From 5d26a5db2a5b4ce7bf35c3993a9ab3b32689741d Mon Sep 17 00:00:00 2001 From: racarla96 Date: Mon, 15 Sep 2025 20:53:33 +0200 Subject: [PATCH] Updated to the support to jazzy and fw-v0.5.6 --- odrive_hardware_interface/CMakeLists.txt | 5 +- .../odrive_endpoints.hpp | 582 +++++++++--------- 2 files changed, 310 insertions(+), 277 deletions(-) diff --git a/odrive_hardware_interface/CMakeLists.txt b/odrive_hardware_interface/CMakeLists.txt index e1218f9..e32bc30 100644 --- a/odrive_hardware_interface/CMakeLists.txt +++ b/odrive_hardware_interface/CMakeLists.txt @@ -55,4 +55,7 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() -ament_auto_package() +ament_auto_package( + INSTALL_TO_SHARE + USE_SCOPED_HEADER_INSTALL_DIR +) diff --git a/odrive_hardware_interface/include/odrive_hardware_interface/odrive_endpoints.hpp b/odrive_hardware_interface/include/odrive_hardware_interface/odrive_endpoints.hpp index 2d67fd8..9b9237b 100644 --- a/odrive_hardware_interface/include/odrive_hardware_interface/odrive_endpoints.hpp +++ b/odrive_hardware_interface/include/odrive_hardware_interface/odrive_endpoints.hpp @@ -1,22 +1,17 @@ /* -* This file was autogenerated using the "odrivetool generate-code" feature. -* -* The file matches a specific firmware version. If you add/remove/rename any -* properties exposed by the ODrive, this file needs to be regenerated, otherwise -* the ODrive will ignore all commands. +* File generated automatically from endpoints.hpp */ #ifndef __ODRIVE_ENDPOINTS_HPP #define __ODRIVE_ENDPOINTS_HPP - namespace odrive { - -static constexpr const uint16_t json_crc = 0xebfb; -static constexpr const uint16_t per_axis_offset = 304; +static constexpr const uint16_t json_crc = 0xC1A0; + +static constexpr const uint16_t per_axis_offset = 318; -enum { +enum { ERROR = 1, VBUS_VOLTAGE = 2, IBUS = 3, @@ -53,19 +48,16 @@ enum { TASK_TIMES__DC_CALIB_WAIT__MAX_LENGTH = 34, SYSTEM_STATS__UPTIME = 35, SYSTEM_STATS__MIN_HEAP_SPACE = 36, - SYSTEM_STATS__MAX_STACK_USAGE_AXIS = 37, SYSTEM_STATS__MAX_STACK_USAGE_USB = 38, SYSTEM_STATS__MAX_STACK_USAGE_UART = 39, SYSTEM_STATS__MAX_STACK_USAGE_CAN = 40, SYSTEM_STATS__MAX_STACK_USAGE_STARTUP = 41, SYSTEM_STATS__MAX_STACK_USAGE_ANALOG = 42, - SYSTEM_STATS__STACK_SIZE_AXIS = 43, SYSTEM_STATS__STACK_SIZE_USB = 44, SYSTEM_STATS__STACK_SIZE_UART = 45, SYSTEM_STATS__STACK_SIZE_STARTUP = 46, SYSTEM_STATS__STACK_SIZE_CAN = 47, SYSTEM_STATS__STACK_SIZE_ANALOG = 48, - SYSTEM_STATS__PRIO_AXIS = 49, SYSTEM_STATS__PRIO_USB = 50, SYSTEM_STATS__PRIO_UART = 51, SYSTEM_STATS__PRIO_STARTUP = 52, @@ -81,6 +73,7 @@ enum { USER_CONFIG_LOADED = 62, MISCONFIGURED = 63, OSCILLOSCOPE__SIZE = 64, + OSCILLOSCOPE__GET_VAL = 65, CAN__ERROR = 68, CAN__CONFIG__BAUD_RATE = 69, CAN__CONFIG__PROTOCOL = 70, @@ -137,12 +130,19 @@ enum { CONFIG__GPIO3_PWM_MAPPING__MAX = 126, CONFIG__GPIO4_PWM_MAPPING__MIN = 128, CONFIG__GPIO4_PWM_MAPPING__MAX = 129, - ERASE_CONFIGURATION = 746, - REBOOT = 747, - ENTER_DFU_MODE = 748, - CLEAR_ERRORS = 759, + TEST_FUNCTION = 