Merge remote-tracking branch 'betaflight/master' into bfdev-configurable-spi-phase-1

src/main/blackbox/blackbox.c

@@ -69,6 +69,7 @@
 #include "sensors/gyro.h"
 #include "sensors/sonar.h"
 
+
 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
@@ -262,20 +263,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
 
 typedef enum BlackboxState {
     BLACKBOX_STATE_DISABLED = 0,
-    BLACKBOX_STATE_STOPPED, //1
+    BLACKBOX_STATE_STOPPED,
-    BLACKBOX_STATE_PREPARE_LOG_FILE, //2
+    BLACKBOX_STATE_PREPARE_LOG_FILE,
-    BLACKBOX_STATE_SEND_HEADER, //3
+    BLACKBOX_STATE_SEND_HEADER,
-    BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER, //4
+    BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
-    BLACKBOX_STATE_SEND_GPS_H_HEADER, //5
+    BLACKBOX_STATE_SEND_GPS_H_HEADER,
-    BLACKBOX_STATE_SEND_GPS_G_HEADER, //6
+    BLACKBOX_STATE_SEND_GPS_G_HEADER,
-    BLACKBOX_STATE_SEND_SLOW_HEADER, //7
+    BLACKBOX_STATE_SEND_SLOW_HEADER,
-    BLACKBOX_STATE_SEND_SYSINFO, //8
+    BLACKBOX_STATE_SEND_SYSINFO,
-    BLACKBOX_STATE_PAUSED, //9
+    BLACKBOX_STATE_PAUSED,
-    BLACKBOX_STATE_RUNNING, //10
+    BLACKBOX_STATE_RUNNING,
-    BLACKBOX_STATE_SHUTTING_DOWN, //11
+    BLACKBOX_STATE_SHUTTING_DOWN,
-    BLACKBOX_STATE_START_ERASE, //12
+    BLACKBOX_STATE_START_ERASE,
-    BLACKBOX_STATE_ERASING, //13
+    BLACKBOX_STATE_ERASING,
-    BLACKBOX_STATE_ERASED //14
+    BLACKBOX_STATE_ERASED
 } BlackboxState;
 
 
@@ -309,7 +310,8 @@ typedef struct blackboxMainState_s {
 } blackboxMainState_t;
 
 typedef struct blackboxGpsState_s {
-    int32_t GPS_home[2], GPS_coord[2];
+    int32_t GPS_home[2];
+    int32_t GPS_coord[2];
     uint8_t GPS_numSat;
 } blackboxGpsState_t;
 
@@ -333,7 +335,6 @@ static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
 static uint32_t blackboxLastArmingBeep = 0;
 static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
 
-
 static struct {
     uint32_t headerIndex;
 
@@ -352,7 +353,8 @@ static uint32_t blackboxConditionCache;
 STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
 
 static uint32_t blackboxIteration;
-static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
+static uint16_t blackboxPFrameIndex;
+static uint16_t blackboxIFrameIndex;
 static uint16_t blackboxSlowFrameIterationTimer;
 static bool blackboxLoggedAnyFrames;
 
@@ -623,8 +625,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
 
 static void writeInterframe(void)
 {
-    int32_t deltas[8];
-
     blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
     blackboxMainState_t *blackboxLast = blackboxHistory[1];
 
@@ -638,6 +638,7 @@ static void writeInterframe(void)
      */
     blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
 
+    int32_t deltas[8];
     arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
     blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
 
@@ -1198,16 +1199,16 @@ static bool blackboxWriteSysinfo(void)
 
     const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
     switch (xmitState.headerIndex) {
-        BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s",                    "Cleanflight");
+        BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s",                   "Cleanflight");
-        BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
+        BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "%s %s (%s) %s",    FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
-        BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s",                 buildDate, buildTime);
+        BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s",                buildDate, buildTime);
-        BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s",                       systemConfig()->name);
+        BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s",                      systemConfig()->name);
-        BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d",                    blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
+        BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d",                   blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
-        BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d",                      motorConfig()->minthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d",                     motorConfig()->minthrottle);
-        BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d",                      motorConfig()->maxthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d",                     motorConfig()->maxthrottle);
         BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x",                     castFloatBytesToInt(1.0f));
-        BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                   motorOutputLowInt,motorOutputHighInt);
+        BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                  motorOutputLowInt,motorOutputHighInt);
-        BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u",                           acc.dev.acc_1G);
+        BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u",                          acc.dev.acc_1G);
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
@@ -1217,10 +1218,10 @@ static bool blackboxWriteSysinfo(void)
             }
             );
 
-        BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u",            batteryConfig()->vbatmincellvoltage,
+        BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u",           batteryConfig()->vbatmincellvoltage,
-                                                                          batteryConfig()->vbatwarningcellvoltage,
+                                                                            batteryConfig()->vbatwarningcellvoltage,
-                                                                          batteryConfig()->vbatmaxcellvoltage);
+                                                                            batteryConfig()->vbatmaxcellvoltage);
-        BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u",                          vbatReference);
+        BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u",                         vbatReference);
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
             if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
@@ -1228,92 +1229,92 @@ static bool blackboxWriteSysinfo(void)
             }
             );
 
