From 7bacf3845e2f490db4df8cc50e7b57960c4feadd Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Thu, 30 Jan 2025 19:10:00 -0500
Subject: [PATCH] explicit baud rate

---
 common/src/lib.rs       | 2 ++
 southbridge/src/main.rs | 6 ++++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/common/src/lib.rs b/common/src/lib.rs
index b5b9a36..ca63774 100644
--- a/common/src/lib.rs
+++ b/common/src/lib.rs
@@ -4,6 +4,8 @@
 use nalgebra::Vector3;
 use serde::{Deserialize, Serialize};
 
+pub const BAUDRATE: u32 = 115200;
+
 #[derive(Serialize, Deserialize, Debug)]
 pub enum Command {
     /// Forward, clockwise
diff --git a/southbridge/src/main.rs b/southbridge/src/main.rs
index 1dcb4d2..ad0d1a1 100644
--- a/southbridge/src/main.rs
+++ b/southbridge/src/main.rs
@@ -3,7 +3,7 @@
 
 use core::{panic::PanicInfo, sync::atomic::Ordering};
 
-use common::{Command, Response, SensorData};
+use common::{Command, Response, SensorData, BAUDRATE};
 use embassy_executor::Spawner;
 use embassy_rp::{bind_interrupts, peripherals::{UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
@@ -59,7 +59,9 @@ async fn main(spawner: Spawner) {
     static RX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0u8;1024]);
     let rx_buf = RX_BUF.take();
 
-    let uart = BufferedUart::new(p.UART1, Irqs, p.PIN_20, p.PIN_21, tx_buf, rx_buf, Config::default());
+    let mut uart_config = Config::default();
+    uart_config.baudrate = BAUDRATE;
+    let uart = BufferedUart::new(p.UART1, Irqs, p.PIN_20, p.PIN_21, tx_buf, rx_buf, uart_config);
 
     let (tx,rx) = uart.split();