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 #if !defined(CLOUD_BUILD) && !defined(SITL)
  32 #define USE_DSHOT
  33 #endif
  34
  35 #ifdef USE_DSHOT
  36 #define USE_DSHOT_BITBANG
  37 #define USE_DSHOT_TELEMETRY
  38 #define USE_DSHOT_TELEMETRY_STATS
  39 #endif
  40
  41 #ifdef STM32F4
  42 #if defined(STM32F40_41xxx)
  43 #define USE_FAST_DATA
  44 #endif
  45
  46 #define USE_RPM_FILTER
  47 #define USE_DYN_IDLE
  48 #define USE_DYN_NOTCH_FILTER
  49 #define USE_ADC_INTERNAL
  50 #define USE_USB_CDC_HID
  51 #define USE_USB_MSC
  52 #define USE_PERSISTENT_MSC_RTC
  53 #define USE_MCO
  54 #define USE_DMA_SPEC
  55 #define USE_TIMER_MGMT
  56 #define USE_PERSISTENT_OBJECTS
  57 #define USE_CUSTOM_DEFAULTS_ADDRESS
  58 #define USE_LATE_TASK_STATISTICS
  59
  60 #if defined(STM32F40_41xxx) || defined(STM32F411xE)
  61 #define USE_OVERCLOCK
  62 #endif
  63 #endif // STM32F4
  64
  65 #ifdef STM32F7
  66 #define USE_ITCM_RAM
  67 #define ITCM_RAM_OPTIMISATION "-O2", "-freorder-blocks-algorithm=simple"
  68 #define USE_FAST_DATA
  69 #define USE_RPM_FILTER
  70 #define USE_DYN_IDLE
  71 #define USE_DYN_NOTCH_FILTER
  72 #define USE_OVERCLOCK
  73 #define USE_ADC_INTERNAL
  74 #define USE_USB_CDC_HID
  75 #define USE_USB_MSC
  76 #define USE_PERSISTENT_MSC_RTC
  77 #define USE_MCO
  78 #define USE_DMA_SPEC
  79 #define USE_TIMER_MGMT
  80 #define USE_PERSISTENT_OBJECTS
  81 #define USE_CUSTOM_DEFAULTS_ADDRESS
  82 #define USE_LATE_TASK_STATISTICS
  83 #endif // STM32F7
  84
  85 #ifdef STM32H7
  86
  87 #ifdef USE_DSHOT
  88 #define USE_DSHOT_CACHE_MGMT
  89 #endif
  90
  91 #define USE_ITCM_RAM
  92 #define USE_FAST_DATA
  93 #define USE_RPM_FILTER
  94 #define USE_DYN_IDLE
  95 #define USE_DYN_NOTCH_FILTER
  96 #define USE_ADC_INTERNAL
  97 #define USE_USB_CDC_HID
  98 #define USE_DMA_SPEC
  99 #define USE_TIMER_MGMT
 100 #define USE_PERSISTENT_OBJECTS
 101 #define USE_DMA_RAM
 102 #define USE_USB_MSC
 103 #define USE_RTC_TIME
 104 #define USE_PERSISTENT_MSC_RTC
 105 #define USE_LATE_TASK_STATISTICS
 106 #endif
 107
 108 #ifdef STM32G4
 109 #define USE_RPM_FILTER
 110 #define USE_DYN_IDLE
 111 #define USE_OVERCLOCK
 112 #define USE_DYN_NOTCH_FILTER
 113 #define USE_ADC_INTERNAL
 114 #define USE_USB_MSC
 115 #define USE_USB_CDC_HID
 116 #define USE_MCO
 117 #define USE_DMA_SPEC
 118 #define USE_TIMER_MGMT
 119 #define USE_LATE_TASK_STATISTICS
 120 #endif
 121
 122 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
 123 #define TASK_GYROPID_DESIRED_PERIOD     125 // 125us = 8kHz
 124 #define SCHEDULER_DELAY_LIMIT           10
 125 #else
 126 #define TASK_GYROPID_DESIRED_PERIOD     1000 // 1000us = 1kHz
 127 #define SCHEDULER_DELAY_LIMIT           100
 128 #endif
 129
 130 #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
 131 #define DEFAULT_AUX_CHANNEL_COUNT       MAX_AUX_CHANNEL_COUNT
 132 #else
 133 #define DEFAULT_AUX_CHANNEL_COUNT       6
 134 #endif
 135
 136 // Set the default cpu_overclock to the first level (108MHz) for F411
 137 // Helps with looptime stability as the CPU is borderline when running native gyro sampling
 138 #if defined(USE_OVERCLOCK) && defined(STM32F411xE)
 139 #define DEFAULT_CPU_OVERCLOCK 1
 140 #else
 141 #define DEFAULT_CPU_OVERCLOCK 0
 142 #endif
 143
 144 #if defined(STM32H7)
 145 // Move ISRs to fast ram to avoid flash latency.
 146 #define FAST_IRQ_HANDLER FAST_CODE
 147 #else
 148 #define FAST_IRQ_HANDLER
 149 #endif
 150
 151
 152 #ifdef USE_ITCM_RAM
 153 #if defined(ITCM_RAM_OPTIMISATION) && !defined(DEBUG)
 154 #define FAST_CODE                   __attribute__((section(".tcm_code"))) __attribute__((optimize(ITCM_RAM_OPTIMISATION)))
 155 #else
 156 #define FAST_CODE                   __attribute__((section(".tcm_code")))
 157 #endif
 158 // Handle case where we'd prefer code to be in ITCM, but it won't fit on the F745
 159 #ifdef STM32F745xx
 160 #define FAST_CODE_PREF
 161 #else
 162 #define FAST_CODE_PREF                  __attribute__((section(".tcm_code")))
 163 #endif
 164 #define FAST_CODE_NOINLINE          NOINLINE
 165 #else
 166 #define FAST_CODE
 167 #define FAST_CODE_PREF
 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(STM32G4)
 186 // F4 can't DMA to/from CCM (core coupled memory) SRAM (where the stack lives)
 187 // On G4 there is no specific DMA target memory
 188 #define DMA_DATA_ZERO_INIT
 189 #define DMA_DATA
 190 #define STATIC_DMA_DATA_AUTO        static
 191 #elif defined (STM32F7)
 192 // F7 has no cache coherency issues DMAing to/from DTCM, otherwise buffers must be cache aligned
 193 #define DMA_DATA_ZERO_INIT          FAST_DATA_ZERO_INIT
 194 #define DMA_DATA                    FAST_DATA
 195 #define STATIC_DMA_DATA_AUTO        static DMA_DATA
 196 #else
 197 // DMA to/from any memory
 198 #define DMA_DATA_ZERO_INIT          __attribute__ ((section(".dmaram_bss"), aligned(32)))
 199 #define DMA_DATA                    __attribute__ ((section(".dmaram_data"), aligned(32)))
 200 #define STATIC_DMA_DATA_AUTO        static DMA_DATA
 201 #endif
 202
 203 #if defined(STM32F4) || defined (STM32H7)
 204 // Data in RAM which is guaranteed to not be reset on hot reboot
 205 #define PERSISTENT                  __attribute__ ((section(".persistent_data"), aligned(4)))
 206 #endif
 207
 208 #ifdef USE_DMA_RAM
 209 #if defined(STM32H7)
 210 #define DMA_RAM __attribute__((section(".DMA_RAM"), aligned(32)))
 211 #define DMA_RW_AXI __attribute__((section(".DMA_RW_AXI"), aligned(32)))
 212 extern uint8_t _dmaram_start__;
 213 extern uint8_t _dmaram_end__;
 214 #elif defined(STM32G4)
 215 #define DMA_RAM_R __attribute__((section(".DMA_RAM_R")))
 216 #define DMA_RAM_W __attribute__((section(".DMA_RAM_W")))
 217 #define DMA_RAM_RW __attribute__((section(".DMA_RAM_RW")))
 218 #endif
 219 #else
 220 #define DMA_RAM
 221 #define DMA_RW_AXI
 222 #define DMA_RAM_R
 223 #define DMA_RAM_W
 224 #define DMA_RAM_RW
 225 #endif
 226
 227 #define USE_MOTOR
 228 #define USE_DMA
 229 #define USE_TIMER
 230
 231 #define USE_CLI
 232 #define USE_SERIAL_PASSTHROUGH
 233 #define USE_GYRO_REGISTER_DUMP  // Adds gyroregisters command to cli to dump configured register values
 234 #define USE_IMU_CALC
 235
 236 // all the settings for classic build
 237 #if !defined(CLOUD_BUILD) && !defined(SITL)
 238
 239 #define USE_MAG
 240
 241 #if !defined(USE_BARO) && !defined(USE_FAKE_BARO)
 242 #define USE_BARO
