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 #define I2C1_OVERCLOCK true
  34 #define I2C2_OVERCLOCK true
  35
  36 #ifdef STM32F1
  37 #define MINIMAL_CLI
  38 // Using RX DMA disables the use of receive callbacks
  39 #define USE_UART1_RX_DMA
  40 #define USE_UART1_TX_DMA
  41 #endif
  42
  43 #ifdef STM32F3
  44 #define MINIMAL_CLI
  45 #define USE_DSHOT
  46 #define USE_GYRO_DATA_ANALYSE
  47 #define USE_CCM_CODE
  48 #endif
  49
  50 #ifdef STM32F4
  51 #if defined(STM32F40_41xxx)
  52 #define USE_FAST_DATA
  53 #endif
  54 #define USE_DSHOT
  55 #define USE_DSHOT_BITBANG
  56 #define USE_DSHOT_TELEMETRY
  57 #define USE_DSHOT_TELEMETRY_STATS
  58 #define USE_RPM_FILTER
  59 #define USE_DYN_IDLE
  60 #define I2C3_OVERCLOCK true
  61 #define USE_GYRO_DATA_ANALYSE
  62 #define USE_ADC
  63 #define USE_ADC_INTERNAL
  64 #define USE_USB_CDC_HID
  65 #define USE_USB_MSC
  66 #define USE_PERSISTENT_MSC_RTC
  67 #define USE_MCO
  68 #define USE_DMA_SPEC
  69 #define USE_TIMER_MGMT
  70 #define USE_PERSISTENT_OBJECTS
  71 #define USE_CUSTOM_DEFAULTS_ADDRESS
  72 #define USE_SPI_TRANSACTION
  73
  74 #if defined(STM32F40_41xxx) || defined(STM32F411xE)
  75 #define USE_OVERCLOCK
  76 #endif
  77
  78 #endif // STM32F4
  79
  80 #ifdef STM32F7
  81 #define USE_ITCM_RAM
  82 #define USE_FAST_DATA
  83 #define USE_DSHOT
  84 #define USE_DSHOT_BITBANG
  85 #define USE_DSHOT_TELEMETRY
  86 #define USE_DSHOT_TELEMETRY_STATS
  87 #define USE_RPM_FILTER
  88 #define USE_DYN_IDLE
  89 #define I2C3_OVERCLOCK true
  90 #define I2C4_OVERCLOCK true
  91 #define USE_GYRO_DATA_ANALYSE
  92 #define USE_OVERCLOCK
  93 #define USE_ADC_INTERNAL
  94 #define USE_USB_CDC_HID
  95 #define USE_USB_MSC
  96 #define USE_PERSISTENT_MSC_RTC
  97 #define USE_MCO
  98 #define USE_DMA_SPEC
  99 #define USE_TIMER_MGMT
 100 #define USE_PERSISTENT_OBJECTS
 101 #define USE_CUSTOM_DEFAULTS_ADDRESS
 102 #define USE_SPI_TRANSACTION
 103 #endif // STM32F7
 104
 105 #ifdef STM32H7
 106 #define USE_ITCM_RAM
 107 #define USE_FAST_DATA
 108 #define USE_DSHOT
 109 #define USE_DSHOT_BITBANG
 110 #define USE_DSHOT_TELEMETRY
 111 #define USE_DSHOT_TELEMETRY_STATS
 112 #define USE_RPM_FILTER
 113 #define USE_DYN_IDLE
 114 #define I2C3_OVERCLOCK true
 115 #define I2C4_OVERCLOCK true
 116 #define USE_GYRO_DATA_ANALYSE
 117 #define USE_ADC_INTERNAL
 118 #define USE_USB_CDC_HID
 119 #define USE_DMA_SPEC
 120 #define USE_TIMER_MGMT
 121 #define USE_PERSISTENT_OBJECTS
 122 #define USE_DMA_RAM
 123 #define USE_USB_MSC
 124 #define USE_RTC_TIME
 125 #define USE_PERSISTENT_MSC_RTC
 126 #define USE_DSHOT_CACHE_MGMT
 127 #define USE_LATE_TASK_STATISTICS
 128 #endif
 129
 130 #ifdef STM32G4
 131 #define USE_FAST_RAM
 132 #define USE_DSHOT
 133 #define USE_DSHOT_BITBANG
 134 #define USE_DSHOT_TELEMETRY
 135 #define USE_DSHOT_TELEMETRY_STATS
 136 #define USE_RPM_FILTER
 137 #define USE_DYN_IDLE
 138 #define I2C3_OVERCLOCK true
 139 #define I2C4_OVERCLOCK true
 140 #define USE_OVERCLOCK
 141 #define USE_GYRO_DATA_ANALYSE
 142 #define USE_ADC_INTERNAL
 143 #define USE_USB_MSC
 144 #define USE_USB_CDC_HID
 145 #define USE_MCO
