mirror of https://github.com/ArduPilot/ardupilot
139 lines
2.8 KiB
C++
139 lines
2.8 KiB
C++
/*
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* Copyright (C) 2017 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "UARTDriver.h"
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#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(__APPLE__)
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#define USE_TERMIOS
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#endif
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#ifdef USE_TERMIOS
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#include <termios.h>
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#else
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#include <asm/ioctls.h>
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#include <asm/termbits.h>
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#endif
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#include <string.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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bool HALSITL::UARTDriver::set_speed(int speed)
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{
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if (_fd < 0) {
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return false;
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}
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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cfsetspeed(&t, speed);
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tcsetattr(_fd, TCSANOW, &t);
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#else
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struct termios2 tc;
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memset(&tc, 0, sizeof(tc));
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if (ioctl(_fd, TCGETS2, &tc) == -1) {
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return false;
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}
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/* speed is configured by c_[io]speed */
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tc.c_cflag &= ~CBAUD;
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tc.c_cflag |= BOTHER;
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tc.c_ispeed = speed;
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tc.c_ospeed = speed;
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if (ioctl(_fd, TCSETS2, &tc) == -1) {
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return false;
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}
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if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) {
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return false;
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}
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#endif
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return true;
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}
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void HALSITL::UARTDriver::configure_parity(uint8_t v)
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{
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if (_fd < 0) {
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return;
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}
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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#else
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struct termios2 t;
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memset(&t, 0, sizeof(t));
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if (ioctl(_fd, TCGETS2, &t) == -1) {
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return;
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}
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#endif
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if (v != 0) {
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// enable parity
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t.c_cflag |= PARENB;
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if (v == 1) {
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t.c_cflag |= PARODD;
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} else {
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t.c_cflag &= ~PARODD;
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}
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}
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else {
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// disable parity
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t.c_cflag &= ~PARENB;
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}
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#ifdef USE_TERMIOS
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tcsetattr(_fd, TCSANOW, &t);
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#else
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ioctl(_fd, TCSETS2, &t);
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#endif
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}
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void HALSITL::UARTDriver::set_stop_bits(int n)
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{
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if (_fd < 0) {
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return;
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}
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#ifdef USE_TERMIOS
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struct termios t;
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tcgetattr(_fd, &t);
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#else
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struct termios2 t;
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memset(&t, 0, sizeof(t));
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if (ioctl(_fd, TCGETS2, &t) == -1) {
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return;
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}
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#endif
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if (n > 1) {
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t.c_cflag |= CSTOPB;
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} else {
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t.c_cflag &= ~CSTOPB;
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}
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#ifdef USE_TERMIOS
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tcsetattr(_fd, TCSANOW, &t);
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#else
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ioctl(_fd, TCSETS2, &t);
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#endif
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}
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#endif
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