dshot.cpp

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 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    used to endorse or promote products derived from this software
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#include <float.h>
#include <math.h>

#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_arch/dshot.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/esc_status.h>

#include "telemetry.h"


using namespace time_literals;

/** Mode given via CLI */
enum PortMode {
    PORT_MODE_UNSET = 0,
    PORT_FULL_GPIO,
    PORT_FULL_PWM,
    PORT_PWM8,
    PORT_PWM6,
    PORT_PWM5,
    PORT_PWM4,
    PORT_PWM3,
    PORT_PWM2,
    PORT_PWM1,
    PORT_PWM3CAP1,
    PORT_PWM4CAP1,
    PORT_PWM4CAP2,
    PORT_PWM5CAP1,
    PORT_PWM2CAP2,
    PORT_CAPTURE,
};

#if !defined(BOARD_HAS_PWM)
#  error "board_config.h needs to define BOARD_HAS_PWM"
#endif


class DShotOutput : public cdev::CDev, public ModuleBase<DShotOutput>, public OutputModuleInterface
{
public:
    enum Mode {
        MODE_NONE,
        MODE_1PWM,
        MODE_2PWM,
        MODE_2PWM2CAP,
        MODE_3PWM,
        MODE_3PWM1CAP,
        MODE_4PWM,
        MODE_4PWM1CAP,
        MODE_4PWM2CAP,
        MODE_5PWM,
        MODE_5PWM1CAP,
        MODE_6PWM,
        MODE_8PWM,
        MODE_14PWM,
        MODE_4CAP,
        MODE_5CAP,
        MODE_6CAP,
    };
    DShotOutput();
    virtual ~DShotOutput();

    /** @see ModuleBase */
    static int task_spawn(int argc, char *argv[]);

    /** @see ModuleBase */
    static int custom_command(int argc, char *argv[]);

    /** @see ModuleBase */
    static int print_usage(const char *reason = nullptr);

    void Run() override;

    /** @see ModuleBase::print_status() */
    int print_status() override;

    /** change the mode of the running module */
    static int module_new_mode(PortMode new_mode);

    virtual int ioctl(file *filp, int cmd, unsigned long arg);

    virtual int init();

    int     set_mode(Mode mode);
    Mode        get_mode() { return _mode; }

    static void capture_trampoline(void *context, uint32_t chan_index,
                       hrt_abstime edge_time, uint32_t edge_state,
                       uint32_t overflow);

    bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
               unsigned num_outputs, unsigned num_control_groups_updated) override;

    void mixerChanged() override;

    /**
     * Send a dshot command to one or all motors
     * This is expected to be called from another thread.
     * @param num_repetitions number of times to repeat, set at least to 1
     * @param motor_index index or -1 for all
     * @return 0 on success, <0 error otherwise
     */
    int sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index);

    void retrieveAndPrintESCInfoThreadSafe(int motor_index);

    bool telemetryEnabled() const { return _telemetry != nullptr; }

private:
    static constexpr uint16_t DISARMED_VALUE = 0;

    enum class DShotConfig {
        Disabled = 0,
        DShot150 = 150,
        DShot300 = 300,
        DShot600 = 600,
        DShot1200 = 1200,
    };

    struct Command {
        dshot_command_t command;
        int num_repetitions{0};
        uint8_t motor_mask{0xff};

        bool valid() const { return num_repetitions > 0; }
        void clear() { num_repetitions = 0; }
    };

    struct Telemetry {
        DShotTelemetry handler;
        uORB::PublicationData<esc_status_s> esc_status_pub{ORB_ID(esc_status)};
        int last_motor_index{-1};
    };

    void updateTelemetryNumMotors();
    void initTelemetry(const char *device);
    void handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data);

    int requestESCInfo();

    MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};

    Telemetry *_telemetry{nullptr};
    static char _telemetry_device[20];
    static px4::atomic_bool _request_telemetry_init;

    px4::atomic<DShotTelemetry::OutputBuffer *> _request_esc_info{nullptr};
    bool _waiting_for_esc_info{false};

    Mode        _mode{MODE_NONE};

    uORB::Subscription _param_sub{ORB_ID(parameter_update)};

    Command _current_command;
    px4::atomic<Command *> _new_command{nullptr};

    unsigned    _num_outputs{0};
    int     _class_instance{-1};

    bool        _outputs_on{false};
    uint32_t    _output_mask{0};
    bool        _outputs_initialized{false};

    perf_counter_t  _cycle_perf;

    void        capture_callback(uint32_t chan_index,
                     hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
    int         pwm_ioctl(file *filp, int cmd, unsigned long arg);
    void        update_dshot_out_state(bool on);

    void        update_params();

    int     capture_ioctl(file *filp, int cmd, unsigned long arg);

    DShotOutput(const DShotOutput &) = delete;
    DShotOutput operator=(const DShotOutput &) = delete;

