Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-02 19:53:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: fixed UART utils for cygwin and Linux

Browse Source
This commit is contained in:
Andrew Tridgell 2017-12-01 07:36:51 +11:00
parent 6bdbe53024
commit da4d3ebe2b
2 changed files with 57 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_SITL/UARTDriver.h
View File

@ -61,10 +61,9 @@ public:
enum flow_control get_flow_control(void) { return FLOW_CONTROL_ENABLE; }
virtual bool set_speed(int speed) { return true; }
virtual void configure_parity(uint8_t v) { }
virtual void set_stop_bits(int n) { }
bool set_unbuffered_writes(bool on);
void configure_parity(uint8_t v) override;
void set_stop_bits(int n) override;
bool set_unbuffered_writes(bool on) override;
void _timer_tick(void);
@ -92,6 +91,7 @@ private:
void _check_connection(void);
static bool _select_check(int );
static void _set_nonblocking(int );
bool set_speed(int speed);
SITL_State *_sitlState;

85
libraries/AP_HAL_SITL/UART_utils.cpp
View File

@ -15,11 +15,16 @@
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(__CYGWIN__)
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "UARTDriver.h"
#ifdef __CYGWIN__
#include <termios.h>
#else
#include <asm/termbits.h>
#endif
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
@ -27,86 +32,102 @@
bool HALSITL::UARTDriver::set_speed(int speed)
{
struct termios2 tc;
if (_fd < 0) {
return false;
}
#ifdef __CYGWIN__
struct termios t;
tcgetattr(_fd, &t);
cfsetspeed(&t, speed);
tcsetattr(_fd, TCSANOW, &t);
#else
struct termios2 tc;
memset(&tc, 0, sizeof(tc));
if (ioctl(_fd, TCGETS2, &tc) == -1) {
return false;
}
/* speed is configured by c_[io]speed */
tc.c_cflag &= ~CBAUD;
tc.c_cflag |= BOTHER;
tc.c_ispeed = speed;
tc.c_ospeed = speed;
if (ioctl(_fd, TCSETS2, &tc) == -1) {
return false;
}
if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) {
return false;
}
#endif
return true;
}
void HALSITL::UARTDriver::configure_parity(uint8_t v) {
void HALSITL::UARTDriver::configure_parity(uint8_t v)
{
if (_fd < 0) {
return;
}
struct termios2 tc;
#ifdef __CYGWIN__
struct termios t;
memset(&tc, 0, sizeof(tc));
if (ioctl(_fd, TCGETS2, &tc) == -1) {
tcgetattr(_fd, &t);
#else
struct termios2 t;
memset(&t, 0, sizeof(t));
if (ioctl(_fd, TCGETS2, &t) == -1) {
return;
}
#endif
if (v != 0) {
// enable parity
tc.c_cflag |= PARENB;
t.c_cflag |= PARENB;
if (v == 1) {
tc.c_cflag |= PARODD;
t.c_cflag |= PARODD;
} else {
tc.c_cflag &= ~PARODD;
t.c_cflag &= ~PARODD;
}
}
else {
// disable parity
tc.c_cflag &= ~PARENB;
}
if (ioctl(_fd, TCSETS2, &tc) == -1) {
return;
t.c_cflag &= ~PARENB;
}
if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) {
return;
}
#ifdef __CYGWIN__
tcsetattr(_fd, TCSANOW, &t);
#else
ioctl(_fd, TCSETS2, &t);
#endif
}
void HALSITL::UARTDriver::set_stop_bits(int n) {
void HALSITL::UARTDriver::set_stop_bits(int n)
{
if (_fd < 0) {
return;
}
struct termios2 tc;
#ifdef __CYGWIN__
struct termios t;
memset(&tc, 0, sizeof(tc));
if (ioctl(_fd, TCGETS2, &tc) == -1) {
tcgetattr(_fd, &t);
#else
struct termios2 t;
memset(&t, 0, sizeof(t));
if (ioctl(_fd, TCGETS2, &t) == -1) {
return;
}
if (n > 1) tc.c_cflag |= CSTOPB;
else tc.c_cflag &= ~CSTOPB;
#endif
if (ioctl(_fd, TCSETS2, &tc) == -1) {
return;
if (n > 1) {
t.c_cflag |= CSTOPB;
} else {
t.c_cflag &= ~CSTOPB;
}
if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) {
return;
}
#ifdef __CYGWIN__
tcsetattr(_fd, TCSANOW, &t);
#else
ioctl(_fd, TCSETS2, &t);
#endif
}
#endif