-        BLACKBOX_PRINT_HEADER_LINE("looptime", "%d",                         gyro.targetLooptime);
+        BLACKBOX_PRINT_HEADER_LINE("looptime", "%d",                        gyro.targetLooptime);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d",                  gyroConfig()->gyro_sync_denom);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d",                 gyroConfig()->gyro_sync_denom);
-        BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d",                pidConfig()->pid_process_denom);
+        BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d",               pidConfig()->pid_process_denom);
-        BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d",                          currentControlRateProfile->rcRate8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d",                         currentControlRateProfile->rcRate8);
-        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                          currentControlRateProfile->rcExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d",                         currentControlRateProfile->rcExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("rc_rate_yaw", "%d",                      currentControlRateProfile->rcYawRate8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_rate_yaw", "%d",                     currentControlRateProfile->rcYawRate8);
-        BLACKBOX_PRINT_HEADER_LINE("rc_expo_yaw", "%d",                      currentControlRateProfile->rcYawExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("rc_expo_yaw", "%d",                     currentControlRateProfile->rcYawExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                          currentControlRateProfile->thrMid8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d",                         currentControlRateProfile->thrMid8);
-        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                         currentControlRateProfile->thrExpo8);
+        BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d",                        currentControlRateProfile->thrExpo8);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                         currentControlRateProfile->dynThrPID);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d",                        currentControlRateProfile->dynThrPID);
-        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                   currentControlRateProfile->tpa_breakpoint);
+        BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d",                  currentControlRateProfile->tpa_breakpoint);
-        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                      currentControlRateProfile->rates[ROLL],
+        BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d",                     currentControlRateProfile->rates[ROLL],
-                                                                             currentControlRateProfile->rates[PITCH],
+                                                                            currentControlRateProfile->rates[PITCH],
-                                                                             currentControlRateProfile->rates[YAW]);
+                                                                            currentControlRateProfile->rates[YAW]);
-        BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d",                    currentPidProfile->pid[PID_ROLL].P,
+        BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d",                   currentPidProfile->pid[PID_ROLL].P,
-                                                                             currentPidProfile->pid[PID_ROLL].I,
+                                                                            currentPidProfile->pid[PID_ROLL].I,
-                                                                             currentPidProfile->pid[PID_ROLL].D);
+                                                                            currentPidProfile->pid[PID_ROLL].D);
-        BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d",                   currentPidProfile->pid[PID_PITCH].P,
+        BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d",                  currentPidProfile->pid[PID_PITCH].P,
-                                                                             currentPidProfile->pid[PID_PITCH].I,
+                                                                            currentPidProfile->pid[PID_PITCH].I,
-                                                                             currentPidProfile->pid[PID_PITCH].D);
+                                                                            currentPidProfile->pid[PID_PITCH].D);
-        BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d",                     currentPidProfile->pid[PID_YAW].P,
+        BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d",                    currentPidProfile->pid[PID_YAW].P,
-                                                                             currentPidProfile->pid[PID_YAW].I,
+                                                                            currentPidProfile->pid[PID_YAW].I,
-                                                                             currentPidProfile->pid[PID_YAW].D);
+                                                                            currentPidProfile->pid[PID_YAW].D);
-        BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d",                     currentPidProfile->pid[PID_ALT].P,
+        BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d",                    currentPidProfile->pid[PID_ALT].P,
-                                                                             currentPidProfile->pid[PID_ALT].I,
+                                                                            currentPidProfile->pid[PID_ALT].I,
-                                                                             currentPidProfile->pid[PID_ALT].D);
+                                                                            currentPidProfile->pid[PID_ALT].D);
-        BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d",                     currentPidProfile->pid[PID_POS].P,
+        BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d",                    currentPidProfile->pid[PID_POS].P,
-                                                                             currentPidProfile->pid[PID_POS].I,
+                                                                            currentPidProfile->pid[PID_POS].I,
-                                                                             currentPidProfile->pid[PID_POS].D);
+                                                                            currentPidProfile->pid[PID_POS].D);
-        BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d",                    currentPidProfile->pid[PID_POSR].P,
+        BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d",                   currentPidProfile->pid[PID_POSR].P,
-                                                                             currentPidProfile->pid[PID_POSR].I,
+                                                                            currentPidProfile->pid[PID_POSR].I,
-                                                                             currentPidProfile->pid[PID_POSR].D);
+                                                                            currentPidProfile->pid[PID_POSR].D);
-        BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d",                    currentPidProfile->pid[PID_NAVR].P,
+        BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d",                   currentPidProfile->pid[PID_NAVR].P,
-                                                                             currentPidProfile->pid[PID_NAVR].I,
+                                                                            currentPidProfile->pid[PID_NAVR].I,
-                                                                             currentPidProfile->pid[PID_NAVR].D);
+                                                                            currentPidProfile->pid[PID_NAVR].D);
-        BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d",                   currentPidProfile->pid[PID_LEVEL].P,
+        BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d",                  currentPidProfile->pid[PID_LEVEL].P,
-                                                                             currentPidProfile->pid[PID_LEVEL].I,
+                                                                            currentPidProfile->pid[PID_LEVEL].I,
-                                                                             currentPidProfile->pid[PID_LEVEL].D);
+                                                                            currentPidProfile->pid[PID_LEVEL].D);
-        BLACKBOX_PRINT_HEADER_LINE("magPID", "%d",                           currentPidProfile->pid[PID_MAG].P);
+        BLACKBOX_PRINT_HEADER_LINE("magPID", "%d",                          currentPidProfile->pid[PID_MAG].P);
-        BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d",                     currentPidProfile->pid[PID_VEL].P,
+        BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d",                    currentPidProfile->pid[PID_VEL].P,
-                                                                             currentPidProfile->pid[PID_VEL].I,
+                                                                            currentPidProfile->pid[PID_VEL].I,
-                                                                             currentPidProfile->pid[PID_VEL].D);
+                                                                            currentPidProfile->pid[PID_VEL].D);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d",                currentPidProfile->dterm_filter_type);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d",               currentPidProfile->dterm_filter_type);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d",                     currentPidProfile->dterm_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d",                    currentPidProfile->dterm_lpf_hz);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d",                       currentPidProfile->yaw_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d",                      currentPidProfile->yaw_lpf_hz);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d",                   currentPidProfile->dterm_notch_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d",                  currentPidProfile->dterm_notch_hz);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d",               currentPidProfile->dterm_notch_cutoff);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d",              currentPidProfile->dterm_notch_cutoff);
-        BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d",                     currentPidProfile->itermWindupPointPercent);
+        BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d",                    currentPidProfile->itermWindupPointPercent);
-        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d",                    currentPidProfile->vbatPidCompensation);
+        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d",                   currentPidProfile->vbatPidCompensation);
-        BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d",                 currentPidProfile->pidAtMinThrottle);
+        BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d",                currentPidProfile->pidAtMinThrottle);
 
         // Betaflight PID controller parameters
-        BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d",              currentPidProfile->itermThrottleThreshold);
+        BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d",          currentPidProfile->itermThrottleThreshold);
-        BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d",                currentPidProfile->itermAcceleratorGain);
+        BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d",               currentPidProfile->itermAcceleratorGain);
-        BLACKBOX_PRINT_HEADER_LINE("setpoint_relaxation_ratio", "%d",        currentPidProfile->setpointRelaxRatio);
+        BLACKBOX_PRINT_HEADER_LINE("setpoint_relaxation_ratio", "%d",       currentPidProfile->setpointRelaxRatio);
-        BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%d",            currentPidProfile->dtermSetpointWeight);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%d",           currentPidProfile->dtermSetpointWeight);
-        BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d",                    currentPidProfile->yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d",                   currentPidProfile->yawRateAccelLimit);
-        BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d",                        currentPidProfile->rateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d",                       currentPidProfile->rateAccelLimit);
-        BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d",                     currentPidProfile->pidSumLimit);
+        BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d",                    currentPidProfile->pidSumLimit);
-        BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d",                 currentPidProfile->pidSumLimitYaw);
+        BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d",                currentPidProfile->pidSumLimitYaw);
         // End of Betaflight controller parameters
 
-        BLACKBOX_PRINT_HEADER_LINE("deadband", "%d",                         rcControlsConfig()->deadband);
+        BLACKBOX_PRINT_HEADER_LINE("deadband", "%d",                        rcControlsConfig()->deadband);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                     rcControlsConfig()->yaw_deadband);
+        BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                    rcControlsConfig()->yaw_deadband);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                         gyroConfig()->gyro_lpf);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                        gyroConfig()->gyro_lpf);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d",                gyroConfig()->gyro_soft_lpf_type);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d",               gyroConfig()->gyro_soft_lpf_type);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d",                  gyroConfig()->gyro_soft_lpf_hz);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d",                 gyroConfig()->gyro_soft_lpf_hz);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                 gyroConfig()->gyro_soft_notch_hz_1,
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
-                                                                             gyroConfig()->gyro_soft_notch_hz_2);
+                                                                            gyroConfig()->gyro_soft_notch_hz_2);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",             gyroConfig()->gyro_soft_notch_cutoff_1,
+        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,
-                                                                             gyroConfig()->gyro_soft_notch_cutoff_2);
+                                                                            gyroConfig()->gyro_soft_notch_cutoff_2);
-        BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d",                  (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d",                 (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d",                     accelerometerConfig()->acc_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d",                    accelerometerConfig()->acc_hardware);
-        BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d",                    barometerConfig()->baro_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d",                   barometerConfig()->baro_hardware);
-        BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d",                     compassConfig()->mag_hardware);
+        BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d",                    compassConfig()->mag_hardware);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d",            armingConfig()->gyro_cal_on_first_arm);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d",           armingConfig()->gyro_cal_on_first_arm);
-        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d",                 rxConfig()->rcInterpolation);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d",                rxConfig()->rcInterpolation);
-        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d",        rxConfig()->rcInterpolationInterval);
+        BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d",       rxConfig()->rcInterpolationInterval);
-        BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d",        rxConfig()->airModeActivateThreshold);
+        BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d",       rxConfig()->airModeActivateThreshold);
-        BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d",                rxConfig()->serialrx_provider);
+        BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d",               rxConfig()->serialrx_provider);
-        BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d",                 motorConfig()->dev.useUnsyncedPwm);
+        BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d",                motorConfig()->dev.useUnsyncedPwm);
-        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",               motorConfig()->dev.motorPwmProtocol);
+        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",              motorConfig()->dev.motorPwmProtocol);
-        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                   motorConfig()->dev.motorPwmRate);
+        BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  motorConfig()->dev.motorPwmRate);
-        BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d",                 motorConfig()->digitalIdleOffsetValue);
+        BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d",                motorConfig()->digitalIdleOffsetValue);
-        BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                       systemConfig()->debug_mode);
+        BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);
-        BLACKBOX_PRINT_HEADER_LINE("features", "%d",                         featureConfig()->enabledFeatures);
+        BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
 
