mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
7ac51f60d0
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
124 lines
2.1 KiB
C++
124 lines
2.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
|
|
#include <termios.h>
|
|
#include <stdio.h>
|
|
#include <errno.h>
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
#include <poll.h>
|
|
|
|
#include "UARTDevice.h"
|
|
|
|
#include <termios.h>
|
|
#include <stdio.h>
|
|
#include <errno.h>
|
|
#include <unistd.h>
|
|
#include <fcntl.h>
|
|
#include <poll.h>
|
|
|
|
UARTDevice::UARTDevice(const char *device_path):
|
|
_device_path(device_path)
|
|
{
|
|
}
|
|
|
|
UARTDevice::~UARTDevice()
|
|
{
|
|
|
|
}
|
|
|
|
bool UARTDevice::close()
|
|
{
|
|
if (_fd != -1) {
|
|
if (::close(_fd) < 0) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
_fd = -1;
|
|
|
|
return true;
|
|
}
|
|
|
|
bool UARTDevice::open()
|
|
{
|
|
_fd = ::open(_device_path, O_RDWR | O_CLOEXEC);
|
|
|
|
if (_fd < 0) {
|
|
::fprintf(stderr, "Failed to open UART device %s - %s\n",
|
|
_device_path, strerror(errno));
|
|
return false;
|
|
}
|
|
|
|
_disable_crlf();
|
|
|
|
return true;
|
|
}
|
|
|
|
ssize_t UARTDevice::read(uint8_t *buf, uint16_t n)
|
|
{
|
|
return ::read(_fd, buf, n);
|
|
}
|
|
|
|
ssize_t UARTDevice::write(const uint8_t *buf, uint16_t n)
|
|
{
|
|
struct pollfd fds;
|
|
fds.fd = _fd;
|
|
fds.events = POLLOUT;
|
|
fds.revents = 0;
|
|
|
|
int ret = 0;
|
|
|
|
if (poll(&fds, 1, 0) == 1) {
|
|
ret = ::write(_fd, buf, n);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void UARTDevice::set_blocking(bool blocking)
|
|
{
|
|
int flags = fcntl(_fd, F_GETFL, 0);
|
|
|
|
if (blocking) {
|
|
flags = flags & ~O_NONBLOCK;
|
|
} else {
|
|
flags = flags | O_NONBLOCK;
|
|
}
|
|
|
|
if (fcntl(_fd, F_SETFL, flags) < 0) {
|
|
::fprintf(stderr, "Failed to make UART nonblocking %s - %s\n",
|
|
_device_path, strerror(errno));
|
|
}
|
|
|
|
}
|
|
|
|
void UARTDevice::_disable_crlf()
|
|
{
|
|
struct termios t;
|
|
memset(&t, 0, sizeof(t));
|
|
|
|
tcgetattr(_fd, &t);
|
|
|
|
// disable LF -> CR/LF
|
|
t.c_iflag &= ~(BRKINT | ICRNL | IMAXBEL | IXON | IXOFF);
|
|
t.c_oflag &= ~(OPOST | ONLCR);
|
|
t.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO | ECHOE | ECHOK | ECHOCTL | ECHOKE);
|
|
t.c_cc[VMIN] = 0;
|
|
|
|
tcsetattr(_fd, TCSANOW, &t);
|
|
}
|
|
|
|
void UARTDevice::set_speed(uint32_t baudrate)
|
|
{
|
|
struct termios t;
|
|
memset(&t, 0, sizeof(t));
|
|
|
|
tcgetattr(_fd, &t);
|
|
cfsetspeed(&t, baudrate);
|
|
tcsetattr(_fd, TCSANOW, &t);
|
|
}
|
|
|
|
#endif
|