From 8ba2d5e4fbcceaf26e66d43faf4f2923d07139ea Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Sun, 29 Sep 2024 11:07:58 -0500
Subject: [PATCH 1/8] add code to read CAN messages every 1s

---
 platformio.ini |  2 ++
 src/main.cpp   | 19 +++++++++----------
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/platformio.ini b/platformio.ini
index 7b1bcdb..15ea4d0 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -12,3 +12,5 @@
 platform = ststm32
 board = nucleo_f767zi
 framework = arduino
+build_flags = -DHAL_CAN_MODULE_ENABLED
+lib_deps = pazi88/STM32_CAN@^1.1.2
diff --git a/src/main.cpp b/src/main.cpp
index cb9fbba..67d9d89 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,18 +1,17 @@
 #include <Arduino.h>
+#include "STM32_CAN.h"
 
-// put function declarations here:
-int myFunction(int, int);
+STM32_CAN canBus( CAN1, ALT_2 );
+
+CAN_message_t msg;
 
 void setup() {
-  // put your setup code here, to run once:
-  int result = myFunction(2, 3);
+  canBus.setBaudRate(500000);
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
+  delay(1000);
+  if (canBus.read(msg)) {
+    printf("Message received: %x | %d\n", msg.id, msg.buf[0]);
+  }
 }
-
-// put function definitions here:
-int myFunction(int x, int y) {
-  return x + y;
-}
\ No newline at end of file

From 8f9e659a47983466aa3adfbdcb34a6172627c6a1 Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Sun, 29 Sep 2024 11:43:45 -0500
Subject: [PATCH 2/8] add canBus.begin()

---
 src/main.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main.cpp b/src/main.cpp
index 67d9d89..469746a 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -7,11 +7,14 @@ CAN_message_t msg;
 
 void setup() {
   canBus.setBaudRate(500000);
+  canBus.begin();
 }
 
 void loop() {
   delay(1000);
   if (canBus.read(msg)) {
     printf("Message received: %x | %d\n", msg.id, msg.buf[0]);
+  } else {
+    printf("no read");
   }
 }

From 0774d526f3269d6cecdd486469474956fa176387 Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Sun, 29 Sep 2024 11:55:49 -0500
Subject: [PATCH 3/8] working read example

---
 src/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 469746a..4e99ac2 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -6,8 +6,8 @@ STM32_CAN canBus( CAN1, ALT_2 );
 CAN_message_t msg;
 
 void setup() {
-  canBus.setBaudRate(500000);
   canBus.begin();
+  canBus.setBaudRate(500000);
 }
 
 void loop() {
@@ -15,6 +15,6 @@ void loop() {
   if (canBus.read(msg)) {
     printf("Message received: %x | %d\n", msg.id, msg.buf[0]);
   } else {
-    printf("no read");
+    printf("no messages in read queue\n");
   }
 }

From 314c2420524c7bd5c251b130a23d61615d6c0595 Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Mon, 30 Sep 2024 23:19:49 -0500
Subject: [PATCH 4/8] add submodule with canmanager

---
 .gitmodules    |  3 +++
 embedded-pio   |  1 +
 platformio.ini |  3 +++
 src/main.cpp   | 13 +++++--------
 4 files changed, 12 insertions(+), 8 deletions(-)
 create mode 100644 .gitmodules
 create mode 160000 embedded-pio

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..b71b998
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "embedded-pio"]
+	path = embedded-pio
+	url = git@github.com:badgerloop-software/embedded-pio.git
diff --git a/embedded-pio b/embedded-pio
new file mode 160000
index 0000000..7813369
--- /dev/null
+++ b/embedded-pio
@@ -0,0 +1 @@
+Subproject commit 78133696ad23cf60ba8693de9ef3ae5699f7c293
diff --git a/platformio.ini b/platformio.ini
index 15ea4d0..a9e0ed6 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -13,4 +13,7 @@ platform = ststm32
 board = nucleo_f767zi
 framework = arduino
 build_flags = -DHAL_CAN_MODULE_ENABLED
+lib_extra_dirs = ./embedded-pio
 lib_deps = pazi88/STM32_CAN@^1.1.2
+
+        
diff --git a/src/main.cpp b/src/main.cpp
index 4e99ac2..5f8f89c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,20 +1,17 @@
 #include <Arduino.h>
 #include "STM32_CAN.h"
+#include "canmanager.h"
 
