/******************************************************************************
Initialize the hardware to receive (USART based) CAN messages and start the
timer for the CANopen stack.
INPUT bitrate bitrate in kilobit (fixed at 115200)
OUTPUT 1 if successful
******************************************************************************/
unsigned char canInit(unsigned int bitrate)
{
msg_recv_status = 0;
msg_received = 0;
/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_AFIOEN | RCC_APB2ENR_USART1EN);
/* Enable the USART1 interrupt. */
nvic_enable_irq(NVIC_USART1_IRQ);
/* Setup GPIO pin GPIO_USART1_RE_TX on GPIO port A for transmit. */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
/* Setup GPIO pin GPIO_USART1_RE_RX on GPIO port A for receive. */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
/* Setup USART parameters. */
usart_set_baudrate(USART1, 115200);
usart_set_databits(USART1, 8);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
/* Enable USART1 receive interrupts. */
usart_enable_rx_interrupt(USART1);
usart_disable_tx_interrupt(USART1);
/* Finally enable the USART. */
usart_enable(USART1);
/* Initialise the send and receive buffers */
buffer_init(send_buffer,BUFFER_SIZE);
buffer_init(receive_buffer,BUFFER_SIZE);
return 1;
}
void dbg_serial_init(void)
{
dbg_fifo_flush( &usart_rx_buf );
dbg_fifo_flush( &usart_tx_buf );
rcc_periph_clock_enable(RCC_AFIO);
rcc_periph_clock_enable(DBG_USART_PERIPH);
rcc_periph_clock_enable(DBG_USART_TX_PERIPH);
#if (DBG_USART_RX_PERIPH != DBG_USART_TX_PERIPH)
rcc_periph_clock_enable(DBG_USART_RX_PERIPH);
#endif
/* Enable the DBG_USART interrupt. */
nvic_enable_irq(DBG_USART_VECTOR);
/* Setup GPIO pins for USART transmit. */
gpio_set_mode(DBG_USART_TX_PORT, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, DBG_USART_TX_PIN);
/* Setup GPIO pins for USART receive. */
gpio_set_mode(DBG_USART_RX_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, DBG_USART_RX_PIN);
gpio_set(DBG_USART_RX_PORT, DBG_USART_RX_PIN);
/* Setup USART parameters. */
usart_set_baudrate (DBG_USART, 57600);
usart_set_databits (DBG_USART, 8);
usart_set_stopbits (DBG_USART, USART_STOPBITS_1);
usart_set_mode (DBG_USART, USART_MODE_TX_RX);
usart_set_parity (DBG_USART, USART_PARITY_NONE);
usart_set_flow_control(DBG_USART, USART_FLOWCONTROL_NONE);
/* Enable USART Receive interrupt. */
usart_enable_rx_interrupt(DBG_USART);
/* Finally enable the USART. */
usart_enable(DBG_USART);
}
static void usart_setup(void)
{
/* Enable the USART2 interrupt. */
nvic_enable_irq(NVIC_USART2_IRQ);
/* Setup GPIO pins for USART2 transmit. */
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2);
/* Setup GPIO pins for USART2 receive. */
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO3);
gpio_set_output_options(GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, GPIO3);
/* Setup USART2 TX and RX pin as alternate function. */
gpio_set_af(GPIOA, GPIO_AF7, GPIO2);
gpio_set_af(GPIOA, GPIO_AF7, GPIO3);
/* Setup USART2 parameters. */
usart_set_baudrate(USART2, 38400);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
/* Enable USART2 Receive interrupt. */
usart_enable_rx_interrupt(USART2);
/* Finally enable the USART. */
usart_enable(USART2);
}
void mew_bluetooth_init(void) {
gpio_mode_setup(MEW_BLUETOOTH_POWER_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, MEW_BLUETOOTH_POWER_PIN);
gpio_set_output_options(MEW_BLUETOOTH_POWER_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, MEW_BLUETOOTH_POWER_PIN);
