From 02415eb69bbf9d5c1bb2dde3699cb106e4ace31b Mon Sep 17 00:00:00 2001
From: Peter van der Perk <peter.vanderperk@nxp.com>
Date: Thu, 4 Jan 2024 16:13:15 +0100
Subject: [PATCH] [BACKPORT] fmu-v6xrt: Tune ITCM function mapping

---
 .../scripts/itcm_functions_includes.ld        | 115 ++++++++++--------
 1 file changed, 62 insertions(+), 53 deletions(-)

diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
index db67b07145..5951ceed77 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
@@ -1,4 +1,66 @@
+/* Static */
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text.arm_svcall)
+*(.text.arm_switchcontext)
+*(.text.board_autoled_on)
+*(.text.clock_timer)
+*(.text.exception_common)
 *(.text.hrt_absolute_time)
+*(.text.hrt_tim_isr)
+*(.text.imxrt_configwaitints)
+*(.text.imxrt_dma_callback)
+*(.text.imxrt_dmach_interrupt)
+*(.text.imxrt_dmaterminate)
+*(.text.imxrt_edma_interrupt)
+*(.text.imxrt_endwait)
+*(.text.imxrt_gpio3_16_31_interrupt)
+*(.text.imxrt_interrupt)
+*(.text.imxrt_lpi2c_isr)
+*(.text.imxrt_recvdma)
+*(.text.imxrt_tcd_free)
+*(.text.imxrt_timerisr)
+*(.text.imxrt_usbinterrupt)
+*(.text.irq_dispatch)
+*(.text.memcpy)
+*(.text.nxsched_add_blocked)
+*(.text.nxsched_add_prioritized)
+*(.text.nxsched_add_readytorun)
+*(.text.nxsched_get_files)
+*(.text.nxsched_get_tcb)
+*(.text.nxsched_merge_pending)
+*(.text.nxsched_process_timer)
+*(.text.nxsched_remove_blocked)
+*(.text.nxsched_remove_readytorun)
+*(.text.nxsched_resume_scheduler)
+*(.text.nxsched_suspend_scheduler)
+*(.text.nxsem_add_holder)
+*(.text.nxsem_add_holder_tcb)
+*(.text.nxsem_clockwait)
+*(.text.nxsem_foreachholder)
+*(.text.nxsem_freecount0holder)
+*(.text.nxsem_freeholder)
+*(.text.nxsem_post)
+*(.text.nxsem_release_holder)
+*(.text.nxsem_restore_baseprio)
+*(.text.nxsem_tickwait)
+*(.text.nxsem_timeout)
+*(.text.nxsem_trywait)
+*(.text.nxsem_wait)
+*(.text.nxsem_wait_uninterruptible)
+*(.text.nxsig_timedwait)
+*(.text.sched_lock)
+*(.text.sched_note_resume)
+*(.text.sched_note_suspend)
+*(.text.sched_unlock)
+*(.text.sq_addafter)
+*(.text.sq_addlast)
+*(.text.sq_rem)
+*(.text.sq_remafter)
+*(.text.sq_remfirst)
+*(.text.uart_connected)
+*(.text.wd_timer)
+/* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
@@ -12,20 +74,16 @@
 *(.text._ZN4uORB12Subscription9subscribeEv.part.0)
 *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
 *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
-*(.text.exception_common)
 *(.text.strcmp)
 *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
 *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
 *(.text._Z12get_orb_meta6ORB_ID)
-*(.text.nxsem_wait)
 *(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text.nxsem_post)
 *(.text._ZN3px49WorkQueue3RunEv)
 *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN4EKF23RunEv)
 *(.text.imxrt_lpspi_exchange)
 *(.text.imxrt_dmach_xfrsetup)
-*(.text.arm_doirq)
 *(.text._ZN7sensors10VehicleIMU7PublishEv)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
 *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
@@ -40,16 +98,11 @@
 *(.text.perf_set_elapsed.part.0)
 *(.text._ZN4uORB12Subscription6updateEPv)
 *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
-*(.text.hrt_tim_isr)
-*(.text.nxsig_timedwait)
-*(.text.nxsem_foreachholder)
 *(.text._ZN7sensors10VehicleIMU3RunEv)
 *(.text.up_unblock_task)
 *(.text.__aeabi_l2f)
 *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
-*(.text.sched_unlock)
 *(.text.pthread_mutex_timedlock)
-*(.text.nxsem_restore_baseprio)
 *(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
 *(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
 *(.text._ZN6device3SPI9_transferEPhS1_j)
@@ -59,12 +112,10 @@
 *(.text.fs_getfilep)
 *(.text.MEM_DataCopy0_1)
 *(.text._ZN7sensors19VehicleAcceleration3RunEv)
-*(.text.sched_note_resume)
 *(.text.uart_ioctl)
 *(.text._ZN26MulticopterPositionControl3RunEv.part.0)
 *(.text.pthread_mutex_take)
 *(.text._ZN14ImuDownSampler6updateERKN9estimator9imuSampleE)
-*(.text.irq_dispatch)
