Merge branch 'master' into dzikuvx-logic-condition-global-function-unification

docs/Logic Conditions.md

@@ -39,6 +39,14 @@ Logic conditions can be edited using INAV Configurator user interface, of via CL
 | 11            | NOR           |                                   |
 | 12            | NOT           |                                   |         
 | 13            | STICKY        | `Operand A` is activation operator, `Operand B` is deactivation operator. After activation, operator will return `true` until Operand B is evaluated as `true`|         
+| 14            | ADD           | Add `Operand A` to `Operand B` and returns the result |
+| 15            | SUB           | Substract `Operand B` from `Operand A` and returns the result |
+| 16            | MUL           | Multiply `Operand A` by `Operand B` and returns the result |
+| 17            | DIV           | Divide `Operand A` by `Operand B` and returns the result |
+| 18            | GVAR SET      | Store value from `Operand B` into the Global Variable addressed by `Operand B`. Bear in mind, that operand `Global Variable` means: Value stored in Global Variable of an index! To store in GVAR 1 use `Value 1` not `Global Variable 1` |
+| 19            | GVAR INC      | Increase the GVAR indexed by `Operand A` with value from `Operand B`  |
+| 20            | GVAR DEC      | Decrease the GVAR indexed by `Operand A` with value from `Operand B`  |
+| 128           | IO PORT SET   | Set I2C IO Expander pin `Operand A` to value of `Operand B`. `Operand A` accepts values `0-7` and `Operand B` accepts `0` and `1` |
 
 ### Operands
 
@@ -49,6 +57,7 @@ Logic conditions can be edited using INAV Configurator user interface, of via CL
 | 2             | FLIGHT        | `value` points to flight parameter table              |
 | 3             | FLIGHT_MODE   | `value` points to flight modes table                  |
 | 4             | LC            | `value` points to other logic condition ID            |
+| 5             | GVAR          | Value stored in Global Variable indexed by `value`. `GVAR 1` means: value in GVAR 1 |
 
 #### FLIGHT
 

make/release.mk

@@ -34,4 +34,4 @@ RELEASE_TARGETS += IFLIGHTF7_TWING IFLIGHTF4_TWING IFLIGHTF4_SUCCEXD
 
 RELEASE_TARGETS += AIKONF4
 
-RELEASE_TARGETS += ZEEZF7
+RELEASE_TARGETS += ZEEZF7 HGLRCF722

make/source.mk

@@ -53,6 +53,8 @@ MAIN_SRC = \
             drivers/display_font_metadata.c \
             drivers/exti.c \
             drivers/io_pca9685.c \
+            drivers/io_pcf8574.c \
+            drivers/io_port_expander.c \
             drivers/osd.c \
             drivers/resource.c \
             drivers/rx_nrf24l01.c \

src/main/build/debug.h

@@ -76,5 +76,6 @@ typedef enum {
     DEBUG_SPM_CELLS,    // Smartport master FLVSS
     DEBUG_SPM_VS600,    // Smartport master VS600 VTX
     DEBUG_SPM_VARIO,    // Smartport master variometer
+    DEBUG_PCF8574,
     DEBUG_COUNT
 } debugType_e;

src/main/drivers/bus.h

@@ -145,6 +145,7 @@ typedef enum {
     DEVHW_UG2864,       // I2C OLED display
     DEVHW_SDCARD,       // Generic SD-Card
     DEVHW_IRLOCK,       // IR-Lock visual positioning hardware
+    DEVHW_PCF8574,      // 8-bit I/O expander
 } devHardwareType_e;
 
 typedef enum {

src/main/drivers/io_pcf8574.c

@@ -0,0 +1,84 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "drivers/bus.h"
+#include "drivers/io_pcf8574.h"
+#include "drivers/time.h"
+#include "build/debug.h"
+
+#define PCF8574_WRITE_ADDRESS 0x40
+#define PCF8574_READ_ADDRESS 0x41
+
+static busDevice_t *busDev;
+
+static bool deviceDetect(busDevice_t *busDev)
+{
+    for (int retry = 0; retry < 5; retry++)
+    {
+        uint8_t sig;
+
+        delay(150);
+
+        bool ack = busRead(busDev, 0x00, &sig);
+        if (ack)
+        {
+            return true;
+        }
+    };
+
+    return false;
+}
+
+bool pcf8574Init(void)
+{
+    busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_PCF8574, 0, 0);
+    if (busDev == NULL)
+    {
+        DEBUG_SET(DEBUG_PCF8574, 0, 1);
+        return false;
+    }
+
+    if (!deviceDetect(busDev))
+    {
+        DEBUG_SET(DEBUG_PCF8574, 0, 2);
+        busDeviceDeInit(busDev);
+        return false;
+    }
+
+    return true;
+}
+
+void pcf8574Write(uint8_t data)
+{
+    busWrite(busDev, PCF8574_WRITE_ADDRESS, data);
+}
+
+uint8_t pcf8574Read(void)
+{
+    uint8_t data;
+    busRead(busDev, PCF8574_READ_ADDRESS, &data);
+    return data;
+}

