mirror of https://github.com/ArduPilot/ardupilot
65 lines
1.5 KiB
C++
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
|