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Set FAST_RAM to go into .fastram_data by default. Added FAST_RAM_NOINIT

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This commit is contained in:
Andrey Mironov 2018-05-22 09:30:33 +03:00
parent 35d6067a64
commit d8dd6f29f8
13 changed files with 93 additions and 92 deletions
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64
src/main/flight/pid.c
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@ -56,14 +56,14 @@
#include "sensors/acceleration.h"
FAST_RAM uint32_t targetPidLooptime;
FAST_RAM pidAxisData_t pidData[XYZ_AXIS_COUNT];
FAST_RAM_ZERO_INIT uint32_t targetPidLooptime;
FAST_RAM_ZERO_INIT pidAxisData_t pidData[XYZ_AXIS_COUNT];
static FAST_RAM bool pidStabilisationEnabled;
static FAST_RAM_ZERO_INIT bool pidStabilisationEnabled;
static FAST_RAM bool inCrashRecoveryMode = false;
static FAST_RAM_ZERO_INIT bool inCrashRecoveryMode = false;
static FAST_RAM float dT;
static FAST_RAM_ZERO_INIT float dT;
PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
@ -162,7 +162,7 @@ void pidResetITerm(void)
}
}
static FAST_RAM_INITIALIZED float itermAccelerator = 1.0f;
static FAST_RAM float itermAccelerator = 1.0f;
void pidSetItermAccelerator(float newItermAccelerator)
{
@ -189,14 +189,14 @@ typedef union dtermLowpass_u {
#endif
} dtermLowpass_t;
static FAST_RAM filterApplyFnPtr dtermNotchApplyFn;
static FAST_RAM biquadFilter_t dtermNotch[2];
static FAST_RAM filterApplyFnPtr dtermLowpassApplyFn;
static FAST_RAM dtermLowpass_t dtermLowpass[2];
static FAST_RAM filterApplyFnPtr dtermLowpass2ApplyFn;
static FAST_RAM pt1Filter_t dtermLowpass2[2];
static FAST_RAM filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM pt1Filter_t ptermYawLowpass;
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermNotchApplyFn;
static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpassApplyFn;
static FAST_RAM_ZERO_INIT dtermLowpass_t dtermLowpass[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpass2ApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t dtermLowpass2[2];
static FAST_RAM_ZERO_INIT filterApplyFnPtr ptermYawLowpassApplyFn;
static FAST_RAM_ZERO_INIT pt1Filter_t ptermYawLowpass;
void pidInitFilters(const pidProfile_t *pidProfile)
{
@ -289,25 +289,25 @@ typedef struct pidCoefficient_s {
float Kd;
} pidCoefficient_t;
static FAST_RAM pidCoefficient_t pidCoefficient[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;
FAST_RAM float throttleBoost;
static FAST_RAM_ZERO_INIT pidCoefficient_t pidCoefficient[3];
static FAST_RAM_ZERO_INIT float maxVelocity[3];
static FAST_RAM_ZERO_INIT float relaxFactor;
static FAST_RAM_ZERO_INIT float dtermSetpointWeight;
static FAST_RAM_ZERO_INIT float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, horizonFactorRatio;
static FAST_RAM_ZERO_INIT float ITermWindupPointInv;
static FAST_RAM_ZERO_INIT uint8_t horizonTiltExpertMode;
static FAST_RAM_ZERO_INIT timeDelta_t crashTimeLimitUs;
static FAST_RAM_ZERO_INIT timeDelta_t crashTimeDelayUs;
static FAST_RAM_ZERO_INIT int32_t crashRecoveryAngleDeciDegrees;
static FAST_RAM_ZERO_INIT float crashRecoveryRate;
static FAST_RAM_ZERO_INIT float crashDtermThreshold;
static FAST_RAM_ZERO_INIT float crashGyroThreshold;
static FAST_RAM_ZERO_INIT float crashSetpointThreshold;
static FAST_RAM_ZERO_INIT float crashLimitYaw;
static FAST_RAM_ZERO_INIT float itermLimit;
FAST_RAM_ZERO_INIT float throttleBoost;
pt1Filter_t throttleLpf;
static FAST_RAM bool itermRotation;
static FAST_RAM_ZERO_INIT bool itermRotation;
void pidInitConfig(const pidProfile_t *pidProfile)
{