From de21b5ae3e422e31bbe075cec21087e3671ac72e Mon Sep 17 00:00:00 2001
From: IVData <admin@ivdata.net>
Date: Thu, 3 Sep 2020 18:38:10 +1200
Subject: [PATCH 1/2] Added option to output servos on PWM and SBUS

---
 src/main/drivers/pwm_mapping.c |  3 ++-
 src/main/drivers/pwm_mapping.h |  3 ++-
 src/main/drivers/pwm_output.c  | 11 +++++++++++
 src/main/fc/config.c           |  2 +-
 src/main/fc/fc_tasks.c         |  2 +-
 src/main/fc/settings.yaml      |  2 +-
 6 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 8c6eaea463..a7a27b4ede 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -268,7 +268,8 @@ static bool motorsUseHardwareTimers(void)
 
 static bool servosUseHardwareTimers(void)
 {
-    return servoConfig()->servo_protocol == SERVO_TYPE_PWM;
+    return servoConfig()->servo_protocol == SERVO_TYPE_PWM ||
+        servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM;
 }
 
 static void pwmInitMotors(timMotorServoHardware_t * timOutputs)
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 2c8b8f83a5..7efbf39431 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -52,7 +52,8 @@ typedef enum {
 typedef enum {
     SERVO_TYPE_PWM = 0,
     SERVO_TYPE_SERVO_DRIVER,
-    SERVO_TYPE_SBUS
+    SERVO_TYPE_SBUS,
+    SERVO_TYPE_SBUS_PWM
 } servoProtocolType_e;
 
 typedef enum {
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 6472741a78..0f4e0caf18 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -501,6 +501,12 @@ static void pwmServoWriteStandard(uint8_t index, uint16_t value)
     }
 }
 
+static void sbusPwmWriteStandard(uint8_t index, uint16_t value)
+{
+    pwmServoWriteStandard(index, value);
+    sbusServoUpdate(index, value);
+}
+
 #ifdef USE_PWM_SERVO_DRIVER
 static void pwmServoWriteExternalDriver(uint8_t index, uint16_t value)
 {
@@ -532,6 +538,11 @@ void pwmServoPreconfigure(void)
             sbusServoInitialize();
             servoWritePtr = sbusServoUpdate;
             break;
+
+        case SERVO_TYPE_SBUS_PWM:
+            sbusServoInitialize();
+            servoWritePtr = sbusPwmWriteStandard;
+            break;
 #endif
     }
 }
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 627fd350b5..5fcf8a6d11 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -217,7 +217,7 @@ void validateAndFixConfig(void)
 #endif
 
 #ifndef USE_SERVO_SBUS
-    if (servoConfig()->servo_protocol == SERVO_TYPE_SBUS) {
+    if (servoConfig()->servo_protocol == SERVO_TYPE_SBUS || servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM) {
         servoConfigMutable()->servo_protocol = SERVO_TYPE_PWM;
     }
 #endif
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 190a299d9d..4ff3e6b9b0 100755
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -346,7 +346,7 @@ void fcTasksInit(void)
     setTaskEnabled(TASK_STACK_CHECK, true);
 #endif
 #if defined(USE_PWM_SERVO_DRIVER) || defined(USE_SERVO_SBUS)
-    setTaskEnabled(TASK_PWMDRIVER, (servoConfig()->servo_protocol == SERVO_TYPE_SERVO_DRIVER) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS));
+    setTaskEnabled(TASK_PWMDRIVER, (servoConfig()->servo_protocol == SERVO_TYPE_SERVO_DRIVER) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM));
 #endif
 #ifdef USE_CMS
 #ifdef USE_MSP_DISPLAYPORT
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 65ac689cdd..d4246fc471 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -34,7 +34,7 @@ tables:
   - name: motor_pwm_protocol
     values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
   - name: servo_protocol
-    values: ["PWM", "SERVO_DRIVER", "SBUS"]
+    values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
     values: ["SET-THR", "DROP", "RTH", "NONE"]
   - name: current_sensor

From 64f3d70002e2890e0f8d8f3c066ff342bb6e3b90 Mon Sep 17 00:00:00 2001
From: IVData <github@ivdata.net>
Date: Wed, 16 Sep 2020 12:30:17 +1200
Subject: [PATCH 2/2] Fix builds for targets without USE_SERVO_SBUS

---
 src/main/drivers/pwm_output.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 0f4e0caf18..ba147cc562 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -501,11 +501,13 @@ static void pwmServoWriteStandard(uint8_t index, uint16_t value)
     }
 }
 
+#ifdef USE_SERVO_SBUS
 static void sbusPwmWriteStandard(uint8_t index, uint16_t value)
 {
     pwmServoWriteStandard(index, value);
     sbusServoUpdate(index, value);
 }
+#endif
 
 #ifdef USE_PWM_SERVO_DRIVER
 static void pwmServoWriteExternalDriver(uint8_t index, uint16_t value)