-STM32_CAN canBus( CAN1, ALT_2 );
+// STM32_CAN canBus( CAN1, ALT_2 );
+CANManager canBus(CAN1, ALT_2);
 
 CAN_message_t msg;
 
 void setup() {
-  canBus.begin();
-  canBus.setBaudRate(500000);
+  Serial.begin(9600);
 }
 
 void loop() {
+  Serial.println("hey");
   delay(1000);
-  if (canBus.read(msg)) {
-    printf("Message received: %x | %d\n", msg.id, msg.buf[0]);
-  } else {
-    printf("no messages in read queue\n");
-  }
 }

From 16e72ea0406743e4d526983a14a248505a118d64 Mon Sep 17 00:00:00 2001
From: Dhruv Aron <dhruv.aron@gmail.com>
Date: Tue, 8 Oct 2024 21:09:33 -0500
Subject: [PATCH 5/8] First (untested) version of new CANDecoder class for
 testing purposes

---
 include/candecoder.h | 21 ++++++++++++
 src/candecoder.cpp   | 79 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 100 insertions(+)
 create mode 100644 include/candecoder.h
 create mode 100644 src/candecoder.cpp

diff --git a/include/candecoder.h b/include/candecoder.h
new file mode 100644
index 0000000..151007d
--- /dev/null
+++ b/include/candecoder.h
@@ -0,0 +1,21 @@
+#include "canmanager.h"
+ 
+class CANDecoder : public CANManager {
+   public:
+
+      CANDecoder(PinName rd, PinName td, int frequency = DEFAULT_CAN_FREQ);
+
+      /* Reads input message and does any logic handling needed
+       * Intended to be implemented by class extension per board
+       */
+      virtual void readHandler(CAN_data msg) = 0;
+
+      /* Send a message over CAN
+       *
+       * messageID: CAN ID to use to identify the signal
+       * data: Payload array
+       * length: Size of data in bytes
+       * timeout: in milliseconds
+       */ 
+      int sendSignal();
+};
\ No newline at end of file
diff --git a/src/candecoder.cpp b/src/candecoder.cpp
new file mode 100644
index 0000000..c78f6bf
--- /dev/null
+++ b/src/candecoder.cpp
@@ -0,0 +1,79 @@
+#include "candecoder.h"
+
+#define FIRST_CAN 0x000
+#define SECOND_CAN 0x100
+
+#define IS_FIRST_CAN true
+
+uint8_t int8Received;
+uint16_t int16Received;
+float floatReceived;
+boolean boolReceived;
+
+
+CANDecoder::CANDecoder(PinName rd, PinName td, int frequency = DEFAULT_CAN_FREQ) : CANManager(CAN_TypeDef* canPort, CAN_PINS pins, int frequency){};
+
+#if IS_FIRST_CAN
+void CANDecoder::readHandler(CAN_data msg) {
+   switch (msg.id) {
+      case (FIRST_CAN + 0):
+         int8Received = *msg.buf;
+         break;
+      case (FIRST_CAN + 1):
+         int16Received = *msg.buf;
+         break;
+      case (FIRST_CAN + 2):
+         floatReceived = *msg.buf;
+         break;
+      case (FIRST_CAN + 3):
+         boolReceived = *msg.buf;
+         break;
+   }   
+}
+
+int CANDecoder::sendSignal() {
+   uint8_t test8int = 496; // random 8-bit integer
+   this->sendMessage(SECOND_CAN + 0, (void*)&test8int, sizeof(test8int));
+
+   uint16_t test16int = 30271; // random 16-bit integer
+   this->sendMessage(SECOND_CAN + 1, (void*)&test16int, sizeof(test16int));
+
+   float testFloat = 9.8; // random floating point number
+   this->sendMessage(SECOND_CAN + 2, (void*)&testFloat, sizeof(testFloat));
+
+   float testBoolean = true;
+   this->sendMessage(SECOND_CAN + 3, (void*)&testBoolean, sizeof(testBoolean));
+}
+
+#else
+void CANDecoder::readHandler(CAN_data msg) {
+   switch (msg.id) {
+      case (SECOND_CAN + 0):
+         int8Received = *msg.buf;
+         break;
+      case (SECOND_CAN + 1):
+         int16Received = *msg.buf;
+         break;
+      case (SECOND_CAN + 2):
+         floatReceived = *msg.buf;
+         break;
+      case (SECOND_CAN + 3):
+         boolReceived = *msg.buf;
+         break;
+   }   
+}
+
+int CANDecoder::sendSignal() {
+   uint8_t test8int = 234; // random 8-bit integer
+   this->sendMessage(FIRST_CAN + 0, (void*)&test8int, sizeof(test8int));
+
+   uint16_t test16int = 57219; // random 16-bit integer
+   this->sendMessage(FIRST_CAN + 1, (void*)&test16int, sizeof(test16int));
+
+   float testFloat = 8.6; // random floating point number
+   this->sendMessage(FIRST_CAN + 2, (void*)&testFloat, sizeof(testFloat));
+
+   float testBoolean = false;
+   this->sendMessage(FIRST_CAN + 3, (void*)&testBoolean, sizeof(testBoolean));
+}
+#endif
\ No newline at end of file