    DEFINE_PARAMETERS(
        (ParamInt<px4::params::DSHOT_CONFIG>) _param_dshot_config,
        (ParamFloat<px4::params::DSHOT_MIN>) _param_dshot_min,
        (ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
    )
};

char DShotOutput::_telemetry_device[] {};
px4::atomic_bool DShotOutput::_request_telemetry_init{false};

DShotOutput::DShotOutput() :
    CDev("/dev/dshot"),
    OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
    _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
    _mixing_output.setAllDisarmedValues(DISARMED_VALUE);
    _mixing_output.setAllMinValues(DISARMED_VALUE + 1);
    _mixing_output.setAllMaxValues(DSHOT_MAX_THROTTLE);

}

DShotOutput::~DShotOutput()
{
    /* make sure outputs are off */
    up_dshot_arm(false);

    /* clean up the alternate device node */
    unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);

    perf_free(_cycle_perf);
    delete _telemetry;
}

int
DShotOutput::init()
{
    /* do regular cdev init */
    int ret = CDev::init();

    if (ret != OK) {
        return ret;
    }

    /* try to claim the generic PWM output device node as well - it's OK if we fail at this */
    _class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);

    if (_class_instance == CLASS_DEVICE_PRIMARY) {
        /* lets not be too verbose */
    } else if (_class_instance < 0) {
        PX4_ERR("FAILED registering class device");
    }

    _mixing_output.setDriverInstance(_class_instance);

    // Getting initial parameter values
    update_params();

    ScheduleNow();

    return 0;
}

int
DShotOutput::set_mode(Mode mode)
{
    unsigned old_mask = _output_mask;

    /*
     * Configure for output.
     *
     * Note that regardless of the configured mode, the task is always
     * listening and mixing; the mode just selects which of the channels
     * are presented on the output pins.
     */
    switch (mode) {
    case MODE_1PWM:
        /* default output rates */
        _output_mask = 0x1;
        _outputs_initialized = false;
        _num_outputs = 1;
        break;

#if defined(BOARD_HAS_CAPTURE)

    case MODE_2PWM2CAP: // v1 multi-port with flow control lines as PWM
        up_input_capture_set(2, Rising, 0, NULL, NULL);
        up_input_capture_set(3, Rising, 0, NULL, NULL);
        PX4_DEBUG("MODE_2PWM2CAP");
#endif

    /* FALLTHROUGH */

    case MODE_2PWM: // v1 multi-port with flow control lines as PWM
        PX4_DEBUG("MODE_2PWM");

        /* default output rates */
        _output_mask = 0x3;
        _outputs_initialized = false;
        _num_outputs = 2;

        break;

#if defined(BOARD_HAS_CAPTURE)

    case MODE_3PWM1CAP: // v1 multi-port with flow control lines as PWM
        PX4_DEBUG("MODE_3PWM1CAP");
        up_input_capture_set(3, Rising, 0, NULL, NULL);
#endif

    /* FALLTHROUGH */

    case MODE_3PWM: // v1 multi-port with flow control lines as PWM
        PX4_DEBUG("MODE_3PWM");

        /* default output rates */
        _output_mask = 0x7;
        _outputs_initialized = false;
        _num_outputs = 3;

        break;

#if defined(BOARD_HAS_CAPTURE)

    case MODE_4PWM1CAP:
        PX4_DEBUG("MODE_4PWM1CAP");
        up_input_capture_set(4, Rising, 0, NULL, NULL);
#endif

    /* FALLTHROUGH */

    case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
        PX4_DEBUG("MODE_4PWM");

        /* default output rates */
        _output_mask = 0xf;
        _outputs_initialized = false;
        _num_outputs = 4;

        break;

#if defined(BOARD_HAS_CAPTURE)

    case MODE_4PWM2CAP:
        PX4_DEBUG("MODE_4PWM2CAP");
        up_input_capture_set(5, Rising, 0, NULL, NULL);

        /* default output rates */
        _output_mask = 0x0f;
        _outputs_initialized = false;
        _num_outputs = 4;

        break;
#endif

#if defined(BOARD_HAS_CAPTURE)

    case MODE_5PWM1CAP:
        PX4_DEBUG("MODE_5PWM1CAP");
        up_input_capture_set(5, Rising, 0, NULL, NULL);
#endif

    /* FALLTHROUGH */

    case MODE_5PWM: // v1 or v2 multi-port as 5 PWM outs
        PX4_DEBUG("MODE_5PWM");

        /* default output rates */
        _output_mask = 0x1f;
        _outputs_initialized = false;
        _num_outputs = 4;

        break;

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6

    case MODE_6PWM:
        PX4_DEBUG("MODE_6PWM");

