Autogenerated config parsing with signatures, fixed previous PRs

CHANGELOG

@@ -1,3 +1,8 @@
+=== FW 3.50 ===
+* AS5047 parity check and fault code on error rates > 1%.
+* Signature on mc and app configuration.
+* FOC loop frequency truncation on all hardwares.
+
 === FW 3.49 ===
 * New watchdog implementation.
 * HW updates.

Makefile

@@ -149,6 +149,7 @@ CSRC = $(STARTUPSRC) \
        mc_interface.c \
        mcpwm_foc.c \
        gpdrive.c \
+       confgenerator.c \
        $(HWSRC) \
        $(APPSRC) \
        $(NRFSRC) \

commands.c

@@ -39,6 +39,7 @@
 #include "encoder.h"
 #include "nrf_driver.h"
 #include "gpdrive.h"
+#include "confgenerator.h"
 
 #include <math.h>
 #include <string.h>
@@ -349,39 +350,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 	case COMM_SET_MCCONF:
 		mcconf = *mc_interface_get_configuration();
 
-		ind = 0;
+		if (confgenerator_deserialize_mcconf(data, &mcconf)) {
-		mcconf.pwm_mode = data[ind++];
-		mcconf.comm_mode = data[ind++];
-		mcconf.motor_type = data[ind++];
-		mcconf.sensor_mode = data[ind++];
-
-		mcconf.l_current_max = buffer_get_float32_auto(data, &ind);
-		mcconf.l_current_min = buffer_get_float32_auto(data, &ind);
-		mcconf.l_in_current_max = buffer_get_float32_auto(data, &ind);
-		mcconf.l_in_current_min = buffer_get_float32_auto(data, &ind);
-		mcconf.l_abs_current_max = buffer_get_float32_auto(data, &ind);
-		mcconf.l_min_erpm = buffer_get_float32_auto(data, &ind);
-		mcconf.l_max_erpm = buffer_get_float32_auto(data, &ind);
-		mcconf.l_erpm_start = buffer_get_float32_auto(data, &ind);
-		mcconf.l_max_erpm_fbrake = buffer_get_float32_auto(data, &ind);
-		mcconf.l_max_erpm_fbrake_cc = buffer_get_float32_auto(data, &ind);
-		mcconf.l_min_vin = buffer_get_float32_auto(data, &ind);
-		mcconf.l_max_vin = buffer_get_float32_auto(data, &ind);
-		mcconf.l_battery_cut_start = buffer_get_float32_auto(data, &ind);
-		mcconf.l_battery_cut_end = buffer_get_float32_auto(data, &ind);
-		mcconf.l_slow_abs_current = data[ind++];
-		mcconf.l_temp_fet_start = buffer_get_float32_auto(data, &ind);
-		mcconf.l_temp_fet_end = buffer_get_float32_auto(data, &ind);
-		mcconf.l_temp_motor_start = buffer_get_float32_auto(data, &ind);
-		mcconf.l_temp_motor_end = buffer_get_float32_auto(data, &ind);
-		mcconf.l_temp_accel_dec = buffer_get_float32_auto(data, &ind);
-		mcconf.l_min_duty = buffer_get_float32_auto(data, &ind);
-		mcconf.l_max_duty = buffer_get_float32_auto(data, &ind);
-		mcconf.l_watt_max = buffer_get_float32_auto(data, &ind);
-		mcconf.l_watt_min = buffer_get_float32_auto(data, &ind);
-		mcconf.l_current_max_scale = buffer_get_float32_auto(data, &ind);
-		mcconf.l_current_min_scale = buffer_get_float32_auto(data, &ind);
-
 			utils_truncate_number(&mcconf.l_current_max_scale , 0.0, 1.0);
 			utils_truncate_number(&mcconf.l_current_min_scale , 0.0, 1.0);
 
@@ -392,95 +361,6 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 			mcconf.lo_current_motor_max_now = mcconf.lo_current_max;
 			mcconf.lo_current_motor_min_now = mcconf.lo_current_min;
 
-		mcconf.sl_min_erpm = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_cycle_int_limit = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_phase_advance_at_br = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_cycle_int_rpm_br = buffer_get_float32_auto(data, &ind);
-		mcconf.sl_bemf_coupling_k = buffer_get_float32_auto(data, &ind);
-
-		memcpy(mcconf.hall_table, data + ind, 8);
-		ind += 8;
-		mcconf.hall_sl_erpm = buffer_get_float32_auto(data, &ind);
-
-		mcconf.foc_current_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_current_ki = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_f_sw = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_dt_us = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_encoder_inverted = data[ind++];
-		mcconf.foc_encoder_offset = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_encoder_ratio = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sensor_mode = data[ind++];
-		mcconf.foc_pll_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_pll_ki = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_motor_l = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_motor_r = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_motor_flux_linkage = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_observer_gain = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_observer_gain_slow = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_duty_dowmramp_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_duty_dowmramp_ki = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_openloop_rpm = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sl_openloop_hyst = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sl_openloop_time = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sl_d_current_duty = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sl_d_current_factor = buffer_get_float32_auto(data, &ind);
-		memcpy(mcconf.foc_hall_table, data + ind, 8);
-		ind += 8;
-		mcconf.foc_sl_erpm = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_sample_v0_v7 = data[ind++];
-		mcconf.foc_sample_high_current = data[ind++];
-		mcconf.foc_sat_comp = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_temp_comp = data[ind++];
-		mcconf.foc_temp_comp_base_temp = buffer_get_float32_auto(data, &ind);
-		mcconf.foc_current_filter_const = buffer_get_float32_auto(data, &ind);
-
-		mcconf.gpd_buffer_notify_left = buffer_get_int16(data, &ind);
-		mcconf.gpd_buffer_interpol = buffer_get_int16(data, &ind);
-		mcconf.gpd_current_filter_const = buffer_get_float32_auto(data, &ind);
-		mcconf.gpd_current_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.gpd_current_ki = buffer_get_float32_auto(data, &ind);
-
-		mcconf.s_pid_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.s_pid_ki = buffer_get_float32_auto(data, &ind);
-		mcconf.s_pid_kd = buffer_get_float32_auto(data, &ind);
-		mcconf.s_pid_kd_filter = buffer_get_float32_auto(data, &ind);
-		mcconf.s_pid_min_erpm = buffer_get_float32_auto(data, &ind);
-		mcconf.s_pid_allow_braking = data[ind++];
-
-		mcconf.p_pid_kp = buffer_get_float32_auto(data, &ind);
-		mcconf.p_pid_ki = buffer_get_float32_auto(data, &ind);
-		mcconf.p_pid_kd = buffer_get_float32_auto(data, &ind);
-		mcconf.p_pid_kd_filter = buffer_get_float32_auto(data, &ind);
-		mcconf.p_pid_ang_div = buffer_get_float32_auto(data, &ind);
-
-		mcconf.cc_startup_boost_duty = buffer_get_float32_auto(data, &ind);
-		mcconf.cc_min_current = buffer_get_float32_auto(data, &ind);
-		mcconf.cc_gain = buffer_get_float32_auto(data, &ind);
-		mcconf.cc_ramp_step_max = buffer_get_float32_auto(data, &ind);
-
-		mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
-		mcconf.m_duty_ramp_step = buffer_get_float32_auto(data, &ind);
-		mcconf.m_current_backoff_gain = buffer_get_float32_auto(data, &ind);
-		mcconf.m_encoder_counts = buffer_get_uint32(data, &ind);
-		mcconf.m_sensor_port_mode = data[ind++];
-		mcconf.m_invert_direction = data[ind++];
-		mcconf.m_drv8301_oc_mode = data[ind++];
-		mcconf.m_drv8301_oc_adj = data[ind++];
-		mcconf.m_bldc_f_sw_min = buffer_get_float32_auto(data, &ind);
-		mcconf.m_bldc_f_sw_max = buffer_get_float32_auto(data, &ind);
-		mcconf.m_dc_f_sw = buffer_get_float32_auto(data, &ind);
-		mcconf.m_ntc_motor_beta = buffer_get_float32_auto(data, &ind);
-		mcconf.m_out_aux_mode = data[ind++];
-
-		mcconf.si_motor_poles = data[ind++];
-		mcconf.si_gear_ratio = buffer_get_float32_auto(data, &ind);
-		mcconf.si_wheel_diameter = buffer_get_float32_auto(data, &ind);
-		mcconf.si_battery_type = data[ind++];
-		mcconf.si_battery_cells = data[ind++];
-		mcconf.si_battery_ah = buffer_get_float32_auto(data, &ind);
-
 			commands_apply_mcconf_hw_limits(&mcconf);
 			conf_general_store_mc_configuration(&mcconf);
 			mc_interface_set_configuration(&mcconf);
@@ -489,6 +369,9 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 			ind = 0;
 			send_buffer[ind++] = packet_id;
 			commands_send_packet(send_buffer, ind);
+		} else {
+			commands_printf("Warning: Could not set mcconf due to wrong signature");
+		}
 		break;
 
 	case COMM_GET_MCCONF:
@@ -496,7 +379,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		if (packet_id == COMM_GET_MCCONF) {
 			mcconf = *mc_interface_get_configuration();
 		} else {
-			conf_general_get_default_mc_configuration(&mcconf);
+			confgenerator_set_defaults_mcconf(&mcconf);
 		}
 
 		commands_send_mcconf(packet_id, &mcconf);
@@ -505,84 +388,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 	case COMM_SET_APPCONF:
 		appconf = *app_get_configuration();
 
-		ind = 0;
+		if (confgenerator_deserialize_appconf(data, &appconf)) {
-		appconf.controller_id = data[ind++];
-		appconf.timeout_msec = buffer_get_uint32(data, &ind);
-		appconf.timeout_brake_current = buffer_get_float32_auto(data, &ind);
-		appconf.send_can_status = data[ind++];
-		appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
-		appconf.can_baud_rate = data[ind++];
-		appconf.pairing_done = data[ind++];
-
-		appconf.uavcan_enable = data[ind++];
-		appconf.uavcan_esc_index = data[ind++];
-
-		appconf.app_to_use = data[ind++];
-
-		appconf.app_ppm_conf.ctrl_type = data[ind++];
-		appconf.app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.hyst = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.pulse_start = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.pulse_end = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.pulse_center = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.median_filter = data[ind++];
-		appconf.app_ppm_conf.safe_start = data[ind++];
-		appconf.app_ppm_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.throttle_exp_mode = data[ind++];
-		appconf.app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
-		appconf.app_ppm_conf.multi_esc = data[ind++];
-		appconf.app_ppm_conf.tc = data[ind++];
-		appconf.app_ppm_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
-
-		appconf.app_adc_conf.ctrl_type = data[ind++];
-		appconf.app_adc_conf.hyst = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.voltage_start = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.voltage_end = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.voltage_center = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.voltage2_start = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.voltage2_end = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.use_filter = data[ind++];
-		appconf.app_adc_conf.safe_start = data[ind++];
-		appconf.app_adc_conf.cc_button_inverted = data[ind++];
-		appconf.app_adc_conf.rev_button_inverted = data[ind++];
-		appconf.app_adc_conf.voltage_inverted = data[ind++];
-		appconf.app_adc_conf.voltage2_inverted = data[ind++];
-		appconf.app_adc_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.throttle_exp_mode = data[ind++];
-		appconf.app_adc_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.multi_esc = data[ind++];
-		appconf.app_adc_conf.tc = data[ind++];
-		appconf.app_adc_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
-		appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind);
-
-		appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
-
-		appconf.app_chuk_conf.ctrl_type = data[ind++];
-		appconf.app_chuk_conf.hyst = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
-		appconf.app_chuk_conf.throttle_exp_mode = data[ind++];
-		appconf.app_chuk_conf.multi_esc = data[ind++];
-		appconf.app_chuk_conf.tc = data[ind++];
-		appconf.app_chuk_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
-
-		appconf.app_nrf_conf.speed = data[ind++];
-		appconf.app_nrf_conf.power = data[ind++];
-		appconf.app_nrf_conf.crc_type = data[ind++];
-		appconf.app_nrf_conf.retry_delay = data[ind++];
-		appconf.app_nrf_conf.retries = data[ind++];
-		appconf.app_nrf_conf.channel = data[ind++];
-		memcpy(appconf.app_nrf_conf.address, data + ind, 3);
-		ind += 3;
-		appconf.app_nrf_conf.send_crc_ack = data[ind++];
-
 			conf_general_store_app_configuration(&appconf);
 			app_set_configuration(&appconf);
 			timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
@@ -591,6 +397,9 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 			ind = 0;
 			send_buffer[ind++] = packet_id;
 			commands_send_packet(send_buffer, ind);
+		} else {
+			commands_printf("Warning: Could not set appconf due to wrong signature");
+		}
 		break;
 