From 06ccd480e69bf391f1e373348d4a227e7c141f52 Mon Sep 17 00:00:00 2001
From: Dhruv Aron <dhruv.aron@gmail.com>
Date: Sun, 13 Oct 2024 12:13:43 -0500
Subject: [PATCH 6/8] Updated CANDecoder implementation based on new CANManager
 implementation and comments from PR 'Check new CANDecoder Implementation'#1

---
 include/candecoder.h |  8 ++--
 src/candecoder.cpp   | 94 +++++++++++++++++---------------------------
 src/main.cpp         | 21 +++++++---
 3 files changed, 55 insertions(+), 68 deletions(-)

diff --git a/include/candecoder.h b/include/candecoder.h
index 151007d..787c136 100644
--- a/include/candecoder.h
+++ b/include/candecoder.h
@@ -2,13 +2,13 @@
  
 class CANDecoder : public CANManager {
    public:
-
-      CANDecoder(PinName rd, PinName td, int frequency = DEFAULT_CAN_FREQ);
+   
+      CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency = DEFAULT_CAN_FREQ);
 
       /* Reads input message and does any logic handling needed
        * Intended to be implemented by class extension per board
        */
-      virtual void readHandler(CAN_data msg) = 0;
+      void readHandler(CAN_data msg);
 
       /* Send a message over CAN
        *
@@ -17,5 +17,5 @@ class CANDecoder : public CANManager {
        * length: Size of data in bytes
        * timeout: in milliseconds
        */ 
-      int sendSignal();
+      void sendSignal();
 };
\ No newline at end of file
diff --git a/src/candecoder.cpp b/src/candecoder.cpp
index c78f6bf..c9c3902 100644
--- a/src/candecoder.cpp
+++ b/src/candecoder.cpp
@@ -1,79 +1,57 @@
 #include "candecoder.h"
 