         default:
             return true;
@@ -1369,30 +1370,25 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
 /* If an arming beep has played since it was last logged, write the time of the arming beep to the log as a synchronization point */
 static void blackboxCheckAndLogArmingBeep(void)
 {
-    flightLogEvent_syncBeep_t eventData;
-
     // Use != so that we can still detect a change if the counter wraps
     if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
         blackboxLastArmingBeep = getArmingBeepTimeMicros();
-
+        flightLogEvent_syncBeep_t eventData;
         eventData.time = blackboxLastArmingBeep;
-
+        blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *)&eventData);
-        blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
     }
 }
 
 /* monitor the flight mode event status and trigger an event record if the state changes */
 static void blackboxCheckAndLogFlightMode(void)
 {
-    flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
-
     // Use != so that we can still detect a change if the counter wraps
     if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
+        flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
         eventData.lastFlags = blackboxLastFlightModeFlags;
         memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
         memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
-
+        blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
-        blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
     }
 }
 

src/main/blackbox/blackbox_io.c

@@ -511,6 +511,14 @@ bool isBlackboxDeviceFull(void)
     }
 }
 
+unsigned int blackboxGetLogNumber()
+{
+#ifdef USE_SDCARD
+    return blackboxSDCard.largestLogFileNumber;
+#endif
+    return 0;
+}
+
 /**
  * Call once every loop iteration in order to maintain the global blackboxHeaderBudget with the number of bytes we can
  * transmit this iteration.

src/main/blackbox/blackbox_io.h

@@ -52,6 +52,7 @@ bool blackboxDeviceBeginLog(void);
 bool blackboxDeviceEndLog(bool retainLog);
 
 bool isBlackboxDeviceFull(void);
+unsigned int blackboxGetLogNumber();
 
 void blackboxReplenishHeaderBudget();
 blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes);

src/main/drivers/accgyro/accgyro.h

@@ -20,6 +20,7 @@
 #include "platform.h"
 #include "common/axis.h"
 #include "drivers/exti.h"
+#include "drivers/bus.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)

src/main/drivers/accgyro/accgyro_mpu.h

@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include "drivers/bus.h"
 #include "drivers/exti.h"
 #include "drivers/sensor.h"
 

src/main/drivers/accgyro/accgyro_spi_bmi160.h

@@ -34,7 +34,7 @@
 
 #pragma once
 
-#include "drivers/sensor.h"
+#include "drivers/bus.h"
 
 enum pios_bmi160_orientation { // clockwise rotation from board forward
     PIOS_BMI160_TOP_0DEG,

src/main/drivers/accgyro/accgyro_spi_icm20689.h

@@ -16,7 +16,7 @@
  */
 #pragma once
 
-#include "drivers/sensor.h"
+#include "drivers/bus.h"
 
 #define ICM20689_WHO_AM_I_CONST             (0x98)
 #define ICM20689_BIT_RESET                  (0x80)

src/main/drivers/accgyro/accgyro_spi_mpu6000.h

@@ -1,7 +1,7 @@
 
 #pragma once
 
-#include "drivers/sensor.h"
+#include "drivers/bus.h"
 
 #define MPU6000_CONFIG              0x1A
 

src/main/drivers/accgyro/accgyro_spi_mpu6500.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "drivers/sensor.h"
+#include "drivers/bus.h"
 
 uint8_t mpu6500SpiDetect(const busDevice_t *bus);
 

src/main/drivers/accgyro/accgyro_spi_mpu9250.h

@@ -1,7 +1,7 @@
 
 #pragma once
 
-#include "drivers/sensor.h"
+#include "drivers/bus.h"
 
 #define mpu9250_CONFIG                      0x1A
 

src/main/drivers/bus.h

@@ -19,6 +19,14 @@
 
 #include "platform.h"
 
+#include "drivers/io_types.h"
+
+typedef union busDevice_u {
+    struct deviceSpi_s {
+        IO_t csnPin;
+    } spi;
+} busDevice_t;
+
 #ifdef TARGET_BUS_INIT
 void targetBusInit(void);
 #endif

src/main/drivers/compass/compass.h

@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include "drivers/bus.h"
 #include "drivers/sensor.h"
 
 typedef struct magDev_s {

src/main/drivers/light_ws2811strip.h

@@ -28,7 +28,7 @@
 // number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
 #define WS2811_DMA_BUFFER_SIZE     (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH)
 
-#define WS2811_TIMER_MHZ           24
+#define WS2811_TIMER_MHZ           48
 #define WS2811_CARRIER_HZ          800000
 
 void ws2811LedStripInit(ioTag_t ioTag);

src/main/drivers/pwm_output.c

@@ -49,7 +49,7 @@ static uint16_t freqBeep=0;
 #endif
 
 bool pwmMotorsEnabled = false;
-bool isDigital = false;
+bool isDshot = false;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
@@ -160,9 +160,9 @@ static void pwmWriteMultiShot(uint8_t index, float value)
 }
 
 #ifdef USE_DSHOT
-static void pwmWriteDigital(uint8_t index, float value)
+static void pwmWriteDshot(uint8_t index, float value)
 {
-    pwmWriteDigitalInt(index, lrintf(value));
+    pwmWriteDshotInt(index, lrintf(value));
 }
 
 static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet)
@@ -277,24 +277,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
         break;
 #ifdef USE_DSHOT
     case PWM_TYPE_PROSHOT1000:
-        pwmWrite = &pwmWriteDigital;
+        pwmWrite = &pwmWriteDshot;
         loadDmaBuffer = &loadDmaBufferProshot;
-        pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
+        pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
-        isDigital = true;
+        isDshot = true;
         break;
     case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
-        pwmWrite = &pwmWriteDigital;
+        pwmWrite = &pwmWriteDshot;
         loadDmaBuffer = &loadDmaBufferDshot;
-        pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
+        pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
-        isDigital = true;
+        isDshot = true;
         break;
 #endif
     }
 
-    if (!isDigital) {
+    if (!isDshot) {
         pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
     }
 
@@ -313,8 +313,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
         motors[motorIndex].io = IOGetByTag(tag);
 
 #ifdef USE_DSHOT
-        if (isDigital) {
+        if (isDshot) {
-            pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
+            pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
                 motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
             motors[motorIndex].enabled = true;
             continue;
@@ -354,6 +354,11 @@ pwmOutputPort_t *pwmGetMotors(void)
     return motors;
 }
 
