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 #ifdef STM32F1
  32 #define MINIMAL_CLI
  33 // Using RX DMA disables the use of receive callbacks
  34 #define USE_UART1_RX_DMA
  35 #define USE_UART1_TX_DMA
  36 #endif
  37
  38 #ifdef STM32F3
  39 #define MINIMAL_CLI
  40 #define USE_DSHOT
  41 #define USE_DYN_NOTCH_FILTER
  42 #define USE_CCM_CODE
  43 #endif
  44
  45 #ifdef STM32F4
  46 #if defined(STM32F40_41xxx)
  47 #define USE_FAST_DATA
  48 #endif
  49 #define USE_DSHOT
  50 #define USE_DSHOT_BITBANG
  51 #define USE_DSHOT_TELEMETRY
  52 #define USE_DSHOT_TELEMETRY_STATS
  53 #define USE_RPM_FILTER
  54 #define USE_DYN_IDLE
  55 #define USE_DYN_NOTCH_FILTER
  56 #define USE_ADC_INTERNAL
  57 #define USE_USB_CDC_HID
  58 #define USE_USB_MSC
  59 #define USE_PERSISTENT_MSC_RTC
  60 #define USE_MCO
  61 #define USE_DMA_SPEC
  62 #define USE_TIMER_MGMT
  63 #define USE_PERSISTENT_OBJECTS
  64 #define USE_CUSTOM_DEFAULTS_ADDRESS
  65 #define USE_LATE_TASK_STATISTICS
  66
  67 #if defined(STM32F40_41xxx) || defined(STM32F411xE)
  68 #define USE_OVERCLOCK
  69 #endif
  70 #endif // STM32F4
  71
  72 #ifdef STM32F7
  73 #define USE_ITCM_RAM
  74 #define ITCM_RAM_OPTIMISATION "-O2"
  75 #define USE_FAST_DATA
  76 #define USE_DSHOT
  77 #define USE_DSHOT_BITBANG
  78 #define USE_DSHOT_TELEMETRY
  79 #define USE_DSHOT_TELEMETRY_STATS
  80 #define USE_RPM_FILTER
  81 #define USE_DYN_IDLE
  82 #define USE_DYN_NOTCH_FILTER
  83 #define USE_OVERCLOCK
  84 #define USE_ADC_INTERNAL
  85 #define USE_USB_CDC_HID
  86 #define USE_USB_MSC
  87 #define USE_PERSISTENT_MSC_RTC
  88 #define USE_MCO
  89 #define USE_DMA_SPEC
  90 #define USE_TIMER_MGMT
  91 #define USE_PERSISTENT_OBJECTS
  92 #define USE_CUSTOM_DEFAULTS_ADDRESS
  93 #define USE_LATE_TASK_STATISTICS
  94 #endif // STM32F7
  95
  96 #ifdef STM32H7
  97 #define USE_ITCM_RAM
  98 #define USE_FAST_DATA
  99 #define USE_DSHOT
 100 #define USE_DSHOT_BITBANG
 101 #define USE_DSHOT_TELEMETRY
 102 #define USE_DSHOT_TELEMETRY_STATS
 103 #define USE_RPM_FILTER
 104 #define USE_DYN_IDLE
 105 #define USE_DYN_NOTCH_FILTER
 106 #define USE_ADC_INTERNAL
 107 #define USE_USB_CDC_HID
 108 #define USE_DMA_SPEC
 109 #define USE_TIMER_MGMT
 110 #define USE_PERSISTENT_OBJECTS
 111 #define USE_DMA_RAM
 112 #define USE_USB_MSC
 113 #define USE_RTC_TIME
 114 #define USE_PERSISTENT_MSC_RTC
 115 #define USE_DSHOT_CACHE_MGMT
 116 #define USE_LATE_TASK_STATISTICS
 117 #endif
 118
 119 #ifdef STM32G4
 120 #define USE_FAST_RAM
 121 #define USE_DSHOT
 122 #define USE_DSHOT_BITBANG
 123 #define USE_DSHOT_TELEMETRY
 124 #define USE_DSHOT_TELEMETRY_STATS
 125 #define USE_RPM_FILTER
 126 #define USE_DYN_IDLE
 127 #define USE_OVERCLOCK
 128 #define USE_DYN_NOTCH_FILTER
 129 #define USE_ADC_INTERNAL
 130 #define USE_USB_MSC
 131 #define USE_USB_CDC_HID
 132 #define USE_MCO
 133 #define USE_DMA_SPEC
 134 #define USE_TIMER_MGMT
 135 #define USE_LATE_TASK_STATISTICS
 136 #endif
 137
 138 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 139 #define TASK_GYROPID_DESIRED_PERIOD     125 // 125us = 8kHz
 140 #define SCHEDULER_DELAY_LIMIT           10
 141 #else
 142 #define TASK_GYROPID_DESIRED_PERIOD     1000 // 1000us = 1kHz
 143 #define SCHEDULER_DELAY_LIMIT           100
 144 #endif
 145
 146 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
 147 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
 148 #else
 149 #define DEFAULT_AUX_CHANNEL_COUNT       6
 150 #endif
 151
 152 // Set the default cpu_overclock to the first level (108MHz) for F411
 153 // Helps with looptime stability as the CPU is borderline when running native gyro sampling
 154 #if defined(USE_OVERCLOCK) && defined(STM32F411xE)
 155 #define DEFAULT_CPU_OVERCLOCK 1
 156 #else
 157 #define DEFAULT_CPU_OVERCLOCK 0
 158 #endif
 159
 160 #if defined(STM32H7)
 161 // Move ISRs to fast ram to avoid flash latency.
