Drop PCA9685 support

docs/Settings.md

@@ -5374,7 +5374,7 @@ Selects the servo PWM output cutoff frequency. Value is in [Hz]
 
 ### servo_protocol
 
-An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port)
+An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port)
 
 | Default | Min | Max |
 | --- | --- | --- |

src/main/CMakeLists.txt

@@ -180,8 +180,6 @@ main_sources(COMMON_SRC
     drivers/flash_m25p16.h
     drivers/io.c
     drivers/io.h
-    drivers/io_pca9685.c
-    drivers/io_pca9685.h
     drivers/io_pcf8574.c
     drivers/io_pcf8574.h
     drivers/io_port_expander.c
@@ -354,8 +352,6 @@ main_sources(COMMON_SRC
     io/lights.h
     io/piniobox.c
     io/piniobox.h
-    io/pwmdriver_i2c.c
-    io/pwmdriver_i2c.h
     io/serial.c
     io/serial.h
     io/serial_4way.c

src/main/drivers/bus.h

@@ -139,7 +139,6 @@ typedef enum {
 
     /* Other hardware */
     DEVHW_MS4525,       // Pitot meter
-    DEVHW_PCA9685,      // PWM output device
     DEVHW_M25P16,       // SPI NOR flash
     DEVHW_UG2864,       // I2C OLED display
     DEVHW_SDCARD,       // Generic SD-Card

src/main/drivers/lights_io.c

@@ -3,11 +3,10 @@
 
 #ifdef USE_LIGHTS
 
-#if (!defined(LIGHTS_USE_PCA9685_OUTPUT)) && (!defined(LIGHTS_OUTPUT_MODE))
+#ifndef LIGHTS_OUTPUT_MODE
     #define LIGHTS_OUTPUT_MODE IOCFG_OUT_PP
 #endif
 
-
 static IO_t lightsIO = DEFIO_IO(NONE);
 
 bool lightsHardwareInit(void)

src/main/drivers/pwm_mapping.h

@@ -48,7 +48,6 @@ typedef enum {
 
 typedef enum {
     SERVO_TYPE_PWM = 0,
-    SERVO_TYPE_SERVO_DRIVER,
     SERVO_TYPE_SBUS,
     SERVO_TYPE_SBUS_PWM
 } servoProtocolType_e;

src/main/drivers/pwm_output.c

@@ -34,9 +34,6 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
-#include "drivers/io_pca9685.h"
-
-#include "io/pwmdriver_i2c.h"
 #include "io/servo_sbus.h"
 #include "sensors/esc_sensor.h"
 
@@ -535,16 +532,6 @@ static void sbusPwmWriteStandard(uint8_t index, uint16_t value)
 }
 #endif
 
-#ifdef USE_PWM_SERVO_DRIVER
-static void pwmServoWriteExternalDriver(uint8_t index, uint16_t value)
-{
-    // If PCA9685 is not detected, we do not want to write servo output anywhere
-    if (STATE(PWM_DRIVER_AVAILABLE)) {
-        pwmDriverSetPulse(index, value);
-    }
-}
-#endif
-
 void pwmServoPreconfigure(void)
 {
     // Protocol-specific configuration
@@ -554,13 +541,6 @@ void pwmServoPreconfigure(void)
             servoWritePtr = pwmServoWriteStandard;
             break;
 
-#ifdef USE_PWM_SERVO_DRIVER
-        case SERVO_TYPE_SERVO_DRIVER:
-            pwmDriverInitialize();
-            servoWritePtr = pwmServoWriteExternalDriver;
-            break;
-#endif
-
 #ifdef USE_SERVO_SBUS
         case SERVO_TYPE_SBUS:
             sbusServoInitialize();

src/main/fc/config.c

@@ -217,12 +217,6 @@ void validateAndFixConfig(void)
     }
 #endif
 
-#ifndef USE_PWM_SERVO_DRIVER
-    if (servoConfig()->servo_protocol == SERVO_TYPE_SERVO_DRIVER) {
-        servoConfigMutable()->servo_protocol = SERVO_TYPE_PWM;
-    }
-#endif
-
 #ifndef USE_SERVO_SBUS
     if (servoConfig()->servo_protocol == SERVO_TYPE_SBUS || servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM) {
         servoConfigMutable()->servo_protocol = SERVO_TYPE_PWM;

