dtfc.cpp

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

#include "dtfc.h"

#include "uavobjects/uavobjectmanager.h"
#include "uavobjectutil/uavobjectutilmanager.h"
#include <extensionsystem/pluginmanager.h>
#include "board_usb_ids.h"

#include "hwdtfc.h"
#include "dtfcconfiguration.h"

Dtfc::Dtfc(void)
{
    // Common USB IDs
    addBootloaderUSBInfo(
        USBInfo(DRONIN_VID_DRONIN_BOOTLOADER, DRONIN_PID_DRONIN_BOOTLOADER, BCD_DEVICE_BOOTLOADER));
    addFirmwareUSBInfo(
        USBInfo(DRONIN_VID_DRONIN_FIRMWARE, DRONIN_PID_DRONIN_FIRMWARE, BCD_DEVICE_FIRMWARE));
    // Legacy USB IDs
    addBootloaderUSBInfo(
        USBInfo(DRONIN_VID_DTFAIR_DTFC, DRONIN_PID_DTFAIR_DTFC, BCD_DEVICE_BOOTLOADER));
    addFirmwareUSBInfo(
        USBInfo(DRONIN_VID_DTFAIR_DTFC, DRONIN_PID_DTFAIR_DTFC, BCD_DEVICE_FIRMWARE));

    boardType = 0xD7;

    // Define the bank of channels that are connected to a given timer
    channelBanks.resize(2);
    channelBanks[0] = QVector<int>() << 1 << 2; // TIM4
    channelBanks[1] = QVector<int>() << 3 << 4 << 5 << 6; // TIM2
}

Dtfc::~Dtfc()
{
}

QString Dtfc::shortName()
{
    return QString("DTFc");
}

QString Dtfc::boardDescription()
{
    return QString("DTFc Flight Controller");
}

bool Dtfc::queryCapabilities(BoardCapabilities capability)
{
    switch (capability) {
    case BOARD_CAPABILITIES_GYROS:
    case BOARD_CAPABILITIES_ACCELS:
    case BOARD_CAPABILITIES_BAROS:
    case BOARD_CAPABILITIES_UPGRADEABLE:
        return true;
    default:
        break;
    }

    return false;
}

QPixmap Dtfc::getBoardPicture()
{
    return QPixmap(":/dtf/images/dtfc.png");
}

QString Dtfc::getHwUAVO()
{
    return "HwDtfc";
}

bool Dtfc::isInputConfigurationSupported(Core::IBoardType::InputType type)
{
    switch (type) {
    case INPUT_TYPE_PWM:
    case INPUT_TYPE_UNKNOWN:
        return false;
    default:
        break;
    }

    return true;
}

bool Dtfc::setInputType(Core::IBoardType::InputType type)
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
    HwDtfc *hwDtfc = HwDtfc::GetInstance(uavoManager);
    Q_ASSERT(hwDtfc);
    if (!hwDtfc)
        return false;

    HwDtfc::DataFields settings = hwDtfc->getData();

    switch (type) {
    case INPUT_TYPE_PPM:
        settings.RcvrPort = HwDtfc::RCVRPORT_PPM;
        break;
    case INPUT_TYPE_SBUS:
        settings.RcvrPort = HwDtfc::RCVRPORT_SBUS;
        break;
    case INPUT_TYPE_SBUSNONINVERTED:
        settings.RcvrPort = HwDtfc::RCVRPORT_SBUSNONINVERTED;
        break;
    case INPUT_TYPE_DSM:
        settings.RcvrPort = HwDtfc::RCVRPORT_DSM;
        break;
    case INPUT_TYPE_HOTTSUMD:
        settings.RcvrPort = HwDtfc::RCVRPORT_HOTTSUMD;
        break;
    case INPUT_TYPE_HOTTSUMH:
        settings.RcvrPort = HwDtfc::RCVRPORT_HOTTSUMH;
        break;
    case INPUT_TYPE_IBUS:
        settings.RcvrPort = HwDtfc::RCVRPORT_IBUS;
        break;
    case INPUT_TYPE_SRXL:
        settings.RcvrPort = HwDtfc::RCVRPORT_SRXL;
        break;
    case INPUT_TYPE_TBSCROSSFIRE:
        settings.RcvrPort = HwDtfc::RCVRPORT_TBSCROSSFIRE;
        break;
    default:
        return false;
    }

    hwDtfc->setData(settings);

    return true;
}

Core::IBoardType::InputType Dtfc::getInputType()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
    HwDtfc *hwDtfc = HwDtfc::GetInstance(uavoManager);
    Q_ASSERT(hwDtfc);
    if (!hwDtfc)
        return INPUT_TYPE_UNKNOWN;

