Add experimental TBS Mambo support with external Crossfire

.github/workflows/mambo.yml

@@ -0,0 +1,75 @@
+name: Experimental Mambo checks
+on:
+  pull_request:
+    paths:
+      - '.github/workflows/mambo.yml'
+      - 'CMakeLists.txt'
+      - 'CMakePresets.json'
+      - 'cmake/**'
+      - 'radio/**'
+      - 'tools/hwdef_schema.json'
+      - 'tools/mambo-tests/**'
+      - 'tools/mambo-flash/**'
+      - 'pyproject.toml'
+      - 'uv.lock'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  host:
+    name: Standalone Mambo board tests
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v7
+      - run: cmake -S tools/mambo-tests -B build/mambo-tests
+      - run: cmake --build build/mambo-tests --parallel 2
+      - run: ctest --test-dir build/mambo-tests --output-on-failure
+
+  firmware:
+    name: Build default Mambo with external CRSF
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    if: |
+      github.event_name != 'pull_request' ||
+      !contains(github.event.pull_request.labels.*.name, 'ci: skip-fw')
+    container:
+      image: ghcr.io/edgetx/edgetx-dev:latest
+      volumes:
+        - ${{ github.workspace }}:/src
+    steps:
+      - uses: actions/checkout@v7
+        with:
+          submodules: recursive
+      - uses: astral-sh/setup-uv@v10.0.1
+      - run: uv sync --locked
+      - name: Configure the default Mambo build with Lua enabled
+        run: >-
+          uv run cmake --preset mambo
+          -DPython3_EXECUTABLE="$GITHUB_WORKSPACE/.venv/bin/python"
+          -DLUA=ON -DLUA_COMPILER=ON -DLUA_MIXER=ON
+      - run: cmake --build build/mambo --target firmware --parallel 4
+      - name: Check memory boundaries and external CRSF interrupt vectors
+        run: >-
+          uv run python tools/mambo-flash/verify_firmware.py
+          build/mambo/firmware.elf build/mambo/firmware.bin
+      - name: Validate the offline flashing target (no USB access)
+        run: cmake --build build/mambo --target flash-plan
+      - name: Assemble the verified bench-test bundle
+        run: |
+          mkdir -p build/mambo/tester-bundle
+          cp build/mambo/firmware.bin build/mambo/firmware.elf LICENSE build/mambo/tester-bundle/
+          cp tools/mambo-flash/mambo_flash.py tools/mambo-flash/verify_firmware.py tools/mambo-flash/README.txt build/mambo/tester-bundle/
+          git rev-parse HEAD > build/mambo/tester-bundle/SOURCE_REVISION.txt
+          uv run python tools/mambo-flash/mambo_flash.py \
+            --image build/mambo/firmware.bin --elf build/mambo/firmware.elf \
+            > build/mambo/tester-bundle/flash-plan.json
+      - name: Upload the Mambo bench-test bundle
+        uses: actions/upload-artifact@v7
+        with:
+          name: mambo-bench-${{ github.sha }}
+          path: build/mambo/tester-bundle/
+          if-no-files-found: error
+          retention-days: 14

CMakePresets.json

@@ -351,6 +351,12 @@
       "displayName": "Senduwing H17",
       "inherits": "firmware",
       "cacheVariables": { "PCB": "H17" }
+    },
+    {
+      "name": "mambo",
+      "displayName": "TBS Mambo experimental (external CRSF; internal RF disabled)",
+      "inherits": "firmware",
+      "cacheVariables": { "PCB": "MAMBO", "BOOTLOADER": false }
     }
   ],
   "buildPresets": [

cmake/MamboFlash.cmake

@@ -0,0 +1,29 @@
+# Original TBS controller bootloader: USB HID, not STM32 DFU. The application
+# allocation and its ELF are checked before the uploader can open USB.
+set(MAMBO_FLASH_SCRIPT "${CMAKE_SOURCE_DIR}/tools/mambo-flash/mambo_flash.py")
+set(MAMBO_FLASH_RUNNER "${CMAKE_SOURCE_DIR}/cmake/RunMamboFlash.cmake")
+
+foreach(mode IN ITEMS PLAN PROBE FLASH)
+  if(mode STREQUAL "PLAN")
+    set(target_name flash-plan)
+  elseif(mode STREQUAL "PROBE")
+    set(target_name flash-probe)
+  else()
+    set(target_name flash)
+  endif()
+  add_custom_target(${target_name}
+    COMMAND ${CMAKE_COMMAND}
+      "-DMAMBO_FLASH_MODE=${mode}"
+      "-DMAMBO_FLASH_PYTHON=${PYTHON_EXECUTABLE}"
+      "-DMAMBO_FLASH_SCRIPT=${MAMBO_FLASH_SCRIPT}"
+      "-DMAMBO_FLASH_IMAGE=${CMAKE_BINARY_DIR}/firmware.bin"
+      "-DMAMBO_FLASH_ELF=${CMAKE_BINARY_DIR}/firmware.elf"
+      "-DMAMBO_FLASH_LOG_ROOT=${CMAKE_BINARY_DIR}/mambo-flash-logs"
+      -P "${MAMBO_FLASH_RUNNER}"
+    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}"
+    USES_TERMINAL
+    VERBATIM)
+  if(NOT mode STREQUAL "PROBE")
+    add_dependencies(${target_name} firmware)
+  endif()
+endforeach()

