BLCtrl 2.0 testing - currently only 8 Bit resolution - this should fly

2 files changed, 1447 insertions, 0 deletions

diff --git a/apps/drivers/mkblctrl/Makefile b/apps/drivers/mkblctrl/Makefile
new file mode 100644
index 000000000..b3be2c468
--- /dev/null
+++ b/apps/drivers/mkblctrl/Makefile
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# 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.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Interface driver for the Mikrokopter BLCtrl
+#
+
+APPNAME		 = mkblctrl
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mkblctrl/mkblctrl.cpp b/apps/drivers/mkblctrl/mkblctrl.cpp
new file mode 100644
index 000000000..c14fdfd1d
--- /dev/null
+++ b/apps/drivers/mkblctrl/mkblctrl.cpp
@@ -0,0 +1,1403 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mkblctrl.cpp
+ *
+ * Driver/configurator for the Mikrokopter BL-Ctrl.
+ * Marco Bauer
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/i2c.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
+
+#include <drivers/boards/px4fmu/px4fmu_internal.h>
+#include <drivers/drv_hrt.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_mixer.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/actuator_outputs.h>
+
+#include <systemlib/err.h>
+
+#define I2C_BUS_SPEED					400000
+#define UPDATE_RATE						400
+#define MAX_MOTORS 						8
+#define BLCTRL_BASE_ADDR 				0x29
+#define BLCTRL_OLD 						0
+#define BLCTRL_NEW 						1
+#define BLCTRL_MIN_VALUE				-0.984F
+#define MOTOR_STATE_PRESENT_MASK		0x80
+#define MOTOR_STATE_ERROR_MASK		0x7F
+#define MOTOR_SPINUP_COUNTER			2500
+
+
+class MK : public device::I2C
+{
+public:
+	enum Mode {
+		MODE_2PWM,
+		MODE_4PWM,
+		MODE_NONE
+	};
+
+	enum MappingMode {
+		MAPPING_MK = 0,
+		MAPPING_PX4,
+	};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+	MK(int bus);
+	~MK();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+	virtual int	init(unsigned motors);
+
+	int		set_mode(Mode mode);
+	int		set_pwm_rate(unsigned rate);
+	int		set_motor_count(unsigned count);
+	int		set_motor_test(bool motortest);
+	int		set_px4mode(int px4mode);
+	int		set_frametype(int frametype);
+
+private:
+	static const unsigned _max_actuators = MAX_MOTORS;
+	static const bool	showDebug = false;
+
+	Mode		_mode;
+	int 		_update_rate;
+	int 		_current_update_rate;
+	int		_task;
+	int		_t_actuators;
+	int		_t_armed;
+	unsigned int		_motor;
+	int    _px4mode;
+	int    _frametype;
+	orb_advert_t	_t_outputs;
+	orb_advert_t	_t_actuators_effective;
+	unsigned int	_num_outputs;
+	bool		_primary_pwm_device;
+	bool     _motortest;
+
+	volatile bool	_task_should_exit;
+	bool		_armed;
+
+	unsigned long	debugCounter;
+
+	MixerGroup	*_mixers;
+
+	actuator_controls_s _controls;
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main() __attribute__((noreturn));
+
+	static int	control_callback(uintptr_t handle,
+					 uint8_t control_group,
+					 uint8_t control_index,
+					 float &input);
+
+	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+
+	struct GPIOConfig {
+		uint32_t	input;
+		uint32_t	output;
+		uint32_t	alt;
+	};
+
+	static const GPIOConfig	_gpio_tab[];
+	static const unsigned	_ngpio;
+
+	void		gpio_reset(void);
+	void		gpio_set_function(uint32_t gpios, int function);
+	void		gpio_write(uint32_t gpios, int function);
+	uint32_t	gpio_read(void);
+	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+	int			mk_servo_arm(bool status);
+
+	int			mk_check_for_blctrl(unsigned int count);
+	int 		mk_servo_set(unsigned int chan, float val);
+	int 		mk_servo_set_test(unsigned int chan, float val);
+	int 		mk_servo_test(unsigned int chan);
+
+
+};
+
+const MK::GPIOConfig MK::_gpio_tab[] = {
+	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
+	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
+	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
+	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
+	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
+	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
+	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
+	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
+};
+
+const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
+
+const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad + configuration
+const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 };	// Addresstranslator for Hexa + configuration
+const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 };	// Addresstranslator for Octo + configuration
+
+const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad X configuration
+const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 };	// Addresstranslator for Hexa X configuration
+const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 };	// Addresstranslator for Octo X configuration
+
+const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
+
+int addrTranslator[] = {0,0,0,0,0,0,0,0};
+
+struct MotorData_t
+{
+	unsigned int Version;                        // the version of the BL (0 = old)
+  unsigned int SetPoint;                       // written by attitude controller
+  unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+  unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+  unsigned int ReadMode;                       // select data to read
+  // the following bytes must be exactly in that order!
