Qurt UART ESC driver support (#20784)

src/drivers/actuators/modalai_esc/CMakeLists.txt

@@ -47,4 +47,5 @@ px4_add_module(
 		qc_esc_packet.h
 	DEPENDS
 		px4_work_queue
+		mixer_module
 	)

src/drivers/actuators/modalai_esc/modalai_esc_serial.cpp

@@ -53,13 +53,18 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)
 	}
 
 	/* Open UART */
+#ifdef __PX4_QURT
+	_uart_fd = qurt_uart_open(dev, speed);
+#else
 	_uart_fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
+#endif
 
 	if (_uart_fd < 0) {
 		PX4_ERR("Error opening port: %s (%i)", dev, errno);
 		return -1;
 	}
 
+#ifndef __PX4_QURT
 	/* Back up the original UART configuration to restore it after exit */
 	int termios_state;
 
@@ -98,6 +103,8 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)
 		return -1;
 	}
 
+#endif
+
 	_speed =  speed;
 
 	return 0;
@@ -105,6 +112,8 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)
 
 int ModalaiEscSerial::uart_set_baud(speed_t speed)
 {
+#ifndef __PX4_QURT
+
 	if (_uart_fd < 0) {
 		return -1;
 	}
@@ -120,10 +129,15 @@ int ModalaiEscSerial::uart_set_baud(speed_t speed)
 	_speed = speed;
 
 	return 0;
+#endif
+
+	return -1;
 }
 
 int ModalaiEscSerial::uart_close()
 {
+#ifndef __PX4_QURT
+
 	if (_uart_fd < 0) {
 		PX4_ERR("invalid state for closing");
 		return -1;
@@ -137,6 +151,8 @@ int ModalaiEscSerial::uart_close()
 		PX4_ERR("error closing uart");
 	}
 
+#endif
+
 	_uart_fd = -1;
 
 	return 0;
@@ -149,7 +165,11 @@ int ModalaiEscSerial::uart_write(FAR void *buf, size_t len)
 		return -1;
 	}
 
+#ifdef __PX4_QURT
+	return qurt_uart_write(_uart_fd, (const char *) buf, len);
+#else
 	return write(_uart_fd, buf, len);
+#endif
 }
 
 int ModalaiEscSerial::uart_read(FAR void *buf, size_t len)
@@ -159,5 +179,13 @@ int ModalaiEscSerial::uart_read(FAR void *buf, size_t len)
 		return -1;
 	}
 
+#ifdef __PX4_QURT
+#define ASYNC_UART_READ_WAIT_US 2000
+	// The UART read on SLPI is via an asynchronous service so specify a timeout
+	// for the return. The driver will poll periodically until the read comes in
+	// so this may block for a while. However, it will timeout if no read comes in.
+	return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US);
+#else
 	return read(_uart_fd, buf, len);
+#endif
 }

src/drivers/actuators/modalai_esc/modalai_esc_serial.hpp

@@ -38,6 +38,10 @@
 #include <fcntl.h>
 #include <termios.h>
 
+#ifdef __PX4_QURT
+#include <drivers/device/qurt/uart.h>
+#define FAR
+#endif
 
 class ModalaiEscSerial
 {
@@ -55,7 +59,11 @@ public:
 
 private:
 	int			_uart_fd = -1;
+
+#if ! defined(__PX4_QURT)
 	struct termios		_orig_cfg;
 	struct termios		_cfg;
+#endif
+
 	int   _speed = -1;
 };

src/lib/drivers/device/CMakeLists.txt

@@ -43,7 +43,7 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
 	# list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
-	# list(APPEND SRCS_PLATFORM qurt/uart.c)
+	list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
 	list(APPEND SRCS_PLATFORM

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -38,6 +38,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/device/spi.h>
+#include <drivers/device/qurt/uart.h>
 #include <pthread.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/log.h>
@@ -280,6 +281,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 		// Configure the SPI driver function pointers
 		device::SPI::configure_callbacks(muorb_func_ptrs._config_spi_bus_func_t, muorb_func_ptrs._spi_transfer_func_t);
 
+		// Configure the UART driver function pointers
+		configure_uart_callbacks(muorb_func_ptrs.open_uart_func_t, muorb_func_ptrs.write_uart_func_t,
+					 muorb_func_ptrs.read_uart_func_t);
+
 		// Initialize the interrupt callback registration
 		register_interrupt_callback_initalizer(muorb_func_ptrs.register_interrupt_callback);
 

src/modules/muorb/slpi/uORBProtobufChannel.hpp

@@ -38,6 +38,7 @@
 #include <string>
 #include <map>
 #include <pthread.h>
+#include <termios.h>
 
 #include "uORB/uORBCommunicator.hpp"
 #include "mUORBAggregator.hpp"
@@ -196,7 +197,7 @@ typedef struct {
 	// open_uart_func_t open_uart_func;
 	// write_uart_func_t write_uart_func;
 	// read_uart_func_t read_uart_func;
-	int (*open_uart_func_t)(uint8_t, uint32_t);
+	int (*open_uart_func_t)(uint8_t, speed_t);
 	int (*write_uart_func_t)(int, const void *, size_t);
 	int (*read_uart_func_t)(int,  void *, size_t);
 	int (*register_interrupt_callback)(int (*)(int, void *, void *), void *arg);