gpio_clear(MEW_BLUETOOTH_POWER_PORT, MEW_BLUETOOTH_POWER_PIN);
gpio_mode_setup(MEW_BLUETOOTH_RESET_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, MEW_BLUETOOTH_RESET_PIN);
gpio_set_output_options(MEW_BLUETOOTH_RESET_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, MEW_BLUETOOTH_RESET_PIN);
gpio_set(MEW_BLUETOOTH_RESET_PORT, MEW_BLUETOOTH_RESET_PIN);
gpio_mode_setup(MEW_BLUETOOTH_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, MEW_BLUETOOTH_PIN);
gpio_set_af(MEW_BLUETOOTH_PORT, MEW_BLUETOOTH_PORT_AF, MEW_BLUETOOTH_PIN);
usart_disable(MEW_BLUETOOTH_USART);
usart_set_baudrate(MEW_BLUETOOTH_USART, MEW_BLUETOOTH_SPEED);
usart_set_databits(MEW_BLUETOOTH_USART, 8);
usart_set_stopbits(MEW_BLUETOOTH_USART, USART_STOPBITS_1);
usart_set_mode(MEW_BLUETOOTH_USART, USART_MODE_TX_RX);
usart_set_parity(MEW_BLUETOOTH_USART, USART_PARITY_NONE);
usart_set_flow_control(MEW_BLUETOOTH_USART, USART_FLOWCONTROL_NONE);
usart_enable_rx_interrupt(MEW_BLUETOOTH_USART);
usart_disable_tx_interrupt(MEW_BLUETOOTH_USART);
usart_enable_tx_dma(MEW_BLUETOOTH_USART);
usart_enable(MEW_BLUETOOTH_USART);
nvic_enable_irq(MEW_BLUETOOTH_IRQ);
nvic_enable_irq(MEW_BLUETOOTH_DMA_NVIC_TX);
memset(_mew_bt_buffer, 0, MEW_BT_RECEIVE_BUFFER_SIZE);
}
void usart_setup(void)
{
/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_AFIOEN | RCC_APB2ENR_USART1EN);
/* Enable the USART1 interrupt. */
nvic_enable_irq(NVIC_USART1_IRQ);
/* Setup GPIO pin GPIO_USART1_RE_TX on GPIO port A for transmit. */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
/* Setup GPIO pin GPIO_USART1_RE_RX on GPIO port A for receive. */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
/* Setup UART parameters. */
usart_set_baudrate(USART1, 115200);
usart_set_databits(USART1, 8);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
/* Enable USART1 receive interrupts. */
usart_enable_rx_interrupt(USART1);
usart_disable_tx_interrupt(USART1);
/* Finally enable the USART. */
usart_enable(USART1);
}
/**
* Initializes the clocks, the UART peripheral, and the RX and TX buffer
* structures.
*/
static void comm_init(void)
{
os_char_buffer_init(&bsp_rx_buffer,
rx_buffer_mem,
BSP_RX_BUFFER_SIZE,
NULL);
os_char_buffer_init(&bsp_tx_buffer,
tx_buffer_mem,
BSP_TX_BUFFER_SIZE,
enable_usart1_tx_interrupt);
rcc_periph_clock_enable(RCC_GPIOA);
rcc_periph_clock_enable(RCC_USART1);
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO9 | GPIO10);
gpio_set_af(GPIOA, GPIO_AF1, GPIO9 | GPIO10);
usart_set_baudrate(USART1, 115200);
usart_set_databits(USART1, 8);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_stopbits(USART1, USART_CR2_STOP_1_0BIT);
usart_enable_rx_interrupt(USART1);
usart_enable(USART1);
nvic_set_priority(NVIC_USART1_IRQ, 0);
nvic_enable_irq(NVIC_USART1_IRQ);
}
void usart_init( int baudrate )
{
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
#ifdef BUFFERED
buffer_reset (&u1rx);
buffer_reset (&u1tx);
nvic_enable_irq(NVIC_USART1_IRQ);
usart_enable_rx_interrupt(USART1);
usart_disable_tx_interrupt(USART1);
#endif
// usart peripheral confguration
usart_set_baudrate(USART1, baudrate);
usart_set_databits(USART1, 8);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_enable(USART1);
}
/* ----------------------- Enable USART interrupts -----------------------------*/
void
vMBPortSerialEnable( BOOL xRxEnable, BOOL xTxEnable )
{
/* If xRXEnable enable serial receive interrupts. If xTxENable enable
* transmitter empty interrupts.