 146 #define USE_DMA_SPEC
 147 #define USE_TIMER_MGMT
 148 #endif
 149
 150 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 151 #define TASK_GYROPID_DESIRED_PERIOD     125 // 125us = 8kHz
 152 #define SCHEDULER_DELAY_LIMIT           10
 153 #else
 154 #define TASK_GYROPID_DESIRED_PERIOD     1000 // 1000us = 1kHz
 155 #define SCHEDULER_DELAY_LIMIT           100
 156 #endif
 157
 158 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
 159 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
 160 #else
 161 #define DEFAULT_AUX_CHANNEL_COUNT       6
 162 #endif
 163
 164 // Set the default cpu_overclock to the first level (108MHz) for F411
 165 // Helps with looptime stability as the CPU is borderline when running native gyro sampling
 166 #if defined(USE_OVERCLOCK) && defined(STM32F411xE)
 167 #define DEFAULT_CPU_OVERCLOCK 1
 168 #else
 169 #define DEFAULT_CPU_OVERCLOCK 0
 170 #endif
 171
 172
 173 #ifdef USE_ITCM_RAM
 174 #define FAST_CODE                   __attribute__((section(".tcm_code")))
 175 #define FAST_CODE_NOINLINE          NOINLINE
 176 #else
 177 #define FAST_CODE
 178 #define FAST_CODE_NOINLINE
 179 #endif // USE_ITCM_RAM
 180
 181 #ifdef USE_CCM_CODE
 182 #define CCM_CODE              __attribute__((section(".ccm_code")))
 183 #else
 184 #define CCM_CODE
 185 #endif
 186
 187 #ifdef USE_FAST_DATA
 188 #define FAST_DATA_ZERO_INIT          __attribute__ ((section(".fastram_bss"), aligned(4)))
 189 #define FAST_DATA                    __attribute__ ((section(".fastram_data"), aligned(4)))
 190 #else
 191 #define FAST_DATA_ZERO_INIT
 192 #define FAST_DATA
 193 #endif // USE_FAST_DATA
 194
 195 #if defined(STM32F4)
 196 // F4 can't DMA to/from CCM (core coupled memory) SRAM (where the stack lives)
 197 #define DMA_DATA_ZERO_INIT
 198 #define DMA_DATA
 199 #define DMA_DATA_AUTO               static
 200 #elif defined (STM32F7)
 201 // F7 has no cache coherency issues DMAing to/from DTCM, otherwise buffers must be cache aligned
 202 #define DMA_DATA_ZERO_INIT          FAST_DATA_ZERO_INIT
 203 #define DMA_DATA                    FAST_DATA
 204 #define DMA_DATA_AUTO               static DMA_DATA
 205 #else
 206 // DMA to/from any memory
 207 #define DMA_DATA_ZERO_INIT          __attribute__ ((section(".dmaram_bss"), aligned(32)))
 208 #define DMA_DATA                    __attribute__ ((section(".dmaram_data"), aligned(32)))
 209 #define DMA_DATA_AUTO               static DMA_DATA
 210 #endif
 211
 212 #if defined(STM32F4) || defined (STM32H7)
 213 // Data in RAM which is guaranteed to not be reset on hot reboot
 214 #define PERSISTENT                  __attribute__ ((section(".persistent_data"), aligned(4)))
 215 #endif
 216
 217 #ifdef USE_DMA_RAM
 218 #if defined(STM32H7)
 219 #define DMA_RAM __attribute__((section(".DMA_RAM"), aligned(32)))
 220 #define DMA_RW_AXI __attribute__((section(".DMA_RW_AXI"), aligned(32)))
 221 extern uint8_t _dmaram_start__;
 222 extern uint8_t _dmaram_end__;
 223 #elif defined(STM32G4)
 224 #define DMA_RAM_R __attribute__((section(".DMA_RAM_R")))
 225 #define DMA_RAM_W __attribute__((section(".DMA_RAM_W")))
