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void UARTManager::end()
{
    uart_driver_delete(_uart_num);
    if(_uart_q)
        vQueueDelete(_uart_q);
    _uart_q = NULL;
}

void UARTManager::begin(int baud)
{
    if(_uart_q)
    {
        end();
    }

    uart_config_t uart_config = 
    {
        .baud_rate = baud,
        .data_bits = UART_DATA_8_BITS,
        .parity = UART_PARITY_DISABLE,
        .stop_bits = UART_STOP_BITS_1,
        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
        .rx_flow_ctrl_thresh = 122, // No idea what this is for, but shouldn't matter if flow ctrl is disabled?
        .use_ref_tick = false // ?
    };
    uart_param_config(_uart_num, &uart_config);

    int tx, rx;
    if(_uart_num == 0)
    {
        rx = UART0_RX;
        tx = UART0_TX;
    }
    else if(_uart_num == 1)
    {
        rx = UART1_RX;
        tx = UART1_TX;
    }
    else if (_uart_num == 2)
    {
        rx = UART2_RX;
        tx = UART2_TX;
    } else {
        return;
    }

    uart_set_pin(_uart_num, tx, rx, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);

    // Arduino default buffer size is 256
    int uart_buffer_size = 256;
    int uart_queue_size = 10;
    int intr_alloc_flags = 0;

    // Install UART driver using an event queue here
    //uart_driver_install(_uart_num, uart_buffer_size, uart_buffer_size, uart_queue_size, &_uart_q, intr_alloc_flags);
    uart_driver_install(_uart_num, uart_buffer_size, 0, uart_queue_size, NULL, intr_alloc_flags);

    // Set initialized.
    _initialized=true;
}