FMUv5: Swap debug and PX4 IO serial ports to avoid DMA channel issues

ROMFS/px4fmu_common/init.d/rcS

@@ -552,6 +552,12 @@ then
 			mavlink start -r 20000 -b 921600 -d /dev/ttyS0
 		fi
 
+		# Use ttyS3 (TELEM4) for MAVLink on FMUv5 in addition to ttyS1 (TELEM1) and ttyS2 (TELEM2)
+		if ver hwcmp PX4FMU_V5
+		then
+			mavlink start -r 2000 -b 57600 -d /dev/ttyS3
+		fi
+
 		if ver hwcmp AEROFC_V1
 		then
 			set MAVLINK_F "-r 1200 -d /dev/ttyS3"

platforms/nuttx/nuttx-configs/px4fmu-v5/nsh/defconfig

@@ -174,7 +174,7 @@ CONFIG_UART4_RXDMA=y
 # CONFIG_USART6_RS485 is not set
 CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
-CONFIG_UART7_RXDMA=y
+# CONFIG_UART7_RXDMA is not set
 # CONFIG_UART8_RS485 is not set
 CONFIG_UART8_RXDMA=y
 CONFIG_SERIAL_DISABLE_REORDERING=y
@@ -835,8 +835,8 @@ CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
 # CONFIG_USART3_SERIAL_CONSOLE is not set
 # CONFIG_UART4_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
-# CONFIG_UART7_SERIAL_CONSOLE is not set
-CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+# CONFIG_UART8_SERIAL_CONSOLE is not set
 # CONFIG_OTHER_SERIAL_CONSOLE is not set
 # CONFIG_NO_SERIAL_CONSOLE is not set
 

src/drivers/boards/px4fmu-v5/board_config.h

@@ -56,15 +56,15 @@
 /* PX4IO connection configuration */
 
 #define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE     "/dev/ttyS5"
-#define PX4IO_SERIAL_TX_GPIO    GPIO_UART7_TX
-#define PX4IO_SERIAL_RX_GPIO    GPIO_UART7_RX
-#define PX4IO_SERIAL_BASE       STM32_UART7_BASE	/* hardwired on the board */
-#define PX4IO_SERIAL_VECTOR     STM32_IRQ_UART7
-#define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_UART7_TX
-#define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_UART7_RX
+#define PX4IO_SERIAL_DEVICE     "/dev/ttyS6"
+#define PX4IO_SERIAL_TX_GPIO    GPIO_UART8_TX
+#define PX4IO_SERIAL_RX_GPIO    GPIO_UART8_RX
+#define PX4IO_SERIAL_BASE       STM32_UART8_BASE	/* hardwired on the board */
+#define PX4IO_SERIAL_VECTOR     STM32_IRQ_UART8
+#define PX4IO_SERIAL_TX_DMAMAP  DMAMAP_UART8_TX
+#define PX4IO_SERIAL_RX_DMAMAP  DMAMAP_UART8_RX
 #define PX4IO_SERIAL_RCC_REG	STM32_RCC_APB1ENR
-#define PX4IO_SERIAL_RCC_EN	RCC_APB1ENR_UART7EN
+#define PX4IO_SERIAL_RCC_EN	RCC_APB1ENR_UART8EN
 #define PX4IO_SERIAL_CLOCK      STM32_PCLK1_FREQUENCY
 #define PX4IO_SERIAL_BITRATE    1500000			/* 1.5Mbps -> max rate for IO */
 
@@ -360,10 +360,14 @@
  */
 #define GPIO_TIM2_CH1_IN     /* PA5   T22C1  FMU_CAP1 */ GPIO_TIM2_CH1IN_3
 #define GPIO_TIM2_CH2_IN     /* PB3   T22C2  FMU_CAP2 */ GPIO_TIM2_CH2IN_2
-#define GPIO_TIM2_CH4_IN     /* PB1   T22C4  FMU_CAP3 */ GPIO_TIM2_CH4IN_2
+#define GPIO_TIM2_CH4_IN     /* PB11  T22C4  FMU_CAP3 */ GPIO_TIM2_CH4IN_2
 
 #define DIRECT_PWM_CAPTURE_CHANNELS  3
 
+/* TIM5_CH4 SPARE PIN */
+#define GPIO_TIM5_CH4IN    /* PI0   T5C4  TIM5_SPARE_4 */	GPIO_TIM5_CH4IN_2
+#define GPIO_TIM5_CH4OUT   /* PI0   T5C4  TIM5_SPARE_4 */   GPIO_TIM5_CH4OUT_2
+
 /* PWM
  *
  * 8  PWM outputs are configured.
@@ -517,10 +521,22 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
 
 #define RC_UXART_BASE        STM32_USART6_BASE /* NOT FMUv5 test HW ONLY*/
-#define RC_SERIAL_PORT       "/dev/ttyS4"      /* NOT FMUv5 test HW ONLY*/
 
 #define GPS_DEFAULT_UART_PORT "/dev/ttyS0" /* UART1 on FMUv5 */
 
+/* Input Capture Channels. */
+#define INPUT_CAP1_TIMER          		  2
+#define INPUT_CAP1_CHANNEL     /* T4C1 */ 1
+#define GPIO_INPUT_CAP1        /*  PA5 */ GPIO_TIM2_CH1_IN
+
+#define INPUT_CAP2_TIMER          		  2
+#define INPUT_CAP2_CHANNEL     /* T4C2 */ 2
+#define GPIO_INPUT_CAP2        /*  PB3 */ GPIO_TIM2_CH2_IN
+
+#define INPUT_CAP3_TIMER          		  2
+#define INPUT_CAP3_CHANNEL     /* T4C4 */ 4
+#define GPIO_INPUT_CAP3        /* PB11 */ GPIO_TIM2_CH4_IN
+
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER          4
 #define PWMIN_TIMER_CHANNEL     /* T4C2 */ 2

src/modules/px4iofirmware/controls.c

@@ -230,24 +230,6 @@ controls_tick()
 		rssi = 0;
 	}
 
-	perf_begin(c_gather_dsm);
-	bool dsm_updated, st24_updated, sumd_updated;
-	(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
-
-	if (dsm_updated) {
-		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
-	}
-
-	if (st24_updated) {
-		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
-	}
-
-	if (sumd_updated) {
-		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
-	}
-
-	perf_end(c_gather_dsm);
-
 	perf_begin(c_gather_sbus);
 
 	bool sbus_failsafe, sbus_frame_drop;
@@ -300,6 +282,28 @@ controls_tick()
 
 	perf_end(c_gather_ppm);
 
+	bool dsm_updated = false, st24_updated = false, sumd_updated = false;
+
+	if (!((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) || (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM))) {
+		perf_begin(c_gather_dsm);
+
+		(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
+
+		if (dsm_updated) {
+			PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
+		}
+
+		if (st24_updated) {
+			PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
+		}
+
+		if (sumd_updated) {
+			PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
+		}
+
+		perf_end(c_gather_dsm);
+	}
+
 	/* limit number of channels to allowable data size */
 	if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) {
 		r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;