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HAL_SITL: added --rtscts option to SITL

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useful for radio testing
This commit is contained in:
Andrew Tridgell 2016-05-16 16:51:09 +10:00
parent 38010cf3f3
commit c6620b03b4
3 changed files with 14 additions and 0 deletions
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6
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -51,6 +51,10 @@ public:
return _base_port;
}
bool use_rtscts(void) const {
return _use_rtscts;
}
// simulated airspeed, sonar and battery monitor
uint16_t sonar_pin_value; // pin 0
uint16_t airspeed_pin_value; // pin 1
@ -157,6 +161,8 @@ private:
bool _synthetic_clock_mode;
bool _use_rtscts;
const char *_fdm_address;
// delay buffer variables

5
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -129,6 +129,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
CMDLINE_UARTE,
CMDLINE_UARTF,
CMDLINE_ADSB,
CMDLINE_RTSCTS,
CMDLINE_DEFAULTS
};
@ -153,6 +154,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"adsb", false, 0, CMDLINE_ADSB},
{"autotest-dir", true, 0, CMDLINE_AUTOTESTDIR},
{"defaults", true, 0, CMDLINE_DEFAULTS},
{"rtscts", false, 0, CMDLINE_RTSCTS},
{0, false, 0, 0}
};
@ -205,6 +207,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_ADSB:
enable_ADSB = true;
break;
case CMDLINE_RTSCTS:
_use_rtscts = true;
break;
case CMDLINE_AUTOTESTDIR:
autotest_dir = strdup(gopt.optarg);
break;

3
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -324,6 +324,9 @@ void UARTDriver::_uart_start_connection(const char *path, uint32_t baudrate)
t.c_oflag &= ~(OPOST | ONLCR);
t.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE);
t.c_cc[VMIN] = 0;
if (_sitlState->use_rtscts()) {
t.c_cflag |= CRTSCTS;
}
tcsetattr(_fd, TCSANOW, &t);
// set baudrate