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px4-firmware
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Do not work on USB UARTs

This commit is contained in:
Lorenz Meier 2014-03-16 19:43:09 +01:00
parent 2fe9f65c45
commit 2db7d30400
2 changed files with 20 additions and 12 deletions
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31
src/modules/mavlink/mavlink_main.cpp
View File

@ -201,6 +201,7 @@ Mavlink::Mavlink() :
_mavlink_fd(-1),
_task_running(false),
_hil_enabled(false),
_is_usb_uart(false),
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
@ -577,17 +578,19 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
return -1;
}
/*
* Setup hardware flow control. If the port has no RTS pin this call will fail,
* which is not an issue, but requires a separate call so we can fail silently.
*/
(void)tcgetattr(_uart_fd, &uart_config);
uart_config.c_cflag |= CRTS_IFLOW;
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
if (!_is_usb_uart) {
/*
* Setup hardware flow control. If the port has no RTS pin this call will fail,
* which is not an issue, but requires a separate call so we can fail silently.
*/
(void)tcgetattr(_uart_fd, &uart_config);
uart_config.c_cflag |= CRTS_IFLOW;
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
/* setup output flow control */
if (enable_flow_control(true)) {
warnx("ERR FLOW CTRL EN");
/* setup output flow control */
if (enable_flow_control(true)) {
warnx("ERR FLOW CTRL EN");
}
}
return _uart_fd;
@ -596,6 +599,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
int
Mavlink::enable_flow_control(bool enabled)
{
// We can't do this on USB - skip
if (_is_usb_uart) {
return OK;
}
struct termios uart_config;
int ret = tcgetattr(_uart_fd, &uart_config);
if (enabled) {
@ -1701,10 +1709,9 @@ Mavlink::task_main(int argc, char *argv[])
fflush(stdout);
struct termios uart_config_original;
bool usb_uart;
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &usb_uart);
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &_is_usb_uart);
if (_uart_fd < 0) {
warn("could not open %s", _device_name);

1
src/modules/mavlink/mavlink_main.h
View File

@ -208,6 +208,7 @@ private:
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
bool _is_usb_uart; /**< Port is USB */
unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */