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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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56
src/main/flight/pid.c
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@ -51,14 +51,14 @@
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
uint32_t targetPidLooptime;
static bool pidStabilisationEnabled;
FAST_RAM uint32_t targetPidLooptime;
static FAST_RAM bool pidStabilisationEnabled;
static bool inCrashRecoveryMode = false;
static FAST_RAM bool inCrashRecoveryMode = false;
float axisPID_P[3], axisPID_I[3], axisPID_D[3];
FAST_RAM float axisPID_P[3], axisPID_I[3], axisPID_D[3];
static float dT;
static FAST_RAM float dT;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 1);
@ -143,7 +143,7 @@ void pidResetITerm(void)
}
}
static float itermAccelerator = 1.0f;
static FAST_RAM float itermAccelerator = 1.0f;
void pidSetItermAccelerator(float newItermAccelerator)
{
@ -157,12 +157,12 @@ void pidStabilisationState(pidStabilisationState_e pidControllerState)
const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
static filterApplyFnPtr dtermNotchFilterApplyFn;
static void *dtermFilterNotch[2];
static filterApplyFnPtr dtermLpfApplyFn;
static void *dtermFilterLpf[2];
static filterApplyFnPtr ptermYawFilterApplyFn;
static void *ptermYawFilter;
static FAST_RAM filterApplyFnPtr dtermNotchFilterApplyFn;
static FAST_RAM void *dtermFilterNotch[2];
static FAST_RAM filterApplyFnPtr dtermLpfApplyFn;
static FAST_RAM void *dtermFilterLpf[2];
static FAST_RAM filterApplyFnPtr ptermYawFilterApplyFn;
static FAST_RAM void *ptermYawFilter;
typedef union dtermFilterLpf_u {
pt1Filter_t pt1Filter[2];
@ -249,22 +249,22 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
}
static float Kp[3], Ki[3], Kd[3];
static float maxVelocity[3];
static float relaxFactor;
static float dtermSetpointWeight;
static float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
static float ITermWindupPointInv;
static uint8_t horizonTiltExpertMode;
static timeDelta_t crashTimeLimitUs;
static timeDelta_t crashTimeDelayUs;
static int32_t crashRecoveryAngleDeciDegrees;
static float crashRecoveryRate;
static float crashDtermThreshold;
static float crashGyroThreshold;
static float crashSetpointThreshold;
static float crashLimitYaw;
static float itermLimit;
static FAST_RAM float Kp[3], Ki[3], Kd[3];
static FAST_RAM float maxVelocity[3];
static FAST_RAM float relaxFactor;
static FAST_RAM float dtermSetpointWeight;
static FAST_RAM float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
static FAST_RAM float ITermWindupPointInv;
static FAST_RAM uint8_t horizonTiltExpertMode;
static FAST_RAM timeDelta_t crashTimeLimitUs;
static FAST_RAM timeDelta_t crashTimeDelayUs;
static FAST_RAM int32_t crashRecoveryAngleDeciDegrees;
static FAST_RAM float crashRecoveryRate;
static FAST_RAM float crashDtermThreshold;
static FAST_RAM float crashGyroThreshold;
static FAST_RAM float crashSetpointThreshold;
static FAST_RAM float crashLimitYaw;
static FAST_RAM float itermLimit;
void pidInitConfig(const pidProfile_t *pidProfile)
{