rc_input: correctly init SBUS inversion for other RC protocols

boards/airmind/mindpx-v2/src/board_config.h

@@ -113,7 +113,7 @@
 #define RC_SERIAL_PORT		"/dev/ttyS0"
 
 // #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN10)
 #define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
 
 #define GPIO_FRSKY_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)

boards/atl/mantis-edu/src/board_config.h

@@ -149,7 +149,6 @@
 
 /* RC Serial port */
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* power on/off */
 #define MS_PWR_BUTTON_DOWN 750

boards/cuav/nora/src/board_config.h

@@ -160,7 +160,6 @@
 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /**
  * GPIO PPM_IN on PB4 T3C1
@@ -169,7 +168,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* RSSI_IN */

boards/cuav/x7pro/src/board_config.h

@@ -160,7 +160,6 @@
 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /**
  * GPIO PPM_IN on PB4 T3C1
@@ -169,7 +168,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* RSSI_IN */

boards/diatone/mamba-f405-mk2/src/board_config.h

@@ -141,12 +141,6 @@
  * SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
  * The FMU can drive GPIO PPM_IN as an output
  */
-// TODO?
-//#define GPIO_PPM_IN_AS_OUT            (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
-//#define SPEKTRUM_RX_AS_GPIO_OUTPUT()  px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-//#define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
-//#define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
 #define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
 
 /* This board provides a DMA pool and APIs */

boards/holybro/pix32v5/src/board_config.h

@@ -281,9 +281,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
@@ -327,7 +325,6 @@
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/modalai/fc-v1/src/board_config.h

@@ -205,7 +205,6 @@
 
 #define SPEKTRUM_RX_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(SPEKTRUM_RX_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/modalai/fc-v2/src/board_config.h

@@ -264,7 +264,6 @@
 
 #define SPEKTRUM_RX_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(SPEKTRUM_RX_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/mro/ctrl-zero-classic/src/board_config.h

@@ -135,7 +135,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)

boards/mro/ctrl-zero-f7-oem/src/board_config.h

@@ -158,7 +158,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/mro/ctrl-zero-f7/src/board_config.h

@@ -157,7 +157,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/mro/ctrl-zero-h7-oem/src/board_config.h

@@ -134,7 +134,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)

boards/mro/ctrl-zero-h7/src/board_config.h

@@ -134,7 +134,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)

boards/mro/pixracerpro/src/board_config.h

@@ -134,7 +134,6 @@
  */
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)

boards/nxp/fmurt1062-v1/src/board_config.h

@@ -312,7 +312,6 @@
 #define GPIO_PPM_IN             /* GPIO_B1_06 GPT1_CAPTURE2 */ (GPIO_GPT1_CAPTURE2_2 | GENERAL_INPUT_IOMUX)
 
 #define RC_SERIAL_PORT          "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */
 

boards/px4/fmu-v4/src/board_config.h

@@ -128,7 +128,7 @@
 #define GPIO_PERIPH_3V3_EN           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 
 /* For R12, this signal is active high. */
-#define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
 
 #define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -158,7 +158,6 @@
 
 #define GPIO_PPM_IN_AS_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /**

boards/px4/fmu-v5/src/board_config.h

@@ -274,7 +274,6 @@ static inline bool board_get_external_lockout_state(void)
 #define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_nVDD_5V_HIPOWER_OC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-#define GPIO_VDD_3V3_SPEKTRUM_PASSIVE   /* PE4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_5V_WIFI_EN             /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
@@ -314,9 +313,7 @@ static inline bool board_get_external_lockout_state(void)
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
@@ -349,7 +346,6 @@ static inline bool board_get_external_lockout_state(void)
 /* Power switch controls ******************************************************/
 
 #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
-#define SPEKTRUM_POWER_PASSIVE()           px4_arch_configgpio(GPIO_VDD_3V3_SPEKTRUM_PASSIVE)
 #define SPEKTRUM_POWER_CONFIG()           px4_arch_configgpio(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 
 /*
@@ -363,7 +359,6 @@ static inline bool board_get_external_lockout_state(void)
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/px4/fmu-v5/src/init.c

@@ -212,10 +212,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	board_control_spi_sensors_power(true, 0xffff);
-#ifdef SPEKTRUM_POWER_PASSIVE
-	// Turn power controls to passive
-	SPEKTRUM_POWER_PASSIVE();
-#endif
 	VDD_5V_RC_EN(true);
 	VDD_5V_WIFI_EN(true);
 

boards/px4/fmu-v5x/src/board_config.h

@@ -292,9 +292,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  5
@@ -334,7 +332,6 @@
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/px4/fmu-v6u/src/board_config.h