766, + GET_ADC_VOLTAGE = 769, + SAVE_CONFIGURATION = 772, + ERASE_CONFIGURATION = 774, + REBOOT = 775, + ENTER_DFU_MODE = 776, + GET_INTERRUPT_STATUS = 777, + GET_DMA_STATUS = 780, + GET_GPIO_STATES = 783, + GET_DRV_FAULT = 785, + CLEAR_ERRORS = 787, - // Per-Axis endpoints (to be used with read_axis_property and write_axis_property) + // Per-Axis endpoints (to be used with read_axis_property and write_axis_property) AXIS__ERROR = 130, AXIS__STEP_DIR_ACTIVE = 131, AXIS__LAST_DRV_FAULT = 132, @@ -189,259 +189,272 @@ enum { AXIS__CONFIG__CAN__IS_EXTENDED = 173, AXIS__CONFIG__CAN__HEARTBEAT_RATE_MS = 174, AXIS__CONFIG__CAN__ENCODER_RATE_MS = 175, - AXIS__MOTOR__LAST_ERROR_TIME = 176, - AXIS__MOTOR__ERROR = 177, - AXIS__MOTOR__IS_ARMED = 178, - AXIS__MOTOR__IS_CALIBRATED = 179, - AXIS__MOTOR__CURRENT_MEAS_PHA = 180, - AXIS__MOTOR__CURRENT_MEAS_PHB = 181, - AXIS__MOTOR__CURRENT_MEAS_PHC = 182, - AXIS__MOTOR__DC_CALIB_PHA = 183, - AXIS__MOTOR__DC_CALIB_PHB = 184, - AXIS__MOTOR__DC_CALIB_PHC = 185, - AXIS__MOTOR__I_BUS = 186, - AXIS__MOTOR__PHASE_CURRENT_REV_GAIN = 187, - AXIS__MOTOR__EFFECTIVE_CURRENT_LIM = 188, - AXIS__MOTOR__MAX_ALLOWED_CURRENT = 189, - AXIS__MOTOR__MAX_DC_CALIB = 190, - AXIS__MOTOR__FET_THERMISTOR__TEMPERATURE = 191, - AXIS__MOTOR__FET_THERMISTOR__CONFIG__TEMP_LIMIT_LOWER = 192, - AXIS__MOTOR__FET_THERMISTOR__CONFIG__TEMP_LIMIT_UPPER = 193, - AXIS__MOTOR__FET_THERMISTOR__CONFIG__ENABLED = 194, - AXIS__MOTOR__MOTOR_THERMISTOR__TEMPERATURE = 195, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__GPIO_PIN = 196, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_0 = 197, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_1 = 198, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_2 = 199, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_3 = 200, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__TEMP_LIMIT_LOWER = 201, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__TEMP_LIMIT_UPPER = 202, - AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__ENABLED = 203, - AXIS__MOTOR__CURRENT_CONTROL__P_GAIN = 204, - AXIS__MOTOR__CURRENT_CONTROL__I_GAIN = 205, - AXIS__MOTOR__CURRENT_CONTROL__I_MEASURED_REPORT_FILTER_K = 206, - AXIS__MOTOR__CURRENT_CONTROL__ID_SETPOINT = 207, - AXIS__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 208, - AXIS__MOTOR__CURRENT_CONTROL__VD_SETPOINT = 209, - AXIS__MOTOR__CURRENT_CONTROL__VQ_SETPOINT = 210, - AXIS__MOTOR__CURRENT_CONTROL__PHASE = 211, - AXIS__MOTOR__CURRENT_CONTROL__PHASE_VEL = 212, - AXIS__MOTOR__CURRENT_CONTROL__IALPHA_MEASURED = 213, - AXIS__MOTOR__CURRENT_CONTROL__IBETA_MEASURED = 214, - AXIS__MOTOR__CURRENT_CONTROL__ID_MEASURED = 215, - AXIS__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 216, - AXIS__MOTOR__CURRENT_CONTROL__POWER = 217, - AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 218, - AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 219, - AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 220, - AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 