*/
if (xRxEnable)
{
txen = false;
usart_enable_rx_interrupt(MB_USART);
}
else
{
usart_disable_rx_interrupt(MB_USART);
}
if (xTxEnable)
{
txen = true;
gpio_set(MB_USART_TXEN_PORT, MB_USART_TXEN_PIN);
usart_enable_tx_interrupt(MB_USART);
}
else
{
txen = false;
usart_disable_tx_interrupt(MB_USART);
}
}
/* Configure USART2 as a 38400, 8N1 serial port that has an interrupt
* driven receive function (transmit is blocking)
*/
void uart_setup(int baud)
{
/* Setup GPIO pins for USART2 transmit. */
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO6);
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO7);
gpio_set_output_options(GPIOC, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, GPIO7);
gpio_set_af(GPIOC, GPIO_AF8, GPIO6);
gpio_set_af(GPIOC, GPIO_AF8, GPIO7);
/* Setup USART6 parameters. */
usart_set_baudrate(USART6, baud);
usart_set_databits(USART6, 8);
usart_set_stopbits(USART6, USART_STOPBITS_1);
usart_set_mode(USART6, USART_MODE_TX_RX);
usart_set_parity(USART6, USART_PARITY_NONE);
usart_set_flow_control(USART6, USART_FLOWCONTROL_NONE);
/* Allow for receive interrupts */
buf_ndx = 0;
read_ndx = 0;
nvic_enable_irq(NVIC_USART6_IRQ);
/* Finally enable the USART. */
usart_enable(USART6);
usart_enable_rx_interrupt(USART6);
/* Setup USART2 parameters. */
usart_set_baudrate(USART2, 38400);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
/* Allow for receive interrupts */
buf_ndx = 0;
read_ndx = 0;
nvic_enable_irq(NVIC_USART2_IRQ);
/* Finally enable the USART. */
usart_enable(USART2);
usart_enable_rx_interrupt(USART2);
}
void serial_initialize(u32 baud)
{
usart_set_baudrate(USART, baud);
usart_set_databits(USART, 8);
usart_set_stopbits(USART, USART_STOPBITS_1);
usart_set_parity(USART, USART_PARITY_NONE);
usart_set_flow_control(USART, USART_FLOWCONTROL_NONE);
usart_enable(USART);
usart_enable_rx_interrupt(USART);
//usart_enable_tx_interrupt(USART);
}
/* Enable serial data reception by providing a callback function
to accept received character and status. Disable by calling with argument NULL.
Callback executes in interrupt context and must be short.
*/
void UART_StartReceive(usart_callback_t *isr_callback)
{
rx_callback = isr_callback;
if (isr_callback) {
nvic_enable_irq(get_nvic_irq(UART_CFG.uart));
usart_enable_rx_interrupt(UART_CFG.uart);
} else {
usart_disable_rx_interrupt(UART_CFG.uart);
nvic_disable_irq(get_nvic_irq(UART_CFG.uart));
}
}
void usart_init(uint32_t arg_usart, uint32_t baudrate)
{
usart_set_baudrate(arg_usart, baudrate);
usart_set_databits(arg_usart, 8);
usart_set_flow_control(arg_usart, USART_FLOWCONTROL_NONE);
usart_set_mode(arg_usart, USART_MODE_TX | USART_MODE_RX);
usart_set_parity(arg_usart, USART_PARITY_NONE);
usart_set_stopbits(arg_usart, USART_STOPBITS_1);
usart_enable_rx_interrupt(arg_usart);
usart_enable(arg_usart);
usart = arg_usart;
}
void usart_init(void)
{
gpio_set_af(GPIOA, GPIO_AF7, GPIO9 | GPIO10);
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9 | GPIO10);
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_USART1EN);
usart_enable(USART1);
usart_set_databits(USART1, 8);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
usart_set_baudrate(USART1, 9600);
usart_enable_rx_interrupt(USART1);
nvic_enable_irq(NVIC_USART1_IRQ);
}
void
Board_FY20AP::com_init(unsigned speed)
{
/* configure UART */
usart_set_baudrate(USART1, speed);
usart_set_databits(USART1, 8);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_set_mode(USART1, USART_MODE_TX_RX);
/* enable receive interrupt */
usart_enable_rx_interrupt(USART1);
/* and enable the UART */
usart_enable(USART1);
}
/*
* Set up the GPIO subsystem with an "Alternate Function"
* on some of the pins, in this case connected to a
* USART.
