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93 lines
3.2 KiB
C++
93 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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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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#include <termios.h>
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#include <errno.h>
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#include <systemlib/err.h>
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#include "gps_helper.h"
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/* @file gps_helper.cpp */
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int
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GPS_Helper::set_baudrate(const int &fd, unsigned baud)
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{
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/* process baud rate */
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int speed;
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switch (baud) {
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case 9600: speed = B9600; break;
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case 19200: speed = B19200; break;
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case 38400: speed = B38400; break;
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case 57600: speed = B57600; break;
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case 115200: speed = B115200; break;
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warnx("try baudrate: %d\n", speed);
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default:
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warnx("ERROR: Unsupported baudrate: %d\n", baud);
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return -EINVAL;
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}
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struct termios uart_config;
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int termios_state;
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/* fill the struct for the new configuration */
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tcgetattr(fd, &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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/* no parity, one stop bit */
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uart_config.c_cflag &= ~(CSTOPB | PARENB);
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/* set baud rate */
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
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warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
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return -1;
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}
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if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
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warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
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return -1;
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}
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if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
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warnx("ERROR setting baudrate (tcsetattr)\n");
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return -1;
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}
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/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
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return 0;
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}
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