cmake/RunMamboFlash.cmake

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.20)
+
+if(NOT MAMBO_FLASH_MODE MATCHES "^(PLAN|PROBE|FLASH)$")
+  message(FATAL_ERROR "Unknown Mambo flashing mode '${MAMBO_FLASH_MODE}'")
+endif()
+if(NOT EXISTS "${MAMBO_FLASH_PYTHON}" OR NOT EXISTS "${MAMBO_FLASH_SCRIPT}")
+  message(FATAL_ERROR "Mambo flashing requires the build Python and HID uploader")
+endif()
+
+if(MAMBO_FLASH_MODE STREQUAL "PROBE")
+  set(args --probe)
+else()
+  set(args --image "${MAMBO_FLASH_IMAGE}" --elf "${MAMBO_FLASH_ELF}")
+endif()
+
+if(MAMBO_FLASH_MODE STREQUAL "FLASH")
+  # Read at build time: setting these must not reconfigure/rebuild the firmware
+  # after its SHA256 was approved with flash-plan.
+  set(serial "$ENV{MAMBO_FLASH_SERIAL}")
+  set(sha256 "$ENV{MAMBO_FLASH_SHA256}")
+  if(serial STREQUAL "")
+    message(FATAL_ERROR
+      "Set MAMBO_FLASH_SERIAL to the controller serial shown by flash-probe. USB not opened.")
+  endif()
+  string(LENGTH "${sha256}" hash_length)
+  if(NOT hash_length EQUAL 64 OR NOT sha256 MATCHES "^[0-9a-fA-F]+$")
+    message(FATAL_ERROR
+      "Set MAMBO_FLASH_SHA256 to the approved SHA256 shown by flash-plan. USB not opened.")
+  endif()
+  list(APPEND args --execute --expected-serial "${serial}"
+    --expected-sha256 "${sha256}" --log-root "${MAMBO_FLASH_LOG_ROOT}")
+endif()
+
+if(DEFINED ENV{MAMBO_HID_LIBRARY} AND NOT "$ENV{MAMBO_HID_LIBRARY}" STREQUAL "")
+  list(APPEND args --hid-library "$ENV{MAMBO_HID_LIBRARY}")
+endif()
+
+execute_process(COMMAND "${MAMBO_FLASH_PYTHON}" "${MAMBO_FLASH_SCRIPT}" ${args}
+  RESULT_VARIABLE result)
+if(NOT result EQUAL 0)
+  message(FATAL_ERROR "Mambo ${MAMBO_FLASH_MODE} stopped (exit code ${result}); no automatic retry")
+endif()

radio/src/CMakeLists.txt

@@ -1,7 +1,7 @@
 include(CMakeForceCompiler)
 include(Bitmaps)
 
-set(PCB_TYPES X9LITE X9LITES X7 XLITE XLITES X9D X9D+ X9E X10 X12S PL18 T15PRO T15H7 T18H7 ST16 PA01 TX15 GX15 TX16SMK3 T22 V12 H17 V15)
+set(PCB_TYPES X9LITE X9LITES X7 XLITE XLITES X9D X9D+ X9E X10 X12S PL18 T15PRO T15H7 T18H7 ST16 PA01 TX15 GX15 TX16SMK3 T22 V12 H17 V15 MAMBO)
 set(RADIO_LANGUAGES CN CZ DA DE EN ES FI FR HE HU IT JP KO NL PL PT RU SE SK TW UA)
 set(TTS_LANGUAGES CN CZ DA DE EN ES FI FR HE HU IT JP KO NL PL PT RU SE SK TW UA)
 
@@ -116,6 +116,8 @@ elseif(PCB STREQUAL STM32H7S78_DK)
   include(targets/stm32h7s78-dk/CMakeLists.txt)
 elseif(PCB STREQUAL X9E OR PCB STREQUAL X9D+ OR PCB STREQUAL X9D OR PCB STREQUAL X7 OR PCB STREQUAL X9LITE OR PCB STREQUAL X9LITES OR PCB STREQUAL XLITE OR PCB STREQUAL XLITES)
   include(targets/taranis/CMakeLists.txt)
+elseif(PCB STREQUAL MAMBO)
+  include(targets/mambo/CMakeLists.txt)
 else()
   message(FATAL_ERROR "Unknown PCB '${PCB}'")
 endif()
@@ -819,7 +821,9 @@ else()
     )
 endif()
 