 226 #define DMA_RAM_RW __attribute__((section(".DMA_RAM_RW")))
 227 #endif
 228 #else
 229 #define DMA_RAM
 230 #define DMA_RW_AXI
 231 #define DMA_RAM_R
 232 #define DMA_RAM_W
 233 #define DMA_RAM_RW
 234 #endif
 235
 236 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 237
 238 #define USE_MOTOR
 239 #define USE_PWM_OUTPUT
 240 #define USE_DMA
 241 #define USE_TIMER
 242
 243 #define USE_CLI
 244 #define USE_SERIAL_PASSTHROUGH
 245 #define USE_TASK_STATISTICS
 246 #define USE_GYRO_REGISTER_DUMP  // Adds gyroregisters command to cli to dump configured register values
 247 #define USE_IMU_CALC
 248 #define USE_PPM
 249 #define USE_SERIAL_RX
 250 #define USE_SERIALRX_CRSF       // Team Black Sheep Crossfire protocol
 251 #define USE_SERIALRX_GHST       // ImmersionRC Ghost Protocol
 252 #define USE_SERIALRX_IBUS       // FlySky and Turnigy receivers
 253 #define USE_SERIALRX_SBUS       // Frsky and Futaba receivers
 254 #define USE_SERIALRX_SPEKTRUM   // SRXL, DSM2 and DSMX protocol
 255 #define USE_SERIALRX_SUMD       // Graupner Hott protocol
 256
 257 #if (TARGET_FLASH_SIZE > 128)
 258 #define PID_PROFILE_COUNT 3
 259 #define CONTROL_RATE_PROFILE_COUNT  6
 260 #else
 261 #define PID_PROFILE_COUNT 2
 262 #define CONTROL_RATE_PROFILE_COUNT  3
 263 #endif
 264
 265 #if (TARGET_FLASH_SIZE > 64)
 266 #define USE_ACRO_TRAINER
 267 #define USE_BLACKBOX
 268 #define USE_CLI_BATCH
 269 #define USE_RESOURCE_MGMT
 270 #define USE_RUNAWAY_TAKEOFF     // Runaway Takeoff Prevention (anti-taz)
 271 #define USE_SERVOS
 272 #define USE_TELEMETRY
 273 #define USE_TELEMETRY_FRSKY_HUB
 274 #define USE_TELEMETRY_SMARTPORT
 275 #endif
 276
 277 #if (TARGET_FLASH_SIZE > 128)
 278 #define USE_GYRO_OVERFLOW_CHECK
 279 #define USE_YAW_SPIN_RECOVERY
 280 #define USE_DSHOT_DMAR
 281 #define USE_SERIALRX_FPORT      // FrSky FPort
 282 #define USE_TELEMETRY_CRSF
 283 #define USE_TELEMETRY_GHST
 284 #define USE_TELEMETRY_SRXL
 285
 286 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 12))
 287 #define USE_CMS
 288 #define USE_MSP_DISPLAYPORT
 289 #define USE_MSP_OVER_TELEMETRY
 290 #define USE_OSD_OVER_MSP_DISPLAYPORT
 291 #define USE_LED_STRIP
 292 #endif
 293
 294 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 11))
 295 #define USE_VTX_COMMON
 296 #define USE_VTX_CONTROL
 297 #define USE_VTX_SMARTAUDIO
 298 #define USE_VTX_TRAMP
 299 #endif
 300
 301 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 10))
 302 #define USE_VIRTUAL_CURRENT_METER
 303 #define USE_CAMERA_CONTROL
 304 #define USE_ESC_SENSOR
 305 #define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 306 #define USE_RCDEVICE
 307 #endif
 308
 309 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 9))
 310 #define USE_GYRO_LPF2
 311 #endif
 312
 313 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 8))
 314 #define USE_LAUNCH_CONTROL
 315 #define USE_DYN_LPF
 316 #define USE_D_MIN
 317 #endif
 318
 319 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 7))
 320 #define USE_THROTTLE_BOOST
 321 #define USE_INTEGRATED_YAW_CONTROL
 322 #endif
 323
 324 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 6))
