Adapted to updated uart1 ISR interface

Author: Tobias Antonsson

src/drivers/interface/uart1.h

@@ -132,14 +132,6 @@ bool uart1GetDataWithDefaultTimeout(uint8_t *c);
  */
 void uart1GetBytesWithDefaultTimeout(uint32_t size, uint8_t* data);
 
-/**
- * Register a callback that is called for each received byte.
- * The callback is called from the UART1 interrupt context, so it should be fast and not block.
- *
- * @param[in] cb Callback to call from ISR context, or NULL to disable.
- */
-void uart1RegisterRxCallback(uart1RxCallback_t cb);
-
 /**
  * @brief Get the number of bytes available in the UART1 in queue
  *

src/drivers/src/uart1.c

@@ -285,11 +285,6 @@ void uart1GetBytesWithDefaultTimeout(uint32_t size, uint8_t* data)
   }
 }
 
-void uart1RegisterRxCallback(uart1RxCallback_t cb)
-{
-  rxCallback = cb;
-}
-
 void uart1SendData(uint32_t size, uint8_t* data)
 {
   uint32_t i;

src/modules/src/lighthouse/lighthouse_core.c

@@ -151,7 +151,7 @@ static volatile bool deckIsFlashed = false;
 // The time (in ms) of the latest received UART frame, sync frames included
 static volatile uint32_t lastFrameTs = 0;
 
-static void uart1RxISRCallback(uint8_t rxByte);
+static void uart1RxISRCallback(uint8_t rxByte, BaseType_t *xHigherPriorityTaskWoken);
 
 uint8_t lighthouseCoreDeckStatus() {
   // If the deck never flashed/booted we can't trust its state to probe it
@@ -188,7 +188,7 @@ void lighthouseCoreInit() {
   lighthouseStorageInitializeSystemTypeFromStorage();
   lighthousePositionEstInit();
 
-  uart1RegisterRxCallback(uart1RxISRCallback);
+  uart1SetRxCallback(uart1RxISRCallback);
 
   for (int i = 0; i < CONFIG_DECK_LIGHTHOUSE_MAX_N_BS; i++) {
     modifyBit(&baseStationAvailabledMap, i, true);
@@ -275,8 +275,7 @@ void lighthouseCoreSetSystemType(const lighthouseBaseStationType_t type)
   lighthouseUpdateSystemType();
 }
 
-static void uart1RxISRCallback(uint8_t rxByte) {
-  portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+static void uart1RxISRCallback(uint8_t rxByte, BaseType_t *xHigherPriorityTaskWoken) {
   static uint8_t data[UART_FRAME_LENGTH];
   static int index = 0;
   static int syncCounter = 0;
@@ -313,10 +312,7 @@ static void uart1RxISRCallback(uint8_t rxByte) {
     bool isFrameValid = (isPaddingZero || frameIsr.isSyncFrame);
 
     if (isFrameValid) {
-      xQueueSendFromISR(lhFramePacketQueue, &frameIsr, &xHigherPriorityTaskWoken);
-#ifndef UNIT_TEST_MODE
-      portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-#endif
+      xQueueSendFromISR(lhFramePacketQueue, &frameIsr, xHigherPriorityTaskWoken);
     }
   }
 }