From 699c19d2136604629e5bb7c3e13982cb6ef3f06a Mon Sep 17 00:00:00 2001
From: Fausto Navadian <fausto.navadian@fing.edu.uy>
Date: Sat, 21 Jan 2023 17:10:14 -0300
Subject: [PATCH] Test sending one float
---
Robotito/src/control/control.c | 7 ++++++-
Robotito/src/main.c | 4 ++--
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index 0269346..4247566 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -129,7 +129,12 @@ static void callback_odometry(){
float_buffer[3] = o->y_dot;
float_buffer[4] = o->phi;
float_buffer[5] = o->phi_dot;
- uart_write_bytes(UART_NUM_2, float_buffer, sizeof(float_buffer));
+ uart_write_bytes(UART_NUM_2, &float_buffer[0], sizeof(float));
+ uart_write_bytes(UART_NUM_2, &float_buffer[1], sizeof(float));
+ uart_write_bytes(UART_NUM_2, &float_buffer[2], sizeof(float));
+ uart_write_bytes(UART_NUM_2, &float_buffer[3], sizeof(float));
+ uart_write_bytes(UART_NUM_2, &float_buffer[4], sizeof(float));
+ uart_write_bytes(UART_NUM_2, &float_buffer[5], sizeof(float));
free(v);
}
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index d95dd00..1eda5df 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -27,7 +27,7 @@
static const char *tag = "UART EVENT";
#define UART_NUM UART_NUM_2
-#define FLOAT_BUF_SIZE 4
+#define FLOAT_BUF_SIZE 1
#define BUF_SIZE FLOAT_BUF_SIZE * sizeof(float)
#define TASK_MEMORY 1024 * 2
@@ -51,7 +51,7 @@ static void uart_task(void *pvParameters)
if (len == BUF_SIZE){
memcpy(&fdata, data , sizeof(fdata));
printf("%s \n",data);
- for (int i = 0; i < 4; i++)
+ for (int i = 0; i < FLOAT_BUF_SIZE; i++)
{
printf("El dato %d en float es: %f \n",i, fdata[i]);
}
--
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