From c5de2cfe0d005fe77ec0a23304a4e3efd02c0e10 Mon Sep 17 00:00:00 2001
From: modaltb <50114502+modaltb@users.noreply.github.com>
Date: Mon, 9 Dec 2019 09:39:17 -0800
Subject: [PATCH] modalai_fc-v1: Add support for VOXL Flight board defaults,
 handle default MAVLink setups (#13677)

- Handle out of box config for Flight Core and VOXL Flight
- Handle AUTOCNF use case
- Hard code TELEM2 MAVLink Instace 1 for VOXL Flight
---
 boards/modalai/fc-v1/init/rc.board_defaults | 118 ++++++++++++++++++--
 boards/modalai/fc-v1/src/manifest.c         |  11 +-
 2 files changed, 120 insertions(+), 9 deletions(-)

diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults
index 081c965070..197a39dded 100644
--- a/boards/modalai/fc-v1/init/rc.board_defaults
+++ b/boards/modalai/fc-v1/init/rc.board_defaults
@@ -1,24 +1,126 @@
 #!/bin/sh
 #
 # ModalAI FC-v1 specific board defaults
+# Maintainer: travis@modalai.com
 #------------------------------------------------------------------------------
 
+#
+# Summary:
+#   Flight Core can be used on many airframes, but is meant to be paired with
+#   VOXL (either through a cable or in the combo board flavor).  For this reason
+#   this script has a bit more Logic (aka Bobby Tarantino) than normal.
+#
+# Flight Core Version Information:
+#   V100 - Flight Core Stand Alone configuration
+#   V110 - Flight Core VOXL-Flight configuration
+#
 
+#
+# Common settings across Flight Core configurations
+#
 if [ $AUTOCNF = yes ]
 then
-	# Disable safety switch by default
+	#
+	# Disable safety switch by default (pull high to 3.3V to enable)
+	#  V100 - J13 pin 5
+	#  V110 - J1011 pin 5
+	#
 	param set CBRK_IO_SAFETY 22027
+fi
+
+#
+# Stand Alone configuration
+#
+if ver hwtypecmp V100
+then
+	echo "Configuring Flight Core - V100"
 
 	#
-	# TELEM2 /dev/ttyS4
+	# In Flight Core, J1 and J4 can be setup to be used as serial ports for TELEM2
+	# and TELEM3 respectively, and connected to VOXL via cables.  We'll configure
+	# this out of the box.  The user can later change this if they want, as these
+	# are configurable and not necessarily required to be used with VOXL.
 	#
-	# In the VOXL-FMU, this port is connect to the VOXL internally
-	# In the FMU, this J1 port can connect to the VOXL J12
-	# By default, we use this UART connection with MAVLink at 921.6kHz
+	if [ $AUTOCNF = no ]
+	then
+		if param compare MAV_1_CONFIG 0
+		then
+			echo "V100 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			param set MAV_1_CONFIG 102 # TELEM2
+			param set MAV_1_MODE 0	# normal
+			param set SER_TEL2_BAUD 921600 # VIO data
+		fi
+		if param compare MAV_2_CONFIG 0
+		then
+			echo "V100 - Defualt configuration TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
+			param set MAV_2_CONFIG 103 # TELEM3
+			param set MAV_2_MODE 0	# normal
+			param set SER_TEL3_BAUD 57600 # standard data
+		fi
+	fi
+
+	# User is setting defaults, so let's do it!
+	if [ $AUTOCNF = yes ]
+	then
+		echo "V100 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+		param set MAV_1_CONFIG 102 # TELEM2
+		param set MAV_1_MODE 0	# normal
+		param set SER_TEL2_BAUD 921600 # VIO data
+
+		echo "V100 - Auto Configuring TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
+		param set MAV_2_CONFIG 103 # TELEM3
+		param set MAV_2_MODE 0	# normal
+		param set SER_TEL3_BAUD 57600 # standard data
+	fi
+fi
+
+#
+# VOXL-Flight configuration
+#
+if ver hwtypecmp V110
+then
+	echo "Configuring VOXL-Flight - V110"
+
 	#
-	param set MAV_1_CONFIG 102 # TELEM2
-	param set MAV_1_MODE 0	# normal
-	param set SER_TEL2_BAUD 921600
+	# TELEM2 port is physically routed in the PCB, thus not configurable.
+	# The following will detect a fresh install, or if the user has changed the setting
+	# and revert to the VOXL-Flight defaults.  This does allow the user to change the mode
+	# and baud rates if they choose to do so, although VOXL is expecting what is set below
+	#
+	if [ $AUTOCNF = no ]
+	then
+		if ! param compare MAV_1_CONFIG 102
+		then
+			echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			param set MAV_1_CONFIG 102 # TELEM2
+			param set MAV_1_MODE 0	# normal
+			param set SER_TEL2_BAUD 921600
+		fi
+		#
+		# J1002 is setup as a spare serial port, if not setup by the user let's default it to TELEM3
+		#
+		if param compare MAV_2_CONFIG 0
+		then
+			echo "V110 - Defualt configuration TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
+			param set MAV_2_CONFIG 103 # TELEM3
+			param set MAV_2_MODE 0	# normal
+			param set SER_TEL3_BAUD 57600 # standard data
+		fi
+	fi
+
+	# User is setting defaults, so let's do it!
+	if [ $AUTOCNF = yes ]
+	then
+		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+		param set MAV_1_CONFIG 102 # TELEM2
+		param set MAV_1_MODE 0	# normal
+		param set SER_TEL2_BAUD 921600
+
+		echo "V110 - Auto Configuring TELEM3 on /dev/ttyS1 at 57600 in Normal Mode"
+		param set MAV_2_CONFIG 103 # TELEM3
+		param set MAV_2_MODE 0	# normal
+		param set SER_TEL3_BAUD 57600
+	fi
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/modalai/fc-v1/src/manifest.c b/boards/modalai/fc-v1/src/manifest.c
index 344aa46250..26c7b0d5f3 100644
--- a/boards/modalai/fc-v1/src/manifest.c
+++ b/boards/modalai/fc-v1/src/manifest.c
@@ -79,8 +79,17 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
 	},
 };
 
+static const px4_hw_mft_item_t hw_mft_list_fc0110[] = {
+	{
+		.present     = 0,
+		.mandatory   = 0,
+		.connection  = px4_hw_con_unknown,
+	},
+};
+
 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
+	{0x0000, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)},
+	{0x0100, hw_mft_list_fc0110, arraySize(hw_mft_list_fc0110)}
 };