Marked crucial functions inlined into ITCM-RAM explicitly
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@ -835,7 +835,7 @@ bool processRx(timeUs_t currentTimeUs)
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return true;
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}
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static void subTaskPidController(timeUs_t currentTimeUs)
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static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
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{
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uint32_t startTime = 0;
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if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
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@ -951,7 +951,7 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
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DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
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}
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static void subTaskMotorUpdate(timeUs_t currentTimeUs)
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static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
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{
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uint32_t startTime = 0;
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if (debugMode == DEBUG_CYCLETIME) {
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@ -540,7 +540,7 @@ static void handleItermRotation()
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// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
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// Based on 2DOF reference design (matlab)
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void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
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void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
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{
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static float previousGyroRateDterm[2];
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static float previousPidSetpoint[2];
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