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author | Julian Oes <joes@student.ethz.ch> | 2013-02-07 14:48:00 -0800 |
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committer | Julian Oes <joes@student.ethz.ch> | 2013-02-07 14:48:00 -0800 |
commit | a88b9f4eefe8315cb692779dd300400d8052eb44 (patch) | |
tree | 211753642a2618aafe1c31b732b17c5c5dc1b198 /apps/drivers/gps/gps_helper.cpp | |
parent | d36eb8a3fcce358409a7205bbd75576a447ac7b4 (diff) | |
download | px4-firmware-a88b9f4eefe8315cb692779dd300400d8052eb44.tar.gz px4-firmware-a88b9f4eefe8315cb692779dd300400d8052eb44.tar.bz2 px4-firmware-a88b9f4eefe8315cb692779dd300400d8052eb44.zip |
Restructered the parsing/configuring, MTK working
Diffstat (limited to 'apps/drivers/gps/gps_helper.cpp')
-rw-r--r-- | apps/drivers/gps/gps_helper.cpp | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp new file mode 100644 index 000000000..2caa82af1 --- /dev/null +++ b/apps/drivers/gps/gps_helper.cpp @@ -0,0 +1,90 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include <termios.h> +#include <errno.h> +#include <systemlib/err.h> +#include "gps_helper.h" + +/* @file gps_helper.cpp */ + +int +GPS_Helper::set_baudrate(const int &fd, unsigned baud) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + default: + warnx("ERROR: Unsupported baudrate: %d\n", baud); + return -EINVAL; + } + struct termios uart_config; + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); + return -1; + } + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); + return -1; + } + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate (tcsetattr)\n"); + return -1; + } + /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ + return 0; +} |