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F7 optimizations (#5674)

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* Revert "Revert "Rewritten F7 dshot to LL (draft)" (#5430)"

This reverts commit aa42a69d2f.

* Reworked F7 linker scripts to maximize performance of both F74x and F72x

* Some comments and changes from original F7 HAL DSHOT

* Prohibit inlining of some functions to place them in ITCM-RAM

* Fixed usartTargetConfigure implicit declaration

* Moved back to SRAM1 as main RAM

* Added SRAM2 attribute

* Fixed LL DSHOT FOR SPRF7DUAL and probably other adv TIM users

* Fixed SPRF7DUAL rev. A motor order

* Enabled CCM for data on F40x

* Fixed F7 startup assembly symbols

* Fixed KISSFCV2F7 linker script

* Added a quick way of building F7 targets only

* Got rid of the useless F7 target script

* Added NOINLINE and got rid of useless __APPLE__ define

* Added some important functions to ITCM

* Added NOINLINE macro for tests

* Copy to ITCM before passing execution into it

* Minimized cache footprint of motor output code

* Evicted low-impact functions from ITCM

* Switched MATEKF722 and SPRACINGF7DUAL to burst DSHOT

* Switched CLRACINGF7 to burst DSHOT

* Moved UART RX&TX buffers to DTCM-RAM to avoid cache incoherency

* Marked taskMainPidLoop for ITCM-RAM, disallowed inlining per-function

* Revert "Added a quick way of building F7 targets only"

This reverts commit 2294518998.
This commit is contained in:
Andrey Mironov 2018-04-19 23:37:32 +03:00 • committed by Michael Keller
parent 39fec69fb0
commit bf984f39b1
34 changed files with 503 additions and 345 deletions
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7
src/main/drivers/pwm_output.h
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@ -110,14 +110,12 @@ typedef enum {
typedef struct {
TIM_TypeDef *timer;
#if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR)
#if !defined(USE_HAL_DRIVER)
#ifdef STM32F3
DMA_Channel_TypeDef *dmaBurstRef;
#else
DMA_Stream_TypeDef *dmaBurstRef;
#endif
uint16_t dmaBurstLength;
#endif
uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
#endif
uint16_t timerDmaSources;
@ -138,11 +136,6 @@ typedef struct {
#else
uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#endif
#if defined(USE_HAL_DRIVER)
TIM_HandleTypeDef TimHandle;
DMA_HandleTypeDef hdma_tim;
uint16_t timerDmaIndex;
#endif
} motorDmaOutput_t;
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);