Fix set_vel_setpoint (0x00D) data decoding (#59)

* fix endpoint data decoding

* bump version

* update readme

* update gitignore

* fix patch

Author: yconst

README.md

@@ -8,7 +8,7 @@ Tinymovr is an affordable motor controller for precise control of 3-phase brushl
 
 The repository is organized as follows:
 
-[firmware](./firmware/): Firmware for the PAC5527 MCU in Tinymovr(to be added)
+[firmware](./firmware/): Firmware for the PAC5527 MCU in Tinymovr
 
 [studio](./studio/): Tinymovr Studio client software and library
 

firmware/.gitignore

@@ -2,4 +2,7 @@
 Release
 *.pdf
 cser
-build
+build
+
+# Ignore modifications to pac55xx_sdk
+pac55xx_sdk

firmware/pac55xx_sdk/driver/pac5xxx_driver_tile_socbridge.patch

@@ -1,7 +1,7 @@
-diff --git a/original.c b/modified.c
+diff --git pac5xxx_driver_tile_socbridge.c pac5xxx_driver_tile_socbridge.c
 index f99ced2..630212e 100644
---- a/original.c
-+++ b/modified.c
+--- pac5xxx_driver_tile_socbridge.c
++++ pac5xxx_driver_tile_socbridge.c
 @@ -27,7 +27,8 @@ RAMFUNC_TILE void pac5xxx_tile_socbridge_config(int enable, int int_enable)
  }
 

firmware/src/can/can_endpoints.c

@@ -195,12 +195,11 @@ uint8_t CAN_SetPosSetpoint(uint8_t buffer[])
 uint8_t CAN_SetVelSetpoint(uint8_t buffer[])
 {
     float vel;
-    int16_t Iq_ff;
+    float Iq_ff;
     memcpy(&vel, &buffer[0], sizeof(float));
-    memcpy(&Iq_ff, &buffer[4], sizeof(int16_t));
-    float iqFF_float = Iq_ff * 0.01f;
+    memcpy(&Iq_ff, &buffer[4], sizeof(float));
     Controller_SetVelSetpoint(vel);
-    Controller_SetIqSetpoint(iqFF_float);
+    Controller_SetIqSetpoint(Iq_ff);
     return CANRP_Write;
 }
 

firmware/src/config.h

@@ -17,7 +17,7 @@
 
 #define VERSION_MAJOR (0u)
 #define VERSION_MINOR (7u)
-#define VERSION_PATCH (1u)
+#define VERSION_PATCH (2u)
 
 /// TINYMOVR CONFIGURATION OPTIONS ///