LP-584 Fix servo driver to not touch unused pins in _disable() function. Fix adc channel for servo6 on revolution & sparky2 targets.

Author: mindnever

flight/pios/common/pios_servo.c

@@ -72,7 +72,7 @@ static uint32_t pios_dshot_t0h_raw;
 static uint32_t pios_dshot_t1h_raw;
 static uint32_t pios_dshot_t_raw;
 
-static bool pios_servo_enabled    = true;
+static bool pios_servo_enabled    = false;
 static uint32_t pios_servo_active = 0; // No active outputs by default
 
 #define PIOS_SERVO_TIMER_CLOCK 1000000
@@ -111,6 +111,10 @@ extern void PIOS_Servo_Disable()
      * if using inverted setup */
 
     for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
+        if (!(pios_servo_active & (1L << i))) { // This output is not active
+            continue;
+        }
+
         const struct pios_tim_channel *chan = &servo_cfg->channels[i];
 
         GPIO_InitTypeDef init = chan->pin.init;

flight/targets/boards/revolution/pios_board.h

@@ -303,7 +303,7 @@ extern uint32_t pios_packet_handler;
         { GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3        */  \
         { GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4        */  \
         { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5        */  \
-        { GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6        */  \
+        { GPIOA, GPIO_Pin_0, ADC_Channel_0, false }, /* Servo pin 6        */  \
         { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference  */  \
         { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */  \
     }

flight/targets/boards/sparky2/pios_board.h

@@ -306,7 +306,7 @@ extern uint32_t pios_packet_handler;
         { GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3        */  \
         { GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4        */  \
         { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5        */  \
-        { GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6        */  \
+        { GPIOA, GPIO_Pin_0, ADC_Channel_0, false }, /* Servo pin 6        */  \
         { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference  */  \
         { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */  \
     }