src/main/target/common_pre.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #define USE_PARAMETER_GROUPS
  24 // type conversion warnings.
  25 // -Wconversion can be turned on to enable the process of eliminating these warnings
  26 //#pragma GCC diagnostic warning "-Wconversion"
  27 #pragma GCC diagnostic ignored "-Wsign-conversion"
  28 // -Wpadded can be turned on to check padding of structs
  29 //#pragma GCC diagnostic warning "-Wpadded"
  30
  31 //#define SCHEDULER_DEBUG // define this to use scheduler debug[] values. Undefined by default for performance reasons
  32
  33 #ifdef STM32F1
  34 #define MINIMAL_CLI
  35 // Using RX DMA disables the use of receive callbacks
  36 #define USE_UART1_RX_DMA
  37 #define USE_UART1_TX_DMA
  38 #endif
  39
  40 #ifdef STM32F3
  41 #define MINIMAL_CLI
  42 #define USE_DSHOT
  43 #define USE_GYRO_DATA_ANALYSE
  44 #define USE_CCM_CODE
  45 #endif
  46
  47 #ifdef STM32F4
  48 #if defined(STM32F40_41xxx)
  49 #define USE_FAST_DATA
  50 #endif
  51 #define USE_DSHOT
  52 #define USE_DSHOT_BITBANG
  53 #define USE_DSHOT_TELEMETRY
  54 #define USE_DSHOT_TELEMETRY_STATS
  55 #define USE_RPM_FILTER
  56 #define USE_DYN_IDLE
  57 #define USE_GYRO_DATA_ANALYSE
  58 #define USE_ADC
  59 #define USE_ADC_INTERNAL
  60 #define USE_USB_CDC_HID
  61 #define USE_USB_MSC
  62 #define USE_PERSISTENT_MSC_RTC
  63 #define USE_MCO
  64 #define USE_DMA_SPEC
  65 #define USE_TIMER_MGMT
  66 #define USE_PERSISTENT_OBJECTS
  67 #define USE_CUSTOM_DEFAULTS_ADDRESS
  68 #define USE_SPI_TRANSACTION
  69
  70 #if defined(STM32F40_41xxx) || defined(STM32F411xE)
  71 #define USE_OVERCLOCK
  72 #endif
  73
  74 #endif // STM32F4
  75
  76 #ifdef STM32F7
  77 #define USE_ITCM_RAM
  78 #define USE_FAST_DATA
  79 #define USE_DSHOT
  80 #define USE_DSHOT_BITBANG
  81 #define USE_DSHOT_TELEMETRY
  82 #define USE_DSHOT_TELEMETRY_STATS
  83 #define USE_RPM_FILTER
  84 #define USE_DYN_IDLE
  85 #define USE_GYRO_DATA_ANALYSE
  86 #define USE_OVERCLOCK
  87 #define USE_ADC_INTERNAL
  88 #define USE_USB_CDC_HID
  89 #define USE_USB_MSC
  90 #define USE_PERSISTENT_MSC_RTC
  91 #define USE_MCO
  92 #define USE_DMA_SPEC
  93 #define USE_TIMER_MGMT
  94 #define USE_PERSISTENT_OBJECTS
  95 #define USE_CUSTOM_DEFAULTS_ADDRESS
  96 #define USE_SPI_TRANSACTION
  97 #endif // STM32F7
  98
  99 #ifdef STM32H7
 100 #define USE_ITCM_RAM
 101 #define USE_FAST_DATA
 102 #define USE_DSHOT
 103 #define USE_DSHOT_BITBANG
 104 #define USE_DSHOT_TELEMETRY
 105 #define USE_DSHOT_TELEMETRY_STATS
 106 #define USE_RPM_FILTER
 107 #define USE_DYN_IDLE
 108 #define USE_GYRO_DATA_ANALYSE
 109 #define USE_ADC_INTERNAL
 110 #define USE_USB_CDC_HID
 111 #define USE_DMA_SPEC
 112 #define USE_TIMER_MGMT
 113 #define USE_PERSISTENT_OBJECTS
 114 #define USE_DMA_RAM
 115 #define USE_USB_MSC
 116 #define USE_RTC_TIME
 117 #define USE_PERSISTENT_MSC_RTC
 118 #define USE_DSHOT_CACHE_MGMT
 119 #define USE_LATE_TASK_STATISTICS