 *(.text._ZN39ControlAllocationSequentialDesaturation6mixYawEv)
 *(.text._ZN16ControlAllocator25publish_actuator_controlsEv.part.0)
 *(.text._ZN9ICM42688P7RunImplEv)
@@ -74,39 +125,27 @@
 *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text.wd_start)
-*(.text.sq_rem)
-*(.text.nxsem_add_holder_tcb)
-*(.text.imxrt_dmaterminate)
 *(.text.hrt_call_enter)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text.nxsched_add_blocked)
-*(.text.arm_switchcontext)
 *(.text._ZN3Ekf19fixCovarianceErrorsEb)
-*(.text.nxsched_add_prioritized)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text.ioctl)
 *(.text._ZN6events12SendProtocol6updateERKy)
-*(.text.imxrt_dmach_interrupt)
-*(.text.sched_lock)
 *(.text._ZN6device3SPI8transferEPhS1_j)
 *(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
 *(.text.hrt_call_internal)
-*(.text.arm_svcall)
 *(.text._ZN39ControlAllocationSequentialDesaturation18mixAirmodeDisabledEv)
 *(.text._ZN7Mavlink15get_free_tx_bufEv)
 *(.text.nx_poll)
-*(.text.sched_note_suspend)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
-*(.text.nxsem_freecount0holder)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
 *(.text._ZN24MavlinkStreamCommandLong4sendEv)
 *(.text._ZN9Commander3runEv)
-*(.text.nxsem_release_holder)
 *(.text._ZN3Ekf17predictCovarianceERKN9estimator9imuSampleE)
 *(.text.wd_cancel)
 *(.text._ZN7Sensors3RunEv)
@@ -123,16 +162,13 @@
 *(.text._ZN16ControlAllocator32publish_control_allocator_statusEi)
 *(.text.__ieee754_atan2f)
 *(.text._ZNK18DynamicSparseLayer3getEt)
-*(.text.nxsched_remove_readytorun)
 *(.text.__udivmoddi4)
 *(.text._ZN8Failsafe17checkStateAndModeERKyRKN12FailsafeBase5StateERK16failsafe_flags_s)
 *(.text._ZN29MavlinkStreamHygrometerSensor4sendEv)
-*(.text.nxsched_remove_blocked)
 *(.text.pthread_mutex_give)
 *(.text._ZN3Ekf18controlFusionModesERKN9estimator9imuSampleE)
 *(.text._ZN4cdev4CDev11poll_notifyEm)
 *(.text.file_vioctl)
-*(.text.wd_timer)
 *(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
 *(.text.nxsig_nanosleep)
 *(.text.imxrt_lpspi1select)
@@ -148,7 +184,6 @@
 *(.text.cdcuart_ioctl)
 *(.text.cdcacm_sndpacket)
 *(.text._ZN7sensors22VehicleAngularVelocity16SensorBiasUpdateEb)
-*(.text.nxsched_merge_pending)
 *(.text._ZN13MavlinkStream11update_dataEv)
 *(.text._ZN7sensors18VotedSensorsUpdate21calcGyroInconsistencyEv)
 *(.text.param_set_used)
@@ -162,18 +197,14 @@
 *(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
-*(.text.nxsem_tickwait)
 *(.text.clock_nanosleep)
-*(.text.memcpy)
 *(.text.up_release_pending)
 *(.text.MEM_DataCopy0)
 *(.text._ZN22MavlinkStreamGPSRawInt4sendEv)
 *(.text.dq_rem)
 *(.text._ZN15GyroCalibration3RunEv.part.0)
-*(.text.imxrt_edma_interrupt)
 *(.text._ZN7sensors18VotedSensorsUpdate22calcAccelInconsistencyEv)
 *(.text._ZN24MavlinkStreamADSBVehicle4sendEv)
-*(.text.nxsched_process_timer)
 *(.text.sinf)
 *(.text.hrt_call_after)
 *(.text._ZN39ControlAllocationSequentialDesaturation8allocateEv)
@@ -184,8 +215,6 @@
 *(.text._ZN20MavlinkStreamESCInfo4sendEv)
 *(.text.sem_post)
 *(.text._ZN3px417ScheduledWorkItem15ScheduleDelayedEm)
-*(.text.nxsched_resume_scheduler)
-*(.text.nxsched_add_readytorun)
 *(.text._ZN10FlightTaskC1Ev)
 *(.text.usleep)
 *(.text._ZN14FlightTaskAutoC1Ev)
@@ -194,7 +223,6 @@
 *(.text.imxrt_gpio_write)
 *(.text._ZN3Ekf6updateEv)
 *(.text.__ieee754_acosf)
-*(.text.nxsem_wait_uninterruptible)
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
@@ -204,10 +232,8 @@
 *(.text._ZN18MavlinkStreamDebug4sendEv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE4sendEv)
 *(.text.asinf)
-*(.text.nxsem_freeholder)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_3DcmIfEE)
 *(.text._ZN4EKF227PublishInnovationTestRatiosERKy)
-*(.text.imxrt_gpio3_16_31_interrupt)
 *(.text._ZN4EKF213PublishStatusERKy)
 *(.text._ZN4EKF226PublishInnovationVariancesERKy)
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
@@ -222,7 +248,6 @@
 *(.text._ZNK10ConstLayer3getEt)
 *(.text.__aeabi_uldivmod)
 *(.text.up_udelay)
-*(.text.imxrt_usbinterrupt)
 *(.text.up_idle)
 *(.text._ZN20MavlinkStreamGPS2Raw4sendEv)
