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Fixed checksum 

Fixed a bug when requesting negative speed in the checksum calculation due to data type.
This commit is contained in:
EmanuelFeru 2019-12-01 17:46:48 +01:00
parent 9fdb6d75f5
commit 249d93932e
1 changed files with 4 additions and 4 deletions
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8
02_Arduino/hoverserial/hoverserial.ino
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@ -91,8 +91,8 @@ void Receive()
{ {
// Check for new data availability in the Serial buffer // Check for new data availability in the Serial buffer
if (HoverSerial.available()) { if (HoverSerial.available()) {
incomingByte = HoverSerial.read(); // Read the incoming byte incomingByte = HoverSerial.read(); // Read the incoming byte
bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start marker bufStartFrame = ((uint16_t)(incomingBytePrev) << 8) + incomingByte; // Construct the start frame
} }
else { else {
return; return;
@ -118,8 +118,8 @@ void Receive()
// Check if we reached the end of the package // Check if we reached the end of the package
if (idx == sizeof(SerialFeedback)) { if (idx == sizeof(SerialFeedback)) {
uint16_t checksum; uint16_t checksum;
checksum = NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp; ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
// Check validity of the new data // Check validity of the new data
if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) { if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {