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[omap] B9600 baud conflict between uart.h and termios.h

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This commit is contained in:
Christophe De Wagter
2013-08-22 10:17:29 +02:00
parent 0219f9bfa8
commit 0d57fea8c2
1 changed files with 32 additions and 5 deletions
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sw/airborne/arch/omap/mcu_periph/uart_arch.c
+30 -3
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@@ -23,6 +23,7 @@
* omap uart handling
*/
// FIXME: uart.h defines B9600 as 9600
#include "mcu_periph/uart.h"
#include <stdint.h>
@@ -31,11 +32,31 @@
#include <stdlib.h>
#include <string.h>
// FIXME: fms_serial_port includes termios.h that with omap defines B9600 as 12
// Include termios.h AFTER uart.h. This OVERWRITES (without warning) the paparazzi uart.h B9600
#include "fms/fms_serial_port.h"
// #define TRACE(fmt,args...) fprintf(stderr, fmt, args)
#define TRACE(fmt,args...)
// Convert the paparazzi B9600 which becomes 9600 to termios B9600 which becomes 12
// FIXME: not all possible baudrate are available yet.
speed_t baudconvert_drone(uint32_t baud);
speed_t baudconvert_drone(uint32_t baud)
{
if (baud <= 4800)
return B4800;
else if (baud <= 9600)
return B9600;
else if (baud <= 19200)
return B19200;
else if (baud <= 38400)
return B38400;
else if (baud <= 57600)
return B57600;
return B115200;
}
void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
struct FmsSerialPort* fmssp;
@@ -51,9 +72,9 @@ void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
p->reg_addr = (void*)fmssp;
//TODO: set device name in application and pass as argument
// FIXME: baudrate B9600 defined double
printf("opening %s on uart0 at %d\n",p->dev,baud);
int ret = serial_port_open_raw(fmssp,p->dev,baud);
// FIXME: paparazzi baud is 9600 for B9600 while open_raw needs 12 for B9600
printf("opening %s on uart0 at %d (termios.h value=%d)\n",p->dev,baud,baudconvert_drone(baud));
int ret = serial_port_open_raw(fmssp,p->dev,baudconvert_drone(baud));
if (ret != 0)
{
TRACE("Error opening %s code %d\n",p->dev,ret);
@@ -75,8 +96,11 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
p->tx_running = TRUE;
struct FmsSerialPort* fmssp = (struct FmsSerialPort*)(p->reg_addr);
int ret = write((int)(fmssp->fd),&data,1);
if (ret < 1)
{
TRACE("w %x [%d]\n",data,ret);
}
}
}
#include <errno.h>
@@ -92,7 +116,10 @@ static inline void uart_handler(struct uart_periph* p) {
// check if more data to send
if (p->tx_insert_idx != p->tx_extract_idx) {
int ret = write(fd,&(p->tx_buf[p->tx_extract_idx]),1);
if (ret < 1)
{
TRACE("w %x [%d: %s]\n",p->tx_buf[p->tx_extract_idx],ret,strerror(errno));
}
p->tx_extract_idx++;
p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
}