pwm_out, dshot: remove mode_* handling and capture ioctl's

They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.

src/drivers/dshot/DShot.cpp

@@ -78,6 +78,8 @@ int DShot::init()
 
 	_mixing_output.setDriverInstance(_class_instance);
 
+	_output_mask = (1u << _num_outputs) - 1;
+
 	// Getting initial parameter values
 	update_params();
 
@@ -86,186 +88,6 @@ int DShot::init()
 	return OK;
 }
 
-int DShot::set_mode(const Mode mode)
-{
-	unsigned old_mask = _output_mask;
-
-	/*
-	 * Configure for 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_1PWM:
-		// default output rates
-		_output_mask = 0x1;
-		_outputs_initialized = false;
-		_num_outputs = 1;
-		break;
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	case MODE_2PWM2CAP:	// v1 multi-port with flow control lines as PWM
-		up_input_capture_set(2, Rising, 0, NULL, NULL);
-		up_input_capture_set(3, Rising, 0, NULL, NULL);
-		PX4_DEBUG("MODE_2PWM2CAP");
-#endif
-
-	// FALLTHROUGH
-
-	case MODE_2PWM:	// v1 multi-port with flow control lines as PWM
-		PX4_DEBUG("MODE_2PWM");
-
-		// default output rates
-		_output_mask = 0x3;
-		_outputs_initialized = false;
-		_num_outputs = 2;
-
-		break;
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	case MODE_3PWM1CAP:	// v1 multi-port with flow control lines as PWM
-		PX4_DEBUG("MODE_3PWM1CAP");
-		up_input_capture_set(3, Rising, 0, NULL, NULL);
-#endif
-
-	// FALLTHROUGH
-
-	case MODE_3PWM:	// v1 multi-port with flow control lines as PWM
-		PX4_DEBUG("MODE_3PWM");
-
-		// default output rates
-		_output_mask = 0x7;
-		_outputs_initialized = false;
-		_num_outputs = 3;
-
-		break;
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	case MODE_4PWM1CAP:
-		PX4_DEBUG("MODE_4PWM1CAP");
-		up_input_capture_set(4, Rising, 0, NULL, NULL);
-#endif
-
-	// FALLTHROUGH
-
-	case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
-		PX4_DEBUG("MODE_4PWM");
-
-		// default output rates
-		_output_mask = 0xf;
-		_outputs_initialized = false;
-		_num_outputs = 4;
-
-		break;
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	case MODE_4PWM2CAP:
-		PX4_DEBUG("MODE_4PWM2CAP");
-		up_input_capture_set(5, Rising, 0, NULL, NULL);
-
-		// default output rates
-		_output_mask = 0x0f;
-		_outputs_initialized = false;
-		_num_outputs = 4;
-
-		break;
-#endif
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	case MODE_5PWM1CAP:
-		PX4_DEBUG("MODE_5PWM1CAP");
-		up_input_capture_set(5, Rising, 0, NULL, NULL);
-#endif
-
-	// FALLTHROUGH
-
-	case MODE_5PWM: // v1 or v2 multi-port as 5 PWM outs
-		PX4_DEBUG("MODE_5PWM");
-
-		// default output rates
-		_output_mask = 0x1f;
-		_outputs_initialized = false;
-		_num_outputs = 5;
-
-		break;
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-
-	case MODE_6PWM:
-		PX4_DEBUG("MODE_6PWM");
-
-		// default output rates
-		_output_mask = 0x3f;
-		_outputs_initialized = false;
-		_num_outputs = 6;
-
-		break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-
-	case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
-		PX4_DEBUG("MODE_8PWM");
-		// default output rates
-		_output_mask = 0xff;
-		_outputs_initialized = false;
-		_num_outputs = 8;
-
-		break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
-
-	case MODE_12PWM:
-		PX4_DEBUG("MODE_12PWM");
-		// default output rates
-		_output_mask = 0xfff;
-		_outputs_initialized = false;
-		_num_outputs = 12;
-
-		break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
-
-	case MODE_14PWM:
-		PX4_DEBUG("MODE_14PWM");
-		// default output rates
-		_output_mask = 0x3fff;
-		_outputs_initialized = false;
-		_num_outputs = 14;
-
-		break;
-#endif
-
-	case MODE_NONE:
-		PX4_DEBUG("MODE_NONE");
-		_output_mask = 0x0;
-		_outputs_initialized = false;
-		_num_outputs = 0;
-
-		if (old_mask != _output_mask) {
-			// disable motor outputs
-			enable_dshot_outputs(false);
-		}
-
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	_mode = mode;
-	return OK;
-}
-
 int DShot::task_spawn(int argc, char *argv[])
 {
 	DShot *instance = new DShot();
@@ -289,24 +111,9 @@ int DShot::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-void DShot::capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
-			       const uint32_t edge_state, const uint32_t overflow)
-{
-	DShot *dev = static_cast<DShot *>(context);
-	dev->capture_callback(channel_index, edge_time, edge_state, overflow);
-}
-
-void DShot::capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
-			     const uint32_t edge_state, const uint32_t overflow)
-{
-	fprintf(stdout, "DShot: Capture chan:%" PRId32 " time:%" PRId64 " state:%" PRId32 " overflow:%" PRId32 "\n",
-		channel_index, edge_time, edge_state,
-		overflow);
-}
-
 void DShot::enable_dshot_outputs(const bool enabled)
 {
-	if (enabled && !_outputs_initialized && _output_mask != 0) {
+	if (enabled && !_outputs_initialized) {
 		DShotConfig config = (DShotConfig)_param_dshot_config.get();
 
