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PINIO: add PWM duty control and unify output mode handling #6472

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Job	Run time
build-SITL-Windows	4m 2s
build-SITL-Linux-arm64	37s
build-SITL-Linux	35s
build-SITL-Mac	56s
test	54s
build (9)	12m 6s
build (1)	10m 8s
build (3)	10m 32s
build (5)	11m 21s
build (4)	11m 5s
build (2)	10m 53s
build (6)	10m 13s
build (0)	11m 24s
build (7)	12m 19s
build (11)	10m 17s
build (8)	11m 16s
build (13)	9m 51s
build (10)	11m 53s
build (12)	11m 58s
build (14)	10m 22s
upload-artifacts	30s
	2h 53m 12s