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92 lines
3.2 KiB
92 lines
3.2 KiB
/**************************************************************************** |
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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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