 *(.text._ZN4EKF217UpdateCalibrationERKyRNS_19InFlightCalibrationERKN6matrix7Vector3IfEES8_fbb)
@@ -268,11 +293,9 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt4sendEv)
 *(.text._ZN4uORB12Subscription4copyEPv)
 *(.text._ZN7sensors19VehicleAcceleration21SensorSelectionUpdateEb)
-*(.text.nxsem_add_holder)
 *(.text.crc_accumulate)
 *(.text._ZN3px46logger6Logger13update_paramsEv)
 *(.text._ZN11calibration14DeviceExternalEm)
-*(.text.sq_addafter)
 *(.text._ZN25MavlinkStreamHomePosition8get_sizeEv)
 *(.text.imxrt_lpspi_modifyreg32)
 *(.text._ZN7sensors19VehicleAcceleration16SensorBiasUpdateEb)
@@ -280,7 +303,6 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmlEf)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
-*(.text.nxsched_suspend_scheduler)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
 *(.text._ZN3Ekf16fuseVelPosHeightEffi)
 *(.text._ZN3Ekf23controlBaroHeightFusionEv)
@@ -294,7 +316,6 @@
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
 *(.text._ZN3Ekf16controlMagFusionEv)
-*(.text.nxsem_clockwait)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
 *(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
@@ -302,13 +323,11 @@
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
 *(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
-*(.text.imxrt_tcd_free)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
 *(.text.perf_event_count)
 *(.text._ZN4EKF215PublishAttitudeERKy)
 *(.text._ZN19MavlinkStreamRawRpm8get_sizeEv)
-*(.text.nxsem_trywait)
 *(.text._ZNK3px46atomicIbE4loadEv)
 *(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
 *(.text.pthread_mutex_add)
@@ -332,7 +351,6 @@
 *(.text._ZN3Ekf31checkVerticalAccelerationHealthERKN9estimator9imuSampleE)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
-*(.text.nxsem_timeout)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
@@ -396,7 +414,6 @@
 *(.text._ZN17MavlinkLogHandler4sendEv)
 *(.text._ZN7control10SuperBlock5setDtEf)
 *(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
-*(.text.board_autoled_on)
 *(.text._ZN5PX4IO13io_get_statusEv)
 *(.text._ZN26MulticopterAttitudeControl3RunEv)
 *(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
@@ -432,7 +449,6 @@
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
 *(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
-*(.text.nxsched_get_tcb)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
@@ -455,7 +471,6 @@
 *(.text._ZN6Sticks25checkAndUpdateStickInputsEv)
 *(.text.atan2f)
 *(.text._ZN23MavlinkStreamRCChannels4sendEv)
-*(.text.sq_remfirst)
 *(.text._ZN4EKF221UpdateExtVisionSampleER17ekf2_timestamps_s)
 *(.text.imxrt_dmach_stop)
 *(.text._ZN9Commander16handleAutoDisarmEv)
@@ -488,7 +503,6 @@
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
 *(.text._ZN4EKF217PublishEventFlagsERKy)
-*(.text.sq_remafter)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)
@@ -593,7 +607,6 @@
 *(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
 *(.text._ZNK6matrix6VectorIfLj2EE4normEv)
 *(.text._Z15arm_auth_updateyb)
-*(.text.imxrt_lpi2c_isr)
 *(.text._ZN3LED5ioctlEP4fileim)
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
@@ -627,13 +640,11 @@
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text.imxrt_timerisr)
 *(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
 *(.text._ZN3Ekf20controlFakeHgtFusionEv)
-*(.text.sq_addlast)
 *(.text.imxrt_reqcomplete)
 *(.text._ZNK6matrix7Vector3IfEmlEf)
 *(.text._ZN18ZeroVelocityUpdate6updateER3EkfRKN9estimator9imuSampleE)
@@ -653,7 +664,6 @@
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
 *(.text.uart_xmitchars_done)
-*(.text.nxsched_get_files)
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
 *(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
@@ -702,7 +712,6 @@
 *(.text._ZThn8_N3ADC3RunEv)
 *(.text._ZN11StickTiltXYC1EP12ModuleParams)
 *(.text._ZN12SafetyButton3RunEv)
-*(.text.arm_ack_irq)
 *(.text._ZN6BMP38811set_op_modeEh)
 *(.text._ZN3GPS8callbackE15GPSCallbackTypePviS1_)
 *(.text._ZN13AnalogBattery19get_current_channelEv)