@@ -258,10 +258,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-#define RC_SERIAL_SWAP_RXTX
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -302,7 +299,6 @@
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/px4/fmu-v6x/src/board_config.h

@@ -316,9 +316,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -359,7 +357,6 @@
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -253,9 +253,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  5
@@ -293,7 +291,6 @@
 
 #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 #define SDIO_SLOTNO                    0  /* Only one slot */

boards/uvify/core/src/board_config.h

@@ -126,7 +126,7 @@
 #define GPIO_PERIPH_3V3_EN           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 
 /* For,this signal is active high. */
-#define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
 
 #define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -157,7 +157,6 @@
 
 #define GPIO_PPM_IN_AS_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
 /**

platforms/common/include/px4_platform_common/board_common.h

@@ -411,79 +411,6 @@ typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
  ************************************************************************************/
 __BEGIN_DECLS
 
-
-/************************************************************************************
- * Name: board_rc_singlewire
- *
- * Description:
- *   A board may define RC_SERIAL_SINGLEWIRE, so that RC_SERIAL_PORT is configured
- *   as singlewire UART.
- *
- * Input Parameters:
- *   device: serial device, e.g. "/dev/ttyS0"
- *
- * Returned Value:
- *   true singlewire should be enabled.
- *   false if not.
- *
- ************************************************************************************/
-
-#if defined(RC_SERIAL_SINGLEWIRE)
-static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
-#else
-static inline bool board_rc_singlewire(const char *device) { return false; }
-#endif
-
-/************************************************************************************
- * Name: board_rc_swap_rxtx
- *
- * Description:
- *   A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
- *   as UART with RX/TX swapped.
- *
- * Input Parameters:
- *   device: serial device, e.g. "/dev/ttyS0"
- *
- * Returned Value:
- *   true RX/RX should be swapped.
- *   false if not.
- *
- ************************************************************************************/
-
-#if defined(RC_SERIAL_SWAP_RXTX)
-static inline bool board_rc_swap_rxtx(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
-#else
-static inline bool board_rc_swap_rxtx(const char *device) { return false; }
-#endif
-
-/************************************************************************************
- * Name: board_rc_invert_input
- *
- * Description:
- *   All boards may optionally define RC_INVERT_INPUT(bool invert) that is
- *   used to invert the RC_SERIAL_PORT RC port (e.g. to toggle an external XOR via
- *   GPIO).
- *
- * Input Parameters:
- *   invert_on - A positive logic value, that when true (on) will set the HW in
- *               inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
- *
- * Returned Value:
- *   true the UART inversion got set.
- *
- ************************************************************************************/
-
-#ifdef RC_INVERT_INPUT
-static inline bool board_rc_invert_input(const char *device, bool invert)
-{
-	if (strcmp(device, RC_SERIAL_PORT) == 0) { RC_INVERT_INPUT(invert); return true; }
-
-	return false;
-}
-#else
-static inline bool board_rc_invert_input(const char *device, bool invert) { return false; }
-#endif
-
 /* Provide an interface for reading the connected state of VBUS */
 
 /************************************************************************************

src/drivers/rc_input/RCInput.cpp

@@ -71,10 +71,6 @@ RCInput::RCInput(const char *device) :
 
 RCInput::~RCInput()
 {
-#if defined(SPEKTRUM_POWER_PASSIVE)
-	// Disable power controls for Spektrum receiver
-	SPEKTRUM_POWER_PASSIVE();
-#endif
 	dsm_deinit();
 
 	delete _crsf_telemetry;
@@ -84,41 +80,6 @@ RCInput::~RCInput()
 	perf_free(_publish_interval_perf);
 }
 
