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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
[serial] Fix byte size, flow control, parity, stop bits configuration
This commit is contained in:
Niklas Hauser
Jacob Dahl
parent
25138d0a12
commit
17f3db9231
@ -180,8 +180,34 @@ bool SerialImpl::configure()
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//
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uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
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/* no parity, one stop bit, disable flow control */
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uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
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// Control modes
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uart_config.c_cflag = 0;
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switch (_bytesize) {
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case ByteSize::FiveBits: uart_config.c_cflag |= CS5; break;
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case ByteSize::SixBits: uart_config.c_cflag |= CS6; break;
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case ByteSize::SevenBits: uart_config.c_cflag |= CS7; break;
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case ByteSize::EightBits: uart_config.c_cflag |= CS8; break;
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}
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if (_flowcontrol == FlowControl::Enabled) {
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uart_config.c_cflag |= CRTSCTS;
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}
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if (_parity != Parity::None) {
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uart_config.c_cflag |= PARENB;
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}
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if (_parity == Parity::Odd) {
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uart_config.c_cflag |= PARODD;
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}
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if (_stopbits == StopBits::Two) {
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uart_config.c_cflag |= CSTOPB;
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}
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/* set baud rate */
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
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@ -486,7 +512,19 @@ ByteSize SerialImpl::getBytesize() const
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bool SerialImpl::setBytesize(ByteSize bytesize)
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{
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return bytesize == ByteSize::EightBits;
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// check if already configured
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if ((bytesize == _bytesize) && _open) {
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return true;
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}
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_bytesize = bytesize;
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// process bytesize change now if port is already open
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if (_open) {
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return configure();
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}
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return true;
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}
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Parity SerialImpl::getParity() const
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@ -496,7 +534,19 @@ Parity SerialImpl::getParity() const
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bool SerialImpl::setParity(Parity parity)
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{
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return parity == Parity::None;
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// check if already configured
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if ((parity == _parity) && _open) {
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return true;
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}
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_parity = parity;
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// process parity change now if port is already open
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if (_open) {
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return configure();
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}
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return true;
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}
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StopBits SerialImpl::getStopbits() const
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@ -506,7 +556,19 @@ StopBits SerialImpl::getStopbits() const
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bool SerialImpl::setStopbits(StopBits stopbits)
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{
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return stopbits == StopBits::One;
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// check if already configured
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if ((stopbits == _stopbits) && _open) {
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return true;
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}
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_stopbits = stopbits;
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// process stopbits change now if port is already open
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if (_open) {
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return configure();
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}
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return true;
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}
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FlowControl SerialImpl::getFlowcontrol() const
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@ -516,7 +578,19 @@ FlowControl SerialImpl::getFlowcontrol() const
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bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
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{
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return flowcontrol == FlowControl::Disabled;
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// check if already configured
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if ((flowcontrol == _flowcontrol) && _open) {
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return true;
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}
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_flowcontrol = flowcontrol;
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// process flowcontrol change now if port is already open
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if (_open) {
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return configure();
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}
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return true;
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}
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bool SerialImpl::getSingleWireMode() const
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@ -169,8 +169,34 @@ bool SerialImpl::configure()
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//
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uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
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/* no parity, one stop bit, disable flow control */
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uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
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// Control modes
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uart_config.c_cflag = 0;
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switch (_bytesize) {
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case ByteSize::FiveBits: uart_config.c_cflag |= CS5; break;
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case ByteSize::SixBits: uart_config.c_cflag |= CS6; break;
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case ByteSize::SevenBits: uart_config.c_cflag |= CS7; break;
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case ByteSize::EightBits: uart_config.c_cflag |= CS8; break;
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}
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if (_flowcontrol == FlowControl::Enabled) {
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uart_config.c_cflag |= CRTSCTS;
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}
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if (_parity != Parity::None) {
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uart_config.c_cflag |= PARENB;
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}
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if (_parity == Parity::Odd) {
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uart_config.c_cflag |= PARODD;
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}
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if (_stopbits == StopBits::Two) {
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uart_config.c_cflag |= CSTOPB;
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}
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/* set baud rate */
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
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@ -445,7 +471,6 @@ uint32_t SerialImpl::getBaudrate() const
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bool SerialImpl::setBaudrate(uint32_t baudrate)
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{
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// check if already configured
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if ((baudrate == _baudrate) && _open) {
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return true;
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}
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@ -467,7 +492,17 @@ ByteSize SerialImpl::getBytesize() const
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bool SerialImpl::setBytesize(ByteSize bytesize)
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{
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return bytesize == ByteSize::EightBits;
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if ((bytesize == _bytesize) && _open) {
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return true;
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}
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_bytesize = bytesize;
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if (_open) {
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return configure();
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}
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return true;
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}
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Parity SerialImpl::getParity() const
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@ -477,7 +512,17 @@ Parity SerialImpl::getParity() const
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bool SerialImpl::setParity(Parity parity)