        /* default output rates */
        _output_mask = 0x3f;
        _outputs_initialized = false;
        _num_outputs = 6;

        break;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

    case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
        PX4_DEBUG("MODE_8PWM");
        /* default output rates */
        _output_mask = 0xff;
        _outputs_initialized = false;
        _num_outputs = 8;

        break;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14

    case MODE_14PWM:
        PX4_DEBUG("MODE_14PWM");
        /* default output rates */
        _output_mask = 0x3fff;
        _outputs_initialized = false;
        _num_outputs = 14;

        break;
#endif

    case MODE_NONE:
        PX4_DEBUG("MODE_NONE");
        _output_mask = 0x0;
        _outputs_initialized = false;
        _num_outputs = 0;

        if (old_mask != _output_mask) {
            /* disable motor outputs */
            update_dshot_out_state(false);
        }

        break;

    default:
        return -EINVAL;
    }

    _mode = mode;
    return OK;
}

int
DShotOutput::task_spawn(int argc, char *argv[])
{
    DShotOutput *instance = new DShotOutput();

    if (instance) {
        _object.store(instance);
        _task_id = task_id_is_work_queue;

        if (instance->init() == PX4_OK) {
            return PX4_OK;
        }

    } else {
        PX4_ERR("alloc failed");
    }

    delete instance;
    _object.store(nullptr);
    _task_id = -1;

    return PX4_ERROR;
}

void
DShotOutput::capture_trampoline(void *context, uint32_t chan_index,
                hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
    DShotOutput *dev = static_cast<DShotOutput *>(context);
    dev->capture_callback(chan_index, edge_time, edge_state, overflow);
}

void
DShotOutput::capture_callback(uint32_t chan_index,
                  hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
    fprintf(stdout, "DShot: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
}

void
DShotOutput::update_dshot_out_state(bool on)
{
    if (on && !_outputs_initialized && _output_mask != 0) {
        DShotConfig config = (DShotConfig)_param_dshot_config.get();
        unsigned dshot_frequency;

        switch (config) {
        case DShotConfig::DShot150:
            dshot_frequency = DSHOT150;
            break;

        case DShotConfig::DShot300:
            dshot_frequency = DSHOT300;
            break;

        case DShotConfig::DShot1200:
            dshot_frequency = DSHOT1200;
            break;

        case DShotConfig::DShot600:
        default:
            dshot_frequency = DSHOT600;
            break;
        }

        int ret = up_dshot_init(_output_mask, dshot_frequency);

        if (ret != 0) {
            PX4_ERR("up_dshot_init failed (%i)", ret);
            return;
        }

        _outputs_initialized = true;
    }

    if (_outputs_initialized) {
        up_dshot_arm(on);
        _outputs_on = on;
    }
}

void DShotOutput::updateTelemetryNumMotors()
{
    if (!_telemetry) {
        return;
    }

    int motor_count = 0;

    if (_mixing_output.mixers()) {
        motor_count = _mixing_output.mixers()->get_multirotor_count();
    }

    _telemetry->handler.setNumMotors(motor_count);
}

void DShotOutput::initTelemetry(const char *device)
{
    if (!_telemetry) {
        _telemetry = new Telemetry{};

        if (!_telemetry) {
            PX4_ERR("alloc failed");
            return;
        }
    }

    int ret = _telemetry->handler.init(device);

    if (ret != 0) {
        PX4_ERR("telemetry init failed (%i)", ret);
    }

    updateTelemetryNumMotors();
}

void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data)
{
    // fill in new motor data
    esc_status_s &esc_status = _telemetry->esc_status_pub.get();

    if (motor_index < esc_status_s::CONNECTED_ESC_MAX) {
        esc_status.esc_online_flags |= 1 << motor_index;
        esc_status.esc[motor_index].timestamp = data.time;
        esc_status.esc[motor_index].esc_rpm = ((int)data.erpm * 100) / (_param_mot_pole_count.get() / 2);
        esc_status.esc[motor_index].esc_voltage = (float)data.voltage * 0.01f;
        esc_status.esc[motor_index].esc_current = (float)data.current * 0.01f;
        esc_status.esc[motor_index].esc_temperature = data.temperature;
        // TODO: accumulate consumption and use for battery estimation
    }

    // publish when motor index wraps (which is robust against motor timeouts)
    if (motor_index <= _telemetry->last_motor_index) {
        esc_status.timestamp = hrt_absolute_time();
        esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
        esc_status.esc_count = _telemetry->handler.numMotors();
        ++esc_status.counter;
        // FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
        esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;

        _telemetry->esc_status_pub.update();

        // reset esc data (in case a motor times out, so we won't send stale data)
        memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc));
        esc_status.esc_online_flags = 0;
    }

    _telemetry->last_motor_index = motor_index;
}

int DShotOutput::sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index)
{
    Command cmd;
    cmd.command = command;

    if (motor_index == -1) {
        cmd.motor_mask = 0xff;

    } else {
        cmd.motor_mask = 1 << _mixing_output.reorderedMotorIndex(motor_index);
    }

    cmd.num_repetitions = num_repetitions;
    _new_command.store(&cmd);

    // wait until main thread processed it
    while (_new_command.load()) {
        px4_usleep(1000);
    }

    return 0;
}

void DShotOutput::retrieveAndPrintESCInfoThreadSafe(int motor_index)
{
    if (_request_esc_info.load() != nullptr) {
        // already in progress (not expected to ever happen)
        return;
    }

