Turn off hardware flow control. set nRESET to high.

diff --git a/lib/bno055_tty.c b/lib/bno055_tty.c
index 35ecbe6..1adfcc3 100644 (file)
--- a/lib/bno055_tty.c
+++ b/lib/bno055_tty.c
@@ -22,6 +22,7 @@
 #include <errno.h>
 #include <termios.h>
 #include <unistd.h>
+#include <sys/ioctl.h>
 
 #include <bno055_tty.h>
 
@@ -32,8 +33,13 @@ s8 BNO055_tty_init(int fd,struct bno055_t *bno055)
        if(tcgetattr(fd,&tty)) return BNO055_ERROR;
         if(cfsetspeed(&tty,B115200)) return BNO055_OUT_OF_RANGE;
        cfmakeraw(&tty);
+       tty.c_cflag&=~CRTSCTS;
+       tty.c_cflag|=CLOCAL;
         if(tcsetattr(fd,TCSANOW,&tty)) return BNO055_ERROR;
 
+       int status=TIOCM_DTR | TIOCM_RTS;
+        ioctl(fd,TIOCMBIC,&status);
+
        bno055->bus_write=BNO055_tty_write;
        bno055->bus_read=BNO055_tty_read;
        bno055->delay_msec=BNO055_tty_delay_ms;
@@ -58,6 +64,7 @@ s8 BNO055_tty_write(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
        u8 i=0;
        int n=0;
 
+       tcflush(dev_addr,TCIOFLUSH);
        array[0]=BNO055_UART_START;
        array[1]=BNO055_UART_WRITE_CMD;
        array[2]=reg_addr;
@@ -69,7 +76,6 @@ s8 BNO055_tty_write(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
        // Add a timeout? KISS approach for now...
        n=0;
        while(n < 2) if((n+=read(dev_addr,array+n,2-n))==-1) return BNO055_ERROR;
-       
        if(array[0] != BNO055_UART_ACK ||
                array[1] != BNO055_UART_SUCCESS) return BNO055_ERROR;
        
@@ -83,17 +89,17 @@ s8 BNO055_tty_read(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
        int n=0;
        int length=0;
 
+       tcflush(dev_addr,TCIOFLUSH);
        array[0]=BNO055_UART_START;
        array[1]=BNO055_UART_READ_CMD;
        array[2]=reg_addr;
        array[3]=cnt;
        
        if(write(dev_addr,array,4)==-1) return BNO055_ERROR;
-       
+
        // Add a timeout? KISS approach for now...
        n=0;
        while(n < 2) if((n+=read(dev_addr,array+n,2-n))==-1) return BNO055_ERROR;
-
        
        switch(array[0])
        {

diff --git a/test/bno055_test.c b/test/bno055_test.c
index f7dbe90..2820eef 100644 (file)
--- a/test/bno055_test.c
+++ b/test/bno055_test.c
@@ -9,7 +9,7 @@
 
 void usage_help(const char *name)
 {
-       fprintf(stderr,"Usage: %s [-i i2c_address] [-t tty_device]\n",name);
+       fprintf(stderr,"Usage: %s -i i2c_address | -t tty_device\n",name);
        exit(EXIT_FAILURE);
 }
 
@@ -52,7 +52,7 @@ int main(int argc,char *argv[])
                
                        case 't':       
                                /* TTY interface */
-                               if((fd=open(optarg,O_RDWR))==-1)
+                               if((fd=open(optarg,O_RDWR | O_NOCTTY))==-1)
                                {
                                        perror(argv[0]);
                                        return -errno;