mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 16:40:35 +08:00
Lorenz Meier
135 lines
3.7 KiB
C
135 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012, 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_uart_baudchange.c
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include <string.h>
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#include <arch/board/board.h>
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#include "tests_main.h"
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#include <math.h>
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#include <float.h>
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int test_uart_baudchange(int argc, char *argv[])
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{
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int uart2_nwrite = 0;
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/* assuming NuttShell is on UART1 (/dev/ttyS0) */
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int uart2 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
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if (uart2 < 0) {
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printf("ERROR opening UART2, aborting..\n");
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return uart2;
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}
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struct termios uart2_config;
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struct termios uart2_config_original;
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int termios_state = 0;
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int ret;
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if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
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printf("ERROR getting termios config for UART2: %d\n", termios_state);
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ret = termios_state;
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goto cleanup;
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}
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if ((termios_state = tcgetattr(uart2, &uart2_config_original)) < 0) {
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printf("ERROR getting termios config for UART2: %d\n", termios_state);
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ret = termios_state;
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goto cleanup;
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}
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/* Set baud rate */
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if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
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printf("ERROR setting termios config for UART2: %d\n", termios_state);
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ret = ERROR;
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goto cleanup;
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}
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if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) {
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printf("ERROR setting termios config for UART2\n");
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ret = termios_state;
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goto cleanup;
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}
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/* Set back to original settings */
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if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) {
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printf("ERROR setting termios config for UART2\n");
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ret = termios_state;
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goto cleanup;
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}
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uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'};
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int i, r;
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for (i = 0; i < 100; i++) {
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/* uart2 -> */
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r = write(uart2, sample_uart2, sizeof(sample_uart2));
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if (r > 0) {
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uart2_nwrite += r;
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}
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}
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close(uart2);
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printf("uart2_nwrite %d\n", uart2_nwrite);
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return OK;
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cleanup:
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close(uart2);
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return ret;
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}
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