 		unsigned int dshot_frequency = DSHOT600;
@@ -644,57 +451,6 @@ void DShot::update_params()
 }
 
 int DShot::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int ret;
-
-	// try it as a Capture ioctl next
-	ret = capture_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_1PWM:
-	case MODE_2PWM:
-	case MODE_3PWM:
-	case MODE_4PWM:
-	case MODE_5PWM:
-	case MODE_2PWM2CAP:
-	case MODE_3PWM1CAP:
-	case MODE_4PWM1CAP:
-	case MODE_4PWM2CAP:
-	case MODE_5PWM1CAP:
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-	case MODE_6PWM:
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-	case MODE_8PWM:
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
-	case MODE_12PWM:
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
-	case MODE_14PWM:
-#endif
-		ret = pwm_ioctl(filp, cmd, arg);
-		break;
-
-	default:
-		PX4_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 DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
 {
 	int ret = OK;
 
@@ -703,145 +459,8 @@ int DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_GET_COUNT:
-		switch (_mode) {
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
-
-		case MODE_14PWM:
-			*(unsigned *)arg = 14;
-			break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
-
-		case MODE_12PWM:
-			*(unsigned *)arg = 12;
-			break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-
-		case MODE_8PWM:
-			*(unsigned *)arg = 8;
-			break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-
-		case MODE_6PWM:
-			*(unsigned *)arg = 6;
-			break;
-#endif
-
-		case MODE_5PWM:
-		case MODE_5PWM1CAP:
-			*(unsigned *)arg = 5;
-			break;
-
-		case MODE_4PWM:
-		case MODE_4PWM1CAP:
-		case MODE_4PWM2CAP:
-			*(unsigned *)arg = 4;
-			break;
-
-		case MODE_3PWM:
-		case MODE_3PWM1CAP:
-			*(unsigned *)arg = 3;
-			break;
-
-		case MODE_2PWM:
-		case MODE_2PWM2CAP:
-			*(unsigned *)arg = 2;
-			break;
-
-		case MODE_1PWM:
-			*(unsigned *)arg = 1;
-			break;
-
-		default:
-			ret = -EINVAL;
-			break;
-		}
-
-		break;
-
-	case PWM_SERVO_SET_MODE: {
-			switch (arg) {
-			case PWM_SERVO_MODE_NONE:
-				ret = set_mode(MODE_NONE);
-				break;
-
-			case PWM_SERVO_MODE_1PWM:
-				ret = set_mode(MODE_1PWM);
-				break;
-
-			case PWM_SERVO_MODE_2PWM:
-				ret = set_mode(MODE_2PWM);
-				break;
-
-			case PWM_SERVO_MODE_2PWM2CAP:
-				ret = set_mode(MODE_2PWM2CAP);
-				break;
-
-			case PWM_SERVO_MODE_3PWM:
-				ret = set_mode(MODE_3PWM);
-				break;
-
-			case PWM_SERVO_MODE_3PWM1CAP:
-				ret = set_mode(MODE_3PWM1CAP);
-				break;
-
-			case PWM_SERVO_MODE_4PWM:
-				ret = set_mode(MODE_4PWM);
-				break;
-
-			case PWM_SERVO_MODE_4PWM1CAP:
-				ret = set_mode(MODE_4PWM1CAP);
-				break;
-
-			case PWM_SERVO_MODE_4PWM2CAP:
-				ret = set_mode(MODE_4PWM2CAP);
-				break;
-
-			case PWM_SERVO_MODE_5PWM:
-				ret = set_mode(MODE_5PWM);
-				break;
-
-			case PWM_SERVO_MODE_5PWM1CAP:
-				ret = set_mode(MODE_5PWM1CAP);
-				break;
-
-			case PWM_SERVO_MODE_6PWM:
-				ret = set_mode(MODE_6PWM);
-				break;
-
-			case PWM_SERVO_MODE_8PWM:
-				ret = set_mode(MODE_8PWM);
-				break;
-
-			case PWM_SERVO_MODE_4CAP:
-				ret = set_mode(MODE_4CAP);
-				break;
-
-			case PWM_SERVO_MODE_5CAP:
-				ret = set_mode(MODE_5CAP);
-				break;
-
-			case PWM_SERVO_MODE_6CAP:
-				ret = set_mode(MODE_6CAP);
-				break;
-
-			default:
-				ret = -EINVAL;
-			}
-
-			break;
-		}
-
 	case MIXERIOCRESET:
 		_mixing_output.resetMixerThreadSafe();
-
 		break;
 
 	case MIXERIOCLOADBUF: {
@@ -859,303 +478,16 @@ int DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
 
 	unlock();
 
+	// if nobody wants it, let CDev have it
+	if (ret == -ENOTTY) {
+		ret = CDev::ioctl(filp, cmd, arg);
+	}
+
 	return ret;
 }
 
-int DShot::capture_ioctl(file *filp, const int cmd, const unsigned long arg)
-{
-	int ret = -EINVAL;
-
-#if defined(BOARD_HAS_CAPTURE)
-
-	lock();
-
-	input_capture_config_t *pconfig = 0;
-
-	input_capture_stats_t *stats = (input_capture_stats_t *)arg;
-
-	if (_mode == MODE_3PWM1CAP || _mode == MODE_2PWM2CAP ||
-	    _mode == MODE_4PWM1CAP || _mode == MODE_5PWM1CAP ||
-	    _mode == MODE_4PWM2CAP) {
-
-		pconfig = (input_capture_config_t *)arg;
-	}
-
-	switch (cmd) {
-
-	case INPUT_CAP_SET:
-		if (pconfig) {
-			ret =  up_input_capture_set(pconfig->channel, pconfig->edge, pconfig->filter,
-						    pconfig->callback, pconfig->context);
-		}
-
-		break;
-
-	case INPUT_CAP_SET_CALLBACK:
-		if (pconfig) {
-			ret =  up_input_capture_set_callback(pconfig->channel, pconfig->callback, pconfig->context);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_CALLBACK:
-		if (pconfig) {
-			ret =  up_input_capture_get_callback(pconfig->channel, &pconfig->callback, &pconfig->context);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_STATS:
-		if (arg) {
-			ret =  up_input_capture_get_stats(stats->chan_in_edges_out, stats, false);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_CLR_STATS:
-		if (arg) {
-			ret =  up_input_capture_get_stats(stats->chan_in_edges_out, stats, true);
-		}
-
-		break;
-
-	case INPUT_CAP_SET_EDGE:
-		if (pconfig) {
-			ret =  up_input_capture_set_trigger(pconfig->channel, pconfig->edge);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_EDGE:
-		if (pconfig) {
-			ret =  up_input_capture_get_trigger(pconfig->channel, &pconfig->edge);
-		}
-
-		break;
-
-	case INPUT_CAP_SET_FILTER:
-		if (pconfig) {
-			ret =  up_input_capture_set_filter(pconfig->channel, pconfig->filter);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_FILTER:
-		if (pconfig) {
-			ret =  up_input_capture_get_filter(pconfig->channel, &pconfig->filter);
-		}
-
-		break;
-
-	case INPUT_CAP_GET_COUNT:
-		ret = OK;
-
-		switch (_mode) {
-		case MODE_5PWM1CAP:
-		case MODE_4PWM1CAP:
-		case MODE_3PWM1CAP:
-			*(unsigned *)arg = 1;
-			break;
-
-		case MODE_2PWM2CAP:
-		case MODE_4PWM2CAP:
-			*(unsigned *)arg = 2;
-			break;
-
-		default:
-			ret = -EINVAL;
-			break;
-		}
-
-		break;
-
-	case INPUT_CAP_SET_COUNT:
-		ret = OK;
-
-		switch (_mode) {
-		case MODE_3PWM1CAP:
-			set_mode(MODE_3PWM1CAP);
-			break;
-
-		case MODE_2PWM2CAP:
-			set_mode(MODE_2PWM2CAP);
-			break;
-
-		case MODE_4PWM1CAP:
-			set_mode(MODE_4PWM1CAP);
-			break;
-
-		case MODE_4PWM2CAP:
-			set_mode(MODE_4PWM2CAP);
-			break;
-
-		case MODE_5PWM1CAP:
-			set_mode(MODE_5PWM1CAP);
-			break;
-
-		default:
-			ret = -EINVAL;
-			break;
-		}
-
-		break;
