1.c

		uint8_t got_cmd = 0;
		for (int tmp = 0; tmp < sizeof(command_tmp) - 7; tmp++) {

			if (command_tmp[tmp] == 0xff && command_tmp[tmp + 1] == 0xfe) {

				uint16_t sumcheck = 0;
				uint16_t sumget = (uint16_t) command_tmp[tmp + 6] << 8 | (uint16_t) command_tmp[tmp + 7];

				for (int tmp_2 = 0; tmp_2 < 6; tmp_2++) {

					sumcheck += command_tmp[tmp + tmp_2];
				}

				if (sumget == sumcheck) {
					got_cmd = 1;
					command.steer = ((int16_t) command_tmp[tmp + 2]) << 8 | (int16_t) command_tmp[tmp + 3];
					command.speed = ((int16_t) command_tmp[tmp + 4]) << 8 | (int16_t) command_tmp[tmp + 5];
					tmp = sizeof(command_tmp); //exit for loop
				}

			}

		}