-int
-RCInput::init()
-{
-#ifdef RF_RADIO_POWER_CONTROL
-	// power radio on
-	RF_RADIO_POWER_CONTROL(true);
-#endif // RF_RADIO_POWER_CONTROL
-
-	// dsm_init sets some file static variables and returns a file descriptor
-	// it also powers on the radio if needed
-	_rcs_fd = dsm_init(_device);
-
-	if (_rcs_fd < 0) {
-		return -errno;
-	}
-
-	if (board_rc_swap_rxtx(_device)) {
-#if defined(TIOCSSWAP)
-		ioctl(_rcs_fd, TIOCSSWAP, SER_SWAP_ENABLED);
-#endif // TIOCSSWAP
-	}
-
-	// assume SBUS input and immediately switch it to
-	// so that if Single wire mode on TX there will be only
-	// a short contention
-	sbus_config(_rcs_fd, board_rc_singlewire(_device));
-
-#ifdef GPIO_PPM_IN
-	// disable CPPM input by mapping it away from the timer capture input
-	px4_arch_unconfiggpio(GPIO_PPM_IN);
-#endif // GPIO_PPM_IN
-
-	return 0;
-}
-
 int
 RCInput::task_spawn(int argc, char *argv[])
 {
@@ -277,20 +238,28 @@ void RCInput::set_rc_scan_state(RC_SCAN newState)
 
 void RCInput::rc_io_invert(bool invert)
 {
-	// First check if the board provides a board-specific inversion method (e.g. via GPIO),
+#if defined(RC_SERIAL_PORT) && defined(RC_INVERT_INPUT)
-	// and if not use an IOCTL
+
-	if (!board_rc_invert_input(_device, invert)) {
+	if (strcmp(_device, RC_SERIAL_PORT) == 0) {
+		RC_INVERT_INPUT(invert);
+	}
+
+#endif // RC_SERIAL_PORT && RC_INVERT_INPUT
+
+
 #if defined(TIOCSINVERT)
 
+	if (_rcs_fd >= 0) {
 		if (invert) {
+			//int ret_invert = ioctl(_rcs_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
 			ioctl(_rcs_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
 
 		} else {
 			ioctl(_rcs_fd, TIOCSINVERT, 0);
 		}
+	}
 
 #endif // TIOCSINVERT
-	}
 }
 
 void RCInput::Run()
@@ -300,16 +269,7 @@ void RCInput::Run()
 		return;
 	}
 
-	if (!_initialized) {
+	{
-		if (init() == PX4_OK) {
-			_initialized = true;
-
-		} else {
-			PX4_ERR("init failed");
-			exit_and_cleanup();
-		}
-
-	} else {
 
 		perf_begin(_cycle_perf);
 
@@ -345,6 +305,17 @@ void RCInput::Run()
 
 				if (!_rc_scan_locked && !_armed) {
 					if ((int)vcmd.param1 == 0) {
+
+						rc_io_invert(false);
+
+						if (_rcs_fd >= 0) {
+							close(_rcs_fd);
+							_rcs_fd = -1;
+						}
+
+						// Configure serial port for DSM
+						_rcs_fd = dsm_init(_device);
+
 						// DSM binding command
 						int dsm_bind_mode = (int)vcmd.param2;
 
@@ -363,6 +334,8 @@ void RCInput::Run()
 						bind_spektrum(dsm_bind_pulses);
 
 						cmd_ret = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+
+						dsm_deinit();
 					}
 
 				} else {
@@ -418,7 +391,7 @@ void RCInput::Run()
 
 		// This block scans for a supported serial RC input and locks onto the first one found
 		// Scan for 300 msec, then switch protocol
-		constexpr hrt_abstime rc_scan_max = 300_ms;
+		constexpr hrt_abstime rc_scan_max = 700_ms;
 
 		unsigned frame_drops = 0;
 
@@ -428,7 +401,8 @@ void RCInput::Run()
 		// read all available data from the serial RC input UART
 
 		// read all available data from the serial RC input UART
-		int newBytes = ::read(_rcs_fd, &_rcs_buf[0], RC_MAX_BUFFER_SIZE);
+		uint8_t rcs_buf[RC_MAX_BUFFER_SIZE];
+		int newBytes = ::read(_rcs_fd, &rcs_buf[0], RC_MAX_BUFFER_SIZE);
 
 		if (newBytes > 0) {
 			_bytes_rx += newBytes;
@@ -441,14 +415,24 @@ void RCInput::Run()
 
 		case RC_SCAN_SBUS:
 			if (_rc_scan_begin == 0) {
-				_rc_scan_begin = cycle_timestamp;
+
-				// Configure serial port for SBUS
+				if (_rcs_fd < 0) {
-				sbus_config(_rcs_fd, board_rc_singlewire(_device));
+					_rcs_fd = open(_device, O_RDWR | O_NONBLOCK);
+				}
+
+				// assume SBUS input and immediately switch it to
+				// so that if Single wire mode on TX there will be only
+				// a short contention
+				sbus_config(_rcs_fd, true);
+
+
+#if defined(TIOCSSINGLEWIRE)
+				ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+#endif // TIOCSSINGLEWIRE
+
 				rc_io_invert(true);
 
