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64 lines
1.5 KiB
64 lines
1.5 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_LINUX |
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#include "RCOutput_Tap.h" |
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#include <asm/termbits.h> |
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#include <string.h> |
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#include <sys/ioctl.h> |
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#include <asm/ioctls.h> |
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#include <sys/stat.h> |
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#include <sys/types.h> |
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namespace ap { |
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bool RCOutput_Tap::_uart_set_speed(int speed) |
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{ |
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struct termios2 tc; |
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if (_uart_fd < 0) { |
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return false; |
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} |
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memset(&tc, 0, sizeof(tc)); |
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if (ioctl(_uart_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(_uart_fd, TCSETS2, &tc) == -1) { |
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return false; |
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} |
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if (ioctl(_uart_fd, TCFLSH, TCIOFLUSH) == -1) { |
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return false; |
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} |
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return true; |
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} |
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} |
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#endif
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