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The single line UART setup was replaced with a locked down configuration.

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As per issue #9428, this code change locks down the termios configuration
for the UART to non-canonical, binary tx/rx, 8 bits, 1 stop bit, no parity.
This commit is contained in:
David Riseborough 2018-05-08 16:32:34 +10:00 committed by Lorenz Meier
parent 7220fb1b21
commit a32333994f
1 changed files with 12 additions and 2 deletions
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14
msg/templates/urtps/microRTPS_transport.cpp
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@ -289,8 +289,18 @@ int UART_node::init()
return -errno_bkp;
}
// Clear ONLCR flag (which appends a CR for every LF)
uart_config.c_oflag &= ~ONLCR;
//Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity,
//no flow control, no modem control
uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
uart_config.c_iflag |= IGNBRK | IGNPAR;
uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
uart_config.c_oflag |= NL0 | VT0;
uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
uart_config.c_cflag |= CS8 | CREAD | CLOCAL;
uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
// USB serial is indicated by /dev/ttyACM0
if (strcmp(uart_name, "/dev/ttyACM0") != 0 && strcmp(uart_name, "/dev/ttyACM1") != 0) {