diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 48eeb52530..0c5e7f3b5b 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -600,7 +600,7 @@ void processRx(timeUs_t currentTimeUs)
 #endif
 }
 
-static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
+static void subTaskPidController(timeUs_t currentTimeUs)
 {
     uint32_t startTime = 0;
     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
@@ -609,7 +609,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
     DEBUG_SET(DEBUG_PIDLOOP, 1, micros() - startTime);
 }
 
-static FAST_CODE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
+static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
 {
     uint32_t startTime = 0;
     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
@@ -683,7 +683,7 @@ static FAST_CODE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
     DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
 }
 
-static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
+static void subTaskMotorUpdate(timeUs_t currentTimeUs)
 {
     uint32_t startTime = 0;
     if (debugMode == DEBUG_CYCLETIME) {
@@ -711,7 +711,7 @@ static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
     DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
 }
 
-FAST_CODE uint8_t setPidUpdateCountDown(void)
+uint8_t setPidUpdateCountDown(void)
 {
     if (gyroConfig()->gyro_soft_lpf_hz) {
         return pidConfig()->pid_process_denom - 1;
@@ -721,7 +721,7 @@ FAST_CODE uint8_t setPidUpdateCountDown(void)
 }
 
 // Function for loop trigger
-FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
+void taskMainPidLoop(timeUs_t currentTimeUs)
 {
     static uint8_t pidUpdateCountdown = 0;
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index d6686970bd..abc300999a 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -482,7 +482,7 @@ void mixerResetDisarmedMotors(void)
     }
 }
 
-FAST_CODE void writeMotors(void)
+void writeMotors(void)
 {
     if (pwmAreMotorsEnabled()) {
         for (int i = 0; i < motorCount; i++) {
@@ -520,7 +520,7 @@ static FAST_RAM float motorRangeMax;
 static FAST_RAM float motorOutputRange;
 static FAST_RAM int8_t motorOutputMixSign;
 
-static FAST_CODE void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
+static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
 {
     static uint16_t rcThrottlePrevious = 0;   // Store the last throttle direction for deadband transitions
     static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
@@ -637,7 +637,7 @@ static void applyFlipOverAfterCrashModeToMotors(void)
     }
 }
 
-static FAST_CODE void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
+static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
 {
     // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
     // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
@@ -668,7 +668,7 @@ static FAST_CODE void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
     }
 }
 
-FAST_CODE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
+void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
 {
     if (isFlipOverAfterCrashMode()) {
         applyFlipOverAfterCrashModeToMotors();
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ba32b5f703..46db64289e 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -405,7 +405,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint)
 
 // 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)
-FAST_CODE void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
+void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
 {
     static float previousRateError[2];
     const float tpaFactor = getThrottlePIDAttenuation();
diff --git a/src/main/sensors/gyroanalyse.c b/src/main/sensors/gyroanalyse.c
index 5b4f1a0615..1c3a7c0e30 100644
--- a/src/main/sensors/gyroanalyse.c
+++ b/src/main/sensors/gyroanalyse.c
@@ -136,7 +136,7 @@ const gyroFftData_t *gyroFftData(int axis)
     return &fftResult[axis];
 }
 
-FAST_CODE bool isDynamicFilterActive(void)
+bool isDynamicFilterActive(void)
 {
     return feature(FEATURE_DYNAMIC_FILTER);
 }
@@ -144,7 +144,7 @@ FAST_CODE bool isDynamicFilterActive(void)
 /*
  * Collect gyro data, to be analysed in gyroDataAnalyseUpdate function
  */
-FAST_CODE void gyroDataAnalyse(const gyroDev_t *gyroDev, biquadFilter_t *notchFilterDyn)
+void gyroDataAnalyse(const gyroDev_t *gyroDev, biquadFilter_t *notchFilterDyn)
 {
     if (!isDynamicFilterActive()) {
         return;
@@ -197,7 +197,7 @@ typedef enum {
 /*
  * Analyse last gyro data from the last FFT_WINDOW_SIZE milliseconds
  */
-FAST_CODE void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
+void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
 {
     static int axis = 0;
     static int step = 0;
diff --git a/src/main/target/KISSFCV2F7/stm32_flash_f722_no_split.ld b/src/main/target/KISSFCV2F7/stm32_flash_f722_no_split.ld
index 20c215538a..ad06053459 100644
--- a/src/main/target/KISSFCV2F7/stm32_flash_f722_no_split.ld
+++ b/src/main/target/KISSFCV2F7/stm32_flash_f722_no_split.ld
@@ -16,6 +16,9 @@ ENTRY(Reset_Handler)
 /* Specify the memory areas */
 MEMORY
 {
+    ITCM_ISR (rx)     : ORIGIN = 0x00000000, LENGTH = 1K
+    ITCM_RAM (rx)     : ORIGIN = 0x00000400, LENGTH = 15K
+
     /* Bootloader stays in the first sector (16K) */
     FLASH_CONFIG (r)  : ORIGIN = 0x08004000, LENGTH = 16K /*second (16K) sector for eeprom emulation*/
     FLASH (rx)        : ORIGIN = 0x08008000, LENGTH = 480K /*main fw*/
@@ -27,6 +30,7 @@ MEMORY
 