    DShotTelemetry::OutputBuffer output_buffer;
    output_buffer.motor_index = motor_index;
    // start the request
    _request_esc_info.store(&output_buffer);

    // wait until processed
    int max_time = 1000;

    while (_request_esc_info.load() != nullptr && max_time-- > 0) {
        px4_usleep(1000);
    }

    _request_esc_info.store(nullptr); // just in case we time out...

    if (output_buffer.buf_pos == 0) {
        PX4_ERR("No data received. If telemetry is setup correctly, try again");
        return;
    }

    DShotTelemetry::decodeAndPrintEscInfoPacket(output_buffer);
}

int DShotOutput::requestESCInfo()
{
    _telemetry->handler.redirectOutput(*_request_esc_info.load());
    _waiting_for_esc_info = true;
    int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
    _current_command.motor_mask = 1 << motor_index;
    _current_command.num_repetitions = 1;
    _current_command.command = DShot_cmd_esc_info;
    PX4_DEBUG("Requesting ESC info for motor %i", motor_index);
    return motor_index;
}

void DShotOutput::mixerChanged()
{
    updateTelemetryNumMotors();
}

bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
                unsigned num_outputs, unsigned num_control_groups_updated)
{
    if (!_outputs_on) {
        return false;
    }

    int requested_telemetry_index = -1;

    if (_telemetry) {
        // check for an ESC info request. We only process it when we're not expecting other telemetry data
        if (_request_esc_info.load() != nullptr && !_waiting_for_esc_info && stop_motors
            && !_telemetry->handler.expectingData() && !_current_command.valid()) {
            requested_telemetry_index = requestESCInfo();

        } else {
            requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
        }
    }

    if (stop_motors) {

        // when motors are stopped we check if we have other commands to send
        for (int i = 0; i < (int)num_outputs; i++) {
            if (_current_command.valid() && (_current_command.motor_mask & (1 << i))) {
                // for some reason we need to always request telemetry when sending a command
                up_dshot_motor_command(i, _current_command.command, true);

            } else {
                up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
            }
        }

        if (_current_command.valid()) {
            --_current_command.num_repetitions;
        }

    } else {
        for (int i = 0; i < (int)num_outputs; i++) {
            if (outputs[i] == DISARMED_VALUE) {
                up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);

            } else {
                up_dshot_motor_data_set(i, math::min(outputs[i], (uint16_t)DSHOT_MAX_THROTTLE), i == requested_telemetry_index);
            }
        }

        // clear commands when motors are running
        _current_command.clear();
    }

    if (stop_motors || num_control_groups_updated > 0) {
        up_dshot_trigger();
    }

    return true;
}

void
DShotOutput::Run()
{
    if (should_exit()) {
        ScheduleClear();
        _mixing_output.unregister();

        exit_and_cleanup();
        return;
    }

    perf_begin(_cycle_perf);

    _mixing_output.update();

    /* update output status if armed or if mixer is loaded */
    bool outputs_on = _mixing_output.armed().armed || _mixing_output.mixers();

    if (_outputs_on != outputs_on) {
        update_dshot_out_state(outputs_on);
    }

    if (_telemetry) {
        int telem_update = _telemetry->handler.update();

        // Are we waiting for ESC info?
        if (_waiting_for_esc_info) {
            if (telem_update != -1) {
                _request_esc_info.store(nullptr);
                _waiting_for_esc_info = false;
            }

        } else if (telem_update >= 0) {
            handleNewTelemetryData(telem_update, _telemetry->handler.latestESCData());
        }
    }

    if (_param_sub.updated()) {
        update_params();
    }

    // telemetry device update request?
    if (_request_telemetry_init.load()) {
        initTelemetry(_telemetry_device);
        _request_telemetry_init.store(false);
    }

    // new command?
    if (!_current_command.valid()) {
        Command *new_command = _new_command.load();

        if (new_command) {
            _current_command = *new_command;
            _new_command.store(nullptr);
        }
    }

    // check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
    _mixing_output.updateSubscriptions(true);

    perf_end(_cycle_perf);
}

void DShotOutput::update_params()
{
    parameter_update_s pupdate;
    _param_sub.update(&pupdate);

    updateParams();

    // we use a minimum value of 1, since 0 is for disarmed
    _mixing_output.setAllMinValues(math::constrain((int)(_param_dshot_min.get() * (float)DSHOT_MAX_THROTTLE),
                       DISARMED_VALUE + 1, DSHOT_MAX_THROTTLE));
}


int
DShotOutput::ioctl(file *filp, int cmd, unsigned long arg)
{
    int ret;