src/main/drivers/io_pcf8574.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+bool pcf8574Init(void);
+void pcf8574Write(uint8_t data);
+uint8_t pcf8574Read(void);

src/main/drivers/io_port_expander.c

@@ -0,0 +1,67 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include "platform.h"
+#include "drivers/io_port_expander.h"
+#include "drivers/io_pcf8574.h"
+
+#ifdef USE_I2C_IO_EXPANDER
+
+static ioPortExpanderState_t ioPortExpanderState;
+
+void ioPortExpanderInit(void)
+{
+
+    ioPortExpanderState.active = pcf8574Init();
+
+    if (ioPortExpanderState.active) {
+        ioPortExpanderState.state = 0x00;
+        pcf8574Write(ioPortExpanderState.state); //Set all ports to OFF
+    }
+
+}
+
+void ioPortExpanderSet(uint8_t pin, uint8_t value)
+{
+    if (pin > 7) {
+        return;
+    }
+
+    //Cast to 0/1
+    value = (bool) value;
+
+    ioPortExpanderState.state ^= (-value ^ ioPortExpanderState.state) & (1UL << pin);
+    ioPortExpanderState.shouldSync = true;
+}
+
+void ioPortExpanderSync(void)
+{
+    if (ioPortExpanderState.active && ioPortExpanderState.shouldSync) {
+        pcf8574Write(ioPortExpanderState.state);
+        ioPortExpanderState.shouldSync = false;;
+    }
+}
+
+#endif

src/main/drivers/io_port_expander.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#include "stdint.h"
+
+typedef struct ioPortExpanderState_s {
+    uint8_t active;
+    uint8_t state;
+    uint8_t shouldSync;
+} ioPortExpanderState_t;
+
+void ioPortExpanderInit(void);
+void ioPortExpanderSync(void);
+void ioPortExpanderSet(uint8_t pin, uint8_t value);

src/main/fc/fc_init.c

@@ -83,6 +83,7 @@
 #include "msc/emfat_file.h"
 #endif
 #include "drivers/sdcard/sdcard.h"
+#include "drivers/io_port_expander.h"
 
 #include "fc/cli.h"
 #include "fc/config.h"
@@ -682,6 +683,10 @@ void init(void)
     }
 #endif
 
+#ifdef USE_I2C_IO_EXPANDER
+    ioPortExpanderInit();
+#endif
+
     // Considering that the persistent reset reason is only used during init
     persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
 

src/main/fc/settings.yaml

@@ -84,7 +84,7 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC", "ITERM_RELAX",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN", "SPM_CELLS", "SPM_VS600", "SPM_VARIO"]
+      "IRLOCK", "CD", "KALMAN", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator

src/main/programming/logic_condition.c

@@ -41,6 +41,7 @@
 #include "sensors/pitotmeter.h"
 #include "flight/imu.h"
 #include "flight/pid.h"
+#include "drivers/io_port_expander.h"
 
 #include "navigation/navigation.h"
 #include "navigation/navigation_private.h"
@@ -270,6 +271,12 @@ static int logicConditionCompute(
             return operandA;
             break;
 
