From b8af6da62315d9cbd0b243f9c35bc3924905467f Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 29 Aug 2022 10:53:30 +0530
Subject: [PATCH] AP_BoardConfig: add ability to change dshot firmware

---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp | 10 ++++++++++
 libraries/AP_BoardConfig/AP_BoardConfig.h   |  9 +++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 4d3b377e2a..6e14d33512 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -358,6 +358,16 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // index 26 used by SER3_RTSCTS
     // index 27 used by SER4_RTSCTS
 
+    
+#if HAL_WITH_IO_MCU
+    // @Param: IO_DSHOT
+    // @DisplayName: Load DShot FW on IO
+    // @Description: This loads the DShot firmware on the IO co-processor
+    // @Values: 0:StandardFW,1:DshotFW
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("IO_DSHOT", 25, AP_BoardConfig, state.io_dshot, 0),
+#endif
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 60e97cfbf1..ffb8092f65 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -92,6 +92,14 @@ public:
 #endif
     }
 
+    static bool io_dshot(void) {
+#if HAL_WITH_IO_MCU
+        return _singleton?_singleton->state.io_dshot.get():false;
+#else
+        return false;
+#endif
+    }
+
     // get alternative config selection
     uint8_t get_alt_config(void) {
         return uint8_t(_alt_config.get());
@@ -218,6 +226,7 @@ private:
 #endif
         AP_Int8 board_type;
         AP_Int8 io_enable;
+        AP_Int8 io_dshot;
     } state;
 
 #if AP_SDCARD_STORAGE_ENABLED