#546 Moved some memory blocks to CCM. Freed around 40k RAM.

bitcraze · May 14, 2020 · 8c925aa · 8c925aa
1 parent be5ae38
commit 8c925aa
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Showing 12 changed files with 19 additions and 17 deletions.
diff --git a/src/deck/core/deck_info.c b/src/deck/core/deck_info.c
@@ -35,6 +35,7 @@
 #include "ow.h"
 #include "crc.h"
 #include "debug.h"
+#include "static_mem.h"
 
 #ifdef DEBUG
   #define DECK_INFO_DBG_PRINT(fmt, ...)  DEBUG_PRINT(fmt, ## __VA_ARGS__)
@@ -43,7 +44,7 @@
 #endif
 
 static int count = 0;
-static DeckInfo deckInfos[DECK_MAX_COUNT];
+NO_DMA_CCM_SAFE_ZERO_INIT static DeckInfo deckInfos[DECK_MAX_COUNT];
 
 static void enumerateDecks(void);
 static void checkPeriphAndGpioConflicts(void);

diff --git a/src/deck/drivers/src/lpsTwrTag.c b/src/deck/drivers/src/lpsTwrTag.c
@@ -44,6 +44,7 @@
 #include "physicalConstants.h"
 #include "configblock.h"
 #include "lpsTdma.h"
+#include "static_mem.h"
 
 #define ANTENNA_OFFSET 154.6   // In meter
 
@@ -100,7 +101,7 @@ static lpsTwrAlgoOptions_t* options = &defaultOptions;
 // Outlier rejection
 #define RANGING_HISTORY_LENGTH 32
 #define OUTLIER_TH 4
-static struct {
+NO_DMA_CCM_SAFE_ZERO_INIT static struct {
   float32_t history[RANGING_HISTORY_LENGTH];
   size_t ptr;
 } rangingStats[LOCODECK_NR_OF_TWR_ANCHORS];

diff --git a/src/hal/src/sensors_bmi088_bmp388.c b/src/hal/src/sensors_bmi088_bmp388.c
@@ -121,7 +121,7 @@ static volatile uint64_t imuIntTimestamp;
 
 static Axis3i16 gyroRaw;
 static Axis3i16 accelRaw;
-static BiasObj gyroBiasRunning;
+NO_DMA_CCM_SAFE_ZERO_INIT static BiasObj gyroBiasRunning;
 static Axis3f gyroBias;
 #if defined(SENSORS_GYRO_BIAS_CALCULATE_STDDEV) && defined (GYRO_BIAS_LIGHT_WEIGHT)
 static Axis3f gyroBiasStdDev;

diff --git a/src/hal/src/sensors_bmi088_spi_bmp388.c b/src/hal/src/sensors_bmi088_spi_bmp388.c
@@ -176,7 +176,7 @@ static volatile uint64_t imuIntTimestamp;
 
 static Axis3i16 gyroRaw;
 static Axis3i16 accelRaw;
-static BiasObj gyroBiasRunning;
+NO_DMA_CCM_SAFE_ZERO_INIT static BiasObj gyroBiasRunning;
 static Axis3f gyroBias;
 #if defined(SENSORS_GYRO_BIAS_CALCULATE_STDDEV) && defined (GYRO_BIAS_LIGHT_WEIGHT)
 static Axis3f gyroBiasStdDev;

diff --git a/src/hal/src/sensors_mpu9250_lps25h.c b/src/hal/src/sensors_mpu9250_lps25h.c
@@ -124,7 +124,7 @@ static volatile uint64_t imuIntTimestamp;
 
 static Axis3i16 gyroRaw;
 static Axis3i16 accelRaw;
-static BiasObj gyroBiasRunning;
+NO_DMA_CCM_SAFE_ZERO_INIT static BiasObj gyroBiasRunning;
 static Axis3f  gyroBias;
 #if defined(SENSORS_GYRO_BIAS_CALCULATE_STDDEV) && defined (GYRO_BIAS_LIGHT_WEIGHT)
 static Axis3f  gyroBiasStdDev;

diff --git a/src/hal/src/syslink.c b/src/hal/src/syslink.c
@@ -55,7 +55,7 @@ static void syslinkRouteIncommingPacket(SyslinkPacket *slp);
 
 static xSemaphoreHandle syslinkAccess;
 
-STATIC_MEM_TASK_ALLOC(syslinkTask, SYSLINK_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(syslinkTask, SYSLINK_TASK_STACKSIZE);
 
