(timeUs_t currentTimeUs)
return true; return true;
} }
static void subTaskPidController(timeUs_t currentTimeUs) static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
{ {
uint32_t startTime = 0; uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();} 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); 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; uint32_t startTime = 0;
if (debugMode == DEBUG_CYCLETIME) { if (debugMode == DEBUG_CYCLETIME) {

2
src/main/flight/pid.c
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@ -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. // 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) // 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 previousGyroRateDterm[2];
static float previousPidSetpoint[2]; static float previousPidSetpoint[2];