 	case COMM_GET_APPCONF:
@@ -598,7 +407,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		if (packet_id == COMM_GET_APPCONF) {
 			appconf = *app_get_configuration();
 		} else {
-			conf_general_get_default_app_configuration(&appconf);
+			confgenerator_set_defaults_appconf(&appconf);
 		}
 
 		commands_send_appconf(packet_id, &appconf);
@@ -1099,224 +908,32 @@ void commands_send_gpd_buffer_notify(void) {
 }
 
 void commands_send_mcconf(COMM_PACKET_ID packet_id, mc_configuration *mcconf) {
-	int32_t ind = 0;
+	send_buffer_global[0] = packet_id;
-	uint8_t *send_buffer = send_buffer_global;
+	int32_t len = confgenerator_serialize_mcconf(send_buffer_global + 1, mcconf);
-
+	commands_send_packet(send_buffer_global, len + 1);
-	send_buffer[ind++] = packet_id;
-
-	send_buffer[ind++] = mcconf->pwm_mode;
-	send_buffer[ind++] = mcconf->comm_mode;
-	send_buffer[ind++] = mcconf->motor_type;
-	send_buffer[ind++] = mcconf->sensor_mode;
-
-	buffer_append_float32_auto(send_buffer, mcconf->l_current_max, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_current_min, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_in_current_max, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_in_current_min, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_abs_current_max, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_min_erpm, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_erpm_start, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm_fbrake, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm_fbrake_cc, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_min_vin, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_max_vin, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_battery_cut_start, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_battery_cut_end, &ind);
-	send_buffer[ind++] = mcconf->l_slow_abs_current;
-	buffer_append_float32_auto(send_buffer, mcconf->l_temp_fet_start, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_temp_fet_end, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_temp_motor_start, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_temp_motor_end, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_temp_accel_dec, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_min_duty, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_max_duty, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_watt_max, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_watt_min, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_current_max_scale, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->l_current_min_scale, &ind);
-
-	buffer_append_float32_auto(send_buffer, mcconf->sl_min_erpm, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_min_erpm_cycle_int_limit, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_max_fullbreak_current_dir_change, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_cycle_int_limit, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_phase_advance_at_br, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_cycle_int_rpm_br, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->sl_bemf_coupling_k, &ind);
-
-	memcpy(send_buffer + ind, mcconf->hall_table, 8);
-	ind += 8;
-	buffer_append_float32_auto(send_buffer, mcconf->hall_sl_erpm, &ind);
-
-	buffer_append_float32_auto(send_buffer, mcconf->foc_current_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_current_ki, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_f_sw, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_dt_us, &ind);
-	send_buffer[ind++] = mcconf->foc_encoder_inverted;
-	buffer_append_float32_auto(send_buffer, mcconf->foc_encoder_offset, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_encoder_ratio, &ind);
-	send_buffer[ind++] = mcconf->foc_sensor_mode;
-	buffer_append_float32_auto(send_buffer, mcconf->foc_pll_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_pll_ki, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_motor_l, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_motor_r, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_motor_flux_linkage, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_observer_gain, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_observer_gain_slow, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_duty_dowmramp_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_duty_dowmramp_ki, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_openloop_rpm, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sl_openloop_hyst, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sl_openloop_time, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sl_d_current_duty, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sl_d_current_factor, &ind);
-	memcpy(send_buffer + ind, mcconf->foc_hall_table, 8);
-	ind += 8;
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sl_erpm, &ind);
-	send_buffer[ind++] = mcconf->foc_sample_v0_v7;
-	send_buffer[ind++] = mcconf->foc_sample_high_current;
-	buffer_append_float32_auto(send_buffer, mcconf->foc_sat_comp, &ind);
-	send_buffer[ind++] = mcconf->foc_temp_comp;
-	buffer_append_float32_auto(send_buffer, mcconf->foc_temp_comp_base_temp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->foc_current_filter_const, &ind);
-
-	buffer_append_int16(send_buffer, mcconf->gpd_buffer_notify_left, &ind);
-	buffer_append_int16(send_buffer, mcconf->gpd_buffer_interpol, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->gpd_current_filter_const, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->gpd_current_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->gpd_current_ki, &ind);
-
-	buffer_append_float32_auto(send_buffer, mcconf->s_pid_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->s_pid_ki, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->s_pid_kd, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->s_pid_kd_filter, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->s_pid_min_erpm, &ind);
-	send_buffer[ind++] = mcconf->s_pid_allow_braking;
-
-	buffer_append_float32_auto(send_buffer, mcconf->p_pid_kp, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->p_pid_ki, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->p_pid_kd, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->p_pid_kd_filter, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->p_pid_ang_div, &ind);
-
-	buffer_append_float32_auto(send_buffer, mcconf->cc_startup_boost_duty, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->cc_min_current, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->cc_gain, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->cc_ramp_step_max, &ind);
-
-	buffer_append_int32(send_buffer, mcconf->m_fault_stop_time_ms, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->m_duty_ramp_step, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->m_current_backoff_gain, &ind);
-	buffer_append_uint32(send_buffer, mcconf->m_encoder_counts, &ind);
-	send_buffer[ind++] = mcconf->m_sensor_port_mode;
-	send_buffer[ind++] = mcconf->m_invert_direction;
-	send_buffer[ind++] = mcconf->m_drv8301_oc_mode;
-	send_buffer[ind++] = mcconf->m_drv8301_oc_adj;
-	buffer_append_float32_auto(send_buffer, mcconf->m_bldc_f_sw_min, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->m_bldc_f_sw_max, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->m_dc_f_sw, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->m_ntc_motor_beta, &ind);
-	send_buffer[ind++] = mcconf->m_out_aux_mode;
-
-	send_buffer[ind++] = mcconf->si_motor_poles;
-	buffer_append_float32_auto(send_buffer, mcconf->si_gear_ratio, &ind);
-	buffer_append_float32_auto(send_buffer, mcconf->si_wheel_diameter, &ind);
-	send_buffer[ind++] = mcconf->si_battery_type;
-	send_buffer[ind++] = mcconf->si_battery_cells;
-	buffer_append_float32_auto(send_buffer, mcconf->si_battery_ah, &ind);
-
-	commands_send_packet(send_buffer, ind);
 }
 
 void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf) {
-	int32_t ind = 0;
+	send_buffer_global[0] = packet_id;
-	uint8_t *send_buffer = send_buffer_global;
+	int32_t len = confgenerator_serialize_appconf(send_buffer_global + 1, appconf);
-
+	commands_send_packet(send_buffer_global, len + 1);
-	send_buffer[ind++] = packet_id;
-	send_buffer[ind++] = appconf->controller_id;
-	buffer_append_uint32(send_buffer, appconf->timeout_msec, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->timeout_brake_current, &ind);
-	send_buffer[ind++] = appconf->send_can_status;
-	buffer_append_uint16(send_buffer, appconf->send_can_status_rate_hz, &ind);
-	send_buffer[ind++] = appconf->can_baud_rate;
-	send_buffer[ind++] = appconf->pairing_done;
-
-	send_buffer[ind++] = appconf->uavcan_enable;
-	send_buffer[ind++] = appconf->uavcan_esc_index;
-
-	send_buffer[ind++] = appconf->app_to_use;
-
-	send_buffer[ind++] = appconf->app_ppm_conf.ctrl_type;
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pid_max_erpm, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.hyst, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_start, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_end, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_center, &ind);
-	send_buffer[ind++] = appconf->app_ppm_conf.median_filter;
-	send_buffer[ind++] = appconf->app_ppm_conf.safe_start;
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.throttle_exp, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.throttle_exp_brake, &ind);
-	send_buffer[ind++] = appconf->app_ppm_conf.throttle_exp_mode;
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_pos, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_neg, &ind);
-	send_buffer[ind++] = appconf->app_ppm_conf.multi_esc;
-	send_buffer[ind++] = appconf->app_ppm_conf.tc;
-	buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.tc_max_diff, &ind);
-
-	send_buffer[ind++] = appconf->app_adc_conf.ctrl_type;
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.hyst, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_start, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_end, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_center, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_start, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_end, &ind);
-	send_buffer[ind++] = appconf->app_adc_conf.use_filter;
-	send_buffer[ind++] = appconf->app_adc_conf.safe_start;
-	send_buffer[ind++] = appconf->app_adc_conf.cc_button_inverted;
-	send_buffer[ind++] = appconf->app_adc_conf.rev_button_inverted;
-	send_buffer[ind++] = appconf->app_adc_conf.voltage_inverted;
-	send_buffer[ind++] = appconf->app_adc_conf.voltage2_inverted;
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.throttle_exp, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.throttle_exp_brake, &ind);
-	send_buffer[ind++] = appconf->app_adc_conf.throttle_exp_mode;
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.ramp_time_pos, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.ramp_time_neg, &ind);
-	send_buffer[ind++] = appconf->app_adc_conf.multi_esc;
-	send_buffer[ind++] = appconf->app_adc_conf.tc;
-	buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.tc_max_diff, &ind);
-	buffer_append_uint16(send_buffer, appconf->app_adc_conf.update_rate_hz, &ind);
-
-	buffer_append_uint32(send_buffer, appconf->app_uart_baudrate, &ind);
-
-	send_buffer[ind++] = appconf->app_chuk_conf.ctrl_type;
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.hyst, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_pos, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_neg, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.stick_erpm_per_s_in_cc, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.throttle_exp, &ind);
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.throttle_exp_brake, &ind);
-	send_buffer[ind++] = appconf->app_chuk_conf.throttle_exp_mode;
-	send_buffer[ind++] = appconf->app_chuk_conf.multi_esc;
-	send_buffer[ind++] = appconf->app_chuk_conf.tc;
-	buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.tc_max_diff, &ind);
-
-	send_buffer[ind++] = appconf->app_nrf_conf.speed;
-	send_buffer[ind++] = appconf->app_nrf_conf.power;
-	send_buffer[ind++] = appconf->app_nrf_conf.crc_type;
-	send_buffer[ind++] = appconf->app_nrf_conf.retry_delay;
-	send_buffer[ind++] = appconf->app_nrf_conf.retries;
-	send_buffer[ind++] = appconf->app_nrf_conf.channel;
-	memcpy(send_buffer + ind, appconf->app_nrf_conf.address, 3);
-	ind += 3;
-	send_buffer[ind++] = appconf->app_nrf_conf.send_crc_ack;
-
-	commands_send_packet(send_buffer, ind);
 }
 
 void commands_apply_mcconf_hw_limits(mc_configuration *mcconf) {
 	utils_truncate_number(&mcconf->l_current_max_scale, 0.0, 1.0);
 	utils_truncate_number(&mcconf->l_current_min_scale, 0.0, 1.0);
 
+	// This limit should always be active, as starving the threads never
+	// makes sense.
+#ifdef HW_LIM_FOC_CTRL_LOOP_FREQ
+    if (mcconf->foc_sample_v0_v7 == true) {
+    	//control loop executes twice per pwm cycle when sampling in v0 and v7
+		utils_truncate_number(&mcconf->foc_f_sw, HW_LIM_FOC_CTRL_LOOP_FREQ);
+    } else {
+		utils_truncate_number(&mcconf->foc_f_sw, HW_LIM_FOC_CTRL_LOOP_FREQ * 2.0);
+    }
+#endif
+
 #ifndef DISABLE_HW_LIMITS
 #ifdef HW_LIM_CURRENT
 	utils_truncate_number(&mcconf->l_current_max, HW_LIM_CURRENT);
@@ -1347,12 +964,6 @@ void commands_apply_mcconf_hw_limits(mc_configuration *mcconf) {
 	utils_truncate_number(&mcconf->l_temp_fet_start, HW_LIM_TEMP_FET);
 	utils_truncate_number(&mcconf->l_temp_fet_end, HW_LIM_TEMP_FET);
 #endif
-#ifdef HW_LIM_FOC_CTRL_LOOP_FREQ
-    if (mcconf->foc_sample_v0_v7 == true)
-		utils_truncate_number(&mcconf->foc_f_sw, HW_LIM_FOC_CTRL_LOOP_FREQ); //control loop executes twice per pwm cycle when sampling in v0 and v7
-	else
-		utils_truncate_number(&mcconf->foc_f_sw, HW_LIM_FOC_CTRL_LOOP_FREQ*2);
-#endif
 #endif
 }
 

conf_general.c

@@ -23,7 +23,6 @@
 #include "mcpwm.h"
 #include "mcpwm_foc.h"
 #include "mc_interface.h"
-#include "hw.h"
 #include "utils.h"
 #include "stm32f4xx_conf.h"
 #include "timeout.h"
@@ -31,6 +30,7 @@
 #include "encoder.h"
 #include "comm_can.h"
 #include "app.h"
+#include "confgenerator.h"
 
