int main(void) {
///////// Initial Portion /////////////////////////
init_USART1(9600); // initialize USART1 @ 9600 baud
SystemCoreClockUpdate(); /* Get Core Clock Frequency */
if (SysTick_Config(SystemCoreClock / 1000)) { /* SysTick 1 msec interrupts */
while (1); /* Capture error */
}
USART_puts(USART1, "Init 1 complete! Hello World!rn"); // just send a message to indicate that it works
//Init GPIO for Leds on board and button input
init_GPIO();
/////////////////- Loop - ////////////////////////////////////
while (1){
// You can do whatever you want in here
USART_puts(USART1, "Init 2 complete! Hello World! \r \n"); // just send a message to indicate that it works
//GPIO_ToggleBits(GPIOD, GPIO_Pin_15 | GPIO_Pin_14 | GPIO_Pin_13| GPIO_Pin_12 );
GPIO_ToggleBits(GPIOD, GPIO_Pin_12 ); //Test Leds on board
Delay(200);
GPIO_ToggleBits(GPIOD, GPIO_Pin_13 ); //Test Leds on board
Delay(200);
GPIO_ToggleBits(GPIOD, GPIO_Pin_14 ); //Test Leds on board
Delay(1000);
}
//////////////////////////////////////////////////////////
}
int main(void) {
initButton();
initLEDs();
init_USART1(54000); // initialize USART1 @ 9600 baud
//USART_puts(USART1, "Init complete! Hello World!&"); // just send a message to indicate that it works
byte bull[5];
//Set lowest power parameter
bull[0]=0x43;
bull[1]=0x78;
bull[2]=0x1E;
bull[3]=0x09;
bull[4]=7;
USART_puts(USART1, bull);
//Set 50000bps
bull[0]=0x43;
bull[1]=0x78;
bull[2]=0x1E;
bull[3]=0x08;
bull[4]=50;
USART_puts(USART1, bull);
while (1){
char buff[4]="*&*";
USART_puts(USART1, buff);
}
}
void abrir(char *id, uint8_t print) {
uint32_t num_id = (uint32_t) strtoul(id, NULL, 0);
// USART_puts(USART2, "Abrir: Comando ainda nao implementado. ID: ");
// USART_puts(USART2, id);
// USART_puts(USART2, "\n");
if (consultaID(num_id)) {
if (print)
USART_puts(USART2, "Usuario Cadastrado!\n");
openRequestTimer = 10000;
// USART_puts(USART2, "Abrindo o Portao!\n");
} else {
uint8_t i;
if (print)
USART_puts(USART2, "Usuario Nao Cadastrado!\n");
for( i = 1 ; i <= bufferNaoCadastrados[0] ; ++i ){
if( bufferNaoCadastrados[i] == num_id ){
return;
}
}
if (bufferNaoCadastrados[0] < 9) {
bufferNaoCadastrados[0]++;
bufferNaoCadastrados[bufferNaoCadastrados[0]] = num_id;
}
}
}
// cpu <-> gpu serial
void usart1_isr ( void ) {
// check if the USART1 receive interrupt flag was set
if ( USART_GetITStatus ( USART1, USART_IT_RXNE ) ) {
static uint8_t cnt = 0; // this counter is used to determine the string length
char t = USART1->DR; // the character from the USART1 data register is saved in t
/* check if the received character is not the LF character (used to determine end of string)
* or the if the maximum string length has been been reached
*/
if( (t != '\n') && (cnt < MAX_STRLEN) ){
received_string[cnt] = t;
cnt++;
} else { // otherwise reset the character counter and print the received string
cnt = 0;
//USART_puts(USART1, received_string);
USART_puts ( USART2, "avr: " );
USART_puts ( USART2, received_string );
USART_puts ( USART2, "\r\n" );
}
} // if USART received
} // func
/**
* @brief Configures all needed resources (I2C, DCMI and DMA) to interface with
* the OV9655 camera module
* @param None
* @retval 0x00 Camera module configured correctly
* 0xFF Camera module configuration failed
*/
uint8_t DCMI_OV9655Config(void)
{
uint8_t readvalue;
char str[8];
uint8_t opmask=MODE|LEN|OEN_TRI_SEL_MASK;
/* I2C1 will be used for camera configuration */
I2C1_Config();
// - Read ID and check
readvalue=DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,ID);
sprintf(str,"ID=%x,",readvalue);
USART_puts(USART2,str);
//- Write opform register
//Mode=0, Len=0, rest default
tw9910_mask_set(OV9655_DEVICE_WRITE_ADDRESS, OPFORM, opmask, 0x00|OEN_TRI_SEL_ALL_ON);
//- set resolution(vscale,hscale or vactive,hactive and vdelay hdelay)
/* OV9655 Camera size setup */
DCMI_OV9655_QVGASizeSetup();
//- write the hsync vsync pin configuration(output control 0x05)
DCMI_SingleRandomWrite(OV9655_DEVICE_WRITE_ADDRESS, OUTCTR1, 0x02);//**0x11,0x01,0x10?
