test_uart_baudchange.c
3.74 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
/****************************************************************************
*
* Copyright (C) 2012-2019 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 test_uart_baudchange.c
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <string.h>
#include "tests_main.h"
#include <math.h>
#include <float.h>
int test_uart_baudchange(int argc, char *argv[])
{
int uart2_nwrite = 0;
/* assuming NuttShell is on UART1 (/dev/ttyS0) */
int uart2 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
if (uart2 < 0) {
printf("ERROR opening UART2, aborting..\n");
return uart2;
}
struct termios uart2_config;
struct termios uart2_config_original;
int termios_state = 0;
int ret;
if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
printf("ERROR getting termios config for UART2: %d\n", termios_state);
ret = termios_state;
goto cleanup;
}
if ((termios_state = tcgetattr(uart2, &uart2_config_original)) < 0) {
printf("ERROR getting termios config for UART2: %d\n", termios_state);
ret = termios_state;
goto cleanup;
}
/* Set baud rate */
if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
printf("ERROR setting termios config for UART2: %d\n", termios_state);
ret = ERROR;
goto cleanup;
}
if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) {
printf("ERROR setting termios config for UART2\n");
ret = termios_state;
goto cleanup;
}
/* Set back to original settings */
if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) {
printf("ERROR setting termios config for UART2\n");
ret = termios_state;
goto cleanup;
}
uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'};
int i, r;
for (i = 0; i < 100; i++) {
/* uart2 -> */
r = write(uart2, sample_uart2, sizeof(sample_uart2));
if (r > 0) {
uart2_nwrite += r;
}
}
close(uart2);
printf("uart2_nwrite %d\n", uart2_nwrite);
return OK;
cleanup:
close(uart2);
return ret;
}