Final changes

src/drivers/payload_uart.c

@@ -6,11 +6,11 @@
  */
 #include "hardware/irq.h"
 #include "hardware/uart.h"
-#include "pico/printf.h"
 #include "pico/stdlib.h"
 #include "pico/util/queue.h"
 
 #include "drivers/payload_uart.h"
+#include "macros.h"
 #include "pins.h"
 #include "slate.h"
 
@@ -29,10 +29,6 @@
 #define SYN_BYTE '$'
 #define SYN_COUNT 3
 
-static int chars_rxed = 0;
-
-uint8_t packet_buf[MAX_PACKET_LEN];
-
 static slate_t *slate_for_irq; // Need to save to be accessible to IRQ
 
 typedef struct
@@ -204,6 +200,8 @@ bool payload_uart_init(slate_t *slate)
 
     // Now enable the UART to send interrupts - RX only
     uart_set_irq_enables(PAYLOAD_UART_ID, true, false);
+
+    return true;
 }
 
 /**
@@ -220,7 +218,7 @@ bool payload_uart_write_packet(slate_t *slate, const uint8_t *packet,
     // Check packet length
     if (len > MAX_PACKET_LEN)
     {
-        printf("Packet is too long!\n");
+        LOG_DEBUG("Packet is too long!\n");
         return false;
     }
 
@@ -244,7 +242,7 @@ bool payload_uart_write_packet(slate_t *slate, const uint8_t *packet,
 
     if (!syn_acknowledged)
     {
-        printf("Payload did not respond to sync!\n");
+        LOG_DEBUG("Payload did not respond to sync!\n");
         return false;
     }
 
@@ -257,7 +255,7 @@ bool payload_uart_write_packet(slate_t *slate, const uint8_t *packet,
 
     if (!receive_ack(slate))
     {
-        printf("Header was not acknowledged!\n");
+        LOG_DEBUG("Header was not acknowledged!\n");
         return false;
     }
 
@@ -281,7 +279,7 @@ uint16_t payload_uart_read_packet(slate_t *slate, uint8_t *packet)
     // Wait for sync
     if (!receive_syn(slate))
     {
-        printf("Syn was not received!\n");
+        LOG_DEBUG("Syn was not received!\n");
         return 0;
     }
     send_ack();
@@ -293,15 +291,15 @@ uint16_t payload_uart_read_packet(slate_t *slate, uint8_t *packet)
 
     if (bytes_received < sizeof(packet_header_t))
     {
-        printf("Header was not received!\n");
+        LOG_DEBUG("Header was not received!\n");
         return 0;
     }
     send_ack();
 
     // Check header
     if (header.length > MAX_PACKET_LEN)
     {
-        printf("Packet is too long!\n");
+        LOG_DEBUG("Packet is too long!\n");
         return 0;
     }
 
@@ -310,14 +308,14 @@ uint16_t payload_uart_read_packet(slate_t *slate, uint8_t *packet)
 
     if (bytes_received < header.length)
     {
-        printf("Packet was not fully received!\n");
+        LOG_DEBUG("Packet was not fully received!\n");
         return 0;
     }
 
     // Verify checksum
     if (crc32(packet, header.length) != header.checksum)
     {
-        printf("Invalid checksum!\n");
+        LOG_DEBUG("Invalid checksum!\n");
         return 0;
     }
     send_ack();

src/init.c

@@ -12,6 +12,8 @@
 #include "pico/stdlib.h"
 #include "scheduler/scheduler.h"
 
+#include "drivers/payload_uart.h"
+
 /**
  * Initialize all gpio pins to their default states.
  *
@@ -38,6 +40,11 @@ bool init(slate_t *slate)
      */
     ASSERT(init_gpio_pins());
 
+    /*
+     * Initialize uart
+     */
+    ASSERT(payload_uart_init(slate));
+
     /*
      * Initialize the state machine
      */

src/pins.h

@@ -14,5 +14,10 @@
 #define RFM9X_CS (20)
 #define RFM9X_D0 (28)
 
-#define SAMWISE_RPI_UART_TX (30)
-#define SAMWISE_RPI_UART_RX (31)
+// TODO: Replace with these for pycubed
+// #define SAMWISE_RPI_UART_TX (30)
+// #define SAMWISE_RPI_UART_RX (31)
+
+// For pico
+#define SAMWISE_RPI_UART_TX (0)
+#define SAMWISE_RPI_UART_RX (1)

src/state_machine/states/running.c

@@ -4,8 +4,8 @@
 
 sched_state_t running_state = {
     .name = "running",
-    .num_tasks = 3,
-    .task_list = {&print_task, &blink_task, &radio_task},
+    .num_tasks = 2,
+    .task_list = {&print_task, &blink_task, /*&radio_task*/},
     .get_next_state = &running_get_next_state};
 
 sched_state_t *running_get_next_state(slate_t *slate)