bldc/lispBM/c_libs/vesc_c_if.h

/*
	Copyright 2022 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef VESC_C_IF_H
#define VESC_C_IF_H

#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>

#ifdef IS_VESC_LIB
typedef uint32_t systime_t;

typedef struct {
	int id;
	systime_t rx_time;
	float rpm;
	float current;
	float duty;
} can_status_msg;

typedef struct {
	int id;
	systime_t rx_time;
	float amp_hours;
	float amp_hours_charged;
} can_status_msg_2;

typedef struct {
	int id;
	systime_t rx_time;
	float watt_hours;
	float watt_hours_charged;
} can_status_msg_3;

typedef struct {
	int id;
	systime_t rx_time;
	float temp_fet;
	float temp_motor;
	float current_in;
	float pid_pos_now;
} can_status_msg_4;

typedef struct {
	int id;
	systime_t rx_time;
	float v_in;
	int32_t tacho_value;
} can_status_msg_5;

typedef struct {
	int id;
	systime_t rx_time;
	float adc_1;
	float adc_2;
	float adc_3;
	float ppm;
} can_status_msg_6;

typedef enum {
	HW_TYPE_VESC = 0,
	HW_TYPE_VESC_BMS,
	HW_TYPE_CUSTOM_MODULE
} HW_TYPE;

typedef enum {
	FAULT_CODE_NONE = 0,
	FAULT_CODE_OVER_VOLTAGE,
	FAULT_CODE_UNDER_VOLTAGE,
	FAULT_CODE_DRV,
	FAULT_CODE_ABS_OVER_CURRENT,
	FAULT_CODE_OVER_TEMP_FET,
	FAULT_CODE_OVER_TEMP_MOTOR,
	FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
	FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
	FAULT_CODE_MCU_UNDER_VOLTAGE,
	FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
	FAULT_CODE_ENCODER_SPI,
	FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
	FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,
	FAULT_CODE_FLASH_CORRUPTION,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,
	FAULT_CODE_UNBALANCED_CURRENTS,
	FAULT_CODE_BRK,
	FAULT_CODE_RESOLVER_LOT,
	FAULT_CODE_RESOLVER_DOS,
	FAULT_CODE_RESOLVER_LOS,
	FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
	FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
	FAULT_CODE_ENCODER_NO_MAGNET,
	FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
	FAULT_CODE_PHASE_FILTER,
} mc_fault_code;

typedef union {
	uint32_t as_u32;
	int32_t as_i32;
	float as_float;
} eeprom_var;

// Packet
#ifndef PACKET_MAX_PL_LEN
#define PACKET_MAX_PL_LEN		512
#endif

#define PACKET_BUFFER_LEN		(PACKET_MAX_PL_LEN + 8)

typedef struct {
	void(*send_func)(unsigned char *data, unsigned int len);
	void(*process_func)(unsigned char *data, unsigned int len);
	unsigned int rx_read_ptr;
	unsigned int rx_write_ptr;
	int bytes_left;
	unsigned char rx_buffer[PACKET_BUFFER_LEN];
	unsigned char tx_buffer[PACKET_BUFFER_LEN];
} PACKET_STATE_t;

typedef enum {
	CAN_BAUD_125K = 0,
	CAN_BAUD_250K,
	CAN_BAUD_500K,
	CAN_BAUD_1M,
	CAN_BAUD_10K,
	CAN_BAUD_20K,
	CAN_BAUD_50K,
	CAN_BAUD_75K,
	CAN_BAUD_100K
} CAN_BAUD;

typedef struct {
	double lat;
	double lon;
	float height;
	float speed;
	float hdop;
	int32_t ms_today;
	int8_t yy;
	int8_t mo;
	int8_t dd;
	systime_t last_update;
} gnss_data;