*/
void console_setup(void)
{
/* MUST enable the GPIO clock in ADDITION to the USART clock */
rcc_periph_clock_enable(RCC_GPIOA);
/* This example uses PD9 and PD10 for Tx and Rx respectively
* but other pins are available for this role on USART1 (our chosen
* USART) as well, we are using them because they are connected over
* jumpers to the programmer.
*/
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9 | GPIO10);
/* Actual Alternate function number (in this case 7) is part
* depenedent, check the data sheet for the right number to
* use.
*/
gpio_set_af(GPIOA, GPIO_AF7, GPIO9 | GPIO10);
/* This then enables the clock to the USART1 peripheral which is
* attached inside the chip to the APB1 bus. Different peripherals
* attach to different buses, and even some UARTS are attached to
* APB1 and some to APB2, again the data sheet is useful here.
* We are using the rcc_periph_clock_enable function that knows which
* peripheral is on which clock bus and sets things up accordingly.
*/
rcc_periph_clock_enable(RCC_USART1);
/* Set up USART/UART parameters using the libopencm3 helper functions */
usart_set_baudrate(CONSOLE_UART, 115200);
usart_set_databits(CONSOLE_UART, 8);
usart_set_stopbits(CONSOLE_UART, USART_STOPBITS_1);
usart_set_mode(CONSOLE_UART, USART_MODE_TX_RX);
usart_set_parity(CONSOLE_UART, USART_PARITY_NONE);
usart_set_flow_control(CONSOLE_UART, USART_FLOWCONTROL_NONE);
usart_enable(CONSOLE_UART);
/* Enable interrupts from the USART */
nvic_enable_irq(NVIC_USART1_IRQ);
/* Specifically enable recieve interrupts */
usart_enable_rx_interrupt(CONSOLE_UART);
}
/*
* console_setup(int baudrate)
*
* Set the pins and clocks to create a console that we can
* use for serial messages and getting text from the user.
*/
void console_setup(int baud)
{
/* MUST enable the GPIO clock in ADDITION to the USART clock */
rcc_periph_clock_enable(RCC_GPIOA);
/* This example uses PD5 and PD6 for Tx and Rx respectively
* but other pins are available for this role on USART1 (our chosen
* USART) as well, such as PA2 and PA3. You can also split them
* so PA2 for Tx, PD6 for Rx but you would have to enable both
* the GPIOA and GPIOD clocks in that case
*/
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9 | GPIO10);
/* Actual Alternate function number (in this case 7) is part
* depenedent, CHECK THE DATA SHEET for the right number to
* use.
*/
gpio_set_af(GPIOA, GPIO_AF7, GPIO9 | GPIO10);
/* This then enables the clock to the USART1 peripheral which is
* attached inside the chip to the APB2 bus. Different peripherals
* attach to different buses, and even some UARTS are attached to
* APB1 and some to APB2, again the data sheet is useful here.
