diff --git a/src/main/fc/config.h b/src/main/fc/config.h
index 17c8ded8c1e..e3bde5f3eb7 100644
--- a/src/main/fc/config.h
+++ b/src/main/fc/config.h
@@ -63,7 +63,7 @@ typedef enum {
FEATURE_PWM_OUTPUT_ENABLE = 1 << 28,
FEATURE_OSD = 1 << 29,
FEATURE_FW_LAUNCH = 1 << 30,
- FEATURE_FW_AUTOTRIM = 1 << 31,
+ FEATURE_FW_AUTOTRIM = 1U << 31,
} features_e;
typedef struct systemConfig_s {
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 936c708030d..53daf9f524e 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -564,6 +564,29 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, logicConditionGetValue(i));
}
break;
+ case MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED:
+ {
+ // Returns 8-byte bitmask where bit N = 1 if logic condition N is configured (non-default)
+ uint64_t mask = 0;
+ for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
+ const logicCondition_t *lc = logicConditions(i);
+ // Check if any field differs from default reset values
+ bool isConfigured = (lc->enabled != 0) ||
+ (lc->activatorId != -1) ||
+ (lc->operation != 0) ||
+ (lc->operandA.type != LOGIC_CONDITION_OPERAND_TYPE_VALUE) ||
+ (lc->operandA.value != 0) ||
+ (lc->operandB.type != LOGIC_CONDITION_OPERAND_TYPE_VALUE) ||
+ (lc->operandB.value != 0) ||
+ (lc->flags != 0);
+ if (isConfigured) {
+ mask |= ((uint64_t)1 << i);
+ }
+ }
+ sbufWriteU32(dst, (uint32_t)(mask & 0xFFFFFFFF)); // Lower 32 bits
+ sbufWriteU32(dst, (uint32_t)((mask >> 32) & 0xFFFFFFFF)); // Upper 32 bits
+ }
+ break;
case MSP2_INAV_GVAR_STATUS:
for (int i = 0; i < MAX_GLOBAL_VARIABLES; i++) {
sbufWriteU32(dst, gvGet(i));
diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c
index 26fde5f2378..18be89d85d1 100644
--- a/src/main/io/dashboard.c
+++ b/src/main/io/dashboard.c
@@ -172,8 +172,8 @@ static const char* const gpsFixTypeText[] = {
"3D"
};
-static const char* tickerCharacters = "|/-\\"; // use 2/4/8 characters so that the divide is optimal.
-#define TICKER_CHARACTER_COUNT (sizeof(tickerCharacters) / sizeof(char))
+static const char tickerCharacters[] = "|/-\\"; // use 2/4/8 characters so that the divide is optimal.
+#define TICKER_CHARACTER_COUNT (sizeof(tickerCharacters) - 1)
static timeUs_t nextPageAt;
static bool forcePageChange;
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 696d426cd78..0b893916895 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -89,6 +89,7 @@
#define MSP2_INAV_MISC2 0x203A
#define MSP2_INAV_LOGIC_CONDITIONS_SINGLE 0x203B
+#define MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED 0x203C // Returns 8-byte bitmask of non-default logic conditions
#define MSP2_INAV_ESC_RPM 0x2040
#define MSP2_INAV_ESC_TELEM 0x2041
diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index 6ac184b9c66..267f8176c69 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -160,6 +160,11 @@ STATIC_UNIT_TESTED void crsfDataReceive(uint16_t c, void *rxCallbackData)
// full frame length includes the length of the address and framelength fields
const int fullFrameLength = crsfFramePosition < 3 ? 5 : crsfFrame.frame.frameLength + CRSF_FRAME_LENGTH_ADDRESS + CRSF_FRAME_LENGTH_FRAMELENGTH;
+ if (fullFrameLength > CRSF_FRAME_SIZE_MAX) {
+ crsfFramePosition = 0;
+ return;
+ }
+
if (crsfFramePosition < fullFrameLength) {
crsfFrame.bytes[crsfFramePosition++] = (uint8_t)c;
crsfFrameDone = crsfFramePosition < fullFrameLength ? false : true;
diff --git a/src/main/sensors/temperature.c b/src/main/sensors/temperature.c
index 3d5c05f179c..fe5e80c792f 100644
--- a/src/main/sensors/temperature.c
+++ b/src/main/sensors/temperature.c
@@ -98,7 +98,7 @@ static void newSensorCheckAndEnter(uint8_t type, uint64_t addr)
void temperatureInit(void)
{
- memset(sensorStatus, 0, sizeof(sensorStatus) * sizeof(*sensorStatus));
+ memset(sensorStatus, 0, sizeof(sensorStatus));
sensorsSet(SENSOR_TEMP);
diff --git a/src/main/target/DAKEFPVH743_SLIM/CMakeLists.txt b/src/main/target/DAKEFPVH743_SLIM/CMakeLists.txt
new file mode 100644
index 00000000000..93c2d867499
--- /dev/null
+++ b/src/main/target/DAKEFPVH743_SLIM/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(DAKEFPVH743_SLIM)
diff --git a/src/main/target/DAKEFPVH743_SLIM/config.c b/src/main/target/DAKEFPVH743_SLIM/config.c
new file mode 100644
index 00000000000..c8c3c081a95
--- /dev/null
+++ b/src/main/target/DAKEFPVH743_SLIM/config.c
@@ -0,0 +1,34 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV. If not, see .
+ */
+
+#include
+#include
+
+#include
+
+#include "io/serial.h"
+#include "rx/rx.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+ pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+ pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+ pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+ pinioBoxConfigMutable()->permanentId[3] = BOX_PERMANENT_ID_USER4;
+}
diff --git a/src/main/target/DAKEFPVH743_SLIM/target.c b/src/main/target/DAKEFPVH743_SLIM/target.c
new file mode 100644
index 00000000000..6bf84f5ee19
--- /dev/null
+++ b/src/main/target/DAKEFPVH743_SLIM/target.c
@@ -0,0 +1,61 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV. If not, see .