//- write clock
DCMI_SingleRandomWrite(OV9655_DEVICE_WRITE_ADDRESS, OUTCTR2, 0x00);
//- write vbi control register for invalid bit settings and Hactive enable
tw9910_mask_set(OV9655_DEVICE_WRITE_ADDRESS,VBICNTL,0x18, 0x18);//Enable HA_EN**0,1? and cntl656
//- read and print status registers(Nicely! - normal status, detected format etc.)
readvalue=DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,STATUS1);
sprintf(str,"St1=%x,",readvalue);
USART_puts(USART2,str);
while((DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,STATUS1)&~0x10)!=0x68){
Delay(10);
}
readvalue=DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,STATUS1);
sprintf(str,"St1=%x,",readvalue);
// USART_puts(USART2,str);
readvalue=DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,STATUS2);
sprintf(str,"St2=%x,",readvalue);
USART_puts(USART2,str);
readvalue=DCMI_SingleRandomRead(OV9655_DEVICE_READ_ADDRESS,SDT);
sprintf(str,"Sdt=%x\n",readvalue);
USART_puts(USART2,str);
/* Configure the DCMI to interface with the OV9655 camera module */
DCMI_Config();
return (0x00);
}
//--------------
//main loop
int main(void)
{
int i=0;
for(i=0;i<100000ul;i++);
rcc_config();
nvic_config();
gpio_config();
usart_config();
USART_puts(USART1, "USART BT initialization complete!\r\n"); // just send a message to indicate that it works
MPU6050_I2C_Init();
MPU6050_Initialize();
if( MPU6050_TestConnection() == 1){
// connection success
USART_puts(USART1, "I2C IMU connection initialization complete!\r\n");
}else{
// connection failed
USART_puts(USART1, "I2C initialization failed!\r\n");
}
//sysTick_Config_Mod(SysTick_CLKSource_HCLK_Div8, 10500000ul); // interruption every 1/2sec from systick
sysTick_Config_Mod(SysTick_CLKSource_HCLK_Div8, 840000ul); // interruption every 0.04sec from systick
while(1)
{
}
}
void TIM4_Init(void)
{
TIM4->PSC = 1999;
TIM4->ARR = 41999;
TIM4->CR1 |= TIM_CR1_CEN;
USART_puts(USART1, "TIM4 init ok");
USART_puts(USART1, "\n\r");
}
void backward(){
SpeedValue_left = 105;
SpeedValue_right = 105;
mMove(SpeedValue_left, SpeedValue_right);
USART_puts(USART3, "left:");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right:");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
void forward(){
SpeedValue_left = 140;
SpeedValue_right = 140;
mMove(SpeedValue_left,SpeedValue_right);
USART_puts(USART3, "left:");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right:");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
void stop(){
SpeedValue_left = 120;
SpeedValue_right = 120;
mMove(SpeedValue_left, SpeedValue_right);
USART_puts(USART3, "left");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
void right(){
SpeedValue_left = 140;
SpeedValue_right = 105;
mMove(SpeedValue_left, SpeedValue_right);
USART_puts(USART3, "left");
USART_putd(USART3, SpeedValue_left);
USART_puts(USART3, " right");
USART_putd(USART3, SpeedValue_right);
USART_puts(USART3, "\r\n");
}
uint8_t handleTopPacket(void)
{
if(USART_GetFlagStatus(USART2, USART_FLAG_RXNE))
{
uint8_t received = USART_ReceiveData(USART2);
if(START_BYTE == received)
{
uint8_t timer = 0; //Timer used to stop the function from waiting for data if there is an error
GPIO_SetBits(GPIOD, GREED_LED); //Turns on the green led
uint8_t counter = 1; //Counter used to count how many bytes we have read in from the top borad
