AP_HAL_ChibiOS: use minimize_features.inc for HAL_WITH_DSP

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)

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

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

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

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
 
 
 

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

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

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

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

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

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

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
 

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