From 45b7fa8095f70a390e0099b82dd0308484b2fce4 Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Tue, 9 Oct 2018 00:30:31 +0900
Subject: [PATCH 1/3] Add and handle USE_PWM_OUTPUT

---
 src/main/drivers/pwm_output.c   |  8 ++++++--
 src/main/drivers/sound_beeper.c | 15 ++++++++++++---
 src/main/fc/config.c            |  2 ++
 src/main/fc/init.c              |  6 ++++++
 src/main/flight/mixer.c         |  4 ++++
 src/main/msp/msp.c              |  5 +++++
 src/main/target/common_pre.h    |  2 ++
 7 files changed, 37 insertions(+), 5 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 441f64835e..fb69532dca 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -24,6 +24,9 @@
 #include <math.h>
 
 #include "platform.h"
+
+#ifdef USE_PWM_OUTPUT
+
 #include "drivers/time.h"
 
 #include "drivers/io.h"
@@ -682,7 +685,7 @@ FAST_CODE uint16_t prepareDshotPacket(motorDmaOutput_t *const motor)
 
     return packet;
 }
-#endif
+#endif // USE_DSHOT
 
 #ifdef USE_SERVOS
 void pwmWriteServo(uint8_t index, float value)
@@ -723,7 +726,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
     }
 }
 
-#endif
+#endif // USE_SERVOS
 
 #ifdef USE_BEEPER
 void pwmWriteBeeper(bool onoffBeep)
@@ -766,4 +769,5 @@ void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
         beeperPwm.enabled = false;
     }
 }
+#endif // USE_BEEPER
 #endif
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index e57d7d9f3c..4e0d077754 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -41,9 +41,12 @@ void systemBeep(bool onoff)
 #ifdef USE_BEEPER
     if (beeperFrequency == 0) {
         IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         pwmWriteBeeper(onoff);
     }
+#endif
 #else
     UNUSED(onoff);
 #endif
@@ -54,10 +57,13 @@ void systemBeepToggle(void)
 #ifdef USE_BEEPER
     if (beeperFrequency == 0) {
         IOToggle(beeperIO);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         pwmToggleBeeper();
     }
 #endif
+#endif
 }
 
 void beeperInit(const beeperDevConfig_t *config)
@@ -72,10 +78,13 @@ void beeperInit(const beeperDevConfig_t *config)
             IOConfigGPIO(beeperIO, config->isOpenDrain ? IOCFG_OUT_OD : IOCFG_OUT_PP);
         }
         systemBeep(false);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         const ioTag_t beeperTag = config->ioTag;
         beeperPwmInit(beeperTag, beeperFrequency);
     }
+#endif
 #else
     UNUSED(config);
 #endif
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index f4bd394116..7011fbcf7a 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -419,9 +419,11 @@ static void validateAndFixConfig(void)
 #endif
 
 #if defined(USE_BEEPER)
+#ifdef USE_TIMER
     if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag)) {
         beeperDevConfigMutable()->frequency = 0;
     }
+#endif
 
     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
         beeperConfigMutable()->beeper_off_flags = 0;
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index f5936e92c7..656b4f75e1 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -391,11 +391,15 @@ void init(void)
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
         idlePulse = 0; // brushed motors
     }
+#ifdef USE_PWM_OUTPUT
     /* Motors needs to be initialized soon as posible because hardware initialization
      * may send spurious pulses to esc's causing their early initialization. Also ppm
      * receiver may share timer with motors so motors MUST be initialized here. */
     motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
     systemState |= SYSTEM_STATE_MOTORS_READY;
+#else
+    UNUSED(idlePulse);
+#endif
 
     if (0) {}
 #if defined(USE_PPM)
@@ -776,7 +780,9 @@ void init(void)
     rcdeviceInit();
 #endif // USE_RCDEVICE
 
+#ifdef USE_PWM_OUTPUT
     pwmEnableMotors();
+#endif
 
     setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 5762cd3b5c..2d6bbd3789 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -516,6 +516,7 @@ void mixerResetDisarmedMotors(void)
 
 void writeMotors(void)
 {
+#ifdef USE_PWM_OUTPUT
     if (pwmAreMotorsEnabled()) {
 #if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
         if (!pwmStartMotorUpdate(motorCount)) {
@@ -527,6 +528,7 @@ void writeMotors(void)
         }
         pwmCompleteMotorUpdate(motorCount);
     }
+#endif
 }
 
 static void writeAllMotors(int16_t mc)
@@ -546,8 +548,10 @@ void stopMotors(void)
 
 void stopPwmAllMotors(void)
 {
+#ifdef USE_PWM_OUTPUT
     pwmShutdownPulsesForAllMotors(motorCount);
     delayMicroseconds(1500);
+#endif
 }
 
 static FAST_RAM_ZERO_INIT float throttle = 0;
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 0bf68f9d0c..a27b02a23b 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -935,13 +935,18 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
 
     case MSP_MOTOR:
         for (unsigned i = 0; i < 8; i++) {
+#ifdef USE_PWM_OUTPUT
             if (i >= MAX_SUPPORTED_MOTORS || !pwmGetMotors()[i].enabled) {
                 sbufWriteU16(dst, 0);
                 continue;
             }
 
             sbufWriteU16(dst, convertMotorToExternal(motor[i]));
+#else
+            sbufWriteU16(dst, 0);
+#endif
         }
+
         break;
 
     case MSP_RC:
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 293592b373..947840fc13 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -140,6 +140,8 @@
 