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	unlock();
-
-#else
-	ret = -ENOTTY;
-#endif
-	return ret;
-}
-
-int DShot::module_new_mode(const PortMode new_mode)
-{
-	if (!is_running()) {
-		return -1;
-	}
-
-	DShot::Mode mode;
-
-	mode = DShot::MODE_NONE;
-
-	switch (new_mode) {
-	case PORT_FULL_GPIO:
-	case PORT_MODE_UNSET:
-		break;
-
-	case PORT_FULL_PWM:
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
-		// select 4-pin PWM mode
-		mode = DShot::MODE_4PWM;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5
-		mode = DShot::MODE_5PWM;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
-		mode = DShot::MODE_6PWM;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
-		mode = DShot::MODE_8PWM;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 12
-		mode = DShot::MODE_12PWM;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
-		mode = DShot::MODE_14PWM;
-#endif
-		break;
-
-	case PORT_PWM1:
-		// select 2-pin PWM mode
-		mode = DShot::MODE_1PWM;
-		break;
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-
-	case PORT_PWM8:
-		// select 8-pin PWM mode
-		mode = DShot::MODE_8PWM;
-		break;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-
-	case PORT_PWM6:
-		// select 6-pin PWM mode
-		mode = DShot::MODE_6PWM;
-		break;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
-
-	case PORT_PWM5:
-		// select 5-pin PWM mode
-		mode = DShot::MODE_5PWM;
-		break;
-
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	case PORT_PWM5CAP1:
-		// select 5-pin PWM mode 1 capture
-		mode = DShot::MODE_5PWM1CAP;
-		break;
-
-#  endif
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 4
-
-	case PORT_PWM4:
-		// select 4-pin PWM mode
-		mode = DShot::MODE_4PWM;
-		break;
-
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	case PORT_PWM4CAP1:
-		// select 4-pin PWM mode 1 capture
-		mode = DShot::MODE_4PWM1CAP;
-		break;
-
-	case PORT_PWM4CAP2:
-		// select 4-pin PWM mode 2 capture
-		mode = DShot::MODE_4PWM2CAP;
-		break;
-
-#  endif
-
-	case PORT_PWM3:
-		// select 3-pin PWM mode
-		mode = DShot::MODE_3PWM;
-		break;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	case PORT_PWM3CAP1:
-		// select 3-pin PWM mode 1 capture
-		mode = DShot::MODE_3PWM1CAP;
-		break;
-#  endif
-
-	case PORT_PWM2:
-		// select 2-pin PWM mode
-		mode = DShot::MODE_2PWM;
-		break;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	case PORT_PWM2CAP2:
-		// select 2-pin PWM mode 2 capture
-		mode = DShot::MODE_2PWM2CAP;
-		break;
-
-#  endif
-#endif
-
-	default:
-		return -1;
-	}
-
-	DShot *object = get_instance();
-
-	if (mode != object->get_mode()) {
-		// (re)set the output mode
-		object->set_mode(mode);
-	}
-
-	return OK;
-}
-
 int DShot::custom_command(int argc, char *argv[])
 {
-	PortMode new_mode = PORT_MODE_UNSET;
 	const char *verb = argv[0];
 
 	if (!strcmp(verb, "telemetry")) {
@@ -1244,142 +576,11 @@ int DShot::custom_command(int argc, char *argv[])
 		}
 	}
 
