Merge pull request #2579 from sensei-hacker/feature/unified-pinio-pwm-output

PINIO: update configurator for unified PINIO/PWM output

Author: sensei-hacker

js/logicConditionOperators.js

@@ -322,11 +322,11 @@ const LOGIC_OPERATORS = {
         output: "boolean"
     },
     52: {
-        name: "LED Pin PWM",
+        name: "PWM on pin",
         operandType: "Set Flight Parameter",
-        hasOperand: [true, false],
+        hasOperand: [true, true],
         output: "raw"
-    },        
+    },
     53: {
         name: "Disable GPS Sensor Fix",
         operandType: "Set Flight Parameter",

js/outputMapping.js

@@ -27,24 +27,28 @@ var OutputMappingCollection = function () {
     //const TIM_USE_FW_SERVO = 6;
     const TIM_USE_LED = 24;
     const TIM_USE_BEEPER = 25;
+    const TIM_USE_PINIO = 26;
 
     const OUTPUT_TYPE_MOTOR = 0;
     const OUTPUT_TYPE_SERVO = 1;
     const OUTPUT_TYPE_LED   = 2;
+    const OUTPUT_TYPE_PINIO = 3;
 
     const SPECIAL_LABEL_LED = 1;
+    const SPECIAL_LABEL_PINIO_BASE = 2;  // values 2..5 = USER1..USER4 (add channel index 0-3)
 
     self.TIMER_OUTPUT_MODE_AUTO = 0;
     self.TIMER_OUTPUT_MODE_MOTORS = 1;
     self.TIMER_OUTPUT_MODE_SERVOS = 2;
     self.TIMER_OUTPUT_MODE_LED = 3;
+    self.TIMER_OUTPUT_MODE_PINIO = 4;
 
     self.flushTimerOverrides = function() {
         timerOverrides = {};
     }
 
     self.setTimerOverride = function (timer, outputMode) {
-        timerOverrides[timer] = outputMode;
+        timerOverrides[timer] = parseInt(outputMode, 10);
     }
 
     self.getTimerOverride = function (timer) {
@@ -88,6 +92,13 @@ var OutputMappingCollection = function () {
             timerMap[i] = null;
         }
 
+        // Pre-assign PINIO outputs — identified by specialLabels, not timer priority
+        for (let i = 0; i < data.length; i++) {
+            if (data[i]['specialLabels'] >= SPECIAL_LABEL_PINIO_BASE) {
+                timerMap[i] = OUTPUT_TYPE_PINIO;
+            }
+        }
+
         // Two priority passes: dedicated outputs first, then auto.
         // Matches firmware pwmBuildTimerOutputList() behavior.
         for (let priority = 0; priority < 2; priority++) {
@@ -100,6 +111,11 @@ var OutputMappingCollection = function () {
                 let timerId = data[i]['timerId'];
                 let mode = timerOverrides[timerId] || self.TIMER_OUTPUT_MODE_AUTO;
 
+                // Pass 1: skip dedicated overrides — they were handled (or intentionally skipped) in Pass 0
+                if (!isDedicated && (mode === self.TIMER_OUTPUT_MODE_MOTORS || mode === self.TIMER_OUTPUT_MODE_SERVOS)) {
+                    continue;
+                }
+
                 if (motorsToGo > 0 && BitHelper.bit_check(flags, TIM_USE_MOTOR)
                         && (isDedicated ? mode === self.TIMER_OUTPUT_MODE_MOTORS : mode !== self.TIMER_OUTPUT_MODE_MOTORS)) {
                     timerMap[i] = OUTPUT_TYPE_MOTOR;
@@ -118,27 +134,38 @@ var OutputMappingCollection = function () {
     };
 
     self.getOutputTable = function (isMR, motors, servos) {
-        let currentMotorIndex = 1,
-            currentServoIndex = 0,
+        let currentServoIndex = 0,
             timerMap = getTimerMap(isMR, motors, servos.length),
+            motorNumbers = {},
             outputMap = [],
             offset = getFirstOutputOffset();
 
-        console.log("Offset: " + offset)
+        // Number motors in assignment order: dedicated (OUTPUT_MODE_MOTORS) first, then auto.
+        // Matches firmware timMotors[] build order in pwmBuildTimerOutputList().
+        let motorNum = 1;
+        for (let i = 0; i < data.length; i++) {
+            if (timerMap[i] !== OUTPUT_TYPE_MOTOR) continue;
+            let mode = timerOverrides[data[i]['timerId']] || self.TIMER_OUTPUT_MODE_AUTO;
+            if (mode === self.TIMER_OUTPUT_MODE_MOTORS) motorNumbers[i] = motorNum++;
+        }
+        for (let i = 0; i < data.length; i++) {
+            if (timerMap[i] === OUTPUT_TYPE_MOTOR && motorNumbers[i] === undefined) motorNumbers[i] = motorNum++;
+        }
         for (let i = 0; i < self.getOutputCount(); i++) {
-            
+
             let assignment = timerMap[i + offset];
 
             if (assignment === null) {
                 outputMap[i] = "-";
             } else if (assignment == OUTPUT_TYPE_MOTOR) {
-                outputMap[i] = "Motor " + currentMotorIndex;
-                currentMotorIndex++;
+                outputMap[i] = "Motor " + motorNumbers[i + offset];
             } else if (assignment == OUTPUT_TYPE_SERVO) {
                 outputMap[i] = "Servo " + servos[currentServoIndex];
                 currentServoIndex++;
             } else if (assignment == OUTPUT_TYPE_LED) {
                 outputMap[i] = "Led";
+            } else if (assignment == OUTPUT_TYPE_PINIO) {
+                outputMap[i] = "USER" + (data[i + offset]['specialLabels'] - SPECIAL_LABEL_PINIO_BASE + 1);
             }
         }
 
@@ -161,7 +188,9 @@ var OutputMappingCollection = function () {
             if (
                 BitHelper.bit_check(flags, TIM_USE_MOTOR) ||
                 BitHelper.bit_check(flags, TIM_USE_SERVO) ||
-                BitHelper.bit_check(flags, TIM_USE_LED)
+                BitHelper.bit_check(flags, TIM_USE_LED) ||
+                BitHelper.bit_check(flags, TIM_USE_PINIO) ||
+                data[i]['specialLabels'] >= SPECIAL_LABEL_PINIO_BASE
             ) {
                 retVal++;
             };
@@ -175,7 +204,9 @@ var OutputMappingCollection = function () {
             if (
                 BitHelper.bit_check(data[i]['usageFlags'], TIM_USE_MOTOR) ||
                 BitHelper.bit_check(data[i]['usageFlags'], TIM_USE_SERVO) ||
-                BitHelper.bit_check(data[i]['usageFlags'], TIM_USE_LED)
+                BitHelper.bit_check(data[i]['usageFlags'], TIM_USE_LED) ||
+                BitHelper.bit_check(data[i]['usageFlags'], TIM_USE_PINIO) ||
+                data[i]['specialLabels'] >= SPECIAL_LABEL_PINIO_BASE
             ) {
                 return i;
             }