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gps: just use termios on QURT

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QURT has added support for termios calls a while back that we can now
use.
This commit is contained in:
Julian Oes
2017-04-13 11:56:16 +02:00
committed by Lorenz Meier
parent a41001354a
commit bb168287da
1 changed files with 2 additions and 36 deletions
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src/drivers/gps/gps.cpp
+2 -36
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@@ -42,12 +42,10 @@
#endif
#ifndef __PX4_QURT
#include <termios.h>
#ifndef __PX4_QURT
#include <poll.h>
#else
#include <sys/ioctl.h>
#include <dev_fs_lib_serial.h>
#endif
@@ -476,37 +474,6 @@ bool GPS::injectData(uint8_t *data, size_t len)
int GPS::setBaudrate(unsigned baud)
{
#if __PX4_QURT
// TODO: currently QURT does not support configuration with termios.
dspal_serial_ioctl_data_rate data_rate;
switch (baud) {
case 9600: data_rate.bit_rate = DSPAL_SIO_BITRATE_9600; break;
case 19200: data_rate.bit_rate = DSPAL_SIO_BITRATE_19200; break;
case 38400: data_rate.bit_rate = DSPAL_SIO_BITRATE_38400; break;
case 57600: data_rate.bit_rate = DSPAL_SIO_BITRATE_57600; break;
case 115200: data_rate.bit_rate = DSPAL_SIO_BITRATE_115200; break;
case 230400: data_rate.bit_rate = DSPAL_SIO_BITRATE_230400; break;
default:
PX4_ERR("ERR: unknown baudrate: %d", baud);
return -EINVAL;
}
int ret = ::ioctl(_serial_fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&data_rate);
if (ret != 0) {
return ret;
}
#else
/* process baud rate */
int speed;
@@ -586,7 +553,6 @@ int GPS::setBaudrate(unsigned baud)
return -1;
}
#endif
return 0;
}