+  unsigned int Current;                        // in 0.1 A steps, read back from BL
+  unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+  unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in °C
+  unsigned int RoundCount;
+};
+
+MotorData_t Motor[MAX_MOTORS];
+
+
+namespace
+{
+
+MK	*g_mk;
+
+} // namespace
+
+MK::MK(int bus) :
+	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
+	_mode(MODE_NONE),
+	_update_rate(50),
+	_task(-1),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(0),
+	_t_actuators_effective(0),
+	_num_outputs(0),
+	_motortest(false),
+	_motor(-1),
+	_px4mode(MAPPING_MK),
+	_frametype(FRAME_PLUS),
+	_primary_pwm_device(false),
+	_task_should_exit(false),
+	_armed(false),
+	_mixers(nullptr)
+{
+	_debug_enabled = true;
+}
+
+MK::~MK()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	g_mk = nullptr;
+}
+
+int
+MK::init(unsigned motors)
+{
+	_num_outputs = motors;
+	debugCounter = 0;
+	int ret;
+	ASSERT(_task == -1);
+
+	ret = I2C::init();
+
+	if (ret != OK) {
+		warnx("I2C init failed");
+		return ret;
+	}
+
+	usleep(500000);
+
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* reset GPIOs */
+	gpio_reset();
+
+	/* check for connected blctrls */
+	//mk_check_for_blctrl(_num_outputs);
+
+	/* start the IO interface task */
+	_task = task_spawn("mkblctrl",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_MAX -20,
+			   2048,
+			   (main_t)&MK::task_main_trampoline,
+			   nullptr);
+
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+MK::task_main_trampoline(int argc, char *argv[])
+{
+	g_mk->task_main();
+}
+
+int
+MK::set_mode(Mode mode)
+{
+	/*
+	 * Configure for PWM 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_2PWM:
+		if(_num_outputs == 4) {
+			debug("MODE_QUAD");
+		} else if(_num_outputs == 6) {
+			debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0x3);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_4PWM:
+		if(_num_outputs == 4) {
+			debug("MODE_QUADRO");
+		} else if(_num_outputs == 6) {
+			debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0xf);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_NONE:
+		debug("MODE_NONE");
+		/* disable servo outputs and set a very low update rate */
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	_mode = mode;
+	return OK;
+}
+
+int
+MK::set_pwm_rate(unsigned rate)
+{
+	if ((rate > 500) || (rate < 10))
+		return -EINVAL;
+
+	_update_rate = rate;
+	return OK;
+}
+
+int
+MK::set_px4mode(int px4mode)
+{
+	_px4mode = px4mode;
+}
+
+int
+MK::set_frametype(int frametype)
+{
+	_frametype = frametype;
+}
+
+
+int
+MK::set_motor_count(unsigned count)
+{
+	_num_outputs = count;
+
+	if(_px4mode == MAPPING_MK) {
+		if(_frametype == FRAME_PLUS) {
+			fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
+		} else if(_frametype == FRAME_X) {
+			fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
+		}
+		if(_num_outputs == 4) {
+			if(_frametype == FRAME_PLUS) {
+				memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
+			} else if(_frametype == FRAME_X) {
+				memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
+			}
+		} else if(_num_outputs == 6) {
+			if(_frametype == FRAME_PLUS) {
+				memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
+			} else if(_frametype == FRAME_X) {
+				memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
+			}
+		} else if(_num_outputs == 8) {
+			if(_frametype == FRAME_PLUS) {
+				memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
+			} else if(_frametype == FRAME_X) {
+				memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
+			}
+		}
+	} else {
+		fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
+		memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
+	}
+
