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Frsky telemetry: add inverted singlewire support for F7 or later #15492

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merged 3 commits into from
Aug 6, 2020
Merged

Frsky telemetry: add inverted singlewire support for F7 or later #15492

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5a2b847
nuttx: update submodule
bkueng Aug 5, 2020
95e5a0c
frsky_telemetry: add support for inverted single-wire S.Port on F7
bkueng Jun 24, 2020
2b2af64
kopis 2 airframe: enable frsky telemetry
bkueng Aug 5, 2020
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1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ then
param set DSHOT_CONFIG 1200

param set OSD_ATXXXX_CFG 1
param set TEL_FRSKY_CONFIG 300

param set THR_MDL_FAC 0.35

Expand Down
2 changes: 1 addition & 1 deletion platforms/nuttx/NuttX/nuttx
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Submodule nuttx updated 7 files
+1 −1 arch/arm/src/stm32/stm32_serial.c
+3 −1 arch/arm/src/stm32f0l0g0/stm32_serial_v1.c
+3 −1 arch/arm/src/stm32f0l0g0/stm32_serial_v2.c
+3 −1 arch/arm/src/stm32f7/stm32_serial.c
+3 −1 arch/arm/src/stm32h7/stm32_serial.c
+1 −1 arch/arm/src/stm32l4/stm32l4_serial.c
+6 −2 include/nuttx/serial/tioctl.h
40 changes: 34 additions & 6 deletions src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ using namespace time_literals;
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
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 unsigned long int sentPackets = 0;
Expand Down Expand Up @@ -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)
{
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");
}
}

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.
*/
Expand Down Expand Up @@ -238,6 +245,9 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
} else if (!strcmp(myoptarg, "sport_single")) {
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")) {
frsky_state = baudRate = DTYPE;

Expand Down Expand Up @@ -335,19 +345,30 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
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, false);
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);
set_uart_speed(uart, &uart_config, B9600);
set_uart_single_wire(uart, false);
set_uart_invert(uart, false);
baudRate = DTYPE;

} else {
PX4_DEBUG("setting baud rate to %d", 57600);
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
set_uart_single_wire(uart, false);
set_uart_invert(uart, false);
baudRate = SPORT;
}

Expand All @@ -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_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 */
if (!sPort_init()) {
Expand Down Expand Up @@ -770,6 +792,12 @@ int frsky_telemetry_main(int argc, char *argv[])
PX4_INFO("packets sent: %ld", sentPackets);
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:
PX4_INFO("running: DTYPE");
PX4_INFO("port: %s", device_name);
Expand Down Expand Up @@ -801,8 +829,8 @@ static void usage()
PRINT_MODULE_USAGE_COMMAND("start");
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_STRING('m', "auto", "sport|sport_single|dtype", "Select protocol (default: auto-detect)",
true);
PRINT_MODULE_USAGE_PARAM_STRING('m', "auto", "sport|sport_single|sport_single_invert|dtype",
"Select protocol (default: auto-detect)", true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}