-#define FIRST_CAN 0x000
-#define SECOND_CAN 0x100
-
 #define IS_FIRST_CAN true
 
+#if IS_FIRST_CAN
+#define RECEIVE_BASE_ID 0x000
+#define SEND_BASE_ID 0x100
+#define INT8_VAL 16
+#define INT16_VAL 30271
+#define FLOAT_VAL 9.8
+#define BOOL_VAL true
+#else
+#define RECEIVE_BASE_ID 0x100
+#define SEND_BASE_ID 0x000
+#define INT8_VAL 234
+#define INT16_VAL 57219
+#define FLOAT_VAL 8.6
+#define BOOL_VAL false
+#endif
+
 uint8_t int8Received;
 uint16_t int16Received;
 float floatReceived;
-boolean boolReceived;
-
-
-CANDecoder::CANDecoder(PinName rd, PinName td, int frequency = DEFAULT_CAN_FREQ) : CANManager(CAN_TypeDef* canPort, CAN_PINS pins, int frequency){};
-
-#if IS_FIRST_CAN
-void CANDecoder::readHandler(CAN_data msg) {
-   switch (msg.id) {
-      case (FIRST_CAN + 0):
-         int8Received = *msg.buf;
-         break;
-      case (FIRST_CAN + 1):
-         int16Received = *msg.buf;
-         break;
-      case (FIRST_CAN + 2):
-         floatReceived = *msg.buf;
-         break;
-      case (FIRST_CAN + 3):
-         boolReceived = *msg.buf;
-         break;
-   }   
-}
-
-int CANDecoder::sendSignal() {
-   uint8_t test8int = 496; // random 8-bit integer
-   this->sendMessage(SECOND_CAN + 0, (void*)&test8int, sizeof(test8int));
+bool boolReceived;
 
-   uint16_t test16int = 30271; // random 16-bit integer
-   this->sendMessage(SECOND_CAN + 1, (void*)&test16int, sizeof(test16int));
+CANDecoder::CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency /*=DEFAULT_CAN_FREQ*/) : CANManager(canPort, pins, frequency){};
 
-   float testFloat = 9.8; // random floating point number
-   this->sendMessage(SECOND_CAN + 2, (void*)&testFloat, sizeof(testFloat));
-
-   float testBoolean = true;
-   this->sendMessage(SECOND_CAN + 3, (void*)&testBoolean, sizeof(testBoolean));
-}
-
-#else
 void CANDecoder::readHandler(CAN_data msg) {
    switch (msg.id) {
-      case (SECOND_CAN + 0):
-         int8Received = *msg.buf;
+      case (RECEIVE_BASE_ID + 0):
+         int8Received = *(int8_t*)msg.buf;
          break;
-      case (SECOND_CAN + 1):
-         int16Received = *msg.buf;
+      case (RECEIVE_BASE_ID + 1):
+         int16Received = *(int16_t*)msg.buf;
          break;
-      case (SECOND_CAN + 2):
-         floatReceived = *msg.buf;
+      case (RECEIVE_BASE_ID + 2):
+         floatReceived = *(float*)msg.buf;
          break;
-      case (SECOND_CAN + 3):
-         boolReceived = *msg.buf;
+      case (RECEIVE_BASE_ID + 3):
+         boolReceived = *(bool*)msg.buf;
          break;
    }   
 }
 
-int CANDecoder::sendSignal() {
-   uint8_t test8int = 234; // random 8-bit integer
-   this->sendMessage(FIRST_CAN + 0, (void*)&test8int, sizeof(test8int));
+void CANDecoder::sendSignal() {
+   uint8_t test8int = INT8_VAL; 
+   this->sendMessage(SEND_BASE_ID + 0, (void*)&test8int, sizeof(test8int));
 
-   uint16_t test16int = 57219; // random 16-bit integer
-   this->sendMessage(FIRST_CAN + 1, (void*)&test16int, sizeof(test16int));
+   uint16_t test16int = INT16_VAL;
+   this->sendMessage(SEND_BASE_ID + 1, (void*)&test16int, sizeof(test16int));
 
-   float testFloat = 8.6; // random floating point number
-   this->sendMessage(FIRST_CAN + 2, (void*)&testFloat, sizeof(testFloat));
+   float testFloat = FLOAT_VAL;
+   this->sendMessage(SEND_BASE_ID + 2, (void*)&testFloat, sizeof(testFloat));
 
