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rc_input: Add SINGLEWIRE_MANUAL_DUPLEX for manually changing TXDIR

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Fixes telemetry on fmu-v6xrt
This commit is contained in:
Peter van der Perk
2024-05-04 21:47:35 +02:00
parent 9e6dcb1f60
commit beccd10f66
2 changed files with 22 additions and 4 deletions
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boards/px4/fmu-v6xrt/src/board_config.h
+6 -4
View File
@@ -451,10 +451,12 @@
#define HRT_PPM_CHANNEL /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */ 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX) #define GPIO_PPM_IN /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)
#define RC_SERIAL_PORT "/dev/ttyS4" #define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring #define RC_SERIAL_SINGLEWIRE 1 // Suport Single wire wiring
#define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire #define RC_SERIAL_SWAP_RXTX 1 // Set Swap (but not supported in HW) to use Single wire
#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
#define RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX 1 // Set to use ioctl's to manually swap duplex
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* FLEXSPI4 */ /* FLEXSPI4 */
src/drivers/rc_input/RCInput.cpp
+16
View File
@@ -734,7 +734,15 @@ void RCInput::Run()
} }
if (_crsf_telemetry) { if (_crsf_telemetry) {
#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
#endif
_crsf_telemetry->update(cycle_timestamp); _crsf_telemetry->update(cycle_timestamp);
#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
tcflush(_rcs_fd, TCIOFLUSH);
tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
#endif
} }
} }
} }
@@ -787,7 +795,15 @@ void RCInput::Run()
} }
if (_ghst_telemetry) { if (_ghst_telemetry) {
#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
#endif
_ghst_telemetry->update(cycle_timestamp); _ghst_telemetry->update(cycle_timestamp);
#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
tcflush(_rcs_fd, TCIOFLUSH);
tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
#endif
} }
} }
} }