WebSVN - NaviCtrl - Diff - Rev 109 and 171


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#include <stdio.h>
#include "91x_lib.h"
#include "uart1.h"
 
/********************************************************/
/*                  Initialize UART2                    */
/********************************************************/
void UART2_Init(void)
{
    UART_InitTypeDef UART_InitStructure;
        GPIO_InitTypeDef GPIO_InitStructure;
 
        SerialPutString("\r\n UART2 init...");
 
        SCU_APBPeriphClockConfig(__UART2, ENABLE);  // Enable the UART2 Clock
 
        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);  // Enable the GPIO5 Clock
    /*Configure UART2_Rx pin GPIO5.2*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; // UART2_RxD
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock
    /*Configure UART2_Tx pin GPIO3.0*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; // UART2_TX
    GPIO_Init(GPIO3, &GPIO_InitStructure);
 
 
        /* UART2 configured as follow:
          - Word Length = 8 Bits
          - One Stop Bit
          - No parity
          - BaudRate = 57600 baud
          - Hardware flow control Disabled
          - Receive and transmit enabled
          - Receive and transmit FIFOs are Disabled
    */
        UART_StructInit(&UART_InitStructure);
    UART_InitStructure.UART_WordLength =                        UART_WordLength_8D;
    UART_InitStructure.UART_StopBits =                          UART_StopBits_1;
    UART_InitStructure.UART_Parity =                            UART_Parity_No ;
    UART_InitStructure.UART_BaudRate =                          BAUD_RATE;
    UART_InitStructure.UART_HardwareFlowControl =       UART_HardwareFlowControl_None;
    UART_InitStructure.UART_Mode =                                      UART_Mode_Tx_Rx;
    UART_InitStructure.UART_FIFO =                                      UART_FIFO_Enable;
    UART_InitStructure.UART_TxFIFOLevel =                       UART_FIFOLevel_1_2;
    UART_InitStructure.UART_RxFIFOLevel =                       UART_FIFOLevel_1_2;
 
        UART_DeInit(UART2);     // reset uart 2 to default
    UART_Init(UART2, &UART_InitStructure);  // initialize uart 2
 
        // enable uart 2 interrupts selective
    UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);
        UART_Cmd(UART2, ENABLE); // enable uart 2
        // configure the uart 2 interupt line as an IRQ with priority 9 (0 is highest)
        VIC_Config(UART2_ITLine, VIC_IRQ, 9);
        // enable the uart 2 IRQ
        VIC_ITCmd(UART2_ITLine, ENABLE);
 
        SerialPutString("ok");
}
 
 
void UART2_Deinit(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
 
        SerialPutString("\r\n UART2 deinit...");
        VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ
        UART_Cmd(UART2, DISABLE); // disable uart 2
        UART_DeInit(UART2);     // reset uart 0 to default
 
        SCU_APBPeriphClockConfig(__UART2, DISABLE);  // disable the UART2 Clock
 
        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);
        // unmap UART2 from FC
        // set port pin 5.2 (serial data from FC) to input and disconnect from IP
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);
        // set port pin 3.0 (serial data to FC) to input and disconnect from IP
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_IPConnected =   GPIO_IPConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO3, &GPIO_InitStructure);
 
        SerialPutString("ok");
}
 
/********************************************************/
/*            UART2 Interrupt Handler                   */
/********************************************************/
void UART2_IRQHandler(void)
{
        // if receive irq or receive timeout irq has occured
        if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )
        {
                UART_ClearITPendingBit(UART2, UART_IT_Receive);                 // clear receive interrupt flag
                UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut);  // clear receive timeout interrupt flag
 
                // if debug UART is UART2
                if (DebugUART == UART2)
                {       // forward received data to the UART1 tx buffer
                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
                        {
                                // wait for space in the tx buffer of the UART1
                                while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};
                                // move the byte from the rx buffer of UART2 to the tx buffer of UART1
                                UART_SendData(UART1, UART_ReceiveData(UART2));
                        }
                }
                else
                {
                        // ignore serial data from the FC
                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
                        UART_ReceiveData(UART2);
                }
        } // eof receive irq or receive timeout irq
}
 

