Added inverted mode to Serial interface API

PX4 · Mar 26, 2024 · dcc76ce · dcc76ce
1 parent a6c1105
commit dcc76ce
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Showing 8 changed files with 89 additions and 0 deletions.
diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp
@@ -153,6 +153,16 @@ 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();

diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp
@@ -91,6 +91,9 @@ class Serial
 	bool getSwapRxTxMode() const;
 	bool setSwapRxTxMode();
 
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 	const char *getPort() const;
 
 private:

diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp
@@ -210,6 +210,7 @@ bool SerialImpl::open()
 
 	_open = true;
 
+	// Do pin operations after port has been opened
 	if (_single_wire_mode) {
 		setSingleWireMode();
 	}
@@ -218,6 +219,8 @@ bool SerialImpl::open()
 		setSwapRxTxMode();
 	}
 
+	setInvertedMode(_inverted_mode);
+
 	return _open;
 }
 
@@ -446,4 +449,29 @@ bool SerialImpl::setSwapRxTxMode()
 #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
diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp
@@ -89,6 +89,9 @@ class SerialImpl
 	bool getSwapRxTxMode() const;
 	bool setSwapRxTxMode();
 
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};
@@ -109,6 +112,7 @@ class SerialImpl
 
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
+	bool _inverted_mode{false};
 };
 
 } // namespace device
diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp
@@ -89,6 +89,9 @@ class SerialImpl
 	bool getSwapRxTxMode() const;
 	bool setSwapRxTxMode();
 
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};
@@ -109,6 +112,7 @@ class SerialImpl
 
 	bool _single_wire_mode{false};
 	bool _swap_rx_tx_mode{false};
+	bool _inverted_mode{false};
 };
 
 } // namespace device
diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp
@@ -216,6 +216,8 @@ bool SerialImpl::open()
 		setSwapRxTxMode();
 	}
 
+	setInvertedMode(_inverted_mode);
+
 	return _open;
 }
 
@@ -439,4 +441,29 @@ bool SerialImpl::setSwapRxTxMode()
 #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
diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp
@@ -89,6 +89,9 @@ class SerialImpl
 	bool getSwapRxTxMode() const;
 	bool setSwapRxTxMode();
 
+	bool getInvertedMode() const;
+	bool setInvertedMode(bool enable);
+
 private:
 
 	int _serial_fd{-1};

diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp
@@ -350,4 +350,14 @@ bool SerialImpl::setSwapRxTxMode()
 	return false;
 }
 
+bool SerialImpl::setInvertedMode(bool enable)
+{
+	// Qurt platform does not support inverted mode
+	return false == enable;
+}
+bool SerialImpl::getInvertedMode() const
+{
+	return false;
+}
+
 } // namespace device