 #include <string.h>
 #include <math.h>
@@ -67,242 +67,6 @@ void conf_general_init(void) {
 	EE_Init();
 }
 
-/**
- * Load the compiled default app_configuration.
- *
- * @param conf
- * A pointer to store the default configuration to.
- */
-void conf_general_get_default_app_configuration(app_configuration *conf) {
-	memset(conf, 0, sizeof(app_configuration));
-	conf->controller_id = HW_DEFAULT_ID;
-	conf->timeout_msec = APPCONF_TIMEOUT_MSEC;
-	conf->timeout_brake_current = APPCONF_TIMEOUT_BRAKE_CURRENT;
-	conf->send_can_status = APPCONF_SEND_CAN_STATUS;
-	conf->send_can_status_rate_hz = APPCONF_SEND_CAN_STATUS_RATE_HZ;
-	conf->can_baud_rate = APPCONF_CAN_BAUD_RATE;
-	conf->pairing_done = APPCONF_PAIRING_DONE;
-
-	conf->uavcan_enable = APPCONF_UAVCAN_ENABLE;
-	conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
-
-	conf->app_to_use = APPCONF_APP_TO_USE;
-
-	conf->app_ppm_conf.ctrl_type = APPCONF_PPM_CTRL_TYPE;
-	conf->app_ppm_conf.pid_max_erpm = APPCONF_PPM_PID_MAX_ERPM;
-	conf->app_ppm_conf.hyst = APPCONF_PPM_HYST;
-	conf->app_ppm_conf.pulse_start = APPCONF_PPM_PULSE_START;
-	conf->app_ppm_conf.pulse_end = APPCONF_PPM_PULSE_END;
-	conf->app_ppm_conf.pulse_center = APPCONF_PPM_PULSE_CENTER;
-	conf->app_ppm_conf.median_filter = APPCONF_PPM_MEDIAN_FILTER;
-	conf->app_ppm_conf.safe_start = APPCONF_PPM_SAFE_START;
-	conf->app_ppm_conf.throttle_exp = APPCONF_PPM_THROTTLE_EXP;
-	conf->app_ppm_conf.throttle_exp_brake = APPCONF_PPM_THROTTLE_EXP_BRAKE;
-	conf->app_ppm_conf.throttle_exp_mode = APPCONF_PPM_THROTTLE_EXP_MODE;
-	conf->app_ppm_conf.ramp_time_pos = APPCONF_PPM_RAMP_TIME_POS;
-	conf->app_ppm_conf.ramp_time_neg = APPCONF_PPM_RAMP_TIME_NEG;
-	conf->app_ppm_conf.multi_esc = APPCONF_PPM_MULTI_ESC;
-	conf->app_ppm_conf.tc = APPCONF_PPM_TC;
-	conf->app_ppm_conf.tc_max_diff = APPCONF_PPM_TC_MAX_DIFF;
-
-	conf->app_adc_conf.ctrl_type = APPCONF_ADC_CTRL_TYPE;
-	conf->app_adc_conf.hyst = APPCONF_ADC_HYST;
-	conf->app_adc_conf.voltage_start = APPCONF_ADC_VOLTAGE_START;
-	conf->app_adc_conf.voltage_end = APPCONF_ADC_VOLTAGE_END;
-	conf->app_adc_conf.voltage_center = APPCONF_ADC_VOLTAGE_CENTER;
-	conf->app_adc_conf.voltage2_start = APPCONF_ADC_VOLTAGE2_START;
-	conf->app_adc_conf.voltage2_end = APPCONF_ADC_VOLTAGE2_END;
-	conf->app_adc_conf.use_filter = APPCONF_ADC_USE_FILTER;
-	conf->app_adc_conf.safe_start = APPCONF_ADC_SAFE_START;
-	conf->app_adc_conf.cc_button_inverted = APPCONF_ADC_CC_BUTTON_INVERTED;
-	conf->app_adc_conf.rev_button_inverted = APPCONF_ADC_REV_BUTTON_INVERTED;
-	conf->app_adc_conf.voltage_inverted = APPCONF_ADC_VOLTAGE_INVERTED;
-	conf->app_adc_conf.voltage2_inverted = APPCONF_ADC_VOLTAGE2_INVERTED;
-	conf->app_adc_conf.throttle_exp = APPCONF_ADC_THROTTLE_EXP;
-	conf->app_adc_conf.throttle_exp_brake = APPCONF_ADC_THROTTLE_EXP_BRAKE;
-	conf->app_adc_conf.throttle_exp_mode = APPCONF_ADC_THROTTLE_EXP_MODE;
-	conf->app_adc_conf.ramp_time_pos = APPCONF_ADC_RAMP_TIME_POS;
-	conf->app_adc_conf.ramp_time_neg = APPCONF_ADC_RAMP_TIME_NEG;
-	conf->app_adc_conf.multi_esc = APPCONF_ADC_MULTI_ESC;
-	conf->app_adc_conf.tc = APPCONF_ADC_TC;
-	conf->app_adc_conf.tc_max_diff = APPCONF_ADC_TC_MAX_DIFF;
-	conf->app_adc_conf.update_rate_hz = APPCONF_ADC_UPDATE_RATE_HZ;
-
-	conf->app_uart_baudrate = APPCONF_UART_BAUDRATE;
-
-	conf->app_chuk_conf.ctrl_type = APPCONF_CHUK_CTRL_TYPE;
-	conf->app_chuk_conf.hyst = APPCONF_CHUK_HYST;
-	conf->app_chuk_conf.ramp_time_pos = APPCONF_CHUK_RAMP_TIME_POS;
-	conf->app_chuk_conf.ramp_time_neg = APPCONF_CHUK_RAMP_TIME_NEG;
-	conf->app_chuk_conf.stick_erpm_per_s_in_cc = APPCONF_STICK_ERPM_PER_S_IN_CC;
-	conf->app_chuk_conf.throttle_exp = APPCONF_CHUK_THROTTLE_EXP;
-	conf->app_chuk_conf.throttle_exp_brake = APPCONF_CHUK_THROTTLE_EXP_BRAKE;
-	conf->app_chuk_conf.throttle_exp_mode = APPCONF_CHUK_THROTTLE_EXP_MODE;
-	conf->app_chuk_conf.multi_esc = APPCONF_CHUK_MULTI_ESC;
-	conf->app_chuk_conf.tc = APPCONF_CHUK_TC;
-	conf->app_chuk_conf.tc_max_diff = APPCONF_CHUK_TC_MAX_DIFF;
-
-	conf->app_nrf_conf.speed = APPCONF_NRF_SPEED;
-	conf->app_nrf_conf.power = APPCONF_NRF_POWER;
-	conf->app_nrf_conf.crc_type = APPCONF_NRF_CRC;
-	conf->app_nrf_conf.retry_delay = APPCONF_NRF_RETR_DELAY;
-	conf->app_nrf_conf.retries = APPCONF_NRF_RETRIES;
-	conf->app_nrf_conf.channel = APPCONF_NRF_CHANNEL;
-	conf->app_nrf_conf.address[0] = APPCONF_NRF_ADDR_B0;
-	conf->app_nrf_conf.address[1] = APPCONF_NRF_ADDR_B1;
-	conf->app_nrf_conf.address[2] = APPCONF_NRF_ADDR_B2;
-	conf->app_nrf_conf.send_crc_ack = APPCONF_NRF_SEND_CRC_ACK;
-}
-
-/**
- * Load the compiled default mc_configuration.
- *
- * @param conf
- * A pointer to store the default configuration to.
- */
-void conf_general_get_default_mc_configuration(mc_configuration *conf) {
-	memset(conf, 0, sizeof(mc_configuration));
-	conf->pwm_mode = MCCONF_PWM_MODE;
-	conf->comm_mode = MCCONF_COMM_MODE;
-	conf->motor_type = MCCONF_DEFAULT_MOTOR_TYPE;
-	conf->sensor_mode = MCCONF_SENSOR_MODE;
-
-	conf->l_current_max = MCCONF_L_CURRENT_MAX;
-	conf->l_current_min = MCCONF_L_CURRENT_MIN;
-	conf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
-	conf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
-	conf->l_abs_current_max = MCCONF_L_MAX_ABS_CURRENT;
-	conf->l_min_erpm = MCCONF_L_RPM_MIN;
-	conf->l_max_erpm = MCCONF_L_RPM_MAX;
-	conf->l_erpm_start = MCCONF_L_RPM_START;
-	conf->l_max_erpm_fbrake = MCCONF_L_CURR_MAX_RPM_FBRAKE;
-	conf->l_max_erpm_fbrake_cc = MCCONF_L_CURR_MAX_RPM_FBRAKE_CC;
-	conf->l_min_vin = MCCONF_L_MIN_VOLTAGE;
-	conf->l_max_vin = MCCONF_L_MAX_VOLTAGE;
-	conf->l_battery_cut_start = MCCONF_L_BATTERY_CUT_START;
-	conf->l_battery_cut_end = MCCONF_L_BATTERY_CUT_END;
-	conf->l_slow_abs_current = MCCONF_L_SLOW_ABS_OVERCURRENT;
-	conf->l_temp_fet_start = MCCONF_L_LIM_TEMP_FET_START;
-	conf->l_temp_fet_end = MCCONF_L_LIM_TEMP_FET_END;
-	conf->l_temp_motor_start = MCCONF_L_LIM_TEMP_MOTOR_START;
-	conf->l_temp_motor_end = MCCONF_L_LIM_TEMP_MOTOR_END;
-	conf->l_temp_accel_dec = MCCONF_L_LIM_TEMP_ACCEL_DEC;
-	conf->l_min_duty = MCCONF_L_MIN_DUTY;
-	conf->l_max_duty = MCCONF_L_MAX_DUTY;
-	conf->l_watt_max = MCCONF_L_WATT_MAX;
-	conf->l_watt_min = MCCONF_L_WATT_MIN;
-	conf->l_current_max_scale = MCCONF_L_CURRENT_MAX_SCALE;
-	conf->l_current_min_scale = MCCONF_L_CURRENT_MIN_SCALE;
-
-	conf->lo_current_max = conf->l_current_max * conf->l_current_max_scale;
-	conf->lo_current_min = conf->l_current_min * conf->l_current_min_scale;
-	conf->lo_in_current_max = conf->l_in_current_max;
-	conf->lo_in_current_min = conf->l_in_current_min;
-	conf->lo_current_motor_max_now = conf->lo_current_max;
-	conf->lo_current_motor_min_now = conf->lo_current_min;
-
-	conf->sl_min_erpm = MCCONF_SL_MIN_RPM;
-	conf->sl_max_fullbreak_current_dir_change = MCCONF_SL_MAX_FB_CURR_DIR_CHANGE;
-	conf->sl_min_erpm_cycle_int_limit = MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT;
-	conf->sl_cycle_int_limit = MCCONF_SL_CYCLE_INT_LIMIT;
-	conf->sl_phase_advance_at_br = MCCONF_SL_PHASE_ADVANCE_AT_BR;
-	conf->sl_cycle_int_rpm_br = MCCONF_SL_CYCLE_INT_BR;
-	conf->sl_bemf_coupling_k = MCCONF_SL_BEMF_COUPLING_K;
-
-	conf->hall_table[0] = MCCONF_HALL_TAB_0;
-	conf->hall_table[1] = MCCONF_HALL_TAB_1;
-	conf->hall_table[2] = MCCONF_HALL_TAB_2;
-	conf->hall_table[3] = MCCONF_HALL_TAB_3;
-	conf->hall_table[4] = MCCONF_HALL_TAB_4;
-	conf->hall_table[5] = MCCONF_HALL_TAB_5;
-	conf->hall_table[6] = MCCONF_HALL_TAB_6;
-	conf->hall_table[7] = MCCONF_HALL_TAB_7;
-	conf->hall_sl_erpm = MCCONF_HALL_ERPM;
-
-	conf->foc_current_kp = MCCONF_FOC_CURRENT_KP;
-	conf->foc_current_ki = MCCONF_FOC_CURRENT_KI;
-	conf->foc_f_sw = MCCONF_FOC_F_SW;
-	conf->foc_dt_us = MCCONF_FOC_DT_US;
-	conf->foc_encoder_inverted = MCCONF_FOC_ENCODER_INVERTED;
-	conf->foc_encoder_offset = MCCONF_FOC_ENCODER_OFFSET;
-	conf->foc_encoder_ratio = MCCONF_FOC_ENCODER_RATIO;
-	conf->foc_sensor_mode = MCCONF_FOC_SENSOR_MODE;
-	conf->foc_pll_kp = MCCONF_FOC_PLL_KP;
-	conf->foc_pll_ki = MCCONF_FOC_PLL_KI;
-	conf->foc_motor_l = MCCONF_FOC_MOTOR_L;
-	conf->foc_motor_r = MCCONF_FOC_MOTOR_R;
-	conf->foc_motor_flux_linkage = MCCONF_FOC_MOTOR_FLUX_LINKAGE;
-	conf->foc_observer_gain = MCCONF_FOC_OBSERVER_GAIN;
-	conf->foc_observer_gain_slow = MCCONF_FOC_OBSERVER_GAIN_SLOW;
-	conf->foc_duty_dowmramp_kp = MCCONF_FOC_DUTY_DOWNRAMP_KP;
-	conf->foc_duty_dowmramp_ki = MCCONF_FOC_DUTY_DOWNRAMP_KI;
-	conf->foc_openloop_rpm = MCCONF_FOC_OPENLOOP_RPM;
-	conf->foc_sl_openloop_hyst = MCCONF_FOC_SL_OPENLOOP_HYST;
-	conf->foc_sl_openloop_time = MCCONF_FOC_SL_OPENLOOP_TIME;
-	conf->foc_sl_d_current_duty = MCCONF_FOC_SL_D_CURRENT_DUTY;
-	conf->foc_sl_d_current_factor = MCCONF_FOC_SL_D_CURRENT_FACTOR;
-	conf->foc_hall_table[0] = MCCONF_FOC_HALL_TAB_0;
-	conf->foc_hall_table[1] = MCCONF_FOC_HALL_TAB_1;
-	conf->foc_hall_table[2] = MCCONF_FOC_HALL_TAB_2;
-	conf->foc_hall_table[3] = MCCONF_FOC_HALL_TAB_3;
-	conf->foc_hall_table[4] = MCCONF_FOC_HALL_TAB_4;
-	conf->foc_hall_table[5] = MCCONF_FOC_HALL_TAB_5;
-	conf->foc_hall_table[6] = MCCONF_FOC_HALL_TAB_6;
-	conf->foc_hall_table[7] = MCCONF_FOC_HALL_TAB_7;
-	conf->foc_sl_erpm = MCCONF_FOC_SL_ERPM;
-	conf->foc_sample_v0_v7 = MCCONF_FOC_SAMPLE_V0_V7;
-	conf->foc_sample_high_current = MCCONF_FOC_SAMPLE_HIGH_CURRENT;
-	conf->foc_sat_comp = MCCONF_FOC_SAT_COMP;
-	conf->foc_temp_comp = MCCONF_FOC_TEMP_COMP;
-	conf->foc_temp_comp_base_temp = MCCONF_FOC_TEMP_COMP_BASE_TEMP;
-	conf->foc_current_filter_const = MCCONF_FOC_CURRENT_FILTER_CONST;
-
-	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
-	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
-	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;
-	conf->gpd_current_kp = MCCONF_GPD_CURRENT_KP;
-	conf->gpd_current_ki = MCCONF_GPD_CURRENT_KI;
-
-	conf->s_pid_kp = MCCONF_S_PID_KP;
-	conf->s_pid_ki = MCCONF_S_PID_KI;
-	conf->s_pid_kd = MCCONF_S_PID_KD;
-	conf->s_pid_kd_filter = MCCONF_S_PID_KD_FILTER;
-	conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
-	conf->s_pid_allow_braking = MCCONF_S_PID_ALLOW_BRAKING;
-
-	conf->p_pid_kp = MCCONF_P_PID_KP;
-	conf->p_pid_ki = MCCONF_P_PID_KI;
-	conf->p_pid_kd = MCCONF_P_PID_KD;
-	conf->p_pid_kd_filter = MCCONF_P_PID_KD_FILTER;
-	conf->p_pid_ang_div = MCCONF_P_PID_ANG_DIV;
-
-	conf->cc_startup_boost_duty = MCCONF_CC_STARTUP_BOOST_DUTY;
-	conf->cc_min_current = MCCONF_CC_MIN_CURRENT;
-	conf->cc_gain = MCCONF_CC_GAIN;
-	conf->cc_ramp_step_max = MCCONF_CC_RAMP_STEP;
-
-	conf->m_fault_stop_time_ms = MCCONF_M_FAULT_STOP_TIME;
-	conf->m_duty_ramp_step = MCCONF_M_RAMP_STEP;
-	conf->m_current_backoff_gain = MCCONF_M_CURRENT_BACKOFF_GAIN;
-	conf->m_encoder_counts = MCCONF_M_ENCODER_COUNTS;
-	conf->m_sensor_port_mode = MCCONF_M_SENSOR_PORT_MODE;
-	conf->m_invert_direction = MCCONF_M_INVERT_DIRECTION;
-	conf->m_drv8301_oc_mode = MCCONF_M_DRV8301_OC_MODE;
-	conf->m_drv8301_oc_adj = MCCONF_M_DRV8301_OC_ADJ;
-	conf->m_bldc_f_sw_min = MCCONF_M_BLDC_F_SW_MIN;
-	conf->m_bldc_f_sw_max = MCCONF_M_BLDC_F_SW_MAX;
-	conf->m_dc_f_sw = MCCONF_M_DC_F_SW;
-	conf->m_ntc_motor_beta = MCCONF_M_NTC_MOTOR_BETA;
-	conf->m_out_aux_mode = MCCONF_M_OUT_AUX_MODE;
-
-	conf->si_motor_poles = MCCONF_SI_MOTOR_POLES;
-	conf->si_gear_ratio = MCCONF_SI_GEAR_RATIO;
-	conf->si_wheel_diameter = MCCONF_SI_WHEEL_DIAMETER;
-	conf->si_battery_type = MCCONF_SI_BATTERY_TYPE;
-	conf->si_battery_cells = MCCONF_SI_BATTERY_CELLS;
-	conf->si_battery_ah = MCCONF_SI_BATTERY_AH;
-}
-
 /**
  * Read app_configuration from EEPROM. If this fails, default values will be used.
  *
@@ -326,7 +90,7 @@ void conf_general_read_app_configuration(app_configuration *conf) {
 
