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frsky_telemetry: add support for inverted single-wire S.Port on F7

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This commit is contained in:
Beat Küng
2020-08-06 00:08:23 -04:00
committed by Daniel Agar
parent b6052fbb11
commit bc9be2d040
1 changed files with 34 additions and 6 deletions
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src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
+34 -6
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@@ -76,7 +76,7 @@ using namespace time_literals;
static volatile bool thread_should_exit = false; static volatile bool thread_should_exit = false;
static volatile bool thread_running = false; static volatile bool thread_running = false;
static int frsky_task; static int frsky_task;
typedef enum { SCANNING, SPORT, SPORT_SINGLE_WIRE, DTYPE } frsky_state_t; typedef enum { SCANNING, SPORT, SPORT_SINGLE_WIRE, SPORT_SINGLE_WIRE_INVERT, DTYPE } frsky_state_t;
static frsky_state_t frsky_state = SCANNING; static frsky_state_t frsky_state = SCANNING;
static unsigned long int sentPackets = 0; static unsigned long int sentPackets = 0;
@@ -202,11 +202,18 @@ static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed)
static void set_uart_single_wire(int uart, bool single_wire) static void set_uart_single_wire(int uart, bool single_wire)
{ {
if (ioctl(uart, TIOCSSINGLEWIRE, single_wire ? SER_SINGLEWIRE_ENABLED : 0) < 0) { if (ioctl(uart, TIOCSSINGLEWIRE, single_wire ? (SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_PUSHPULL |
SER_SINGLEWIRE_PULLDOWN) : 0) < 0) {
PX4_WARN("setting TIOCSSINGLEWIRE failed"); PX4_WARN("setting TIOCSSINGLEWIRE failed");
} }
} }
static void set_uart_invert(int uart, bool invert)
{
// Not all architectures support this. That's ok as it will just re-test the non-inverted case
ioctl(uart, TIOCSINVERT, invert ? (SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX) : 0);
}
/** /**
* The daemon thread. * The daemon thread.
*/ */
@@ -238,6 +245,9 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
} else if (!strcmp(myoptarg, "sport_single")) { } else if (!strcmp(myoptarg, "sport_single")) {
frsky_state = baudRate = SPORT_SINGLE_WIRE; frsky_state = baudRate = SPORT_SINGLE_WIRE;
} else if (!strcmp(myoptarg, "sport_single_invert")) {
frsky_state = baudRate = SPORT_SINGLE_WIRE_INVERT;
} else if (!strcmp(myoptarg, "dtype")) { } else if (!strcmp(myoptarg, "dtype")) {
frsky_state = baudRate = DTYPE; frsky_state = baudRate = DTYPE;
@@ -335,12 +345,22 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
set_uart_speed(uart, &uart_config, B57600); set_uart_speed(uart, &uart_config, B57600);
// switch to single-wire (half-duplex) mode, because S.Port uses only a single wire // switch to single-wire (half-duplex) mode, because S.Port uses only a single wire
set_uart_single_wire(uart, true); set_uart_single_wire(uart, true);
set_uart_invert(uart, false);
baudRate = SPORT_SINGLE_WIRE; baudRate = SPORT_SINGLE_WIRE;
} else if (baudRate == SPORT_SINGLE_WIRE) { } else if (baudRate == SPORT_SINGLE_WIRE) {
PX4_DEBUG("setting baud rate to %d (single wire inverted)", 57600);
set_uart_speed(uart, &uart_config, B57600);
// switch to single-wire (half-duplex) mode, because S.Port uses only a single wire
set_uart_single_wire(uart, true);
set_uart_invert(uart, true);
baudRate = SPORT_SINGLE_WIRE_INVERT;
} else if (baudRate == SPORT_SINGLE_WIRE_INVERT) {
PX4_DEBUG("setting baud rate to %d", 9600); PX4_DEBUG("setting baud rate to %d", 9600);
set_uart_speed(uart, &uart_config, B9600); set_uart_speed(uart, &uart_config, B9600);
set_uart_single_wire(uart, false); set_uart_single_wire(uart, false);
set_uart_invert(uart, false);
baudRate = DTYPE; baudRate = DTYPE;
} else { } else {
@@ -348,6 +368,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
set_uart_speed(uart, &uart_config, B57600); set_uart_speed(uart, &uart_config, B57600);
// in case S.Port is connected via external inverter (e.g. via Sipex 3232EE), we need to use duplex mode // in case S.Port is connected via external inverter (e.g. via Sipex 3232EE), we need to use duplex mode
set_uart_single_wire(uart, false); set_uart_single_wire(uart, false);
set_uart_invert(uart, false);
baudRate = SPORT; baudRate = SPORT;
} }
@@ -362,9 +383,10 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
} }
} }
if (frsky_state == SPORT || frsky_state == SPORT_SINGLE_WIRE) { if (frsky_state == SPORT || frsky_state == SPORT_SINGLE_WIRE || frsky_state == SPORT_SINGLE_WIRE_INVERT) {
set_uart_speed(uart, &uart_config, B57600); set_uart_speed(uart, &uart_config, B57600);
set_uart_single_wire(uart, frsky_state == SPORT_SINGLE_WIRE); set_uart_single_wire(uart, frsky_state == SPORT_SINGLE_WIRE || frsky_state == SPORT_SINGLE_WIRE_INVERT);
set_uart_invert(uart, frsky_state == SPORT_SINGLE_WIRE_INVERT);
/* Subscribe to topics */ /* Subscribe to topics */
if (!sPort_init()) { if (!sPort_init()) {
@@ -770,6 +792,12 @@ int frsky_telemetry_main(int argc, char *argv[])
PX4_INFO("packets sent: %ld", sentPackets); PX4_INFO("packets sent: %ld", sentPackets);
break; break;
case SPORT_SINGLE_WIRE_INVERT:
PX4_INFO("running: SPORT (single wire, inverted)");
PX4_INFO("port: %s", device_name);
PX4_INFO("packets sent: %ld", sentPackets);
break;
case DTYPE: case DTYPE:
PX4_INFO("running: DTYPE"); PX4_INFO("running: DTYPE");
PX4_INFO("port: %s", device_name); PX4_INFO("port: %s", device_name);
@@ -801,8 +829,8 @@ static void usage()
PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true); PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 60, "Scanning timeout [s] (default: no timeout)", true); PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 60, "Scanning timeout [s] (default: no timeout)", true);
PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|dtype", "Select protocol (default: auto-detect)", PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|sport_single_invert|dtype",
true); "Select protocol (default: auto-detect)", true);
PRINT_MODULE_USAGE_COMMAND("stop"); PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status"); PRINT_MODULE_USAGE_COMMAND("status");
} }