 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 
+#define USE_PWM_OUTPUT
+
 #define USE_CLI
 #define USE_SERIAL_PASSTHROUGH
 #define USE_TASK_STATISTICS

From 1c764692514252582ffd9e6b715e58e802698811 Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Tue, 9 Oct 2018 00:35:58 +0900
Subject: [PATCH 2/3] Add and handle USE_DMA

---
 src/main/drivers/dma.c           | 5 ++++-
 src/main/drivers/dma_stm32f4xx.c | 5 ++++-
 src/main/drivers/dma_stm32f7xx.c | 3 +++
 src/main/drivers/serial_uart.h   | 2 ++
 src/main/target/common_pre.h     | 1 +
 5 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/dma.c b/src/main/drivers/dma.c
index 62484bcce3..1672cbcab0 100644
--- a/src/main/drivers/dma.c
+++ b/src/main/drivers/dma.c
@@ -24,6 +24,8 @@
 
 #include "platform.h"
 
+#ifdef USE_DMA
+
 #include "drivers/nvic.h"
 #include "dma.h"
 
@@ -141,4 +143,5 @@ DMA_Channel_TypeDef* dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
 dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
 {
     return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
-}
\ No newline at end of file
+}
+#endif
diff --git a/src/main/drivers/dma_stm32f4xx.c b/src/main/drivers/dma_stm32f4xx.c
index eb1aed2f79..0389e9ce70 100644
--- a/src/main/drivers/dma_stm32f4xx.c
+++ b/src/main/drivers/dma_stm32f4xx.c
@@ -24,6 +24,8 @@
 
 #include "platform.h"
 
+#ifdef USE_DMA
+
 #include "drivers/nvic.h"
 #include "dma.h"
 #include "resource.h"
@@ -156,4 +158,5 @@ dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e ident
 uint32_t dmaGetChannel(const uint8_t channel)
 {
     return ((uint32_t)channel*2)<<24;
-}
\ No newline at end of file
+}
+#endif
diff --git a/src/main/drivers/dma_stm32f7xx.c b/src/main/drivers/dma_stm32f7xx.c
index 2cc6273e87..d672f7fb18 100644
--- a/src/main/drivers/dma_stm32f7xx.c
+++ b/src/main/drivers/dma_stm32f7xx.c
@@ -24,6 +24,8 @@
 
 #include "platform.h"
 
+#ifdef USE_DMA
+
 #include "drivers/nvic.h"
 #include "drivers/dma.h"
 #include "resource.h"
@@ -139,3 +141,4 @@ uint32_t dmaGetChannel(const uint8_t channel)
 {
     return ((uint32_t)channel*2)<<24;
 }
+#endif
diff --git a/src/main/drivers/serial_uart.h b/src/main/drivers/serial_uart.h
index ee22b64750..667905e577 100644
--- a/src/main/drivers/serial_uart.h
+++ b/src/main/drivers/serial_uart.h
@@ -41,6 +41,7 @@ typedef enum {
 typedef struct uartPort_s {
     serialPort_t port;
 
+#ifdef USE_DMA
 #if defined(STM32F7)
     DMA_HandleTypeDef rxDMAHandle;
     DMA_HandleTypeDef txDMAHandle;
@@ -61,6 +62,7 @@ typedef struct uartPort_s {
 
     uint32_t txDMAPeripheralBaseAddr;
     uint32_t rxDMAPeripheralBaseAddr;
+#endif // USE_DMA
 
 #ifdef USE_HAL_DRIVER
     // All USARTs can also be used as UART, and we use them only as UART.
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 947840fc13..3ceffb8ac6 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -141,6 +141,7 @@
 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 
 #define USE_PWM_OUTPUT
+#define USE_DMA
 
 #define USE_CLI
 #define USE_SERIAL_PASSTHROUGH

From cf219cd8a64722c0812f06e312515160d251c04f Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Sun, 5 May 2019 19:42:30 +0900
Subject: [PATCH 3/3] Add and handle USE_TIMER

---
 src/main/drivers/timer.c           | 3 +++
 src/main/drivers/timer_common.c    | 3 +++
 src/main/drivers/timer_hal.c       | 3 +++
 src/main/drivers/timer_stm32f10x.c | 3 +++
 src/main/drivers/timer_stm32f30x.c | 3 +++
 src/main/drivers/timer_stm32f4xx.c | 3 +++
 src/main/drivers/timer_stm32f7xx.c | 3 +++
 src/main/fc/init.c                 | 4 ++++
 src/main/flight/mixer.c            | 2 ++
 src/main/target/common_pre.h       | 1 +
 10 files changed, 28 insertions(+)

diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index f8037b0119..f617302689 100644
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -25,6 +25,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "build/atomic.h"
 