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{
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return parity == Parity::None;
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if ((parity == _parity) && _open) {
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return true;
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}
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_parity = parity;
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if (_open) {
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return configure();
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}
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return true;
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}
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StopBits SerialImpl::getStopbits() const
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@ -487,7 +532,17 @@ StopBits SerialImpl::getStopbits() const
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bool SerialImpl::setStopbits(StopBits stopbits)
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{
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return stopbits == StopBits::One;
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if ((stopbits == _stopbits) && _open) {
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return true;
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}
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_stopbits = stopbits;
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if (_open) {
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return configure();
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}
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return true;
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}
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FlowControl SerialImpl::getFlowcontrol() const
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@ -497,7 +552,17 @@ FlowControl SerialImpl::getFlowcontrol() const
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bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
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{
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return flowcontrol == FlowControl::Disabled;
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if ((flowcontrol == _flowcontrol) && _open) {
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return true;
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}
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_flowcontrol = flowcontrol;
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if (_open) {
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return configure();
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}
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return true;
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}
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bool SerialImpl::getSingleWireMode() const
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@ -103,25 +103,14 @@ bool SerialImpl::open()
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return false;
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}
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if (_bytesize != ByteSize::EightBits) {
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PX4_ERR("Qurt platform only supports ByteSize::EightBits");
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return false;
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}
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// Check all non-supported configurations without duplicating the error strings
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if (!setBytesize(_bytesize)) { return false; }
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if (_parity != Parity::None) {
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PX4_ERR("Qurt platform only supports Parity::None");
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return false;
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}
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if (!setParity(_parity)) { return false; }
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if (_stopbits != StopBits::One) {
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PX4_ERR("Qurt platform only supports StopBits::One");
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return false;
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}
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if (!setStopbits(_stopbits)) { return false; }
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if (_flowcontrol != FlowControl::Disabled) {
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PX4_ERR("Qurt platform only supports FlowControl::Disabled");
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return false;
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}
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if (!setFlowcontrol(_flowcontrol)) { return false; }
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if (!validatePort(_port)) {
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PX4_ERR("Invalid port %s", _port);
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@ -348,7 +337,12 @@ ByteSize SerialImpl::getBytesize() const
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bool SerialImpl::setBytesize(ByteSize bytesize)
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{
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return bytesize == ByteSize::EightBits;
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if (bytesize != ByteSize::EightBits) {
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PX4_ERR("Qurt platform only supports ByteSize::EightBits");
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return false;
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}
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return true;
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}
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Parity SerialImpl::getParity() const
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@ -358,7 +352,12 @@ Parity SerialImpl::getParity() const
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bool SerialImpl::setParity(Parity parity)
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{
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return parity == Parity::None;
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if (parity != Parity::None) {
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PX4_ERR("Qurt platform only supports Parity::None");
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return false;
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}
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return true;
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}
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StopBits SerialImpl::getStopbits() const
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@ -368,7 +367,12 @@ StopBits SerialImpl::getStopbits() const
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bool SerialImpl::setStopbits(StopBits stopbits)
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{
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return stopbits == StopBits::One;
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if (stopbits != StopBits::One) {
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PX4_ERR("Qurt platform only supports StopBits::One");
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return false;
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}
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return true;
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}
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FlowControl SerialImpl::getFlowcontrol() const
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@ -378,7 +382,12 @@ FlowControl SerialImpl::getFlowcontrol() const
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bool SerialImpl::setFlowcontrol(FlowControl flowcontrol)
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{
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return flowcontrol == FlowControl::Disabled;
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if (flowcontrol != FlowControl::Disabled) {
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PX4_ERR("Qurt platform only supports FlowControl::Disabled");
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return false;
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}
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return true;
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}
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bool SerialImpl::getSingleWireMode() const
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@ -388,8 +397,12 @@ bool SerialImpl::getSingleWireMode() const
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bool SerialImpl::setSingleWireMode()
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{
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// Qurt platform does not support single wire mode
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return false;
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if (enable) {
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PX4_ERR("Qurt platform does not support single wire mode");
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return false;
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}
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return true;
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}
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bool SerialImpl::getSwapRxTxMode() const
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@ -399,14 +412,22 @@ bool SerialImpl::getSwapRxTxMode() const
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bool SerialImpl::setSwapRxTxMode()
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{
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// Qurt platform does not support swap rx tx mode
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return false;
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if (enable) {
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PX4_ERR("Qurt platform does not support swap rx tx mode");
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return false;
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}
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return true;
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}
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bool SerialImpl::setInvertedMode(bool enable)
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{
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// Qurt platform does not support inverted mode
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return false == enable;
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if (enable) {
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PX4_ERR("Qurt platform does not support inverted mode");
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return false;
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}
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return true;
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}
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bool SerialImpl::getInvertedMode() const
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{
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