*/
rcc_periph_clock_enable(RCC_USART1);
/* Set up USART/UART parameters using the libopencm3 helper functions */
usart_set_baudrate(CONSOLE_UART, baud);
usart_set_databits(CONSOLE_UART, 8);
usart_set_stopbits(CONSOLE_UART, USART_STOPBITS_1);
usart_set_mode(CONSOLE_UART, USART_MODE_TX_RX);
usart_set_parity(CONSOLE_UART, USART_PARITY_NONE);
usart_set_flow_control(CONSOLE_UART, USART_FLOWCONTROL_NONE);
usart_enable(CONSOLE_UART);
/* Enable interrupts from the USART */
nvic_enable_irq(NVIC_USART1_IRQ);
/* Specifically enable receive interrupts */
usart_enable_rx_interrupt(CONSOLE_UART);
}
void
usart_init(int usart, int irq, int baudrate, int over8) {
/* Setup USART parameters. */
nvic_disable_irq(irq);
usart_disable_rx_interrupt(usart);
usart_disable_tx_interrupt(usart);
usart_disable(usart);
USART_CR1(usart) |= over8; /* This doubles the listed baudrate. */
usart_set_baudrate(usart, baudrate);
usart_set_databits(usart, 8);
usart_set_stopbits(usart, USART_STOPBITS_1);
usart_set_mode(usart, USART_MODE_TX_RX);
usart_set_parity(usart, USART_PARITY_NONE);
usart_set_flow_control(usart, USART_FLOWCONTROL_NONE);
/* Finally enable the USART. */
usart_enable(usart);
usart_enable_rx_interrupt(usart);
usart_enable_tx_interrupt(usart);
nvic_enable_irq(irq);
}
void uart_init(int baud)
{
uart_init_gpio();
nvic_enable_irq(NVIC_USART1_IRQ);
nvic_set_priority(NVIC_USART1_IRQ, 2);
usart_set_baudrate(USART1, baud);
usart_set_databits(USART1, 8);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
usart_set_stopbits(USART1, USART_CR2_STOPBITS_1);
usart_set_mode(USART1, USART_MODE_TX_RX);
usart_enable_rx_interrupt(USART1);
usart_enable(USART1);
/* This ensures stdio doesn't use its own buffers */
setvbuf(stdin, NULL, _IONBF, 0);
setvbuf(stdout, NULL, _IONBF, 0);
}
void BT_Initialize()
{
/* Enable clocks for GPIO port A (for GPIO_USART1_TX) and USART1. */
rcc_periph_clock_enable(RCC_GPIOA);
#if DISCOVERY
rcc_periph_clock_enable(RCC_USART3);
rcc_periph_clock_enable(RCC_GPIOC);
nvic_enable_irq(NVIC_USART3_4_IRQ);
#else
rcc_periph_clock_enable(RCC_USART2);
nvic_enable_irq(NVIC_USART2_IRQ);
#endif
PORT_mode_setup(BT_STATE, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN);
PORT_mode_setup(BT_KEY, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE);
PORT_pin_clear(BT_KEY);
/* Setup GPIO pin for Tx/Rx */
PORT_mode_setup(BT_TX, GPIO_MODE_AF, GPIO_PUPD_NONE);
PORT_mode_setup(BT_RX, GPIO_MODE_AF, GPIO_PUPD_NONE);
gpio_set_output_options(BT_RX.port, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ, BT_RX.pin);
gpio_set_af(BT_TX.port, GPIO_AF1, BT_TX.pin | BT_RX.pin);
/* Setup UART parameters. */
usart_set_baudrate(BTUART, 9600);
usart_set_databits(BTUART, 8);
usart_set_stopbits(BTUART, USART_CR2_STOP_1_0BIT);
usart_set_mode(BTUART, USART_MODE_TX_RX);
usart_set_parity(BTUART, USART_PARITY_NONE);
usart_set_flow_control(BTUART, USART_FLOWCONTROL_NONE);
usart_enable_rx_interrupt(BTUART);
BT_ResetPtr();
state = 0;
/* Finally enable the USART. */
usart_enable(BTUART);
}
void usart_setup(void)
{
usart_clock_setup();
usart_gpio_setup();
nvic_enable_irq(NVIC_USART2_IRQ);
/* Setup USART2 parameters. */
usart_set_baudrate(USART2, 115200);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX | USART_MODE_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
/* Enable USART2 Receive interrupt. */
usart_enable_rx_interrupt(USART2);
/* Finally enable the USART. */
usart_enable(USART2);
/* Disable stupid output buffers. */
setbuf(stdout, NULL);
}
/**
* \brief getting-started Application entry point.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
struct port_config pin;
unsigned char c;
system_init();
//Configure UART console.
