src/rs232.c

   1 /*
   2  * nao-ulib
   3  * Copyright 2011 Daniel Borkmann <dborkma@tik.ee.ethz.ch>
   4  * Subject to the GPL.
   5  * Nao-Team HTWK,
   6  * Faculty of Computer Science, Mathematics and Natural Sciences,
   7  * Leipzig University of Applied Sciences (HTWK Leipzig)
   8  */
   9
  10 #include <stdio.h>
  11 #include <unistd.h>
  12 #include <sys/types.h>
  13 #include <sys/stat.h>
  14 #include <fcntl.h>
  15 #include <termios.h>
  16
  17 #include "rs232.h"
  18 #include "die.h"
  19
  20 int open_sport(int number)
  21 {
  22         int fd;
  23         char port_name[64];
  24         struct termios term;
  25
  26         if (number < 0)
  27                 return -EINVAL;
  28
  29         memset(port_name, 0, sizeof(port_name));
  30         sprintf(port_name, "/dev/ttyS%d", number);
  31         info("Opening port %s!\n", port_name);
  32
  33         fd = open(port_name, O_RDWR | O_NOCTTY | O_NDELAY);
  34         if (fd < 0)
  35                 panic("Cannot open serial port!\n");
  36
  37         tcgetattr(fd, &term);
  38         tcflush(fd, TCIFLUSH);
  39
  40         term.c_cflag = B9600 | CS8 |CREAD | CLOCAL | HUPCL;
  41
  42         cfsetospeed(&term, B9600);
  43         tcsetattr(fd, TCSANOW, &term);
  44
  45         info("cflag=%08x\n", term.c_cflag);
  46         info("oflag=%08x\n", term.c_oflag);
  47         info("iflag=%08x\n", term.c_iflag);
  48         info("lflag=%08x\n", term.c_lflag);
  49         info("line=%02x\n", term.c_line);
  50
  51         return fd;
  52 }
  53
  54 ssize_t write_sport(int fd, char *out, size_t len)
  55 {
  56         return write(fd, out, len);
  57 }
  58
  59 ssize_t read_sport(int fd, char *in, size_t len)
  60 {
  61         return read(fd, in, len);
  62 }
  63
  64 void close_sport(int fd)
  65 {
  66         close(fd);
  67 }