diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat index a1150faa35..bfb761592e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat @@ -154,7 +154,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin define STM32_PWM_USE_ADVANCED TRUE # FFT option (disabled by default) -# define HAL_WITH_DSP 1 +# define HAL_GYROFFT_ENABLED 1 # define AC_OAPATHPLANNER_ENABLED 0 # EK2 options (disabled by default) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat index f3ed8a90cb..5465db2d53 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat @@ -152,7 +152,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # -------reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 # --------------------- save flash ---------------------- define AP_BATTMON_SMBUS_ENABLE 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat index 5428910525..f9e931c79e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat @@ -175,7 +175,7 @@ define HAL_DEFAULT_AIRSPEED_PIN 10 # -------reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 # --------------------- save flash ---------------------- # save some flash diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat index f3a972fea9..b78b52b277 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat @@ -191,7 +191,7 @@ define HAL_SPRAYER_ENABLED 0 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 # save some flash include ../include/save_some_flash.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc index d321768a40..33cef35688 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc @@ -119,7 +119,7 @@ define HAL_I2C_INTERNAL_MASK 0 define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/SimOnHW.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/SimOnHW.inc index d431193110..660b05c278 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/include/SimOnHW.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/include/SimOnHW.inc @@ -23,4 +23,4 @@ define LANDING_GEAR_ENABLED 0 define HAL_MSP_OPTICALFLOW_ENABLED 0 define HAL_SUPPORT_RCOUT_SERIAL 0 define HAL_HOTT_TELEM_ENABLED 0 -# define HAL_WITH_DSP 0 +# define HAL_GYROFFT_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc index fe2334cb08..d3054ef573 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc +++ b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_features.inc @@ -20,3 +20,6 @@ define HAL_SPRAYER_ENABLED 0 # RunCam control isn't available on smaller boards define HAL_RUNCAM_ENABLED 0 + +# disable use of onboard FFT library: +define HAL_GYROFFT_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat index e4a8d30607..ed18661216 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat @@ -137,4 +137,3 @@ IOMCU_FW 1 MAIN_STACK 0x200 PROCESS_STACK 0x250 define HAL_DISABLE_LOOP_DELAY -define HAL_WITH_DSP FALSE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat index c28e82e3d3..5f10ad69a9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu_f103_8MHz/hwdef.dat @@ -137,4 +137,3 @@ IOMCU_FW 1 MAIN_STACK 0x200 PROCESS_STACK 0x250 define HAL_DISABLE_LOOP_DELAY -define HAL_WITH_DSP FALSE diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat index 85639648b4..b2b2b161db 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat @@ -152,4 +152,4 @@ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat index 0141344200..461ac04308 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat @@ -28,7 +28,7 @@ define HAL_SPRAYER_ENABLED 0 # reduce max size of embedded params for apj_tool.py define AP_PARAM_MAX_EMBEDDED_PARAM 1024 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 # save some flash include ../include/save_some_flash.inc diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat index 497db452ee..a84512b565 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat @@ -130,5 +130,5 @@ SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ # enable logging to dataflash define HAL_LOGGING_DATAFLASH_ENABLED 1 -define HAL_WITH_DSP FALSE +define HAL_GYROFFT_ENABLED 0 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 353523e913..d8209bbd27 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -2927,6 +2927,11 @@ def add_apperiph_defaults(f): // no CAN manager in AP_Periph: #define HAL_CANMANAGER_ENABLED 0 + +// Periphs don't use the FFT library: +#ifndef HAL_GYROFFT_ENABLED +#define HAL_GYROFFT_ENABLED 0 +#endif ''') def add_bootloader_defaults(f): @@ -2939,6 +2944,11 @@ def add_bootloader_defaults(f): // AP_Bootloader defaults #define HAL_DSHOT_ALARM_ENABLED 0 + +// bootloaders *definitely* don't use the FFT library: +#ifndef HAL_GYROFFT_ENABLED +#define HAL_GYROFFT_ENABLED 0 +#endif ''') def add_iomcu_firmware_defaults(f): @@ -2952,6 +2962,11 @@ def add_iomcu_firmware_defaults(f): // IOMCU Firmware defaults #define HAL_DSHOT_ALARM_ENABLED 0 + +// IOMCUs *definitely* don't use the FFT library: +#ifndef HAL_GYROFFT_ENABLED +#define HAL_GYROFFT_ENABLED 0 +#endif ''') def add_normal_firmware_defaults(f): @@ -2973,6 +2988,7 @@ def add_normal_firmware_defaults(f): #ifndef HAL_DSHOT_ALARM_ENABLED #define HAL_DSHOT_ALARM_ENABLED (HAL_PWM_COUNT>0) #endif + ''') # process input file