From 41264568ba5d27e9df8c89157e01cdc1a08f72b1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 13 Jul 2018 12:28:43 +1000
Subject: [PATCH] AP_IOMCU: added brushed motor feature bit in protocol

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 14 ++++++++++++++
 libraries/AP_IOMCU/AP_IOMCU.h   |  3 +++
 2 files changed, 17 insertions(+)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 6120a7b45f..6ba5c2650c 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -27,6 +27,7 @@ enum ioevents {
     IOEVENT_FORCE_SAFETY_OFF,
     IOEVENT_FORCE_SAFETY_ON,
     IOEVENT_SET_ONESHOT_ON,
+    IOEVENT_SET_BRUSHED_ON,
     IOEVENT_SET_RATES,
     IOEVENT_ENABLE_SBUS,
     IOEVENT_SET_HEATER_TARGET,
@@ -183,6 +184,13 @@ void AP_IOMCU::thread_main(void)
             }
         }
 
+        if (mask & EVENT_MASK(IOEVENT_SET_BRUSHED_ON)) {
+            if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0, P_SETUP_FEATURES_BRUSHED)) {
+                event_failed(IOEVENT_SET_BRUSHED_ON);
+                continue;
+            }
+        }
+        
         if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) {
             if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) {
                 event_failed(IOEVENT_SET_SAFETY_MASK);
@@ -639,6 +647,12 @@ void AP_IOMCU::set_oneshot_mode(void)
     trigger_event(IOEVENT_SET_ONESHOT_ON);
 }
 
+// setup for brushed mode
+void AP_IOMCU::set_brushed_mode(void)
+{
+    trigger_event(IOEVENT_SET_BRUSHED_ON);
+}
+
 // handling of BRD_SAFETYOPTION parameter
 void AP_IOMCU::update_safety_options(void)
 {
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index f02e634db0..57df6a2296 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -90,6 +90,9 @@ public:
     // set to oneshot mode
     void set_oneshot_mode(void);
 
+    // set to brushed mode
+    void set_brushed_mode(void);
+    
     // check if IO is healthy
     bool healthy(void);