    /* try it as a Capture ioctl next */
    ret = capture_ioctl(filp, cmd, arg);

    if (ret != -ENOTTY) {
        return ret;
    }

    /* if we are in valid PWM mode, try it as a PWM ioctl as well */
    switch (_mode) {
    case MODE_1PWM:
    case MODE_2PWM:
    case MODE_3PWM:
    case MODE_4PWM:
    case MODE_5PWM:
    case MODE_2PWM2CAP:
    case MODE_3PWM1CAP:
    case MODE_4PWM1CAP:
    case MODE_4PWM2CAP:
    case MODE_5PWM1CAP:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
    case MODE_6PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
    case MODE_8PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
    case MODE_14PWM:
#endif
        ret = pwm_ioctl(filp, cmd, arg);
        break;

    default:
        PX4_DEBUG("not in a PWM mode");
        break;
    }

    /* if nobody wants it, let CDev have it */
    if (ret == -ENOTTY) {
        ret = CDev::ioctl(filp, cmd, arg);
    }

    return ret;
}

int
DShotOutput::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
    int ret = OK;

    PX4_DEBUG("dshot ioctl cmd: %d, arg: %ld", cmd, arg);

    lock();

    switch (cmd) {
    case PWM_SERVO_GET_COUNT:
        switch (_mode) {

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14

        case MODE_14PWM:
            *(unsigned *)arg = 14;
            break;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

        case MODE_8PWM:
            *(unsigned *)arg = 8;
            break;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6

        case MODE_6PWM:
            *(unsigned *)arg = 6;
            break;
#endif

        case MODE_5PWM:
        case MODE_5PWM1CAP:
            *(unsigned *)arg = 5;
            break;

        case MODE_4PWM:
        case MODE_4PWM1CAP:
        case MODE_4PWM2CAP:
            *(unsigned *)arg = 4;
            break;

        case MODE_3PWM:
        case MODE_3PWM1CAP:
            *(unsigned *)arg = 3;
            break;

        case MODE_2PWM:
        case MODE_2PWM2CAP:
            *(unsigned *)arg = 2;
            break;

        case MODE_1PWM:
            *(unsigned *)arg = 1;
            break;

        default:
            ret = -EINVAL;
            break;
        }

        break;

    case PWM_SERVO_SET_COUNT: {
            /* change the number of outputs that are enabled for
             * PWM. This is used to change the split between GPIO
             * and PWM under control of the flight config
             * parameters.
             */
            switch (arg) {
            case 0:
                set_mode(MODE_NONE);
                break;

            case 1:
                set_mode(MODE_1PWM);
                break;

            case 2:
                set_mode(MODE_2PWM);
                break;

            case 3:
                set_mode(MODE_3PWM);
                break;

            case 4:
                set_mode(MODE_4PWM);
                break;

            case 5:
                set_mode(MODE_5PWM);
                break;

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=6

            case 6:
                set_mode(MODE_6PWM);
                break;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=8

            case 8:
                set_mode(MODE_8PWM);
                break;
#endif

            default:
                ret = -EINVAL;
                break;
            }

            break;
        }

    case PWM_SERVO_SET_MODE: {
            switch (arg) {
            case PWM_SERVO_MODE_NONE:
                ret = set_mode(MODE_NONE);
                break;

            case PWM_SERVO_MODE_1PWM:
                ret = set_mode(MODE_1PWM);
                break;

            case PWM_SERVO_MODE_2PWM:
                ret = set_mode(MODE_2PWM);
                break;

            case PWM_SERVO_MODE_2PWM2CAP:
                ret = set_mode(MODE_2PWM2CAP);
                break;

            case PWM_SERVO_MODE_3PWM:
                ret = set_mode(MODE_3PWM);
                break;

            case PWM_SERVO_MODE_3PWM1CAP:
                ret = set_mode(MODE_3PWM1CAP);
                break;

            case PWM_SERVO_MODE_4PWM:
                ret = set_mode(MODE_4PWM);
                break;

            case PWM_SERVO_MODE_4PWM1CAP:
                ret = set_mode(MODE_4PWM1CAP);
                break;

            case PWM_SERVO_MODE_4PWM2CAP:
                ret = set_mode(MODE_4PWM2CAP);
                break;

            case PWM_SERVO_MODE_5PWM:
                ret = set_mode(MODE_5PWM);
                break;

            case PWM_SERVO_MODE_5PWM1CAP:
                ret = set_mode(MODE_5PWM1CAP);
                break;

            case PWM_SERVO_MODE_6PWM:
                ret = set_mode(MODE_6PWM);
                break;

            case PWM_SERVO_MODE_8PWM:
                ret = set_mode(MODE_8PWM);
                break;

            case PWM_SERVO_MODE_4CAP:
                ret = set_mode(MODE_4CAP);
                break;

            case PWM_SERVO_MODE_5CAP:
                ret = set_mode(MODE_5CAP);
                break;

            case PWM_SERVO_MODE_6CAP:
                ret = set_mode(MODE_6CAP);
                break;

            default:
                ret = -EINVAL;
            }

            break;
        }

    case MIXERIOCRESET:
        _mixing_output.resetMixerThreadSafe();

        break;

    case MIXERIOCLOADBUF: {
            const char *buf = (const char *)arg;
            unsigned buflen = strlen(buf);
            ret = _mixing_output.loadMixerThreadSafe(buf, buflen);

            break;
        }

    default:
        ret = -ENOTTY;
        break;
    }

    unlock();

    return ret;
}

int
DShotOutput::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
{
    int ret = -EINVAL;

