Merge pull request #6106 from IVData/master

Added option to output servos on PWM and SBUS

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)

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 {

src/main/drivers/pwm_output.c

@@ -501,6 +501,14 @@ 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)
 {
@@ -532,6 +540,11 @@ void pwmServoPreconfigure(void)
             sbusServoInitialize();
             servoWritePtr = sbusServoUpdate;
             break;
+
+        case SERVO_TYPE_SBUS_PWM:
+            sbusServoInitialize();
+            servoWritePtr = sbusPwmWriteStandard;
+            break;
 #endif
     }
 }

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

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

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