+bool isMotorProtocolDshot(void)
+{
+    return isDshot;
+}
+
 #ifdef USE_DSHOT
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
@@ -374,7 +379,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 
 void pwmWriteDshotCommand(uint8_t index, uint8_t command)
 {
-    if (isDigital && (command <= DSHOT_MAX_COMMAND)) {
+    if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
         motorDmaOutput_t *const motor = getMotorDmaOutput(index);
 
         unsigned repeats;
@@ -395,7 +400,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
 
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
-            pwmWriteDigitalInt(index, command);
+            pwmWriteDshotInt(index, command);
             pwmCompleteMotorUpdate(0);
 
             delay(1);

src/main/drivers/pwm_output.h

@@ -30,6 +30,15 @@
 
 #define DSHOT_MAX_COMMAND 47
 
+/*
+  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
+
+  3D Mode:
+  0 = stop
+  48   (low) - 1047 (high) -> negative direction
+  1048 (low) - 2047 (high) -> positive direction
+ */
+
 typedef enum {
     DSHOT_CMD_MOTOR_STOP = 0,
     DSHOT_CMD_BEEP1,
@@ -166,6 +175,8 @@ void servoDevInit(const servoDevConfig_t *servoDevConfig);
 
 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
+bool isMotorProtocolDshot(void);
+
 #ifdef USE_DSHOT
 typedef uint8_t loadDmaBufferFunc(motorDmaOutput_t *const motor, uint16_t packet);  // function pointer used to encode a digital motor value into the DMA buffer representation
 
@@ -175,9 +186,9 @@ extern loadDmaBufferFunc *loadDmaBuffer;
 
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
 void pwmWriteDshotCommand(uint8_t index, uint8_t command);
-void pwmWriteDigitalInt(uint8_t index, uint16_t value);
+void pwmWriteDshotInt(uint8_t index, uint16_t value);
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
 #endif
 
 #ifdef BEEPER

src/main/drivers/pwm_output_dshot.c

@@ -54,7 +54,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount-1;
 }
 
-void pwmWriteDigitalInt(uint8_t index, uint16_t value)
+void pwmWriteDshotInt(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t *const motor = &dmaMotors[index];
 
@@ -70,7 +70,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
     DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
 }
 
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 
@@ -94,7 +94,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
     }
 }
 
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
     DMA_InitTypeDef DMA_InitStructure;

src/main/drivers/pwm_output_dshot_hal.c

@@ -49,7 +49,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount - 1;
 }
 
-void pwmWriteDigitalInt(uint8_t index, uint16_t value)
+void pwmWriteDshotInt(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t *const motor = &dmaMotors[index];
 
@@ -74,7 +74,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
     }
 }
 
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 }
@@ -85,7 +85,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
     HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
 }
 
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 {
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
     motor->timerHardware = timerHardware;

src/main/drivers/resource.c

@@ -63,5 +63,6 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
     "VTX",
     "COMPASS_CS",
     "SPI_PREINIT",
+    "RX_BIND_PLUG",
 };
 

src/main/drivers/resource.h

@@ -63,6 +63,7 @@ typedef enum {
     OWNER_VTX,
     OWNER_COMPASS_CS,
     OWNER_SPI_PREINIT,
+    OWNER_RX_BIND_PLUG,
     OWNER_TOTAL_COUNT
 } resourceOwner_e;
 

src/main/drivers/sensor.h

@@ -20,8 +20,6 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "drivers/io_types.h"
-
 typedef enum {
     ALIGN_DEFAULT = 0,                                      // driver-provided alignment
     CW0_DEG = 1,
@@ -34,12 +32,6 @@ typedef enum {
     CW270_DEG_FLIP = 8
 } sensor_align_e;
 
-typedef union busDevice_t {
-    struct deviceSpi_s {
-        IO_t csnPin;
-    } spi;
-} busDevice_t;
-
 typedef bool (*sensorInitFuncPtr)(void);                    // sensor init prototype
 typedef bool (*sensorReadFuncPtr)(int16_t *data);           // sensor read and align prototype
 typedef bool (*sensorInterruptFuncPtr)(void);

src/main/drivers/serial.h

@@ -18,6 +18,7 @@
 #pragma once
 
 #include "drivers/io.h"
+#include "config/parameter_group.h"
 
 typedef enum portMode_t {
     MODE_RX = 1 << 0,
@@ -86,6 +87,8 @@ typedef struct serialPinConfig_s {
     ioTag_t ioTagInverter[SERIAL_PORT_MAX_INDEX];
 } serialPinConfig_t;
 
+PG_DECLARE(serialPinConfig_t, serialPinConfig);
+
 struct serialPortVTable {
     void (*serialWrite)(serialPort_t *instance, uint8_t ch);
 

src/main/drivers/vtx_common.h

@@ -35,7 +35,7 @@ typedef struct vtxDeviceCapability_s {
 } vtxDeviceCapability_t;
 
 typedef struct vtxDevice_s {
-    const struct vtxVTable_s const *vTable;
+    const struct vtxVTable_s * const vTable;
 
     vtxDeviceCapability_t capability;
 

src/main/fc/config.h

@@ -91,7 +91,6 @@ PG_DECLARE(ppmConfig_t, ppmConfig);
 PG_DECLARE(pwmConfig_t, pwmConfig);
 PG_DECLARE(vcdProfile_t, vcdProfile);
 PG_DECLARE(sdcardConfig_t, sdcardConfig);
-PG_DECLARE(serialPinConfig_t, serialPinConfig);
 
 struct pidProfile_s;
 extern struct pidProfile_s *currentPidProfile;

src/main/fc/fc_core.c

@@ -206,21 +206,23 @@ void mwArm(void)
             return;
         }
         if (!ARMING_FLAG(PREVENT_ARMING)) {
-            #ifdef USE_DSHOT
+#ifdef USE_DSHOT
-            //TODO: Use BOXDSHOTREVERSE here
+            if (!feature(FEATURE_3D)) {
-            if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+                //TODO: Use BOXDSHOTREVERSE here
-                reverseMotors = false;
+                if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
-                for (unsigned index = 0; index < getMotorCount(); index++) {
+                    reverseMotors = false;
-                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
+                    for (unsigned index = 0; index < getMotorCount(); index++) {
+                        pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
+                    }
+                } else {
+                    reverseMotors = true;
+                    for (unsigned index = 0; index < getMotorCount(); index++) {
+                        pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
+                    }
                 }
             }
-            if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+#endif
-                reverseMotors = true;
+
-                for (unsigned index = 0; index < getMotorCount(); index++) {
-                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
-                }
-            }
-            #endif
             ENABLE_ARMING_FLAG(ARMED);
             ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
             headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);

src/main/fc/fc_init.c

@@ -315,11 +315,12 @@ void init(void)
     }
 #endif
 
-#ifdef SPEKTRUM_BIND_PIN
+#if defined(USE_SPEKTRUM_BIND) && !defined(SITL)
     if (feature(FEATURE_RX_SERIAL)) {
         switch (rxConfig()->serialrx_provider) {
         case SERIALRX_SPEKTRUM1024:
         case SERIALRX_SPEKTRUM2048:
+        case SERIALRX_SRXL:
             // Spektrum satellite binding if enabled on startup.
             // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
             // The rest of Spektrum initialization will happen later - via spektrumInit()

src/main/fc/settings.c

@@ -357,7 +357,7 @@ const clivalue_t valueTable[] = {
     { "serialrx_provider",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
     { "sbus_inversion",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, sbus_inversion) },
 #endif
-#ifdef SPEKTRUM_BIND_PIN
+#ifdef USE_SPEKTRUM_BIND
     { "spektrum_sat_bind",          VAR_UINT8  | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
     { "spektrum_sat_bind_autoreset",VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
 #endif
@@ -678,6 +678,7 @@ const clivalue_t valueTable[] = {
     { "osd_stat_endbatt",           VAR_UINT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_END_BATTERY])},
     { "osd_stat_flytime",           VAR_UINT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_FLYTIME])},
     { "osd_stat_armtime",           VAR_UINT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_ARMEDTIME])},
+    { "osd_stat_bb_no",             VAR_UINT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_OSD_CONFIG, offsetof(osdConfig_t, enabled_stats[OSD_STAT_BLACKBOX_NUMBER])},
 #endif
 