#if defined(BOARD_HAS_CAPTURE)

    lock();

    input_capture_config_t *pconfig = 0;

    input_capture_stats_t *stats = (input_capture_stats_t *)arg;

    if (_mode == MODE_3PWM1CAP || _mode == MODE_2PWM2CAP ||
        _mode == MODE_4PWM1CAP || _mode == MODE_5PWM1CAP ||
        _mode == MODE_4PWM2CAP) {

        pconfig = (input_capture_config_t *)arg;
    }

    switch (cmd) {

    case INPUT_CAP_SET:
        if (pconfig) {
            ret =  up_input_capture_set(pconfig->channel, pconfig->edge, pconfig->filter,
                            pconfig->callback, pconfig->context);
        }

        break;

    case INPUT_CAP_SET_CALLBACK:
        if (pconfig) {
            ret =  up_input_capture_set_callback(pconfig->channel, pconfig->callback, pconfig->context);
        }

        break;

    case INPUT_CAP_GET_CALLBACK:
        if (pconfig) {
            ret =  up_input_capture_get_callback(pconfig->channel, &pconfig->callback, &pconfig->context);
        }

        break;

    case INPUT_CAP_GET_STATS:
        if (arg) {
            ret =  up_input_capture_get_stats(stats->chan_in_edges_out, stats, false);
        }

        break;

    case INPUT_CAP_GET_CLR_STATS:
        if (arg) {
            ret =  up_input_capture_get_stats(stats->chan_in_edges_out, stats, true);
        }

        break;

    case INPUT_CAP_SET_EDGE:
        if (pconfig) {
            ret =  up_input_capture_set_trigger(pconfig->channel, pconfig->edge);
        }

        break;

    case INPUT_CAP_GET_EDGE:
        if (pconfig) {
            ret =  up_input_capture_get_trigger(pconfig->channel, &pconfig->edge);
        }

        break;

    case INPUT_CAP_SET_FILTER:
        if (pconfig) {
            ret =  up_input_capture_set_filter(pconfig->channel, pconfig->filter);
        }

        break;

    case INPUT_CAP_GET_FILTER:
        if (pconfig) {
            ret =  up_input_capture_get_filter(pconfig->channel, &pconfig->filter);
        }

        break;

    case INPUT_CAP_GET_COUNT:
        ret = OK;

        switch (_mode) {
        case MODE_5PWM1CAP:
        case MODE_4PWM1CAP:
        case MODE_3PWM1CAP:
            *(unsigned *)arg = 1;
            break;

        case MODE_2PWM2CAP:
        case MODE_4PWM2CAP:
            *(unsigned *)arg = 2;
            break;

        default:
            ret = -EINVAL;
            break;
        }

        break;

    case INPUT_CAP_SET_COUNT:
        ret = OK;

        switch (_mode) {
        case MODE_3PWM1CAP:
            set_mode(MODE_3PWM1CAP);
            break;

        case MODE_2PWM2CAP:
            set_mode(MODE_2PWM2CAP);
            break;

        case MODE_4PWM1CAP:
            set_mode(MODE_4PWM1CAP);
            break;

        case MODE_4PWM2CAP:
            set_mode(MODE_4PWM2CAP);
            break;

        case MODE_5PWM1CAP:
            set_mode(MODE_5PWM1CAP);
            break;

        default:
            ret = -EINVAL;
            break;
        }

        break;

    default:
        ret = -ENOTTY;
        break;
    }

    unlock();

#else
    ret = -ENOTTY;
#endif
    return ret;
}

int
DShotOutput::module_new_mode(PortMode new_mode)
{
    if (!is_running()) {
        return -1;
    }

    DShotOutput::Mode mode;

    mode = DShotOutput::MODE_NONE;

    switch (new_mode) {
    case PORT_FULL_GPIO:
    case PORT_MODE_UNSET:
        break;

    case PORT_FULL_PWM:

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
        /* select 4-pin PWM mode */
        mode = DShotOutput::MODE_4PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
        mode = DShotOutput::MODE_6PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
        mode = DShotOutput::MODE_8PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
        mode = DShotOutput::MODE_14PWM;
#endif
        break;

    case PORT_PWM1:
        /* select 2-pin PWM mode */
        mode = DShotOutput::MODE_1PWM;
        break;

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

    case PORT_PWM8:
        /* select 8-pin PWM mode */
        mode = DShotOutput::MODE_8PWM;
        break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6

    case PORT_PWM6:
        /* select 6-pin PWM mode */
        mode = DShotOutput::MODE_6PWM;
        break;

    case PORT_PWM5:
        /* select 5-pin PWM mode */
        mode = DShotOutput::MODE_5PWM;
        break;


