Add new target DAKEFPVH743_SLIM

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 {

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));

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;

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

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;

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);
 

src/main/target/DAKEFPVH743_SLIM/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(DAKEFPVH743_SLIM)

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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#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;
+}

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 <http://www.gnu.org/licenses/>.
+ */
+
+ #include <stdint.h>
+
+ #include <platform.h>
+ #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]);

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 <http://www.gnu.org/licenses/>.
+ */
+
+#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