add current feedback receive
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901c46af34
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1affd1220d
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@ -127,6 +127,8 @@ typedef struct{
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int16_t speedL_meas;
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC;
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int16_t curR_DC;
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int16_t checksum;
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} SerialFeedback;
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SerialFeedback Feedback1;
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@ -51,8 +51,9 @@ void ReceiveSerial1()
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// Check if we reached the end of the package
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if (idx1 == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback1.start ^ NewFeedback1.cmd1 ^ NewFeedback1.cmd2 ^ NewFeedback1.speedR ^ NewFeedback1.speedL
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^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp);
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^ NewFeedback1.speedR_meas ^ NewFeedback1.speedL_meas ^ NewFeedback1.batVoltage ^ NewFeedback1.boardTemp ^ NewFeedback1.curL_DC ^ NewFeedback1.curR_DC);
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// Check validity of the new data
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if (NewFeedback1.start == START_FRAME && checksum == NewFeedback1.checksum) {
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@ -112,7 +113,7 @@ void ReceiveSerial2()
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if (idx2 == sizeof(SerialFeedback)) {
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uint16_t checksum;
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checksum = (uint16_t)(NewFeedback2.start ^ NewFeedback2.cmd1 ^ NewFeedback2.cmd2 ^ NewFeedback2.speedR ^ NewFeedback2.speedL
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^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp);
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^ NewFeedback2.speedR_meas ^ NewFeedback2.speedL_meas ^ NewFeedback2.batVoltage ^ NewFeedback2.boardTemp ^ NewFeedback2.curL_DC ^ NewFeedback2.curR_DC);
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// Check validity of the new data
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if (NewFeedback2.start == START_FRAME && checksum == NewFeedback2.checksum) {
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