configure_console();
configure_usart_callbacks();
usart_enable_rx_interrupt(&cdc_uart_module,&c);
usart_enable(&cdc_uart_module);
//Configures TC driver
configure_tc();
//Configures TC callback
configure_tc_callbacks();
//Initialize the delay driver
delay_init();
//Enable system interrupt
system_interrupt_enable_global();
//Configures PORT for LED0
port_get_config_defaults(&pin);
pin.direction = PORT_PIN_DIR_OUTPUT;
port_pin_set_config(LED0_PIN, &pin);
port_pin_set_output_level(LED0_PIN, LED0_INACTIVE);
port_pin_set_output_level(LED0_PIN, LED0_INACTIVE);
/*main loop*/
while(1)
{
if (is_running)
{
//Handle user's input
// if (uart_getc(&c))
// {
switch (c)
{
case 'w':
case ' ':
//ROTATE
tetris_rotate();
break;
case 's':
//DOWN
tetris_gravity();
break;
case 'd':
//RIGHT
tetris_move_right();
break;
case 'a':
//LEFT
tetris_move_left();
break;
default:
break;
}
c=0;
// }
// was here if(!iterate_game)
if(iterate_game)
{
//Update game
iterate_game = false;
tetris_gravity();
tetris_check_lines();
terminal_cursor_home();
tetris_print();
if (tetris_is_game_over())
{
is_running = false;
}
}
}
else
{
// if (uart_getc(&c))
// {
if (c == 'n')
{
c=0;
//Seed random function so we do not get same start condition
//for each new game. In essence we will not start a new game
//exactly at the same time.
srand(tick);
//New Game
is_running = true;
terminal_cursor_off();
terminal_clear();
tetris_init();
tetris_new_block();
terminal_cursor_home();
tetris_print();
}
// }
}
}
}
USART_ext::USART_ext(USART_Struct usart, USART_Settings settings, RoundBuffer rb_in_size, RoundBuffer rb_out_size)
{
rb_in = new RoundBuffer(rb_in_size);
rb_out = new RoundBuffer(rb_out_size);
if (usart.rx.pin)
{
GPIO_ext rx(usart.rx);
rx.mode_setup(GPIO_CPP_Extension::Mode::ALTERNATE_FUNCTION, GPIO_CPP_Extension::PullMode::NO_PULL);
rx.set_output_options(GPIO_CPP_Extension::OutputType::PUSH_PULL, GPIO_CPP_Extension::Speed::MEDIUM_25MHz);
if ((usart.number >= 1) && (usart.number <= 3)) {
rx.set_af(GPIO_CPP_Extension::AF_Number::AF7);
}
if ((usart.number >= 4) && (usart.number <= 6)) {
rx.set_af(GPIO_CPP_Extension::AF_Number::AF8);
}
}
if (usart.tx.pin)
{
GPIO_ext tx(usart.tx);
tx.mode_setup(GPIO_CPP_Extension::Mode::ALTERNATE_FUNCTION, GPIO_CPP_Extension::PullMode::NO_PULL);
tx.set_output_options(GPIO_CPP_Extension::OutputType::PUSH_PULL, GPIO_CPP_Extension::Speed::MEDIUM_25MHz);
if ((usart.number >= 1) && (usart.number <= 3)) {
tx.set_af(GPIO_CPP_Extension::AF_Number::AF7);
}
if ((usart.number >= 4) && (usart.number <= 6)) {
tx.set_af(GPIO_CPP_Extension::AF_Number::AF8);
}
}
switch (usart.number)
{
case 1:
_usart = USART1;
_usart_nvic = NVIC_USART1_IRQ;
break;
case 2:
_usart = USART2;
_usart_nvic = NVIC_USART2_IRQ;
break;
case 3:
_usart = USART3;
_usart_nvic = NVIC_USART3_IRQ;
break;
case 4:
_usart = UART4;
_usart_nvic = NVIC_UART4_IRQ;
break;
case 5:
_usart = UART5;
_usart_nvic = NVIC_UART5_IRQ;
break;
case 6:
_usart = USART6;
_usart_nvic = NVIC_USART6_IRQ;
break;
}
// USART config
usart_set_baudrate(_usart, settings.baud_rate);
usart_set_databits(_usart, settings.word_length);
usart_set_stopbits(_usart, settings.stop_bits);
usart_set_mode(_usart, settings.mode);
usart_set_parity(_usart, settings.parity);
usart_set_flow_control(_usart, settings.flow_control);
if (settings.mode & USART_MODE_RX)
usart_enable_rx_interrupt(_usart);
usart_enable(_usart);