while(counter < PACKET_SIZE && timer < 0xFFFF) //Waits until all 16 bytes are read in. If no data comes then the function will break
//out after a short period of time
{
if(USART_GetFlagStatus(USART2, USART_FLAG_RXNE)) //if data is received store it in the array storage
{
received = USART_ReceiveData(USART2);
if(received != START_BYTE)
{
storage[counter] = received; //Reads in the data from the buffer into an array
counter++; //Increments the counter
}
else
{
return(0);
}
}
GPIO_SetBits(GPIOD, ORANGE_LED);
timer++;
}
if(1 || (checksum(storage, PACKET_SIZE - 3) == storage[PACKET_SIZE - 2]) && (storage[PACKET_SIZE - 1] == END_BYTE)) //Checks the check sum and the end byte
{
GPIO_ResetBits(GPIOD, ORANGE_LED);
convertTBtoBB(storage); //Converts the data from the top board into motor controller commands that we can use
sendPackets(); //Sends the motor controller commands produced by the convert function
return(1); //Reading the packet was successful!
}
else
{
USART_puts(USART1, (checksum(storage, PACKET_SIZE - 3)));
USART_puts(USART1,storage[PACKET_SIZE - 2]);
return(0); //Returns 0 if the check sum or end byte were incorrect
}
}
else
return(0); //Makes the function recursive until we get a response from the top board
}
else
return(0);
}
void listar(void) {
int i = 0;
uint32_t contadorRegistros;
USART_puts(USART2, "Usuarios Cadastrados: \n");
contadorRegistros = buffer[0];
sprintf(string_buffer, "Quantidade: %d\n", (int) contadorRegistros);
USART_puts(USART2, string_buffer);
if (contadorRegistros != 0)
USART_puts(USART2, "\tCodigo\n");
for (i = 1; i <= contadorRegistros; i++) {
sprintf(string_buffer, "%d.\t%d\n", i, (int) buffer[i]);
USART_puts(USART2, string_buffer);
}
USART_puts(USART2, "Usuarios Nao Cadastrados (Recentes): \n");
contadorRegistros = bufferNaoCadastrados[0];
sprintf(string_buffer, "Quantidade: %d\n", (int) contadorRegistros);
USART_puts(USART2, string_buffer);
if (contadorRegistros != 0)
USART_puts(USART2, "\tCodigo\n");
for (i = 1; i <= contadorRegistros; i++) {
sprintf(string_buffer, "%d.\t%d\n", i, (int) bufferNaoCadastrados[i]);
USART_puts(USART2, string_buffer);
}
bufferNaoCadastrados[0] = 0;
}
void convert_int(int x)
{
if(x<0)
{
x = x*(-1);
USART_puts(USART2,'-');
}
if(x>=10)
convert_int(x/10);
x = x%10;
USART_puts(USART2,x+'0');
}
// this is the interrupt request handler (IRQ) for ALL USART3 interrupts
void USART3_IRQHandler(void){
// check if the USART3 receive interrupt flag was set
if( USART_GetITStatus(USART3, USART_IT_RXNE) ){
/*check the uart RX have accept the char*/
GPIO_ToggleBits(GPIOD,GPIO_Pin_14);
static uint8_t cnt = 0; // this counter is used to determine the uart receive string length
//Receive_data = USART3->DR; // the character from the USART3 data register is saved in t
Receive_data = USART_ReceiveData(USART3);;
/* check if the received character is not the LF character (used to determine end of string)
* or the if the maximum string length has been been reached
*/
if( cnt < MAX_STRLEN){
received_string[cnt] = Receive_data;
if(Receive_data=='0') GPIO_ToggleBits(GPIOD,GPIO_Pin_15);
/*start determine the period of command.*/
if(received_string[cnt]=='\r'){
Receive_String_Ready = 1; /*Ready to parse the command */
cnt=0; /*restart to accept next stream message.*/
}
else{
cnt++;
}
}
else{ // over the max string length, cnt return to zero.
