#ifndef _FOC_PROTOCOL_H
#define _FOC_PROTOCOL_H

#define START_FRAME 0xABCD

typedef struct {
   uint16_t start;
   int16_t  steer;
   int16_t  speed;
   uint16_t checksum;
} SerialCommand;

typedef struct {
   uint16_t start;
   int16_t  cmd1;
   int16_t  cmd2;
   int16_t  speedR_meas;
   int16_t  speedL_meas;
   int16_t  wheelR_cnt;
   int16_t  wheelL_cnt; 
   int16_t  left_dc_curr;
   int16_t  right_dc_curr;   
   int16_t  batVoltage;
   int16_t  boardTemp;
   uint16_t cmdLed;
   uint16_t checksum;
} SerialFeedback;

#endif