// This file is autogenerated by VESC Tool #include "buffer.h" #include "conf_general.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_append_float32_auto(buffer, conf->foc_encoder_sin_gain, &ind); buffer_append_float32_auto(buffer, conf->foc_encoder_cos_gain, &ind); buffer_append_float32_auto(buffer, conf->foc_encoder_sin_offset, &ind); buffer_append_float32_auto(buffer, conf->foc_encoder_cos_offset, &ind); buffer_append_float32_auto(buffer, conf->foc_encoder_sincos_filter_constant, &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->permanent_uart_enabled; buffer[ind++] = conf->shutdown_mode; 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_append_float32_auto(buffer, conf->app_ppm_conf.max_erpm_for_dir, &ind); buffer_append_float32_auto(buffer, conf->app_ppm_conf.smart_rev_max_duty, &ind); buffer_append_float32_auto(buffer, conf->app_ppm_conf.smart_rev_ramp_time, &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_chuk_conf.use_smart_rev; buffer_append_float32_auto(buffer, conf->app_chuk_conf.smart_rev_max_duty, &ind); buffer_append_float32_auto(buffer, conf->app_chuk_conf.smart_rev_ramp_time, &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; buffer_append_float32_auto(buffer, conf->app_balance_conf.kp, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.ki, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.kd, &ind); buffer_append_uint16(buffer, conf->app_balance_conf.hertz, &ind); buffer[ind++] = conf->app_balance_conf.m_axis; buffer[ind++] = conf->app_balance_conf.c_axis; buffer_append_float32_auto(buffer, conf->app_balance_conf.m_fault, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.c_fault, &ind); buffer[ind++] = conf->app_balance_conf.use_switches; buffer_append_float32_auto(buffer, conf->app_balance_conf.overspeed_duty, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_high_voltage, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_low_voltage, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_m_tolerance, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_c_tolerance, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.deadzone, &ind); buffer_append_float32_auto(buffer, conf->app_balance_conf.current_boost, &ind); buffer[ind++] = conf->imu_conf.type; buffer[ind++] = conf->imu_conf.mode; buffer_append_uint16(buffer, conf->imu_conf.sample_rate_hz, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.accel_confidence_decay, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.mahony_kp, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.mahony_ki, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.madgwick_beta, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.rot_roll, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.rot_pitch, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.rot_yaw, &ind); buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[0], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[1], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[2], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[0], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[1], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[2], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[0], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[1], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[2], &ind); buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_clamp, &ind); 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_encoder_sin_gain = buffer_get_float32_auto(buffer, &ind); conf->foc_encoder_cos_gain = buffer_get_float32_auto(buffer, &ind); conf->foc_encoder_sin_offset = buffer_get_float32_auto(buffer, &ind); conf->foc_encoder_cos_offset = buffer_get_float32_auto(buffer, &ind); conf->foc_encoder_sincos_filter_constant = 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->permanent_uart_enabled = buffer[ind++]; conf->shutdown_mode = 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_ppm_conf.max_erpm_for_dir = buffer_get_float32_auto(buffer, &ind); conf->app_ppm_conf.smart_rev_max_duty = buffer_get_float32_auto(buffer, &ind); conf->app_ppm_conf.smart_rev_ramp_time = 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_chuk_conf.use_smart_rev = buffer[ind++]; conf->app_chuk_conf.smart_rev_max_duty = buffer_get_float32_auto(buffer, &ind); conf->app_chuk_conf.smart_rev_ramp_time = 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++]; conf->app_balance_conf.kp = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.ki = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.kd = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.hertz = buffer_get_uint16(buffer, &ind); conf->app_balance_conf.m_axis = buffer[ind++]; conf->app_balance_conf.c_axis = buffer[ind++]; conf->app_balance_conf.m_fault = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.c_fault = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.use_switches = buffer[ind++]; conf->app_balance_conf.overspeed_duty = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_high_voltage = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.tiltback_low_voltage = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_m_tolerance = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_c_tolerance = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.deadzone = buffer_get_float32_auto(buffer, &ind); conf->app_balance_conf.current_boost = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.type = buffer[ind++]; conf->imu_conf.mode = buffer[ind++]; conf->imu_conf.sample_rate_hz = buffer_get_uint16(buffer, &ind); conf->imu_conf.accel_confidence_decay = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.mahony_kp = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.mahony_ki = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.madgwick_beta = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.rot_roll = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.rot_pitch = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.rot_yaw = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.accel_offsets[0] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.accel_offsets[1] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.accel_offsets[2] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offsets[0] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offsets[1] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offsets[2] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offset_comp_fact[0] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offset_comp_fact[1] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offset_comp_fact[2] = buffer_get_float32_auto(buffer, &ind); conf->imu_conf.gyro_offset_comp_clamp = buffer_get_float32_auto(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_encoder_sin_gain = MCCONF_FOC_ENCODER_SIN_GAIN; conf->foc_encoder_cos_gain = MCCONF_FOC_ENCODER_COS_GAIN; conf->foc_encoder_sin_offset = MCCONF_FOC_ENCODER_SIN_OFFSET; conf->foc_encoder_cos_offset = MCCONF_FOC_ENCODER_COS_OFFSET; conf->foc_encoder_sincos_filter_constant = MCCONF_FOC_ENCODER_SINCOS_FILTER; 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->permanent_uart_enabled = APPCONF_PERMANENT_UART_ENABLED; conf->shutdown_mode = APPCONF_SHUTDOWN_MODE; 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_ppm_conf.max_erpm_for_dir = APPCONF_PPM_MAX_ERPM_FOR_DIR; conf->app_ppm_conf.smart_rev_max_duty = APPCONF_PPM_SMART_REV_MAX_DUTY; conf->app_ppm_conf.smart_rev_ramp_time = APPCONF_PPM_SMART_REV_RAMP_TIME; 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_chuk_conf.use_smart_rev = APPCONF_CHUK_USE_SMART_REV; conf->app_chuk_conf.smart_rev_max_duty = APPCONF_CHUK_SMART_REV_MAX_DUTY; conf->app_chuk_conf.smart_rev_ramp_time = APPCONF_CHUK_SMART_REV_RAMP_TIME; 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; conf->app_balance_conf.kp = APPCONF_BALANCE_KP; conf->app_balance_conf.ki = APPCONF_BALANCE_KI; conf->app_balance_conf.kd = APPCONF_BALANCE_KD; conf->app_balance_conf.hertz = APPCONF_BALANCE_HERTZ; conf->app_balance_conf.m_axis = APPCONF_BALANCE_M_AXIS; conf->app_balance_conf.c_axis = APPCONF_BALANCE_C_AXIS; conf->app_balance_conf.m_fault = APPCONF_BALANCE_M_FAULT; conf->app_balance_conf.c_fault = APPCONF_BALANCE_C_FAULT; conf->app_balance_conf.use_switches = APPCONF_BALANCE_USE_SWITCHES; conf->app_balance_conf.overspeed_duty = APPCONF_BALANCE_OVERSPEED_DUTY; conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY; conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE; conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED; conf->app_balance_conf.tiltback_high_voltage = APPCONF_BALANCE_TILTBACK_HIGH_V; conf->app_balance_conf.tiltback_low_voltage = APPCONF_BALANCE_TILTBACK_LOW_V; conf->app_balance_conf.startup_m_tolerance = APPCONF_BALANCE_STARTUP_M_TOLERANCE; conf->app_balance_conf.startup_c_tolerance = APPCONF_BALANCE_STARTUP_C_TOLERANCE; conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED; conf->app_balance_conf.deadzone = APPCONF_BALANCE_DEADZONE; conf->app_balance_conf.current_boost = APPCONF_BALANCE_CURRENT_BOOST; conf->imu_conf.type = APPCONF_IMU_TYPE; conf->imu_conf.mode = APPCONF_IMU_AHRS_MODE; conf->imu_conf.sample_rate_hz = APPCONF_IMU_SAMPLE_RATE_HZ; conf->imu_conf.accel_confidence_decay = APPCONF_IMU_ACCEL_CONFIDENCE_DECAY; conf->imu_conf.mahony_kp = APPCONF_IMU_MAHONY_KP; conf->imu_conf.mahony_ki = APPCONF_IMU_MAHONY_KI; conf->imu_conf.madgwick_beta = APPCONF_IMU_MADGWICK_BETA; conf->imu_conf.rot_roll = APPCONF_IMU_ROT_ROLL; conf->imu_conf.rot_pitch = APPCONF_IMU_ROT_PITCH; conf->imu_conf.rot_yaw = APPCONF_IMU_ROT_YAW; conf->imu_conf.accel_offsets[0] = APPCONF_IMU_A_OFFSET_0; conf->imu_conf.accel_offsets[1] = APPCONF_IMU_A_OFFSET_1; conf->imu_conf.accel_offsets[2] = APPCONF_IMU_A_OFFSET_2; conf->imu_conf.gyro_offsets[0] = APPCONF_IMU_G_OFFSET_0; conf->imu_conf.gyro_offsets[1] = APPCONF_IMU_G_OFFSET_1; conf->imu_conf.gyro_offsets[2] = APPCONF_IMU_G_OFFSET_2; conf->imu_conf.gyro_offset_comp_fact[0] = APPCONF_IMU_G_OFFSET_COMP_FACT_0; conf->imu_conf.gyro_offset_comp_fact[1] = APPCONF_IMU_G_OFFSET_COMP_FACT_1; conf->imu_conf.gyro_offset_comp_fact[2] = APPCONF_IMU_G_OFFSET_COMP_FACT_2; conf->imu_conf.gyro_offset_comp_clamp = APPCONF_IMU_G_OFFSET_COMP_CLAMP; }