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add current feedback receive

This commit is contained in:
interfisch 2019-12-29 00:41:39 +01:00
parent 901c46af34
commit 1affd1220d
2 changed files with 5 additions and 2 deletions
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2
controller/controller.ino
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@ -127,6 +127,8 @@ typedef struct{
int16_t speedL_meas; int16_t speedL_meas;
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
int16_t curL_DC;
int16_t curR_DC;
int16_t checksum; int16_t checksum;
} SerialFeedback; } SerialFeedback;
SerialFeedback Feedback1; SerialFeedback Feedback1;

5
controller/serialControl.ino
View File

@ -51,8 +51,9 @@ void ReceiveSerial1()
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx1 == sizeof(SerialFeedback)) { if (idx1 == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL 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 // Check validity of the new data
if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) { if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
@ -112,7 +113,7 @@ void ReceiveSerial2()
if (idx2 == sizeof(SerialFeedback)) { if (idx2 == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL 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 // Check validity of the new data
if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) { if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) {