// NVIC config
nvic_set_priority(_usart_nvic, settings.nvic_priority);
nvic_enable_irq(_usart_nvic);
}
bool Serial_stm32::init(void)
{
// Enable the USART interrupt
switch (config_.device)
{
case SERIAL_STM32_1:
rcc_periph_clock_enable(RCC_USART1);
nvic_enable_irq(NVIC_USART1_IRQ);
handlers_[0] = this;
break;
case SERIAL_STM32_2:
rcc_periph_clock_enable(RCC_USART2);
nvic_enable_irq(NVIC_USART2_IRQ);
handlers_[1] = this;
break;
case SERIAL_STM32_3:
rcc_periph_clock_enable(RCC_USART3);
nvic_enable_irq(NVIC_USART3_IRQ);
handlers_[2] = this;
break;
case SERIAL_STM32_4:
rcc_periph_clock_enable(RCC_UART4);
nvic_enable_irq(NVIC_UART4_IRQ);
handlers_[3] = this;
break;
case SERIAL_STM32_5:
rcc_periph_clock_enable(RCC_UART5);
nvic_enable_irq(NVIC_UART5_IRQ);
handlers_[4] = this;
break;
case SERIAL_STM32_6:
rcc_periph_clock_enable(RCC_USART6);
nvic_enable_irq(NVIC_USART6_IRQ);
handlers_[5] = this;
break;
case SERIAL_STM32_7:
rcc_periph_clock_enable(RCC_UART7);
nvic_enable_irq(NVIC_UART7_IRQ);
handlers_[6] = this;
break;
case SERIAL_STM32_8:
rcc_periph_clock_enable(RCC_UART8);
nvic_enable_irq(NVIC_UART8_IRQ);
handlers_[7] = this;
break;
default:
break;
}
// Setup GPIO pins for TX
gpio_mode_setup(config_.tx_port,
GPIO_MODE_AF,
GPIO_PUPD_NONE,
config_.tx_pin);
// Setup GPIO pins for RX
gpio_mode_setup(config_.rx_port,
GPIO_MODE_AF,
GPIO_PUPD_NONE,
config_.rx_pin);
// Setup TX and RX pins alternate function
gpio_set_af(config_.tx_port, config_.tx_af, config_.tx_pin);
gpio_set_af(config_.rx_port, config_.rx_af, config_.rx_pin);
// Setup USART parameters
usart_set_baudrate(config_.device, config_.baudrate);
usart_set_databits(config_.device, config_.databits);
usart_set_stopbits(config_.device, config_.stopbits);
usart_set_mode(config_.device, config_.mode);
usart_set_parity(config_.device, config_.parity);
usart_set_flow_control(config_.device, config_.flow_control);
// Enable RX interrupt
usart_enable_rx_interrupt(config_.device);
// Finally enable the USART
usart_enable(config_.device);
return true;
}
/*
* uart_init(tx pin, rx pin, baudrate);
*
* Initialize a UART that will talk on the tx/rx pin pair at a given baudrate
* Curently only 8n1 format, no-hw flow control, only.
*
* Returns channel unumber (0 - MAX_UART_CHANNELS) or -1 on error
*/
int
uart_init(enum GPIO_PORT_PIN tx, enum GPIO_PORT_PIN rx, int baudrate) {
uint32_t my_uart = uart_pin_map(tx, USART);
int i;
if (uart_pin_map(rx, USART) != my_uart) {
/* Both pins are not connected to same serial port */
return -1;
}
if (nxt_channel >= MAX_UART_CHANNELS) {
/* Need more channel configured */
return -2;
}
if (my_uart == 0) {
/* neither pin connects to a USART? */
return -3;
}
/* Enable Clock for the USART/UART involved */
rcc_peripheral_enable_clock((uint32_t *)uart_pin_map(tx, APB_REG),
uart_pin_map(tx, APB_ENA));
/* Enable Clock for the GPIOs we are using */
gpio_enable_clock(tx);
gpio_enable_clock(rx);
/* GPIO pins */
/* Both AF Mode */
gpio_mode_setup(gpio_base(tx), GPIO_MODE_AF, GPIO_PUPD_NONE, gpio_bit(tx));
gpio_mode_setup(gpio_base(rx), GPIO_MODE_AF, GPIO_PUPD_NONE, gpio_bit(rx));
gpio_set_af(gpio_base(tx), uart_pin_map(tx, AF), gpio_bit(tx));
gpio_set_af(gpio_base(rx), uart_pin_map(rx, AF), gpio_bit(rx));
/* Transmit pin set to an output */
gpio_set_output_options(gpio_base(tx), GPIO_OTYPE_PP,
GPIO_OSPEED_25MHZ, gpio_bit(tx));