// LBM
typedef uint32_t lbm_value;
typedef uint32_t lbm_type;
typedef uint32_t lbm_cid;

typedef uint32_t lbm_uint;
typedef int32_t  lbm_int;
typedef float    lbm_float;

typedef struct {
	uint8_t *buf;
	lbm_uint buf_size;
	lbm_uint buf_pos;
} lbm_flat_value_t;

typedef struct {
	lbm_uint size;            /// Number of elements
	lbm_uint *data;           /// pointer to lbm_memory array or C array.
} lbm_array_header_t;

typedef lbm_value (*extension_fptr)(lbm_value*,lbm_uint);

// For double precision literals
#define D(x) 				((double)x##L)

typedef struct {
	float q0;
	float q1;
	float q2;
	float q3;
	float integralFBx;
	float integralFBy;
	float integralFBz;
	float accMagP;
	int initialUpdateDone;

	// Parameters
	float acc_confidence_decay;
	float kp;
	float ki;
	float beta;
} ATTITUDE_INFO;
#endif

typedef bool (*load_extension_fptr)(char*,extension_fptr);

typedef void* lib_thread;
typedef void* lib_mutex;
typedef void* lib_semaphore;

typedef enum {
	VESC_PIN_COMM_RX = 0,
	VESC_PIN_COMM_TX,
	VESC_PIN_SWDIO,
	VESC_PIN_SWCLK,
	VESC_PIN_HALL1,
	VESC_PIN_HALL2,
	VESC_PIN_HALL3,
	VESC_PIN_ADC1,
	VESC_PIN_ADC2,
	VESC_PIN_HALL4,
	VESC_PIN_HALL5,
	VESC_PIN_HALL6,
	VESC_PIN_PPM,
	VESC_PIN_HW_1,
	VESC_PIN_HW_2,	
} VESC_PIN;

typedef enum {
	VESC_PIN_MODE_INPUT_NOPULL = 0,
	VESC_PIN_MODE_INPUT_PULL_UP,
	VESC_PIN_MODE_INPUT_PULL_DOWN,
	VESC_PIN_MODE_OUTPUT,
	VESC_PIN_MODE_OUTPUT_OPEN_DRAIN,
	VESC_PIN_MODE_OUTPUT_OPEN_DRAIN_PULL_UP,
	VESC_PIN_MODE_OUTPUT_OPEN_DRAIN_PULL_DOWN,
	VESC_PIN_MODE_ANALOG,
} VESC_PIN_MODE;

typedef enum {
	// Motor config
	CFG_PARAM_l_current_max = 0,
	CFG_PARAM_l_current_min,
	CFG_PARAM_l_in_current_max,
	CFG_PARAM_l_in_current_min,
	CFG_PARAM_l_abs_current_max,
	CFG_PARAM_l_min_erpm,
	CFG_PARAM_l_max_erpm,
	CFG_PARAM_l_erpm_start,
	CFG_PARAM_l_max_erpm_fbrake,
	CFG_PARAM_l_max_erpm_fbrake_cc,
	CFG_PARAM_l_min_vin,
	CFG_PARAM_l_max_vin,
	CFG_PARAM_l_battery_cut_start,
	CFG_PARAM_l_battery_cut_end,

	// App config
	CFG_PARAM_app_can_mode,
	CFG_PARAM_app_can_baud_rate,

	// Temperatures
	CFG_PARAM_l_temp_fet_start,
	CFG_PARAM_l_temp_fet_end,
	CFG_PARAM_l_temp_motor_start,
	CFG_PARAM_l_temp_motor_end,
	CFG_PARAM_l_temp_accel_dec,

	// Duty
	CFG_PARAM_l_min_duty,
	CFG_PARAM_l_max_duty,

	// IMU
	CFG_PARAM_IMU_accel_confidence_decay,
	CFG_PARAM_IMU_mahony_kp,
	CFG_PARAM_IMU_mahony_ki,
	CFG_PARAM_IMU_madgwick_beta,
	CFG_PARAM_IMU_rot_roll,
	CFG_PARAM_IMU_rot_pitch,
	CFG_PARAM_IMU_rot_yaw,
	CFG_PARAM_IMU_ahrs_mode,
	CFG_PARAM_IMU_sample_rate,
	CFG_PARAM_IMU_accel_offset_x,
	CFG_PARAM_IMU_accel_offset_y,
	CFG_PARAM_IMU_accel_offset_z,
	CFG_PARAM_IMU_gyro_offset_x,
	CFG_PARAM_IMU_gyro_offset_y,
	CFG_PARAM_IMU_gyro_offset_z,

