[uart] fix uart speed config on linux based AP

paparazzi · Jan 13, 2014 · e863bf9 · e863bf9
1 parent 505ad70
commit e863bf9
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Showing 5 changed files with 19 additions and 2 deletions.
diff --git a/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
@@ -44,6 +44,7 @@
 #define B100000  100000
 #define B115200  115200
 #define B230400  230400
+#define UART_SPEED(_def) _def
 
 #define UART_8N1      (uint8_t)(ULCR_CHAR_8 + ULCR_PAR_NO   + ULCR_STOP_1)
 #define UART_7N1      (uint8_t)(ULCR_CHAR_7 + ULCR_PAR_NO   + ULCR_STOP_1)

diff --git a/sw/airborne/arch/omap/mcu_periph/uart_arch.h b/sw/airborne/arch/omap/mcu_periph/uart_arch.h
@@ -31,6 +31,20 @@
 // for definition of baud rates
 #include <termios.h>
 
+// for conversion between linux baud rate definition and actual speed
+#define B1200_SPEED    1200
+#define B2400_SPEED    2400
+#define B4800_SPEED    4800
+#define B9600_SPEED    9600
+#define B19200_SPEED   19200
+#define B38400_SPEED   38400
+#define B57600_SPEED   57600
+#define B100000_SPEED  100000
+#define B115200_SPEED  115200
+#define B230400_SPEED  230400
+#define B921600_SPEED  921600
+#define UART_SPEED(_def) _def##_SPEED
+
 #define UART1_irq_handler usart1_irq_handler
 #define UART2_irq_handler usart2_irq_handler
 #define UART3_irq_handler usart3_irq_handler

diff --git a/sw/airborne/arch/sim/mcu_periph/uart_arch.h b/sw/airborne/arch/sim/mcu_periph/uart_arch.h
@@ -38,6 +38,7 @@ extern char stdinout_buffer[STDINOUT_BUFFER_SIZE];
 extern uint8_t stdinout_rx_insert_idx;
 extern uint8_t stdinout_rx_extract_idx;
 
+#define UART_SPEED(_def) {}
 
 static inline bool StdInOutChAvailable(void) {
   struct timeval tv;

diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -40,5 +40,6 @@
 #define B115200  115200
 #define B230400  230400
 #define B921600  921600
+#define UART_SPEED(_def) _def
 
 #endif /* STM32_UART_ARCH_H */
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -297,7 +297,7 @@ static inline void gps_ubx_ucenter_config_port(void)
   #endif
   // UART Interface
   #if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
-    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UBX_GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
   #endif
   #if GPS_PORT_ID == GPS_PORT_USB
     UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x0, 0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
@@ -379,7 +379,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
   case 6:
     // Now the GPS baudrate should have changed
     GpsUartSetBaudrate(UBX_GPS_BAUD);
-    gps_ubx_ucenter.baud_run = UBX_GPS_BAUD;
+    gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD);
     gps_ubx_ucenter_config_nav();
     break;
   case 7: