/****************************************************************************
 *
 *   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,
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 ****************************************************************************/

/**
 * @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 <drivers/drv_rc_input.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>
#include <systemlib/ppm_decode.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				-0.920F
#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);
	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);

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_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();

	/* 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)
{
	if(count > 0) {

		_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));
		}

		if(_num_outputs == 4) {
			fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
		} else 	if(_num_outputs == 6) {
			fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
		} else 	if(_num_outputs == 8) {
			fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
		}

		return OK;

	} else {
		return -1;
	}

}

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;

	// rc input, published to ORB
	struct rc_input_values rc_in;
	orb_advert_t to_input_rc = 0;

	memset(&rc_in, 0, sizeof(rc_in));
	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
	
	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);
		}

		// see if we have new PPM input data
		if (ppm_last_valid_decode != rc_in.timestamp) {
			// we have a new PPM frame. Publish it.
			rc_in.channel_count = ppm_decoded_channels;
			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
			}
			for (uint8_t i=0; i<rc_in.channel_count; i++) {
				rc_in.values[i] = ppm_buffer[i];
			}
			rc_in.timestamp = ppm_last_valid_decode;

			/* lazily advertise on first publication */
			if (to_input_rc == 0) {
				to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
			} else {
				orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
			}
		}

	}

	::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;
}


unsigned int
MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
{
	_retries = 50;
	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;
			}
		}
	}

	if(showOutput) {
		fprintf(stderr, "[mkblctrl] MotorsFound: %i\n",foundMotorCount);
		for(unsigned i=0; i< foundMotorCount; 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 != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
			_task_should_exit = true;
		}
	}

	return foundMotorCount;
}




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;
	int shouldStop = 0;
	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);

	/* motortest if enabled */
	g_mk->set_motor_test(motortest);


	/* (re)set count of used motors */
	////g_mk->set_motor_count(motorcount);
	/* count used motors */

	do {
		if(g_mk->mk_check_for_blctrl(8, false) != 0) {
			shouldStop = 4;
		} else {
			shouldStop++;
		}
		sleep(1);
	} while ( shouldStop < 3);

	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));

	/* (re)set the PWM output mode */
	g_mk->set_mode(servo_mode);


	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_PX4;
	int frametype = FRAME_PLUS;	// + plus is default

	new_mode = PORT_FULL_PWM;
	motorcount = 8;

	/*
	 * Mode switches.
	 *
	 * XXX use getopt?
	 */
	for (int i = 1; i < argc; i++) {   /* argv[0] is "mk" */

		/* 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], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
			if (argc > i + 1) {
				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
					px4mode = MAPPING_MK;
					if(strcmp(argv[i + 1], "+") == 0) {
						frametype = FRAME_PLUS;
					} else {
						frametype = FRAME_X;
					}
				} else {
					errx(1, "only + or x for frametype supported !");
				}
			} else {
				errx(1, "missing argument for mkmode (-mkmode)");
				return 1;
			}
		}

		/* 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, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest]\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);
}