-   float testBoolean = false;
-   this->sendMessage(FIRST_CAN + 3, (void*)&testBoolean, sizeof(testBoolean));
-}
-#endif
\ No newline at end of file
+   bool testBoolean = BOOL_VAL;
+   this->sendMessage(SEND_BASE_ID + 3, (void*)&testBoolean, sizeof(testBoolean));
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 5f8f89c..680f78c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,11 +1,13 @@
 #include <Arduino.h>
 #include "STM32_CAN.h"
-#include "canmanager.h"
+#include "candecoder.h"
 
-// STM32_CAN canBus( CAN1, ALT_2 );
-CANManager canBus(CAN1, ALT_2);
+CANDecoder candecoder(CAN1, ALT_2);
 
-CAN_message_t msg;
+extern uint8_t int8Received;
+extern uint16_t int16Received;
+extern float floatReceived;
+extern bool boolReceived;
 
 void setup() {
   Serial.begin(9600);
@@ -13,5 +15,12 @@ void setup() {
 
 void loop() {
   Serial.println("hey");
-  delay(1000);
-}
+
+  candecoder.sendSignal();
+  candecoder.runQueue(1000);
+
+  Serial.println(int8Received);
+  Serial.println(int16Received);
+  Serial.println(floatReceived);
+  Serial.println(boolReceived);
+}
\ No newline at end of file

From d786f5d7df6b3b1c8899b2c595b3c76a7290bd7f Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Mon, 14 Oct 2024 22:54:33 -0500
Subject: [PATCH 7/8] working tested canmanager & candecoder code

---
 embedded-pio         |  2 +-
 include/candecoder.h |  2 +-
 src/candecoder.cpp   | 10 ++++++++--
 src/main.cpp         | 23 +++++++++++++++--------
 4 files changed, 25 insertions(+), 12 deletions(-)

diff --git a/embedded-pio b/embedded-pio
index 7813369..adfb121 160000
--- a/embedded-pio
+++ b/embedded-pio
@@ -1 +1 @@
-Subproject commit 78133696ad23cf60ba8693de9ef3ae5699f7c293
+Subproject commit adfb121686bc204378ac39c4631ffd92736da0d9
diff --git a/include/candecoder.h b/include/candecoder.h
index 787c136..b4b12ae 100644
--- a/include/candecoder.h
+++ b/include/candecoder.h
@@ -8,7 +8,7 @@ class CANDecoder : public CANManager {
       /* Reads input message and does any logic handling needed
        * Intended to be implemented by class extension per board
        */
-      void readHandler(CAN_data msg);
+      void readHandler(CAN_message_t msg);
 
       /* Send a message over CAN
        *
diff --git a/src/candecoder.cpp b/src/candecoder.cpp
index c9c3902..7638c3b 100644
--- a/src/candecoder.cpp
+++ b/src/candecoder.cpp
@@ -1,6 +1,6 @@
 #include "candecoder.h"
 
-#define IS_FIRST_CAN true
+#define IS_FIRST_CAN false
 
 #if IS_FIRST_CAN
 #define RECEIVE_BASE_ID 0x000
@@ -23,21 +23,27 @@ uint16_t int16Received;
 float floatReceived;
 bool boolReceived;
 
+int numMessagesReceived[4] = {0,0,0,0};
+
 CANDecoder::CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency /*=DEFAULT_CAN_FREQ*/) : CANManager(canPort, pins, frequency){};
 
-void CANDecoder::readHandler(CAN_data msg) {
+void CANDecoder::readHandler(CAN_message_t msg) {
    switch (msg.id) {
       case (RECEIVE_BASE_ID + 0):
          int8Received = *(int8_t*)msg.buf;
+         numMessagesReceived[0]++;
          break;
       case (RECEIVE_BASE_ID + 1):
          int16Received = *(int16_t*)msg.buf;
+         numMessagesReceived[1]++;
          break;
       case (RECEIVE_BASE_ID + 2):
          floatReceived = *(float*)msg.buf;
+         numMessagesReceived[2]++;
          break;
       case (RECEIVE_BASE_ID + 3):
          boolReceived = *(bool*)msg.buf;
+         numMessagesReceived[3]++;
          break;
    }   
 }
diff --git a/src/main.cpp b/src/main.cpp
index 680f78c..4ed7042 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -2,25 +2,32 @@
 #include "STM32_CAN.h"
 #include "candecoder.h"
 