 #include "common/utils.h"
@@ -922,3 +924,4 @@ uint16_t timerGetPrescalerByDesiredHertz(TIM_TypeDef *tim, uint32_t hz)
     }
     return (uint16_t)((timerClock(tim) + hz / 2 ) / hz) - 1;
 }
+#endif
diff --git a/src/main/drivers/timer_common.c b/src/main/drivers/timer_common.c
index 6b8dd203f1..5335362142 100644
--- a/src/main/drivers/timer_common.c
+++ b/src/main/drivers/timer_common.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "drivers/io.h"
 #include "timer.h"
 
@@ -111,3 +113,4 @@ ioTag_t timerioTagGetByUsage(timerUsageFlag_e usageFlag, uint8_t index)
 #endif
     return IO_TAG_NONE;
 }
+#endif
diff --git a/src/main/drivers/timer_hal.c b/src/main/drivers/timer_hal.c
index df4631d1d2..24c2403577 100644
--- a/src/main/drivers/timer_hal.c
+++ b/src/main/drivers/timer_hal.c
@@ -25,6 +25,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "build/atomic.h"
 
 #include "common/utils.h"
@@ -1121,3 +1123,4 @@ HAL_StatusTypeDef DMA_SetCurrDataCounter(TIM_HandleTypeDef *htim, uint32_t Chann
     /* Return function status */
     return HAL_OK;
 }
+#endif
diff --git a/src/main/drivers/timer_stm32f10x.c b/src/main/drivers/timer_stm32f10x.c
index ba569a67b7..826349be7d 100644
--- a/src/main/drivers/timer_stm32f10x.c
+++ b/src/main/drivers/timer_stm32f10x.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "common/utils.h"
 
 #include "stm32f10x.h"
@@ -52,3 +54,4 @@ uint32_t timerClock(TIM_TypeDef *tim)
     UNUSED(tim);
     return SystemCoreClock;
 }
+#endif
diff --git a/src/main/drivers/timer_stm32f30x.c b/src/main/drivers/timer_stm32f30x.c
index 8550b65fed..a872b394d4 100644
--- a/src/main/drivers/timer_stm32f30x.c
+++ b/src/main/drivers/timer_stm32f30x.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "common/utils.h"
 
 #include "stm32f30x.h"
@@ -44,3 +46,4 @@ uint32_t timerClock(TIM_TypeDef *tim)
     UNUSED(tim);
     return SystemCoreClock;
 }
+#endif
diff --git a/src/main/drivers/timer_stm32f4xx.c b/src/main/drivers/timer_stm32f4xx.c
index 94269af10f..9df4eb8a7c 100644
--- a/src/main/drivers/timer_stm32f4xx.c
+++ b/src/main/drivers/timer_stm32f4xx.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "common/utils.h"
 
 #include "drivers/dma.h"
@@ -220,3 +222,4 @@ uint32_t timerClock(TIM_TypeDef *tim)
     #error "No timer clock defined correctly for MCU"
 #endif
 }
+#endif
diff --git a/src/main/drivers/timer_stm32f7xx.c b/src/main/drivers/timer_stm32f7xx.c
index 237fee68d7..792a1be6b8 100644
--- a/src/main/drivers/timer_stm32f7xx.c
+++ b/src/main/drivers/timer_stm32f7xx.c
@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifdef USE_TIMER
+
 #include "common/utils.h"
 
 #include "drivers/dma.h"
@@ -205,3 +207,4 @@ uint32_t timerClock(TIM_TypeDef *tim)
     UNUSED(tim);
     return SystemCoreClock;
 }
+#endif
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index 656b4f75e1..c4dc0e5524 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -358,7 +358,9 @@ void init(void)
     mcoInit(mcoConfig());
 #endif
 
+#ifdef USE_TIMER
     timerInit();  // timer must be initialized before any channel is allocated
+#endif
 
 #ifdef BUS_SWITCH_PIN
     busSwitchInit();
@@ -748,9 +750,11 @@ void init(void)
 
 #endif // VTX_CONTROL
 
+#ifdef USE_TIMER
     // start all timers
     // TODO - not implemented yet
     timerStart();
+#endif
 
     ENABLE_STATE(SMALL_ANGLE);
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 2d6bbd3789..ff6ad27dde 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -106,9 +106,11 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
     motorConfig->dev.useBurstDshot = ENABLE_DSHOT_DMAR;
 #endif
 
+#ifdef USE_TIMER
     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
         motorConfig->dev.ioTags[motorIndex] = timerioTagGetByUsage(TIM_USE_MOTOR, motorIndex);
     }
+#endif
 
     motorConfig->motorPoleCount = 14;   // Most brushes motors that we use are 14 poles
 }
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 3ceffb8ac6..ff3f16da99 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -142,6 +142,7 @@
 
 #define USE_PWM_OUTPUT
 #define USE_DMA
+#define USE_TIMER
 
 #define USE_CLI
 #define USE_SERIAL_PASSTHROUGH