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93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 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 comms.c
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* @author Simon Wilks <sjwilks@gmail.com>
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*
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*/
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#include "comms.h"
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/ioctl.h>
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#include <systemlib/err.h>
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#include <termios.h>
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int
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open_uart(const char *device)
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{
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/* baud rate */
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static const speed_t speed = B19200;
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/* open uart */
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const int uart = open(device, O_RDWR | O_NOCTTY);
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if (uart < 0) {
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err(1, "Error opening port: %s", device);
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}
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/* Back up the original uart configuration to restore it after exit */
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int termios_state;
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struct termios uart_config_original;
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if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
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close(uart);
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err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
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}
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/* Fill the struct for the new configuration */
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struct termios uart_config;
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tcgetattr(uart, &uart_config);
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/* Clear ONLCR flag (which appends a CR for every LF) */
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uart_config.c_oflag &= ~ONLCR;
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/* Set baud rate */
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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close(uart);
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err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
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device, termios_state);
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}
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if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
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close(uart);
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err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
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}
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/* Activate single wire mode */
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ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
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return uart;
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}
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