From 50683633b38d00b520cd4f4b8e8b3f3c132a7f73 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 13 Jul 2018 12:29:02 +1000
Subject: [PATCH] HAL_ChibiOS: setup for brushed feature in IOMCU

---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index ffc0304f29..8efa1199e8 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -682,6 +682,11 @@ void RCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
         iomcu.set_freq(io_fast_channel_mask, 1);
         return iomcu.set_oneshot_mode();
     }
+    if (mode == MODE_PWM_BRUSHED &&
+        (mask & ((1U<<chan_offset)-1)) &&
+        AP_BoardConfig::io_enabled()) {
+        return iomcu.set_brushed_mode();
+    }
 #endif
 }