The stupid baudrate set by ATI

the ATI specified that baudrate is 1250000 default.

while the F/T sensor start streaming, we must read with no error.

#include <stropts.h>    /*  Custom Baud Rate Settings         */
#include <asm/termios.h>

We should use asm/termios.h but not the termios.h

struct termios2 SerialPortSettings;
      int fd;

      if ((fd = open("/dev/ttyUSB0",O_RDWR|O_NOCTTY)) == -1)
      {
          printf("Error opening PTS\n");
          return -1;
      }

      if (ioctl(fd, TCGETS2, &SerialPortSettings) < 0)
      {
          printf("Failed to get\n");
          return -1;
      }

      SerialPortSettings.c_cflag &= ~CBAUD;
      SerialPortSettings.c_cflag |= BOTHER;
      SerialPortSettings.c_ispeed = 1250000;
      SerialPortSettings.c_ospeed = 1250000;
      SerialPortSettings.c_cflag |=   PARENB;
      SerialPortSettings.c_cflag &= ~ PARODD; //EVEN

      SerialPortSettings.c_cflag &= ~CSTOPB; //Stop bits = 1
      SerialPortSettings.c_cflag &= ~CSIZE;
      SerialPortSettings.c_cflag |=  CS8;
      SerialPortSettings.c_cflag |= CREAD | CLOCAL;
      SerialPortSettings.c_cc[VMIN] = 13; //读取字符的最小数量
      SerialPortSettings.c_cc[VTIME] = 0; //读取第一个字符的等待时间

      if (ioctl(fd, TCSETS2, &SerialPortSettings) < 0)
      {
          printf("Failed to set\n");
          return -1;
      }
    printf("Successfully baudrate Set\n");
    uint8_t read_buffer[100];

Use the --bytes_read = read(fd,&read_buffer,13);-- to read

in a while(1) loop, we printf the array out as below: