From f4786d1569aa524bbefa7973f1f4edb19c174ca2 Mon Sep 17 00:00:00 2001
From: "Git bot (blckmn)" <blckmn@betaflight.com>
Date: Wed, 4 Jun 2025 06:25:03 +0000
Subject: [PATCH 1/4] Auto updated submodule references [04-06-2025]

---
 src/config | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/config b/src/config
index eda6b30999..7970f07307 160000
--- a/src/config
+++ b/src/config
@@ -1 +1 @@
-Subproject commit eda6b309994923772eeab82fce3d6d8c3c0812a2
+Subproject commit 7970f0730766941d2202cf0174943bef7f85d3ce

From 8853356e716505e27525f39f29fdaa6c28b37f46 Mon Sep 17 00:00:00 2001
From: mjs1441 <matthew_selby@yahoo.co.uk>
Date: Wed, 4 Jun 2025 15:39:45 +0100
Subject: [PATCH 2/4] Allow for builds with certain features disabled. (#14420)

* Allow for builds with certain features disabled.

Fix build for when the following are disabled:
 USE_DMA
 USE_DSHOT_TELEMETRY
 USE_SERIAL_PASSTHROUGH

* Tweak #ifdef / UNUSED as per code review.
---
 src/main/drivers/accgyro/accgyro_spi_bmi160.c | 2 ++
 src/main/drivers/accgyro/accgyro_spi_bmi270.c | 2 ++
 src/main/drivers/dshot.h                      | 7 ++-----
 src/main/drivers/dshot_command.c              | 2 ++
 src/main/msp/msp.c                            | 6 ++++++
 5 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
index 31260a0f96..fbf4aacb81 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
@@ -267,6 +267,7 @@ extiCallbackRec_t bmi160IntCallbackRec;
 
 // Called in ISR context
 // Gyro read has just completed
+#ifdef USE_DMA
 static busStatus_e bmi160Intcallback(uint32_t arg)
 {
     gyroDev_t *gyro = (gyroDev_t *)arg;
@@ -280,6 +281,7 @@ static busStatus_e bmi160Intcallback(uint32_t arg)
 
     return BUS_READY;
 }
+#endif
 
 static void bmi160ExtiHandler(extiCallbackRec_t *cb)
 {
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
index f13f39c75f..a64cfa64b4 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -278,6 +278,7 @@ extiCallbackRec_t bmi270IntCallbackRec;
  */
 // Called in ISR context
 // Gyro read has just completed
+#ifdef USE_DMA
 static busStatus_e bmi270Intcallback(uint32_t arg)
 {
     gyroDev_t *gyro = (gyroDev_t *)arg;
@@ -291,6 +292,7 @@ static busStatus_e bmi270Intcallback(uint32_t arg)
 
     return BUS_READY;
 }
+#endif
 
 static void bmi270ExtiHandler(extiCallbackRec_t *cb)
 {
diff --git a/src/main/drivers/dshot.h b/src/main/drivers/dshot.h
index 19105b0659..609fc22892 100644
--- a/src/main/drivers/dshot.h
+++ b/src/main/drivers/dshot.h
@@ -95,6 +95,8 @@ uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
 extern bool useDshotTelemetry;
 extern uint8_t dshotMotorCount;
 
+bool dshotPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig);
+
 #ifdef USE_DSHOT_TELEMETRY
 
 typedef struct dshotTelemetryMotorState_s {
@@ -113,7 +115,6 @@ typedef struct dshotTelemetryState_s {
     dshotRawValueState_t rawValueState;
 } dshotTelemetryState_t;
 
-#ifdef USE_DSHOT_TELEMETRY
 extern uint32_t readDoneCount;
 
 FAST_DATA_ZERO_INIT extern uint32_t inputStampUs;
@@ -125,10 +126,6 @@ typedef struct dshotTelemetryCycleCounters_s {
 
 FAST_DATA_ZERO_INIT extern dshotTelemetryCycleCounters_t dshotDMAHandlerCycleCounters;
 
-#endif
-
-bool dshotPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig);
-
 extern dshotTelemetryState_t dshotTelemetryState;
 
