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  • You need to more clearly explain what "access" is. Because there's a significant difference between a program on the machine opening a terminal device, and an external terminal (emulator) connecting to a serial device. Commented Mar 10, 2017 at 20:18
  • @JdeBP, updated the question Commented Mar 10, 2017 at 20:37
  • I don't completely understand who needs to issue a "serial command" to what, but would a program help that pipes between /dev/ttyAMA0 and another pseudo tty, and does whatever initialization is required first? Then the userland program can access the pseudo tty slave instead of /dev/ttyAMA0. It's not hard to write such a program, look at openpty. Commented Mar 11, 2017 at 17:18