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<h1>uart_posix.c</h1> </div>
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<a href="uart__posix_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*-</span>
<a name="l00002"></a>00002 <span class="comment"> * Public platform independent Near Field Communication (NFC) library</span>
<a name="l00003"></a>00003 <span class="comment"> * </span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (C) 2009, 2010, Roel Verdult, Romuald Conty</span>
<a name="l00005"></a>00005 <span class="comment"> * </span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software: you can redistribute it and/or modify it</span>
<a name="l00007"></a>00007 <span class="comment"> * under the terms of the GNU Lesser General Public License as published by the</span>
<a name="l00008"></a>00008 <span class="comment"> * Free Software Foundation, either version 3 of the License, or (at your</span>
<a name="l00009"></a>00009 <span class="comment"> * option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> * </span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful, but WITHOUT</span>
<a name="l00012"></a>00012 <span class="comment"> * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or</span>
<a name="l00013"></a>00013 <span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for</span>
<a name="l00014"></a>00014 <span class="comment"> * more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU Lesser General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program. If not, see <http://www.gnu.org/licenses/></span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020
<a name="l00026"></a>00026 <span class="preprocessor"># include <sys/select.h></span>
<a name="l00027"></a>00027 <span class="preprocessor"># include <sys/param.h></span>
<a name="l00028"></a>00028 <span class="preprocessor"># include <termios.h></span>
<a name="l00029"></a>00029 <span class="keyword">typedef</span> <span class="keyword">struct </span>termios term_info;
<a name="l00030"></a>00030 <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00031"></a>00031 <span class="keywordtype">int</span> fd; <span class="comment">// Serial port file descriptor</span>
<a name="l00032"></a>00032 term_info tiOld; <span class="comment">// Terminal info before using the port</span>
<a name="l00033"></a>00033 term_info tiNew; <span class="comment">// Terminal info during the transaction</span>
<a name="l00034"></a>00034 } serial_port_unix;
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="comment">// timeval struct that define timeout delay for serial port:</span>
<a name="l00037"></a>00037 <span class="comment">// first is constant and currently related to PN53x response delay</span>
<a name="l00038"></a>00038 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> uiTimeoutStatic = 15000; <span class="comment">// 15 ms to allow device to respond</span>
<a name="l00039"></a>00039 <span class="comment">// second is a per-byte timeout (sets when setting baudrate)</span>
<a name="l00040"></a>00040 <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> uiTimeoutPerByte = 0;
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">// Work-around to claim uart interface using the c_iflag (software input processing) from the termios struct</span>
<a name="l00043"></a>00043 <span class="preprocessor"># define CCLAIMED 0x80000000</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span>
<a name="l00045"></a>00045 serial_port
<a name="l00046"></a>00046 uart_open (<span class="keyword">const</span> <span class="keywordtype">char</span> *pcPortName)
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 serial_port_unix *sp = malloc (<span class="keyword">sizeof</span> (serial_port_unix));
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordflow">if</span> (sp == 0)
<a name="l00051"></a>00051 <span class="keywordflow">return</span> INVALID_SERIAL_PORT;
<a name="l00052"></a>00052
<a name="l00053"></a>00053 sp->fd = open (pcPortName, O_RDWR | O_NOCTTY | O_NONBLOCK);
<a name="l00054"></a>00054 <span class="keywordflow">if</span> (sp->fd == -1) {
<a name="l00055"></a>00055 uart_close (sp);
<a name="l00056"></a>00056 <span class="keywordflow">return</span> INVALID_SERIAL_PORT;
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keywordflow">if</span> (tcgetattr (sp->fd, &sp->tiOld) == -1) {