 	// Set the default configuration
 	if (!is_ok) {
-		conf_general_get_default_app_configuration(conf);
+		confgenerator_set_defaults_appconf(conf);
 	}
 }
 
@@ -343,7 +107,6 @@ bool conf_general_store_app_configuration(app_configuration *conf) {
 	utils_sys_lock_cnt();
 	mc_interface_lock();
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
 	timeout_configure_IWDT_slowest();
 
 	bool is_ok = true;
@@ -363,7 +126,6 @@ bool conf_general_store_app_configuration(app_configuration *conf) {
 		}
 	}
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
 	timeout_configure_IWDT();
 
 	chThdSleepMilliseconds(100);
@@ -395,7 +157,7 @@ void conf_general_read_mc_configuration(mc_configuration *conf) {
 	}
 
 	if (!is_ok) {
-		conf_general_get_default_mc_configuration(conf);
+		confgenerator_set_defaults_mcconf(conf);
 	}
 }
 
@@ -412,7 +174,6 @@ bool conf_general_store_mc_configuration(mc_configuration *conf) {
 	utils_sys_lock_cnt();
 	mc_interface_lock();
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
 	timeout_configure_IWDT_slowest();
 
 	bool is_ok = true;
@@ -431,7 +192,6 @@ bool conf_general_store_mc_configuration(mc_configuration *conf) {
 		}
 	}
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
 	timeout_configure_IWDT();
 
 	chThdSleepMilliseconds(100);

conf_general.h

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		49
+#define FW_VERSION_MINOR		50
 
 #include "datatypes.h"
 
@@ -218,8 +218,6 @@ extern bool conf_general_permanent_nrf_found;
 
 // Functions
 void conf_general_init(void);
-void conf_general_get_default_app_configuration(app_configuration *conf);
-void conf_general_get_default_mc_configuration(mc_configuration *conf);
 void conf_general_read_app_configuration(app_configuration *conf);
 bool conf_general_store_app_configuration(app_configuration *conf);
 void conf_general_read_mc_configuration(mc_configuration *conf);

conf_mc_app_default.h

@@ -21,6 +21,7 @@
 #define CONF_MC_APP_DEFAULT_H_
 
 #include "conf_general.h"
+#include "hw.h"
 
