Fix driver ranger finder terra ranger EVO

[error414]

User description

Fix driver for terra ranger EVo rangerfinder.

See: #11310

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PR Type

Bug fix, New Target

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Description

• Fix TeraRanger Evo rangefinder driver with improved I2C communication

  • Refactored static variables into struct for better encapsulation
  • Fixed CRC validation logic and measurement timing
  • Corrected license header from Cleanflight to INAV

• Add CRSF frame length validation for MSP requests

  • Prevents buffer overflow by checking frame length before processing

• Add CoreWingF405WingV2 flight controller target

  • Complete target configuration with timer, sensor, and serial definitions

• Improve PG version check script for struct definitions in separate headers

  • Now correctly detects struct changes across companion .c and .h files

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Diagram Walkthrough

flowchart LR
  A["TeraRanger Evo Driver"] -->|Refactor variables| B["Static struct"]
  A -->|Fix CRC logic| C["Improved validation"]
  A -->|Fix timing| D["Correct I2C flow"]
  E["CRSF Handler"] -->|Add frame check| F["Length validation"]
  G["New Target"] -->|CoreWingF405WingV2| H["Timer & Sensor Config"]
  I["PG Check Script"] -->|Search companions| J["Struct detection"]

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File Walkthrough

	Relevant files
Bug fix	rangefinder_teraranger_evo.c Refactor TeraRanger Evo driver with improved I2C handling src/main/drivers/rangefinder/rangefinder_teraranger_evo.c Updated license header from Cleanflight to INAV/Mozilla Public License Refactored global variables into static struct teraRangerEvo for encapsulation Extracted CRC validation into separate checkCrc() function Simplified teraRangerInit() to use busWrite() instead of busWriteBuf() Restructured teraRangerUpdate() with early returns for error conditions Fixed measurement timing by triggering next read after each update Added datasheet reference URL in comments +57/-43  crsf.c Add CRSF frame length validation for MSP frames                    src/main/rx/crsf.c Added frame length validation before processing MSP_REQ and MSP_WRITE frames Checks that frameLength >= 4 to prevent buffer overflow Sets crsfFrameDone = false for invalid frame lengths Prevents potential security issue from malformed CRSF packets +7/-3
Configuration changes	target.h Add CoreWingF405WingV2 target hardware definitions              src/main/target/COREWINGF405WINGV2/target.h New target header file with complete hardware definitions Defines board identifier CW4W2 and product string Configures 6 UART ports, 3 SPI buses, and I2C interface Sets up IMU (ICM42605), barometer, magnetometer, and rangefinder sensors Defines ADC channels for voltage, current, RSSI, and airspeed Configures LED strip, OSD, SD card, and other peripherals +174/-0  target.c Add CoreWingF405WingV2 timer and sensor configuration        src/main/target/COREWINGF405WINGV2/target.c New target implementation file with timer and sensor configuration Registers ICM42605 IMU on SPI1 with CW270 degree alignment Defines 11 PWM output channels using TIM2, TIM3, TIM4, TIM8, and TIM12 Configures LED output on TIM1 and softserial on TIM5 Sets up timer hardware mappings with DMA configurations +48/-0    config.c Add CoreWingF405WingV2 serial and feature configuration    src/main/target/COREWINGF405WINGV2/config.c New target configuration file with serial port and feature setup Assigns USART6 for RX serial, USART5 for GPS, USART1 for MSP Configures pinio box with USER1 permanent ID Provides target-specific initialization in targetConfiguration() function +41/-0    CMakeLists.txt Add CoreWingF405WingV2 CMake build configuration                  src/main/target/COREWINGF405WINGV2/CMakeLists.txt New CMake build configuration file for CoreWingF405WingV2 target Specifies STM32F405XG microcontroller variant +1/-0
Enhancement	check-pg-versions.sh Improve PG version check for separate header files              .github/scripts/check-pg-versions.sh Improved PG_REGISTER detection to check current version instead of diff Enhanced struct definition search to check all changed files, not just current file Added companion file detection (.c <-> .h) to find struct definitions in headers Refined version increment validation with better error messages Improved handling of edge cases where struct and PG_REGISTER are in different files Added detailed logging for struct location and version change recommendations +81/-24

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[github-actions]

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

• maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.

• maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

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