 162 #define FAST_IRQ_HANDLER FAST_CODE
 163 #else
 164 #define FAST_IRQ_HANDLER
 165 #endif
 166
 167
 168 #ifdef USE_ITCM_RAM
 169 #if defined(ITCM_RAM_OPTIMISATION) && !defined(DEBUG)
 170 #define FAST_CODE                   __attribute__((section(".tcm_code"))) __attribute__((optimize(ITCM_RAM_OPTIMISATION)))
 171 #else
 172 #define FAST_CODE                   __attribute__((section(".tcm_code")))
 173 #endif
 174 // Handle case where we'd prefer code to be in ITCM, but it won't fit on the F745
 175 #ifdef STM32F745xx
 176 #define FAST_CODE_PREF
 177 #else
 178 #define FAST_CODE_PREF                  __attribute__((section(".tcm_code")))
 179 #endif
 180 #define FAST_CODE_NOINLINE          NOINLINE
 181 #else
 182 #define FAST_CODE
 183 #define FAST_CODE_PREF
 184 #define FAST_CODE_NOINLINE
 185 #endif // USE_ITCM_RAM
 186
 187 #ifdef USE_CCM_CODE
 188 #define CCM_CODE                    __attribute__((section(".ccm_code")))
 189 #else
 190 #define CCM_CODE
 191 #endif
 192
 193 #ifdef USE_FAST_DATA
 194 #define FAST_DATA_ZERO_INIT         __attribute__ ((section(".fastram_bss"), aligned(4)))
 195 #define FAST_DATA                   __attribute__ ((section(".fastram_data"), aligned(4)))
 196 #else
 197 #define FAST_DATA_ZERO_INIT
 198 #define FAST_DATA
 199 #endif // USE_FAST_DATA
 200
 201 #if defined(STM32F4) || defined(STM32G4)
 202 // F4 can't DMA to/from CCM (core coupled memory) SRAM (where the stack lives)
 203 // On G4 there is no specific DMA target memory
 204 #define DMA_DATA_ZERO_INIT
 205 #define DMA_DATA
 206 #define STATIC_DMA_DATA_AUTO        static
 207 #elif defined (STM32F7)
 208 // F7 has no cache coherency issues DMAing to/from DTCM, otherwise buffers must be cache aligned
 209 #define DMA_DATA_ZERO_INIT          FAST_DATA_ZERO_INIT
 210 #define DMA_DATA                    FAST_DATA
 211 #define STATIC_DMA_DATA_AUTO        static DMA_DATA
 212 #else
 213 // DMA to/from any memory
 214 #define DMA_DATA_ZERO_INIT          __attribute__ ((section(".dmaram_bss"), aligned(32)))
 215 #define DMA_DATA                    __attribute__ ((section(".dmaram_data"), aligned(32)))
 216 #define STATIC_DMA_DATA_AUTO        static DMA_DATA
 217 #endif
 218
 219 #if defined(STM32F4) || defined (STM32H7)
 220 // Data in RAM which is guaranteed to not be reset on hot reboot
 221 #define PERSISTENT                  __attribute__ ((section(".persistent_data"), aligned(4)))
 222 #endif
 223
 224 #ifdef USE_DMA_RAM
 225 #if defined(STM32H7)
 226 #define DMA_RAM __attribute__((section(".DMA_RAM"), aligned(32)))
 227 #define DMA_RW_AXI __attribute__((section(".DMA_RW_AXI"), aligned(32)))
 228 extern uint8_t _dmaram_start__;
 229 extern uint8_t _dmaram_end__;
 230 #elif defined(STM32G4)
 231 #define DMA_RAM_R __attribute__((section(".DMA_RAM_R")))
 232 #define DMA_RAM_W __attribute__((section(".DMA_RAM_W")))
 233 #define DMA_RAM_RW __attribute__((section(".DMA_RAM_RW")))
 234 #endif
 235 #else
 236 #define DMA_RAM
 237 #define DMA_RW_AXI
 238 #define DMA_RAM_R
 239 #define DMA_RAM_W
 240 #define DMA_RAM_RW
