AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that …

…support it change mamba F405 to active high as per betaflight fix UART pushpull when using hardware inversion
ArduPilot · Aug 17, 2021 · 3d5a717 · 3d5a717
1 parent cb0b12f
commit 3d5a717
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Showing 5 changed files with 23 additions and 11 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -1645,22 +1645,36 @@ bool UARTDriver::set_options(uint16_t options)
         cr2 &= ~USART_CR2_SWAP;
         _cr2_options &= ~USART_CR2_SWAP;
     }
-#else // STM32F4
+#elif defined(STM32F4)
     // F4 can do inversion by GPIO if enabled in hwdef.dat, using
     // TXINV and RXINV options
     if (options & OPTION_RXINV) {
         if (sdef.rxinv_gpio >= 0) {
             hal.gpio->write(sdef.rxinv_gpio, sdef.rxinv_polarity);
+            if (arx_line != 0) {
+                palLineSetPushPull(arx_line, PAL_PUSHPULL_PULLDOWN);
+            }
         } else {
             ret = false;
         }
+    } else {
+        if (arx_line != 0) {
+            palLineSetPushPull(arx_line, PAL_PUSHPULL_PULLUP);
+        }
     }
     if (options & OPTION_TXINV) {
         if (sdef.txinv_gpio >= 0) {
             hal.gpio->write(sdef.txinv_gpio, sdef.txinv_polarity);
+            if (atx_line != 0) {
+                palLineSetPushPull(atx_line, PAL_PUSHPULL_PULLDOWN);
+            }
         } else {
             ret = false;
         }
+    } else {
+        if (atx_line != 0) {
+            palLineSetPushPull(atx_line, PAL_PUSHPULL_PULLUP);
+        }
     }
     if (options & OPTION_SWAP) {
         ret = false;

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
@@ -74,8 +74,8 @@ SERIAL_ORDER OTG1 USART6 USART1 UART4 UART5 USART3
 PB11 TIM2_CH4 TIM2 RCININT FLOAT LOW
 PB10 USART3_TX USART3
 
-# SBUS inversion control pin, active low
-PB15 SBUS_INVERT OUTPUT LOW
+# SBUS inversion control pin, active high
+PB15 USART3_RXINV OUTPUT LOW GPIO(78) POL(1)
 
 # for FrSky S.PORT. Has builtin inverters and diode to combine
 # RX and TX onto the one pin

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat
@@ -41,8 +41,8 @@ PA9 USART1_TX USART1 NODMA
 # Alt config to allow RCIN on UART
 PA10 USART1_RX USART1 NODMA ALT(1)
 
-# SBUS inversion control pin, active low
-PC0 USART1_RXINV OUTPUT HIGH GPIO(78) POL(0)
+# SBUS inversion control pin, active high
+PC0 USART1_RXINV OUTPUT LOW GPIO(78) POL(1)
 
 # USART3
 PB10 USART3_TX USART3

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat
@@ -41,9 +41,6 @@ define HAL_BATT_CURR_PIN 11
 define HAL_BATT_VOLT_SCALE 10.1
 define HAL_BATT_CURR_SCALE 17.0
 
-
-PC0 SBUS_INVERT OUTPUT LOW
-
 # LEDs
 PB5 LED_BLUE OUTPUT LOW GPIO(0)
 PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
@@ -52,6 +49,8 @@ PB4 LED_RED OUTPUT LOW GPIO(2)
 # GPS port
 PC6 USART6_TX USART6
 PC7 USART6_RX USART6
+# SBUS inversion control pin, active high
+PC0 USART6_RXINV OUTPUT LOW GPIO(78) POL(1)
 
 # USART3 (SERIAL2)  on flexi port in BRD_ALT_CONFIG = 3 & 4 & 5
 PB10 USART3_TX USART3 ALT(3)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
@@ -41,9 +41,6 @@ define HAL_BATT_CURR_PIN 11
 define HAL_BATT_VOLT_SCALE 10.1
 define HAL_BATT_CURR_SCALE 17.0
 
-
-PC0 SBUS_INVERT OUTPUT LOW
-
 # LEDs
 PB5 LED_BLUE OUTPUT LOW GPIO(0)
 PB6 LED_YELLOW OUTPUT LOW GPIO(1) # optional
@@ -52,6 +49,8 @@ PB4 LED_RED OUTPUT LOW GPIO(2)
 # GPS port disabled (PC6 used for RCIN)
 #PC6 USART6_TX USART6
 #PC7 USART6_RX USART6
+# SBUS inversion control pin, active high
+#PC0 USART6_RXINV OUTPUT LOW GPIO(78) POL(1)
 
 # flexi port, setup as GPS
 PB10 USART3_TX USART3