#  if defined(BOARD_HAS_CAPTURE)

    case PORT_PWM5CAP1:
        /* select 5-pin PWM mode 1 capture */
        mode = DShotOutput::MODE_5PWM1CAP;
        break;

#  endif

    case PORT_PWM4:
        /* select 4-pin PWM mode */
        mode = DShotOutput::MODE_4PWM;
        break;


#  if defined(BOARD_HAS_CAPTURE)

    case PORT_PWM4CAP1:
        /* select 4-pin PWM mode 1 capture */
        mode = DShotOutput::MODE_4PWM1CAP;
        break;

    case PORT_PWM4CAP2:
        /* select 4-pin PWM mode 2 capture */
        mode = DShotOutput::MODE_4PWM2CAP;
        break;

#  endif

    case PORT_PWM3:
        /* select 3-pin PWM mode */
        mode = DShotOutput::MODE_3PWM;
        break;

#  if defined(BOARD_HAS_CAPTURE)

    case PORT_PWM3CAP1:
        /* select 3-pin PWM mode 1 capture */
        mode = DShotOutput::MODE_3PWM1CAP;
        break;
#  endif

    case PORT_PWM2:
        /* select 2-pin PWM mode */
        mode = DShotOutput::MODE_2PWM;
        break;

#  if defined(BOARD_HAS_CAPTURE)

    case PORT_PWM2CAP2:
        /* select 2-pin PWM mode 2 capture */
        mode = DShotOutput::MODE_2PWM2CAP;
        break;

#  endif
#endif

    default:
        return -1;
    }

    DShotOutput *object = get_instance();

    if (mode != object->get_mode()) {
        /* (re)set the output mode */
        object->set_mode(mode);
    }

    return OK;
}

int DShotOutput::custom_command(int argc, char *argv[])
{
    PortMode new_mode = PORT_MODE_UNSET;
    const char *verb = argv[0];

    if (!strcmp(verb, "telemetry")) {
        if (argc > 1) {
            // telemetry can be requested before the module is started
            strncpy(_telemetry_device, argv[1], sizeof(_telemetry_device) - 1);
            _telemetry_device[sizeof(_telemetry_device) - 1] = '\0';
            _request_telemetry_init.store(true);
        }

        return 0;
    }

    int motor_index = -1; // select motor index, default: -1=all
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    while ((ch = px4_getopt(argc, argv, "m:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'm':
            motor_index = strtol(myoptarg, nullptr, 10) - 1;
            break;

        default:
            return print_usage("unrecognized flag");
        }
    }

    struct Command {
        const char *name;
        dshot_command_t command;
        int num_repetitions;
    };

    constexpr Command commands[] = {
        {"reverse", DShot_cmd_spin_direction_reversed, 10},
        {"normal", DShot_cmd_spin_direction_normal, 10},
        {"save", DShot_cmd_save_settings, 10},
        {"3d_on", DShot_cmd_3d_mode_on, 10},
        {"3d_off", DShot_cmd_3d_mode_off, 10},
        {"beep1", DShot_cmd_beacon1, 1},
        {"beep2", DShot_cmd_beacon2, 1},
        {"beep3", DShot_cmd_beacon3, 1},
        {"beep4", DShot_cmd_beacon4, 1},
        {"beep5", DShot_cmd_beacon5, 1},
    };

    for (unsigned i = 0; i < sizeof(commands) / sizeof(commands[0]); ++i) {
        if (!strcmp(verb, commands[i].name)) {
            if (!is_running()) {
                PX4_ERR("module not running");
                return -1;
            }

            return get_instance()->sendCommandThreadSafe(commands[i].command, commands[i].num_repetitions, motor_index);
        }
    }

    if (!strcmp(verb, "esc_info")) {
        if (!is_running()) {
            PX4_ERR("module not running");
            return -1;
        }

        if (motor_index == -1) {
            PX4_ERR("No motor index specified");
            return -1;
        }

        if (!get_instance()->telemetryEnabled()) {
            PX4_ERR("Telemetry is not enabled, but required to get ESC info");
            return -1;
        }

        get_instance()->retrieveAndPrintESCInfoThreadSafe(motor_index);
        return 0;
    }


    if (!is_running()) {
        int ret = DShotOutput::task_spawn(argc, argv);

        if (ret) {
            return ret;
        }
    }

    /*
     * Mode switches.
     */
    if (!strcmp(verb, "mode_gpio")) {
        new_mode = PORT_FULL_GPIO;

    } else if (!strcmp(verb, "mode_pwm")) {
        new_mode = PORT_FULL_PWM;

        // mode: defines which outputs to drive (others may be used by other tasks such as camera capture)
#if defined(BOARD_HAS_PWM)

    } else if (!strcmp(verb, "mode_pwm1")) {
        new_mode = PORT_PWM1;
#endif

#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6

    } else if (!strcmp(verb, "mode_pwm6")) {
        new_mode = PORT_PWM6;