<a name="l00060"></a>00060 uart_close (sp);
<a name="l00061"></a>00061 <span class="keywordflow">return</span> INVALID_SERIAL_PORT;
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 <span class="comment">// Make sure the port is not claimed already</span>
<a name="l00064"></a>00064 <span class="keywordflow">if</span> (sp->tiOld.c_iflag & CCLAIMED) {
<a name="l00065"></a>00065 uart_close (sp);
<a name="l00066"></a>00066 <span class="keywordflow">return</span> CLAIMED_SERIAL_PORT;
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068 <span class="comment">// Copy the old terminal info struct</span>
<a name="l00069"></a>00069 sp->tiNew = sp->tiOld;
<a name="l00070"></a>00070
<a name="l00071"></a>00071 sp->tiNew.c_cflag = CS8 | CLOCAL | CREAD;
<a name="l00072"></a>00072 sp->tiNew.c_iflag = CCLAIMED | IGNPAR;
<a name="l00073"></a>00073 sp->tiNew.c_oflag = 0;
<a name="l00074"></a>00074 sp->tiNew.c_lflag = 0;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 sp->tiNew.c_cc[VMIN] = 0; <span class="comment">// block until n bytes are received</span>
<a name="l00077"></a>00077 sp->tiNew.c_cc[VTIME] = 0; <span class="comment">// block until a timer expires (n * 100 mSec.)</span>
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (tcsetattr (sp->fd, TCSANOW, &sp->tiNew) == -1) {
<a name="l00080"></a>00080 uart_close (sp);
<a name="l00081"></a>00081 <span class="keywordflow">return</span> INVALID_SERIAL_PORT;
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a>00084 tcflush (sp->fd, TCIFLUSH);
<a name="l00085"></a>00085 <span class="keywordflow">return</span> sp;
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00099"></a><a class="code" href="uart__posix_8c.html#aeb000edb71dd276a97bf8aa173f4aa50">00099</a> <span class="preprocessor">#define UART_BAUDRATE_T0_BYTE_DURATION(X) ((1000000 * 10)/ X)</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span>
<a name="l00101"></a>00101 <span class="keywordtype">void</span>
<a name="l00102"></a>00102 uart_set_speed (serial_port sp, <span class="keyword">const</span> uint32_t uiPortSpeed)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="comment">// Set per-byte timeout</span>
<a name="l00105"></a>00105 uiTimeoutPerByte = <a class="code" href="uart__posix_8c.html#aeb000edb71dd276a97bf8aa173f4aa50">UART_BAUDRATE_T0_BYTE_DURATION</a>(uiPortSpeed);
<a name="l00106"></a>00106 DBG (<span class="stringliteral">"Serial port speed requested to be set to %d bauds (%lu µs)."</span>, uiPortSpeed, uiTimeoutPerByte);
<a name="l00107"></a>00107 <span class="keyword">const</span> serial_port_unix *spu = (serial_port_unix *) sp;
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment">// Portability note: on some systems, B9600 != 9600 so we have to do</span>
<a name="l00110"></a>00110 <span class="comment">// uint32_t <=> speed_t associations by hand.</span>
<a name="l00111"></a>00111 speed_t stPortSpeed = B9600;
<a name="l00112"></a>00112 <span class="keywordflow">switch</span> (uiPortSpeed) {
<a name="l00113"></a>00113 <span class="keywordflow">case</span> 9600:
<a name="l00114"></a>00114 stPortSpeed = B9600;
<a name="l00115"></a>00115 <span class="keywordflow">break</span>;
<a name="l00116"></a>00116 <span class="keywordflow">case</span> 19200:
<a name="l00117"></a>00117 stPortSpeed = B19200;
<a name="l00118"></a>00118 <span class="keywordflow">break</span>;
<a name="l00119"></a>00119 <span class="keywordflow">case</span> 38400:
<a name="l00120"></a>00120 stPortSpeed = B38400;
<a name="l00121"></a>00121 <span class="keywordflow">break</span>;
<a name="l00122"></a>00122 <span class="preprocessor"># ifdef B57600</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span> <span class="keywordflow">case</span> 57600:
<a name="l00124"></a>00124 stPortSpeed = B57600;
<a name="l00125"></a>00125 <span class="keywordflow">break</span>;
<a name="l00126"></a>00126 <span class="preprocessor"># endif</span>
<a name="l00127"></a>00127 <span class="preprocessor"></span><span class="preprocessor"># ifdef B115200</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span> <span class="keywordflow">case</span> 115200:
<a name="l00129"></a>00129 stPortSpeed = B115200;
<a name="l00130"></a>00130 <span class="keywordflow">break</span>;