Receive_String_Ready=1;
cnt = 0;
}
if(Receive_String_Ready){
//print the content of the received string
USART_puts(USART3, received_string);
USART_puts(USART3,"\r\n");
//receive_task();
/*clear the received string and the flag*/
Receive_String_Ready = 0;
int i;
for( i = 0 ; i< MAX_STRLEN ; i++){
received_string[i]= 0;
}
}
}
}
void TIM2_Init(void)
{
TIM2->CR1 &= ~TIM_CR1_CEN;
prescaler = SystemCoreClock/2;
prescaler /=Timer_Frequency;
prescaler -=1;
TIM2 -> PSC = (Timer_Frequency-1);
TIM2 -> ARR = prescaler;
NVIC_EnableIRQ(TIM2_IRQn);
NVIC_SetPriority(TIM2_IRQn, 0x01);
TIM2->DIER |= TIM_DIER_UIE;
TIM2->CR1 |= TIM_CR1_CEN;
USART_puts(USART1, "TIM2 init ok");
USART_puts(USART1, "\n\r");
}
FRESULT ff_read(void)
{
char line[20];
printf("ff_read begin\n\r");
res = f_mount(&fatfs, "", 0);
if(res != FR_OK) printf("mount failed: %d\n\r", res);
res = f_open(&file, "test.txt", FA_READ);
res = f_open(&file2, "var.txt", FA_READ);
if(res != FR_OK) printf("open failed: %d\n\r", res);
speed[0] = 1;
speed[1] = 0;
while(1)
{
f_gets(line, sizeof(line), &file);
if(line[0] == 0) break;
USART_puts(USART3, line);
int i;
for(i = 0; i < 20; i++) line[i] = 0;
}
res = f_read(&file2, speed, sizeof(speed), &br);
printf("speed:%d, %d\n\r",speed[0], speed[1]);
res = f_close(&file);
res = f_close(&file2);
if(res != FR_OK) printf("close failed: %d\n\r", res);
res = f_mount(NULL, "", 0);
if(res != FR_OK) printf("umnout failed: %d\n\r", res);
}
void printf2(const char *format, ...)
{
if ( Utils::inISR() ) {
Event *e = EventPool::instance().newEvent(DEBUG_EVENT);
if ( e == NULL )
return;
va_list list;
va_start(list, format);
vsnprintf(e->debugMessage.buffer, 128, format, list);
va_end(list);
EventQueue::instance().push(e);
}
else {
va_list list;
va_start(list, format);
vsnprintf(__buffer, 128, format, list);
va_end(list);
#ifdef MULTIPLEXED_OUTPUT
DataTerminal::instance().write("DEBUG", __buffer);
#else
USART_puts(USART2, __buffer);
#endif
}
}
void test_motors(int max_torgue)
{
cnt = 0;
while(cnt < max_torgue)
{
sprintf(send, "hhh: %d\n",cnt);
USART_puts(USART2, send);
if(cnt < max_torgue-1)
{
STM_EVAL_LEDOn(LED3);
cnt = cnt + 5;
ESC_SetPower(1,cnt);
ESC_SetPower(2,cnt);
ESC_SetPower(3,cnt);
ESC_SetPower(4,cnt);
Delay(10);
}else
{
STM_EVAL_LEDOff(LED3);
ESC_SetPower(1,0);
ESC_SetPower(2,0);
ESC_SetPower(3,0);
ESC_SetPower(4,0);
Delay(3000);
}
if(UserButtonPressed == 1)
{
break;
}
}
}
void usartTaskMain(void* dummy) {
USART_puts("usartTaskMain");
while (1) {
vTaskDelay(usartTask_delay); // yield
}
return;
}
void USART2_INIT(void)
{
GPIOA -> MODER |= GPIO_MODER_MODER3_1; // RX PD6 to alternate function output push-pull at 50 MHz 0x10
GPIOA -> MODER |= GPIO_MODER_MODER2_1; // TX PD5 to alternate function output push-pull at 50 MHz 0x10
GPIOA -> OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3_0 | GPIO_OSPEEDER_OSPEEDR3_1; //50Mhz fast speed
