From e24b555dea9546a830c76ddaa63f5f1544db6080 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Sun, 10 Aug 2014 22:48:31 +0200
Subject: [PATCH] Some fixes

---
 applications/app_uartcomm.c |  2 +-
 buffer.c                    | 12 ++++++------
 mcpwm.c                     |  5 ++---
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/applications/app_uartcomm.c b/applications/app_uartcomm.c
index 9d65fbfb..0c27294c 100644
--- a/applications/app_uartcomm.c
+++ b/applications/app_uartcomm.c
@@ -136,7 +136,7 @@ static void process_packet(unsigned char *buffer, unsigned char len) {
 
 	switch (buffer[0]) {
 	case UARTCOMM_CMD_SET_DUTY:
-		mcpwm_set_duty((float)buffer_get_int16(buffer, &ind) / 1000.0);
+		mcpwm_set_duty((float)buffer_get_int32(buffer, &ind) / 100000.0);
 		last_uart_update_time = chTimeNow();
 		break;
 
diff --git a/buffer.c b/buffer.c
index e69069fb..436967ed 100644
--- a/buffer.c
+++ b/buffer.c
@@ -64,18 +64,18 @@ uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
 
 int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
 	int32_t res =	((uint32_t) buffer[*index]) << 24 |
-					((uint32_t) buffer[*index]) << 16 |
-					((uint32_t) buffer[*index]) << 8 |
-					((uint32_t) buffer[*index + 1]);
+					((uint32_t) buffer[*index + 1]) << 16 |
+					((uint32_t) buffer[*index + 2]) << 8 |
+					((uint32_t) buffer[*index + 3]);
 	*index += 4;
 	return res;
 }
 
 uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
 	uint32_t res =	((uint32_t) buffer[*index]) << 24 |
-					((uint32_t) buffer[*index]) << 16 |
-					((uint32_t) buffer[*index]) << 8 |
-					((uint32_t) buffer[*index + 1]);
+					((uint32_t) buffer[*index + 1]) << 16 |
+					((uint32_t) buffer[*index + 2]) << 8 |
+					((uint32_t) buffer[*index + 3]);
 	*index += 4;
 	return res;
 }
diff --git a/mcpwm.c b/mcpwm.c
index 8dc222a8..cc380f78 100644
--- a/mcpwm.c
+++ b/mcpwm.c
@@ -588,8 +588,7 @@ void mcpwm_set_brake_current(float current) {
 	if (state != MC_STATE_RUNNING) {
 		// In case the motor is already spinning, set the state to running
 		// so that it can be ramped down before the full brake is applied.
-		// TODO: The number 500 is a hack...
-		if (fabsf(rpm_now) > 500) {
+		if (fabsf(rpm_now) > MCPWM_CURR_MIN_RPM_FBRAKE) {
 			state = MC_STATE_RUNNING;
 		} else {
 			full_brake_ll();
@@ -853,7 +852,7 @@ static void set_duty_cycle_hl(float dutyCycle) {
 		} else {
 			// In case the motor is already spinning, set the state to running
 			// so that it can be ramped down before the full brake is applied.
-			if (fabsf(rpm_now) > MCPWM_MIN_RPM) {
+			if (fabsf(rpm_now) > MCPWM_CURR_MIN_RPM_FBRAKE) {
 				state = MC_STATE_RUNNING;
 			} else {
 				full_brake_ll();