 120 #endif
 121
 122 #ifdef STM32G4
 123 #define USE_FAST_RAM
 124 #define USE_DSHOT
 125 #define USE_DSHOT_BITBANG
 126 #define USE_DSHOT_TELEMETRY
 127 #define USE_DSHOT_TELEMETRY_STATS
 128 #define USE_RPM_FILTER
 129 #define USE_DYN_IDLE
 130 #define USE_OVERCLOCK
 131 #define USE_GYRO_DATA_ANALYSE
 132 #define USE_ADC_INTERNAL
 133 #define USE_USB_MSC
 134 #define USE_USB_CDC_HID
 135 #define USE_MCO
 136 #define USE_DMA_SPEC
 137 #define USE_TIMER_MGMT
 138 #endif
 139
 140 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 141 #define TASK_GYROPID_DESIRED_PERIOD     125 // 125us = 8kHz
 142 #define SCHEDULER_DELAY_LIMIT           10
 143 #else
 144 #define TASK_GYROPID_DESIRED_PERIOD     1000 // 1000us = 1kHz
 145 #define SCHEDULER_DELAY_LIMIT           100
 146 #endif
 147
 148 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
 149 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
 150 #else
 151 #define DEFAULT_AUX_CHANNEL_COUNT       6
 152 #endif
 153
 154 // Set the default cpu_overclock to the first level (108MHz) for F411
 155 // Helps with looptime stability as the CPU is borderline when running native gyro sampling
 156 #if defined(USE_OVERCLOCK) && defined(STM32F411xE)
 157 #define DEFAULT_CPU_OVERCLOCK 1
 158 #else
 159 #define DEFAULT_CPU_OVERCLOCK 0
 160 #endif
 161
 162
 163 #ifdef USE_ITCM_RAM
 164 #define FAST_CODE                   __attribute__((section(".tcm_code")))
 165 #define FAST_CODE_NOINLINE          NOINLINE
 166 #else
 167 #define FAST_CODE
 168 #define FAST_CODE_NOINLINE
 169 #endif // USE_ITCM_RAM
 170
 171 #ifdef USE_CCM_CODE
 172 #define CCM_CODE              __attribute__((section(".ccm_code")))
 173 #else
 174 #define CCM_CODE
 175 #endif
 176
 177 #ifdef USE_FAST_DATA
 178 #define FAST_DATA_ZERO_INIT          __attribute__ ((section(".fastram_bss"), aligned(4)))
 179 #define FAST_DATA                    __attribute__ ((section(".fastram_data"), aligned(4)))
 180 #else
 181 #define FAST_DATA_ZERO_INIT
 182 #define FAST_DATA
 183 #endif // USE_FAST_DATA
 184
 185 #if defined(STM32F4) || defined (STM32H7)
 186 // Data in RAM which is guaranteed to not be reset on hot reboot
 187 #define PERSISTENT                  __attribute__ ((section(".persistent_data"), aligned(4)))
 188 #endif
 189
 190 #ifdef USE_DMA_RAM
 191 #if defined(STM32H7)
 192 #define DMA_RAM __attribute__((section(".DMA_RAM")))
 193 #define DMA_RW_AXI __attribute__((section(".DMA_RW_AXI")))
 194 #elif defined(STM32G4)
 195 #define DMA_RAM_R __attribute__((section(".DMA_RAM_R")))
 196 #define DMA_RAM_W __attribute__((section(".DMA_RAM_W")))
 197 #define DMA_RAM_RW __attribute__((section(".DMA_RAM_RW")))
 198 #endif
 199 #else
 200 #define DMA_RAM
 201 #define DMA_RW_AXI
 202 #define DMA_RAM_R
 203 #define DMA_RAM_W
 204 #define DMA_RAM_RW
 205 #endif
 206
 207 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 208
 209 #define USE_MOTOR
 210 #define USE_PWM_OUTPUT
