From a32333994f917f16d2d7d39159c020bbdd117a67 Mon Sep 17 00:00:00 2001
From: David Riseborough <drisebor@hotmail.com>
Date: Tue, 8 May 2018 16:32:34 +1000
Subject: [PATCH] The single line UART setup was replaced with a locked down
configuration.
As per issue #9428, this code change locks down the termios configuration
for the UART to non-canonical, binary tx/rx, 8 bits, 1 stop bit, no parity.
---
msg/templates/urtps/microRTPS_transport.cpp | 14 ++++++++++++--
1 file changed, 12 insertions(+), 2 deletions(-)
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index de97d7d61c..49a7621366 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -289,8 +289,18 @@ int UART_node::init()
return -errno_bkp;
}
- // Clear ONLCR flag (which appends a CR for every LF)
- uart_config.c_oflag &= ~ONLCR;
+ //Set up the UART for non-canonical binary communication: 8 bits, 1 stop bit, no parity,
+ //no flow control, no modem control
+ uart_config.c_iflag &= !(INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXANY | IXOFF);
+ uart_config.c_iflag |= IGNBRK | IGNPAR;
+
+ uart_config.c_oflag &= !(OPOST | ONLCR | OCRNL | ONOCR | ONLRET | OFILL | NLDLY | VTDLY);
+ uart_config.c_oflag |= NL0 | VT0;
+
+ uart_config.c_cflag &= !(CSIZE | CSTOPB | PARENB);
+ uart_config.c_cflag |= CS8 | CREAD | CLOCAL;
+
+ uart_config.c_lflag &= !(ISIG | ICANON | ECHO | TOSTOP | IEXTEN);
// USB serial is indicated by /dev/ttyACM0
if (strcmp(uart_name, "/dev/ttyACM0") != 0 && strcmp(uart_name, "/dev/ttyACM1") != 0) {