-	/*
-	 * Mode switches.
-	 */
-	if (!strcmp(verb, "mode_gpio")) {
-		new_mode = PORT_FULL_GPIO;
-
-	} else if (!strcmp(verb, "mode_pwm")) {
-		new_mode = PORT_FULL_PWM;
-
-		// mode: defines which outputs to drive (others may be used by other tasks such as camera capture)
-#if defined(BOARD_HAS_PWM)
-
-	} else if (!strcmp(verb, "mode_pwm1")) {
-		new_mode = PORT_PWM1;
-#endif
-
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-
-	} else if (!strcmp(verb, "mode_pwm6")) {
-		new_mode = PORT_PWM6;
-
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
-
-	} else if (!strcmp(verb, "mode_pwm5")) {
-		new_mode = PORT_PWM5;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	} else if (!strcmp(verb, "mode_pwm5cap1")) {
-		new_mode = PORT_PWM5CAP1;
-#  endif
-
-	} else if (!strcmp(verb, "mode_pwm4")) {
-		new_mode = PORT_PWM4;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	} else if (!strcmp(verb, "mode_pwm4cap1")) {
-		new_mode = PORT_PWM4CAP1;
-
-	} else if (!strcmp(verb, "mode_pwm4cap2")) {
-		new_mode = PORT_PWM4CAP2;
-#  endif
-
-	} else if (!strcmp(verb, "mode_pwm3")) {
-		new_mode = PORT_PWM3;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	} else if (!strcmp(verb, "mode_pwm3cap1")) {
-		new_mode = PORT_PWM3CAP1;
-#  endif
-
-	} else if (!strcmp(verb, "mode_pwm2")) {
-		new_mode = PORT_PWM2;
-
-#  if defined(BOARD_HAS_CAPTURE)
-
-	} else if (!strcmp(verb, "mode_pwm2cap2")) {
-		new_mode = PORT_PWM2CAP2;
-#  endif
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-
-	} else if (!strcmp(verb, "mode_pwm8")) {
-		new_mode = PORT_PWM8;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
-
-	} else if (!strcmp(verb, "mode_pwm12")) {
-		new_mode = PORT_PWM12;
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
-
-	} else if (!strcmp(verb, "mode_pwm14")) {
-		new_mode = PORT_PWM14;
-#endif
-	}
-
-	// was a new mode set?
-	if (new_mode != PORT_MODE_UNSET) {
-
-		// switch modes
-		return DShot::module_new_mode(new_mode);
-	}
-
 	return print_usage("unknown command");
 }
 
 int DShot::print_status()
 {
-	const char *mode_str = nullptr;
-
-	switch (_mode) {
-
-	case MODE_NONE: mode_str = "no outputs"; break;
-
-	case MODE_1PWM: mode_str = "outputs1"; break;
-
-	case MODE_2PWM: mode_str = "outputs2"; break;
-
-	case MODE_2PWM2CAP: mode_str = "outputs2cap2"; break;
-
-	case MODE_3PWM: mode_str = "outputs3"; break;
-
-	case MODE_3PWM1CAP: mode_str = "outputs3cap1"; break;
-
-	case MODE_4PWM: mode_str = "outputs4"; break;
-
-	case MODE_4PWM1CAP: mode_str = "outputs4cap1"; break;
-
-	case MODE_4PWM2CAP: mode_str = "outputs4cap2"; break;
-
-	case MODE_5PWM: mode_str = "outputs5"; break;
-
-	case MODE_5PWM1CAP: mode_str = "outputs5cap1"; break;
-
-	case MODE_6PWM: mode_str = "outputs6"; break;
-
-	case MODE_8PWM: mode_str = "outputs8"; break;
-
-	case MODE_4CAP: mode_str = "cap4"; break;
-
-	case MODE_5CAP: mode_str = "cap5"; break;
-
-	case MODE_6CAP: mode_str = "cap6"; break;
-
-	default:
-		break;
-	}
-
-	if (mode_str) {
-		PX4_INFO("Mode: %s", mode_str);
-	}
-
 	PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
 	PX4_INFO("Outputs used: 0x%" PRIx32, _output_mask);
 	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
@@ -1406,6 +607,9 @@ int DShot::print_usage(const char *reason)
 This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
 to use DShot as ESC communication protocol instead of PWM.
 
