From fbf1409c7042bdb0e4ec4ce9d971405cae42be9f Mon Sep 17 00:00:00 2001 From: Emil Jacobsen Date: Fri, 6 May 2022 13:24:33 +0200 Subject: [PATCH] Updated readme and removed unused function header --- README.md | 12 +++++------- src/crc.h | 2 -- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 762f713..b8280df 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,14 @@ # VescUart -Arduino library for interfacing with a VESC over UART. This library is based upon the library written by RollingGecko (https://github.com/RollingGecko/VescUartControl). The library is updated for the newest VESC firmware (FW4+) and cleaned up a bit. The library is not backwards compatible, so you have to upload the newest firmware to your VESC. +Arduino library for interfacing with a VESC over UART. This library is based upon the works of many. The library is tested on a Teensy 4, and is updated for VESC firmware FW5+. The library is not nessecary backwards compatible with older versions of VESC firmware, so please update to the newest firmware available to your VESC. -**Important:** This is not a dropin replacement for RollingGeckos library. You will have to make some changes to your software, as all functions and values is now within a class, see below. +The library supports only a small amount of features available to the VESC. You are welcome to make a pull request if you integrate new functionality and I will do my best to merge. -## SwitchSystems/VescUart fork details +## CAN BUS support -Added CAN BUS support to all methods, and additional features. Maintaining backwards compatibility where possible so it should be a drop-in replacement for SolidGeek/VescUart@develop which this was forked from. +CAN BUS is now supported, such that you can communcate with multiple VESCs over a single UART port. All methods can be called with a CAN ID, and the main VESC will forward the command to the desired CAN Id. -Note: You can't use a CAN bus ID of 0 for this library (we use this to refer to the local device), so start numbering at 1. +You can't use a CAN bus ID of 0 for this library, as this is used to refer to the local device; start numbering at 1. ## Usage @@ -27,8 +27,6 @@ void setup() { UART.setSerialPort(&Serial); } ``` - -You can now safely use the functions and change the values of the class. Getting VESC telemetry: diff --git a/src/crc.h b/src/crc.h index b70b7b8..1724b6a 100644 --- a/src/crc.h +++ b/src/crc.h @@ -26,7 +26,5 @@ * Functions */ unsigned short crc16(unsigned char *buf, unsigned int len); -uint32_t crc32(uint32_t *buf, uint32_t len); -void crc32_reset(void); #endif /* CRC_H_ */