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138 lines
2.9 KiB
138 lines
2.9 KiB
/* |
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* Copyright (C) 2017 Intel Corporation. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "UARTDriver.h" |
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#if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(__APPLE__) |
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#define USE_TERMIOS |
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#endif |
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#ifdef USE_TERMIOS |
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#include <termios.h> |
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#else |
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#include <asm/ioctls.h> |
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#include <asm/termbits.h> |
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#endif |
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#include <string.h> |
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#include <sys/ioctl.h> |
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#include <sys/stat.h> |
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#include <sys/types.h> |
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bool HALSITL::UARTDriver::set_speed(int speed) const |
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{ |
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if (_fd < 0) { |
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return false; |
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} |
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#ifdef USE_TERMIOS |
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struct termios t; |
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tcgetattr(_fd, &t); |
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cfsetspeed(&t, speed); |
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tcsetattr(_fd, TCSANOW, &t); |
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#else |
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struct termios2 tc; |
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memset(&tc, 0, sizeof(tc)); |
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if (ioctl(_fd, TCGETS2, &tc) == -1) { |
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return false; |
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} |
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/* speed is configured by c_[io]speed */ |
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tc.c_cflag &= ~CBAUD; |
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tc.c_cflag |= BOTHER; |
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tc.c_ispeed = speed; |
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tc.c_ospeed = speed; |
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if (ioctl(_fd, TCSETS2, &tc) == -1) { |
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return false; |
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} |
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if (ioctl(_fd, TCFLSH, TCIOFLUSH) == -1) { |
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return false; |
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} |
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#endif |
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return true; |
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} |
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void HALSITL::UARTDriver::configure_parity(uint8_t v) |
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{ |
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if (_fd < 0) { |
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return; |
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} |
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#ifdef USE_TERMIOS |
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struct termios t; |
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tcgetattr(_fd, &t); |
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#else |
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struct termios2 t; |
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memset(&t, 0, sizeof(t)); |
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if (ioctl(_fd, TCGETS2, &t) == -1) { |
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return; |
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} |
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#endif |
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if (v != 0) { |
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// enable parity |
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t.c_cflag |= PARENB; |
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if (v == 1) { |
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t.c_cflag |= PARODD; |
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} else { |
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t.c_cflag &= ~PARODD; |
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} |
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} |
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else { |
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// disable parity |
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t.c_cflag &= ~PARENB; |
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} |
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#ifdef USE_TERMIOS |
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tcsetattr(_fd, TCSANOW, &t); |
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#else |
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ioctl(_fd, TCSETS2, &t); |
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#endif |
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} |
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void HALSITL::UARTDriver::set_stop_bits(int n) |
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{ |
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if (_fd < 0) { |
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return; |
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} |
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#ifdef USE_TERMIOS |
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struct termios t; |
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tcgetattr(_fd, &t); |
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#else |
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struct termios2 t; |
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memset(&t, 0, sizeof(t)); |
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if (ioctl(_fd, TCGETS2, &t) == -1) { |
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return; |
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} |
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#endif |
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if (n > 1) { |
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t.c_cflag |= CSTOPB; |
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} else { |
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t.c_cflag &= ~CSTOPB; |
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} |
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#ifdef USE_TERMIOS |
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tcsetattr(_fd, TCSANOW, &t); |
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#else |
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ioctl(_fd, TCSETS2, &t); |
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#endif |
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} |
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#endif
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