 243
 244 #define USE_BARO_MS5611
 245 #define USE_BARO_SPI_MS5611
 246 #define USE_BARO_BMP280
 247 #define USE_BARO_SPI_BMP280
 248 #define USE_BARO_BMP388
 249 #define USE_BARO_SPI_BMP388
 250 #define USE_BARO_LPS
 251 #define USE_BARO_SPI_LPS
 252 #define USE_BARO_QMP6988
 253 #define USE_BARO_SPI_QMP6988
 254 #define USE_BARO_DPS310
 255 #define USE_BARO_SPI_DPS310
 256 #define USE_BARO_BMP085
 257 #define USE_BARO_2SMBP_02B
 258 #define USE_BARO_SPI_2SMBP_02B
 259 #endif
 260
 261 #if !defined(USE_GYRO) && !defined(USE_ACC)
 262 #define USE_ACC
 263 #define USE_GYRO
 264
 265 #define USE_ACC_MPU6500
 266 #define USE_GYRO_MPU6500
 267 #define USE_ACC_SPI_MPU6000
 268 #define USE_GYRO_SPI_MPU6000
 269 #define USE_ACC_SPI_MPU6500
 270 #define USE_GYRO_SPI_MPU6500
 271 #define USE_ACC_SPI_ICM20689
 272 #define USE_GYRO_SPI_ICM20689
 273 #define USE_ACCGYRO_LSM6DSO
 274 #define USE_ACCGYRO_BMI270
 275 #define USE_GYRO_SPI_ICM42605
 276 #define USE_GYRO_SPI_ICM42688P
 277 #define USE_ACC_SPI_ICM42605
 278 #define USE_ACC_SPI_ICM42688P
 279
 280 #if defined(STM32F405) || defined(STM32F745) || defined(STM32G4) || defined(STM32H7)
 281 #define USE_ACC_MPU6050
 282 #define USE_GYRO_MPU6050
 283 #define USE_ACCGYRO_BMI160
 284 #endif
 285 #endif
 286
 287 #if !defined(USE_EXST) && !defined(USE_FLASH)
 288 #define USE_FLASHFS
 289
 290 #define USE_FLASH_TOOLS
 291 #define USE_FLASH_M25P16
 292 #define USE_FLASH_W25N01G    // 1Gb NAND flash support
 293 #define USE_FLASH_W25M       // Stacked die support
 294 #define USE_FLASH_W25M512    // 512Kb (256Kb x 2 stacked) NOR flash support
 295 #define USE_FLASH_W25M02G    // 2Gb (1Gb x 2 stacked) NAND flash support
 296 #define USE_FLASH_W25Q128FV  // 16MB Winbond 25Q128
 297
 298 #endif
 299
 300 #ifndef USE_MAX7456
 301 #define USE_MAX7456
 302 #endif
 303
 304 #if !defined(USE_RX_SPI)
 305 #define USE_RX_SPI
 306
 307 #define USE_RX_CC2500
 308 #define USE_RX_EXPRESSLRS
 309 #define USE_RX_SX1280
 310 #define USE_RX_SX127X
 311 #endif // !USE_RX_SPI
 312
 313 #if !defined(USE_EXST) && !defined(USE_SDCARD)
 314 #define USE_SDCARD
 315 #endif
 316
 317 #if defined(STM32F405) || defined(STM32F745) || defined(STM32H7)
 318 #define USE_VTX_RTC6705
 319 #define USE_VTX_RTC6705_SOFTSPI
 320
 321 #define USE_TRANSPONDER
 322
 323 #define USE_RANGEFINDER
 324 #define USE_RANGEFINDER_HCSR04
 325 #define USE_RANGEFINDER_TF
 326 #endif
 327
 328 #define USE_RX_PPM
 329 #define USE_RX_PWM
 330
 331 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 332
 333 #define USE_PINIO
 334
 335 #if !defined(USE_SERIAL_RX)
 336
 337 #define USE_SERIALRX
 338 #define USE_SERIALRX_CRSF       // Team Black Sheep Crossfire protocol
 339 #define USE_SERIALRX_GHST       // ImmersionRC Ghost Protocol
 340 #define USE_SERIALRX_IBUS       // FlySky and Turnigy receivers
 341 #define USE_SERIALRX_SBUS       // Frsky and Futaba receivers
 342 #define USE_SERIALRX_SPEKTRUM   // SRXL, DSM2 and DSMX protocol
 343 #define USE_SERIALRX_FPORT      // FrSky FPort