src/main/fc/fc_init.c

@@ -53,7 +53,6 @@
 #include "drivers/exti.h"
 #include "drivers/flash_m25p16.h"
 #include "drivers/io.h"
-#include "drivers/io_pca9685.h"
 #include "drivers/flash.h"
 #include "drivers/light_led.h"
 #include "drivers/nvic.h"
@@ -75,7 +74,6 @@
 #include "drivers/uart_inverter.h"
 #include "drivers/io.h"
 #include "drivers/exti.h"
-#include "drivers/io_pca9685.h"
 #include "drivers/vtx_common.h"
 #ifdef USE_USB_MSC
 #include "drivers/usb_msc.h"
@@ -114,7 +112,6 @@
 #include "io/flashfs.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
-#include "io/pwmdriver_i2c.h"
 #include "io/osd.h"
 #include "io/osd_dji_hd.h"
 #include "io/rcdevice_cam.h"

src/main/fc/fc_tasks.c

@@ -61,7 +61,6 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/osd.h"
-#include "io/pwmdriver_i2c.h"
 #include "io/serial.h"
 #include "io/rcdevice_cam.h"
 #include "io/smartport_master.h"
@@ -294,9 +293,6 @@ void taskSyncServoDriver(timeUs_t currentTimeUs)
     sbusServoSendUpdate();
 #endif
 
-#ifdef USE_PWM_SERVO_DRIVER
-    pwmDriverSync();
-#endif
 }
 
 #ifdef USE_OSD
@@ -368,8 +364,8 @@ void fcTasksInit(void)
 #ifdef STACK_CHECK
     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) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM));
+#if defined(USE_SERVO_SBUS)
+    setTaskEnabled(TASK_PWMDRIVER, (servoConfig()->servo_protocol == SERVO_TYPE_SBUS) || (servoConfig()->servo_protocol == SERVO_TYPE_SBUS_PWM));
 #endif
 #ifdef USE_CMS
 #ifdef USE_MSP_DISPLAYPORT
@@ -559,7 +555,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
-#if defined(USE_PWM_SERVO_DRIVER) || defined(USE_SERVO_SBUS)
+#if defined(USE_SERVO_SBUS)
     [TASK_PWMDRIVER] = {
         .taskName = "SERVOS",
         .taskFunc = taskSyncServoDriver,

src/main/fc/runtime_config.h

@@ -121,7 +121,6 @@ typedef enum {
     NAV_MOTOR_STOP_OR_IDLE              = (1 << 7),     // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available
     COMPASS_CALIBRATED                  = (1 << 8),
     ACCELEROMETER_CALIBRATED            = (1 << 9),
-    PWM_DRIVER_AVAILABLE                = (1 << 10),
     NAV_CRUISE_BRAKING                  = (1 << 11),
     NAV_CRUISE_BRAKING_BOOST            = (1 << 12),
     NAV_CRUISE_BRAKING_LOCKED           = (1 << 13),

src/main/fc/settings.yaml

@@ -37,7 +37,7 @@ tables:
   - name: motor_pwm_protocol
     values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
   - name: servo_protocol
-    values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
+    values: ["PWM", "SBUS", "SBUS_PWM"]
   - name: failsafe_procedure
     values: ["LAND", "DROP", "RTH", "NONE"]
   - name: current_sensor
@@ -1288,7 +1288,7 @@ groups:
     headers: ["flight/servos.h"]
     members:
       - name: servo_protocol
-        description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port)"
+        description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port)"
         default_value: "PWM"
         field: servo_protocol
         table: servo_protocol

src/main/flight/servos.c

@@ -58,7 +58,7 @@
 
 #include "sensors/gyro.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 3);
 
 PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
     .servoCenterPulse = SETTING_SERVO_CENTER_PULSE_DEFAULT,