Subversion Repositories NaviCtrl

(root)/tags/V0.15c/uart2.c - Rev 109 → 171

Rev 109		Rev 171
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	//#include <stdio.h>	57	//#include <stdio.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "uart1.h"	59	#include "uart1.h"
60		60
61	/********************************************************/	61	/********************************************************/
62	/* Initialize UART2 */	62	/* Initialize UART2 */
63	/********************************************************/	63	/********************************************************/
64	void UART2_Init(void)	64	void UART2_Init(void)
65	{	65	{
66	UART_InitTypeDef UART_InitStructure;	66	UART_InitTypeDef UART_InitStructure;
67	GPIO_InitTypeDef GPIO_InitStructure;	67	GPIO_InitTypeDef GPIO_InitStructure;
68		68
69	SerialPutString("\r\n UART2 init...");	69	SerialPutString("\r\n UART2 init...");
70		70
71	SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock	71	SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock
72		72
73	SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock	73	SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock
74	/Configure UART2_Rx pin GPIO5.2/	74	/Configure UART2_Rx pin GPIO5.2/
75	GPIO_StructInit(&GPIO_InitStructure);	75	GPIO_StructInit(&GPIO_InitStructure);
76	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	76	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
77	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	77	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
78	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	78	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
79	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	79	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
80	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD	80	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD
81	GPIO_Init(GPIO5, &GPIO_InitStructure);	81	GPIO_Init(GPIO5, &GPIO_InitStructure);
82		82
83	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	83	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
84	/Configure UART2_Tx pin GPIO3.0/	84	/Configure UART2_Tx pin GPIO3.0/
85	GPIO_StructInit(&GPIO_InitStructure);	85	GPIO_StructInit(&GPIO_InitStructure);
86	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	86	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
87	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;	87	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
88	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	88	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
89	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX	89	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX
90	GPIO_Init(GPIO3, &GPIO_InitStructure);	90	GPIO_Init(GPIO3, &GPIO_InitStructure);
91		91
92		92
93	/* UART2 configured as follow:	93	/* UART2 configured as follow:
94	- Word Length = 8 Bits	94	- Word Length = 8 Bits
95	- One Stop Bit	95	- One Stop Bit
96	- No parity	96	- No parity
97	- BaudRate = 57600 baud	97	- BaudRate = 57600 baud
98	- Hardware flow control Disabled	98	- Hardware flow control Disabled
99	- Receive and transmit enabled	99	- Receive and transmit enabled
100	- Receive and transmit FIFOs are Disabled	100	- Receive and transmit FIFOs are Disabled
101	*/	101	*/
102	UART_StructInit(&UART_InitStructure);	102	UART_StructInit(&UART_InitStructure);
103	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	103	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
104	UART_InitStructure.UART_StopBits = UART_StopBits_1;	104	UART_InitStructure.UART_StopBits = UART_StopBits_1;
105	UART_InitStructure.UART_Parity = UART_Parity_No ;	105	UART_InitStructure.UART_Parity = UART_Parity_No ;
106	UART_InitStructure.UART_BaudRate = BAUD_RATE;	106	UART_InitStructure.UART_BaudRate = BAUD_RATE;
107	UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None;	107	UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None;
108	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	108	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
109	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	109	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
110	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	110	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
111	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	111	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
112		112
113	UART_DeInit(UART2); // reset uart 2 to default	113	UART_DeInit(UART2); // reset uart 2 to default
114	UART_Init(UART2, &UART_InitStructure); // initialize uart 2	114	UART_Init(UART2, &UART_InitStructure); // initialize uart 2
115		115
116	// enable uart 2 interrupts selective	116	// enable uart 2 interrupts selective
117	UART_ITConfig(UART2, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	117	UART_ITConfig(UART2, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
118	UART_Cmd(UART2, ENABLE); // enable uart 2	118	UART_Cmd(UART2, ENABLE); // enable uart 2
119	// configure the uart 2 interupt line as an IRQ with priority 9 (0 is highest)	119	// configure the uart 2 interupt line as an IRQ with priority 9 (0 is highest)
120	VIC_Config(UART2_ITLine, VIC_IRQ, 9);	120	VIC_Config(UART2_ITLine, VIC_IRQ, 9);