 344 #define USE_SERIALRX_XBUS       // JR
 345 #define USE_SERIALRX_SRXL2      // Spektrum SRXL2 protocol
 346
 347 #endif // !defined(USE_SERIAL_RX)
 348
 349 #if !defined(USE_TELEMETRY)
 350 #define USE_TELEMETRY
 351
 352 #define USE_TELEMETRY_FRSKY_HUB
 353 #define USE_TELEMETRY_SMARTPORT
 354 #define USE_TELEMETRY_CRSF
 355 #define USE_TELEMETRY_GHST
 356 #define USE_TELEMETRY_SRXL
 357
 358 #endif // !defined(USE_TELEMETRY)
 359
 360 #define USE_SERVOS
 361
 362 #define USE_VTX
 363 #define USE_OSD
 364 #define USE_OSD_SD
 365 #define USE_OSD_HD
 366 #define USE_BLACKBOX
 367
 368 #if TARGET_FLASH_SIZE > 512
 369
 370 #if defined(USE_SERIALRX)
 371
 372 #define USE_SERIALRX_JETIEXBUS
 373 #define USE_SERIALRX_SUMD       // Graupner Hott protocol
 374 #define USE_SERIALRX_SUMH       // Graupner legacy protocol
 375
 376 #endif // USE_SERIALRX
 377
 378 #if defined(USE_TELEMETRY)
 379
 380 #define USE_TELEMETRY_IBUS
 381 #define USE_TELEMETRY_IBUS_EXTENDED
 382 #define USE_TELEMETRY_JETIEXBUS
 383 #define USE_TELEMETRY_MAVLINK
 384 #define USE_TELEMETRY_HOTT
 385 #define USE_TELEMETRY_LTM
 386
 387 #endif // USE_TELEMETRY
 388
 389 #define USE_BATTERY_CONTINUE
 390 #define USE_DASHBOARD
 391 #define USE_EMFAT_AUTORUN
 392 #define USE_EMFAT_ICON
 393 #define USE_ESCSERIAL_SIMONK
 394 #define USE_GPS
 395 #define USE_GPS_PLUS_CODES
 396 #define USE_LED_STRIP
 397 #define USE_SERIAL_4WAY_SK_BOOTLOADER
 398 #endif
 399
 400 #endif // !defined(CLOUD_BUILD)
 401
 402 #if !defined(LED_MAX_STRIP_LENGTH)
 403 #ifdef USE_LEDSTRIP_64
 404 #define LED_MAX_STRIP_LENGTH           64
 405 #else
 406 #define LED_MAX_STRIP_LENGTH           32
 407 #endif
 408 #endif // # !defined(LED_MAX_STRIP_LENGTH)
 409
 410 #if defined(USE_LED_STRIP)
 411 #define USE_LED_STRIP_STATUS_MODE
 412 #endif
 413
 414 #if defined(USE_SDCARD)
 415 #define USE_SDCARD_SPI
 416 #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
 417 #define USE_SDCARD_SDIO
 418 #endif
 419 #endif
 420
 421 #if (defined(USE_SDCARD) || defined(USE_FLASH)) && !defined(USE_BLACKBOX)
 422 #define USE_BLACKBOX
 423 #endif
 424
 425 #if defined(USE_PINIO)
 426 #define USE_PINIOBOX
 427 #define USE_PIN_PULL_UP_DOWN
 428 #endif
 429
 430 #if defined(USE_VTX)
 431 #define USE_VTX_COMMON
 432 #define USE_VTX_CONTROL
 433 #define USE_VTX_SMARTAUDIO
 434 #define USE_VTX_TRAMP
 435 #define USE_VTX_MSP
 436 #define USE_VTX_TABLE
 437 #endif // USE_VTX
 438
 439 #define USE_HUFFMAN
 440
 441 #define PID_PROFILE_COUNT 4
 442 #define CONTROL_RATE_PROFILE_COUNT  4
 443
 444 #define USE_CLI_BATCH
 445 #define USE_RESOURCE_MGMT
 446
 447 #define USE_RUNAWAY_TAKEOFF     // Runaway Takeoff Prevention (anti-taz)
 448
 449 #define USE_GYRO_OVERFLOW_CHECK
 450 #define USE_YAW_SPIN_RECOVERY
 451
 452 #ifdef USE_DSHOT
 453 #define USE_DSHOT_DMAR
 454 #endif
 455
 456 #define USE_MSP_OVER_TELEMETRY
 457
 458 #define USE_VIRTUAL_CURRENT_METER
 459 #define USE_ESC_SENSOR
 460 #define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 461 #define USE_RCDEVICE