+On startup, the module tries to occupy all available pins for DShot output.
+It skips all pins already in use (e.g. by a camera trigger module).
+
 It supports:
 - DShot150, DShot300, DShot600, DShot1200
 - telemetry via separate UART and publishing as esc_status message
@@ -1419,36 +623,7 @@ After saving, the reversed direction will be regarded as the normal one. So to r
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("dshot", "driver");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)");
-
-	PRINT_MODULE_USAGE_PARAM_COMMENT("All of the mode_* commands will start the module if not running already");
-
-	PRINT_MODULE_USAGE_COMMAND("mode_gpio");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm14");
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm12");
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
-#endif
-#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
-#endif
-#if defined(BOARD_HAS_PWM)
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
-#endif
+	PRINT_MODULE_USAGE_COMMAND("start");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("telemetry", "Enable Telemetry on a UART");
 	PRINT_MODULE_USAGE_ARG("<device>", "UART device", false);

src/drivers/dshot/DShot.h

@@ -64,64 +64,13 @@ public:
 	DShot();
 	virtual ~DShot();
 
-	enum Mode {
-		MODE_NONE = 0,
-		MODE_1PWM,
-		MODE_2PWM,
-		MODE_2PWM2CAP,
-		MODE_3PWM,
-		MODE_3PWM1CAP,
-		MODE_4PWM,
-		MODE_4PWM1CAP,
-		MODE_4PWM2CAP,
-		MODE_5PWM,
-		MODE_5PWM1CAP,
-		MODE_6PWM,
-		MODE_8PWM,
-		MODE_12PWM,
-		MODE_14PWM,
-		MODE_4CAP,
-		MODE_5CAP,
-		MODE_6CAP,
-	};
-
-	/** Mode given via CLI */
-	enum PortMode {
-		PORT_MODE_UNSET = 0,
-		PORT_FULL_GPIO,
-		PORT_FULL_PWM,
-		PORT_PWM14,
-		PORT_PWM12,
-		PORT_PWM8,
-		PORT_PWM6,
-		PORT_PWM5,
-		PORT_PWM4,
-		PORT_PWM3,
-		PORT_PWM2,
-		PORT_PWM1,
-		PORT_PWM3CAP1,
-		PORT_PWM4CAP1,
-		PORT_PWM4CAP2,
-		PORT_PWM5CAP1,
-		PORT_PWM2CAP2,
-		PORT_CAPTURE,
-	};
-
-	static void capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
-				       const uint32_t edge_state, const uint32_t overflow);
-
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
 
-	Mode get_mode() { return _mode; }
-
 	virtual int init();
 
 	virtual int ioctl(file *filp, int cmd, unsigned long arg);
 
-	/** change the mode of the running module */
-	static int module_new_mode(const PortMode new_mode);
-
 	void mixerChanged() override;
 
 	/** @see ModuleBase::print_status() */
@@ -141,8 +90,6 @@ public:
 	 */
 	int send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index);
 
-	int set_mode(const Mode new_mode);
-
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
@@ -179,19 +126,12 @@ private:
 		int last_motor_index{-1};
 	};
 
-	void capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
-			      const uint32_t edge_state, const uint32_t overflow);
-
-	int capture_ioctl(file *filp, const int cmd, const unsigned long arg);
-
 	void enable_dshot_outputs(const bool enabled);
 
 	void init_telemetry(const char *device);
 
 	void handle_new_telemetry_data(const int motor_index, const DShotTelemetry::EscData &data);
 
-	int pwm_ioctl(file *filp, const int cmd, const unsigned long arg);
-
 	int request_esc_info();
 
 	void Run() override;
@@ -215,7 +155,7 @@ private:
 	bool _outputs_on{false};
 	bool _waiting_for_esc_info{false};
 
-	unsigned _num_outputs{0};
+	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
 	uint32_t _output_mask{0};
 
 	int _class_instance{-1};
@@ -224,8 +164,6 @@ private:
 
 	Command _current_command{};
 
-	Mode _mode{MODE_NONE};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
 	DEFINE_PARAMETERS(