 // User defined default motor configuration file
 #ifdef MCCONF_DEFAULT_USER

confgenerator.c

@@ -0,0 +1,629 @@
+// This file is autogenerated by VESC Tool
+
+#include "buffer.h"
+#include "conf_mc_app_default.h"
+#include "confgenerator.h"
+
+int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf) {
+	int32_t ind = 0;
+
+	buffer_append_uint32(buffer, MCCONF_SIGNATURE, &ind);
+
+	buffer[ind++] = conf->pwm_mode;
+	buffer[ind++] = conf->comm_mode;
+	buffer[ind++] = conf->motor_type;
+	buffer[ind++] = conf->sensor_mode;
+	buffer_append_float32_auto(buffer, conf->l_current_max, &ind);
+	buffer_append_float32_auto(buffer, conf->l_current_min, &ind);
+	buffer_append_float32_auto(buffer, conf->l_in_current_max, &ind);
+	buffer_append_float32_auto(buffer, conf->l_in_current_min, &ind);
+	buffer_append_float32_auto(buffer, conf->l_abs_current_max, &ind);
+	buffer_append_float32_auto(buffer, conf->l_min_erpm, &ind);
+	buffer_append_float32_auto(buffer, conf->l_max_erpm, &ind);
+	buffer_append_float32_auto(buffer, conf->l_erpm_start, &ind);
+	buffer_append_float32_auto(buffer, conf->l_max_erpm_fbrake, &ind);
+	buffer_append_float32_auto(buffer, conf->l_max_erpm_fbrake_cc, &ind);
+	buffer_append_float32_auto(buffer, conf->l_min_vin, &ind);
+	buffer_append_float32_auto(buffer, conf->l_max_vin, &ind);
+	buffer_append_float32_auto(buffer, conf->l_battery_cut_start, &ind);
+	buffer_append_float32_auto(buffer, conf->l_battery_cut_end, &ind);
+	buffer[ind++] = conf->l_slow_abs_current;
+	buffer_append_float32_auto(buffer, conf->l_temp_fet_start, &ind);
+	buffer_append_float32_auto(buffer, conf->l_temp_fet_end, &ind);
+	buffer_append_float32_auto(buffer, conf->l_temp_motor_start, &ind);
+	buffer_append_float32_auto(buffer, conf->l_temp_motor_end, &ind);
+	buffer_append_float32_auto(buffer, conf->l_temp_accel_dec, &ind);
+	buffer_append_float32_auto(buffer, conf->l_min_duty, &ind);
+	buffer_append_float32_auto(buffer, conf->l_max_duty, &ind);
+	buffer_append_float32_auto(buffer, conf->l_watt_max, &ind);
+	buffer_append_float32_auto(buffer, conf->l_watt_min, &ind);
+	buffer_append_float32_auto(buffer, conf->l_current_max_scale, &ind);
+	buffer_append_float32_auto(buffer, conf->l_current_min_scale, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_min_erpm, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_min_erpm_cycle_int_limit, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_max_fullbreak_current_dir_change, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_cycle_int_limit, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_phase_advance_at_br, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_cycle_int_rpm_br, &ind);
+	buffer_append_float32_auto(buffer, conf->sl_bemf_coupling_k, &ind);
+	buffer[ind++] = (uint8_t)conf->hall_table[0];
+	buffer[ind++] = (uint8_t)conf->hall_table[1];
+	buffer[ind++] = (uint8_t)conf->hall_table[2];
+	buffer[ind++] = (uint8_t)conf->hall_table[3];
+	buffer[ind++] = (uint8_t)conf->hall_table[4];
+	buffer[ind++] = (uint8_t)conf->hall_table[5];
+	buffer[ind++] = (uint8_t)conf->hall_table[6];
+	buffer[ind++] = (uint8_t)conf->hall_table[7];
+	buffer_append_float32_auto(buffer, conf->hall_sl_erpm, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_current_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_current_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_f_sw, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_dt_us, &ind);
+	buffer[ind++] = conf->foc_encoder_inverted;
+	buffer_append_float32_auto(buffer, conf->foc_encoder_offset, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_encoder_ratio, &ind);
+	buffer[ind++] = conf->foc_sensor_mode;
+	buffer_append_float32_auto(buffer, conf->foc_pll_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_pll_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_motor_l, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_motor_r, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_motor_flux_linkage, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_observer_gain, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_observer_gain_slow, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_duty_dowmramp_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_duty_dowmramp_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_openloop_rpm, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_sl_openloop_hyst, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_sl_openloop_time, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_sl_d_current_duty, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_sl_d_current_factor, &ind);
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[0];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[1];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[2];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[3];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[4];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[5];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[6];
+	buffer[ind++] = (uint8_t)conf->foc_hall_table[7];
+	buffer_append_float32_auto(buffer, conf->foc_sl_erpm, &ind);
+	buffer[ind++] = conf->foc_sample_v0_v7;
+	buffer[ind++] = conf->foc_sample_high_current;
+	buffer_append_float32_auto(buffer, conf->foc_sat_comp, &ind);
+	buffer[ind++] = conf->foc_temp_comp;
+	buffer_append_float32_auto(buffer, conf->foc_temp_comp_base_temp, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_current_filter_const, &ind);
+	buffer_append_int16(buffer, conf->gpd_buffer_notify_left, &ind);
+	buffer_append_int16(buffer, conf->gpd_buffer_interpol, &ind);
+	buffer_append_float32_auto(buffer, conf->gpd_current_filter_const, &ind);
+	buffer_append_float32_auto(buffer, conf->gpd_current_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->gpd_current_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->s_pid_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->s_pid_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->s_pid_kd, &ind);
+	buffer_append_float32_auto(buffer, conf->s_pid_kd_filter, &ind);
+	buffer_append_float32_auto(buffer, conf->s_pid_min_erpm, &ind);
+	buffer[ind++] = conf->s_pid_allow_braking;
+	buffer_append_float32_auto(buffer, conf->p_pid_kp, &ind);
+	buffer_append_float32_auto(buffer, conf->p_pid_ki, &ind);
+	buffer_append_float32_auto(buffer, conf->p_pid_kd, &ind);
+	buffer_append_float32_auto(buffer, conf->p_pid_kd_filter, &ind);
+	buffer_append_float32_auto(buffer, conf->p_pid_ang_div, &ind);
+	buffer_append_float32_auto(buffer, conf->cc_startup_boost_duty, &ind);
+	buffer_append_float32_auto(buffer, conf->cc_min_current, &ind);
+	buffer_append_float32_auto(buffer, conf->cc_gain, &ind);
+	buffer_append_float32_auto(buffer, conf->cc_ramp_step_max, &ind);
+	buffer_append_int32(buffer, conf->m_fault_stop_time_ms, &ind);
+	buffer_append_float32_auto(buffer, conf->m_duty_ramp_step, &ind);
+	buffer_append_float32_auto(buffer, conf->m_current_backoff_gain, &ind);
+	buffer_append_uint32(buffer, conf->m_encoder_counts, &ind);
+	buffer[ind++] = conf->m_sensor_port_mode;
+	buffer[ind++] = conf->m_invert_direction;
+	buffer[ind++] = conf->m_drv8301_oc_mode;
+	buffer[ind++] = (uint8_t)conf->m_drv8301_oc_adj;
+	buffer_append_float32_auto(buffer, conf->m_bldc_f_sw_min, &ind);
+	buffer_append_float32_auto(buffer, conf->m_bldc_f_sw_max, &ind);
+	buffer_append_float32_auto(buffer, conf->m_dc_f_sw, &ind);
+	buffer_append_float32_auto(buffer, conf->m_ntc_motor_beta, &ind);
+	buffer[ind++] = conf->m_out_aux_mode;
+	buffer[ind++] = (uint8_t)conf->si_motor_poles;
+	buffer_append_float32_auto(buffer, conf->si_gear_ratio, &ind);
+	buffer_append_float32_auto(buffer, conf->si_wheel_diameter, &ind);
+	buffer[ind++] = conf->si_battery_type;
+	buffer[ind++] = (uint8_t)conf->si_battery_cells;
+	buffer_append_float32_auto(buffer, conf->si_battery_ah, &ind);
+
+	return ind;
+}
+
+int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration *conf) {
+	int32_t ind = 0;
+
+	buffer_append_uint32(buffer, APPCONF_SIGNATURE, &ind);
+
+	buffer[ind++] = (uint8_t)conf->controller_id;
+	buffer_append_uint32(buffer, conf->timeout_msec, &ind);
+	buffer_append_float32_auto(buffer, conf->timeout_brake_current, &ind);
+	buffer[ind++] = conf->send_can_status;
+	buffer_append_uint16(buffer, conf->send_can_status_rate_hz, &ind);
+	buffer[ind++] = conf->can_baud_rate;
+	buffer[ind++] = conf->pairing_done;
+	buffer[ind++] = conf->uavcan_enable;
+	buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
+	buffer[ind++] = conf->app_to_use;
+	buffer[ind++] = conf->app_ppm_conf.ctrl_type;
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.pid_max_erpm, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.hyst, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_start, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_end, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_center, &ind);
+	buffer[ind++] = conf->app_ppm_conf.median_filter;
+	buffer[ind++] = conf->app_ppm_conf.safe_start;
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.throttle_exp, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.throttle_exp_brake, &ind);
+	buffer[ind++] = conf->app_ppm_conf.throttle_exp_mode;
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.ramp_time_pos, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.ramp_time_neg, &ind);
+	buffer[ind++] = conf->app_ppm_conf.multi_esc;
+	buffer[ind++] = conf->app_ppm_conf.tc;
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.tc_max_diff, &ind);
+	buffer[ind++] = conf->app_adc_conf.ctrl_type;
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.hyst, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_start, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_end, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_center, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage2_start, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage2_end, &ind);
+	buffer[ind++] = conf->app_adc_conf.use_filter;
+	buffer[ind++] = conf->app_adc_conf.safe_start;
+	buffer[ind++] = conf->app_adc_conf.cc_button_inverted;
+	buffer[ind++] = conf->app_adc_conf.rev_button_inverted;
+	buffer[ind++] = conf->app_adc_conf.voltage_inverted;
+	buffer[ind++] = conf->app_adc_conf.voltage2_inverted;
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.throttle_exp, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.throttle_exp_brake, &ind);
+	buffer[ind++] = conf->app_adc_conf.throttle_exp_mode;
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.ramp_time_pos, &ind);
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.ramp_time_neg, &ind);
+	buffer[ind++] = conf->app_adc_conf.multi_esc;
+	buffer[ind++] = conf->app_adc_conf.tc;
+	buffer_append_float32_auto(buffer, conf->app_adc_conf.tc_max_diff, &ind);
+	buffer_append_uint16(buffer, conf->app_adc_conf.update_rate_hz, &ind);
+	buffer_append_uint32(buffer, conf->app_uart_baudrate, &ind);
+	buffer[ind++] = conf->app_chuk_conf.ctrl_type;
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.hyst, &ind);
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.ramp_time_pos, &ind);
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.ramp_time_neg, &ind);
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.stick_erpm_per_s_in_cc, &ind);
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.throttle_exp, &ind);
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.throttle_exp_brake, &ind);
+	buffer[ind++] = conf->app_chuk_conf.throttle_exp_mode;
+	buffer[ind++] = conf->app_chuk_conf.multi_esc;
+	buffer[ind++] = conf->app_chuk_conf.tc;
+	buffer_append_float32_auto(buffer, conf->app_chuk_conf.tc_max_diff, &ind);
+	buffer[ind++] = conf->app_nrf_conf.speed;
+	buffer[ind++] = conf->app_nrf_conf.power;
+	buffer[ind++] = conf->app_nrf_conf.crc_type;
+	buffer[ind++] = conf->app_nrf_conf.retry_delay;
+	buffer[ind++] = (uint8_t)conf->app_nrf_conf.retries;
+	buffer[ind++] = (uint8_t)conf->app_nrf_conf.channel;
+	buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[0];
+	buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[1];
+	buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[2];
+	buffer[ind++] = conf->app_nrf_conf.send_crc_ack;
+
+	return ind;
+}
+
+bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *conf) {
+	int32_t ind = 0;
+
+	uint32_t signature = buffer_get_uint32(buffer, &ind);
+	if (signature != MCCONF_SIGNATURE) {
+		return false;
+	}
+
+	conf->pwm_mode = buffer[ind++];
+	conf->comm_mode = buffer[ind++];
+	conf->motor_type = buffer[ind++];
+	conf->sensor_mode = buffer[ind++];
+	conf->l_current_max = buffer_get_float32_auto(buffer, &ind);
+	conf->l_current_min = buffer_get_float32_auto(buffer, &ind);
+	conf->l_in_current_max = buffer_get_float32_auto(buffer, &ind);
+	conf->l_in_current_min = buffer_get_float32_auto(buffer, &ind);
+	conf->l_abs_current_max = buffer_get_float32_auto(buffer, &ind);
+	conf->l_min_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->l_max_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->l_erpm_start = buffer_get_float32_auto(buffer, &ind);
+	conf->l_max_erpm_fbrake = buffer_get_float32_auto(buffer, &ind);
+	conf->l_max_erpm_fbrake_cc = buffer_get_float32_auto(buffer, &ind);
+	conf->l_min_vin = buffer_get_float32_auto(buffer, &ind);
+	conf->l_max_vin = buffer_get_float32_auto(buffer, &ind);
+	conf->l_battery_cut_start = buffer_get_float32_auto(buffer, &ind);
+	conf->l_battery_cut_end = buffer_get_float32_auto(buffer, &ind);
+	conf->l_slow_abs_current = buffer[ind++];
+	conf->l_temp_fet_start = buffer_get_float32_auto(buffer, &ind);
+	conf->l_temp_fet_end = buffer_get_float32_auto(buffer, &ind);
+	conf->l_temp_motor_start = buffer_get_float32_auto(buffer, &ind);
+	conf->l_temp_motor_end = buffer_get_float32_auto(buffer, &ind);
+	conf->l_temp_accel_dec = buffer_get_float32_auto(buffer, &ind);
+	conf->l_min_duty = buffer_get_float32_auto(buffer, &ind);
+	conf->l_max_duty = buffer_get_float32_auto(buffer, &ind);
+	conf->l_watt_max = buffer_get_float32_auto(buffer, &ind);
+	conf->l_watt_min = buffer_get_float32_auto(buffer, &ind);
+	conf->l_current_max_scale = buffer_get_float32_auto(buffer, &ind);
+	conf->l_current_min_scale = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_min_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_cycle_int_limit = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_phase_advance_at_br = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_cycle_int_rpm_br = buffer_get_float32_auto(buffer, &ind);
+	conf->sl_bemf_coupling_k = buffer_get_float32_auto(buffer, &ind);
+	conf->hall_table[0] = (int8_t)buffer[ind++];
+	conf->hall_table[1] = (int8_t)buffer[ind++];
+	conf->hall_table[2] = (int8_t)buffer[ind++];
+	conf->hall_table[3] = (int8_t)buffer[ind++];
+	conf->hall_table[4] = (int8_t)buffer[ind++];
+	conf->hall_table[5] = (int8_t)buffer[ind++];
+	conf->hall_table[6] = (int8_t)buffer[ind++];
+	conf->hall_table[7] = (int8_t)buffer[ind++];
+	conf->hall_sl_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_current_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_current_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_f_sw = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_dt_us = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_encoder_inverted = buffer[ind++];
+	conf->foc_encoder_offset = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_encoder_ratio = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sensor_mode = buffer[ind++];
+	conf->foc_pll_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_pll_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_motor_l = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_motor_r = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_motor_flux_linkage = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_observer_gain = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_observer_gain_slow = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_duty_dowmramp_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_duty_dowmramp_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_openloop_rpm = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sl_openloop_hyst = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sl_openloop_time = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sl_d_current_duty = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sl_d_current_factor = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_hall_table[0] = buffer[ind++];
+	conf->foc_hall_table[1] = buffer[ind++];
+	conf->foc_hall_table[2] = buffer[ind++];
+	conf->foc_hall_table[3] = buffer[ind++];
+	conf->foc_hall_table[4] = buffer[ind++];
+	conf->foc_hall_table[5] = buffer[ind++];
