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Fixed checksum

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Fixed a bug when requesting negative speed in the checksum calculation due to data type.
This commit is contained in:
EmanuelFeru
2019-12-01 17:38:36 +01:00
parent 1841257078
commit 9fdb6d75f5
1 changed files with 1 additions and 1 deletions
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2
Src/main.c
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@@ -322,7 +322,7 @@ int main(void) {
#if defined CONTROL_SERIAL_USART2 || defined CONTROL_SERIAL_USART3
// Handle received data validity, timeout and fix out-of-sync if necessary
if (command.start == START_FRAME && command.checksum == (command.start ^ command.steer ^ command.speed)) {
if (command.start == START_FRAME && command.checksum == (uint16_t)(command.start ^ command.steer ^ command.speed)) {
if (timeoutFlag) { // Check for previous timeout flag
if (timeoutCnt-- <= 0) // Timeout de-qualification
timeoutFlag = 0; // Timeout flag cleared