/* Set up UART parameters */
usart_set_baudrate(my_uart, baudrate);
usart_set_databits(my_uart, 8);
usart_set_stopbits(my_uart, USART_STOPBITS_1);
usart_set_mode(my_uart, USART_MODE_TX_RX);
usart_set_parity(my_uart, USART_PARITY_NONE);
usart_set_flow_control(my_uart, USART_FLOWCONTROL_NONE);
usart_enable(my_uart);
nxt_recv_ndx[nxt_channel] = cur_recv_ndx[nxt_channel] = 0;
nxt_xmit_ndx[nxt_channel] = cur_xmit_ndx[nxt_channel] = 0;
/*
* This was done to try to get it to run under GDB with the Black
* Magic debug probe but it didn't have any effect (interrupts
* are still masked)
*/
nvic_set_priority(uart_pin_map(tx, IRQ), 0); // highest priority
nvic_enable_irq(uart_pin_map(tx, IRQ));
USART_DR(my_uart) = 0;
usart_enable_rx_interrupt(my_uart);
/* Now create two mappings, channel => usart, and usart => channel */
channel_to_uart_map[nxt_channel] = my_uart;
for (i = 0; i < NUARTS; i++) {
if (UART_MAP[i] == my_uart) {
uart_to_channel_map[i] = nxt_channel;
break;
}
}
nxt_channel++;
return (nxt_channel - 1);
}
static void usart_setup(void)
{
// ----BEGIN XBEE SETUP
// Enable the USART3 interrupt.
nvic_enable_irq(NVIC_USART3_IRQ);
// Setup GPIO pins for USART3 transmit.
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART3_TX);
// Setup GPIO pins for USART3 receive.
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART3_RX);
// Setup USART3 RTS and CTS
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART3_RTS);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_INPUT_FLOAT, GPIO_USART3_CTS);
// Setup USART3 parameters.
usart_set_baudrate(USART3, 115200);
usart_set_databits(USART3, 8);
usart_set_stopbits(USART3, USART_STOPBITS_1);
usart_set_mode(USART3, USART_MODE_TX_RX);
usart_set_parity(USART3, USART_PARITY_NONE);
usart_set_flow_control(USART3, USART_FLOWCONTROL_RTS_CTS);
// Enable USART3 Receive interrupt.
usart_enable_rx_interrupt(USART3);
// Finally enable the USART.
usart_enable(USART3);
// ----END XBEE SETUP
// ----BEGIN GPS SETUP
// Enable the USART2 interrupt.
nvic_enable_irq(NVIC_USART2_IRQ);
// Setup GPIO pins for USART2 transmit.
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART2_TX);
// Setup GPIO pins for USART2 receive.
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX);
// Setup USART2 parameters.
usart_set_baudrate(USART2, 115200);
usart_set_databits(USART2, 8);
usart_set_stopbits(USART2, USART_STOPBITS_1);
usart_set_mode(USART2, USART_MODE_TX_RX);
usart_set_parity(USART2, USART_PARITY_NONE);
usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
// Enable USART2 Receive interrupt.
usart_enable_rx_interrupt(USART2);
// Finally enable the USART.
usart_enable(USART2);
// ----END GPS SETUP
// ----BEGIN DEBUG SETUP
// Setup GPIO pins for USART2 transmit.
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_TX);
// Setup GPIO pins for USART1 receive.
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX);
// Setup USART1 parameters.
usart_set_baudrate(USART1, 115200);
usart_set_databits(USART1, 8);
usart_set_stopbits(USART1, USART_STOPBITS_1);
usart_set_mode(USART1, USART_MODE_TX_RX);
usart_set_parity(USART1, USART_PARITY_NONE);
usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE);
// Finally enable the USART.
usart_enable(USART1);
// ----END DEBUG SETUP
}
void usart_rx_reset() {
usart_rx_dest = config.console.rxbuffer;
usart_rx_end = 0;
usart_enable_rx_interrupt(USART1);
}