+#ifdef USE_I2C_IO_EXPANDER
+        case LOGIC_CONDITION_PORT_SET:
+            ioPortExpanderSet((uint8_t)operandA, (uint8_t)operandB);
+            return operandB;
+            break;
+#endif
         default:
             return false;
             break; 
@@ -549,6 +556,9 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
     for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
         logicConditionProcess(i);
     }
+#ifdef USE_I2C_IO_EXPANDER
+    ioPortExpanderSync();
+#endif
 }
 
 void logicConditionReset(void) {

src/main/programming/logic_condition.h

@@ -29,39 +29,40 @@
 #define MAX_LOGIC_CONDITIONS 16
 
 typedef enum {
-    LOGIC_CONDITION_TRUE = 0,       // 0
-    LOGIC_CONDITION_EQUAL,          // 1
-    LOGIC_CONDITION_GREATER_THAN,   // 2
-    LOGIC_CONDITION_LOWER_THAN,     // 3
-    LOGIC_CONDITION_LOW,            // 4
-    LOGIC_CONDITION_MID,            // 5
-    LOGIC_CONDITION_HIGH,           // 6
-    LOGIC_CONDITION_AND,            // 7
-    LOGIC_CONDITION_OR,             // 8
-    LOGIC_CONDITION_XOR,            // 9
-    LOGIC_CONDITION_NAND,           // 10
-    LOGIC_CONDITION_NOR,            // 11
-    LOGIC_CONDITION_NOT,            // 12
-    LOGIC_CONDITION_STICKY,         // 13
-    LOGIC_CONDITION_ADD,            // 14
-    LOGIC_CONDITION_SUB,            // 15
-    LOGIC_CONDITION_MUL,            // 16
-    LOGIC_CONDITION_DIV,            // 17
-    LOGIC_CONDITION_GVAR_SET,       // 18
-    LOGIC_CONDITION_GVAR_INC,       // 19
-    LOGIC_CONDITION_GVAR_DEC,       // 20
-    LOGIC_CONDITION_OVERRIDE_ARMING_SAFETY      = 129,
-    LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE     = 130,
-    LOGIC_CONDITION_SWAP_ROLL_YAW               = 131,
-    LOGIC_CONDITION_SET_VTX_POWER_LEVEL         = 132,
-    LOGIC_CONDITION_INVERT_ROLL                 = 133,
-    LOGIC_CONDITION_INVERT_PITCH                = 134,
-    LOGIC_CONDITION_INVERT_YAW                  = 135,
-    LOGIC_CONDITION_OVERRIDE_THROTTLE           = 136,
-    LOGIC_CONDITION_SET_VTX_BAND                = 137,
-    LOGIC_CONDITION_SET_VTX_CHANNEL             = 138,
-    LOGIC_CONDITION_SET_OSD_LAYOUT              = 139,
-    LOGIC_CONDITION_LAST
+    LOGIC_CONDITION_TRUE                        = 0,
+    LOGIC_CONDITION_EQUAL                       = 1,
+    LOGIC_CONDITION_GREATER_THAN                = 2,
+    LOGIC_CONDITION_LOWER_THAN                  = 3,
+    LOGIC_CONDITION_LOW                         = 4,
+    LOGIC_CONDITION_MID                         = 5,
+    LOGIC_CONDITION_HIGH                        = 6,
+    LOGIC_CONDITION_AND                         = 7,
+    LOGIC_CONDITION_OR                          = 8,
+    LOGIC_CONDITION_XOR                         = 9,
+    LOGIC_CONDITION_NAND                        = 10,
+    LOGIC_CONDITION_NOR                         = 11,
+    LOGIC_CONDITION_NOT                         = 12,
+    LOGIC_CONDITION_STICKY                      = 13,
+    LOGIC_CONDITION_ADD                         = 14,
+    LOGIC_CONDITION_SUB                         = 15,
+    LOGIC_CONDITION_MUL                         = 16,
+    LOGIC_CONDITION_DIV                         = 17,
+    LOGIC_CONDITION_GVAR_SET                    = 18,
+    LOGIC_CONDITION_GVAR_INC                    = 19,
+    LOGIC_CONDITION_GVAR_DEC                    = 20,
+    LOGIC_CONDITION_PORT_SET                    = 21,
+    LOGIC_CONDITION_OVERRIDE_ARMING_SAFETY      = 22,
+    LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE     = 23,
+    LOGIC_CONDITION_SWAP_ROLL_YAW               = 24,
+    LOGIC_CONDITION_SET_VTX_POWER_LEVEL         = 25,
+    LOGIC_CONDITION_INVERT_ROLL                 = 26,
+    LOGIC_CONDITION_INVERT_PITCH                = 27,
+    LOGIC_CONDITION_INVERT_YAW                  = 28,
+    LOGIC_CONDITION_OVERRIDE_THROTTLE           = 29,
+    LOGIC_CONDITION_SET_VTX_BAND                = 30,
+    LOGIC_CONDITION_SET_VTX_CHANNEL             = 31,
+    LOGIC_CONDITION_SET_OSD_LAYOUT              = 32,
+    LOGIC_CONDITION_LAST                        = 33,
 } logicOperation_e;
 