+	/* check for connected blctrls */
+	mk_check_for_blctrl(_num_outputs);
+
+	return OK;
+}
+
+int
+MK::set_motor_test(bool motortest)
+{
+	_motortest = motortest;
+	return OK;
+}
+
+
+void
+MK::task_main()
+{
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* force a reset of the update rate */
+	_current_update_rate = 0;
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
+
+	/* advertise the effective control inputs */
+	actuator_controls_effective_s controls_effective;
+	memset(&controls_effective, 0, sizeof(controls_effective));
+	/* advertise the effective control inputs */
+	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
+				   &controls_effective);
+
+	pollfd fds[2];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+	
+	log("starting");
+	long update_rate_in_us = 0;
+
+	/* loop until killed */
+	while (!_task_should_exit) {
+
+		/* handle update rate changes */
+		if (_current_update_rate != _update_rate) {
+			int update_rate_in_ms = int(1000 / _update_rate);
+			update_rate_in_us = long(1000000 / _update_rate);
+
+			/* reject faster than 500 Hz updates */
+			if (update_rate_in_ms < 2) {
+				update_rate_in_ms = 2;
+				_update_rate = 500;
+			}
+			/* reject slower than 50 Hz updates */
+			if (update_rate_in_ms > 20) {
+				update_rate_in_ms = 20;
+				_update_rate = 50;
+			}
+
+			orb_set_interval(_t_actuators, update_rate_in_ms);
+			up_pwm_servo_set_rate(_update_rate);
+			_current_update_rate = _update_rate;
+		}
+
+		/* sleep waiting for data, but no more than a second */
+		int ret = ::poll(&fds[0], 2, 1000);
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			usleep(1000000);
+			continue;
+		}
+
+		/* do we have a control update? */
+		if (fds[0].revents & POLLIN) {
+
+			/* get controls - must always do this to avoid spinning */
+			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
+
+			/* can we mix? */
+			if (_mixers != nullptr) {
+
+				/* do mixing */
+				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
+				outputs.timestamp = hrt_absolute_time();
+
+				// XXX output actual limited values
+				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
+
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
+
+				/* iterate actuators */
+				for (unsigned int i = 0; i < _num_outputs; i++) {
+
+					/* last resort: catch NaN, INF and out-of-band errors */
+					if (i < outputs.noutputs &&
+						isfinite(outputs.output[i]) &&
+						outputs.output[i] >= -1.0f &&
+						outputs.output[i] <= 1.0f) {
+						/* scale for PWM output 900 - 2100us */
+						//outputs.output[i] = 1500 + (600 * outputs.output[i]);
+						//outputs.output[i] = 127 + (127 * outputs.output[i]);
+					} else {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						if(outputs.output[i] < -1.0f) {
+							outputs.output[i] = -1.0f;
+						} else if(outputs.output[i] > 1.0f) {
+							outputs.output[i] = 1.0f;
+						} else {
+							outputs.output[i] = -1.0f;
+						}
+					}
+
+					/* don't go under BLCTRL_MIN_VALUE */
+					if(outputs.output[i] < BLCTRL_MIN_VALUE) {
+						outputs.output[i] = BLCTRL_MIN_VALUE;
+					}
+					//_motortest = true;
+					/* output to BLCtrl's */
+					if(_motortest == true) {
+						mk_servo_test(i);
+					} else {
+						//mk_servo_set(i, outputs.output[i]);
+						mk_servo_set_test(i, outputs.output[i]);	// 8Bit
+					}
+
+
+				}
+
+				/* and publish for anyone that cares to see */
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
+			}
+		}
+
+		/* how about an arming update? */
+		if (fds[1].revents & POLLIN) {
+			actuator_armed_s aa;
+
+			/* get new value */
+			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
+
+			/* update PWM servo armed status if armed and not locked down */