<a name="l00131"></a>00131 <span class="preprocessor"># endif</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span><span class="preprocessor"># ifdef B230400</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span> <span class="keywordflow">case</span> 230400:
<a name="l00134"></a>00134 stPortSpeed = B230400;
<a name="l00135"></a>00135 <span class="keywordflow">break</span>;
<a name="l00136"></a>00136 <span class="preprocessor"># endif</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span><span class="preprocessor"># ifdef B460800</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span> <span class="keywordflow">case</span> 460800:
<a name="l00139"></a>00139 stPortSpeed = B460800;
<a name="l00140"></a>00140 <span class="keywordflow">break</span>;
<a name="l00141"></a>00141 <span class="preprocessor"># endif</span>
<a name="l00142"></a>00142 <span class="preprocessor"></span> <span class="keywordflow">default</span>:
<a name="l00143"></a>00143 ERR (<span class="stringliteral">"Unable to set serial port speed to %d bauds. Speed value must be one of those defined in termios(3)."</span>,
<a name="l00144"></a>00144 uiPortSpeed);
<a name="l00145"></a>00145 <span class="keywordflow">return</span>;
<a name="l00146"></a>00146 };
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="comment">// Set port speed (Input and Output)</span>
<a name="l00149"></a>00149 cfsetispeed ((<span class="keyword">struct</span> termios *) &(spu->tiNew), stPortSpeed);
<a name="l00150"></a>00150 cfsetospeed ((<span class="keyword">struct</span> termios *) &(spu->tiNew), stPortSpeed);
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (tcsetattr (spu->fd, TCSADRAIN, &(spu->tiNew)) == -1) {
<a name="l00152"></a>00152 ERR (<span class="stringliteral">"%s"</span>, <span class="stringliteral">"Unable to apply new speed settings."</span>);
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155
<a name="l00156"></a>00156 uint32_t
<a name="l00157"></a>00157 uart_get_speed (serial_port sp)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 uint32_t uiPortSpeed = 0;
<a name="l00160"></a>00160 <span class="keyword">const</span> serial_port_unix *spu = (serial_port_unix *) sp;
<a name="l00161"></a>00161 <span class="keywordflow">switch</span> (cfgetispeed (&spu->tiNew)) {
<a name="l00162"></a>00162 <span class="keywordflow">case</span> B9600:
<a name="l00163"></a>00163 uiPortSpeed = 9600;
<a name="l00164"></a>00164 <span class="keywordflow">break</span>;
<a name="l00165"></a>00165 <span class="keywordflow">case</span> B19200:
<a name="l00166"></a>00166 uiPortSpeed = 19200;
<a name="l00167"></a>00167 <span class="keywordflow">break</span>;
<a name="l00168"></a>00168 <span class="keywordflow">case</span> B38400:
<a name="l00169"></a>00169 uiPortSpeed = 38400;
<a name="l00170"></a>00170 <span class="keywordflow">break</span>;
<a name="l00171"></a>00171 <span class="preprocessor"># ifdef B57600</span>
<a name="l00172"></a>00172 <span class="preprocessor"></span> <span class="keywordflow">case</span> B57600:
<a name="l00173"></a>00173 uiPortSpeed = 57600;
<a name="l00174"></a>00174 <span class="keywordflow">break</span>;
<a name="l00175"></a>00175 <span class="preprocessor"># endif</span>
<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor"># ifdef B115200</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span> <span class="keywordflow">case</span> B115200:
<a name="l00178"></a>00178 uiPortSpeed = 115200;
<a name="l00179"></a>00179 <span class="keywordflow">break</span>;
<a name="l00180"></a>00180 <span class="preprocessor"># endif</span>
<a name="l00181"></a>00181 <span class="preprocessor"></span><span class="preprocessor"># ifdef B230400</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span> <span class="keywordflow">case</span> B230400:
<a name="l00183"></a>00183 uiPortSpeed = 230400;
<a name="l00184"></a>00184 <span class="keywordflow">break</span>;
<a name="l00185"></a>00185 <span class="preprocessor"># endif</span>
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor"># ifdef B460800</span>
<a name="l00187"></a>00187 <span class="preprocessor"></span> <span class="keywordflow">case</span> B460800:
<a name="l00188"></a>00188 uiPortSpeed = 460800;
<a name="l00189"></a>00189 <span class="keywordflow">break</span>;
<a name="l00190"></a>00190 <span class="preprocessor"># endif</span>