 // PG_SYSTEM_CONFIG

src/main/flight/mixer.c

@@ -336,23 +336,6 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
     return false;
 }
 
-bool isMotorProtocolDshot(void) {
-#ifdef USE_DSHOT
-    switch(motorConfig()->dev.motorPwmProtocol) {
-    case PWM_TYPE_PROSHOT1000:
-    case PWM_TYPE_DSHOT1200:
-    case PWM_TYPE_DSHOT600:
-    case PWM_TYPE_DSHOT300:
-    case PWM_TYPE_DSHOT150:
-        return true;
-    default:
-        return false;
-    }
-#else
-    return false;
-#endif
-}
-
 // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
 // DSHOT scaling is done to the actual dshot range
 void initEscEndpoints(void) {

src/main/flight/mixer.h

@@ -25,24 +25,6 @@
 #define BRUSHED_MOTORS_PWM_RATE 16000
 #define BRUSHLESS_MOTORS_PWM_RATE 480
 
-/*
-  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
-  0 = stop
-  1-5: beep
-  6: ESC info request (FW Version and SN sent over the tlm wire)
-  7: spin direction 1
-  8: spin direction 2
-  9: 3d mode off
-  10: 3d mode on
-  11: ESC settings request (saved settings over the TLM wire)
-  12: save Settings
-
-  3D Mode:
-  0 = stop
-  48   (low) - 1047 (high) -> negative direction
-  1048 (low) - 2047 (high) -> positive direction
-*/
-
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
@@ -140,6 +122,5 @@ void writeMotors(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);
 
-bool isMotorProtocolDshot(void);
 float convertExternalToMotor(uint16_t externalValue);
 uint16_t convertMotorToExternal(float motorValue);

src/main/io/osd.c

@@ -737,17 +737,18 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     osdConfig->item_pos[OSD_ESC_TMP]            = OSD_POS(18, 2)  | VISIBLE_FLAG;
     osdConfig->item_pos[OSD_ESC_RPM]            = OSD_POS(19, 2)  | VISIBLE_FLAG;
 
-    osdConfig->enabled_stats[OSD_STAT_MAX_SPEED]    = true;
+    osdConfig->enabled_stats[OSD_STAT_MAX_SPEED]       = true;
-    osdConfig->enabled_stats[OSD_STAT_MIN_BATTERY]  = true;
+    osdConfig->enabled_stats[OSD_STAT_MIN_BATTERY]     = true;
-    osdConfig->enabled_stats[OSD_STAT_MIN_RSSI]     = true;
+    osdConfig->enabled_stats[OSD_STAT_MIN_RSSI]        = true;
-    osdConfig->enabled_stats[OSD_STAT_MAX_CURRENT]  = true;
+    osdConfig->enabled_stats[OSD_STAT_MAX_CURRENT]     = true;
-    osdConfig->enabled_stats[OSD_STAT_USED_MAH]     = true;
+    osdConfig->enabled_stats[OSD_STAT_USED_MAH]        = true;
-    osdConfig->enabled_stats[OSD_STAT_MAX_ALTITUDE] = false;
+    osdConfig->enabled_stats[OSD_STAT_MAX_ALTITUDE]    = false;
-    osdConfig->enabled_stats[OSD_STAT_BLACKBOX]     = true;
+    osdConfig->enabled_stats[OSD_STAT_BLACKBOX]        = true;
-    osdConfig->enabled_stats[OSD_STAT_END_BATTERY]  = false;
+    osdConfig->enabled_stats[OSD_STAT_END_BATTERY]     = false;
-    osdConfig->enabled_stats[OSD_STAT_FLYTIME]      = false;
+    osdConfig->enabled_stats[OSD_STAT_FLYTIME]         = false;
-    osdConfig->enabled_stats[OSD_STAT_ARMEDTIME]    = true;
+    osdConfig->enabled_stats[OSD_STAT_ARMEDTIME]       = true;
-    osdConfig->enabled_stats[OSD_STAT_MAX_DISTANCE] = false;
+    osdConfig->enabled_stats[OSD_STAT_MAX_DISTANCE]    = false;
+    osdConfig->enabled_stats[OSD_STAT_BLACKBOX_NUMBER] = true;
 
     osdConfig->units = OSD_UNIT_METRIC;
 
@@ -1021,6 +1022,11 @@ static void osdShowStats(void)
         osdGetBlackboxStatusString(buff);
         osdDisplayStatisticLabel(top++, "BLACKBOX", buff);
     }
+
+    if (osdConfig()->enabled_stats[OSD_STAT_BLACKBOX_NUMBER] && blackboxConfig()->device && blackboxConfig()->device != BLACKBOX_DEVICE_SERIAL) {
+        itoa(blackboxGetLogNumber(), buff, 10);
+        osdDisplayStatisticLabel(top++, "BB LOG NUM", buff);
+    }
 #endif
 
     /* Reset time since last armed here to ensure this timer is at zero when back at "main" OSD screen */

src/main/io/osd.h

@@ -80,6 +80,7 @@ typedef enum {
     OSD_STAT_FLYTIME,
     OSD_STAT_ARMEDTIME,
     OSD_STAT_MAX_DISTANCE,
+    OSD_STAT_BLACKBOX_NUMBER,
     OSD_STAT_COUNT // MUST BE LAST
 } osd_stats_e;
 

src/main/io/rcsplit.c

@@ -40,8 +40,8 @@
 
 // communicate with camera device variables
 serialPort_t *rcSplitSerialPort = NULL;
-rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
+rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
-rcsplit_state_e cameraState = RCSPLIT_STATE_UNKNOWN;
+rcsplitState_e cameraState = RCSPLIT_STATE_UNKNOWN;
 
 static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
 {
@@ -138,7 +138,6 @@ bool rcSplitInit(void)
     // set init value to true, to avoid the action auto run when the flight board start and the switch is on.
     for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
         uint8_t switchIndex = i - BOXCAMERA1;
-        switchStates[switchIndex].boxId = 1 << i;
         switchStates[switchIndex].isActivated = true; 
     }
     

src/main/io/rcsplit.h

@@ -22,15 +22,14 @@
 #include "fc/fc_msp.h"
 
 typedef struct {
-    uint8_t boxId;
     bool isActivated;
-} rcsplit_switch_state_t;
+} rcsplitSwitchState_t;
 
 typedef enum {
     RCSPLIT_STATE_UNKNOWN = 0,
     RCSPLIT_STATE_INITIALIZING,
     RCSPLIT_STATE_IS_READY,
-} rcsplit_state_e;
+} rcsplitState_e;
 
 // packet header and tail
 #define RCSPLIT_PACKET_HEADER           0x55
@@ -51,6 +50,6 @@ bool rcSplitInit(void);
 void rcSplitProcess(timeUs_t currentTimeUs);
 
 // only for unit test
-extern rcsplit_state_e cameraState;
+extern rcsplitState_e cameraState;
 extern serialPort_t *rcSplitSerialPort;
-extern rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
+extern rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];

src/main/rx/msp.c

@@ -24,6 +24,7 @@
 
 #include "common/utils.h"
 