+			////up_pwm_servo_arm(aa.armed && !aa.lockdown);
+			mk_servo_arm(aa.armed && !aa.lockdown);
+		}
+	}
+
+	::close(_t_actuators);
+	::close(_t_actuators_effective);
+	::close(_t_armed);
+
+
+	/* make sure servos are off */
+	up_pwm_servo_deinit();
+
+	log("stopping");
+
+	/* note - someone else is responsible for restoring the GPIO config */
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+
+int 
+MK::mk_servo_arm(bool status)
+{
+	_armed = status;
+	return 0;
+}
+
+
+int
+MK::mk_check_for_blctrl(unsigned int count)
+{
+	_retries = 10;
+	uint8_t foundMotorCount = 0;
+
+	for(unsigned i=0; i<MAX_MOTORS; i++) {
+		Motor[i].Version = 0;
+		Motor[i].SetPoint = 0;
+		Motor[i].SetPointLowerBits = 0;
+		Motor[i].State = 0;
+		Motor[i].ReadMode = 0;
+		Motor[i].Current = 0;
+		Motor[i].MaxPWM = 0;
+		Motor[i].Temperature = 0;
+		Motor[i].RoundCount = 0;
+	}
+
+	uint8_t msg = 0;
+	uint8_t result[3];
+
+	for(unsigned i=0; i< count; i++) {
+		result[0] = 0;
+		result[1] = 0;
+		result[2] = 0;
+			
+		set_address( BLCTRL_BASE_ADDR + i );
+		
+		if (OK == transfer(&msg, 1, &result[0], 3)) {
+			Motor[i].Current = result[0];
+			Motor[i].MaxPWM = result[1];
+			Motor[i].Temperature = result[2];
+			Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
+			foundMotorCount++;
+			if(Motor[i].MaxPWM == 250) {
+				Motor[i].Version = BLCTRL_NEW;
+			} else {
+				Motor[i].Version = BLCTRL_OLD;
+			}
+		}
+	}
+
+	fprintf(stderr, "[mkblctrl] MotorsRequiered: %i\tMotorsFound: %i\n", count,foundMotorCount);
+	for(unsigned i=0; i< count; i++) {
+		fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
+	}
+
+	if(foundMotorCount == count) {
+		return true;
+	} else {
+		return false;
+	}
+}
+
+
+
+
+int
+MK::mk_servo_set(unsigned int chan, float val)
+{
+	float tmpVal = 0;
+	_retries = 0;
+	uint8_t result[3] = { 0,0,0 };
+	uint8_t msg[2] = { 0,0 };
+	uint8_t rod=0;
+	uint8_t bytesToSendBL2 = 2;
+
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2047) {
+		tmpVal = 2047;
+	}
+
+
+	Motor[chan].SetPoint = (uint8_t) tmpVal / 3;	// divide 8
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8;	// rest of divide 8
+	//rod = (uint8_t) tmpVal % 8;
+	//Motor[chan].SetPointLowerBits = rod<<1;	// rest of divide 8
+	Motor[chan].SetPointLowerBits = 0;
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
+		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+
+		if(Motor[chan].Version == BLCTRL_OLD) {
+			/*
+			*	Old BL-Ctrl 8Bit served. Version < 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], 1, &result[0], 2)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = 255;;
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], 1, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		} else {
+			/*
+			*	New BL-Ctrl 11Bit served. Version >= 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			msg[1] = Motor[chan].SetPointLowerBits;
+
+			if(Motor[chan].SetPointLowerBits == 0) {
+				bytesToSendBL2 = 1;	// if setpoint lower bits are zero, we send only the higher bits - this saves time
+			}
+
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = result[2];
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		}
+
+		Motor[chan].RoundCount++;
+	//}
+
+	if(showDebug == true) {
+		debugCounter++;
+		if(debugCounter == 2000) {
+			debugCounter = 0;
+			for(int i=0; i<_num_outputs; i++){
+				if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
+					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
+				}
+			}
+			fprintf(stderr, "\n");
+		}
+	}
+	return 0;
+}
+
+int
+MK::mk_servo_set_test(unsigned int chan, float val)
+{
+	_retries = 0;
+	int ret;
+
+	float tmpVal = 0;
+
+	uint8_t msg[2] = { 0,0 };
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	msg[0] = Motor[chan].SetPoint;
