SBUS Protocol (SBUS Protocol · uzh-rpg/rpg_quadrotor_control Wiki · GitHub) uses 8E2 and 100000 bit/s baudrate. SBUS requires Signal Inverter (https://oscarliang.com/sbus-smartport-telemetry-naze32/). This works fine on Raspbery Pi using Frsky XM+ and sbusPythonDriver (GitHub - fifteenhex/python-sbus: SBUS decoder for Python):
setserial -a /dev/ttyS3 spd_cust
setserial -a /dev/ttyS3 divisor 15
stty -F /dev/ttyS3 parenb -parodd -cmspar cs8 cstopb -crtscts -ixon -ixoff 38400
How to get this working on Jetson Nano? I’ve tried /dev/ttyTHS1 and /dev/ttyS0. “setserial -a /dev/ttyTHS1 spd_cust” shows an error “Cannot set serial info: Invalid argument”. On /dev/ttyS0 no errors with setserial, but baudrate is definitely not 100000 bit/s because sbusPythonDriver receives some garbage from /dev/ttyS0 and can’t find beginning of SBUS frame.
systemctl stop serial-getty@ttyS0.service
setserial -a /dev/ttyS0 spd_cust
setserial -a /dev/ttyS0 divisor 255
stty -F /dev/ttyS0 parenb -parodd -cmspar cs8 cstopb -crtscts -ixon -ixoff 38400
I’ve read this article (non-standard baud rate for the uart), but it won’t help.