	CFG_PARAM_app_shutdown_mode,

	// Motor Additional Info
	CFG_PARAM_si_motor_poles,
	CFG_PARAM_si_gear_ratio,
	CFG_PARAM_si_wheel_diameter,
	CFG_PARAM_si_battery_type,
	CFG_PARAM_si_battery_cells,
	CFG_PARAM_si_battery_ah,
	CFG_PARAM_si_motor_nl_current,
} CFG_PARAM;

typedef struct {
	float js_x; // Joystick X, range -1.0 to 1.0 (mostly unused or unavailable)
	float js_y; // Joystick Y, range -1.0 to 1.0 (this is the throttle value on most remotes)
	bool bt_c; // Button C pressed (left on wand)
	bool bt_z; // Button Z pressed (right on wand)
	bool is_rev; // True if the remote is in the reverse state (can be toggled on e.g the wand)
	float age_s; // Age of last update in seconds
} remote_state;

/*
 * Function pointer struct. Always add new function pointers to the end in order to not
 * break compatibility with old binaries. If a function is not available (e.g. in an
 * old firmware) it will be a null-pointer. If you make a package that is meant to
 * run on older firmware too you can check if the newer functions are null pointers to
 * know if they are available.
 */
typedef struct {
	// LBM
	load_extension_fptr lbm_add_extension;
	void (*lbm_block_ctx_from_extension)(void);
	bool (*lbm_unblock_ctx)(lbm_cid, lbm_flat_value_t*);
	lbm_cid (*lbm_get_current_cid)(void);
	int (*lbm_set_error_reason)(char *str);
	void (*lbm_pause_eval_with_gc)(uint32_t num_free);
	void (*lbm_continue_eval)(void);
	int (*lbm_send_message)(lbm_cid cid, lbm_value msg);
	bool (*lbm_eval_is_paused)(void);

	lbm_value (*lbm_cons)(lbm_value car, lbm_value cdr);
	lbm_value (*lbm_car)(lbm_value val);
	lbm_value (*lbm_cdr)(lbm_value val);
	lbm_value (*lbm_list_destructive_reverse)(lbm_value list);
	bool (*lbm_create_byte_array)(lbm_value *value, lbm_uint num_elt);

	int (*lbm_add_symbol_const)(char *, lbm_uint *);
	int (*lbm_get_symbol_by_name)(char *name, lbm_uint* id);

	lbm_value (*lbm_enc_i)(lbm_int x);
	lbm_value (*lbm_enc_u)(lbm_uint x);
	lbm_value (*lbm_enc_char)(uint8_t x);
	lbm_value (*lbm_enc_float)(float f);
	lbm_value (*lbm_enc_u32)(uint32_t u);
	lbm_value (*lbm_enc_i32)(int32_t i);
	lbm_value (*lbm_enc_sym)(lbm_uint s);

	float (*lbm_dec_as_float)(lbm_value val);
	uint32_t (*lbm_dec_as_u32)(lbm_value val);
	int32_t (*lbm_dec_as_i32)(lbm_value val);
	uint8_t (*lbm_dec_char)(lbm_value x);
	char* (*lbm_dec_str)(lbm_value);
	lbm_uint (*lbm_dec_sym)(lbm_value x);

	bool (*lbm_is_byte_array)(lbm_value val);
	bool (*lbm_is_cons)(lbm_value x);
	bool (*lbm_is_number)(lbm_value x);
	bool (*lbm_is_char)(lbm_value x);
	bool (*lbm_is_symbol)(lbm_value x);

	lbm_uint lbm_enc_sym_nil;
	lbm_uint lbm_enc_sym_true;
	lbm_uint lbm_enc_sym_terror;
	lbm_uint lbm_enc_sym_eerror;
	lbm_uint lbm_enc_sym_merror;

	bool (*lbm_is_symbol_nil)(lbm_uint);
	bool (*lbm_is_symbol_true)(lbm_uint);