-				// flush serial buffer and any existing buffered data
+				_rc_scan_begin = hrt_absolute_time();
-				tcflush(_rcs_fd, TCIOFLUSH);
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
 
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -458,7 +442,7 @@ void RCInput::Run()
 					bool sbus_failsafe = false;
 					bool sbus_frame_drop = false;
 
-					rc_updated = sbus_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe,
+					rc_updated = sbus_parse(cycle_timestamp, &rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe,
 								&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 					if (rc_updated) {
@@ -471,8 +455,16 @@ void RCInput::Run()
 				}
 
 			} else {
-				// Scan the next protocol
 				rc_io_invert(false);
+
+#if defined(TIOCSSINGLEWIRE)
+				ioctl(_rcs_fd, TIOCSSINGLEWIRE, 0);
+#endif // TIOCSSINGLEWIRE
+
+				::close(_rcs_fd);
+				_rcs_fd = -1;
+
+				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_DSM);
 			}
 
@@ -480,13 +472,20 @@ void RCInput::Run()
 
 		case RC_SCAN_DSM:
 			if (_rc_scan_begin == 0) {
-				_rc_scan_begin = cycle_timestamp;
+				// dsm_init sets some file static variables and returns a file descriptor
-				// Configure serial port for DSM
+				// it also powers on the radio if needed
-				dsm_config(_rcs_fd);
+				if (_rcs_fd < 0) {
+					//_rcs_fd = open(_device, O_RDWR | O_NONBLOCK);
+				}
 
-				// flush serial buffer and any existing buffered data
+				// Configure serial port for DSM
-				tcflush(_rcs_fd, TCIOFLUSH);
+				_rcs_fd = dsm_init(_device);
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
+
+				if (_rcs_fd < 0) {
+					PX4_ERR("dsm init failed");
+				}
+
+				_rc_scan_begin = hrt_absolute_time();
 
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -496,7 +495,7 @@ void RCInput::Run()
 					bool dsm_11_bit = false;
 
 					// parse new data
-					rc_updated = dsm_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
+					rc_updated = dsm_parse(cycle_timestamp, &rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
 							       &dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 					if (rc_updated) {
@@ -509,6 +508,9 @@ void RCInput::Run()
 				}
 
 			} else {
+				dsm_deinit();
+				_rcs_fd = -1;
+
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_ST24);
 			}
@@ -519,11 +521,7 @@ void RCInput::Run()
 			if (_rc_scan_begin == 0) {
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
-				dsm_config(_rcs_fd);
+				_rcs_fd = dsm_init(_device);
-
-				// flush serial buffer and any existing buffered data
-				tcflush(_rcs_fd, TCIOFLUSH);
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
 
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -537,7 +535,7 @@ void RCInput::Run()
 					for (unsigned i = 0; i < (unsigned)newBytes; i++) {
 						/* set updated flag if one complete packet was parsed */
 						st24_rssi = input_rc_s::RSSI_MAX;
-						rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &lost_count,
+						rc_updated = (OK == st24_decode(rcs_buf[i], &st24_rssi, &lost_count,
 										&_raw_rc_count, _raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
 					}
 
@@ -560,6 +558,8 @@ void RCInput::Run()
 				}
 
 			} else {
+				dsm_deinit();
+				_rcs_fd = -1;
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_SUMD);
 			}
@@ -570,12 +570,9 @@ void RCInput::Run()
 			if (_rc_scan_begin == 0) {
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
+				_rcs_fd = dsm_init(_device);
 				dsm_config(_rcs_fd);
 
-				// flush serial buffer and any existing buffered data
-				tcflush(_rcs_fd, TCIOFLUSH);
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
-
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
 
@@ -589,7 +586,7 @@ void RCInput::Run()
 					for (unsigned i = 0; i < (unsigned)newBytes; i++) {
 						/* set updated flag if one complete packet was parsed */
 						sumd_rssi = input_rc_s::RSSI_MAX;
-						rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
+						rc_updated = (OK == sumd_decode(rcs_buf[i], &sumd_rssi, &rx_count,
 										&_raw_rc_count, _raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS, &sumd_failsafe));
 					}
 
