Add in missing files.

1 files changed, 106 insertions, 0 deletions

diff --git a/src/drivers/hott/comms.c b/src/drivers/hott/comms.c
new file mode 100644
index 000000000..4a7d3c845
--- /dev/null
+++ b/src/drivers/hott/comms.c
@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file comms.c
+ * @author Simon Wilks <sjwilks@gmail.com>
+ *
+ */
+
+#include "comms.h"
+
+#include <fcntl.h>
+#include <nuttx/config.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+int
+open_uart(const char *device, struct termios *uart_config_original)
+{
+	/* baud rate */
+	static const speed_t speed = B19200;
+
+	/* open uart */
+	const int uart = open(device, O_RDWR | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", device);
+	}
+	
+	/* Back up the original uart configuration to restore it after exit */	
+	int termios_state;
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		close(uart);
+		err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* Set baud rate */
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		close(uart);
+		err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
+			 device, termios_state);
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		close(uart);
+		err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
+	}
+
+	/* Activate single wire mode */
+	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+
+	return uart;
+}
+
+
+
+
+
+
+
+
+
+