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Add fast RAM support, CCM or TCM depending on processor

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This commit is contained in:
Martin Budden 2017-12-14 22:23:34 +00:00
parent 5892cac45d
commit a33a82725e
24 changed files with 105 additions and 59 deletions
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28
src/main/flight/mixer.c
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@ -108,10 +108,10 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR
#define TRICOPTER_ERROR_RATE_YAW_SATURATED 75 // rate at which tricopter yaw axis becomes saturated, determined experimentally by TriFlight
static uint8_t motorCount;
static float motorMixRange;
static FAST_RAM uint8_t motorCount;
static FAST_RAM float motorMixRange;
float motor[MAX_SUPPORTED_MOTORS];
float FAST_RAM motor[MAX_SUPPORTED_MOTORS];
float motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
@ -306,12 +306,12 @@ const mixer_t mixers[] = {
};
#endif // !USE_QUAD_MIXER_ONLY
float motorOutputHigh, motorOutputLow;
FAST_RAM float motorOutputHigh, motorOutputLow;
static float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static uint16_t rcCommand3dDeadBandLow;
static uint16_t rcCommand3dDeadBandHigh;
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
static FAST_RAM float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static FAST_RAM uint16_t rcCommand3dDeadBandLow;
static FAST_RAM uint16_t rcCommand3dDeadBandHigh;
static FAST_RAM float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount(void)
{
@ -513,12 +513,12 @@ void stopPwmAllMotors(void)
delayMicroseconds(1500);
}
static float throttle = 0;
static float motorOutputMin;
static float motorRangeMin;
static float motorRangeMax;
static float motorOutputRange;
static int8_t motorOutputMixSign;
static FAST_RAM float throttle = 0;
static FAST_RAM float motorOutputMin;
static FAST_RAM float motorRangeMin;
static FAST_RAM float motorRangeMax;
static FAST_RAM float motorOutputRange;
static FAST_RAM int8_t motorOutputMixSign;
static FAST_CODE void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
{