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AP_HAL_Linux: Remove misleading constant

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The constant passed to cflag is BOTHER, meaning the actual baud is set
in the other specific members.  Don't define B* constants as they are
misleading here and this is why it doesn't work with e.g.
cfset[io]speed()... that function expect a B* constant which in Linux
is not the speed, but an index to an array with speeds.
This commit is contained in:
Lucas De Marchi 2016-10-20 23:23:08 -02:00 committed by Andrew Tridgell
parent e88995385a
commit 539b727e5e
1 changed files with 3 additions and 7 deletions
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10
libraries/AP_HAL_Linux/RCInput_SBUS.cpp
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@ -34,11 +34,6 @@ extern const AP_HAL::HAL& hal;
using namespace Linux;
#ifndef B100000
// disco uses 100000 for baud rate to give 100000 baud
#define B100000 100000
#endif
#define SBUS_FRAME_SIZE 25
void RCInput_SBUS::init()
@ -59,10 +54,11 @@ void RCInput_SBUS::init()
tio.c_iflag |= (INPCK | IGNPAR);
tio.c_oflag &= ~OPOST;
tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
tio.c_ispeed = B100000;
tio.c_ospeed = B100000;
tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
// use BOTHER to specify speed directly in c_[io]speed member
tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
tio.c_ispeed = 100000;
tio.c_ospeed = 100000;
// see select() comment below
tio.c_cc[VMIN] = SBUS_FRAME_SIZE;
tio.c_cc[VTIME] = 0;