void uart3_init( void ) {
/* init RCC */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
/* Enable USART3 interrupts */
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = USART3_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 2;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* Init GPIOS */
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);
GPIO_InitTypeDef gpio;
/* GPIOC: GPIO_Pin_10 USART3 Tx push-pull */
gpio.GPIO_Pin = UART3_TxPin;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(UART3_TxPort, &gpio);
/* GPIOC: GPIO_Pin_11 USART3 Rx pin as floating input */
gpio.GPIO_Pin = UART3_RxPin;
gpio.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(UART3_RxPort, &gpio);
/* Configure USART3 */
USART_InitTypeDef usart;
usart.USART_BaudRate = UART3_BAUD;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
usart.USART_Parity = USART_Parity_No;
usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART3, &usart);
/* Enable USART3 Receive interrupts */
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
pprz_usart_set_baudrate(USART3, UART3_BAUD);
/* Enable the USART3 */
USART_Cmd(USART3, ENABLE);
// initialize the transmit data queue
uart3_tx_extract_idx = 0;
uart3_tx_insert_idx = 0;
uart3_tx_running = FALSE;
// initialize the receive data queuenn
uart3_rx_extract_idx = 0;
uart3_rx_insert_idx = 0;
}
void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
/* Configure USART */
USART_InitTypeDef usart;
usart.USART_BaudRate = baud;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
usart.USART_Parity = USART_Parity_No;
usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(p->reg_addr, &usart);
/* Enable USART1 Receive interrupts */
USART_ITConfig(p->reg_addr, USART_IT_RXNE, ENABLE);
pprz_usart_set_baudrate(p->reg_addr, baud);
/* Enable the USART */
USART_Cmd(p->reg_addr, ENABLE);
}