 #ifdef USE_DSHOT_TELEMETRY_STATS
diff --git a/src/main/drivers/dshot_command.c b/src/main/drivers/dshot_command.c
index a2fa5da17c..fc95dbc3aa 100644
--- a/src/main/drivers/dshot_command.c
+++ b/src/main/drivers/dshot_command.c
@@ -216,9 +216,11 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
     }
 
     if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
+#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
         bool isBitbangActive = false;
 #ifdef USE_DSHOT_BITBANG
         isBitbangActive = isDshotBitbangActive(&motorConfig()->dev);
+#endif
 #endif
         // Fake command in queue. Blocking commands are launched from cli, and no inline commands are running
         for (uint8_t i = 0; i < motorDeviceCount(); i++) {
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index de6d7d2492..9d4434cbe7 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -255,6 +255,7 @@ static void mspEscPassthroughFn(serialPort_t *serialPort)
 }
 #endif
 
+#ifdef USE_SERIAL_PASSTHROUGH
 static serialPort_t *mspFindPassthroughSerialPort(void)
 {
     serialPortUsage_t *portUsage = NULL;
@@ -284,6 +285,7 @@ static void mspSerialPassthroughFn(serialPort_t *serialPort)
         serialPassthrough(passthroughPort, serialPort, NULL, NULL);
     }
 }
+#endif
 
 static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr *mspPostProcessFn)
 {
@@ -297,6 +299,7 @@ static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessF
     }
 
     switch (mspPassthroughMode) {
+#ifdef USE_SERIAL_PASSTHROUGH
     case MSP_PASSTHROUGH_SERIAL_ID:
     case MSP_PASSTHROUGH_SERIAL_FUNCTION_ID:
         if (mspFindPassthroughSerialPort()) {
@@ -308,6 +311,9 @@ static void mspFcSetPassthroughCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessF
             sbufWriteU8(dst, 0);
         }
         break;
+#else
+    UNUSED(mspPostProcessFn);
+#endif
 #ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
     case MSP_PASSTHROUGH_ESC_4WAY:
         // get channel number

From 31887f84b158d21488aa705d591ad250c1ca41ec Mon Sep 17 00:00:00 2001
From: Jay Blackman <blckmn@users.noreply.github.com>
Date: Thu, 5 Jun 2025 10:28:31 +1000
Subject: [PATCH 3/4] PICO: Preparing for I2C device using I2C0 (#14422)

---
 src/main/drivers/bus_i2c.h                     | 16 +++++++---------
 src/main/drivers/bus_i2c_impl.h                | 14 ++++++++------
 src/main/platform.h                            |  2 +-
 .../platform/platform.h}                       |  3 +++
 .../platform/platform.h}                       | 11 +++++++----
 .../platform/platform.h}                       |  2 ++
 .../platform/platform.h}                       | 18 ++++++++++++++++++
 src/test/unit/platform.h                       |  2 ++
 8 files changed, 48 insertions(+), 20 deletions(-)
 rename src/platform/APM32/{platform_mcu.h => include/platform/platform.h} (98%)
 rename src/platform/AT32/{platform_mcu.h => include/platform/platform.h} (96%)
 rename src/platform/SIMULATOR/{platform_mcu.h => include/platform/platform.h} (97%)
 rename src/platform/STM32/{platform_mcu.h => include/platform/platform.h} (97%)

diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h
index 74dcfadb3d..91751dda24 100644
--- a/src/main/drivers/bus_i2c.h
+++ b/src/main/drivers/bus_i2c.h
@@ -31,20 +31,18 @@
 
 typedef enum I2CDevice {
     I2CINVALID = -1,
-    I2CDEV_1   = 0,
+    I2CDEV_FIRST = 0,
+#if defined(USE_I2C_DEVICE_0)
+    I2CDEV_0   = I2CDEV_FIRST,
+    I2CDEV_1,
+#else
+    I2CDEV_1   = I2CDEV_FIRST,
+#endif
     I2CDEV_2,
     I2CDEV_3,
     I2CDEV_4,
 } I2CDevice;
 