@@ -603,6 +600,8 @@ void RCInput::Run()
 				}
 
 			} else {
+				::close(_rcs_fd);
+				_rcs_fd = -1;
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_PPM);
 			}
@@ -647,19 +646,20 @@ void RCInput::Run()
 		case RC_SCAN_CRSF:
 			if (_rc_scan_begin == 0) {
 				_rc_scan_begin = cycle_timestamp;
+
+				if (_rcs_fd < 0) {
+					_rcs_fd = open(_device, O_RDWR | O_NONBLOCK);
+				}
+
 				// Configure serial port for CRSF
 				crsf_config(_rcs_fd);
 
-				// flush serial buffer and any existing buffered data
-				tcflush(_rcs_fd, TCIOFLUSH);
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
-
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
 
 				// parse new data
 				if (newBytes > 0) {
-					rc_updated = crsf_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
+					rc_updated = crsf_parse(cycle_timestamp, &rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
 								input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 					if (rc_updated) {
@@ -686,6 +686,8 @@ void RCInput::Run()
 				}
 
 			} else {
+				::close(_rcs_fd);
+				_rcs_fd = -1;
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_GHST);
 			}
@@ -695,12 +697,13 @@ void RCInput::Run()
 		case RC_SCAN_GHST:
 			if (_rc_scan_begin == 0) {
 				_rc_scan_begin = cycle_timestamp;
-				// Configure serial port for GHST
-				ghst_config(_rcs_fd);
 
-				// flush serial buffer and any existing buffered data
+				// Configure serial port for GHST
-				tcflush(_rcs_fd, TCIOFLUSH);
+				if (_rcs_fd < 0) {
-				memset(_rcs_buf, 0, sizeof(_rcs_buf));
+					_rcs_fd = open(_device, O_RDWR | O_NONBLOCK);
+				}
+
+				ghst_config(_rcs_fd);
 
 			} else if (_rc_scan_locked
 				   || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -708,7 +711,7 @@ void RCInput::Run()
 				// parse new data
 				if (newBytes > 0) {
 					int8_t ghst_rssi = -1;
-					rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &ghst_rssi,
+					rc_updated = ghst_parse(cycle_timestamp, &rcs_buf[0], newBytes, &_raw_rc_values[0], &ghst_rssi,
 								&_raw_rc_count, input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 					if (rc_updated) {
@@ -736,6 +739,8 @@ void RCInput::Run()
 				}
 
 			} else {
+				::close(_rcs_fd);
+				_rcs_fd = -1;
 				// Scan the next protocol
 				set_rc_scan_state(RC_SCAN_SBUS);
 			}

src/drivers/rc_input/RCInput.hpp

@@ -129,7 +129,6 @@ private:
 
 	hrt_abstime _rc_scan_begin{0};
 
-	bool _initialized{false};
 	bool _rc_scan_locked{false};
 	bool _report_lock{true};
 
@@ -155,7 +154,6 @@ private:
 	char		_device[20] {};					///< device / serial port path
 
 	static constexpr size_t RC_MAX_BUFFER_SIZE{SBUS_BUFFER_SIZE};
-	uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
 
 	uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
 	uint16_t _raw_rc_count{};

src/lib/rc/dsm.cpp

@@ -189,8 +189,6 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
 		static constexpr uint16_t offset = 903; // microseconds
 		value = roundf(servo_position * 0.583f) + offset;
 
-		PX4_DEBUG(stderr, "CH%d=%d(0x%02x), ", channel, value, raw);
-
 		return true;
 	}
 
@@ -470,6 +468,9 @@ int dsm_config(int fd)
 
 void dsm_proto_init()
 {
+	memset(&dsm_frame, 0, sizeof(dsm_frame_t));
+	memset(&dsm_buf, 0, sizeof(dsm_buf_t));
+
 	dsm_channel_shift = 0;
 	dsm_frame_drops = 0;
 	dsm_chan_count = 0;
@@ -509,11 +510,6 @@ int dsm_init(const char *device)
 
 void dsm_deinit()
 {
-#ifdef SPEKTRUM_POWER_PASSIVE
-	// Turn power controls to passive
-	SPEKTRUM_POWER_PASSIVE();
-#endif
-
 	if (dsm_fd >= 0) {
 		close(dsm_fd);
 	}
@@ -580,7 +576,9 @@ void dsm_bind(uint16_t cmd, int pulses)
 #if defined(DSM_DEBUG)
 		printf("DSM: DSM_CMD_BIND_REINIT_UART\n");
 #endif
+#if defined(SPEKTRUM_RX_AS_UART)
 		SPEKTRUM_RX_AS_UART();
+#endif // SPEKTRUM_RX_AS_UART
 		break;
 
 	}