-if(CPU_FAMILY STREQUAL STM32)
+if(CPU_FAMILY STREQUAL STM32 AND PCB STREQUAL MAMBO)
+  include(${CMAKE_SOURCE_DIR}/cmake/MamboFlash.cmake)
+elseif(CPU_FAMILY STREQUAL STM32)
   # FIRMWARE_QSPI boards can only be firmware-flashed via flash-uf2 below;
   # the bootloader doesn't expose external QSPI/XSPI flash as a DFU segment.
   if(NOT FIRMWARE_QSPI)

radio/src/boards/generic_stm32/analog_inputs.cpp

@@ -26,6 +26,9 @@
 #include "flysky_gimbal_driver.h"
 
 #include "hal.h"
+#if defined(RADIO_MAMBO)
+  #include "targets/mambo/gimbals.h"
+#endif
 
 #if defined(USE_ADS79XX)
   #include "ads79xx.h"
@@ -59,6 +62,9 @@ static_assert(n_inputs <= MAX_ANALOG_INPUTS, "Too many analog inputs");
 static bool adc_init()
 {
   bool success = stm32_hal_adc_init(_ADC_adc, n_ADC, _ADC_inputs, _ADC_GPIOs, n_GPIO);
+#if defined(RADIO_MAMBO)
+  mamboGimbalsInit();
+#endif
 #if defined(USE_ADS79XX)
   if (n_ADC_spi > 0) ads79xx_init(&_ADC_spi[0]);
 #endif
@@ -67,6 +73,9 @@ static bool adc_init()
 
 static void adc_deinit()
 {
+#if defined(RADIO_MAMBO)
+  mamboGimbalsDeinit();
+#endif
   stm32_hal_adc_deinit(_ADC_adc, n_ADC);
 }
 
@@ -89,6 +98,9 @@ static void adc_wait_completion()
   if (n_ADC_spi > 0) ads79xx_adc_wait_completion(&_ADC_spi[0], _ADC_inputs);
 #endif
   stm32_hal_adc_wait_completion(_ADC_adc, n_ADC, _ADC_inputs, n_inputs);
+#if defined(RADIO_MAMBO)
+  mamboGimbalsRead();
+#endif
 #if defined(SIXPOS_SWITCH_INDEX)
   sixPosUpdateFromAdc();
 #endif

radio/src/boards/generic_stm32/linker/mambo/extra_sections.ld

@@ -0,0 +1 @@
+INCLUDE stm32f40x/extra_sections.ld

radio/src/boards/generic_stm32/linker/mambo/layout.ld

@@ -0,0 +1,21 @@
+/* Application-only allocation. Never include original bootloader/RF bytes. */
+STACK_ADDRESS = ORIGIN(CCM) + LENGTH(CCM);
+MAIN_STACK_SIZE = 1024;
+BOOTLOADER_SIZE = 0;
+MIN_HEAP_SIZE = 0;
+HEAP_ADDRESS = ORIGIN(RAM) + LENGTH(RAM);
+
+MEMORY
+{
+  FLASH (rx) : ORIGIN = 0x0800C000, LENGTH = 720K
+  RAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 84K
+  CCM (xrw)  : ORIGIN = 0x10000400, LENGTH = 63K
+}
+
+REGION_ALIAS("REGION_BOOTLOADER", FLASH);
+REGION_ALIAS("REGION_ISR_VECT", FLASH);
+REGION_ALIAS("REGION_TEXT", FLASH);
+REGION_ALIAS("REGION_TEXT_STORAGE", FLASH);
+REGION_ALIAS("REGION_DATA", CCM);
+REGION_ALIAS("REGION_BSS", CCM);
+REGION_ALIAS("REGION_RAM", RAM);

radio/src/boards/generic_stm32/module_ports.cpp

@@ -349,10 +349,15 @@ static void _sport_set_inverted(uint8_t enable)
   stm32_usart_rx_inversion(&sportUSART, !enable);
   stm32_usart_tx_inversion(&sportUSART, !enable);
 #endif
+#else
+#if defined(TELEMETRY_INVERTER_ACTIVE_HIGH)
+  gpio_write(TELEMETRY_TX_REV_GPIO, enable);
+  gpio_write(TELEMETRY_RX_REV_GPIO, enable);
 #else
   gpio_write(TELEMETRY_TX_REV_GPIO, !enable);
   gpio_write(TELEMETRY_RX_REV_GPIO, !enable);
 #endif
+#endif
 }
 
 static void _sport_init_inverter()