Use ITCM on v5x

boards/px4/fmu-v5x/nuttx-config/Kconfig

@@ -15,3 +15,8 @@ config BOARD_USE_PROBES
 
 	---help---
 		Select to use GPIO FMU-CH1-8, CAP1  to provide timing signals from selected drivers.
+
+config BOARD_USE_RAMFUNCS
+	bool "Allow the usage of RAM functions on this board"
+	default n
+	select ARCH_HAVE_RAMFUNCS

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -67,6 +67,7 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
@@ -75,6 +76,7 @@ CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_USE_RAMFUNCS=y
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y

boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld

@@ -0,0 +1,15 @@
+*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
+*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
+*(.text._ZN7Mavlink16update_rate_multEv)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+*(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
+*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
+*(.text._Z32param_get_default_value_internaltPv)
+*(.text._ZL19param_get_cplusplustPf.isra.0)
+*(.text.param_get_index)
+*(.text.param_get_system_default_value)
+*(.text.param_get)
+*(.text.param_get_default_value)
+*(.text._Z12get_orb_meta6ORB_ID)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)

boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld

@@ -0,0 +1,82 @@
+/* Static */
+*(.text.hrt_absolute_time)
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text.arm_svcall)
+*(.text.arm_switchcontext)
+*(.text.clock_timer)
+*(.text.exception_common)
+*(.text.hrt_call_enter)
+*(.text.hrt_tim_isr)
+*(.text.stm32_configwaitints)
+*(.text.stm32_dmainterrupt)
+*(.text.stm32_dmaresidual)
+*(.text.stm32_dmasetup)
+*(.text.stm32_dmastart)
+*(.text.stm32_endwait)
+*(.text.stm32_endtransfer)
+*(.text.stm32_i2c_isr)
+*(.text.stm32_i2c_transfer)
+*(.text.stm32_interrupt)
+*(.text.stm32_interrupt_work)
+*(.text.stm32_ioctl)
+*(.text.stm32_receive)
+*(.text.stm32_sdmmc_interrupt)
+*(.text.stm32_txpoll)
+*(.text.stm32_usbinterrupt)
+*(.text.irq_dispatch)
+*(.text.ioctl)
+*(.text.memcpy)
+*(.text.memset)
+*(.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.perf_set_elapsed)
+*(.text.sched_lock)
+*(.text.sched_note_resume)
+*(.text.sched_note_suspend)
+*(.text.sched_unlock)
+*(.text.spi_exchange)
+*(.text.spi_exchange_nodma)
+*(.text.spi_send)
+*(.text.strcmp)
+*(.text.sq_addafter)
+*(.text.sq_addlast)
+*(.text.sq_rem)
+*(.text.sq_remafter)
+*(.text.sq_remfirst)
+*(.text.uart_connected)
+*(.text.up_block_task)
+*(.text.up_dma_receive)
+*(.text.up_dma_send)
+*(.text.up_dma_rxcallback)
+*(.text.up_dma_txcallback)
+*(.text.up_rxint)
+*(.text.up_txint)
+*(.text.up_unblock_task)
+*(.text.wd_timer)
+*(.text.wd_start)
+*(.text._do_memcpy)

boards/px4/fmu-v5x/nuttx-config/scripts/script.ld

@@ -94,9 +94,23 @@ EXTERN(board_get_manifest)
 
 SECTIONS
 {
+	.vectors : {
+		KEEP(*(.vectors))
+		*(.vectors)
+	} > FLASH_AXIM
+
+	.ramfunc : {
+		_sramfuncs = .;
+		INCLUDE "itcm_static_functions.ld"
+		INCLUDE "itcm_gen_functions.ld"
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH_AXIM
+
+	_framfuncs = LOADADDR(.ramfunc);
+
 	.text : {
 		_stext = ABSOLUTE(.);
-		*(.vectors)
 		. = ALIGN(32);
 		/*
 		This signature provides the bootloader with a way to delay booting
@@ -115,7 +129,6 @@ SECTIONS
 		*(.gcc_except_table)
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
-
 	} > FLASH_AXIM
 
 	/*
@@ -178,13 +191,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH_AXIM
-
-	_framfuncs = LOADADDR(.ramfunc);
 }

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit f71309197ba90f347987afe71ff779a7c9eae374
+Subproject commit eaf77e7e1a9ef418ce589269d12967348b04c20b