void uartInit(void)
{
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable GPIO and USART clock */
RCC_APB2PeriphClockCmd(UART_GPIO_PERIF, ENABLE);
RCC_APB1PeriphClockCmd(UART_PERIF, ENABLE);
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure USART Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_TX;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
#if defined(UART_OUTPUT_TRACE_DATA) || defined(ADC_OUTPUT_RAW_DATA) || defined(IMU_OUTPUT_RAW_DATA_ON_UART)
USART_InitStructure.USART_BaudRate = 2000000;
USART_InitStructure.USART_Mode = USART_Mode_Tx;
#else
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
#endif
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(UART_TYPE, &USART_InitStructure);
#if defined(UART_OUTPUT_TRACE_DATA) || defined(ADC_OUTPUT_RAW_DATA)
uartDmaInit();
#else
// Configure Tx buffer empty interrupt
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
USART_ITConfig(UART_TYPE, USART_IT_RXNE, ENABLE);
vSemaphoreCreateBinary(waitUntilSendDone);
xTaskCreate(uartRxTask, (const signed char * const)"UART-Rx",
configMINIMAL_STACK_SIZE, NULL, /*priority*/2, NULL);
packetDelivery = xQueueCreate(2, sizeof(CRTPPacket));
uartDataDelivery = xQueueCreate(40, sizeof(uint8_t));
#endif
//Enable it
USART_Cmd(UART_TYPE, ENABLE);
isInit = true;
}
void uartInit(void)
{
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
EXTI_InitTypeDef extiInit;
/* Enable GPIO and USART clock */
RCC_AHB1PeriphClockCmd(UART_GPIO_PERIF, ENABLE);
ENABLE_UART_RCC(UART_PERIF, ENABLE);
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_RX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);
/* Configure USART Tx as alternate function */
GPIO_InitStructure.GPIO_Pin = UART_GPIO_TX_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);
//Map uart to alternate functions
GPIO_PinAFConfig(UART_GPIO_PORT, UART_GPIO_AF_TX_PIN, UART_GPIO_AF_TX);
GPIO_PinAFConfig(UART_GPIO_PORT, UART_GPIO_AF_RX_PIN, UART_GPIO_AF_RX);
#if defined(UART_OUTPUT_TRACE_DATA) || defined(ADC_OUTPUT_RAW_DATA) || defined(IMU_OUTPUT_RAW_DATA_ON_UART)
USART_InitStructure.USART_BaudRate = 2000000;
USART_InitStructure.USART_Mode = USART_Mode_Tx;
#else
USART_InitStructure.USART_BaudRate = 1000000;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
#endif
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_CTS;
USART_Init(UART_TYPE, &USART_InitStructure);
uartDmaInit();
// Configure Rx buffer not empty interrupt
NVIC_InitStructure.NVIC_IRQChannel = UART_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
vSemaphoreCreateBinary(waitUntilSendDone);
uartDataDelivery = xQueueCreate(40, sizeof(uint8_t));
DEBUG_QUEUE_MONITOR_REGISTER(uartDataDelivery);
USART_ITConfig(UART_TYPE, USART_IT_RXNE, ENABLE);
//Setting up TXEN pin (NRF flow control)
RCC_AHB1PeriphClockCmd(UART_TXEN_PERIF, ENABLE);
bzero(&GPIO_InitStructure, sizeof(GPIO_InitStructure));
GPIO_InitStructure.GPIO_Pin = UART_TXEN_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(UART_TXEN_PORT, &GPIO_InitStructure);
extiInit.EXTI_Line = UART_TXEN_EXTI;
extiInit.EXTI_Mode = EXTI_Mode_Interrupt;
extiInit.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
extiInit.EXTI_LineCmd = ENABLE;
EXTI_Init(&extiInit);
NVIC_EnableIRQ(EXTI4_IRQn);
//Enable UART
USART_Cmd(UART_TYPE, ENABLE);
isInit = true;
}
