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