rt_serial.cpp

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#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#define termios asmtermios

#include <asm/termios.h>

#undef termios

#include <termios.h>

#include <errno.h>
#include <math.h>
#include <pthread.h>

#include <stropts.h>

#include <endian.h>

#include <stdint.h>

#include <rt/rt_serial.h>

int set_interface_attribs_custom_baud(int fd, int speed, int parity, int port) {
  (void)parity;
  (void)port;

  printf("\t[RT SERIAL] Configuring serial device...\n");
  struct termios2 tty;

  ioctl(fd, TCGETS2, &tty);
  tty.c_cflag &= ~CBAUD;
  tty.c_cflag |= BOTHER;
  tty.c_ispeed = speed;
  tty.c_ospeed = speed;

  tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;  // 8-bit chars
  // disable IGNBRK for mismatched speed tests; otherwise receive break
  // as \000 chars
  tty.c_iflag &= ~IGNBRK;  // disable break processing
  tty.c_lflag = 0;         // no signaling chars, no echo,
  // no canonical processing
  tty.c_oflag = 0;      // no remapping, no delays
  tty.c_cc[VMIN] = 0;   // read doesn't block
  tty.c_cc[VTIME] = 1;  // 0.5 seconds read timeout

  tty.c_iflag &= ~(IXON | IXOFF | IXANY);  // shut off xon/xoff ctrl

  tty.c_cflag |= (CLOCAL | CREAD);  // ignore modem controls,
  // enable reading
  // tty.c_cflag &= ~(PARENB | PARODD);      // shut off parity
  tty.c_cflag |= PARENB;
  tty.c_cflag &= ~CSTOPB;
  tty.c_cflag &= ~CRTSCTS;
  // cfmakeraw(&tty);

  ioctl(fd, TCSETS2, &tty);
  return 0;
}