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dshot: Telem set baudrate before pin-swapping #24962

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Merged
merged 1 commit into from
Jun 17, 2025
Merged

dshot: Telem set baudrate before pin-swapping #24962

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21 changes: 15 additions & 6 deletions src/drivers/dshot/DShotTelemetry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand All @@ -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()
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