GPIOA -> OSPEEDR |= GPIO_OSPEEDER_OSPEEDR2_0 | GPIO_OSPEEDER_OSPEEDR2_1;
GPIOA -> PUPDR |= GPIO_PUPDR_PUPDR2_0;
GPIOA -> AFR[0] |= (7<<8);
GPIOA -> AFR[0] |= (7<<12);
BRR = (SystemCoreClock/4) / (BaudRate*16);
USART2 -> BRR = (68 << 4 ) + 0x06; //38400br
USART2 -> CR1 |= USART_CR1_UE | USART_CR1_RE | USART_CR1_TE;
USART2 -> CR3 |= USART_CR3_DMAR;
USART_puts(USART1, "USART2 init ok");
USART_puts(USART1, "\n\r");
}
void serial::write(uint8_t* packet, uint8_t size)
{
for(int i = 0; i < size; i++)
{
USART_puts(thisUsart, packet[i]);
}
}
void USART_putd(USART_TypeDef* USARTx, uint32_t number) //uint32_t = unsigned int
{
static uint32_t temp; //uint32_t
static uint8_t cnt = 0; //uint8_t = unsigned char
volatile uint8_t tmp_num[10]; //uint8_t
volatile uint8_t num[10]; //uint8_t
if(number == 0){
tmp_num[cnt++] = '0';
}
while(number != 0){
temp = number % 10;
number -= temp;
number /= 10;
tmp_num[cnt] = temp+'0';
cnt++;
}
int j = 0;
while(cnt){
num[j++] = tmp_num[--cnt];
}
num[j] = '\0';
USART_puts(USART3, num);
cnt = 0;
int i;
for( i = 0 ; i< 10 ; i++){
tmp_num[i]= 0;
num[i]= 0;
}
}
int main (void) {
SystemCoreClockUpdate();
USART_init(&usart, PIO0_18, PIO0_19);
USART_begin(&usart, 9600);
USART_puts(&usart, "Hello.\n");
VCOM_Init(); // VCOM Initialization
USB_Init(); // USB Initialization
USB_Connect(TRUE); // USB Connect
while (!USB_Configuration) ; // wait until USB is configured
while (1) { // Loop forever
VCOM_Serial2Usb(); // read serial port and initiate USB event
VCOM_CheckSerialState();
VCOM_Usb2Serial();
} // end while
SPI_init(&SPI0, PIO0_1, PIO0_1, PIO0_1, PIO0_2);
while ( 1 );
}
void USART1_IRQHandler(void)
{
if( USART_GetITStatus(USART1, USART_IT_RXNE) )
{
char t = USART1->DR;
USART_puts(USART1, (t+10)%256);
}
}
void DMA2_Init(void)
{
DMA2_Stream0 -> CR &= ~DMA_SxCR_EN; // disable Stream0
DMA2_Stream0 -> PAR = (uint32_t)&ADC1->DR; // from periph port register
DMA2_Stream0 -> M0AR = (uint32_t) &adc_buffer; // write to memory
DMA2_Stream0 -> NDTR = ARRAYSIZE; // number of data items
DMA2_Stream0 -> CR |= DMA_SxCR_MINC; // memory increment
DMA2_Stream0 -> CR &= ~(DMA_SxCR_CHSEL); // select chanel0
DMA2_Stream0 -> CR |= DMA_SxCR_MSIZE_0; // half-word (16bit) memory data size
DMA2_Stream0 -> CR |= DMA_SxCR_PSIZE_0; // half-word (16bit) peripherial data size
DMA2_Stream0 -> CR |= DMA_SxCR_TCIE; // transaction complete interrupt
DMA2_Stream0 -> CR |= DMA_SxCR_CIRC; // non enable continous mode
DMA2_Stream0 -> CR |= DMA_SxCR_EN; // enable Stream0
NVIC_EnableIRQ(DMA2_Stream0_IRQn); // enable IRQ
USART_puts(USART1, "DMA2 init ok");
USART_puts(USART1, "\n\r");
}
void cnc_joystick_interrupt(){
if(cnc_joystick_button_status(BUTTON_UP))USART_puts(USART1, "Button UP pressed\n\r");
if(cnc_joystick_button_status(BUTTON_DOWN))USART_puts(USART1, "Button DOWN pressed\n\r");