 211 #define USE_DMA
 212 #define USE_TIMER
 213
 214 #define USE_CLI
 215 #define USE_SERIAL_PASSTHROUGH
 216 #define USE_TASK_STATISTICS
 217 #define USE_GYRO_REGISTER_DUMP  // Adds gyroregisters command to cli to dump configured register values
 218 #define USE_IMU_CALC
 219 #define USE_PPM
 220 #define USE_SERIAL_RX
 221 #define USE_SERIALRX_CRSF       // Team Black Sheep Crossfire protocol
 222 #define USE_SERIALRX_GHST       // ImmersionRC Ghost Protocol
 223 #define USE_SERIALRX_IBUS       // FlySky and Turnigy receivers
 224 #define USE_SERIALRX_SBUS       // Frsky and Futaba receivers
 225 #define USE_SERIALRX_SPEKTRUM   // SRXL, DSM2 and DSMX protocol
 226 #define USE_SERIALRX_SUMD       // Graupner Hott protocol
 227
 228 #if (TARGET_FLASH_SIZE > 128)
 229 #define PID_PROFILE_COUNT 3
 230 #define CONTROL_RATE_PROFILE_COUNT  6
 231 #else
 232 #define PID_PROFILE_COUNT 2
 233 #define CONTROL_RATE_PROFILE_COUNT  3
 234 #endif
 235
 236 #if (TARGET_FLASH_SIZE > 64)
 237 #define USE_ACRO_TRAINER
 238 #define USE_BLACKBOX
 239 #define USE_CLI_BATCH
 240 #define USE_RESOURCE_MGMT
 241 #define USE_RUNAWAY_TAKEOFF     // Runaway Takeoff Prevention (anti-taz)
 242 #define USE_SERVOS
 243 #define USE_TELEMETRY
 244 #define USE_TELEMETRY_FRSKY_HUB
 245 #define USE_TELEMETRY_SMARTPORT
 246 #endif
 247
 248 #if (TARGET_FLASH_SIZE > 128)
 249 #define USE_GYRO_OVERFLOW_CHECK
 250 #define USE_YAW_SPIN_RECOVERY
 251 #define USE_DSHOT_DMAR
 252 #define USE_SERIALRX_FPORT      // FrSky FPort
 253 #define USE_TELEMETRY_CRSF
 254 #define USE_TELEMETRY_GHST
 255 #define USE_TELEMETRY_SRXL
 256
 257 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 12))
 258 #define USE_CMS
 259 #define USE_MSP_DISPLAYPORT
 260 #define USE_MSP_OVER_TELEMETRY
 261 #define USE_OSD_OVER_MSP_DISPLAYPORT
 262 #define USE_LED_STRIP
 263 #endif
 264
 265 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 11))
 266 #define USE_VTX_COMMON
 267 #define USE_VTX_CONTROL
 268 #define USE_VTX_SMARTAUDIO
 269 #define USE_VTX_TRAMP
 270 #endif
 271
 272 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 10))
 273 #define USE_VIRTUAL_CURRENT_METER
 274 #define USE_CAMERA_CONTROL
 275 #define USE_ESC_SENSOR
 276 #define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 277 #define USE_RCDEVICE
 278 #endif
 279
 280 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 9))
 281 #define USE_GYRO_LPF2
 282 #endif
 283
 284 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 8))
 285 #define USE_LAUNCH_CONTROL
 286 #define USE_DYN_LPF
 287 #define USE_D_MIN
 288 #endif
 289
 290 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 7))
 291 #define USE_THROTTLE_BOOST
 292 #define USE_INTEGRATED_YAW_CONTROL
 293 #endif
 294
 295 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 6))
 296 #define USE_ITERM_RELAX
 297 #define USE_RC_SMOOTHING_FILTER
 298 #define USE_THRUST_LINEARIZATION
 299 #define USE_TPA_MODE
 300 #endif
 301
 302 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 5))
 303 #define USE_PWM
 304 #endif
 305
 306 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 4))
 307 #define USE_HUFFMAN
 308 #define USE_PINIO
 309 #define USE_PINIOBOX
 310 #endif
 311
 312 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 3))
 313 #ifdef USE_SERIALRX_SPEKTRUM
 314 #define USE_SPEKTRUM_BIND
 315 #define USE_SPEKTRUM_BIND_PLUG
 316 #define USE_SPEKTRUM_REAL_RSSI
 317 #define USE_SPEKTRUM_FAKE_RSSI
 318 #define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
 319 #define USE_SPEKTRUM_VTX_CONTROL
 320 #define USE_SPEKTRUM_VTX_TELEMETRY
 321 #define USE_SPEKTRUM_CMS_TELEMETRY
 322 #define USE_PIN_PULL_UP_DOWN
 323 #endif
 324 #endif
 325
 326 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 2))
 327 #define USE_TELEMETRY_HOTT
 328 #define USE_TELEMETRY_LTM
 329 #define USE_SERIALRX_SUMH       // Graupner legacy protocol
 330 #define USE_SERIALRX_XBUS       // JR
 331 #endif
 332
 333 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 1))
 334 #define USE_BOARD_INFO
 335 #define USE_EXTENDED_CMS_MENUS
 336 #define USE_RTC_TIME
 337 #define USE_RX_MSP
 338 #define USE_ESC_SENSOR_INFO
 339 #define USE_CRSF_CMS_TELEMETRY
 340 #define USE_CRSF_LINK_STATISTICS
 341 #define USE_RX_RSSI_DBM
 342 #endif
 343
 344 #endif // TARGET_FLASH_SIZE > 128
 345
 346 #if (TARGET_FLASH_SIZE > 256)
 347 #define USE_AIRMODE_LPF
 348 #define USE_CANVAS
 349 #define USE_DASHBOARD
 350 #define USE_FRSKYOSD
 351 #define USE_GPS
 352 #define USE_GPS_NMEA
 353 #define USE_GPS_UBLOX
 354 #define USE_GPS_RESCUE
 355 #define USE_GYRO_DLPF_EXPERIMENTAL
 356 #define USE_OSD
 357 #define USE_OSD_OVER_MSP_DISPLAYPORT
 358 #define USE_MULTI_GYRO
 359 #define USE_OSD_ADJUSTMENTS
 360 #define USE_SENSOR_NAMES
 361 #define USE_SERIALRX_JETIEXBUS
 362 #define USE_TELEMETRY_IBUS
 363 #define USE_TELEMETRY_IBUS_EXTENDED
 364 #define USE_TELEMETRY_JETIEXBUS
 365 #define USE_TELEMETRY_MAVLINK
 366 #define USE_UNCOMMON_MIXERS
 367 #define USE_SIGNATURE
 368 #define USE_ABSOLUTE_CONTROL
 369 #define USE_HOTT_TEXTMODE
 370 #define USE_LED_STRIP_STATUS_MODE
 371 #define USE_VARIO
 372 #define USE_RX_LINK_QUALITY_INFO
 373 #define USE_ESC_SENSOR_TELEMETRY
 374 #define USE_OSD_PROFILES
 375 #define USE_OSD_STICK_OVERLAY
 376 #define USE_ESCSERIAL_SIMONK
 377 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 378 #define USE_CMS_FAILSAFE_MENU
 379 #define USE_CMS_GPS_RESCUE_MENU
 380 #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
 381 #define USE_VTX_TABLE
 382 #define USE_PERSISTENT_STATS
 383 #define USE_PROFILE_NAMES
 384 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
 385 #define USE_INTERPOLATED_SP
 386 #define USE_CUSTOM_BOX_NAMES
 387 #define USE_BATTERY_VOLTAGE_SAG_COMPENSATION
 388 #define USE_RX_MSP_OVERRIDE
 389 #define USE_SIMPLIFIED_TUNING
 390 #define USE_RX_LINK_UPLINK_POWER
 391 #define USE_GPS_PLUS_CODES
 392 #endif