more information on debug serial
This commit is contained in:
parent
4c16b2ab8e
commit
3efae76843
|
@ -110,8 +110,8 @@ void ReceiveSerial1()
|
|||
{
|
||||
// Check for new data availability in the Serial buffer
|
||||
if (Serial1.available()) {
|
||||
incomingByte = Serial1.read(); // Read the incoming byte
|
||||
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start marker
|
||||
incomingByte = Serial1.read(); // Read the incoming byte
|
||||
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
|
||||
}
|
||||
else {
|
||||
return;
|
||||
|
@ -137,8 +137,8 @@ void ReceiveSerial1()
|
|||
// Check if we reached the end of the package
|
||||
if (idx == sizeof(SerialFeedback)) {
|
||||
uint16_t checksum;
|
||||
checksum = NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp;
|
||||
checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
|
||||
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
|
||||
|
||||
// Check validity of the new data
|
||||
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
|
||||
|
@ -178,7 +178,7 @@ void loop() {
|
|||
int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000);
|
||||
|
||||
SendSerial1(speedvalue,0);
|
||||
Serial.println("-");
|
||||
Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue);
|
||||
|
||||
last_send = millis();
|
||||
|
||||
|
|
Loading…
Reference in New Issue