<a name="l00191"></a>00191 <span class="preprocessor"></span> }
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keywordflow">return</span> uiPortSpeed;
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="keywordtype">void</span>
<a name="l00197"></a>00197 uart_close (<span class="keyword">const</span> serial_port sp)
<a name="l00198"></a>00198 {
<a name="l00199"></a>00199 <span class="keywordflow">if</span> (((serial_port_unix *) sp)->fd >= 0) {
<a name="l00200"></a>00200 tcsetattr (((serial_port_unix *) sp)->fd, TCSANOW, &((serial_port_unix *) sp)->tiOld);
<a name="l00201"></a>00201 close (((serial_port_unix *) sp)->fd);
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 free (sp);
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00211"></a>00211 <span class="keywordtype">int</span>
<a name="l00212"></a><a class="code" href="uart__posix_8c.html#a51a4c4c363a0de96e1e9df399ae8b2f4">00212</a> <a class="code" href="uart_8h.html#a51a4c4c363a0de96e1e9df399ae8b2f4" title="Receive data from UART and copy data to pbtRx.">uart_receive</a> (serial_port sp, byte_t * pbtRx, <span class="keywordtype">size_t</span> * pszRx)
<a name="l00213"></a>00213 {
<a name="l00214"></a>00214 <span class="keywordtype">int</span> res;
<a name="l00215"></a>00215 <span class="keywordtype">int</span> byteCount;
<a name="l00216"></a>00216 fd_set rfds;
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="keywordtype">int</span> iExpectedByteCount = (int)*pszRx;
<a name="l00219"></a>00219 DBG (<span class="stringliteral">"iExpectedByteCount == %d"</span>, iExpectedByteCount);
<a name="l00220"></a>00220 <span class="keyword">struct </span>timeval tvTimeout = {
<a name="l00221"></a>00221 .tv_sec = 0,
<a name="l00222"></a>00222 .tv_usec = uiTimeoutStatic + (uiTimeoutPerByte * iExpectedByteCount),
<a name="l00223"></a>00223 };
<a name="l00224"></a>00224 <span class="keyword">struct </span>timeval tv = tvTimeout;
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="comment">// Reset the output count </span>
<a name="l00227"></a>00227 *pszRx = 0;
<a name="l00228"></a>00228 <span class="keywordflow">do</span> {
<a name="l00229"></a>00229 <span class="comment">// Reset file descriptor</span>
<a name="l00230"></a>00230 FD_ZERO (&rfds);
<a name="l00231"></a>00231 FD_SET (((serial_port_unix *) sp)->fd, &rfds);
<a name="l00232"></a>00232 res = select (((serial_port_unix *) sp)->fd + 1, &rfds, NULL, NULL, &tv);
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="comment">// Read error</span>
<a name="l00235"></a>00235 <span class="keywordflow">if</span> (res < 0) {
<a name="l00236"></a>00236 DBG (<span class="stringliteral">"%s"</span>, <span class="stringliteral">"RX error."</span>);
<a name="l00237"></a>00237 <span class="keywordflow">return</span> DEIO;
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239 <span class="comment">// Read time-out</span>
<a name="l00240"></a>00240 <span class="keywordflow">if</span> (res == 0) {
<a name="l00241"></a>00241 <span class="keywordflow">if</span> (*pszRx == 0) {
<a name="l00242"></a>00242 <span class="comment">// Error, we received no data</span>
<a name="l00243"></a>00243 <span class="comment">// DBG ("RX time-out (%lu µs), buffer empty.", tvTimeout.tv_usec);</span>
<a name="l00244"></a>00244 <span class="keywordflow">return</span> DETIMEOUT;
<a name="l00245"></a>00245 } <span class="keywordflow">else</span> {
<a name="l00246"></a>00246 <span class="comment">// We received some data, but nothing more is available</span>
<a name="l00247"></a>00247 <span class="keywordflow">return</span> 0;
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249 }
<a name="l00250"></a>00250 <span class="comment">// Retrieve the count of the incoming bytes</span>
<a name="l00251"></a>00251 res = ioctl (((serial_port_unix *) sp)->fd, FIONREAD, &byteCount);
<a name="l00252"></a>00252 <span class="keywordflow">if</span> (res < 0) {
<a name="l00253"></a>00253 <span class="keywordflow">return</span> DEIO;
<a name="l00254"></a>00254 }
<a name="l00255"></a>00255 <span class="comment">// There is something available, read the data</span>
<a name="l00256"></a>00256 res = read (((serial_port_unix *) sp)->fd, pbtRx + (*pszRx), MIN(byteCount, iExpectedByteCount));
<a name="l00257"></a>00257 iExpectedByteCount -= MIN (byteCount, iExpectedByteCount);