	// Os
	void (*sleep_ms)(uint32_t ms);
	void (*sleep_us)(uint32_t us);
	float (*system_time)(void); // Time since boot in seconds
	float (*ts_to_age_s)(systime_t ts); // Age of timestamp in seconds
	int (*printf)(const char *str, ...);
	void* (*malloc)(size_t bytes);
	void (*free)(void *prt);
	lib_thread (*spawn)(void (*fun)(void *arg), size_t stack_size, char *name, void *arg);
	void (*request_terminate)(lib_thread thd);
	bool (*should_terminate)(void);
	void** (*get_arg)(uint32_t prog_addr);
	
	// ST IO
	void (*set_pad_mode)(void *gpio, uint32_t pin, uint32_t mode);
	void (*set_pad)(void *gpio, uint32_t pin);
	void (*clear_pad)(void *gpio, uint32_t pin);
	
	// Abstract IO
	bool (*io_set_mode)(VESC_PIN pin, VESC_PIN_MODE mode);
	bool (*io_write)(VESC_PIN pin, int state);
	bool (*io_read)(VESC_PIN pin);
	float (*io_read_analog)(VESC_PIN pin);
	bool (*io_get_st_pin)(VESC_PIN vesc_pin, void **gpio, uint32_t *pin);

	// CAN
	void (*can_set_sid_cb)(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
	void (*can_set_eid_cb)(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
	void (*can_transmit_sid)(uint32_t id, const uint8_t *data, uint8_t len);
	void (*can_transmit_eid)(uint32_t id, const uint8_t *data, uint8_t len);
	void (*can_send_buffer)(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send);
	void (*can_set_duty)(uint8_t controller_id, float duty);
	void (*can_set_current)(uint8_t controller_id, float current);
	void (*can_set_current_off_delay)(uint8_t controller_id, float current, float off_delay);
	void (*can_set_current_brake)(uint8_t controller_id, float current);
	void (*can_set_rpm)(uint8_t controller_id, float rpm);
	void (*can_set_pos)(uint8_t controller_id, float pos);
	void (*can_set_current_rel)(uint8_t controller_id, float current_rel);
	void (*can_set_current_rel_off_delay)(uint8_t controller_id, float current_rel, float off_delay);
	void (*can_set_current_brake_rel)(uint8_t controller_id, float current_rel);
	bool (*can_ping)(uint8_t controller_id, HW_TYPE *hw_type);
	can_status_msg* (*can_get_status_msg_index)(int index);
	can_status_msg* (*can_get_status_msg_id)(int id);
	can_status_msg_2* (*can_get_status_msg_2_index)(int index);
	can_status_msg_2* (*can_get_status_msg_2_id)(int id);
	can_status_msg_3* (*can_get_status_msg_3_index)(int index);
	can_status_msg_3* (*can_get_status_msg_3_id)(int id);
	can_status_msg_4* (*can_get_status_msg_4_index)(int index);
	can_status_msg_4* (*can_get_status_msg_4_id)(int id);
	can_status_msg_5* (*can_get_status_msg_5_index)(int index);
	can_status_msg_5* (*can_get_status_msg_5_id)(int id);
	can_status_msg_6* (*can_get_status_msg_6_index)(int index);
	can_status_msg_6* (*can_get_status_msg_6_id)(int id);

	// Motor Control
	int (*mc_motor_now)(void);
	void (*mc_select_motor_thread)(int motor);
	int (*mc_get_motor_thread)(void);
	bool (*mc_dccal_done)(void);
	void (*mc_set_pwm_callback)(void (*p_func)(void));
	mc_fault_code (*mc_get_fault)(void);
	const char* (*mc_fault_to_string)(mc_fault_code fault);
	void (*mc_set_duty)(float dutyCycle);
	void (*mc_set_duty_noramp)(float dutyCycle);
	void (*mc_set_pid_speed)(float rpm);
	void (*mc_set_pid_pos)(float pos);
	void (*mc_set_current)(float current);
	void (*mc_set_brake_current)(float current);
	void (*mc_set_current_rel)(float val);
	void (*mc_set_brake_current_rel)(float val);
	void (*mc_set_handbrake)(float current);
	void (*mc_set_handbrake_rel)(float val);
	int (*mc_set_tachometer_value)(int steps);
	void (*mc_release_motor)(void);
	bool (*mc_wait_for_motor_release)(float timeout);
	float (*mc_get_duty_cycle_now)(void);
	float (*mc_get_sampling_frequency_now)(void);
	float (*mc_get_rpm)(void);
	float (*mc_get_amp_hours)(bool reset);
	float (*mc_get_amp_hours_charged)(bool reset);
	float (*mc_get_watt_hours)(bool reset);
	float (*mc_get_watt_hours_charged)(bool reset);
	float (*mc_get_tot_current)(void);
	float (*mc_get_tot_current_filtered)(void);
	float (*mc_get_tot_current_directional)(void);
	float (*mc_get_tot_current_directional_filtered)(void);
	float (*mc_get_tot_current_in)(void);
	float (*mc_get_tot_current_in_filtered)(void);
	float (*mc_get_input_voltage_filtered)(void);
	int (*mc_get_tachometer_value)(bool reset);
	int (*mc_get_tachometer_abs_value)(bool reset);
	float (*mc_get_pid_pos_set)(void);
	float (*mc_get_pid_pos_now)(void);
	void (*mc_update_pid_pos_offset)(float angle_now, bool store);
	float (*mc_temp_fet_filtered)(void);
	float (*mc_temp_motor_filtered)(void);
	float (*mc_get_battery_level)(float *wh_left);
	float (*mc_get_speed)(void);
	float (*mc_get_distance)(void);
	float (*mc_get_distance_abs)(void);
	uint64_t (*mc_get_odometer)(void);
	void (*mc_set_odometer)(uint64_t new_odometer_meters);
	void (*mc_set_current_off_delay)(float delay_sec);
	float (*mc_stat_speed_avg)(void);
	float (*mc_stat_speed_max)(void);
	float (*mc_stat_power_avg)(void);
	float (*mc_stat_power_max)(void);
	float (*mc_stat_current_avg)(void);
	float (*mc_stat_current_max)(void);
	float (*mc_stat_temp_mosfet_avg)(void);
	float (*mc_stat_temp_mosfet_max)(void);
	float (*mc_stat_temp_motor_avg)(void);
	float (*mc_stat_temp_motor_max)(void);
	float (*mc_stat_count_time)(void);
	void (*mc_stat_reset)(void);

	// Comm
	void (*commands_process_packet)(unsigned char *data, unsigned int len,
			void(*reply_func)(unsigned char *data, unsigned int len));
	void (*send_app_data)(unsigned char *data, unsigned int len);
	bool (*set_app_data_handler)(void(*func)(unsigned char *data, unsigned int len));

	// UART
	bool (*uart_start)(uint32_t baudrate, bool half_duplex);
	bool (*uart_write)(uint8_t *data, uint32_t size);
	int32_t (*uart_read)(void);

	// Packets
	void (*packet_init)(void (*s_func)(unsigned char *, unsigned int),
			 void (*p_func)(unsigned char *, unsigned int),
			 PACKET_STATE_t *);
	void (*packet_reset)(PACKET_STATE_t *);
	void (*packet_process_byte)(uint8_t, PACKET_STATE_t *);
	void (*packet_send_packet)(unsigned char *, unsigned int len, PACKET_STATE_t *);

	// IMU
	bool (*imu_startup_done)(void);
	float (*imu_get_roll)(void);
	float (*imu_get_pitch)(void);
	float (*imu_get_yaw)(void);
	void (*imu_get_rpy)(float *rpy);
	void (*imu_get_accel)(float *accel);
	void (*imu_get_gyro)(float *gyro);
	void (*imu_get_mag)(float *mag);
	void (*imu_derotate)(float *input, float *output);
	void (*imu_get_accel_derotated)(float *accel);
	void (*imu_get_gyro_derotated)(float *gyro);
	void (*imu_get_quaternions)(float *q);
	void (*imu_get_calibration)(float yaw, float * imu_cal);
	void (*imu_set_yaw)(float yaw_deg);

