PINIO: add PWM duty control and unify output mode handling#11375
Draft
sensei-hacker wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
Draft
PINIO: add PWM duty control and unify output mode handling#11375sensei-hacker wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
sensei-hacker wants to merge 2 commits intoiNavFlight:maintenance-9.xfrom
Conversation
- pinio: auto-detect timer capability in pinioInit(); configure PWM when timer is free (OWNER_FREE), fall back to GPIO for occupied timers - pinio: add pinioSetDuty(channel, duty) for 0-100% PWM control at 24 kHz - Remove LED strip PWM code path (ledConfigurePWM/ledPinStartPWM/StopPWM); these functions are superseded by pinioSetDuty() - osd_joystick: migrate from led pin PWM to pinioSetDuty(); add osd_joystick_pinio_channel setting; bump PG version to 1 - Guard osd_joystick and rcdevice_cam with USE_PINIO instead of USE_LED_STRIP - programming: rename LOGIC_CONDITION_LED_PIN_PWM to LOGIC_CONDITION_PINIO_PWM (value 52 preserved for backward compat); operandA=channel, operandB=duty - mixer: add OUTPUT_MODE_PINIO=4; clears MOTOR/SERVO/LED flags so pinioInit() can claim the timer output - MSP OUTPUT_MAPPING_EXT2: set specialLabels=PIN_LABEL_PINIO_BASE+j for PINIO channel j, enabling configurator to display correct USER number - Fix missing bounds check in pinioSet() (index < 0 || >= pinioHardwareCount) - Validate cliLedPinPWM duty input range (0-100)
Remove the led_pin_pwm_mode setting (SHARED_LOW/SHARED_HIGH/LOW/HIGH) and PG_LEDPIN_CONFIG parameter group. Dedicated PWM is now handled by PINIO channels; LED strip idle level is controllable at runtime via programming framework operation 52 (channel=PINIO_COUNT) or CLI command `piniopwm [channel] <duty>`. - Remove led_pin_pwm_mode_e enum, ledPinConfig_t, 3 dead declarations - Add ws2811SetIdleHigh(bool) for binary LED idle level control - Rename CLI command ledpinpwm -> piniopwm with channel parameter - Route operation 52 channel==PINIO_COUNT to LED strip idle level - Rename docs/LED pin PWM.md -> docs/PINIO PWM.md, rewrite - Update OSD Joystick.md and Programming Framework.md references Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Problem
Users sometimes need PINIO that isn't natively provided by the board, or want to do duty-cycle based PWM.
Turning a pin on and off is of course easy to do technically, but INAV didn't provide a way for users to configure that.
This was useful but very limited: only that one pin could do duty-cycle PWM.
As a workaround, a clever user who needed a a PINIO might discover INAV had a special-case PWM duty-cycle mode tied specifically to the LED strip pin — primarily used for camera control (OSD joystick).
A clever user could use the Programming tab to set 0% or 100% duty cycle — a roundabout approach to make a PINIO out of a little-known feature.
Meanwhile, the PINIO subsystem (USER1–USER4 outputs, controllable via the Modes tab) provided clean on/off GPIO control, but only for the one or or two pins specifically chosen by the manufacturer.
Then we had another special case for the LED pin - it could be used as a regular PWM output for a servo or whatever. Lots of special cases, handled by special-case code paths.
Solution
This PR is the configurator side of consolidating duty-cycle PWM control into the PINIO subsystem (firmware PR: #11375), making it available on any PWM-capable timer output — not just the LED pin, removing the special cases and allowing the user to assign these functions to any capable output pin.
Users can now:
No roundabout workarounds needed.
Currently, by removing special-case code paths and consolidating, the more flexible system adds 6 lines of code net.
Testing
Notes
Breaking change: The
LED Pin PWMprogramming condition is renamed toPINIO PWM. The second operand (duty cycle) is now enabled —operandA= channel index,operandB= duty. Users with existingLED Pin PWMconditions will see them relabeled and will need to set the operands correctly.Companion configurator PR: iNavFlight/inav-configurator#2579