Second iteration of makinf F7 fast

src/main/blackbox/blackbox.c

@@ -520,10 +520,10 @@ static blackboxGpsState_t gpsHistory;
 static blackboxSlowState_t slowHistory;
 
 // Keep a history of length 2, plus a buffer for MW to store the new values into
-static blackboxMainState_t blackboxHistoryRing[3];
+static EXTENDED_FASTRAM blackboxMainState_t blackboxHistoryRing[3];
 
 // These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
-static blackboxMainState_t* blackboxHistory[3];
+static EXTENDED_FASTRAM blackboxMainState_t* blackboxHistory[3];
 
 static bool blackboxModeActivationConditionPresent = false;
 

src/main/fc/fc_core.c

@@ -637,7 +637,7 @@ void processRx(timeUs_t currentTimeUs)
 }
 
 // Function for loop trigger
-void taskGyro(timeUs_t currentTimeUs) {
+void FAST_CODE NOINLINE taskGyro(timeUs_t currentTimeUs) {
     // getTaskDeltaTime() returns delta time frozen at the moment of entering the scheduler. currentTime is frozen at the very same point.
     // To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
     const timeDelta_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);

src/main/fc/runtime_config.c

@@ -24,11 +24,11 @@
 
 #include "io/beeper.h"
 
-uint32_t armingFlags = 0;
+EXTENDED_FASTRAM uint32_t armingFlags = 0;
-uint32_t stateFlags = 0;
+EXTENDED_FASTRAM uint32_t stateFlags = 0;
-uint32_t flightModeFlags = 0;
+EXTENDED_FASTRAM uint32_t flightModeFlags = 0;
 
-static uint32_t enabledSensors = 0;
+static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
 
 #if !defined(CLI_MINIMAL_VERBOSITY)
 const char *armingDisableFlagNames[]= {
@@ -80,7 +80,7 @@ uint32_t disableFlightMode(flightModeFlags_e mask)
     return flightModeFlags;
 }
 
-bool sensors(uint32_t mask)
+bool FAST_CODE NOINLINE sensors(uint32_t mask)
 {
     return enabledSensors & mask;
 }

src/main/flight/pid.c

@@ -531,7 +531,7 @@ static void FAST_CODE pidApplyFixedWingRateController(pidState_t *pidState, flig
 #endif
 }
 
-static void pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis)
+static void FAST_CODE pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis)
 {
     const float rateError = pidState->rateTarget - pidState->gyroRate;
 

src/main/navigation/navigation.c

@@ -3168,7 +3168,7 @@ bool navigationRTHAllowsLanding(void)
         (allow == NAV_RTH_ALLOW_LANDING_FS_ONLY && FLIGHT_MODE(FAILSAFE_MODE));
 }
 
-bool isNavLaunchEnabled(void)
+bool FAST_CODE isNavLaunchEnabled(void)
 {
     return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
 }

src/main/navigation/navigation_fw_launch.c

@@ -70,7 +70,7 @@ typedef struct FixedWingLaunchState_s {
     bool motorControlAllowed;
 } FixedWingLaunchState_t;
 
-static FixedWingLaunchState_t   launchState;
+static EXTENDED_FASTRAM FixedWingLaunchState_t   launchState;
 
 #define COS_MAX_LAUNCH_ANGLE                0.70710678f                 // cos(45), just to be safe
 #define SWING_LAUNCH_MIN_ROTATION_RATE      DEGREES_TO_RADIANS(100)     // expect minimum 100dps rotation rate
@@ -106,7 +106,7 @@ void resetFixedWingLaunchController(timeUs_t currentTimeUs)
     launchState.motorControlAllowed = false;
 }
 
-bool isFixedWingLaunchDetected(void)
+bool FAST_CODE isFixedWingLaunchDetected(void)
 {
     return launchState.launchDetected;
 }
@@ -117,7 +117,7 @@ void enableFixedWingLaunchController(timeUs_t currentTimeUs)
     launchState.motorControlAllowed = true;
 }
 
-bool isFixedWingLaunchFinishedOrAborted(void)
+bool FAST_CODE isFixedWingLaunchFinishedOrAborted(void)
 {
     return launchState.launchFinished;
 }

src/main/navigation/navigation_pos_estimator.c

@@ -784,7 +784,7 @@ void initializePositionEstimator(void)
  * Update estimator
  *  Update rate: loop rate (>100Hz)
  */
-void updatePositionEstimator(void)
+void FAST_CODE NOINLINE updatePositionEstimator(void)
 {
     static bool isInitialized = false;
 

src/main/scheduler/scheduler.c

@@ -178,7 +178,7 @@ void setTaskEnabled(cfTaskId_e taskId, bool enabled)
     }
 }
 
-timeDelta_t getTaskDeltaTime(cfTaskId_e taskId)
+timeDelta_t FAST_CODE NOINLINE getTaskDeltaTime(cfTaskId_e taskId)
 {
     if (taskId == TASK_SELF) {
         return currentTask->taskLatestDeltaTime;
@@ -212,7 +212,7 @@ void schedulerInit(void)
     queueAdd(&cfTasks[TASK_SYSTEM]);
 }
 
-void scheduler(void)
+void FAST_CODE NOINLINE scheduler(void)
 {
     // Cache currentTime
     const timeUs_t currentTimeUs = micros();