wip test read only rpm

Change-Id: Ie80b95b50b330f7f79680f9b854e2321ba13797c
mechmotum · Jul 27, 2023 · 8c42763 · 8c42763
1 parent 26d8ee1
commit 8c42763
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/third_party/vesc_uart/src/extra.cpp b/third_party/vesc_uart/src/extra.cpp
@@ -8,13 +8,18 @@
 #include <cstddef>
 #include <cstring>
 
+#include <iostream>
+
 namespace {
 
 static constexpr auto serial_device = 0;
 
 auto payload_buffer = std::array<std::uint8_t, 256>{};
 
-auto cmd_get_values = std::uint8_t{COMM_GET_VALUES};
+// try to use COMM_GET_VALUES_SELECTIVE
+// constexpr std::uint8_t rpm_bit = 1U << 7;
+// auto cmd_get_values = std::uint8_t{COMM_GET_VALUES, rpm_bit, 0x00, 0x00, 0x00};
+auto cmd_get_values = std::uint8_t{COMM_GET_VALUES, 0xFF, 0xFF, 0xFF, 0xFF};
 
 }  // namespace
 
@@ -39,6 +44,8 @@ auto read_payload(std::span<std::uint8_t> buf) -> void
       "`buf` is not large enough to hold "
       "message");
 
+  std::cout << "payload size: " << payload_size << '\n';
+
   const auto message =
       std::span{buf.data(), std::size_t(payload_size + footer_size)};
   Serial.read(message);