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HAL_PX4: added baudrate support to UART driver

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This commit is contained in:
Andrew Tridgell 2013-01-04 19:42:30 +11:00
parent 965fc8a9d1
commit 44837a11f2
1 changed files with 14 additions and 4 deletions
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18
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -11,6 +11,7 @@
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>
using namespace PX4;
@ -23,11 +24,11 @@ PX4UARTDriver::PX4UARTDriver(const char *devpath) {
extern const AP_HAL::HAL& hal;
/*
this UART driver just maps to fd 0/1, which goes to whatever is
setup for the PX4 console. Baud rate control is not available.
this UART driver maps to a serial device in /dev
*/
void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) {
void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (!_initialised) {
_fd = open(_devpath, O_RDWR);
if (_fd == -1) {
@ -37,9 +38,18 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) {
}
_initialised = true;
}
if (b != 0) {
// set the baud rate
struct termios t;
tcgetattr(_fd, &t);
cfsetspeed(&t, b);
tcsetattr(_fd, TCSANOW, &t);
}
}
void PX4UARTDriver::begin(uint32_t b) {
void PX4UARTDriver::begin(uint32_t b)
{
begin(b, 0, 0);
}