 462
 463 #define USE_GYRO_LPF2
 464 #define USE_DYN_LPF
 465 #define USE_D_MIN
 466
 467 #define USE_THROTTLE_BOOST
 468 #define USE_INTEGRATED_YAW_CONTROL
 469
 470 #define USE_ITERM_RELAX
 471 #define USE_RC_SMOOTHING_FILTER
 472 #define USE_THRUST_LINEARIZATION
 473 #define USE_TPA_MODE
 474
 475 #ifdef USE_SERIALRX_SPEKTRUM
 476 #define USE_SPEKTRUM_BIND
 477 #define USE_SPEKTRUM_BIND_PLUG
 478 #define USE_SPEKTRUM_REAL_RSSI
 479 #define USE_SPEKTRUM_FAKE_RSSI
 480 #define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
 481 #define USE_SPEKTRUM_VTX_CONTROL
 482 #define USE_SPEKTRUM_VTX_TELEMETRY
 483 #define USE_SPEKTRUM_CMS_TELEMETRY
 484 #endif // USE_SERIALRX_SPEKTRUM
 485
 486 #define USE_BOARD_INFO
 487 #define USE_RTC_TIME
 488 #define USE_ESC_SENSOR_INFO
 489
 490 #define USE_RX_MSP
 491 #define USE_RX_RSSI_DBM
 492 #define USE_RX_RSNR
 493 #define USE_RX_LINK_QUALITY_INFO
 494 #define USE_RX_MSP_OVERRIDE
 495 #define USE_RX_LINK_UPLINK_POWER
 496
 497 #define USE_AIRMODE_LPF
 498 #define USE_GYRO_DLPF_EXPERIMENTAL
 499 #define USE_MULTI_GYRO
 500 #define USE_SENSOR_NAMES
 501 #define USE_UNCOMMON_MIXERS
 502 #define USE_SIGNATURE
 503 #define USE_ABSOLUTE_CONTROL
 504 #define USE_HOTT_TEXTMODE
 505 #define USE_ESC_SENSOR_TELEMETRY
 506 #define USE_TELEMETRY_SENSORS_DISABLED_DETAILS
 507 #define USE_PERSISTENT_STATS
 508 #define USE_PROFILE_NAMES
 509 #define USE_FEEDFORWARD
 510 #define USE_CUSTOM_BOX_NAMES
 511 #define USE_BATTERY_VOLTAGE_SAG_COMPENSATION
 512 #define USE_SIMPLIFIED_TUNING
 513 #define USE_CRAFTNAME_MSGS
 514
 515
 516 #ifdef USE_GPS
 517 #define USE_GPS_NMEA
 518 #define USE_GPS_UBLOX
 519 #define USE_GPS_RESCUE
 520 #endif // USE_GPS
 521
 522
 523 #if (defined(USE_OSD_HD) || defined(USE_OSD_SD)) && !defined(USE_OSD)
 524 // If either USE_OSD_SD for USE_OSD_HD are defined, ensure that USE_OSD is also defined
 525 #define USE_OSD
 526 #endif
 527
 528
 529 #if defined(USE_OSD)
 530
 531 #if !defined(USE_OSD_HD) && !defined(USE_OSD_SD)
 532 // If USE_OSD is defined without specifying SD or HD, then support both
 533 #define USE_OSD_SD
 534 #define USE_OSD_HD
 535 #endif
 536
 537 #if !defined(USE_OSD_SD) && defined(USE_MAX7456)
 538 // If USE_OSD_SD isn't defined then explicitly exclude MAX7456 support
 539 #undef USE_MAX7456
 540 #endif
 541
 542 #define USE_CANVAS
 543 #define USE_CMS
 544 #define USE_CMS_FAILSAFE_MENU
 545 #define USE_EXTENDED_CMS_MENUS
 546 #define USE_MSP_DISPLAYPORT
 547 #define USE_OSD_OVER_MSP_DISPLAYPORT
 548 #define USE_OSD_ADJUSTMENTS
 549 #define USE_OSD_PROFILES
 550 #define USE_OSD_STICK_OVERLAY
 551
 552 #if defined(USE_GPS)
 553 #define USE_CMS_GPS_RESCUE_MENU
 554 #endif
 555
 556 #endif // defined(USE_OSD)
 557
 558
 559 #if defined(USE_SERIALRX_CRSF)
 560
 561 #define USE_CRSF_V3
 562
 563 #if defined(USE_TELEMETRY_CRSF) && defined(USE_CMS)
 564 #define USE_CRSF_CMS_TELEMETRY
 565 #define USE_CRSF_LINK_STATISTICS
 566 #endif
 567
 568 #endif // defined(USE_SERIALRX_CRSF)