 /* note TCM could be used for stack */
 REGION_ALIAS("STACKRAM", TCM)
+REGION_ALIAS("FASTRAM", TCM)
 
 
 /* Entry Point */
@@ -55,6 +59,19 @@ SECTIONS
     . = ALIGN(4);
   } >FLASH
 
+  /* Critical program code goes into ITCM RAM */
+  /* Copy specific fast-executing code to ITCM RAM */ 
+  tcm_code = LOADADDR(.tcm_code); 
+  .tcm_code :
+  {
+    . = ALIGN(4);
+    tcm_code_start = .; 
+    *(.tcm_code)
+    *(.tcm_code*)
+    . = ALIGN(4);
+    tcm_code_end = .; 
+  } >ITCM_RAM AT >FLASH
+
   /* The program code and other data goes into FLASH */
   .text :
   {
diff --git a/src/main/target/KISSFCV2F7/target.mk b/src/main/target/KISSFCV2F7/target.mk
index 86ea87a949..25e86b723b 100644
--- a/src/main/target/KISSFCV2F7/target.mk
+++ b/src/main/target/KISSFCV2F7/target.mk
@@ -1,7 +1,7 @@
 F7X2RE_TARGETS += $(TARGET)
-LD_SCRIPT       =    $(ROOT)/src/main/target/$(TARGET)/stm32_flash_f722_no_split.ld
-CFLAGS +=             -D'CUSTOM_VECT_TAB_OFFSET=0x8000' \
-			      -DCLOCK_SOURCE_USE_HSI
+LD_SCRIPT       = $(ROOT)/src/main/target/$(TARGET)/stm32_flash_f722_no_split.ld
+CFLAGS +=         -D'CUSTOM_VECT_TAB_OFFSET=0x8000' \
+                  -DCLOCK_SOURCE_USE_HSI
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c 
diff --git a/src/main/target/common_fc_pre.h b/src/main/target/common_fc_pre.h
index 4e2c655052..5098f59714 100644
--- a/src/main/target/common_fc_pre.h
+++ b/src/main/target/common_fc_pre.h
@@ -53,6 +53,7 @@
 #endif
 
 #ifdef STM32F7
+#define USE_ITCM_RAM
 #define USE_DSHOT
 #define USE_DSHOT_DMAR
 #define USE_ESC_SENSOR
@@ -80,7 +81,7 @@
 #define FAST_CODE __attribute__((section(".tcm_code")))
 #else
 #define FAST_CODE
-#endif
+#endif // USE_ITCM_RAM
 
 #ifdef USE_FAST_RAM
 #ifdef __APPLE__
diff --git a/src/main/target/link/stm32_flash_f722.ld b/src/main/target/link/stm32_flash_f722.ld
index b4f390fa21..598e936d82 100644
--- a/src/main/target/link/stm32_flash_f722.ld
+++ b/src/main/target/link/stm32_flash_f722.ld
@@ -41,4 +41,4 @@ MEMORY
 REGION_ALIAS("STACKRAM", TCM)
 REGION_ALIAS("FASTRAM", TCM)
 
-INCLUDE "stm32_flash_split.ld"
+INCLUDE "stm32_flash_f7_split.ld"
diff --git a/src/main/target/link/stm32_flash_f745.ld b/src/main/target/link/stm32_flash_f745.ld
index f5d8f81f3b..078f0fb8bb 100644
--- a/src/main/target/link/stm32_flash_f745.ld
+++ b/src/main/target/link/stm32_flash_f745.ld
@@ -34,4 +34,4 @@ MEMORY
 REGION_ALIAS("STACKRAM", TCM)
 REGION_ALIAS("FASTRAM", TCM)
 
