/****************************************************************************
 *
 *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
 *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
 *           Julian Oes <joes@student.ethz.ch>
 *
 * 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.
 *
 ****************************************************************************/

#include <termios.h>
#include <errno.h>
#include <systemlib/err.h>
#include "gps_helper.h"

/* @file gps_helper.cpp */

int
GPS_Helper::set_baudrate(const int &fd, unsigned baud)
{
	/* process baud rate */
	int speed;

	switch (baud) {
	case 9600:   speed = B9600;   break;

	case 19200:  speed = B19200;  break;

	case 38400:  speed = B38400;  break;

	case 57600:  speed = B57600;  break;

	case 115200: speed = B115200; break;

	warnx("try baudrate: %d\n", speed);

	default:
		warnx("ERROR: Unsupported baudrate: %d\n", baud);
		return -EINVAL;
	}
	struct termios uart_config;
	int termios_state;

	/* fill the struct for the new configuration */
	tcgetattr(fd, &uart_config);

	/* clear ONLCR flag (which appends a CR for every LF) */
	uart_config.c_oflag &= ~ONLCR;
	/* no parity, one stop bit */
	uart_config.c_cflag &= ~(CSTOPB | PARENB);

	/* set baud rate */
	if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
		warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state);
		return -1;
	}
	if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
		warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state);
		return -1;
	}
	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
		warnx("ERROR setting baudrate (tcsetattr)\n");
		return -1;
	}
	/* XXX if resetting the parser here, ensure it does exist (check for null pointer) */
	return 0;
}
