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px4-firmware
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Fix FIONWRITE usage

This commit is contained in:
Lorenz Meier 2014-03-12 09:36:12 +01:00
parent f66b0ad8ac
commit 023c7069c4
1 changed files with 11 additions and 7 deletions
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18
src/modules/mavlink/mavlink_main.cpp
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@ -158,13 +158,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
*/
int buf_free = 0;
if (ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0 &&
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) {
struct termios uart_config;
(void)tcgetattr(uart, &uart_config);
uart_config.c_cflag &= ~CRTSCTS;
(void)tcsetattr(uart, TCSANOW, &uart_config);
warnx("DISABLING HARDWARE FLOW CONTROL");
if (ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
if (buf_free == 0 && last_write_times[(unsigned)channel] != 0 &&
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) {
struct termios uart_config;
(void)tcgetattr(uart, &uart_config);
uart_config.c_cflag &= ~CRTSCTS;
(void)tcsetattr(uart, TCSANOW, &uart_config);
warnx("DISABLING HARDWARE FLOW CONTROL");
}
}
ssize_t ret = write(uart, ch, desired);