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	ret = transfer(&msg[0], 1, nullptr, 0);
+
+	ret = OK;
+
+	return ret;
+}
+
+
+int
+MK::mk_servo_test(unsigned int chan)
+{
+	int ret=0;
+	float tmpVal = 0;
+	float val = -1;
+	_retries = 0;
+	uint8_t msg[2] = { 0,0 };
+
+	if(debugCounter >= MOTOR_SPINUP_COUNTER) {
+		debugCounter = 0;
+		_motor++;
+
+		if(_motor < _num_outputs) {
+			fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
+		}
+
+		if(_motor >= _num_outputs) {
+			_motor = -1;
+			_motortest = false;
+		}
+
+	}
+	debugCounter++;
+
+	if(_motor == chan) {
+		val = BLCTRL_MIN_VALUE;
+	} else {
+		val = -1;
+	}
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+	//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
+	Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
+
+	if(_motor != chan) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		msg[0] = Motor[chan].SetPoint;
+	} else {
+		msg[0] = Motor[chan].SetPoint;
+		msg[1] = Motor[chan].SetPointLowerBits;
+	}
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		ret = transfer(&msg[0], 1, nullptr, 0);
+	} else {
+		ret = transfer(&msg[0], 2, nullptr, 0);
+	}
+
+	return ret;
+}
+
+
+int
+MK::control_callback(uintptr_t handle,
+			 uint8_t control_group,
+			 uint8_t control_index,
+			 float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
+int
+MK::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	// XXX disabled, confusing users
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
+
+	/* try it as a GPIO ioctl first */
+	ret = gpio_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_2PWM:
+	case MODE_4PWM:
+		ret = pwm_ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		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
+MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+	int channel;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		////up_pwm_servo_arm(true);
+		mk_servo_arm(true);
+		break;
+
+	case PWM_SERVO_DISARM:
+		////up_pwm_servo_arm(false);
+		mk_servo_arm(false);
+		break;
+
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
+
+	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
+
+		/* fake an update to the selected 'servo' channel */
+		if ((arg >= 0) && (arg <= 255)) {
+			channel = cmd - PWM_SERVO_SET(0);
+			//mk_servo_set(channel, arg);
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+
+	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
+		/* copy the current output value from the channel */
+		*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
+		break;
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		/*
+		if (_mode == MODE_4PWM) {
+			*(unsigned *)arg = 4;
+		} else {
+			*(unsigned *)arg = 2;
+		}
+		 */
+
+		*(unsigned *)arg = _num_outputs;
+
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
+		}
+
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
+
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+
+			if (_mixers == nullptr) {
+				ret = -ENOMEM;
+
+			} else {
+
+				ret = _mixers->load_from_buf(buf, buflen);
+
+				if (ret != 0) {
+					debug("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					ret = -EINVAL;
+				}
+			}
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+void
+MK::gpio_reset(void)
+{
+	/*
+	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip
+	 * to input mode.
+	 */
+	for (unsigned i = 0; i < _ngpio; i++)
+		stm32_configgpio(_gpio_tab[i].input);
+
+	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+	stm32_configgpio(GPIO_GPIO_DIR);
+}
+
+void
+MK::gpio_set_function(uint32_t gpios, int function)
+{
+	/*
+	 * GPIOs 0 and 1 must have the same direction as they are buffered
+	 * by a shared 2-port driver.  Any attempt to set either sets both.