    } else if (!strcmp(verb, "mode_pwm5")) {
        new_mode = PORT_PWM5;

#  if defined(BOARD_HAS_CAPTURE)

    } else if (!strcmp(verb, "mode_pwm5cap1")) {
        new_mode = PORT_PWM5CAP1;
#  endif

    } else if (!strcmp(verb, "mode_pwm4")) {
        new_mode = PORT_PWM4;

#  if defined(BOARD_HAS_CAPTURE)

    } else if (!strcmp(verb, "mode_pwm4cap1")) {
        new_mode = PORT_PWM4CAP1;

    } else if (!strcmp(verb, "mode_pwm4cap2")) {
        new_mode = PORT_PWM4CAP2;
#  endif

    } else if (!strcmp(verb, "mode_pwm3")) {
        new_mode = PORT_PWM3;

#  if defined(BOARD_HAS_CAPTURE)

    } else if (!strcmp(verb, "mode_pwm3cap1")) {
        new_mode = PORT_PWM3CAP1;
#  endif

    } else if (!strcmp(verb, "mode_pwm2")) {
        new_mode = PORT_PWM2;

#  if defined(BOARD_HAS_CAPTURE)

    } else if (!strcmp(verb, "mode_pwm2cap2")) {
        new_mode = PORT_PWM2CAP2;
#  endif
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

    } else if (!strcmp(verb, "mode_pwm8")) {
        new_mode = PORT_PWM8;
#endif
    }

    /* was a new mode set? */
    if (new_mode != PORT_MODE_UNSET) {

        /* switch modes */
        return DShotOutput::module_new_mode(new_mode);
    }

    return print_usage("unknown command");
}

int DShotOutput::print_status()
{
    const char *mode_str = nullptr;

    switch (_mode) {

    case MODE_NONE: mode_str = "no outputs"; break;

    case MODE_1PWM: mode_str = "outputs1"; break;

    case MODE_2PWM: mode_str = "outputs2"; break;

    case MODE_2PWM2CAP: mode_str = "outputs2cap2"; break;

    case MODE_3PWM: mode_str = "outputs3"; break;

    case MODE_3PWM1CAP: mode_str = "outputs3cap1"; break;

    case MODE_4PWM: mode_str = "outputs4"; break;

    case MODE_4PWM1CAP: mode_str = "outputs4cap1"; break;

    case MODE_4PWM2CAP: mode_str = "outputs4cap2"; break;

    case MODE_5PWM: mode_str = "outputs5"; break;

    case MODE_5PWM1CAP: mode_str = "outputs5cap1"; break;

    case MODE_6PWM: mode_str = "outputs6"; break;

    case MODE_8PWM: mode_str = "outputs8"; break;

    case MODE_4CAP: mode_str = "cap4"; break;

    case MODE_5CAP: mode_str = "cap5"; break;

    case MODE_6CAP: mode_str = "cap6"; break;

    default:
        break;
    }

    if (mode_str) {
        PX4_INFO("Mode: %s", mode_str);
    }

    PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
    PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
    perf_print_counter(_cycle_perf);
    _mixing_output.printStatus();

    if (_telemetry) {
        PX4_INFO("telemetry on: %s", _telemetry_device);
        _telemetry->handler.printStatus();
    }

    return 0;
}

int DShotOutput::print_usage(const char *reason)
{
    if (reason) {
        PX4_WARN("%s\n", reason);
    }

    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
### Description
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
to use DShot as ESC communication protocol instead of PWM.

It supports:
- DShot150, DShot300, DShot600, DShot1200
- telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI

### Examples
Permanently reverse motor 1:
$ dshot reverse -m 1
$ dshot save -m 1
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("dshot", "driver");
    PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)");

    PRINT_MODULE_USAGE_PARAM_COMMENT("All of the mode_* commands will start the module if not running already");

    PRINT_MODULE_USAGE_COMMAND("mode_gpio");
    PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
  PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
  PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
    PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
    PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
  PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_PWM)
  PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
#endif

    PRINT_MODULE_USAGE_COMMAND_DESCR("telemetry", "Enable Telemetry on a UART");
    PRINT_MODULE_USAGE_ARG("<device>", "UART device", false);

    // DShot commands
    PRINT_MODULE_USAGE_COMMAND_DESCR("reverse", "Reverse motor direction");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("normal", "Normal motor direction");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save current settings");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("3d_on", "Enable 3D mode");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("3d_off", "Disable 3D mode");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("beep1", "Send Beep pattern 1");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("beep2", "Send Beep pattern 2");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("beep3", "Send Beep pattern 3");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("beep4", "Send Beep pattern 4");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("beep5", "Send Beep pattern 5");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("esc_info", "Request ESC information");
    PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based)", false);

    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

    return 0;
}

extern "C" __EXPORT int dshot_main(int argc, char *argv[])
{
    return DShotOutput::main(argc, argv);
}