Kconfig

mainmenu "Crazyflie Platform Configuration"

menu "Build and debug options"

config CROSS_COMPILE
    string "Cross-compiler tool prefix"
    default "arm-none-eabi-"
    help
        Same as running 'make CROSS_COMPILE=prefix-' but stored for
        default make runs in this application build directory.  You don't
        need to set this unless you want the configured application build
        directory to select the cross-compiler automatically.

config DEBUG
    bool "Enable debug build"
    default n
    help
        Enable debug symbols and extra output from firmware.

config DEBUG_QUEUE_MONITOR
    bool "Enable debug queue monitoring"
    depends on DEBUG
    default n
    help
        Enable the queue monitoring functionality.

config DEBUG_ENABLE_LED_MORSE
    bool "Enable blinking morse sequence with LEDs"
    default n
    help
        If enabled makes it possible to define LED sequences in form of the DOT,
        DASH, GAP, LETTER_GAP and WORD_GAP parts of Morse code.

config DEBUG_PRINT_ON_UART1
    bool "Switch DEBUG_PRINT to UART1"
    default n
    help
      Switch output of DEBUG_PRINT from radio to UART1.
      Note! This will interfere with several expansion decks, see the expansion
      deck documentation on https://www.bitcraze.io/ for more information about
      pin allocation.

config DEBUG_PRINT_ON_UART1_BAUDRATE
    int "Debug print on UART1 baudrate"
    default 115200
    depends on DEBUG_PRINT_ON_UART1
    help
      Set the baudrate of the debug output   


config DEBUG_DECK_IGNORE_OW
    bool "Do not enumerate OW based expansion decks"
    default n
    help
      Do not enumerate decks discovered by OneWire memory. This might be useful
      if one deck memory is very wrong. One could use the Crazyflie as a
      passive onewire memory writer.

endmenu

menu "Platform configuration"

choice
    prompt "Platform to build"
    default CONFIG_PLATFORM_CF2

config PLATFORM_CF2
    bool "Build for CF2"
    select SENSORS_BMI088_BMP388
    select SENSORS_MPU9250_LPS25H

config PLATFORM_BOLT
    bool "Build for Bolt"
    select SENSORS_BMI088_BMP388
    select SENSORS_BMI088_SPI

config PLATFORM_TAG
    bool "Build for the roadrunner"
    select SENSORS_BMI088_BMP388

config PLATFORM_FLAPPER
    bool "Build for Flapper Nimble+"
    select SENSORS_BMI088_BMP388
    select SENSORS_BMI088_SPI

endchoice

endmenu

menu "IMU configuration"

choice
    prompt "IMU algorithm"
    default IMU_MAHONY_QUATERNION

config IMU_MADGWICK_QUATERNION
    bool "Madgwick's AHRS and IMU algorithms"
    help
        Use Madgwick's IMU and AHRS algorithms.
        See: http://www.x-io.co.uk/open-source-ahrs-with-x-imu

config IMU_MAHONY_QUATERNION
    bool "Mahony IMU algorithm"
    help
        Use Mahony's algorithm from the paper:
        Nonlinear Complementary Filters on the Special Orthogonal Group
        See: https://ieeexplore.ieee.org/document/4608934

endchoice

endmenu

menu "Sensor configuration"

config SENSORS_MPU9250_LPS25H
    bool "Support for mpu9250 and lps25h sensors"
    default n
    help
        Include support for the Bosch bmi088 inertial and bmp388
        barometric sensors

config SENSORS_BMI088_BMP388
    bool "Support for bmi088 and bmp388 sensors"
    default n
    select SENSORS_BMI088_I2C
    help
        Include support for the Bosch bmi088 inertial and bmp388
        barometric sensors

config SENSORS_BOSCH
    bool "Include Bosch sensors"
    default n

config SENSORS_IGNORE_BAROMETER_FAIL
    bool "Ignore failure from barometer"
    depends on SENSORS_BMI088_BMP388
    default n

config SENSORS_BMI088_SPI
    bool "Support for SPI communincation with the bmi088 sensor"
    depends on SENSORS_BMI088_BMP388
    default n
    help
        Include support using SPI with the Bosch bmi088 inertial sensor

config SENSORS_BMI088_I2C
    bool "Support for I2C communincation with the bmi088 sensor"
    depends on SENSORS_BMI088_BMP388
    default n
    help
        Include support using I2C with the Bosch bmi088 inertial sensor

endmenu

source src/hal/src/Kconfig

menu "App layer configuration"

source "app_api/Kconfig"

config APP_ENABLE
    bool "Enable app entry point"
    default n
    help
        When enabled the firmware will call a function void appMain() from a
        task after the startup sequence has completed. This function should not
        return.

config APP_STACKSIZE
    int "Set the task stack size"
    depends on APP_ENABLE
    default 300
    help
        Size is in 32bit word (4 Bytes). The default is 300 (1.2KBytes)

config APP_PRIORITY
    int "Set the task priority"
    depends on APP_ENABLE
    default 0
    help
        Set the task priority between 0 and 5. Default is 0 (same as IDLE).

endmenu

menu "Expansion deck configuration"

config DECK_FORCE
    string "Force load specified custom deck driver"
    default "none"
    help
        A colon seperated list of custom drivers to force load or "none".

source src/deck/drivers/src/Kconfig

endmenu

source "src/modules/src/Kconfig"