Port CRSF RC driver to new Serial UART API (PX4#22917)

* Added implementations of Rx Tx swap and single wire for new UART API needed by CRSF driver
* Added inverted mode to Serial interface API

boards/modalai/voxl2-slpi/default.px4board

@@ -11,6 +11,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_RC_CRSF_RC=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y

platforms/common/Serial.cpp

@@ -84,6 +84,11 @@ ssize_t Serial::write(const void *buffer, size_t buffer_size)
 	return _impl.write(buffer, buffer_size);
 }
 
+void Serial::flush()
+{
+	return _impl.flush();
+}
+
 uint32_t Serial::getBaudrate() const
 {
 	return _impl.getBaudrate();
@@ -134,6 +139,34 @@ bool Serial::setFlowcontrol(FlowControl flowcontrol)
 	return _impl.setFlowcontrol(flowcontrol);
 }
 
+bool Serial::getSingleWireMode() const
+{
+	return _impl.getSingleWireMode();
+}
+bool Serial::setSingleWireMode()
+{
+	return _impl.setSingleWireMode();
+}
+
+bool Serial::getSwapRxTxMode() const
+{
+	return _impl.getSwapRxTxMode();
+}
+bool Serial::setSwapRxTxMode()
+{
+	return _impl.setSwapRxTxMode();
+}
+
+bool Serial::getInvertedMode() const
+{
+	return _impl.getInvertedMode();
+}
+
+bool Serial::setInvertedMode(bool enable)
+{
+	return _impl.setInvertedMode(enable);
+}
+
 const char *Serial::getPort() const
 {
 	return _impl.getPort();

platforms/common/include/px4_platform_common/Serial.hpp

@@ -65,6 +65,8 @@ class Serial
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 
+	void flush();
+
 	// If port is already open then the following configuration functions
 	// will reconfigure the port. If the port is not yet open then they will
 	// simply store the configuration in preparation for the port to be opened.
@@ -84,6 +86,15 @@ class Serial
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 	static bool validatePort(const char *port);
 	bool setPort(const char *port);
 	const char *getPort() const;

platforms/nuttx/src/px4/common/SerialImpl.cpp

@@ -214,6 +214,17 @@ bool SerialImpl::open()
 
 	_open = true;
 
+	// Do pin operations after port has been opened
+	if (_single_wire_mode) {
+		setSingleWireMode();
+	}
+
+	if (_swap_rx_tx_mode) {
+		setSwapRxTxMode();
+	}
+
+	setInvertedMode(_inverted_mode);
+
 	return _open;
 }
 
@@ -323,6 +334,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
 	return written;
 }
 
+void SerialImpl::flush()
+{
+	if (_open) {
+		tcflush(_serial_fd, TCIOFLUSH);
+	}
+}
+
 const char *SerialImpl::getPort() const
 {
 	return _port;
@@ -416,4 +434,69 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 	return flowcontrol == FlowControl::Disabled;
 }
 
+bool SerialImpl::getSingleWireMode() const
+{
+	return _single_wire_mode;
+}
+
+bool SerialImpl::setSingleWireMode()
+{
+#if defined(TIOCSSINGLEWIRE)
+
+	if (_open) {
+		ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+	}
+
+	_single_wire_mode = true;
+	return true;
+#else
+	return false;
+#endif // TIOCSSINGLEWIRE
+}
+
+bool SerialImpl::getSwapRxTxMode() const
+{
+	return _swap_rx_tx_mode;
+}
+
+bool SerialImpl::setSwapRxTxMode()
+{
+#if defined(TIOCSSWAP)
+
+	if (_open) {
+		ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+	}
+
+	_swap_rx_tx_mode = true;
+	return true;
+#else
+	return false;
+#endif // TIOCSSWAP
+}
+
+bool SerialImpl::getInvertedMode() const
+{
+	return _inverted_mode;
+}
+
+bool SerialImpl::setInvertedMode(bool enable)
+{
+#if defined(TIOCSINVERT)
+
+	if (_open) {
+		if (enable) {
+			ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
+
+		} else {
+			ioctl(_serial_fd, TIOCSINVERT, 0);
+		}
+	}
+
+	_inverted_mode = enable;
+	return true;
+#else
+	return _inverted_mode == enable;
+#endif // TIOCSINVERT
+}
+
 } // namespace device

platforms/nuttx/src/px4/common/include/SerialImpl.hpp

@@ -64,6 +64,8 @@ class SerialImpl
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 
+	void flush();
+
 	const char *getPort() const;
 	static bool validatePort(const char *port);
 	bool setPort(const char *port);
@@ -83,6 +85,15 @@ class SerialImpl
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};
@@ -101,6 +112,9 @@ class SerialImpl
 	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
 
