Added implementations of Rx Tx swap and single wire for new UART API needed by CRSF driver

platforms/common/Serial.cpp

@@ -135,6 +135,24 @@ 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();
+}
+
 const char *Serial::getPort() const
 {
 	return _impl.getPort();

platforms/common/include/px4_platform_common/Serial.hpp

@@ -85,6 +85,12 @@ public:
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
 	const char *getPort() const;
 
 private:

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

@@ -210,6 +210,14 @@ bool SerialImpl::open()
 
 	_open = true;
 
+	if (_single_wire_mode) {
+		setSingleWireMode();
+	}
+
+	if (_swap_rx_tx_mode) {
+		setSwapRxTxMode();
+	}
+
 	return _open;
 }
 
@@ -398,4 +406,44 @@ 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
+}
+
 } // namespace device

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

@@ -83,6 +83,12 @@ public:
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
 private:
 
 	int _serial_fd{-1};
@@ -101,6 +107,8 @@ private:
 	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
 
+	bool _single_wire_mode{false};
+	bool _swap_rx_tx_mode{false};
 };
 
 } // namespace device

platforms/posix/include/SerialImpl.hpp

@@ -83,6 +83,12 @@ public:
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
 private:
 
 	int _serial_fd{-1};
@@ -100,6 +106,9 @@ private:
 
 	bool validateBaudrate(uint32_t baudrate);
 	bool configure();
+
+	bool _single_wire_mode{false};
+	bool _swap_rx_tx_mode{false};
 };
 
 } // namespace device

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

@@ -208,6 +208,14 @@ bool SerialImpl::open()
 
 	_open = true;
 
+	if (_single_wire_mode) {
+		setSingleWireMode();
+	}
+
+	if (_swap_rx_tx_mode) {
+		setSwapRxTxMode();
+	}
+
 	return _open;
 }
 
@@ -391,4 +399,44 @@ 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
+}
+
 } // namespace device

platforms/qurt/include/SerialImpl.hpp

@@ -83,6 +83,12 @@ public:
 	FlowControl getFlowcontrol() const;
 	bool setFlowcontrol(FlowControl flowcontrol);
 
+	bool getSingleWireMode() const;
+	bool setSingleWireMode();
+
+	bool getSwapRxTxMode() const;
+	bool setSwapRxTxMode();
+
 private:
 
 	int _serial_fd{-1};

platforms/qurt/src/px4/SerialImpl.cpp

@@ -328,4 +328,26 @@ bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
 	return flowcontrol == FlowControl::Disabled;
 }
 
+bool SerialImpl::getSingleWireMode() const
+{
+	return false;
+}
+
+bool SerialImpl::setSingleWireMode()
+{
+	// Qurt platform does not support single wire mode
+	return false;
+}
+
+bool SerialImpl::getSwapRxTxMode() const
+{
+	return false;
+}
+
+bool SerialImpl::setSwapRxTxMode()
+{
+	// Qurt platform does not support swap rx tx mode
+	return false;
+}
+
 } // namespace device

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -155,16 +155,12 @@ void CrsfRc::Run()
 		}
 
 		if (board_rc_swap_rxtx(_device)) {
-#if defined(TIOCSSWAP)
-			ioctl(_rc_fd, TIOCSSWAP, SER_SWAP_ENABLED);
-#endif // TIOCSSWAP
+			_uart->setSwapRxTxMode();
 		}
 
 		if (board_rc_singlewire(_device)) {
 			_is_singlewire = true;
-#if defined(TIOCSSINGLEWIRE)
-			ioctl(_rc_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-#endif // TIOCSSINGLEWIRE
+			_uart->setSingleWireMode();
 		}
 
 		PX4_INFO("Crsf serial opened sucessfully");