 325 #define USE_ITERM_RELAX
 326 #define USE_RC_SMOOTHING_FILTER
 327 #define USE_THRUST_LINEARIZATION
 328 #define USE_TPA_MODE
 329 #endif
 330
 331 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 5))
 332 #define USE_PWM
 333 #endif
 334
 335 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 4))
 336 #define USE_HUFFMAN
 337 #define USE_PINIO
 338 #define USE_PINIOBOX
 339 #endif
 340
 341 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 3))
 342 #ifdef USE_SERIALRX_SPEKTRUM
 343 #define USE_SPEKTRUM_BIND
 344 #define USE_SPEKTRUM_BIND_PLUG
 345 #define USE_SPEKTRUM_REAL_RSSI
 346 #define USE_SPEKTRUM_FAKE_RSSI
 347 #define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
 348 #define USE_SPEKTRUM_VTX_CONTROL
 349 #define USE_SPEKTRUM_VTX_TELEMETRY
 350 #define USE_SPEKTRUM_CMS_TELEMETRY
 351 #define USE_PIN_PULL_UP_DOWN
 352 #endif
 353 #endif
 354
 355 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 2))
 356 #define USE_TELEMETRY_HOTT
 357 #define USE_TELEMETRY_LTM
 358 #define USE_SERIALRX_SUMH       // Graupner legacy protocol
 359 #define USE_SERIALRX_XBUS       // JR
 360 #endif
 361
 362 #if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 1))
 363 #define USE_BOARD_INFO
 364 #define USE_EXTENDED_CMS_MENUS
 365 #define USE_RTC_TIME
 366 #define USE_RX_MSP
 367 #define USE_ESC_SENSOR_INFO
 368 #define USE_CRSF_CMS_TELEMETRY
 369 #define USE_CRSF_LINK_STATISTICS
 370 #define USE_RX_RSSI_DBM
 371 #endif
 372
 373 #endif // TARGET_FLASH_SIZE > 128
 374
 375 #if (TARGET_FLASH_SIZE > 256)
 376 #define USE_AIRMODE_LPF
 377 #define USE_CANVAS
 378 #define USE_DASHBOARD
 379 #define USE_FRSKYOSD
 380 #define USE_GPS
 381 #define USE_GPS_NMEA
 382 #define USE_GPS_UBLOX
 383 #define USE_GPS_RESCUE
 384 #define USE_GYRO_DLPF_EXPERIMENTAL
 385 #define USE_OSD
 386 #define USE_OSD_OVER_MSP_DISPLAYPORT
 387 #define USE_MULTI_GYRO
 388 #define USE_OSD_ADJUSTMENTS
 389 #define USE_SENSOR_NAMES
 390 #define USE_SERIALRX_JETIEXBUS
 391 #define USE_TELEMETRY_IBUS
 392 #define USE_TELEMETRY_IBUS_EXTENDED
 393 #define USE_TELEMETRY_JETIEXBUS
 394 #define USE_TELEMETRY_MAVLINK
 395 #define USE_UNCOMMON_MIXERS
 396 #define USE_SIGNATURE
 397 #define USE_ABSOLUTE_CONTROL
 398 #define USE_HOTT_TEXTMODE
 399 #define USE_LED_STRIP_STATUS_MODE
 400 #define USE_VARIO
 401 #define USE_RX_LINK_QUALITY_INFO
 402 #define USE_ESC_SENSOR_TELEMETRY
 403 #define USE_OSD_PROFILES
 404 #define USE_OSD_STICK_OVERLAY
 405 #define USE_ESCSERIAL_SIMONK
 406 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 407 #define USE_CMS_FAILSAFE_MENU
 408 #define USE_CMS_GPS_RESCUE_MENU
 409 #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
 410 #define USE_VTX_TABLE
 411 #define USE_PERSISTENT_STATS
 412 #define USE_PROFILE_NAMES
 413 #define USE_SERIALRX_SRXL2     // Spektrum SRXL2 protocol
 414 #define USE_INTERPOLATED_SP
 415 #define USE_CUSTOM_BOX_NAMES
 416 #define USE_BATTERY_VOLTAGE_SAG_COMPENSATION
 417 #define USE_RX_MSP_OVERRIDE
 418 #define USE_SIMPLIFIED_TUNING
 419 #define USE_RX_LINK_UPLINK_POWER
 420 #define USE_GPS_PLUS_CODES
 421 #endif