tuber/robot/modules/usart/usart.cpp

#include "stm32g0xx_hal.h"
#include "usart.h"


void init_usart(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    
    USART_BRIDGE_TX_PORT_CLK_ENABLE
    USART_BRIDGE_RX_PORT_CLK_ENABLE  
  
    GPIO_InitStruct.Pin       = USART_BRIDGE_TX_PIN;
    GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull      = GPIO_PULLUP;
    GPIO_InitStruct.Speed     = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = USART_BRIDGE_AF;
    HAL_GPIO_Init(USART_BRIDGE_TX_PORT, &GPIO_InitStruct);
      
    GPIO_InitStruct.Pin       = USART_BRIDGE_RX_PIN;
    HAL_GPIO_Init(USART_BRIDGE_RX_PORT, &GPIO_InitStruct);  
      

    USART_BRIDGE_CLK_ENABLE

    uart.Instance           = USART_BRIDGE_USART;
    uart.Init.BaudRate      = USART_BRIDGE_SPEED;
    uart.Init.WordLength    = UART_WORDLENGTH_8B;
    uart.Init.StopBits      = UART_STOPBITS_1;
    uart.Init.Parity        = UART_PARITY_NONE;
    uart.Init.Mode          = UART_MODE_TX_RX;
    uart.Init.HwFlowCtl     = UART_HWCONTROL_NONE;
    uart.Init.OverSampling  = UART_OVERSAMPLING_8;
    uart.Init.OneBitSampling= UART_ONE_BIT_SAMPLE_DISABLE;
    HAL_UART_Init(&uart);

    HAL_NVIC_SetPriority(USART_BRIDGE_IRQn, 6, 0);
    HAL_NVIC_EnableIRQ(USART_BRIDGE_IRQn);
    HAL_UART_Receive_IT(&uart, (uint8_t*)&m_uartByte, 1);
}