Merge pull request #279 from tinymovr/new_bootloader

New bootloader

.github/workflows/firmware.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: 'ubuntu-22.04'
     strategy:
       matrix:
-        board-revision: [R32, R33, R50, R51, R52, M5]
+        board-revision: [R32, R33, R50, R51, R52, M51]
     steps:
     - uses: actions/checkout@v2
     - uses: carlosperate/arm-none-eabi-gcc-action@v1

.vscode/tasks.json

@@ -96,7 +96,7 @@
                 "R50",
                 "R51",
                 "R52",
-                "M5"
+                "M51"
             ],
             "default": "R52"
         }

docs/encoders/encoders.rst

@@ -68,7 +68,7 @@ As a first step you need to configure the sensor type and observer bandwidth.
     tm1.encoder.type = 1
     tm1.encoder.bandwidth = 100
 
-This sets the encoder type to Hall effect sensor, and the encoder bandwidth to 100Hz. 
+This sets the encoder type to Hall effect sensor, and the encoder bandwidth to 100Hz. Note that the change of the encoder type will not propagate until the next reset; in effect, the `encoder.type` variable value will still show as the previous one, here as 0, until you finish configuration and reset.
 
 Next, you need to set the motor configuration:
 

docs/protocol/integrating.rst

@@ -25,14 +25,14 @@ Here below is an example using the API from Python scripts and controlling hardw
     from tinymovr.tee import init_tee
     from tinymovr.config import get_bus_config, create_device
 
-    params = get_bus_config(["canine", "slcan"])
+    params = get_bus_config(["canine", "slcan_disco"])
     params["bitrate"] = bitrate
     init_tee(can.Bus(**params))
     tm = create_device(node_id=1)
 
     tm.controller.calibrate()
 
-The above code block will instantiate a Tinymovr with CAN bus id of 1 and calibrate it. Following the above, you can issue commands such as:
+The above code block will instantiate a Tinymovr with CAN bus id of 1 and calibrate it. `slcan_disco` is our custom slcan plugin for python-can that allows discovery of slcan-flashed CANine devices. Following the above, you can issue commands such as:
 
 .. code-block:: python