	// Terminal
	void (*terminal_register_command_callback)(
			const char* command,
			const char *help,
			const char *arg_names,
			void(*cbf)(int argc, const char **argv));
	void (*terminal_unregister_callback)(void(*cbf)(int argc, const char **argv));

	// EEPROM
	bool (*read_eeprom_var)(eeprom_var *v, int address);
	bool (*store_eeprom_var)(eeprom_var *v, int address);

	// Timeout
	void (*timeout_reset)(void);
	bool (*timeout_has_timeout)(void);
	float (*timeout_secs_since_update)(void);

	// Plot
	void (*plot_init)(char *namex, char *namey);
	void (*plot_add_graph)(char *name);
	void (*plot_set_graph)(int graph);
	void (*plot_send_points)(float x, float y);

	// Custom config
	void (*conf_custom_add_config)(
			int (*get_cfg)(uint8_t *data, bool is_default),
			bool (*set_cfg)(uint8_t *data),
			int (*get_cfg_xml)(uint8_t **data));
	void (*conf_custom_clear_configs)(void);

	// Settings (TODO: Add more types)
	float (*get_cfg_float)(CFG_PARAM p);
	int (*get_cfg_int)(CFG_PARAM p);
	bool (*set_cfg_float)(CFG_PARAM p, float value);
	bool (*set_cfg_int)(CFG_PARAM p, int value);
	bool (*store_cfg)(void);

	// GNSS-struct that can be both read and updated
	volatile gnss_data* (*mc_gnss)(void);

	// Mutex
	lib_mutex (*mutex_create)(void); // Use VESC_IF->free on the mutex when done with it
	void (*mutex_lock)(lib_mutex);
	void (*mutex_unlock)(lib_mutex);

	// Get ST io-pin from lbm symbol (this is only safe from extensions)
	bool (*lbm_symbol_to_io)(lbm_uint sym, void **gpio, uint32_t *pin);

	// High resolution timer for short busy-wait sleeps and time measurement
	uint32_t (*timer_time_now)(void);
	float (*timer_seconds_elapsed_since)(uint32_t time);
	void (*timer_sleep)(float seconds);

	// System lock (with counting)
	void (*sys_lock)(void);
	void (*sys_unlock)(void);

	// Unregister pointers to previously used reply function
	void (*commands_unregister_reply_func)(void(*reply_func)(unsigned char *data, unsigned int len));

	// IMU AHRS functions and read callback
	void (*imu_set_read_callback)(void (*func)(float *acc, float *gyro, float *mag, float dt));
	void (*ahrs_init_attitude_info)(ATTITUDE_INFO *att);
	void (*ahrs_update_initial_orientation)(float *accelXYZ, float *magXYZ, ATTITUDE_INFO *att);
	void (*ahrs_update_mahony_imu)(float *gyroXYZ, float *accelXYZ, float dt, ATTITUDE_INFO *att);
	void (*ahrs_update_madgwick_imu)(float *gyroXYZ, float *accelXYZ, float dt, ATTITUDE_INFO *att);
	float (*ahrs_get_roll)(ATTITUDE_INFO *att);
	float (*ahrs_get_pitch)(ATTITUDE_INFO *att);
	float (*ahrs_get_yaw)(ATTITUDE_INFO *att);

	// Set custom encoder callbacks
	void (*encoder_set_custom_callbacks)(
			float (*read_deg)(void),
			bool (*has_fault)(void),
			char* (*print_info)(void));

	// Store backup data
	bool (*store_backup_data)(void);

	// Input Devices
	remote_state (*get_remote_state)(void);
	float (*get_ppm)(void); // Get decoded PPM, range -1.0 to 1.0. If the decoder is not running it will be started.
	float (*get_ppm_age)(void); // Get time since a pulse was decoded in seconds
	bool (*app_is_output_disabled)(void); // True if apps should disable their output.

