mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
255 lines
7.2 KiB
C
255 lines
7.2 KiB
C
/*
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* Authors:
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* Dominic Clifton - Port baseflight STM32F10x to STM32F30x for cleanflight
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* J. Ihlein - Code from FocusFlight32
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* Bill Nesbitt - Code from AutoQuad
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* Hamasaki/Timecop - Initial baseflight code
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "system.h"
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#include "gpio.h"
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#include "serial.h"
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#include "serial_uart.h"
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// Using RX DMA disables the use of receive callbacks
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#define USE_USART1_RX_DMA
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//#define USE_USART2_RX_DMA
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//#define USE_USART2_TX_DMA
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// USART1_TX PA9
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// USART1_RX PA10
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// USART2_TX PD5
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// USART2_RX PD6
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#define UART1_TX_PIN GPIO_Pin_9
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#define UART1_RX_PIN GPIO_Pin_10
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#define UART1_GPIO GPIOA
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#define UART1_TX_PINSOURCE GPIO_PinSource9
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#define UART1_RX_PINSOURCE GPIO_PinSource10
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#define UART2_TX_PIN GPIO_Pin_5
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#define UART2_RX_PIN GPIO_Pin_6
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#define UART2_GPIO GPIOD
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#define UART2_TX_PINSOURCE GPIO_PinSource5
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#define UART2_RX_PINSOURCE GPIO_PinSource6
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static uartPort_t uartPort1;
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static uartPort_t uartPort2;
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void uartStartTxDMA(uartPort_t *s);
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uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode)
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{
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uartPort_t *s;
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static volatile uint8_t rx1Buffer[UART1_RX_BUFFER_SIZE];
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static volatile uint8_t tx1Buffer[UART1_TX_BUFFER_SIZE];
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NVIC_InitTypeDef NVIC_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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s = &uartPort1;
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s->port.vTable = uartVTable;
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s->port.baudRate = baudRate;
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s->port.rxBuffer = rx1Buffer;
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s->port.txBuffer = tx1Buffer;
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s->port.rxBufferSize = UART1_RX_BUFFER_SIZE;
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s->port.txBufferSize = UART1_TX_BUFFER_SIZE;
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#ifdef USE_USART1_RX_DMA
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s->rxDMAChannel = DMA1_Channel5;
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#endif
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s->txDMAChannel = DMA1_Channel4;
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s->USARTx = USART1;
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s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->RDR;
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s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->TDR;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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if (mode & MODE_TX) {
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GPIO_InitStructure.GPIO_Pin = UART1_TX_PIN;
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GPIO_PinAFConfig(UART1_GPIO, UART1_TX_PINSOURCE, GPIO_AF_7);
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GPIO_Init(UART1_GPIO, &GPIO_InitStructure);
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}
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if (mode & MODE_RX) {
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GPIO_InitStructure.GPIO_Pin = UART1_RX_PIN;
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GPIO_PinAFConfig(UART1_GPIO, UART1_RX_PINSOURCE, GPIO_AF_7);
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GPIO_Init(UART1_GPIO, &GPIO_InitStructure);
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}
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// DMA TX Interrupt
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel4_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#ifndef USE_USART1_RX_DMA
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NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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return s;
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}
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uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode)
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{
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uartPort_t *s;
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static volatile uint8_t rx2Buffer[UART2_RX_BUFFER_SIZE];
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static volatile uint8_t tx2Buffer[UART2_TX_BUFFER_SIZE];
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NVIC_InitTypeDef NVIC_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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s = &uartPort2;
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s->port.vTable = uartVTable;
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s->port.baudRate = baudRate;
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s->port.rxBufferSize = UART2_RX_BUFFER_SIZE;
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s->port.txBufferSize = UART2_TX_BUFFER_SIZE;
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s->port.rxBuffer = rx2Buffer;
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s->port.txBuffer = tx2Buffer;
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s->USARTx = USART2;
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#ifdef USE_USART2_RX_DMA
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s->rxDMAChannel = DMA1_Channel6;
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s->rxDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->RDR;
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#endif
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#ifdef USE_USART2_TX_DMA
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s->txDMAChannel = DMA1_Channel7;
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s->txDMAPeripheralBaseAddr = (uint32_t)&s->USARTx->TDR;
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#endif
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
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#if defined(USE_USART2_TX_DMA) || defined(USE_USART2_RX_DMA)
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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#endif
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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if (mode & MODE_TX) {
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GPIO_InitStructure.GPIO_Pin = UART2_TX_PIN;
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GPIO_PinAFConfig(UART2_GPIO, UART2_TX_PINSOURCE, GPIO_AF_7);
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GPIO_Init(UART2_GPIO, &GPIO_InitStructure);
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}
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if (mode & MODE_RX) {
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GPIO_InitStructure.GPIO_Pin = UART2_RX_PIN;
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GPIO_PinAFConfig(UART2_GPIO, UART2_RX_PINSOURCE, GPIO_AF_7);
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GPIO_Init(UART2_GPIO, &GPIO_InitStructure);
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}
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#ifdef USE_USART2_TX_DMA
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// DMA TX Interrupt
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel7_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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#ifndef USE_USART2_RX_DMA
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NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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#endif
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return s;
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}
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static void handleUsartTxDma(uartPort_t *s)
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{
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DMA_Cmd(s->txDMAChannel, DISABLE);
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if (s->port.txBufferHead != s->port.txBufferTail)
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uartStartTxDMA(s);
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else
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s->txDMAEmpty = true;
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}
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// USART1 Tx DMA Handler
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void DMA1_Channel4_IRQHandler(void)
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{
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uartPort_t *s = &uartPort1;
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DMA_ClearITPendingBit(DMA1_IT_TC4);
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DMA_Cmd(DMA1_Channel4, DISABLE);
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handleUsartTxDma(s);
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}
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// USART2 Tx DMA Handler
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void DMA1_Channel7_IRQHandler(void)
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{
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uartPort_t *s = &uartPort2;
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DMA_ClearITPendingBit(DMA1_IT_TC7);
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DMA_Cmd(DMA1_Channel7, DISABLE);
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handleUsartTxDma(s);
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}
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void usartIrqHandler(uartPort_t *s)
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{
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uint32_t ISR = s->USARTx->ISR;
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if (!s->rxDMAChannel && (ISR & USART_FLAG_RXNE)) {
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if (s->port.callback) {
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s->port.callback(s->USARTx->RDR);
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} else {
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s->port.rxBuffer[s->port.rxBufferHead] = s->USARTx->RDR;
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s->port.rxBufferHead = (s->port.rxBufferHead + 1) % s->port.rxBufferSize;
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}
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}
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if (!s->txDMAChannel && (ISR & USART_FLAG_TXE)) {
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if (s->port.txBufferTail != s->port.txBufferHead) {
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USART_SendData(s->USARTx, s->port.txBuffer[s->port.txBufferTail]);
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s->port.txBufferTail = (s->port.txBufferTail + 1) % s->port.txBufferSize;
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} else {
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USART_ITConfig(s->USARTx, USART_IT_TXE, DISABLE);
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}
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}
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if (ISR & USART_FLAG_ORE)
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{
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USART_ClearITPendingBit (s->USARTx, USART_IT_ORE);
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}
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}
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void USART1_IRQHandler(void)
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{
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uartPort_t *s = &uartPort1;
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usartIrqHandler(s);
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}
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void USART2_IRQHandler(void)
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{
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uartPort_t *s = &uartPort2;
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usartIrqHandler(s);
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}
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