-CANDecoder candecoder(CAN1, ALT_2);
+CANDecoder candecoder(CAN1, ALT_2, 500000);
 
 extern uint8_t int8Received;
 extern uint16_t int16Received;
 extern float floatReceived;
 extern bool boolReceived;
 
+extern int numMessagesReceived[4];
+
+int counter = 0;
+
 void setup() {
   Serial.begin(9600);
 }
 
 void loop() {
-  Serial.println("hey");
-
   candecoder.sendSignal();
-  candecoder.runQueue(1000);
+  candecoder.runQueue(50);
+  counter++;
 
-  Serial.println(int8Received);
-  Serial.println(int16Received);
-  Serial.println(floatReceived);
-  Serial.println(boolReceived);
+  if (counter > 20) {
+    counter = 0;
+    Serial.println(int8Received);
+    Serial.println(int16Received);
+    Serial.println(floatReceived);
+    Serial.println(boolReceived);
+    printf("%d | %d | %d | %d\n\n", numMessagesReceived[0], numMessagesReceived[1], numMessagesReceived[2], numMessagesReceived[3]);
+  }
 }
\ No newline at end of file

From 821855e70e79eca71afc3f4d8eb601fdacc2012a Mon Sep 17 00:00:00 2001
From: bquan0 <powerbowen@gmail.com>
Date: Mon, 14 Oct 2024 23:04:22 -0500
Subject: [PATCH 8/8] clean up code, add comments

---
 embedded-pio         | 2 +-
 include/candecoder.h | 7 +------
 src/candecoder.cpp   | 2 +-
 src/main.cpp         | 3 ++-
 4 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/embedded-pio b/embedded-pio
index adfb121..ce0f7c8 160000
--- a/embedded-pio
+++ b/embedded-pio
@@ -1 +1 @@
-Subproject commit adfb121686bc204378ac39c4631ffd92736da0d9
+Subproject commit ce0f7c83cbf9592b13fa20d8e59f7f27b6d20861
diff --git a/include/candecoder.h b/include/candecoder.h
index b4b12ae..d57a9e6 100644
--- a/include/candecoder.h
+++ b/include/candecoder.h
@@ -10,12 +10,7 @@ class CANDecoder : public CANManager {
        */
       void readHandler(CAN_message_t msg);
 
-      /* Send a message over CAN
-       *
-       * messageID: CAN ID to use to identify the signal
-       * data: Payload array
-       * length: Size of data in bytes
-       * timeout: in milliseconds
+      /* Send all of this board's message over CAN
        */ 
       void sendSignal();
 };
\ No newline at end of file
diff --git a/src/candecoder.cpp b/src/candecoder.cpp
index 7638c3b..0a3cd1b 100644
--- a/src/candecoder.cpp
+++ b/src/candecoder.cpp
@@ -25,7 +25,7 @@ bool boolReceived;
 
 int numMessagesReceived[4] = {0,0,0,0};
 
-CANDecoder::CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency /*=DEFAULT_CAN_FREQ*/) : CANManager(canPort, pins, frequency){};
+CANDecoder::CANDecoder(CAN_TypeDef* canPort, CAN_PINS pins, int frequency) : CANManager(canPort, pins, frequency){};
 
 void CANDecoder::readHandler(CAN_message_t msg) {
    switch (msg.id) {
diff --git a/src/main.cpp b/src/main.cpp
index 4ed7042..854194d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -19,9 +19,10 @@ void setup() {
 
 void loop() {
   candecoder.sendSignal();
-  candecoder.runQueue(50);
+  candecoder.runQueue(50); // 50ms, so 20 sets of messages sent per second
   counter++;
 
+  // print out debug info every second (instead of every 50ms)
   if (counter > 20) {
     counter = 0;
     Serial.println(int8Received);