diff options
Diffstat (limited to 'src/fsm/usart.c')
| -rw-r--r-- | src/fsm/usart.c | 51 |
1 files changed, 27 insertions, 24 deletions
diff --git a/src/fsm/usart.c b/src/fsm/usart.c index 57194db..31c112e 100644 --- a/src/fsm/usart.c +++ b/src/fsm/usart.c @@ -39,9 +39,9 @@ const uint16_t GPIOD_PIN_USART3_TX = GPIO_Pin_8; const uint16_t GPIOD_PIN_USART3_RX = GPIO_Pin_9; -/* USART 3 on PA9 and PA10 */ -const uint16_t GPIOA_PIN_USART1_TX = GPIO_Pin_10; -const uint16_t GPIOA_PIN_USART1_RX = GPIO_Pin_9; +/* USART 2 on PA2 and PA3 */ +const uint16_t GPIOA_PIN_USART2_RX = GPIO_Pin_3; +const uint16_t GPIOA_PIN_USART2_TX = GPIO_Pin_2; // The ISR writes into this buffer static char nmea_sentence[MAX_NMEA_SENTENCE_LEN]; @@ -54,21 +54,21 @@ static QueueHandle_t usart_nmea_queue; void usart_init() { // ============== PC DEBUG USART =========== - RCC_APB1PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_InitTypeDef GPIO_InitStruct; - GPIO_InitStruct.GPIO_Pin = GPIOA_PIN_USART1_RX | GPIOA_PIN_USART1_TX; + GPIO_InitStruct.GPIO_Pin = GPIOA_PIN_USART2_RX | GPIOA_PIN_USART2_TX; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStruct); - GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1); - GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1); + GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2); + GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2); - // Setup USART1 for 9600,8,N,1 + // Setup USART2 for 9600,8,N,1 USART_InitTypeDef USART_InitStruct; USART_InitStruct.USART_BaudRate = 9600; USART_InitStruct.USART_WordLength = USART_WordLength_8b; @@ -76,24 +76,22 @@ void usart_init() USART_InitStruct.USART_Parity = USART_Parity_No; USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStruct.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; - USART_Init(USART1, &USART_InitStruct); + USART_Init(USART2, &USART_InitStruct); -#if 0 - // enable the USART1 receive interrupt - USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); + // enable the USART2 receive interrupt + USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); NVIC_InitTypeDef NVIC_InitStructure; - NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; + NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 6; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); - NVIC_SetPriority(USART1_IRQn, 6); + NVIC_SetPriority(USART2_IRQn, 6); - // finally this enables the complete USART1 peripheral - USART_Cmd(USART1, ENABLE); -#endif + // finally this enables the complete USART2 peripheral + USART_Cmd(USART2, ENABLE); } void usart_gps_init() @@ -152,8 +150,8 @@ static void usart_puts(USART_TypeDef* USART, const char* str) { while(*str) { // wait until data register is empty - while ( !(USART->SR & 0x00000040) ); USART_SendData(USART, *str); + while(USART_GetFlagStatus(USART, USART_FLAG_TXE) == RESET) ; str++; } } @@ -171,13 +169,13 @@ void usart_debug(const char *format, ...) va_list list; va_start(list, format); vsnprintf(usart_debug_message, MAX_MSG_LEN-1, format, list); - usart_puts(USART1, usart_debug_message); + usart_puts(USART2, usart_debug_message); va_end(list); } void usart_debug_puts(const char* str) { - usart_puts(USART1, str); + usart_puts(USART2, str); } int usart_get_nmea_sentence(char* nmea) @@ -230,11 +228,16 @@ void USART3_IRQHandler(void) } } -void USART1_IRQHandler(void) +void USART2_IRQHandler(void) { - if (USART_GetITStatus(USART1, USART_IT_RXNE)) { - char t = USART1->DR; - (void)t; // ignore t + if (USART_GetITStatus(USART2, USART_IT_RXNE)) { + char t = USART2->DR; + if (t == 'h') { + usart_debug_puts("help: no commands supported yet!\r\n"); + } + else { + usart_debug("Unknown command %c\r\n", t); + } } } |