Updated for checksum
Diff: main.cpp
- Revision:
- 8:450fbccaf4f6
- Parent:
- 7:2f785cb39f11
- Child:
- 9:16a550d36425
--- a/main.cpp Fri Apr 02 17:46:49 2021 +0000 +++ b/main.cpp Tue Apr 06 00:58:00 2021 +0000 @@ -253,7 +253,7 @@ msg->data[5] = 0xFF; msg->data[6] = 0xFF; msg->data[7] = 0xFE; - WriteAll(); + //WriteAll(); } void EnterMotorMode(CANMessage * msg){ @@ -265,7 +265,7 @@ msg->data[5] = 0xFF; msg->data[6] = 0xFF; msg->data[7] = 0xFC; - WriteAll(); + //WriteAll(); } void ExitMotorMode(CANMessage * msg){ @@ -277,9 +277,10 @@ msg->data[5] = 0xFF; msg->data[6] = 0xFF; msg->data[7] = 0xFD; - WriteAll(); + //WriteAll(); } + void serial_isr(){ /// handle keyboard commands from the serial terminal /// while(pc.readable()){ @@ -350,6 +351,7 @@ WriteAll(); } + uint32_t xor_checksum(uint32_t* data, size_t len) { @@ -524,8 +526,10 @@ can3.write(q32_can); EnterMotorMode(&q33_can); can3.write(q33_can); + //WRITE THE COMMANDS + //WriteAll(); //SERIAL TO USER - pc.printf("e\n\r"); + //pc.printf("e\n\r"); return; } else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){ @@ -551,8 +555,10 @@ can3.write(q32_can); ExitMotorMode(&q33_can); can3.write(q33_can); + //WRITE THE COMMANDS + //WriteAll(); //SERIAL TO USER - pc.printf("x\n\r"); + //pc.printf("x\n\r"); return; }