 typedef enum logicOperandType_s {

src/main/target/HGLRCF722/config.c

@@ -0,0 +1,33 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = 47;
+    pinioBoxConfigMutable()->permanentId[1] = 48;
+}

src/main/target/HGLRCF722/target.c

@@ -0,0 +1,53 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH1, PB4,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
+    DEF_TIM(TIM3, CH2, PB5,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S2   UP1-2   D(1, 5, 5)
+    DEF_TIM(TIM3, CH3, PB0,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S3   UP1-2   D(1, 7, 5)
+    DEF_TIM(TIM3, CH4, PB1,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S4   UP1-2   D(1, 2, 5)
+    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S5   UP1-7   D(1, 5, 3) - clash with S2
+    DEF_TIM(TIM2, CH2, PB3,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S6   UP1-7   D(1, 6, 3)
+    DEF_TIM(TIM4, CH1, PB6,   TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0),   // S7   UP1-6   D(1, 0, 2)
+    DEF_TIM(TIM4, CH2, PB7,   TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0),   // S8   UP1-6   D(1, 3, 2)
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 2),                            // LED          D(2, 6, 0)
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),                            // PPM, RX2
+    DEF_TIM(TIM5, CH3, PA2,  TIM_USE_PWM, 0, 0),                            // TX2 & softserial1
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HGLRCF722/target.h

@@ -0,0 +1,180 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "HGF7"
+#define USBD_PRODUCT_STRING  "HGLRCF722"
+
+#define LED0                    PA14
+#define LED1                    PA13
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC *******************
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#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_DUAL_GYRO
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
+#define MPU6000_CS_PIN          PB2
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_SPI_BMP280
+#define BMP280_SPI_BUS          BUS_SPI1
+#define BMP280_CS_PIN           PA4
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI3 SD BLACKBOX*******************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PD2
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PC14
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+     
+#define SERIAL_PORT_COUNT       6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC0
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC8 // VTX power switcher
+#define PINIO2_PIN                  PC9 // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE     179
+
+#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 MAX_PWM_OUTPUT_PORTS        8
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR

src/main/target/HGLRCF722/target.mk

@@ -0,0 +1,19 @@
+F7X2RE_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH MSC
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms56xx.c \
+            drivers/barometer/barometer_dps310.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/compass/compass_ist8310.c \
+            drivers/compass/compass_ist8308.c \
+            drivers/compass/compass_mag3110.c \
+            drivers/compass/compass_lis3mdl.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c \
+            drivers/pitotmeter_adc.c \

src/main/target/common.h

@@ -121,6 +121,8 @@
 #define USE_D_BOOST
 #define USE_ANTIGRAVITY
 
+#define USE_I2C_IO_EXPANDER
+
 #else // FLASH_SIZE < 256
 #define LOG_LEVEL_MAXIMUM LOG_LEVEL_ERROR
 #endif

src/main/target/common_hardware.c

@@ -353,4 +353,21 @@
     BUSDEV_REGISTER_I2C(busdev_irlock,      DEVHW_IRLOCK,       IRLOCK_I2C_BUS,     0x54,               NONE,           DEVFLAGS_USE_RAW_REGISTERS);
 #endif
 
+#if defined(USE_I2C) && defined(USE_I2C_IO_EXPANDER)
+
+    #if !defined(PCF8574_I2C_BUS) && defined(EXTERNAL_I2C_BUS)
+        #define PCF8574_I2C_BUS EXTERNAL_I2C_BUS
+    #endif
+
+    #if !defined(PCF8574_I2C_BUS) && defined(DEFAULT_I2C_BUS)
+        #define PCF8574_I2C_BUS DEFAULT_I2C_BUS
+    #endif
+
+    #if !defined(PCF8574_I2C_BUS)
+        #define PCF8574_I2C_BUS BUS_I2C1
+    #endif
+
+    BUSDEV_REGISTER_I2C(busdev_pcf8574,      DEVHW_PCF8574,       PCF8574_I2C_BUS,     0x20,               NONE,           DEVFLAGS_NONE, 0);
+#endif
+
 #endif  // USE_TARGET_HARDWARE_DESCRIPTORS