 /* Syslink task, handles communication between nrf and stm and dispatch messages
  */

diff --git a/src/modules/src/crtp.c b/src/modules/src/crtp.c
@@ -80,8 +80,8 @@ static xQueueHandle queues[CRTP_NBR_OF_PORTS];
 static volatile CrtpCallback callbacks[CRTP_NBR_OF_PORTS];
 static void updateStats();
 
-STATIC_MEM_TASK_ALLOC(crtpTxTask, CRTP_TX_TASK_STACKSIZE);
-STATIC_MEM_TASK_ALLOC(crtpRxTask, CRTP_RX_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(crtpTxTask, CRTP_TX_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(crtpRxTask, CRTP_RX_TASK_STACKSIZE);
 
 void crtpInit(void)
 {

diff --git a/src/modules/src/estimator_kalman.c b/src/modules/src/estimator_kalman.c
@@ -60,8 +60,6 @@
 #include "estimator_kalman.h"
 #include "kalman_supervisor.h"
 
-#include "stm32f4xx.h"
-
 #include "FreeRTOS.h"
 #include "queue.h"
 #include "task.h"
@@ -213,7 +211,7 @@ static StaticSemaphore_t dataMutexBuffer;
  * For more information, refer to the paper
  */
 
-static kalmanCoreData_t coreData;
+NO_DMA_CCM_SAFE_ZERO_INIT static kalmanCoreData_t coreData;
 
 /**
  * Internal variables. Note that static declaration results in default initialization (to 0)
@@ -270,7 +268,7 @@ static void kalmanTask(void* parameters);
 static bool predictStateForward(uint32_t osTick, float dt);
 static bool updateQueuedMeasurments(const Axis3f *gyro, const uint32_t tick);
 
-STATIC_MEM_TASK_ALLOC(kalmanTask, 3 * configMINIMAL_STACK_SIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(kalmanTask, 3 * configMINIMAL_STACK_SIZE);
 
 // --------------------------------------------------
 

diff --git a/src/modules/src/lighthouse/lighthouse_core.c b/src/modules/src/lighthouse/lighthouse_core.c
@@ -47,6 +47,7 @@
 #include "lighthouse_core.h"
 
 #include "test_support.h"
+#include "static_mem.h"
 
 
 static pulseProcessorResult_t angles;
@@ -67,7 +68,7 @@ static STATS_CNT_RATE_DEFINE(bs1Rate, HALF_SECOND);
 static statsCntRateLogger_t* bsRates[PULSE_PROCESSOR_N_BASE_STATIONS] = {&bs0Rate, &bs1Rate};
 
 static uint16_t pulseWidth[PULSE_PROCESSOR_N_SENSORS];
-static pulseProcessor_t ppState = {};
+NO_DMA_CCM_SAFE_ZERO_INIT static pulseProcessor_t ppState = {};
 
 pulseProcessorProcessPulse_t pulseProcessorProcessPulse = (void*)0;
 

diff --git a/src/modules/src/log.c b/src/modules/src/log.c
@@ -99,7 +99,7 @@ struct log_block {
 };
 
 static struct log_ops logOps[LOG_MAX_OPS];
-static struct log_block logBlocks[LOG_MAX_BLOCKS];
+NO_DMA_CCM_SAFE_ZERO_INIT static struct log_block logBlocks[LOG_MAX_BLOCKS];
 static xSemaphoreHandle logLock;
 static StaticSemaphore_t logLockBuffer;
 
@@ -167,7 +167,7 @@ static int logStopBlock(int id);
 static void logReset();
 static acquisitionType_t acquisitionTypeFromLogType(uint8_t logType);
 
-STATIC_MEM_TASK_ALLOC(logTask, LOG_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(logTask, LOG_TASK_STACKSIZE);
 
 void logInit(void)
 {

diff --git a/src/modules/src/param.c b/src/modules/src/param.c
@@ -100,7 +100,7 @@ static CRTPPacket p;
 
 static bool isInit = false;
 
-STATIC_MEM_TASK_ALLOC(paramTask, PARAM_TASK_STACKSIZE);
+STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(paramTask, PARAM_TASK_STACKSIZE);
 
 void paramInit(void)
 {

diff --git a/src/modules/src/tdoaEngineInstance.c b/src/modules/src/tdoaEngineInstance.c
@@ -28,8 +28,9 @@
 #include "tdoaEngineInstance.h"
 #include "log.h"
 #include "param.h"
+#include "static_mem.h"
 
-tdoaEngineState_t tdoaEngineState;
+NO_DMA_CCM_SAFE_ZERO_INIT tdoaEngineState_t tdoaEngineState;
 
 LOG_GROUP_START(tdoaEngine)
 STATS_CNT_RATE_LOG_ADD(stRx, &tdoaEngineState.stats.packetsReceived)