LP-270 - Implement PIOS_COM_ChangeConfig API (F1)

flight/pios/common/pios_com.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       pios_com.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2015
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      COM layer functions
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -281,6 +282,24 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
     return 0;
 }
 
+int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_StopBits stop_bits, enum PIOS_COM_Parity parity)
+{
+    struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
+
+    if (!PIOS_COM_validate(com_dev)) {
+        /* Undefined COM port for this board (see pios_board.c) */
+        return -1;
+    }
+
+    /* Invoke the driver function if it exists */
+    if (com_dev->driver->set_config) {
+        com_dev->driver->set_config(com_dev->lower_id, word_len, stop_bits, parity);
+    }
+
+    return 0;
+}
+
+
 /**
  * Set control lines associated with the port
  * \param[in] port COM port

flight/pios/inc/pios_com.h

@@ -40,9 +40,31 @@ typedef void (*pios_com_callback_ctrl_line)(uint32_t context, uint32_t mask, uin
 typedef void (*pios_com_callback_baud_rate)(uint32_t context, uint32_t baud);
 typedef void (*pios_com_callback_available)(uint32_t context, uint32_t available);
 
+enum PIOS_COM_Word_Length {
+    PIOS_COM_Word_length_Unchanged = 0,
+    PIOS_COM_Word_length_8b,
+    PIOS_COM_Word_length_9b,
+};
+
+enum PIOS_COM_StopBits {
+    PIOS_COM_StopBits_Unchanged = 0,
+    PIOS_COM_StopBits_0_5,
+    PIOS_COM_StopBits_1,
+    PIOS_COM_StopBits_1_5,
+    PIOS_COM_StopBits_2,
+};
+
+enum PIOS_COM_Parity {
+    PIOS_COM_Parity_Unchanged = 0,
+    PIOS_COM_Parity_No,
+    PIOS_COM_Parity_Even,
+    PIOS_COM_Parity_Odd,
+};
+
 struct pios_com_driver {
     void     (*init)(uint32_t id);
     void     (*set_baud)(uint32_t id, uint32_t baud);
+    void     (*set_config)(uint32_t usart_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_StopBits stop_bits, enum PIOS_COM_Parity parity);
     void     (*set_ctrl_line)(uint32_t id, uint32_t mask, uint32_t state);
     void     (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
     void     (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
@@ -61,6 +83,7 @@ struct pios_com_driver {
 /* Public Functions */
 extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
 extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
+extern int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_StopBits stop_bits, enum PIOS_COM_Parity parity);
 extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
 extern int32_t PIOS_COM_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
 extern int32_t PIOS_COM_RegisterBaudRateCallback(uint32_t usart_id, pios_com_callback_baud_rate baud_rate_cb, uint32_t context);

flight/pios/stm32f10x/pios_usart.c

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       pios_usart.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (c) 2016
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -33,8 +34,10 @@
 #ifdef PIOS_INCLUDE_USART
 
 #include <pios_usart_priv.h>
+#include <pios_usart.h>
 
 /* Provide a COM driver */
+static void PIOS_USART_ChangeConfig(uint32_t usart_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_StopBits stop_bits, enum PIOS_COM_Parity parity);
 static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
 static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
 static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
@@ -43,6 +46,7 @@ static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
 
 const struct pios_com_driver pios_usart_com_driver = {
     .set_baud   = PIOS_USART_ChangeBaud,
+    .set_config = PIOS_USART_ChangeConfig,
     .tx_start   = PIOS_USART_TxStart,
     .rx_start   = PIOS_USART_RxStart,
     .bind_tx_cb = PIOS_USART_RegisterTxCallback,
@@ -249,6 +253,74 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
     USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
 }
 
+/**
+ * Changes configuration of the USART peripheral without re-initialising.
+ * \param[in] usart_id USART name (GPS, TELEM, AUX)
+ * \param[in] word_len Requested word length
+ * \param[in] stop_bits Requested stop bits
+ * \param[in] parity Requested parity
+ *
+ */
+static void PIOS_USART_ChangeConfig(uint32_t usart_id,
+                                    enum PIOS_COM_Word_Length word_len,
+                                    enum PIOS_COM_StopBits stop_bits,
+                                    enum PIOS_COM_Parity parity)
+{
+    struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;
+
+    bool valid = PIOS_USART_validate(usart_dev);
+
+    PIOS_Assert(valid);
+
+    USART_InitTypeDef USART_InitStructure;
+
+    /* Start with a copy of the default configuration for the peripheral */
+    USART_InitStructure = usart_dev->cfg->init;
+    switch (word_len) {
+    case PIOS_COM_Word_length_8b:
+        USART_InitStructure.USART_WordLength = USART_WordLength_8b;
+        break;
+    case PIOS_COM_Word_length_9b:
+        USART_InitStructure.USART_WordLength = USART_WordLength_9b;
+        break;
+    default:
+        break;
+    }
+
+    switch (stop_bits) {
+    case PIOS_COM_StopBits_0_5:
+        USART_InitStructure.USART_StopBits = USART_StopBits_0_5;
+        break;
+    case PIOS_COM_StopBits_1:
+        USART_InitStructure.USART_StopBits = USART_StopBits_1;
+        break;
+    case PIOS_COM_StopBits_1_5:
+        USART_InitStructure.USART_StopBits = USART_StopBits_1_5;
+        break;
+    case PIOS_COM_StopBits_2:
+        USART_InitStructure.USART_StopBits = USART_StopBits_2;
+        break;
+    default:
+        break;
+    }
+
+    switch (parity) {
+    case PIOS_COM_Parity_No:
+        USART_InitStructure.USART_Parity = USART_Parity_No;
+        break;
+    case PIOS_COM_Parity_Even:
+        USART_InitStructure.USART_Parity = USART_Parity_Even;
+        break;
+    case PIOS_COM_Parity_Odd:
+        USART_InitStructure.USART_Parity = USART_Parity_Odd;
+        break;
+    default:
+        break;
+    }
+    /* Write back the new configuration */
+    USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
+}
+
 static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
 {
     struct pios_usart_dev *usart_dev = (struct pios_usart_dev *)usart_id;