 241 #endif
 242
 243 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 244
 245 #define USE_MOTOR
 246 #define USE_PWM_OUTPUT
 247 #define USE_DMA
 248 #define USE_TIMER
 249
 250 #define USE_CLI
 251 #define USE_SERIAL_PASSTHROUGH
 252 #define USE_GYRO_REGISTER_DUMP  // Adds gyroregisters command to cli to dump configured register values
 253 #define USE_IMU_CALC
 254 #define USE_PPM
 255 #define USE_SERIAL_RX
 256 #define USE_SERIALRX_CRSF       // Team Black Sheep Crossfire protocol
 257 #define USE_SERIALRX_GHST       // ImmersionRC Ghost Protocol
 258 #define USE_SERIALRX_IBUS       // FlySky and Turnigy receivers
 259 #define USE_SERIALRX_SBUS       // Frsky and Futaba receivers
 260 #define USE_SERIALRX_SPEKTRUM   // SRXL, DSM2 and DSMX protocol
 261 #define USE_SERIALRX_SUMD       // Graupner Hott protocol
 262
 263 #if (TARGET_FLASH_SIZE > 128)
 264 #define PID_PROFILE_COUNT 3
 265 #define CONTROL_RATE_PROFILE_COUNT  6
 266 #else
 267 #define PID_PROFILE_COUNT 2
 268 #define CONTROL_RATE_PROFILE_COUNT  3
 269 #endif
 270
 271 #if (TARGET_FLASH_SIZE > 64)
 272 #define USE_ACRO_TRAINER
 273 #define USE_BLACKBOX
 274 #define USE_CLI_BATCH
 275 #define USE_RESOURCE_MGMT
 276 #define USE_RUNAWAY_TAKEOFF     // Runaway Takeoff Prevention (anti-taz)
 277 #define USE_SERVOS
 278 #define USE_TELEMETRY
 279 #define USE_TELEMETRY_FRSKY_HUB
 280 #define USE_TELEMETRY_SMARTPORT
 281 #endif
 282
 283 #if (TARGET_FLASH_SIZE > 128)
 284 #define USE_GYRO_OVERFLOW_CHECK
 285 #define USE_YAW_SPIN_RECOVERY
 286 #define USE_DSHOT_DMAR
 287 #define USE_SERIALRX_FPORT      // FrSky FPort
 288 #define USE_TELEMETRY_CRSF
 289 #define USE_TELEMETRY_GHST
 290 #define USE_TELEMETRY_SRXL
 291
 292 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 12))
 293 #define USE_CMS
 294 #define USE_MSP_DISPLAYPORT
 295 #define USE_MSP_OVER_TELEMETRY
 296 #define USE_OSD_OVER_MSP_DISPLAYPORT
 297 #define USE_LED_STRIP
 298 #endif
 299
 300 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 11))
 301 #define USE_VTX_COMMON
 302 #define USE_VTX_CONTROL
 303 #define USE_VTX_SMARTAUDIO
 304 #define USE_VTX_TRAMP
 305 #endif
 306
 307 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 10))
 308 #define USE_VIRTUAL_CURRENT_METER
 309 #define USE_CAMERA_CONTROL
 310 #define USE_ESC_SENSOR
 311 #define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 312 #define USE_RCDEVICE
 313 #endif
 314
 315 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 9))
 316 #define USE_GYRO_LPF2
 317 #endif
 318
 319 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 8))
 320 #define USE_LAUNCH_CONTROL
 321 #define USE_DYN_LPF
 322 #define USE_D_MIN
 323 #endif
 324
 325 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 7))
 326 #define USE_THROTTLE_BOOST
 327 #define USE_INTEGRATED_YAW_CONTROL
 328 #endif
 329
 330 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 6))
 331 #define USE_ITERM_RELAX
 332 #define USE_RC_SMOOTHING_FILTER
 333 #define USE_THRUST_LINEARIZATION
 334 #define USE_TPA_MODE
 335 #endif
 336
 337 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 5))
 338 #define USE_PWM
 339 #endif
 340
 341 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 4))
 342 #define USE_HUFFMAN
 343 #define USE_PINIO
 344 #define USE_PINIOBOX
 345 #endif
 346
 347 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 3))
 348 #ifdef USE_SERIALRX_SPEKTRUM
 349 #define USE_SPEKTRUM_BIND
 350 #define USE_SPEKTRUM_BIND_PLUG
 351 #define USE_SPEKTRUM_REAL_RSSI
 352 #define USE_SPEKTRUM_FAKE_RSSI
 353 #define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
 354 #define USE_SPEKTRUM_VTX_CONTROL
 355 #define USE_SPEKTRUM_VTX_TELEMETRY
 356 #define USE_SPEKTRUM_CMS_TELEMETRY
 357 #define USE_PIN_PULL_UP_DOWN
 358 #endif
 359 #endif
 360
 361 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 2))
 362 #define USE_TELEMETRY_HOTT
 363 #define USE_TELEMETRY_LTM
 364 #define USE_SERIALRX_SUMH       // Graupner legacy protocol
 365 #define USE_SERIALRX_XBUS       // JR
 366 #endif
 367
 368 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 1))
 369 #define USE_BOARD_INFO
 370 #define USE_EXTENDED_CMS_MENUS
 371 #define USE_RTC_TIME
 372 #define USE_RX_MSP
 373 #define USE_ESC_SENSOR_INFO
 374 #define USE_CRSF_CMS_TELEMETRY
 375 #define USE_CRSF_LINK_STATISTICS
 376 #define USE_RX_RSSI_DBM
 377 #endif
 378
 379 #endif // TARGET_FLASH_SIZE > 128
 380
 381 #if (TARGET_FLASH_SIZE > 256)
 382 #define USE_AIRMODE_LPF
 383 #define USE_CANVAS
 384 #define USE_FRSKYOSD
 385 #define USE_GPS
 386 #define USE_GPS_NMEA
 387 #define USE_GPS_UBLOX
 388 #define USE_GPS_RESCUE
 389 #define USE_GYRO_DLPF_EXPERIMENTAL
 390 #define USE_OSD
 391 #define USE_OSD_OVER_MSP_DISPLAYPORT
 392 #define USE_MULTI_GYRO
 393 #define USE_OSD_ADJUSTMENTS
 394 #define USE_SENSOR_NAMES
 395 #define USE_SERIALRX_JETIEXBUS
 396 #define USE_TELEMETRY_IBUS
 397 #define USE_TELEMETRY_IBUS_EXTENDED
 398 #define USE_TELEMETRY_JETIEXBUS
 399 #define USE_TELEMETRY_MAVLINK
 400 #define USE_UNCOMMON_MIXERS
 401 #define USE_SIGNATURE
 402 #define USE_ABSOLUTE_CONTROL
 403 #define USE_HOTT_TEXTMODE
 404 #define USE_LED_STRIP_STATUS_MODE
 405 #define USE_VARIO
 406 #define USE_RX_LINK_QUALITY_INFO
 407 #define USE_ESC_SENSOR_TELEMETRY
 408 #define USE_OSD_PROFILES
 409 #define USE_OSD_STICK_OVERLAY
 410 #define USE_CMS_FAILSAFE_MENU
 411 #define USE_CMS_GPS_RESCUE_MENU
 412 #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
 413 #define USE_VTX_TABLE
 414 #define USE_PERSISTENT_STATS
 415 #define USE_PROFILE_NAMES
 416 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
 417 #define USE_FEEDFORWARD
 418 #define USE_CUSTOM_BOX_NAMES
 419 #define USE_BATTERY_VOLTAGE_SAG_COMPENSATION
 420 #define USE_RX_MSP_OVERRIDE
 421 #define USE_SIMPLIFIED_TUNING
 422 #define USE_RX_LINK_UPLINK_POWER
 423 #define USE_CRSF_V3
 424 #endif
 425
 426 #if (TARGET_FLASH_SIZE > 512)
 427 #define USE_ESCSERIAL_SIMONK
 428 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 429 #define USE_DASHBOARD
 430 #define USE_EMFAT_AUTORUN
 431 #define USE_EMFAT_ICON
 432 #define USE_GPS_PLUS_CODES
 433 #endif