-#if defined(STM32F4) || defined(APM32F4)
-#define I2CDEV_COUNT 3
-#elif defined(STM32F7)
-#define I2CDEV_COUNT 4
-#else
-#define I2CDEV_COUNT 4
-#endif
-
 // Macros to convert between CLI bus number and I2CDevice.
 #define I2C_CFG_TO_DEV(x)   ((x) - 1)
 #define I2C_DEV_TO_CFG(x)   ((x) + 1)
diff --git a/src/main/drivers/bus_i2c_impl.h b/src/main/drivers/bus_i2c_impl.h
index 0dd1fb2c99..34f932e248 100644
--- a/src/main/drivers/bus_i2c_impl.h
+++ b/src/main/drivers/bus_i2c_impl.h
@@ -32,12 +32,12 @@
 
 typedef struct i2cPinDef_s {
     ioTag_t ioTag;
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
     uint8_t af;
 #endif
 } i2cPinDef_t;
 
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
 #define I2CPINDEF(pin, af) { DEFIO_TAG_E(pin), af }
 #else
 #define I2CPINDEF(pin) { DEFIO_TAG_E(pin) }
@@ -48,14 +48,16 @@ typedef struct i2cHardware_s {
     I2C_TypeDef *reg;
     i2cPinDef_t sclPins[I2C_PIN_SEL_MAX];
     i2cPinDef_t sdaPins[I2C_PIN_SEL_MAX];
+#if PLATFORM_TRAIT_RCC
     rccPeriphTag_t rcc;
+#endif
     uint8_t ev_irq;
     uint8_t er_irq;
 } i2cHardware_t;
 
 extern const i2cHardware_t i2cHardware[];
 
-#if defined(STM32F4)
+#if I2C_TRAIT_STATE
 typedef struct i2cState_s {
     volatile bool error;
     volatile bool busy;
@@ -74,7 +76,7 @@ typedef struct i2cDevice_s {
     I2C_TypeDef *reg;
     IO_t scl;
     IO_t sda;
-#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4) || defined(AT32F4) || defined(APM32F4)
+#if I2C_TRAIT_AF_PIN
     uint8_t sclAF;
     uint8_t sdaAF;
 #endif
@@ -82,10 +84,10 @@ typedef struct i2cDevice_s {
     uint16_t clockSpeed;
 
     // MCU/Driver dependent member follows
-#if defined(STM32F4)
+#if I2C_TRAIT_STATE
     i2cState_t state;
 #endif
-#if defined(USE_HAL_DRIVER) || defined(AT32F4)
+#if I2C_TRAIT_HANDLE
     I2C_HandleTypeDef handle;
 #endif
 } i2cDevice_t;
diff --git a/src/main/platform.h b/src/main/platform.h
index 4f0a0f9ed1..e7c3583fdc 100644
--- a/src/main/platform.h
+++ b/src/main/platform.h
@@ -33,7 +33,7 @@
 #include "target/common_pre.h"
 
 // MCU specific platform from platform/X
-#include "platform_mcu.h"
+#include "platform/platform.h"
 
 #include "target.h"
 #include "target/common_post.h"
diff --git a/src/platform/APM32/platform_mcu.h b/src/platform/APM32/include/platform/platform.h
similarity index 98%
rename from src/platform/APM32/platform_mcu.h
rename to src/platform/APM32/include/platform/platform.h
index 10299b6d5c..a2798016e9 100644
--- a/src/platform/APM32/platform_mcu.h
+++ b/src/platform/APM32/include/platform/platform.h
@@ -193,6 +193,9 @@
 #define PLATFORM_TRAIT_RCC 1
 #define UART_TRAIT_AF_PORT 1
 #define SERIAL_TRAIT_PIN_CONFIG 1
+#define I2C_TRAIT_AF_PIN 1
+#define I2CDEV_COUNT 3
+#define I2C_TRAIT_HANDLE 1
 