	// NVM
	bool (*read_nvm)(uint8_t *v, unsigned int len, unsigned int address);
	bool (*write_nvm)(uint8_t *v, unsigned int len, unsigned int address);
	bool (*wipe_nvm)(void);

	// FOC
	float (*foc_get_id)(void);
	float (*foc_get_iq)(void);
	float (*foc_get_vd)(void);
	float (*foc_get_vq)(void);
	void (*foc_set_openloop_current)(float current, float rpm);
	void (*foc_set_openloop_phase)(float current, float phase);
	void (*foc_set_openloop_duty)(float dutyCycle, float rpm);
	void (*foc_set_openloop_duty_phase)(float dutyCycle, float phase);

	// Functions below were added in firmware 6.05

	// Flat values
	bool (*lbm_start_flatten)(lbm_flat_value_t *v, size_t buffer_size);
	bool (*lbm_finish_flatten)(lbm_flat_value_t *v);
	bool (*f_cons)(lbm_flat_value_t *v);
	bool (*f_sym)(lbm_flat_value_t *v, lbm_uint sym);
	bool (*f_i)(lbm_flat_value_t *v, lbm_int i);
	bool (*f_b)(lbm_flat_value_t *v, uint8_t b);
	bool (*f_i32)(lbm_flat_value_t *v, int32_t w);
	bool (*f_u32)(lbm_flat_value_t *v, uint32_t w);
	bool (*f_float)(lbm_flat_value_t *v, float f);
	bool (*f_i64)(lbm_flat_value_t *v, int64_t w);
	bool (*f_u64)(lbm_flat_value_t *v, uint64_t w);
	bool (*f_lbm_array)(lbm_flat_value_t *v, uint32_t num_elts, uint8_t *data);

	// Unblock unboxed
	bool (*lbm_unblock_ctx_unboxed)(lbm_cid cid, lbm_value unboxed);

	// Time since boot in system ticks. Resolution: 100 uS.
	// Use ts_to_age_s to get the age of a timestamp in
	// seconds. ts_to_age_s should handle overflows.
	systime_t (*system_time_ticks)(void);
	void (*sleep_ticks)(systime_t ticks);

	// FOC Audio
	bool (*foc_beep)(float freq, float time, float voltage);
	bool (*foc_play_tone)(int channel, float freq, float voltage);
	void (*foc_stop_audio)(bool reset);
	bool (*foc_set_audio_sample_table)(int channel, float *samples, int len);
	const float* (*foc_get_audio_sample_table)(int channel);
	bool (*foc_play_audio_samples)(const int8_t *samples, int num_samp, float f_samp, float voltage);

	// Semaphore
	lib_semaphore (*sem_create)(void); // Use VESC_IF->free on the semaphore when done with it
	void (*sem_wait)(lib_semaphore);
	void (*sem_signal)(lib_semaphore);
	bool (*sem_wait_to)(lib_semaphore, systime_t); // Returns false on timeout
	void (*sem_reset)(lib_semaphore);
} vesc_c_if;

typedef struct {
	void (*stop_fun)(void *arg);
	void *arg;
	uint32_t base_addr;
} lib_info;

// System tick rate. Can be used to convert system ticks to time
#define SYSTEM_TICK_RATE_HZ 10000

// VESC-interface with function pointers
#define VESC_IF		((vesc_c_if*)(0x1000F800))

// Put this at the beginning of your source file
#define HEADER		static volatile int __attribute__((__section__(".program_ptr"))) prog_ptr;

// Init function
#define INIT_FUN	bool __attribute__((__section__(".init_fun"))) init

// Put this at the start of the init function
#define INIT_START	(void)prog_ptr;

// Address of this program in memory
#define PROG_ADDR	((uint32_t)&prog_ptr)

// The argument that was set in the init function (same as the one you get in stop_fun)
#define ARG			(*VESC_IF->get_arg(PROG_ADDR))

#endif  // VESC_C_IF_H