    HwDtfc::DataFields settings = hwDtfc->getData();

    switch (settings.RcvrPort) {
    case HwDtfc::RCVRPORT_PPM:
        return INPUT_TYPE_PPM;
    case HwDtfc::RCVRPORT_SBUS:
        return INPUT_TYPE_SBUS;
    case HwDtfc::RCVRPORT_SBUSNONINVERTED:
        return INPUT_TYPE_SBUSNONINVERTED;
    case HwDtfc::RCVRPORT_DSM:
        return INPUT_TYPE_DSM;
    case HwDtfc::RCVRPORT_HOTTSUMD:
        return INPUT_TYPE_HOTTSUMD;
    case HwDtfc::RCVRPORT_HOTTSUMH:
        return INPUT_TYPE_HOTTSUMH;
    case HwDtfc::RCVRPORT_IBUS:
        return INPUT_TYPE_IBUS;
    case HwDtfc::RCVRPORT_SRXL:
        return INPUT_TYPE_SRXL;
    case HwDtfc::RCVRPORT_TBSCROSSFIRE:
        return INPUT_TYPE_TBSCROSSFIRE;
    default:
        break;
    }

    switch (settings.Uart1) {
    case HwDtfc::UART1_SBUS:
        return INPUT_TYPE_SBUS;
    case HwDtfc::UART1_SBUSNONINVERTED:
        return INPUT_TYPE_SBUSNONINVERTED;
    case HwDtfc::UART1_DSM:
        return INPUT_TYPE_DSM;
    case HwDtfc::UART1_HOTTSUMD:
        return INPUT_TYPE_HOTTSUMD;
    case HwDtfc::UART1_HOTTSUMH:
        return INPUT_TYPE_HOTTSUMH;
    case HwDtfc::UART1_IBUS:
        return INPUT_TYPE_IBUS;
    case HwDtfc::UART1_SRXL:
        return INPUT_TYPE_SRXL;
    case HwDtfc::UART1_TBSCROSSFIRE:
        return INPUT_TYPE_TBSCROSSFIRE;
    default:
        break;
    }

    switch (settings.Uart2) {
    case HwDtfc::UART2_SBUS:
        return INPUT_TYPE_SBUS;
    case HwDtfc::UART2_SBUSNONINVERTED:
        return INPUT_TYPE_SBUSNONINVERTED;
    case HwDtfc::UART2_DSM:
        return INPUT_TYPE_DSM;
    case HwDtfc::UART2_HOTTSUMD:
        return INPUT_TYPE_HOTTSUMD;
    case HwDtfc::UART2_HOTTSUMH:
        return INPUT_TYPE_HOTTSUMH;
    case HwDtfc::UART2_IBUS:
        return INPUT_TYPE_IBUS;
    case HwDtfc::UART2_SRXL:
        return INPUT_TYPE_SRXL;
    case HwDtfc::UART2_TBSCROSSFIRE:
        return INPUT_TYPE_TBSCROSSFIRE;
    default:
        break;
    }

    return INPUT_TYPE_UNKNOWN;
}

int Dtfc::queryMaxGyroRate()
{
    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
    HwDtfc *hwDtfc = HwDtfc::GetInstance(uavoManager);
    Q_ASSERT(hwDtfc);
    if (!hwDtfc)
        return 0;

    HwDtfc::DataFields settings = hwDtfc->getData();

    switch (settings.GyroRange) {
    case HwDtfc::GYRORANGE_250:
        return 250;
    case HwDtfc::GYRORANGE_500:
        return 500;
    case HwDtfc::GYRORANGE_1000:
        return 1000;
    case HwDtfc::GYRORANGE_2000:
        return 2000;
    default:
        break;
    }

    return 500;
}

QStringList Dtfc::getAdcNames()
{
    return QStringList() << "Current"
                         << "Battery";
}

QWidget *Dtfc::getBoardConfiguration(QWidget *parent, bool connected)
{
    Q_UNUSED(connected);
    return new DtfcConfiguration(parent);
}

bool Dtfc::hasAnnunciator(AnnunciatorType annunc)
{
    switch (annunc) {
    case ANNUNCIATOR_HEARTBEAT:
    case ANNUNCIATOR_ALARM:
    case ANNUNCIATOR_BUZZER:
        return true;
    case ANNUNCIATOR_RGB:
    case ANNUNCIATOR_DAC:
        break;
    }
    return false;
}