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="comment">// Stop if the OS has some troubles reading the data</span>
<a name="l00260"></a>00260 <span class="keywordflow">if</span> (res <= 0) {
<a name="l00261"></a>00261 <span class="keywordflow">return</span> DEIO;
<a name="l00262"></a>00262 }
<a name="l00263"></a>00263
<a name="l00264"></a>00264 *pszRx += res;
<a name="l00265"></a>00265 <span class="comment">// Reload timeout with a low value to prevent from waiting too long on slow devices (16x is enought to took at least 1 byte)</span>
<a name="l00266"></a>00266 tv.tv_usec = uiTimeoutPerByte * MIN( iExpectedByteCount, 16 );
<a name="l00267"></a>00267 <span class="comment">// DBG("Timeout reloaded at: %d µs", tv.tv_usec);</span>
<a name="l00268"></a>00268 } <span class="keywordflow">while</span> (byteCount && (iExpectedByteCount > 0));
<a name="l00269"></a>00269 DBG (<span class="stringliteral">"byteCount == %d, iExpectedByteCount == %d"</span>, byteCount, iExpectedByteCount);
<a name="l00270"></a>00270 <span class="keywordflow">return</span> 0;
<a name="l00271"></a>00271 }
<a name="l00272"></a>00272
<a name="l00278"></a>00278 <span class="keywordtype">int</span>
<a name="l00279"></a><a class="code" href="uart__posix_8c.html#a39c415b8d6fa14b2168f2a35cbac48d0">00279</a> <a class="code" href="uart_8h.html#a39c415b8d6fa14b2168f2a35cbac48d0" title="Send pbtTx content to UART.">uart_send</a> (serial_port sp, <span class="keyword">const</span> byte_t * pbtTx, <span class="keyword">const</span> <span class="keywordtype">size_t</span> szTx)
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281 int32_t res;
<a name="l00282"></a>00282 <span class="keywordtype">size_t</span> szPos = 0;
<a name="l00283"></a>00283 fd_set rfds;
<a name="l00284"></a>00284 <span class="keyword">struct </span>timeval tvTimeout = {
<a name="l00285"></a>00285 .tv_sec = 0,
<a name="l00286"></a>00286 .tv_usec = uiTimeoutStatic + (uiTimeoutPerByte * szTx),
<a name="l00287"></a>00287 };
<a name="l00288"></a>00288 <span class="keyword">struct </span>timeval tv = tvTimeout;
<a name="l00289"></a>00289
<a name="l00290"></a>00290 <span class="keywordflow">while</span> (szPos < szTx) {
<a name="l00291"></a>00291 <span class="comment">// Reset file descriptor</span>
<a name="l00292"></a>00292 FD_ZERO (&rfds);
<a name="l00293"></a>00293 FD_SET (((serial_port_unix *) sp)->fd, &rfds);
<a name="l00294"></a>00294 res = select (((serial_port_unix *) sp)->fd + 1, NULL, &rfds, NULL, &tv);
<a name="l00295"></a>00295
<a name="l00296"></a>00296 <span class="comment">// Write error</span>
<a name="l00297"></a>00297 <span class="keywordflow">if</span> (res < 0) {
<a name="l00298"></a>00298 DBG (<span class="stringliteral">"%s"</span>, <span class="stringliteral">"TX error."</span>);
<a name="l00299"></a>00299 <span class="keywordflow">return</span> DEIO;
<a name="l00300"></a>00300 }
<a name="l00301"></a>00301 <span class="comment">// Write time-out</span>
<a name="l00302"></a>00302 <span class="keywordflow">if</span> (res == 0) {
<a name="l00303"></a>00303 DBG (<span class="stringliteral">"%s"</span>, <span class="stringliteral">"TX time-out."</span>);
<a name="l00304"></a>00304 <span class="keywordflow">return</span> DETIMEOUT;
<a name="l00305"></a>00305 }
<a name="l00306"></a>00306 <span class="comment">// Send away the bytes</span>
<a name="l00307"></a>00307 res = write (((serial_port_unix *) sp)->fd, pbtTx + szPos, szTx - szPos);
<a name="l00308"></a>00308
<a name="l00309"></a>00309 <span class="comment">// Stop if the OS has some troubles sending the data</span>
<a name="l00310"></a>00310 <span class="keywordflow">if</span> (res <= 0) {
<a name="l00311"></a>00311 <span class="keywordflow">return</span> DEIO;
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313
<a name="l00314"></a>00314 szPos += res;
<a name="l00315"></a>00315
<a name="l00316"></a>00316 <span class="comment">// Reload timeout with a low value to prevent from waiting too long on slow devices (16x is enought to took at least 1 byte)</span>
<a name="l00317"></a>00317 tv.tv_usec = uiTimeoutStatic + uiTimeoutPerByte * MIN( szTx - szPos, 16 );
<a name="l00318"></a>00318 }
<a name="l00319"></a>00319 <span class="keywordflow">return</span> 0;
<a name="l00320"></a>00320 }
<a name="l00321"></a>00321
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