From 21953daa3b5f715323414dedcaf8c4f287ec5494 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 30 Jul 2021 14:53:42 +0200 Subject: [PATCH] microRTPS: transport: fix UART configuration --- msg/templates/urtps/microRTPS_transport.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp index ebc34829b5..7f6d4a0ed8 100644 --- a/msg/templates/urtps/microRTPS_transport.cpp +++ b/msg/templates/urtps/microRTPS_transport.cpp @@ -373,11 +373,15 @@ int UART_node::init() // Flow control if (_hw_flow_control) { // HW flow control - uart_config.c_lflag |= CRTSCTS; - + uart_config.c_cflag |= CRTSCTS; + uart_config.c_iflag &= ~(IXON | IXOFF | IXANY); } else if (_sw_flow_control) { // SW flow control + uart_config.c_cflag &= ~CRTSCTS; uart_config.c_lflag |= (IXON | IXOFF | IXANY); + } else { + uart_config.c_cflag &= ~CRTSCTS; + uart_config.c_iflag &= ~(IXON | IXOFF | IXANY); } // Set baud rate