+	conf->foc_hall_table[6] = buffer[ind++];
+	conf->foc_hall_table[7] = buffer[ind++];
+	conf->foc_sl_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sample_v0_v7 = buffer[ind++];
+	conf->foc_sample_high_current = buffer[ind++];
+	conf->foc_sat_comp = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_temp_comp = buffer[ind++];
+	conf->foc_temp_comp_base_temp = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_current_filter_const = buffer_get_float32_auto(buffer, &ind);
+	conf->gpd_buffer_notify_left = buffer_get_int16(buffer, &ind);
+	conf->gpd_buffer_interpol = buffer_get_int16(buffer, &ind);
+	conf->gpd_current_filter_const = buffer_get_float32_auto(buffer, &ind);
+	conf->gpd_current_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->gpd_current_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_kd = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_kd_filter = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_min_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->s_pid_allow_braking = buffer[ind++];
+	conf->p_pid_kp = buffer_get_float32_auto(buffer, &ind);
+	conf->p_pid_ki = buffer_get_float32_auto(buffer, &ind);
+	conf->p_pid_kd = buffer_get_float32_auto(buffer, &ind);
+	conf->p_pid_kd_filter = buffer_get_float32_auto(buffer, &ind);
+	conf->p_pid_ang_div = buffer_get_float32_auto(buffer, &ind);
+	conf->cc_startup_boost_duty = buffer_get_float32_auto(buffer, &ind);
+	conf->cc_min_current = buffer_get_float32_auto(buffer, &ind);
+	conf->cc_gain = buffer_get_float32_auto(buffer, &ind);
+	conf->cc_ramp_step_max = buffer_get_float32_auto(buffer, &ind);
+	conf->m_fault_stop_time_ms = buffer_get_int32(buffer, &ind);
+	conf->m_duty_ramp_step = buffer_get_float32_auto(buffer, &ind);
+	conf->m_current_backoff_gain = buffer_get_float32_auto(buffer, &ind);
+	conf->m_encoder_counts = buffer_get_uint32(buffer, &ind);
+	conf->m_sensor_port_mode = buffer[ind++];
+	conf->m_invert_direction = buffer[ind++];
+	conf->m_drv8301_oc_mode = buffer[ind++];
+	conf->m_drv8301_oc_adj = buffer[ind++];
+	conf->m_bldc_f_sw_min = buffer_get_float32_auto(buffer, &ind);
+	conf->m_bldc_f_sw_max = buffer_get_float32_auto(buffer, &ind);
+	conf->m_dc_f_sw = buffer_get_float32_auto(buffer, &ind);
+	conf->m_ntc_motor_beta = buffer_get_float32_auto(buffer, &ind);
+	conf->m_out_aux_mode = buffer[ind++];
+	conf->si_motor_poles = buffer[ind++];
+	conf->si_gear_ratio = buffer_get_float32_auto(buffer, &ind);
+	conf->si_wheel_diameter = buffer_get_float32_auto(buffer, &ind);
+	conf->si_battery_type = buffer[ind++];
+	conf->si_battery_cells = buffer[ind++];
+	conf->si_battery_ah = buffer_get_float32_auto(buffer, &ind);
+
+	return true;
+}
+
+bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration *conf) {
+	int32_t ind = 0;
+
+	uint32_t signature = buffer_get_uint32(buffer, &ind);
+	if (signature != APPCONF_SIGNATURE) {
+		return false;
+	}
+
+	conf->controller_id = buffer[ind++];
+	conf->timeout_msec = buffer_get_uint32(buffer, &ind);
+	conf->timeout_brake_current = buffer_get_float32_auto(buffer, &ind);
+	conf->send_can_status = buffer[ind++];
+	conf->send_can_status_rate_hz = buffer_get_uint16(buffer, &ind);
+	conf->can_baud_rate = buffer[ind++];
+	conf->pairing_done = buffer[ind++];
+	conf->uavcan_enable = buffer[ind++];
+	conf->uavcan_esc_index = buffer[ind++];
+	conf->app_to_use = buffer[ind++];
+	conf->app_ppm_conf.ctrl_type = buffer[ind++];
+	conf->app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.hyst = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.pulse_start = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.pulse_end = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.pulse_center = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.median_filter = buffer[ind++];
+	conf->app_ppm_conf.safe_start = buffer[ind++];
+	conf->app_ppm_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.throttle_exp_mode = buffer[ind++];
+	conf->app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.multi_esc = buffer[ind++];
+	conf->app_ppm_conf.tc = buffer[ind++];
+	conf->app_ppm_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.ctrl_type = buffer[ind++];
+	conf->app_adc_conf.hyst = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.voltage_start = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.voltage_end = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.voltage_center = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.voltage2_start = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.voltage2_end = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.use_filter = buffer[ind++];
+	conf->app_adc_conf.safe_start = buffer[ind++];
+	conf->app_adc_conf.cc_button_inverted = buffer[ind++];
+	conf->app_adc_conf.rev_button_inverted = buffer[ind++];
+	conf->app_adc_conf.voltage_inverted = buffer[ind++];
+	conf->app_adc_conf.voltage2_inverted = buffer[ind++];
+	conf->app_adc_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.throttle_exp_mode = buffer[ind++];
+	conf->app_adc_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.multi_esc = buffer[ind++];
+	conf->app_adc_conf.tc = buffer[ind++];
+	conf->app_adc_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
+	conf->app_adc_conf.update_rate_hz = buffer_get_uint16(buffer, &ind);
+	conf->app_uart_baudrate = buffer_get_uint32(buffer, &ind);
+	conf->app_chuk_conf.ctrl_type = buffer[ind++];
+	conf->app_chuk_conf.hyst = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
+	conf->app_chuk_conf.throttle_exp_mode = buffer[ind++];
+	conf->app_chuk_conf.multi_esc = buffer[ind++];
+	conf->app_chuk_conf.tc = buffer[ind++];
+	conf->app_chuk_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
+	conf->app_nrf_conf.speed = buffer[ind++];
+	conf->app_nrf_conf.power = buffer[ind++];
+	conf->app_nrf_conf.crc_type = buffer[ind++];
+	conf->app_nrf_conf.retry_delay = buffer[ind++];
+	conf->app_nrf_conf.retries = (int8_t)buffer[ind++];
+	conf->app_nrf_conf.channel = (int8_t)buffer[ind++];
+	conf->app_nrf_conf.address[0] = buffer[ind++];
+	conf->app_nrf_conf.address[1] = buffer[ind++];
+	conf->app_nrf_conf.address[2] = buffer[ind++];
+	conf->app_nrf_conf.send_crc_ack = buffer[ind++];
+
+	return true;
+}
+
+void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
+	conf->pwm_mode = MCCONF_PWM_MODE;
+	conf->comm_mode = MCCONF_COMM_MODE;
+	conf->motor_type = MCCONF_DEFAULT_MOTOR_TYPE;
+	conf->sensor_mode = MCCONF_SENSOR_MODE;
+	conf->l_current_max = MCCONF_L_CURRENT_MAX;
+	conf->l_current_min = MCCONF_L_CURRENT_MIN;
+	conf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
+	conf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
+	conf->l_abs_current_max = MCCONF_L_MAX_ABS_CURRENT;
+	conf->l_min_erpm = MCCONF_L_RPM_MIN;
+	conf->l_max_erpm = MCCONF_L_RPM_MAX;
+	conf->l_erpm_start = MCCONF_L_RPM_START;
+	conf->l_max_erpm_fbrake = MCCONF_L_CURR_MAX_RPM_FBRAKE;
+	conf->l_max_erpm_fbrake_cc = MCCONF_L_CURR_MAX_RPM_FBRAKE_CC;
+	conf->l_min_vin = MCCONF_L_MIN_VOLTAGE;
+	conf->l_max_vin = MCCONF_L_MAX_VOLTAGE;
+	conf->l_battery_cut_start = MCCONF_L_BATTERY_CUT_START;
+	conf->l_battery_cut_end = MCCONF_L_BATTERY_CUT_END;
+	conf->l_slow_abs_current = MCCONF_L_SLOW_ABS_OVERCURRENT;
+	conf->l_temp_fet_start = MCCONF_L_LIM_TEMP_FET_START;
+	conf->l_temp_fet_end = MCCONF_L_LIM_TEMP_FET_END;
+	conf->l_temp_motor_start = MCCONF_L_LIM_TEMP_MOTOR_START;
+	conf->l_temp_motor_end = MCCONF_L_LIM_TEMP_MOTOR_END;
+	conf->l_temp_accel_dec = MCCONF_L_LIM_TEMP_ACCEL_DEC;
+	conf->l_min_duty = MCCONF_L_MIN_DUTY;
+	conf->l_max_duty = MCCONF_L_MAX_DUTY;
+	conf->l_watt_max = MCCONF_L_WATT_MAX;
+	conf->l_watt_min = MCCONF_L_WATT_MIN;
+	conf->l_current_max_scale = MCCONF_L_CURRENT_MAX_SCALE;
+	conf->l_current_min_scale = MCCONF_L_CURRENT_MIN_SCALE;
+	conf->sl_min_erpm = MCCONF_SL_MIN_RPM;
+	conf->sl_min_erpm_cycle_int_limit = MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT;
+	conf->sl_max_fullbreak_current_dir_change = MCCONF_SL_MAX_FB_CURR_DIR_CHANGE;
+	conf->sl_cycle_int_limit = MCCONF_SL_CYCLE_INT_LIMIT;
+	conf->sl_phase_advance_at_br = MCCONF_SL_PHASE_ADVANCE_AT_BR;
+	conf->sl_cycle_int_rpm_br = MCCONF_SL_CYCLE_INT_BR;
+	conf->sl_bemf_coupling_k = MCCONF_SL_BEMF_COUPLING_K;
+	conf->hall_table[0] = MCCONF_HALL_TAB_0;
+	conf->hall_table[1] = MCCONF_HALL_TAB_1;
+	conf->hall_table[2] = MCCONF_HALL_TAB_2;
+	conf->hall_table[3] = MCCONF_HALL_TAB_3;
+	conf->hall_table[4] = MCCONF_HALL_TAB_4;
+	conf->hall_table[5] = MCCONF_HALL_TAB_5;
+	conf->hall_table[6] = MCCONF_HALL_TAB_6;
+	conf->hall_table[7] = MCCONF_HALL_TAB_7;
+	conf->hall_sl_erpm = MCCONF_HALL_ERPM;
+	conf->foc_current_kp = MCCONF_FOC_CURRENT_KP;
+	conf->foc_current_ki = MCCONF_FOC_CURRENT_KI;
+	conf->foc_f_sw = MCCONF_FOC_F_SW;
+	conf->foc_dt_us = MCCONF_FOC_DT_US;
+	conf->foc_encoder_inverted = MCCONF_FOC_ENCODER_INVERTED;
+	conf->foc_encoder_offset = MCCONF_FOC_ENCODER_OFFSET;
+	conf->foc_encoder_ratio = MCCONF_FOC_ENCODER_RATIO;
+	conf->foc_sensor_mode = MCCONF_FOC_SENSOR_MODE;
+	conf->foc_pll_kp = MCCONF_FOC_PLL_KP;
+	conf->foc_pll_ki = MCCONF_FOC_PLL_KI;
+	conf->foc_motor_l = MCCONF_FOC_MOTOR_L;
+	conf->foc_motor_r = MCCONF_FOC_MOTOR_R;
+	conf->foc_motor_flux_linkage = MCCONF_FOC_MOTOR_FLUX_LINKAGE;
+	conf->foc_observer_gain = MCCONF_FOC_OBSERVER_GAIN;
+	conf->foc_observer_gain_slow = MCCONF_FOC_OBSERVER_GAIN_SLOW;
+	conf->foc_duty_dowmramp_kp = MCCONF_FOC_DUTY_DOWNRAMP_KP;
+	conf->foc_duty_dowmramp_ki = MCCONF_FOC_DUTY_DOWNRAMP_KI;
+	conf->foc_openloop_rpm = MCCONF_FOC_OPENLOOP_RPM;
+	conf->foc_sl_openloop_hyst = MCCONF_FOC_SL_OPENLOOP_HYST;
+	conf->foc_sl_openloop_time = MCCONF_FOC_SL_OPENLOOP_TIME;
+	conf->foc_sl_d_current_duty = MCCONF_FOC_SL_D_CURRENT_DUTY;
+	conf->foc_sl_d_current_factor = MCCONF_FOC_SL_D_CURRENT_FACTOR;
+	conf->foc_hall_table[0] = MCCONF_FOC_HALL_TAB_0;
+	conf->foc_hall_table[1] = MCCONF_FOC_HALL_TAB_1;
+	conf->foc_hall_table[2] = MCCONF_FOC_HALL_TAB_2;
+	conf->foc_hall_table[3] = MCCONF_FOC_HALL_TAB_3;
+	conf->foc_hall_table[4] = MCCONF_FOC_HALL_TAB_4;
+	conf->foc_hall_table[5] = MCCONF_FOC_HALL_TAB_5;
+	conf->foc_hall_table[6] = MCCONF_FOC_HALL_TAB_6;
+	conf->foc_hall_table[7] = MCCONF_FOC_HALL_TAB_7;
+	conf->foc_sl_erpm = MCCONF_FOC_SL_ERPM;
+	conf->foc_sample_v0_v7 = MCCONF_FOC_SAMPLE_V0_V7;
+	conf->foc_sample_high_current = MCCONF_FOC_SAMPLE_HIGH_CURRENT;
+	conf->foc_sat_comp = MCCONF_FOC_SAT_COMP;
+	conf->foc_temp_comp = MCCONF_FOC_TEMP_COMP;
+	conf->foc_temp_comp_base_temp = MCCONF_FOC_TEMP_COMP_BASE_TEMP;
+	conf->foc_current_filter_const = MCCONF_FOC_CURRENT_FILTER_CONST;
+	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
+	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
+	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;
+	conf->gpd_current_kp = MCCONF_GPD_CURRENT_KP;
+	conf->gpd_current_ki = MCCONF_GPD_CURRENT_KI;
+	conf->s_pid_kp = MCCONF_S_PID_KP;
+	conf->s_pid_ki = MCCONF_S_PID_KI;
+	conf->s_pid_kd = MCCONF_S_PID_KD;
+	conf->s_pid_kd_filter = MCCONF_S_PID_KD_FILTER;
+	conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
+	conf->s_pid_allow_braking = MCCONF_S_PID_ALLOW_BRAKING;
+	conf->p_pid_kp = MCCONF_P_PID_KP;
+	conf->p_pid_ki = MCCONF_P_PID_KI;
+	conf->p_pid_kd = MCCONF_P_PID_KD;
+	conf->p_pid_kd_filter = MCCONF_P_PID_KD_FILTER;
+	conf->p_pid_ang_div = MCCONF_P_PID_ANG_DIV;
+	conf->cc_startup_boost_duty = MCCONF_CC_STARTUP_BOOST_DUTY;
+	conf->cc_min_current = MCCONF_CC_MIN_CURRENT;
+	conf->cc_gain = MCCONF_CC_GAIN;
+	conf->cc_ramp_step_max = MCCONF_CC_RAMP_STEP;
+	conf->m_fault_stop_time_ms = MCCONF_M_FAULT_STOP_TIME;
+	conf->m_duty_ramp_step = MCCONF_M_RAMP_STEP;
+	conf->m_current_backoff_gain = MCCONF_M_CURRENT_BACKOFF_GAIN;
+	conf->m_encoder_counts = MCCONF_M_ENCODER_COUNTS;
+	conf->m_sensor_port_mode = MCCONF_M_SENSOR_PORT_MODE;
+	conf->m_invert_direction = MCCONF_M_INVERT_DIRECTION;
+	conf->m_drv8301_oc_mode = MCCONF_M_DRV8301_OC_MODE;
+	conf->m_drv8301_oc_adj = MCCONF_M_DRV8301_OC_ADJ;
+	conf->m_bldc_f_sw_min = MCCONF_M_BLDC_F_SW_MIN;
+	conf->m_bldc_f_sw_max = MCCONF_M_BLDC_F_SW_MAX;
+	conf->m_dc_f_sw = MCCONF_M_DC_F_SW;
+	conf->m_ntc_motor_beta = MCCONF_M_NTC_MOTOR_BETA;
+	conf->m_out_aux_mode = MCCONF_M_OUT_AUX_MODE;
+	conf->si_motor_poles = MCCONF_SI_MOTOR_POLES;
+	conf->si_gear_ratio = MCCONF_SI_GEAR_RATIO;
+	conf->si_wheel_diameter = MCCONF_SI_WHEEL_DIAMETER;
+	conf->si_battery_type = MCCONF_SI_BATTERY_TYPE;
+	conf->si_battery_cells = MCCONF_SI_BATTERY_CELLS;
+	conf->si_battery_ah = MCCONF_SI_BATTERY_AH;
+}
+
+void confgenerator_set_defaults_appconf(app_configuration *conf) {
+	conf->controller_id = HW_DEFAULT_ID;
+	conf->timeout_msec = APPCONF_TIMEOUT_MSEC;
+	conf->timeout_brake_current = APPCONF_TIMEOUT_BRAKE_CURRENT;
+	conf->send_can_status = APPCONF_SEND_CAN_STATUS;
+	conf->send_can_status_rate_hz = APPCONF_SEND_CAN_STATUS_RATE_HZ;
+	conf->can_baud_rate = APPCONF_CAN_BAUD_RATE;
+	conf->pairing_done = APPCONF_PAIRING_DONE;
+	conf->uavcan_enable = APPCONF_UAVCAN_ENABLE;
+	conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
+	conf->app_to_use = APPCONF_APP_TO_USE;
+	conf->app_ppm_conf.ctrl_type = APPCONF_PPM_CTRL_TYPE;
+	conf->app_ppm_conf.pid_max_erpm = APPCONF_PPM_PID_MAX_ERPM;
+	conf->app_ppm_conf.hyst = APPCONF_PPM_HYST;
+	conf->app_ppm_conf.pulse_start = APPCONF_PPM_PULSE_START;
+	conf->app_ppm_conf.pulse_end = APPCONF_PPM_PULSE_END;
+	conf->app_ppm_conf.pulse_center = APPCONF_PPM_PULSE_CENTER;
+	conf->app_ppm_conf.median_filter = APPCONF_PPM_MEDIAN_FILTER;
+	conf->app_ppm_conf.safe_start = APPCONF_PPM_SAFE_START;
+	conf->app_ppm_conf.throttle_exp = APPCONF_PPM_THROTTLE_EXP;
+	conf->app_ppm_conf.throttle_exp_brake = APPCONF_PPM_THROTTLE_EXP_BRAKE;
+	conf->app_ppm_conf.throttle_exp_mode = APPCONF_PPM_THROTTLE_EXP_MODE;
+	conf->app_ppm_conf.ramp_time_pos = APPCONF_PPM_RAMP_TIME_POS;
+	conf->app_ppm_conf.ramp_time_neg = APPCONF_PPM_RAMP_TIME_NEG;
+	conf->app_ppm_conf.multi_esc = APPCONF_PPM_MULTI_ESC;
+	conf->app_ppm_conf.tc = APPCONF_PPM_TC;
+	conf->app_ppm_conf.tc_max_diff = APPCONF_PPM_TC_MAX_DIFF;
+	conf->app_adc_conf.ctrl_type = APPCONF_ADC_CTRL_TYPE;
+	conf->app_adc_conf.hyst = APPCONF_ADC_HYST;
+	conf->app_adc_conf.voltage_start = APPCONF_ADC_VOLTAGE_START;
+	conf->app_adc_conf.voltage_end = APPCONF_ADC_VOLTAGE_END;
+	conf->app_adc_conf.voltage_center = APPCONF_ADC_VOLTAGE_CENTER;
+	conf->app_adc_conf.voltage2_start = APPCONF_ADC_VOLTAGE2_START;
+	conf->app_adc_conf.voltage2_end = APPCONF_ADC_VOLTAGE2_END;
+	conf->app_adc_conf.use_filter = APPCONF_ADC_USE_FILTER;
+	conf->app_adc_conf.safe_start = APPCONF_ADC_SAFE_START;
+	conf->app_adc_conf.cc_button_inverted = APPCONF_ADC_CC_BUTTON_INVERTED;
+	conf->app_adc_conf.rev_button_inverted = APPCONF_ADC_REV_BUTTON_INVERTED;
+	conf->app_adc_conf.voltage_inverted = APPCONF_ADC_VOLTAGE_INVERTED;
+	conf->app_adc_conf.voltage2_inverted = APPCONF_ADC_VOLTAGE2_INVERTED;
+	conf->app_adc_conf.throttle_exp = APPCONF_ADC_THROTTLE_EXP;
+	conf->app_adc_conf.throttle_exp_brake = APPCONF_ADC_THROTTLE_EXP_BRAKE;
+	conf->app_adc_conf.throttle_exp_mode = APPCONF_ADC_THROTTLE_EXP_MODE;
+	conf->app_adc_conf.ramp_time_pos = APPCONF_ADC_RAMP_TIME_POS;
+	conf->app_adc_conf.ramp_time_neg = APPCONF_ADC_RAMP_TIME_NEG;
+	conf->app_adc_conf.multi_esc = APPCONF_ADC_MULTI_ESC;
+	conf->app_adc_conf.tc = APPCONF_ADC_TC;
+	conf->app_adc_conf.tc_max_diff = APPCONF_ADC_TC_MAX_DIFF;
+	conf->app_adc_conf.update_rate_hz = APPCONF_ADC_UPDATE_RATE_HZ;
+	conf->app_uart_baudrate = APPCONF_UART_BAUDRATE;
+	conf->app_chuk_conf.ctrl_type = APPCONF_CHUK_CTRL_TYPE;
+	conf->app_chuk_conf.hyst = APPCONF_CHUK_HYST;
+	conf->app_chuk_conf.ramp_time_pos = APPCONF_CHUK_RAMP_TIME_POS;
+	conf->app_chuk_conf.ramp_time_neg = APPCONF_CHUK_RAMP_TIME_NEG;
+	conf->app_chuk_conf.stick_erpm_per_s_in_cc = APPCONF_STICK_ERPM_PER_S_IN_CC;
+	conf->app_chuk_conf.throttle_exp = APPCONF_CHUK_THROTTLE_EXP;
+	conf->app_chuk_conf.throttle_exp_brake = APPCONF_CHUK_THROTTLE_EXP_BRAKE;
+	conf->app_chuk_conf.throttle_exp_mode = APPCONF_CHUK_THROTTLE_EXP_MODE;
+	conf->app_chuk_conf.multi_esc = APPCONF_CHUK_MULTI_ESC;
+	conf->app_chuk_conf.tc = APPCONF_CHUK_TC;
+	conf->app_chuk_conf.tc_max_diff = APPCONF_CHUK_TC_MAX_DIFF;
+	conf->app_nrf_conf.speed = APPCONF_NRF_SPEED;
+	conf->app_nrf_conf.power = APPCONF_NRF_POWER;
+	conf->app_nrf_conf.crc_type = APPCONF_NRF_CRC;
+	conf->app_nrf_conf.retry_delay = APPCONF_NRF_RETR_DELAY;
+	conf->app_nrf_conf.retries = APPCONF_NRF_RETRIES;
+	conf->app_nrf_conf.channel = APPCONF_NRF_CHANNEL;
+	conf->app_nrf_conf.address[0] = APPCONF_NRF_ADDR_B0;
+	conf->app_nrf_conf.address[1] = APPCONF_NRF_ADDR_B1;
+	conf->app_nrf_conf.address[2] = APPCONF_NRF_ADDR_B2;
+	conf->app_nrf_conf.send_crc_ack = APPCONF_NRF_SEND_CRC_ACK;
+}

confgenerator.h

@@ -0,0 +1,25 @@
+// This file is autogenerated by VESC Tool
+
+#ifndef CONFGENERATOR_H_
+#define CONFGENERATOR_H_
+
+#include "datatypes.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+// Constants
+#define MCCONF_SIGNATURE		1753222668
+#define APPCONF_SIGNATURE		3794395266
+
+// Functions
+int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);
+int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration *conf);
+
+bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *conf);
+bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration *conf);
+
+void confgenerator_set_defaults_mcconf(mc_configuration *conf);
+void confgenerator_set_defaults_appconf(app_configuration *conf);
+
+// CONFGENERATOR_H_
+#endif

encoder.c

@@ -313,8 +313,7 @@ void encoder_reset(void) {
 }
 
 // returns true for even number of ones (no parity error according to AS5047 datasheet
-bool spi_check_parity(uint16_t x)
+bool spi_check_parity(uint16_t x) {
-{
 	x ^= x >> 8;
 	x ^= x >> 4;
 	x ^= x >> 2;

flash_helper.c

@@ -90,7 +90,6 @@ uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
 	mc_interface_unlock();
 	mc_interface_release_motor();
 	utils_sys_lock_cnt();
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
 	timeout_configure_IWDT_slowest();
 
 	for (int i = 0;i < NEW_APP_SECTORS;i++) {
@@ -104,7 +103,6 @@ uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
 		}
 	}
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
 	timeout_configure_IWDT();
 	utils_sys_unlock_cnt();
 
