From 13ca44423d1290dae0907085c5b973f244e3a5b9 Mon Sep 17 00:00:00 2001
From: Martin Luessi <mluessi@gmail.com>
Date: Thu, 1 Jun 2023 12:30:48 -0700
Subject: [PATCH] AP_HAL_ChibiOS: Move more time critical code to RAM for H750

---
 .../hwdef/common/common_extf_h750.ld            | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld
index 2ff9ede68e..f5279e4c71 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf_h750.ld
@@ -125,6 +125,8 @@ SECTIONS
         /**libg_nano.a:*memset*(.text*)
         *libg_nano.a:*memcpy*(.text*)*/
         *libm.a:*(.text*)
+        *libc_nano.a:*memcpy*(.text*)
+        *libgcc.a:*(.text*)
         /* For some reason boards won't boot if libc is in RAM, but will with debug on */
         /**libc_nano.a:*(.text* .rodata*)
         *libstdc++_nano.a:(.text* .rodata*)*/
@@ -154,6 +156,7 @@ SECTIONS
         lib/lib*.a:*Filter2p.*(.text* .rodata*)
         lib/lib*.a:SPIDevice.*(.text* .rodata*)
         lib/lib*.a:I2CDevice.*(.text* .rodata*)
+        lib/lib*.a:UARTDriver.*(.text* .rodata*)
         lib/lib*.a:Util.*(.text* .rodata*)
         lib/lib*.a:Device.*(.text* .rodata*)
         lib/lib*.a:Scheduler.*(.text* .rodata*)
@@ -164,13 +167,20 @@ SECTIONS
         lib/lib*.a:matrix_alg.*(.text* .rodata*)
         lib/lib*.a:AP_NavEKF3*.*(.text* .rodata*)
         lib/lib*.a:AP_NavEKF_*.*(.text* .rodata*)
+        lib/lib*.a:AP_AHRS*.*(.text* .rodata*)
         lib/lib*.a:EKF*.*(.text* .rodata*)
+        lib/lib*.a:AP_Scheduler.*(.text* .rodata*)
+        lib/lib*.a:AP_InertialSensor*(.text* .rodata*)
         lib/lib*.a:AP_Compass_Backend.*(.text* .rodata*)
         lib/lib*.a:AP_RCProtocol_Backend.*(.text* .rodata*)
         lib/lib*.a:AP_RCProtocol.*(.text* .rodata*)
         lib/lib*.a:AP_RCProtocol_CRSF.*(.text* .rodata*)
         lib/lib*.a:AP_RCTelemetry.*(.text* .rodata*)
         lib/lib*.a:AP_CRSF_Telem.*(.text* .rodata*)
+        lib/lib*.a:AP_MotorsMatrix.*(.text* .rodata*)
+        lib/lib*.a:RC_Channel.*(.text* .rodata*)
+        lib/lib*.a:RCInput.*(.text* .rodata*)
+        lib/lib*.a:RCOutput.*(.text* .rodata*)
         lib/lib*.a:vector2.*(.text* .rodata*)
         lib/lib*.a:quaternion.*(.text* .rodata*)
         lib/lib*.a:polygon.*(.text* .rodata*)
@@ -178,6 +188,8 @@ SECTIONS
         /* uncomment these to test CPUInfo in FLASH_RAM */
         /*Tools/CPUInfo/CPUInfo.*(.text* .rodata*)
         Tools/CPUInfo/EKF_Maths.*(.text* .rodata*)*/
+        lib/lib*.a:AC_AttitudeControl*.*(.text* .rodata*)
+        lib/lib*.a:AC_PID*.*(.text* .rodata*)
         *(.ramfunc*)
         . = ALIGN(4);
     } > flashram AT > default_flash
@@ -216,6 +228,7 @@ SECTIONS
         lib/lib*.a:vector3.*(.rodata*)
         lib/lib*.a:matrix3.*(.rodata*)
         *libm.a:*(.rodata*)
+        ArduCopter/Copter.*(.rodata*)
         *(.ramdata*)
         . = ALIGN(4);
     } > dataram AT > default_flash
@@ -253,13 +266,13 @@ SECTIONS
     .ARM.extab :
     {
         *(.ARM.extab* .gnu.linkonce.armextab.*)
-    } > default_flash
+    } > instram AT > default_flash
 
     .ARM.exidx : {
         __exidx_start = .;
         *(.ARM.exidx* .gnu.linkonce.armexidx.*)
         __exidx_end = .;
-     } > default_flash
+     } > instram AT > default_flash
 
     .eh_frame_hdr :
     {