+#include "drivers/io.h"
 #include "rx/rx.h"
 #include "rx/msp.h"
 

src/main/rx/nrf24_cx10.c

@@ -28,6 +28,7 @@
 
 #include "build/build_config.h"
 
+#include "drivers/io.h"
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/rx_xn297.h"
 #include "drivers/time.h"

src/main/rx/nrf24_h8_3d.c

@@ -30,6 +30,7 @@
 
 #include "common/utils.h"
 
+#include "drivers/io.h"
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/rx_xn297.h"
 #include "drivers/time.h"

src/main/rx/nrf24_inav.c

@@ -28,6 +28,7 @@
 
 #include "common/utils.h"
 
+#include "drivers/io.h"
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/time.h"
 

src/main/rx/nrf24_syma.c

@@ -28,6 +28,7 @@
 
 #include "build/build_config.h"
 
+#include "drivers/io.h"
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/time.h"
 

src/main/rx/nrf24_v202.c

@@ -30,6 +30,7 @@
 
 #include "common/utils.h"
 
+#include "drivers/io.h"
 #include "drivers/rx_nrf24l01.h"
 #include "drivers/time.h"
 

src/main/rx/rx.c

@@ -108,6 +108,14 @@ static uint8_t rcSampleIndex = 0;
 #define RX_MAX_USEC 2115
 #define RX_MID_USEC 1500
 
+#ifndef SPEKTRUM_BIND_PIN
+#define SPEKTRUM_BIND_PIN NONE
+#endif
+
+#ifndef BINDPLUG_PIN
+#define BINDPLUG_PIN NONE
+#endif
+
 PG_REGISTER_WITH_RESET_FN(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
 void pgResetFn_rxConfig(rxConfig_t *rxConfig)
 {
@@ -116,6 +124,8 @@ void pgResetFn_rxConfig(rxConfig_t *rxConfig)
         .serialrx_provider = SERIALRX_PROVIDER,
         .rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL,
         .sbus_inversion = 1,
+        .spektrum_bind_pin_override_ioTag = IO_TAG(SPEKTRUM_BIND_PIN),
+        .spektrum_bind_plug_ioTag = IO_TAG(BINDPLUG_PIN),
         .spektrum_sat_bind = 0,
         .spektrum_sat_bind_autoreset = 1,
         .midrc = RX_MID_USEC,

src/main/rx/rx.h

@@ -122,6 +122,8 @@ typedef struct rxConfig_s {
     uint8_t rx_spi_protocol;                // type of nrf24 protocol (0 = v202 250kbps). Must be enabled by FEATURE_RX_NRF24 first.
     uint32_t rx_spi_id;
     uint8_t rx_spi_rf_channel_count;
+    ioTag_t spektrum_bind_pin_override_ioTag;
+    ioTag_t spektrum_bind_plug_ioTag;
     uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
     uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot
     uint8_t rssi_channel;

src/main/rx/spektrum.c

@@ -77,13 +77,6 @@ static volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
 static rxRuntimeConfig_t *rxRuntimeConfigPtr;
 static serialPort_t *serialPort;
 
-#ifdef SPEKTRUM_BIND_PIN
-static IO_t BindPin = DEFIO_IO(NONE);
-#ifdef BINDPLUG_PIN
-static IO_t BindPlug = DEFIO_IO(NONE);
-#endif
-#endif
-
 static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX];
 static uint8_t telemetryBufLen = 0;
 
@@ -180,19 +173,22 @@ static uint16_t spektrumReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint
     return data;
 }
 
-#ifdef SPEKTRUM_BIND_PIN
+#ifdef USE_SPEKTRUM_BIND
 
 bool spekShouldBind(uint8_t spektrum_sat_bind)
 {
-#ifdef BINDPLUG_PIN
+#ifdef USE_SPEKTRUM_BIND_PLUG
-    BindPlug = IOGetByTag(IO_TAG(BINDPLUG_PIN));
+    IO_t BindPlug = IOGetByTag(rxConfig()->spektrum_bind_plug_ioTag);
-    IOInit(BindPlug, OWNER_RX_BIND, 0);
-    IOConfigGPIO(BindPlug, IOCFG_IPU);
 
-    // Check status of bind plug and exit if not active
+    if (BindPlug) {
-    delayMicroseconds(10);  // allow configuration to settle
+        IOInit(BindPlug, OWNER_RX_BIND, 0);
-    if (IORead(BindPlug)) {
+        IOConfigGPIO(BindPlug, IOCFG_IPU);
-        return false;
+
+        // Check status of bind plug and exit if not active
+        delayMicroseconds(10);  // allow configuration to settle
+        if (IORead(BindPlug)) {
+            return false;
+        }
     }
 #endif
 
@@ -202,6 +198,7 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
         spektrum_sat_bind > SPEKTRUM_SAT_BIND_MAX
     );
 }
+
 /* spektrumBind function ported from Baseflight. It's used to bind satellite receiver to TX.
  * Function must be called immediately after startup so that we don't miss satellite bind window.
  * Known parameters. Tested with DSMX satellite and DX8 radio. Framerate (11ms or 22ms) must be selected from TX.
@@ -210,52 +207,92 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
  */
 void spektrumBind(rxConfig_t *rxConfig)
 {
-    int i;
     if (!spekShouldBind(rxConfig->spektrum_sat_bind)) {
         return;
     }
 
+    // Determine a pin to use
+    ioTag_t bindPin;
+
+    if (rxConfig->spektrum_bind_pin_override_ioTag) {
+        bindPin = rxConfig->spektrum_bind_pin_override_ioTag;
+    } else {
+        const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
+        if (!portConfig) {
+            return;
+        }
+
+        int index = SERIAL_PORT_IDENTIFIER_TO_INDEX(portConfig->identifier);
+        ioTag_t txPin = serialPinConfig()->ioTagTx[index];
+        ioTag_t rxPin = serialPinConfig()->ioTagRx[index];
+
+        // Take care half-duplex case
+        switch (rxConfig->serialrx_provider) {
+        case SERIALRX_SRXL:
+#ifdef TELEMETRY
+            if (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
+                bindPin = txPin;
+            }
+            break;
+#endif
+        default:
+            bindPin = rxPin;
+        }
+
+        if (!bindPin) {
+            return;
+        }
+    }
+
+    IO_t bindIO = IOGetByTag(bindPin);
+
+    IOInit(bindIO, OWNER_RX_BIND, 0);
+    IOConfigGPIO(bindIO, IOCFG_OUT_PP);
+
     LED1_ON;
 
-    BindPin = IOGetByTag(IO_TAG(SPEKTRUM_BIND_PIN));
-    IOInit(BindPin, OWNER_RX_BIND, 0);
-    IOConfigGPIO(BindPin, IOCFG_OUT_PP);
-
     // RX line, set high
-    IOWrite(BindPin, true);
+    IOWrite(bindIO, true);
 
     // Bind window is around 20-140ms after powerup
     delay(60);
     LED1_OFF;
 
-    for (i = 0; i < rxConfig->spektrum_sat_bind; i++) {
+    for (int i = 0; i < rxConfig->spektrum_sat_bind; i++) {
-
         LED0_OFF;
         LED2_OFF;
         // RX line, drive low for 120us
-        IOWrite(BindPin, false);
+        IOWrite(bindIO, false);
         delayMicroseconds(120);
 
         LED0_ON;
         LED2_ON;
         // RX line, drive high for 120us
-        IOWrite(BindPin, true);
+        IOWrite(bindIO, true);
         delayMicroseconds(120);
 
