mirror of
https://github.com/ArduPilot/ardupilot
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51665a2ea9
On Linux (and in most of posix-like systems) the baudrate set in struct termios via cfset[io]speed is actually the index of the standard baudrates, it's not the baudrate per se (hence the use of B* macros). On Linux it's possible to set the baudrate by passing the baudrate itself to TCSETS2 ioctl. Unfortunately it's not possible to include asm/termbits.h and termios.h in the same compilation unit, so we need to split it. Here we split into a Linux and a NuttX implementation.
64 lines
1.5 KiB
C++
64 lines
1.5 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_LINUX
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#include "RCOutput_Tap.h"
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#include <asm/termbits.h>
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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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namespace ap {
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bool RCOutput_Tap::_uart_set_speed(int speed)
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{
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struct termios2 tc;
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if (_uart_fd < 0) {
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return false;
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}
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memset(&tc, 0, sizeof(tc));
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if (ioctl(_uart_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(_uart_fd, TCSETS2, &tc) == -1) {
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return false;
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}
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if (ioctl(_uart_fd, TCFLSH, TCIOFLUSH) == -1) {
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return false;
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}
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return true;
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}
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}
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#endif
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