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icyphy / lf-buckler

Programming an nRF embedded board with a Berkeley Buckler daughter card using Lingua Franca.
BSD 2-Clause "Simplified" License
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Use low level uart #16

Closed erlingrj closed 2 years ago

erlingrj commented 2 years ago

This PR does a couple of things:

  1. Use nrfx_uart library instead of nrf_serial. It is a lower level API which makes it easier to understand what is happening. This could probably be achieved with nrf_serial also, but I found it easier to work directly with the UART peripheral and not through layers of Nordic code and logic
  2. Make romi_sensor_poll a bit more robust. E.g. if we do get a buffer_overrun, clear that error flag.
  3. Copy the kobukiDriveDirect with its dependencies into romi.c. Because I switched out the how to use the UART.
lsk567 commented 2 years ago

Just tested this branch on Robot_Solution_726.lf with printf calls. No failures were observed. Thanks, @erlingrj!