mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
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// no includes from here! only defines in one place
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#pragma once
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#define DEBUG_BUILD 1
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#define USART_SAFE_INSERT // ignore received bytes if buffer overflows
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#define USE_WFE
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#define F4Light_RC_INPUT_MIN_CHANNELS 4
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#define F4Light_RC_INPUT_NUM_CHANNELS 20
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#define USE_MPU // guard page in process stack
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//#define DEBUG_LOOP_TIME for AP_Scheduler
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#ifdef DEBUG_BUILD
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// profiling
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//#define ISR_PERF - now all time-consuming calculations moved out from ISR to io_completion level
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//#define SEM_PROF - now semaphores are part of scheduler
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#define SHED_PROF
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#define MTASK_PROF
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//#define SHED_DEBUG
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//#define SEM_DEBUG
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//#define MPU_DEBUG
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//#define I2C_DEBUG
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//#define DEBUG_SPI
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#endif
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/*
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interrupts priorities:
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*/
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#define PWM_INT_PRIORITY 0 // PWM input (10uS between interrupts)
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#define SOFT_UART_INT_PRIORITY 1 // soft_uart
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#define I2C_INT_PRIORITY 2 // i2c
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#define TIMER_I2C_INT_PRIORITY 3 // timer_i2C (2uS between interrupts)
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#define MICROS_INT_PRIORITY 4 // micros() Timer5
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#define SYSTICK_INT_PRIORITY 5 // SysTick
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#define UART_INT_PRIORITY 6 // uart
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#define DMA_IOC_INT_PRIORITY 7 // dma IO complete
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#define GPIO_INT_PRIORITY 8 // gpio pin
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#define MPU_INT_PRIORITY 9 // MPU6000 DataReady
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#define VSI_INT_PRIORITY 10 // OSD VSI
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#define USB_INT_PRIORITY 11 // usb
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#define IOC_INT_PRIORITY 12 // driver's io_completion
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// 13
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#define SVC_INT_PRIORITY 14 // scheduler - Timer7, tail timer, svc
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#define PENDSV_INT_PRIORITY 15 // Pend_Sw
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#define SPI_INT_PRIORITY I2C_INT_PRIORITY
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