     }
 
-#ifndef BINDPLUG_PIN
+
+    // Release the bind pin to avoid interference with an actual rx pin,
+    // when rxConfig->spektrum_bind_pin_override_ioTag is used.
+    // This happens when the bind pin is connected in parallel to the rx pin.
+
+    if (rxConfig->spektrum_bind_pin_override_ioTag) {
+        delay(50); // Keep it high for 50msec
+        IOConfigGPIO(bindIO, IOCFG_IN_FLOATING);
+    }
+
     // If we came here as a result of hard  reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config
     // Don't reset if hardware bind plug is present
     // Reset only when autoreset is enabled
-    if (rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
+
+    if (!rxConfig->spektrum_bind_plug_ioTag && rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
         rxConfig->spektrum_sat_bind = 0;
         saveConfigAndNotify();
     }
-#endif
-
 }
-#endif // SPEKTRUM_BIND_PIN
+#endif // USE_SPEKTRUM_BIND
 
 bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 {
@@ -276,7 +313,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
     switch (rxConfig->serialrx_provider) {
     case SERIALRX_SRXL:
 #ifdef TELEMETRY
-        srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared && rxConfig->serialrx_provider == SERIALRX_SRXL);
+        srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared);
 #endif
     case SERIALRX_SPEKTRUM2048:
         // 11 bit frames

src/main/sensors/gyro.h

@@ -19,6 +19,7 @@
 
 #include "common/axis.h"
 #include "config/parameter_group.h"
+#include "drivers/bus.h"
 #include "drivers/sensor.h"
 
 typedef enum {

src/main/target/AIR32/target.h

@@ -96,8 +96,6 @@
 //#define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/AIRHEROF3/target.h

@@ -88,8 +88,6 @@
 #define SERIALRX_UART           SERIAL_PORT_USART2
 #define RX_CHANNELS_TAER
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/ALIENFLIGHTF1/target.h

@@ -62,8 +62,8 @@
 #define RSSI_ADC_PIN            PA1
 #define EXTERNAL1_ADC_PIN       PA5
 
-#define SPEKTRUM_BIND_PIN       PA3
+#define USE_SPEKTRUM_BIND
-
+#define USE_SPEKTRUM_BIND_PLUG
 #define BINDPLUG_PIN            PB5
 
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP

src/main/target/ALIENFLIGHTF3/target.h

@@ -114,8 +114,6 @@
 // LED strip configuration.
 #define LED_STRIP
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define BINDPLUG_PIN            PB12
 
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP

src/main/target/ALIENFLIGHTF4/target.h

@@ -162,8 +162,6 @@
 // LED strip configuration.
 #define LED_STRIP
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define BINDPLUG_PIN            PB2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -171,8 +171,6 @@
 // LED strip configuration.
 #define LED_STRIP
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define BINDPLUG_PIN            PB2
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT

src/main/target/BETAFLIGHTF3/target.h

@@ -127,8 +127,6 @@
 #define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1
 #define DEFAULT_FEATURES        (FEATURE_TELEMETRY | FEATURE_OSD)
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/BLUEJAYF4/target.h

@@ -152,8 +152,6 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define TARGET_IO_PORTA             0xffff
 #define TARGET_IO_PORTB             0xffff
 #define TARGET_IO_PORTC             0xffff

src/main/target/CC3D/target.h

@@ -93,8 +93,6 @@
 #define VBAT_ADC_PIN            PA0
 #define RSSI_ADC_PIN            PB0
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 //#define SONAR

src/main/target/CJMCU/target.h

@@ -107,7 +107,7 @@
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define USE_RX_MSP
-#define SPEKTRUM_BIND_PIN       PA3 // UART2, PA3
+#define USE_SPEKTRUM_BIND
 
 #endif //USE_RX_NRF24
 

src/main/target/CLRACINGF4/target.h

@@ -122,8 +122,6 @@
 #define DEFAULT_RX_FEATURE          FEATURE_RX_SERIAL
 #define DEFAULT_FEATURES            ( FEATURE_OSD  )
 #define CURRENT_METER_SCALE_DEFAULT 250
-#define SPEKTRUM_BIND_PIN           UART6_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))

src/main/target/CLRACINGF7/target.h

@@ -137,7 +137,6 @@
 
 // LED strip configuration.
 #define LED_STRIP
-#define SPEKTRUM_BIND_PIN       UART6_RX_PIN
 #define BINDPLUG_PIN            PB2
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL

src/main/target/DOGE/target.h

@@ -130,8 +130,6 @@
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // !!TODO - check the TARGET_IO_PORTs are correct

src/main/target/F4BY/target.h

@@ -146,8 +146,6 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-#define SPEKTRUM_BIND_PIN       UART6_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/FF_FORTINIF4/target.h

@@ -103,8 +103,6 @@
 
 #define SERIAL_PORT_COUNT       5
 //SPECKTRUM BIND
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define CMS
 #define USE_MSP_DISPLAYPORT
 /*---------------------------------*/

src/main/target/FF_PIKOBLX/target.h

@@ -94,12 +94,6 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART3
 
-#if defined(FF_RADIANCE)
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-#else
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-#endif
-
 #define TRANSPONDER
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/FF_PIKOF4/target.h

@@ -98,8 +98,6 @@
 #define UART6_TX_PIN            PC6
 
 #define SERIAL_PORT_COUNT       4
-//SPECKTRUM BIND
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
 
 #define CMS
 #define USE_MSP_DISPLAYPORT

src/main/target/FRSKYF3/config.c

@@ -19,6 +19,7 @@
 #include <platform.h>
 
 #ifdef TARGET_CONFIG
+#include "drivers/io.h"
 #include "rx/rx.h"
 #include "io/serial.h"
 

src/main/target/FRSKYF3/target.h

@@ -138,8 +138,6 @@
 #define TELEMETRY_UART          SERIAL_PORT_USART3
 #define SERIALRX_UART           SERIAL_PORT_USART2
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/FRSKYF4/config.c

@@ -19,6 +19,7 @@
 #include <platform.h>
 
 #ifdef TARGET_CONFIG
+#include "drivers/io.h"
 #include "rx/rx.h"
 #include "io/serial.h"
 

src/main/target/FRSKYF4/target.h

@@ -117,8 +117,6 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_OSD)
 #define AVOID_UART1_FOR_PWM_PPM
-#define SPEKTRUM_BIND_PIN       UART1_RX_PIN
-
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define TELEMETRY_UART          SERIAL_PORT_USART6
 #define SERIALRX_UART           SERIAL_PORT_USART1

src/main/target/FURYF3/target.h

@@ -169,8 +169,6 @@
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define USE_ESC_SENSOR

src/main/target/FURYF4/target.h

@@ -179,8 +179,6 @@
 #define SERIALRX_UART           SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/FURYF7/target.h

@@ -138,7 +138,11 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
-#define SPEKTRUM_BIND_PIN       PB11
+// XXX To target maintainer:
+// USE_SPEKTRUM_BIND is enabled for this target, and it will use
+// RX (or TX if half-duplex) pin of the UART the receiver is connected.
+// If PB11 is critical for this target, please resurrect this line.
+//#define SPEKTRUM_BIND_PIN       PB11
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/IMPULSERCF3/target.h

@@ -91,8 +91,6 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_UART           SERIAL_PORT_USART2
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/IRCFUSIONF3/target.h

@@ -81,8 +81,6 @@
 
 #undef LED_STRIP
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 /*

src/main/target/ISHAPEDF3/target.h

@@ -105,8 +105,6 @@
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
-#define SPEKTRUM_BIND_PIN   UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/KISSFC/target.h

