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Code Issues Wiki Activity

Enabled Instruction TCM

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This commit is contained in:
Martin Budden 2017-12-17 09:57:00 +00:00
parent 7a7f1ceda5
commit de5b0d53ff
12 changed files with 222 additions and 22 deletions
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10
src/main/fc/fc_core.c
View file

@ -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;

8
src/main/flight/mixer.c
View file

@ -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();

2
src/main/flight/pid.c
View file

@ -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();

6
src/main/sensors/gyroanalyse.c
View file

@ -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;

17
src/main/target/KISSFCV2F7/stm32_flash_f722_no_split.ld
View file

@ -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 :
{

6
src/main/target/KISSFCV2F7/target.mk
View file

@ -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

3
src/main/target/common_fc_pre.h
View file

@ -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__

2
src/main/target/link/stm32_flash_f722.ld
View file

@ -41,4 +41,4 @@ MEMORY
REGION_ALIAS("STACKRAM", TCM)
REGION_ALIAS("FASTRAM", TCM)
INCLUDE "stm32_flash_split.ld"
INCLUDE "stm32_flash_f7_split.ld"

2
src/main/target/link/stm32_flash_f745.ld
View file

@ -34,4 +34,4 @@ MEMORY
REGION_ALIAS("STACKRAM", TCM)
REGION_ALIAS("FASTRAM", TCM)
INCLUDE "stm32_flash_split.ld"
INCLUDE "stm32_flash_f7_split.ld"

2
src/main/target/link/stm32_flash_f746.ld
View file

@ -34,4 +34,4 @@ MEMORY
REGION_ALIAS("STACKRAM", TCM)
REGION_ALIAS("FASTRAM", TCM)
INCLUDE "stm32_flash_split.ld"
INCLUDE "stm32_flash_f7_split.ld"

182
src/main/target/link/stm32_flash_f7_split.ld Normal file
View file

@ -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) }
}

4
src/main/target/stm32f7xx_hal_conf.h
View file

@ -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