 #define UARTHARDWARE_MAX_PINS 4
 
diff --git a/src/platform/AT32/platform_mcu.h b/src/platform/AT32/include/platform/platform.h
similarity index 96%
rename from src/platform/AT32/platform_mcu.h
rename to src/platform/AT32/include/platform/platform.h
index 2c55895061..9da68a042c 100644
--- a/src/platform/AT32/platform_mcu.h
+++ b/src/platform/AT32/include/platform/platform.h
@@ -144,12 +144,15 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define UART_TX_BUFFER_ATTRIBUTE                    // NONE
 #define UART_RX_BUFFER_ATTRIBUTE                    // NONE
 
-#define PLATFORM_TRAIT_RCC 1
-#define UART_TRAIT_AF_PIN  1
-#define UART_TRAIT_PINSWAP 1
+#define PLATFORM_TRAIT_RCC      1
+#define UART_TRAIT_AF_PIN       1
+#define UART_TRAIT_PINSWAP      1
 #define SERIAL_TRAIT_PIN_CONFIG 1
+#define I2C_TRAIT_AF_PIN        1
+#define I2CDEV_COUNT            4
+#define I2C_TRAIT_HANDLE        1
 
-#define UARTHARDWARE_MAX_PINS 5
+#define UARTHARDWARE_MAX_PINS   5
 
 #define UART_REG_RXD(base) ((base)->dt)
 #define UART_REG_TXD(base) ((base)->dt)
diff --git a/src/platform/SIMULATOR/platform_mcu.h b/src/platform/SIMULATOR/include/platform/platform.h
similarity index 97%
rename from src/platform/SIMULATOR/platform_mcu.h
rename to src/platform/SIMULATOR/include/platform/platform.h
index be11284f04..7fdf22c0f5 100644
--- a/src/platform/SIMULATOR/platform_mcu.h
+++ b/src/platform/SIMULATOR/include/platform/platform.h
@@ -33,3 +33,5 @@
 
 // no serial pins are defined for the simulator
 #define SERIAL_TRAIT_PIN_CONFIG 0
+
+#define I2CDEV_COUNT        0
diff --git a/src/platform/STM32/platform_mcu.h b/src/platform/STM32/include/platform/platform.h
similarity index 97%
rename from src/platform/STM32/platform_mcu.h
rename to src/platform/STM32/include/platform/platform.h
index f8c2e75d80..52f5ef8e56 100644
--- a/src/platform/STM32/platform_mcu.h
+++ b/src/platform/STM32/include/platform/platform.h
@@ -419,3 +419,21 @@ extern uint8_t _dmaram_end__;
 
 #define SERIAL_TRAIT_PIN_CONFIG 1
 #define USB_DP_PIN PA12
+
+#if defined(STM32F4)
+#define I2C_TRAIT_STATE 1
+#endif
+
+#if defined(STM32F4) || defined(STM32H7) || defined(STM32G4)
+#define I2C_TRAIT_AF_PIN 1
+#endif
+
+#if defined(USE_HAL_DRIVER)
+#define I2C_TRAIT_HANDLE 1
+#endif
+
+#if defined(STM32F4)
+#define I2CDEV_COUNT 3
+#else
+#define I2CDEV_COUNT 4
+#endif
diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h
index dd03dce802..8f59e69f76 100644
--- a/src/test/unit/platform.h
+++ b/src/test/unit/platform.h
@@ -124,6 +124,8 @@ typedef struct
 } ADC_TypeDef;
 
 #define SPIDEV_COUNT 0
+#define I2CDEV_COUNT 0
+
 #define WS2811_DMA_TC_FLAG (void *)1
 #define WS2811_DMA_HANDLER_IDENTIFER 0
 #define NVIC_PriorityGroup_2 0x500

From 0f294102428577646e90add5223d60c805eb6c7d Mon Sep 17 00:00:00 2001
From: "Git bot (blckmn)" <blckmn@betaflight.com>
Date: Thu, 5 Jun 2025 06:25:03 +0000
Subject: [PATCH 4/4] Auto updated submodule references [05-06-2025]

---
 src/config | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/config b/src/config
index 7970f07307..737c3460fa 160000
--- a/src/config
+++ b/src/config
@@ -1 +1 @@
-Subproject commit 7970f0730766941d2202cf0174943bef7f85d3ce
+Subproject commit 737c3460fa621696af079367c86ca2be28194631