-INCLUDE "stm32_flash_split.ld"
+INCLUDE "stm32_flash_f7_split.ld"
diff --git a/src/main/target/link/stm32_flash_f746.ld b/src/main/target/link/stm32_flash_f746.ld
index 2ca0791f79..d50fd3fd94 100644
--- a/src/main/target/link/stm32_flash_f746.ld
+++ b/src/main/target/link/stm32_flash_f746.ld
@@ -34,4 +34,4 @@ MEMORY
 REGION_ALIAS("STACKRAM", TCM)
 REGION_ALIAS("FASTRAM", TCM)
 
-INCLUDE "stm32_flash_split.ld"
+INCLUDE "stm32_flash_f7_split.ld"
diff --git a/src/main/target/link/stm32_flash_f7_split.ld b/src/main/target/link/stm32_flash_f7_split.ld
new file mode 100644
index 0000000000..f56d6dcab9
--- /dev/null
+++ b/src/main/target/link/stm32_flash_f7_split.ld
@@ -0,0 +1,182 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash_f7_split.ld
+**
+**  Abstract    : Common linker script for STM32 devices.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(STACKRAM) + LENGTH(STACKRAM);    /* end of RAM */
+
+/* Base address where the config is stored. */
+__config_start = ORIGIN(FLASH_CONFIG);
+__config_end = ORIGIN(FLASH_CONFIG) + LENGTH(FLASH_CONFIG);
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0;      /* required amount of heap  */
+_Min_Stack_Size = 0x800; /* required amount of stack */
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    PROVIDE (isr_vector_table_base = .);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* Critical program code goes into ITCM RAM */
+  /* Copy specific fast-executing code to ITCM RAM */ 
+  tcm_code = LOADADDR(.tcm_code); 
+  .tcm_code :
+  {
+    . = ALIGN(4);
+    tcm_code_start = .; 
+    *(.tcm_code)
+    *(.tcm_code*)
+    . = ALIGN(4);
+    tcm_code_end = .; 
+  } >ITCM_RAM AT >FLASH1
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH1
+
+  .ARM.extab   : 
+  { 
+    *(.ARM.extab* .gnu.linkonce.armextab.*) 
+  } >FLASH
+  
+  .ARM : 
+  {
+    __exidx_start = .;
+    *(.ARM.exidx*) __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(.fini_array*))
+    KEEP (*(SORT(.fini_array.*)))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+  
+  .pg_registry :
+  {
+    PROVIDE_HIDDEN (__pg_registry_start = .);
+    KEEP (*(.pg_registry))
+    KEEP (*(SORT(.pg_registry.*)))
+    PROVIDE_HIDDEN (__pg_registry_end = .);
+  } >FLASH
+  
+  .pg_resetdata :
+  {
+    PROVIDE_HIDDEN (__pg_resetdata_start = .);
+    KEEP (*(.pg_resetdata))
+    PROVIDE_HIDDEN (__pg_resetdata_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = .;
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM AT >FLASH
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(SORT_BY_ALIGNMENT(.bss*))
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  _heap_stack_end = ORIGIN(STACKRAM)+LENGTH(STACKRAM) - 8; /* 8 bytes to allow for alignment */
+  _heap_stack_begin = _heap_stack_end - _Min_Stack_Size  - _Min_Heap_Size;
+  . = _heap_stack_begin;
+  ._user_heap_stack :
+  {
+    . = ALIGN(4);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(4);
+  } >STACKRAM = 0xa5
+
+  /* MEMORY_bank1 section, code must be located here explicitly            */
+  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
+  .memory_b1_text :
+  {
+    *(.mb1text)        /* .mb1text sections (code) */
+    *(.mb1text*)       /* .mb1text* sections (code)  */
+    *(.mb1rodata)      /* read-only data (constants) */
+    *(.mb1rodata*)
+  } >MEMORY_B1
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
diff --git a/src/main/target/stm32f7xx_hal_conf.h b/src/main/target/stm32f7xx_hal_conf.h
index e8114a5a07..98a158d128 100644
--- a/src/main/target/stm32f7xx_hal_conf.h
+++ b/src/main/target/stm32f7xx_hal_conf.h
@@ -158,8 +158,8 @@
 #define  VDD_VALUE                    ((uint32_t)3300U) /*!< Value of VDD in mv */
 #define  TICK_INT_PRIORITY            ((uint32_t)0U)    /*!< tick interrupt priority */
 #define  USE_RTOS                     0U
-#define  PREFETCH_ENABLE              0U
-#define  ART_ACCLERATOR_ENABLE        0U /* To enable instruction cache and prefetch */
+#define  PREFETCH_ENABLE              1U
+#define  ART_ACCLERATOR_ENABLE        1U /* To enable instruction cache and prefetch */
 #define  INSTRUCTION_CACHE_ENABLE     1U
 #define  DATA_CACHE_ENABLE            0U