121	// enable the uart 2 IRQ	121	// enable the uart 2 IRQ
122	VIC_ITCmd(UART2_ITLine, ENABLE);	122	VIC_ITCmd(UART2_ITLine, ENABLE);
123		123
124	SerialPutString("ok");	124	SerialPutString("ok");
125	}	125	}
126		126
127		127
128	void UART2_Deinit(void)	128	void UART2_Deinit(void)
129	{	129	{
130	GPIO_InitTypeDef GPIO_InitStructure;	130	GPIO_InitTypeDef GPIO_InitStructure;
131		131
132	SerialPutString("\r\n UART2 deinit...");	132	SerialPutString("\r\n UART2 deinit...");
133	VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ	133	VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ
134	UART_Cmd(UART2, DISABLE); // disable uart 2	134	UART_Cmd(UART2, DISABLE); // disable uart 2
135	UART_DeInit(UART2); // reset uart 0 to default	135	UART_DeInit(UART2); // reset uart 0 to default
136		136
137	SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock	137	SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock
138		138
139	SCU_APBPeriphClockConfig(__GPIO5, ENABLE);	139	SCU_APBPeriphClockConfig(__GPIO5, ENABLE);
140	// unmap UART2 from FC	140	// unmap UART2 from FC
141	// set port pin 5.2 (serial data from FC) to input and disconnect from IP	141	// set port pin 5.2 (serial data from FC) to input and disconnect from IP
142	GPIO_StructInit(&GPIO_InitStructure);	142	GPIO_StructInit(&GPIO_InitStructure);
143	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	143	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
144	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	144	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
145	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	145	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
146	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	146	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
147	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	147	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
148	GPIO_Init(GPIO5, &GPIO_InitStructure);	148	GPIO_Init(GPIO5, &GPIO_InitStructure);
149		149
150	SCU_APBPeriphClockConfig(__GPIO3, ENABLE);	150	SCU_APBPeriphClockConfig(__GPIO3, ENABLE);
151	// set port pin 3.0 (serial data to FC) to input and disconnect from IP	151	// set port pin 3.0 (serial data to FC) to input and disconnect from IP
152	GPIO_StructInit(&GPIO_InitStructure);	152	GPIO_StructInit(&GPIO_InitStructure);
153	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	153	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
154	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;	154	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
155	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	155	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
156	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;	156	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable;
157	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;	157	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
158	GPIO_Init(GPIO3, &GPIO_InitStructure);	158	GPIO_Init(GPIO3, &GPIO_InitStructure);
159		159
160	SerialPutString("ok");	160	SerialPutString("ok");
161	}	161	}
162		162
163	/********************************************************/	163	/********************************************************/
164	/* UART2 Interrupt Handler */	164	/* UART2 Interrupt Handler */
165	/********************************************************/	165	/********************************************************/
166	void UART2_IRQHandler(void)	166	void UART2_IRQHandler(void)
167	{	167	{
168	// if receive irq or receive timeout irq has occured	168	// if receive irq or receive timeout irq has occured
169	if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )	169	if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )
170	{	170	{
171	UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag	171	UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag
172	UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag	172	UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag
173		173
174	// if debug UART is UART2	174	// if debug UART is UART2
175	if (DebugUART == UART2)	175	if (DebugUART == UART2)
176	{ // forward received data to the UART1 tx buffer	176	{ // forward received data to the UART1 tx buffer
177	while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)	177	while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
178	{	178	{
179	// wait for space in the tx buffer of the UART1	179	// wait for space in the tx buffer of the UART1
180	while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};	180	while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};
181	// move the byte from the rx buffer of UART2 to the tx buffer of UART1	181	// move the byte from the rx buffer of UART2 to the tx buffer of UART1
182	UART_SendData(UART1, UART_ReceiveData(UART2));	182	UART_SendData(UART1, UART_ReceiveData(UART2));
183	}	183	}
184	}	184	}
185	else	185	else
186	{	186	{
187	// ignore serial data from the FC	187	// ignore serial data from the FC
188	while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)	188	while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
189	UART_ReceiveData(UART2);	189	UART_ReceiveData(UART2);
190	}	190	}
191	} // eof receive irq or receive timeout irq	191	} // eof receive irq or receive timeout irq
192	}	192	}
193		193