ardupilot/libraries/AP_HAL/utility/RCOutput_Tap_Linux.cpp

65 lines
1.5 KiB
C++

/*
* Copyright (C) 2017 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "RCOutput_Tap.h"
#include <asm/termbits.h>
#include <string.h>
#include <sys/ioctl.h>
#include <asm/ioctls.h>
#include <sys/stat.h>
#include <sys/types.h>
namespace ap {
bool RCOutput_Tap::_uart_set_speed(int speed)
{
struct termios2 tc;
if (_uart_fd < 0) {
return false;
}
memset(&tc, 0, sizeof(tc));
if (ioctl(_uart_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(_uart_fd, TCSETS2, &tc) == -1) {
return false;
}
if (ioctl(_uart_fd, TCFLSH, TCIOFLUSH) == -1) {
return false;
}
return true;
}
}
#endif