+ */
+
+ #include
+
+ #include
+ #include "drivers/io.h"
+ #include "drivers/pwm_mapping.h"
+ #include "drivers/timer.h"
+ #include "drivers/bus.h"
+ #include "drivers/sensor.h"
+
+ #include "drivers/pwm_output.h"
+ #include "common/maths.h"
+ #include "fc/config.h"
+ // Board hardware definitions - IMU1 slot
+
+BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6000, DEVHW_MPU6000, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500, DEVHW_MPU6500, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_1_ICM42605, DEVHW_ICM42605, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_1_BMI270, DEVHW_BMI270, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
+
+// // Board hardware definitions - IMU2 slot
+BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000, DEVHW_MPU6000, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500, DEVHW_MPU6500, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605, DEVHW_ICM42605, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_2_BMI270, DEVHW_BMI270, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
+
+timerHardware_t timerHardware[] = {
+ DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 0), // M1
+ DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO, 0, 1), // M2
+ DEF_TIM(TIM1, CH3, PE13, TIM_USE_OUTPUT_AUTO, 0, 2), // M3
+ DEF_TIM(TIM1, CH4, PE14, TIM_USE_OUTPUT_AUTO, 0, 3), // M4
+ DEF_TIM(TIM2, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 4), // M5
+ DEF_TIM(TIM2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 5), // M6
+ DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 6), // M7
+ DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 7), // M8 DMA None
+ DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
+ DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 DMA None
+ DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
+ DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+ DEF_TIM(TIM8, CH3, PC8, TIM_USE_ANY, 0, 0), // CAMERA_CONTROL_PIN
+ DEF_TIM(TIM17, CH1N,PB7, TIM_USE_ANY, 0, 0), // GYRO_1_CLKIN_PIN
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_LED, 0, 8), // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/DAKEFPVH743_SLIM/target.h b/src/main/target/DAKEFPVH743_SLIM/target.h
new file mode 100644
index 00000000000..0d74f9ab9fd
--- /dev/null
+++ b/src/main/target/DAKEFPVH743_SLIM/target.h
@@ -0,0 +1,197 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV. If not, see .
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "DAK7"
+#define USBD_PRODUCT_STRING "DAKEFPV H743 SLIM"
+
+#define LED0 PD10
+#define LED1 PD11
+#define LED2 PA8
+
+#define BEEPER_PIN PE10
+#define BEEPER_INVERTED
+#define USE_DSHOT_DMAR
+// Buses
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PC2
+#define SPI2_MOSI_PIN PC3
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PC12
+
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN PE12
+#define SPI4_MISO_PIN PE5
+#define SPI4_MOSI_PIN PE6
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define DEFAULT_I2C_BUS BUS_I2C2
+
+// GYRO
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS // Don't use common busdev descriptors for IMU
+#define USE_IMU_MPU6500
+#define USE_IMU_MPU6000
+
+#define USE_IMU_ICM42605
+#define USE_IMU_BMI270
+
+// IMU_1 is verified to work on OBF4V6 and Omnibus Fireworks board
+# define IMU_1_CS_PIN PC9
+# define IMU_1_IRQ_PIN PD4
+# define IMU_1_SPI_BUS BUS_SPI1
+# define IMU_1_ALIGN CW0_DEG_FLIP
+// IMU_2 is sketchy and was not verified on actual hardware
+# define IMU_2_CS_PIN PB1
+# define IMU_2_IRQ_PIN PB2
+# define IMU_2_SPI_BUS BUS_SPI4
+# define IMU_2_ALIGN CW90_DEG_FLIP
+
+// M25P256 flash
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define M25P16_SPI_BUS BUS_SPI3
+#define M25P16_CS_PIN PA15
+
+// *************** SDIO SD BLACKBOX*******************
+#define USE_SDCARD
+#define USE_SDCARD_SDIO
+#define SDCARD_SDIO_DEVICE SDIODEV_2
+#define SDCARD_SDIO_4BIT
+#define SDCARD_SDIO2_CMD_ALT // spare pin
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// CAMERA_CONTROL
+#define CAMERA_CONTROL_PIN PC8 // TIM8 CH3
+
+// Serial ports
+#define USE_VCP
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+#define USE_UART7
+#define USE_UART8
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+#define UART4_TX_PIN PB9
+#define UART4_RX_PIN PB8
+#define UART5_TX_PIN PB6
+#define UART5_RX_PIN PB5
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 9
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_CRSF
+#define SERIALRX_UART SERIAL_PORT_USART5
+#define GPS_UART SERIAL_PORT_USART1
+
+//Baro
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define BARO_I2C_BUS DEFAULT_I2C_BUS
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
+
+#define PITOT_I2C_BUS DEFAULT_I2C_BUS
+
+// ADC
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+#define ADC_CHANNEL_1_PIN PA4
+#define ADC_CHANNEL_2_PIN PC5
+#define ADC_CHANNEL_3_PIN PC0
+#define ADC_CHANNEL_4_PIN PC4
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define RSSI_ADC_CHANNEL ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
+
+#define USE_LED_STRIP
+#define WS2811_PIN PB0 // TIM3 CH3
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_LED_STRIP | FEATURE_GPS | FEATURE_BLACKBOX)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+#define MAX_PWM_OUTPUT_PORTS 12
+
+// PINIO
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN PE2
+#define PINIO2_PIN PE3
+#define PINIO3_PIN PE4
+#define PINIO4_PIN PD2
+
+// VBAT 10K/160K
+#define VBAT_SCALE_DEFAULT 1600