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dshot: Telem set baudrate before pin-swapping

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On IMXRT setbaudrate resets swap state
This commit is contained in:
Peter van der Perk
2025-06-03 16:46:09 +02:00
committed by Niklas Hauser
parent 001efc1c0b
commit 7687e6e33f
1 changed files with 15 additions and 6 deletions
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src/drivers/dshot/DShotTelemetry.cpp
+15 -6
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@@ -51,6 +51,7 @@ DShotTelemetry::~DShotTelemetry()
int DShotTelemetry::init(const char *uart_device, bool swap_rxtx)
{
int ret = OK;
deinit();
_uart_fd = ::open(uart_device, O_RDONLY | O_NOCTTY);
@@ -59,23 +60,31 @@ int DShotTelemetry::init(const char *uart_device, bool swap_rxtx)
return -errno;
}
ret = setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE);
if (ret) {
PX4_ERR("failed to set baurate: %s err: %d", uart_device, ret);
return ret;
}
if (swap_rxtx) {
// Swap RX/TX pins if the device supports it
int rv = ioctl(_uart_fd, TIOCSSWAP, SER_SWAP_ENABLED);
ret = ioctl(_uart_fd, TIOCSSWAP, SER_SWAP_ENABLED);
// For other devices we can still place RX on TX pin via half-duplex single-wire mode
if (rv) { rv = ioctl(_uart_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); }
if (ret) { ret = ioctl(_uart_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); }
if (rv) {
PX4_ERR("failed to swap rx/tx pins: %s err: %d", uart_device, rv);
return rv;
if (ret) {
PX4_ERR("failed to swap rx/tx pins: %s err: %d", uart_device, ret);
return ret;
}
}
_num_timeouts = 0;
_num_successful_responses = 0;
_current_motor_index_request = -1;
return setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE);
return ret;
}
void DShotTelemetry::deinit()