+	 */
+	if (gpios & 3) {
+		gpios |= 3;
+
+		/* flip the buffer to output mode if required */
+		if (GPIO_SET_OUTPUT == function)
+			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
+	}
+
+	/* configure selected GPIOs as required */
+	for (unsigned i = 0; i < _ngpio; i++) {
+		if (gpios & (1 << i)) {
+			switch (function) {
+			case GPIO_SET_INPUT:
+				stm32_configgpio(_gpio_tab[i].input);
+				break;
+
+			case GPIO_SET_OUTPUT:
+				stm32_configgpio(_gpio_tab[i].output);
+				break;
+
+			case GPIO_SET_ALT_1:
+				if (_gpio_tab[i].alt != 0)
+					stm32_configgpio(_gpio_tab[i].alt);
+
+				break;
+			}
+		}
+	}
+
+	/* flip buffer to input mode if required */
+	if ((GPIO_SET_INPUT == function) && (gpios & 3))
+		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+}
+
+void
+MK::gpio_write(uint32_t gpios, int function)
+{
+	int value = (function == GPIO_SET) ? 1 : 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (gpios & (1 << i))
+			stm32_gpiowrite(_gpio_tab[i].output, value);
+}
+
+uint32_t
+MK::gpio_read(void)
+{
+	uint32_t bits = 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (stm32_gpioread(_gpio_tab[i].input))
+			bits |= (1 << i);
+
+	return bits;
+}
+
+int
+MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int	ret = OK;
+
+	lock();
+
+	switch (cmd) {
+
+	case GPIO_RESET:
+		gpio_reset();
+		break;
+
+	case GPIO_SET_OUTPUT:
+	case GPIO_SET_INPUT:
+	case GPIO_SET_ALT_1:
+		gpio_set_function(arg, cmd);
+		break;
+
+	case GPIO_SET_ALT_2:
+	case GPIO_SET_ALT_3:
+	case GPIO_SET_ALT_4:
+		ret = -EINVAL;
+		break;
+
+	case GPIO_SET:
+	case GPIO_CLEAR:
+		gpio_write(arg, cmd);
+		break;
+
+	case GPIO_GET:
+		*(uint32_t *)arg = gpio_read();
+		break;
+
+	default:
+		ret = -ENOTTY;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+namespace
+{
+
+enum PortMode {
+	PORT_MODE_UNSET = 0,
+	PORT_FULL_GPIO,
+	PORT_FULL_SERIAL,
+	PORT_FULL_PWM,
+	PORT_GPIO_AND_SERIAL,
+	PORT_PWM_AND_SERIAL,
+	PORT_PWM_AND_GPIO,
+};
+
+enum MappingMode {
+	MAPPING_MK = 0,
+	MAPPING_PX4,
+};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+PortMode g_port_mode;
+
+int
+mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
+{
+	uint32_t gpio_bits;
+	MK::Mode servo_mode;
+
+	/* reset to all-inputs */
+	g_mk->ioctl(0, GPIO_RESET, 0);
+
+	gpio_bits = 0;
+	servo_mode = MK::MODE_NONE;
+
+	switch (new_mode) {
+	case PORT_FULL_GPIO:
+	case PORT_MODE_UNSET:
+		/* nothing more to do here */
+		break;
+
+	case PORT_FULL_SERIAL:
+		/* set all multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_FULL_PWM:
+		/* select 4-pin PWM mode */
+		servo_mode = MK::MODE_4PWM;
+		break;
+
+	case PORT_GPIO_AND_SERIAL:
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_SERIAL:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_GPIO:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		break;
+	}
+
+	/* adjust GPIO config for serial mode(s) */
+	if (gpio_bits != 0)
+		g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
+
+	/* native PX4 addressing) */
+	g_mk->set_px4mode(px4mode);
+
+	/* set frametype (geometry) */
+	g_mk->set_frametype(frametype);
+
+	/* (re)set count of used motors */
+	g_mk->set_motor_count(motorcount);
+
+	/* (re)set the PWM output mode */
+	g_mk->set_mode(servo_mode);
+
+	/* motortest if enabled */
+	g_mk->set_motor_test(motortest);
+
+	if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
+		g_mk->set_pwm_rate(update_rate);
+
+	return OK;
+}
+
+int
+mk_start(unsigned bus, unsigned motors)
+{
+	int ret = OK;
+
+	if (g_mk == nullptr) {
+
+		g_mk = new MK(bus);
+
+		if (g_mk == nullptr) {
+			ret = -ENOMEM;
+
+		} else {
+			ret = g_mk->init(motors);
+
+			if (ret != OK) {
+				delete g_mk;
+				g_mk = nullptr;
+			}
+		}
+	}
+
+	return ret;
+}
+
+
+} // namespace
+
+extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
+
+int
+mkblctrl_main(int argc, char *argv[])
+{
+	PortMode new_mode = PORT_MODE_UNSET;
+	int pwm_update_rate_in_hz = UPDATE_RATE;
+	int motorcount = 0;
+	int bus = 1;
+	bool motortest = false;
+	int px4mode = MAPPING_MK;
+	int frametype = FRAME_PLUS;	// + plus is default
+
+	/*
+	 * Mode switches.