+	bool _single_wire_mode{false};
+	bool _swap_rx_tx_mode{false};
+	bool _inverted_mode{false};
 };
 
 } // namespace device

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -46,6 +46,7 @@ target_link_libraries(px4_layer
 
 add_library(px4_kernel_layer
 	${KERNEL_SRCS}
+	SerialImpl.cpp
 )
 
 target_link_libraries(px4_kernel_layer

platforms/posix/include/SerialImpl.hpp

@@ -64,6 +64,8 @@ class SerialImpl
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 
+	void flush();
+
 	const char *getPort() const;
 	static bool validatePort(const char *port);
 	bool setPort(const char *port);
@@ -83,6 +85,15 @@ class SerialImpl
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};
@@ -100,6 +111,10 @@ class SerialImpl
 
 	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
+
+	bool _single_wire_mode{false};
+	bool _swap_rx_tx_mode{false};
+	bool _inverted_mode{false};
 };
 
 } // namespace device

platforms/posix/src/px4/common/SerialImpl.cpp

@@ -212,6 +212,16 @@ bool SerialImpl::open()
 
 	_open = true;
 
+	if (_single_wire_mode) {
+		setSingleWireMode();
+	}
+
+	if (_swap_rx_tx_mode) {
+		setSwapRxTxMode();
+	}
+
+	setInvertedMode(_inverted_mode);
+
 	return _open;
 }
 
@@ -316,6 +326,13 @@ ssize_t SerialImpl::write(const void *buffer, size_t buffer_size)
 	return written;
 }
 
+void SerialImpl::flush()
+{
+	if (_open) {
+		tcflush(_serial_fd, TCIOFLUSH);
+	}
+}
+
 const char *SerialImpl::getPort() const
 {
 	return _port;
@@ -409,4 +426,69 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 	return flowcontrol == FlowControl::Disabled;
 }
 
+bool SerialImpl::getSingleWireMode() const
+{
+	return _single_wire_mode;
+}
+
+bool SerialImpl::setSingleWireMode()
+{
+#if defined(TIOCSSINGLEWIRE)
+
+	if (_open) {
+		ioctl(_serial_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+	}
+
+	_single_wire_mode = true;
+	return true;
+#else
+	return false;
+#endif // TIOCSSINGLEWIRE
+}
+
+bool SerialImpl::getSwapRxTxMode() const
+{
+	return _swap_rx_tx_mode;
+}
+
+bool SerialImpl::setSwapRxTxMode()
+{
+#if defined(TIOCSSWAP)
+
+	if (_open) {
+		ioctl(_serial_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+	}
+
+	_swap_rx_tx_mode = true;
+	return true;
+#else
+	return false;
+#endif // TIOCSSWAP
+}
+
+bool SerialImpl::getInvertedMode() const
+{
+	return _inverted_mode;
+}
+
+bool SerialImpl::setInvertedMode(bool enable)
+{
+#if defined(TIOCSINVERT)
+
+	if (_open) {
+		if (enable) {
+			ioctl(_serial_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
+
+		} else {
+			ioctl(_serial_fd, TIOCSINVERT, 0);
+		}
+	}
+
+	_inverted_mode = enable;
+	return true;
+#else
+	return _inverted_mode == enable;
+#endif // TIOCSINVERT
+}
+
 } // namespace device

platforms/qurt/include/SerialImpl.hpp

@@ -63,6 +63,8 @@ class SerialImpl
 
 	ssize_t write(const void *buffer, size_t buffer_size);
 
+	void flush();
+
 	const char *getPort() const;
 	bool setPort(const char *port);
 	static bool validatePort(const char *port);
@@ -82,6 +84,15 @@ class SerialImpl
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};