@@ -101,8 +101,6 @@
 
 #define AVOID_UART2_FOR_PWM_PPM
 
-#define SPEKTRUM_BIND_PIN        UART2_RX_PIN
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff

src/main/target/KIWIF4/target.h

@@ -178,8 +178,6 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART1
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/LUX_RACE/target.h

@@ -157,8 +157,6 @@
 #define DEFAULT_FEATURES        (FEATURE_TELEMETRY)
 #endif
 
-#define SPEKTRUM_BIND_PIN       UART1_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define USE_ESCSERIAL

src/main/target/MICROSCISKY/target.h

@@ -70,7 +70,7 @@
 #define USE_I2C_DEVICE_2
 #define I2C_DEVICE              (I2CDEV_2)
 
-#define SPEKTRUM_BIND_PIN       PA3
+#define USE_SPEKTRUM_BIND
 
 #define BRUSHED_MOTORS
 #define DEFAULT_FEATURES        FEATURE_MOTOR_STOP

src/main/target/MOTOLAB/target.h

@@ -98,8 +98,6 @@
 
 #define USE_ESC_SENSOR
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/MULTIFLITEPICO/target.h

@@ -123,8 +123,6 @@
 #define SERIALRX_UART           SERIAL_PORT_USART3
 #define RX_CHANNELS_TAER
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define BINDPLUG_PIN            PA13
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE

src/main/target/NAZE/target.h

@@ -146,7 +146,7 @@
 #define RSSI_ADC_PIN            PA1
 #define EXTERNAL1_ADC_PIN       PA5
 
-#define SPEKTRUM_BIND_PIN       PA3
+#define USE_SPEKTRUM_BIND_PIN
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 

src/main/target/NERO/target.h

@@ -128,8 +128,6 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff

src/main/target/OMNIBUS/target.h

@@ -169,10 +169,6 @@
 
 //#define AVOID_UART3_FOR_PWM_PPM // Disable this for using UART3
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
-#define BINDPLUG_PIN            PB0
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/OMNIBUSF4/target.h

@@ -189,8 +189,6 @@
 
 #define DEFAULT_FEATURES        (FEATURE_OSD)
 #define AVOID_UART1_FOR_PWM_PPM
-#define SPEKTRUM_BIND_PIN       UART1_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))

src/main/target/RCEXPLORERF3/target.h

@@ -109,8 +109,6 @@
 #define NAV_GPS_GLITCH_DETECTION
 #define NAV_MAX_WAYPOINTS               60
 
-#define SPEKTRUM_BIND_PIN   UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA 0xffff

src/main/target/REVO/target.h

@@ -258,8 +258,6 @@
 #define DEFAULT_FEATURES        FEATURE_TELEMETRY
 #endif
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/REVONANO/target.h

@@ -84,8 +84,6 @@
 #define VBAT_ADC_PIN            PA6
 #define RSSI_ADC_PIN            PA5
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff

src/main/target/RG_SSD_F3/target.h

@@ -144,8 +144,6 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define SPEKTRUM_BIND_PIN UART3_RX_PIN
-
 // IO - stm32f303rc in 64pin package
 #define TARGET_IO_PORTA 0xffff
 #define TARGET_IO_PORTB 0xffff

src/main/target/SINGULARITY/target.h

@@ -92,8 +92,6 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define SERIALRX_UART           SERIAL_PORT_USART2
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/SIRINFPV/target.h

@@ -148,8 +148,6 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define DEFAULT_FEATURES        (FEATURE_RX_SERIAL | FEATURE_OSD)
 

src/main/target/SITL/target.c

@@ -392,6 +392,10 @@ pwmOutputPort_t *pwmGetMotors(void) {
 bool pwmAreMotorsEnabled(void) {
 	return pwmMotorsEnabled;
 }
+bool isMotorProtocolDshot(void)
+{
+    return false;
+}
 void pwmWriteMotor(uint8_t index, float value) {
 	motorsPwm[index] = value - idlePulse;
 }

src/main/target/SPARKY/target.h

@@ -90,8 +90,6 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
-#define SPEKTRUM_BIND_PIN         UART2_RX_PIN
-
 //#define SONAR
 //#define SONAR_ECHO_PIN          PB1
 //#define SONAR_TRIGGER_PIN       PA2

src/main/target/SPRACINGF3/target.h

@@ -189,8 +189,6 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define DEFAULT_FEATURES        (FEATURE_TRANSPONDER  | FEATURE_RSSI_ADC | FEATURE_TELEMETRY)
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/SPRACINGF3EVO/target.h

@@ -172,8 +172,6 @@
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define DEFAULT_FEATURES        (FEATURE_TRANSPONDER  | FEATURE_RSSI_ADC | FEATURE_TELEMETRY)
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/SPRACINGF3MINI/target.h

@@ -186,8 +186,6 @@
 #define BINDPLUG_PIN            BUTTON_B_PIN
 #endif
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))

src/main/target/SPRACINGF3NEO/target.h

@@ -184,8 +184,6 @@
 #define BUTTONS // Physically located on the optional OSD/VTX board.
 #define BUTTON_A_PIN                        PD2
 
-#define SPEKTRUM_BIND_PIN                   UART2_RX_PIN
-
 // FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
 //#define BINDPLUG_PIN                        BUTTON_A_PIN
 

src/main/target/SPRACINGF4EVO/target.h

@@ -176,8 +176,6 @@
 #define TELEMETRY_UART          SERIAL_PORT_UART5
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 
-#define SPEKTRUM_BIND_PIN       UART2_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/SPRACINGF4NEO/target.h

@@ -214,8 +214,6 @@
     #define BUTTON_A_PIN                    PB8
 #endif
 
-#define SPEKTRUM_BIND_PIN                   UART2_RX_PIN
-
 // FIXME While it's possible to use the button on the OSD/VTX board for binding enabling it here will break binding unless you have the OSD/VTX connected.
 //#define BINDPLUG_PIN                        BUTTON_A_PIN
 

src/main/target/STM32F3DISCOVERY/target.h

@@ -175,8 +175,6 @@
 
 #define USE_ESC_SENSOR
 
-#define SPEKTRUM_BIND_PIN       PA3 // USART2, PA3
-
 #define SONAR
 #define SONAR_TRIGGER_PIN       PB0
 #define SONAR_ECHO_PIN          PB1

src/main/target/VRRACE/target.h

@@ -165,10 +165,6 @@
 
 //#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
-/*
-#define SPEKTRUM_BIND_PIN             PB11
-*/
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA 0xffff

src/main/target/X_RACERSPI/target.h

@@ -115,8 +115,6 @@
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 
-#define SPEKTRUM_BIND_PIN       UART3_RX_PIN
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - stm32f303cc in 48pin package

src/main/target/common_fc_pre.h

@@ -122,6 +122,11 @@
 #define VTX_CONTROL
 #define VTX_SMARTAUDIO
 #define VTX_TRAMP
+
+#ifdef USE_SERIALRX_SPEKTRUM
+#define USE_SPEKTRUM_BIND
+#define USE_SPEKTRUM_BIND_PLUG
+#endif
 #endif
 
 #if (FLASH_SIZE > 256)

src/test/Makefile

@@ -216,6 +216,7 @@ COMMON_FLAGS = \
 	-g \
 	-Wall \
 	-Wextra \
+	-Werror \
 	-ggdb3 \
 	-pthread \
 	-O0 \

src/test/unit/flight_failsafe_unittest.cc

@@ -39,6 +39,7 @@ extern "C" {
 
     #include "io/beeper.h"
 
+    #include "drivers/io.h"
     #include "rx/rx.h"
 
     extern boxBitmask_t rcModeActivationMask;