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HAL_PX4: better fix for IFLOW on all ports 

the tcsetattr() call fails to apply the baudrate if the port has no
RTS pin and we ask for IFLOW. So just make a separate call.
This commit is contained in:
Andrew Tridgell 2014-02-12 17:47:23 +11:00
parent b2cdd39a99
commit 4e2e685d7a
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -130,6 +130,14 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
// disable LF -> CR/LF
t.c_oflag &= ~ONLCR;
tcsetattr(_fd, TCSANOW, &t);
// separately setup IFLOW if we can. We do this as a 2nd call
// as if the port has no RTS pin then the tcsetattr() call
// will fail, and if done as one call then it would fail to
// set the baudrate.
tcgetattr(_fd, &t);
t.c_cflag |= CRTS_IFLOW;
tcsetattr(_fd, TCSANOW, &t);
}
if (_writebuf_size != 0 && _readbuf_size != 0 && _fd != -1) {
@ -150,9 +158,9 @@ void PX4UARTDriver::set_flow_control(enum flow_control flow_control)
tcgetattr(_fd, &t);
// we already enabled CRTS_IFLOW above, just enable output flow control
if (flow_control != FLOW_CONTROL_DISABLE) {
t.c_cflag |= CRTSCTS | CRTS_IFLOW;
t.c_cflag |= CRTSCTS;
} else {
t.c_cflag &= ~(CRTSCTS | CRTS_IFLOW);
t.c_cflag &= ~CRTSCTS;
}
tcsetattr(_fd, TCSANOW, &t);
_flow_control = flow_control;