septentrio: add single wire uart option

src/drivers/gnss/septentrio/module.yaml

@@ -1,12 +1,22 @@
 module_name: Septentrio
 
 serial_config:
-    - command: set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM}"
+    - command: |
+        if param compare SEP_PORT2_S_WIRE 1
+        then
+            set DUAL_SEP_ARGS "${DUAL_SEP_ARGS} -t"
+        fi
+        set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM} ${DUAL_SEP_ARGS}"
       port_config_param:
         name: SEP_PORT2_CFG
         group: Septentrio
       label: Secondary GPS port
-    - command: septentrio start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${DUAL_GPS_ARGS}
+    - command: |
+        if param compare SEP_PORT1_S_WIRE 1
+        then
+            set SEP_ARGS "${SEP_ARGS} -s"
+        fi
+        septentrio start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${SEP_ARGS} ${DUAL_GPS_ARGS}
       port_config_param:
         name: SEP_PORT1_CFG
         group: Septentrio
@@ -15,6 +25,22 @@ serial_config:
 parameters:
   - group: Septentrio
     definitions:
+      SEP_PORT1_S_WIRE:
+        description:
+          short: Use single wire UART on SEP_PORT1
+          long: |
+            Sets whether single wire UART should be used on SEP_PORT1.
+        type: boolean
+        default: 0
+        reboot_required: true
+      SEP_PORT2_S_WIRE:
+        description:
+          short: Use single wire UART on SEP_PORT2
+          long: |
+            Sets whether single wire UART should be used on SEP_PORT2.
+        type: boolean
+        default: 0
+        reboot_required: true
       SEP_STREAM_MAIN:
         description:
           short: Main stream used during automatic configuration

src/drivers/gnss/septentrio/septentrio.cpp

@@ -144,10 +144,12 @@ uint32_t SeptentrioDriver::k_supported_baud_rates[] {0, 38400, 57600, 115200, 23
 uint32_t SeptentrioDriver::k_default_baud_rate {230400};
 orb_advert_t SeptentrioDriver::k_mavlink_log_pub {nullptr};
 
-SeptentrioDriver::SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate) :
+SeptentrioDriver::SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate,
+				   bool single_wire_uart) :
 	Device(MODULE_NAME),
 	_instance(instance),
-	_chosen_baud_rate(baud_rate)
+	_chosen_baud_rate(baud_rate),
+	_single_wire_uart(single_wire_uart)
 {
 	strncpy(_port, device_path, sizeof(_port) - 1);
 	// Enforce null termination.
@@ -253,7 +255,8 @@ int SeptentrioDriver::print_status()
 		break;
 	}
 
-	PX4_INFO("health: %s, port: %s, baud rate: %lu", is_healthy() ? "OK" : "NOT OK", _port, _uart.getBaudrate());
+	PX4_INFO("health: %s, port: %s, baud rate: %lu, single wire UART: %u", is_healthy() ? "OK" : "NOT OK", _port,
+		 _uart.getBaudrate(), _single_wire_uart);
 	PX4_INFO("controller -> receiver data rate: %lu B/s", output_data_rate());
 	PX4_INFO("receiver -> controller data rate: %lu B/s", input_data_rate());
 	PX4_INFO("sat info: %s", (_message_satellite_info != nullptr) ? "enabled" : "disabled");
@@ -278,6 +281,10 @@ void SeptentrioDriver::run()
 				_uart.setPort(_port);
 
 				if (_uart.open()) {
+					if (_single_wire_uart) {
+						_uart.setSingleWireMode();
+					}
+
 					_state = State::DetectingBaudRate;
 
 				} else {
@@ -465,7 +472,8 @@ SeptentrioDriver *SeptentrioDriver::instantiate(int argc, char *argv[], Instance
 	if (instance == Instance::Main) {
 		if (Serial::validatePort(arguments.device_path_main)) {
 			gps = new SeptentrioDriver(arguments.device_path_main, instance,
-						   valid_chosen_baud_rate ? arguments.baud_rate_main : k_default_baud_rate);
+						   valid_chosen_baud_rate ? arguments.baud_rate_main : k_default_baud_rate,
+						   arguments.single_wire_uart_main);
 
 		} else {
 			PX4_ERR("Invalid device (-d) %s", arguments.device_path_main ? arguments.device_path_main : "");
@@ -482,7 +490,8 @@ SeptentrioDriver *SeptentrioDriver::instantiate(int argc, char *argv[], Instance
 	} else {
 		if (Serial::validatePort(arguments.device_path_secondary)) {
 			gps = new SeptentrioDriver(arguments.device_path_secondary, instance,
-						   valid_chosen_baud_rate ? arguments.baud_rate_secondary : k_default_baud_rate);
+						   valid_chosen_baud_rate ? arguments.baud_rate_secondary : k_default_baud_rate,
+						   arguments.single_wire_uart_secondary);
 
 		} else {
 			PX4_ERR("Invalid secondary device (-e) %s", arguments.device_path_secondary ? arguments.device_path_secondary : "");
@@ -570,6 +579,8 @@ $ gps reset warm
 	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 57600, 1500000, "Primary receiver baud rate", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Secondary receiver port", true);
 	PRINT_MODULE_USAGE_PARAM_INT('g', 0, 57600, 1500000, "Secondary receiver baud rate", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('s', "Primary receiver, use single wire UART", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('t', "Secondary receiver, use single wire UART", true);
 
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset connected receiver");
@@ -627,7 +638,7 @@ int SeptentrioDriver::parse_cli_arguments(int argc, char *argv[], ModuleArgument
 	int myoptind{1};
 	const char *myoptarg{nullptr};
 
-	while ((ch = px4_getopt(argc, argv, "d:e:b:g:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "d:e:b:g:st", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			if (px4_get_parameter_value(myoptarg, arguments.baud_rate_main) != 0) {
@@ -649,6 +660,14 @@ int SeptentrioDriver::parse_cli_arguments(int argc, char *argv[], ModuleArgument
 			arguments.device_path_secondary = myoptarg;
 			break;
 
+		case 's':
+			arguments.single_wire_uart_main = true;
+			break;
+
+		case 't':
+			arguments.single_wire_uart_secondary = true;
+			break;
+
 		case '?':
 			return PX4_ERROR;
 

src/drivers/gnss/septentrio/septentrio.h

@@ -76,6 +76,8 @@ struct ModuleArguments {
 	int baud_rate_secondary {0};
 	const char *device_path_main {nullptr};
 	const char *device_path_secondary {nullptr};
+	bool single_wire_uart_main {false};
+	bool single_wire_uart_secondary {false};
 };
 
 /**
@@ -229,7 +231,7 @@ enum class ReceiverOutputTracker {
 class SeptentrioDriver : public ModuleBase<SeptentrioDriver>, public device::Device
 {
 public:
-	SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate);
+	SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate, bool single_wire_uart);
 	~SeptentrioDriver() override;
 
 	/** @see ModuleBase */
@@ -715,6 +717,7 @@ private:
 	bool                                   _time_synced {false};                                         ///< Receiver time in sync with GPS time
 	const Instance                         _instance {Instance::Main};                                   ///< The receiver that this instance of the driver controls
 	uint32_t                               _chosen_baud_rate {0};                                        ///< The baud rate requested by the user
+	bool                                   _single_wire_uart {false};                                    ///< Whether single wire UART should be used
 	static px4::atomic<SeptentrioDriver *> _secondary_instance;
 	hrt_abstime                            _sleep_end {0};                                               ///< End time for sleeping
 	State                                  _resume_state {State::OpeningSerialPort};                     ///< Resume state after sleep