if(cnc_joystick_button_status(BUTTON_FORWARD))USART_puts(USART1, "Button FORWARD pressed\n\r");
if(cnc_joystick_button_status(BUTTON_BACK))USART_puts(USART1, "Button BACK pressed\n\r");
if(cnc_joystick_button_status(BUTTON_LEFT))USART_puts(USART1, "Button LEFT pressed\n\r");
if(cnc_joystick_button_status(BUTTON_RIGHT))USART_puts(USART1, "Button RIGHT pressed\n\r");
if(cnc_joystick_button_status(BUTTON_OK))USART_puts(USART1, "Button OK pressed\n\r");
if(cnc_joystick_button_status(BUTTON_CANCEL))USART_puts(USART1, "Button CANCEL pressed\n\r");
}
/* test use for printing the status and counter value through usart */
void getEncoder(void){
detachEXTI(EXTI_Line0 | EXTI_Line1 | EXTI_Line2 | EXTI_Line3);
USART_puts(USART3, "L_state:");
USART_putd(USART3, ENCODER_L.rotate);
USART_puts(USART3, " R_state:");
USART_putd(USART3, ENCODER_R.rotate);
getEncoderState(&ENCODER_L);
getEncoderState(&ENCODER_R);
USART_puts(USART3, " L_state2:");
USART_putd(USART3, ENCODER_L.rotate);
USART_puts(USART3, " R_state2:");
USART_putd(USART3, ENCODER_R.rotate);
USART_puts(USART3, " le_en:");
USART_putd(USART3, ENCODER_L.count);
USART_puts(USART3, " ri_en:");
USART_putd(USART3, ENCODER_R.count);
USART_puts(USART3, "\r\n");
/* clear encoder counter*/
ENCODER_L.count = 0;
ENCODER_R.count = 0;
attachEXTI(EXTI_Line0 | EXTI_Line1 | EXTI_Line2 | EXTI_Line3);
}
void ADC_Init(void)
{
ADC1-> CR1 |=ADC_CR1_SCAN; // Enable channel scan
ADC1-> CR2 |=ADC_CR2_CONT; //continous
ADC1-> SQR1 |=(1<<20); // 0001: 2 conversion
ADC1-> SQR3 |=(16<<0); // Channel 16 first sequence
ADC1-> SQR3 |=(18<<5); // Channel 18 second sequence
ADC1-> CR2 |=ADC_CR2_ADON; // Enable ADC1
ADC1->CR2 &=~ADC_CR2_DMA;
ADC1->CR2 |=ADC_CR2_DMA;
ADC1->SMPR1 |= ADC_SMPR1_SMP16_1 | ADC_SMPR1_SMP16_2; // sampling time 144 cycles
ADC1->SMPR1 |= ADC_SMPR1_SMP18_1 | ADC_SMPR1_SMP18_2; // sampling time 144 cycles
ADC -> CCR |=ADC_CCR_TSVREFE; // Enable TSVREFE
ADC -> CCR |=ADC_CCR_VBATE; // Enable VBATE
ADC1 -> DR = 0;
USART_puts(USART1, "ADC init ok");
USART_puts(USART1, "\n\r");
}
void USART1_INIT(uint32_t baudrate)
{
GPIOB -> MODER |= GPIO_MODER_MODER6_1; // RX PD6 to alternate function output push-pull at 50 MHz 0x10
GPIOB -> MODER |= GPIO_MODER_MODER7_1; // TX PD5 to alternate function output push-pull at 50 MHz 0x10
GPIOB -> OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6_0 | GPIO_OSPEEDER_OSPEEDR6_1; //50Mhz fast speed
GPIOB -> OSPEEDR |= GPIO_OSPEEDER_OSPEEDR7_0 | GPIO_OSPEEDER_OSPEEDR7_1;
GPIOB -> PUPDR |= GPIO_PUPDR_PUPDR6_0;
GPIOB -> AFR[0] |= (7<<24);
GPIOB -> AFR[0] |= (7<<28);
USART1 -> BRR = (136 << 4 ) + 0x0C; //38400br
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); // enable the USART1 receive interrupt
NVIC_SetPriority(USART1_IRQn, 2);
NVIC_EnableIRQ(USART1_IRQn);
USART1 -> CR1 |= USART_CR1_UE | USART_CR1_RE | USART_CR1_TE;
USART_puts(USART1, "USART1 init ok");
USART_puts(USART1, "\n\r");
}