From 1affd1220d0bb0b966644dcba9136f6d77babeaa Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Sun, 29 Dec 2019 00:41:39 +0100
Subject: [PATCH] add current feedback receive

---
 controller/controller.ino    | 2 ++
 controller/serialControl.ino | 5 +++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/controller/controller.ino b/controller/controller.ino
index 0b3afe3..8c97ec0 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -127,6 +127,8 @@ typedef struct{
    int16_t  speedL_meas;
    int16_t  batVoltage;
    int16_t  boardTemp;
+   int16_t  curL_DC;
+   int16_t  curR_DC;
    int16_t  checksum;
 } SerialFeedback;
 SerialFeedback Feedback1;
diff --git a/controller/serialControl.ino b/controller/serialControl.ino
index 86eebe0..b55bed0 100644
--- a/controller/serialControl.ino
+++ b/controller/serialControl.ino
@@ -51,8 +51,9 @@ void ReceiveSerial1()
   // Check if we reached the end of the package
   if (idx1 == sizeof(SerialFeedback)) {    
     uint16_t checksum;
+  
     checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL
-          ^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp);
+          ^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp ^ NewFeedback1.curL_DC ^ NewFeedback1.curR_DC);
   
     // Check validity of the new data
     if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
@@ -112,7 +113,7 @@ void ReceiveSerial2()
   if (idx2 == sizeof(SerialFeedback)) {    
     uint16_t checksum;
     checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL
-          ^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp);
+          ^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp ^ NewFeedback2.curL_DC ^ NewFeedback2.curR_DC);
   
     // Check validity of the new data
     if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) {