@@ -118,7 +116,6 @@ uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_
 	mc_interface_unlock();
 	mc_interface_release_motor();
 	utils_sys_lock_cnt();
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
 	timeout_configure_IWDT_slowest();
 
 	for (uint32_t i = 0;i < len;i++) {
@@ -128,7 +125,6 @@ uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_
 		}
 	}
 
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
 	timeout_configure_IWDT();
 
 	utils_sys_unlock_cnt();
@@ -152,7 +148,6 @@ void flash_helper_jump_to_bootloader(void) {
 	palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
 
 	// Disable watchdog
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
 	timeout_configure_IWDT_slowest();
 
 	chSysDisable();

gpdrive.c

@@ -257,14 +257,13 @@ void gpdrive_init(volatile mc_configuration *configuration) {
 	timer_thd_stop = false;
 	chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
 
-	// WWDG
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
-	WWDG_SetPrescaler(WWDG_Prescaler_1);
-	WWDG_SetWindowValue(255);
-	WWDG_Enable(100);
-
 	stop_pwm_hw();
 
+	// Check if the system has resumed from IWDG reset
+	if (timeout_had_IWDG_reset()) {
+		mc_interface_fault_stop(FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET);
+	}
+
 	m_init_done = true;
 }
 
@@ -275,8 +274,6 @@ void gpdrive_deinit(void) {
 
 	m_init_done = false;
 
-	WWDG_DeInit();
-
 	timer_thd_stop = true;
 
 	while (timer_thd_stop) {
@@ -514,7 +511,7 @@ static void adc_int_handler(void *p, uint32_t flags) {
 	TIM12->CNT = 0;
 
 	// Reset the watchdog
-	WWDG_SetCounter(100);
+	timeout_feed_WDT(THREAD_MCPWM);
 
 	int curr0 = GET_CURRENT1();
 	int curr1 = GET_CURRENT2();

hwconf/hw.h

@@ -166,6 +166,10 @@
 #define HW_LIM_CURRENT_ABS		0.0, 140.0
 #endif
 
+#ifndef HW_LIM_FOC_CTRL_LOOP_FREQ
+#define HW_LIM_FOC_CTRL_LOOP_FREQ	3000.0, 30000.0
+#endif
+
 // Functions
 void hw_init_gpio(void);
 void hw_setup_adc_channels(void);

mc_interface.c

@@ -350,6 +350,7 @@ const char* mc_interface_fault_to_string(mc_fault_code fault) {
 	case FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE: return "FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE"; break;
 	case FAULT_CODE_MCU_UNDER_VOLTAGE: return "FAULT_CODE_MCU_UNDER_VOLTAGE"; break;
 	case FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET: return "FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET"; break;
+	case FAULT_CODE_ENCODER: return "FAULT_CODE_ENCODER"; break;
 	default: return "FAULT_UNKNOWN"; break;
 	}
 }

mcconf/mcconf_default.h

@@ -376,7 +376,7 @@
 #define MCCONF_M_BLDC_F_SW_MIN			3000 // Minimum switching frequency in bldc mode
 #endif
 #ifndef MCCONF_M_BLDC_F_SW_MAX
-#define MCCONF_M_BLDC_F_SW_MAX			40000 // Maximum switching frequency in bldc mode
+#define MCCONF_M_BLDC_F_SW_MAX			35000 // Maximum switching frequency in bldc mode
 #endif
 #ifndef MCCONF_M_DC_F_SW
 #define MCCONF_M_DC_F_SW				25000 // Switching frequency in dc mode

mcpwm.c

@@ -470,8 +470,9 @@ void mcpwm_init(volatile mc_configuration *configuration) {
 	chThdCreateStatic(rpm_thread_wa, sizeof(rpm_thread_wa), NORMALPRIO, rpm_thread, NULL);
 
 	// Check if the system has resumed from IWDG reset
-	  if (timeout_had_IWDG_reset())
+	if (timeout_had_IWDG_reset()) {
 		mc_interface_fault_stop(FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET);
+	}
 
 	// Reset tachometers again
 	tachometer = 0;
@@ -487,8 +488,6 @@ void mcpwm_deinit(void) {
 
 	init_done = false;
 
-	WWDG_DeInit();
-
 	timer_thd_stop = true;
 	rpm_thd_stop = true;
 

mcpwm_foc.c

@@ -463,8 +463,6 @@ void mcpwm_foc_deinit(void) {
 
 	m_init_done = false;
 
-	WWDG_DeInit();
-
 	timer_thd_stop = true;
 
 	while (timer_thd_stop) {

terminal.c

@@ -639,9 +639,10 @@ void terminal_process_string(char *str) {
 			commands_printf("This command requires one argument.\n");
 		}
 	} else if (strcmp(argv[0], "encoder") == 0) {
-        commands_printf("SPI val:%x, errors:%d, rate:%.5f", (unsigned int)encoder_spi_get_val(),
+		commands_printf("SPI val: %x, errors: %d, error rate: %.3f %%",
+				(unsigned int)encoder_spi_get_val(),
 				encoder_spi_get_error_cnt(),
-                                                            (double)encoder_spi_get_error_rate());
+				(double)encoder_spi_get_error_rate() * (double)100.0);
 	}
 
 	// The help command

timeout.c

@@ -32,25 +32,42 @@ static volatile uint32_t feed_counter[MAX_THREADS_MONITOR];
 static THD_WORKING_AREA(timeout_thread_wa, 512);
 static THD_FUNCTION(timeout_thread, arg);
 
-void timeout_init_IWDT(void);
-
 void timeout_init(void) {
 	timeout_msec = 1000;
 	last_update_time = 0;
 	timeout_brake_current = 0.0;
 	has_timeout = false;
 
-	// WWDG configuration
+	IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
-	// Timeout = t_PCLK1 (ms) * 4096 * 2^(WDGTB [1:0]) * (T[5:0] + 1)
-	// CLK1 = 42MHz
 
-	// Window set between 6.24ms and 12.48ms. Mcu will reset if watchdog is fed outside the window
+	// IWDG counter clock: LSI/4
-	WWDG_SetPrescaler(WWDG_Prescaler_2);
+	IWDG_SetPrescaler(IWDG_Prescaler_4);
-	WWDG_SetWindowValue(127);
-	WWDG_Enable(127); //0x7F
 
-	timeout_init_IWDT();
+	/* Set counter reload value to obtain 12ms IWDG TimeOut.
+	 *
+	 * LSI timer per datasheet is 32KHz typical, but 17KHz min
+	 * and 47KHz max over the complete range of operating conditions,
+	 * so reload time must ensure watchdog will work correctly under
+	 * all conditions.
+	 *
+	 * Timeout threads runs every 10ms. Take 20% margin so wdt should
+	 * be fed every 12ms. The worst condition occurs when the wdt clock
+	 * runs at the max freq (47KHz) due to oscillator tolerances.
+	 *
+	 * t_IWDG(ms) = t_LSI(ms) * 4 * 2^(IWDG_PR[2:0]) * (IWDG_RLR[11:0] + 1)
+	 * t_LSI(ms) [MAX] = 0.021276ms
+	 * 12ms = 0.0212765 * 4 * 1 * (140 + 1)
+	 *
+	 * Counter Reload Value = 140
+	 *
+	 * When LSI clock runs the slowest, the IWDG will expire every 33.17ms
+	*/
+	IWDG_SetReload(140);
+
+	IWDG_ReloadCounter();
+
+	/* Enable IWDG (the LSI oscillator will be enabled by hardware) */
+	IWDG_Enable();
 
 	chThdSleepMilliseconds(10);
 
@@ -82,40 +99,6 @@ void timeout_feed_WDT(uint8_t index) {
 	++feed_counter[index];
 }
 
-void timeout_init_IWDT(void) {
-	/* Enable write access to IWDG_PR and IWDG_RLR registers */
-	IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
-
-	/* IWDG counter clock: LSI/4 */
-	IWDG_SetPrescaler(IWDG_Prescaler_4);
-
-	/* Set counter reload value to obtain 12ms IWDG TimeOut.
-	 *
-	 * LSI timer per datasheet is 32KHz typical, but 17KHz min
-	 * and 47KHz max over the complete range of operating conditions,
-	 * so reload time must ensure watchdog will work correctly under
-	 * all conditions.
-	 *
-	 * Timeout threads runs every 10ms. Take 20% margin so wdt should
-	 * be fed every 12ms. The worst condition occurs when the wdt clock
-	 * runs at the max freq (47KHz) due to oscillator tolerances.
-	 *
-	 * t_IWDG(ms) = t_LSI(ms) * 4 * 2^(IWDG_PR[2:0]) * (IWDG_RLR[11:0] + 1)
-	 * t_LSI(ms) [MAX] = 0.021276ms
-	 * 12ms = 0.0212765 * 4 * 1 * (140 + 1)
-
-	 Counter Reload Value = 140
-
-	 When LSI clock runs the slowest, the IWDG will expire every 33.17ms
-	*/
-	IWDG_SetReload(140);
-
-	IWDG_ReloadCounter();
-
-	/* Enable IWDG (the LSI oscillator will be enabled by hardware) */
-	IWDG_Enable();
-}
-
 void timeout_configure_IWDT_slowest(void) {
 	while(((IWDG->SR & IWDG_SR_RVU) != 0) || ((IWDG->SR & IWDG_SR_PVU) != 0)) {
 		// Continue to kick the dog
@@ -125,7 +108,7 @@ void timeout_configure_IWDT_slowest(void) {
 	// Unlock register
 	IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
 	// Update configuration
-	IWDG_SetReload(1400);
+	IWDG_SetReload(4000);
 	IWDG_SetPrescaler(IWDG_Prescaler_256);
 
 	// Wait for the new configuration to be taken into account
@@ -163,14 +146,6 @@ bool timeout_had_IWDG_reset(void) {
 		return true;
 	}
 
-	// Check if the system has resumed from WWDG reset
-	if (RCC_GetFlagStatus(RCC_FLAG_WWDGRST) != RESET) {
-		/* IWDGRST flag set */
-		/* Clear reset flags */
-		RCC_ClearFlag();
-		return true;
-	}
-
 	return false;
 }
 
@@ -210,8 +185,7 @@ static THD_FUNCTION(timeout_thread, arg) {
 		}
 
 		if (threads_ok == true) {
-			// Feed WDT's
+			// Feed WDT
-			WWDG_SetCounter(127);	// must reload in >6.24ms and <12.48ms
 			IWDG_ReloadCounter();	// must reload in <12ms
 		} else {
 			// not reloading the watchdog will produce a reset.