+	 *
+	 * XXX use getopt?
+	 */
+	for (int i = 1; i < argc; i++) {   /* argv[0] is "mk" */
+		if (!strcmp(argv[i], "mode_quad")) {
+			new_mode = PORT_FULL_PWM;
+			motorcount = 4;
+		} else if (!strcmp(argv[i], "mode_hexa")) {
+			new_mode = PORT_FULL_PWM;
+			motorcount = 6;
+		} else if (!strcmp(argv[i], "mode_octo")) {
+			new_mode = PORT_FULL_PWM;
+			motorcount = 8;
+		} 
+
+		/* look for the optional update rate for the supported modes */
+		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
+			if (argc > i + 1) {
+				pwm_update_rate_in_hz = atoi(argv[i + 1]);
+				} else {
+				errx(1, "missing argument for update rate (-u)");
+				return 1;
+			}
+		}
+
+		/* look for the optional i2c bus parameter */
+		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
+			if (argc > i + 1) {
+				bus = atoi(argv[i + 1]);
+				} else {
+				errx(1, "missing argument for i2c bus (-b)");
+				return 1;
+			}
+		}
+
+		/* look for the optional frame parameter */
+		if (strcmp(argv[i], "-f") == 0 || strcmp(argv[i], "--frame") == 0) {
+			if (argc > i + 1) {
+				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
+					if(strcmp(argv[i + 1], "+") == 0) {
+						frametype = FRAME_PLUS;
+					} else {
+						frametype = FRAME_PLUS;
+					}
+				} else {
+					errx(1, "only + or x for frametype supported !");
+				}
+			} else {
+				errx(1, "missing argument for frametype (-f)");
+				return 1;
+			}
+		}
+
+		/* look for the optional geometry parameter */
+		if (strcmp(argv[i], "-px4mode") == 0) {
+			px4mode = MAPPING_PX4;
+		}
+
+		/* look for the optional test parameter */
+		if (strcmp(argv[i], "-t") == 0) {
+			motortest = true;
+		}
+
+	}
+
+	if(new_mode == PORT_MODE_UNSET) {
+		fprintf(stderr, "mkblctrl: unrecognised command, try:\n");
+		fprintf(stderr, "  mode_quad, mode_hexa, mode_octo [-b i2c_bus_number] [-u update_rate_in_hz] [-t motortest] [-px4mode] [-f frame{+/x}]\n");
+		exit(1);
+	}
+
+	if (mk_start(bus, motorcount) != OK)
+		errx(1, "failed to start the MK-BLCtrl driver");
+
+
+	/* was a new mode set? */
+	if (new_mode != PORT_MODE_UNSET) {
+
+		/* yes but it's the same mode */
+		//if (new_mode == g_port_mode)
+			//return OK;
+
+		/* switch modes */
+		fprintf(stderr, "[mkblctrl] %iHz Update Rate\n",pwm_update_rate_in_hz);
+		return mk_new_mode(new_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
+	}
+
+	/* test, etc. here g*/
+
+	exit(1);
+}