221, - AXIS__MOTOR__N_EVT_CURRENT_MEASUREMENT = 222, - AXIS__MOTOR__N_EVT_PWM_UPDATE = 223, - AXIS__MOTOR__CONFIG__PRE_CALIBRATED = 224, - AXIS__MOTOR__CONFIG__POLE_PAIRS = 225, - AXIS__MOTOR__CONFIG__CALIBRATION_CURRENT = 226, - AXIS__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 227, - AXIS__MOTOR__CONFIG__PHASE_INDUCTANCE = 228, - AXIS__MOTOR__CONFIG__PHASE_RESISTANCE = 229, - AXIS__MOTOR__CONFIG__TORQUE_CONSTANT = 230, - AXIS__MOTOR__CONFIG__MOTOR_TYPE = 231, - AXIS__MOTOR__CONFIG__CURRENT_LIM = 232, - AXIS__MOTOR__CONFIG__CURRENT_LIM_MARGIN = 233, - AXIS__MOTOR__CONFIG__TORQUE_LIM = 234, - AXIS__MOTOR__CONFIG__INVERTER_TEMP_LIMIT_LOWER = 235, - AXIS__MOTOR__CONFIG__INVERTER_TEMP_LIMIT_UPPER = 236, - AXIS__MOTOR__CONFIG__REQUESTED_CURRENT_RANGE = 237, - AXIS__MOTOR__CONFIG__CURRENT_CONTROL_BANDWIDTH = 238, - AXIS__MOTOR__CONFIG__ACIM_GAIN_MIN_FLUX = 239, - AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_MIN_ID = 240, - AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_ENABLE = 241, - AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_ATTACK_GAIN = 242, - AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_DECAY_GAIN = 243, - AXIS__MOTOR__CONFIG__R_WL_FF_ENABLE = 244, - AXIS__MOTOR__CONFIG__BEMF_FF_ENABLE = 245, - AXIS__MOTOR__CONFIG__I_BUS_HARD_MIN = 246, - AXIS__MOTOR__CONFIG__I_BUS_HARD_MAX = 247, - AXIS__MOTOR__CONFIG__I_LEAK_MAX = 248, - AXIS__MOTOR__CONFIG__DC_CALIB_TAU = 249, - AXIS__CONTROLLER__ERROR = 250, - AXIS__CONTROLLER__LAST_ERROR_TIME = 251, - AXIS__CONTROLLER__INPUT_POS = 252, - AXIS__CONTROLLER__INPUT_VEL = 253, - AXIS__CONTROLLER__INPUT_TORQUE = 254, - AXIS__CONTROLLER__POS_SETPOINT = 255, - AXIS__CONTROLLER__VEL_SETPOINT = 256, - AXIS__CONTROLLER__TORQUE_SETPOINT = 257, - AXIS__CONTROLLER__TRAJECTORY_DONE = 258, - AXIS__CONTROLLER__VEL_INTEGRATOR_TORQUE = 259, - AXIS__CONTROLLER__ANTICOGGING_VALID = 260, - AXIS__CONTROLLER__AUTOTUNING_PHASE = 261, - AXIS__CONTROLLER__CONFIG__GAIN_SCHEDULING_WIDTH = 262, - AXIS__CONTROLLER__CONFIG__ENABLE_VEL_LIMIT = 263, - AXIS__CONTROLLER__CONFIG__ENABLE_TORQUE_MODE_VEL_LIMIT = 264, - AXIS__CONTROLLER__CONFIG__ENABLE_GAIN_SCHEDULING = 265, - AXIS__CONTROLLER__CONFIG__ENABLE_OVERSPEED_ERROR = 266, - AXIS__CONTROLLER__CONFIG__CONTROL_MODE = 267, - AXIS__CONTROLLER__CONFIG__INPUT_MODE = 268, - AXIS__CONTROLLER__CONFIG__POS_GAIN = 269, - AXIS__CONTROLLER__CONFIG__VEL_GAIN = 270, - AXIS__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 271, - AXIS__CONTROLLER__CONFIG__VEL_LIMIT = 272, - AXIS__CONTROLLER__CONFIG__VEL_LIMIT_TOLERANCE = 273, - AXIS__CONTROLLER__CONFIG__VEL_RAMP_RATE = 274, - AXIS__CONTROLLER__CONFIG__TORQUE_RAMP_RATE = 275, - AXIS__CONTROLLER__CONFIG__CIRCULAR_SETPOINTS = 276, - AXIS__CONTROLLER__CONFIG__CIRCULAR_SETPOINT_RANGE = 277, - AXIS__CONTROLLER__CONFIG__STEPS_PER_CIRCULAR_RANGE = 278, - AXIS__CONTROLLER__CONFIG__HOMING_SPEED = 279, - AXIS__CONTROLLER__CONFIG__INERTIA = 280, - AXIS__CONTROLLER__CONFIG__AXIS_TO_MIRROR = 281, - AXIS__CONTROLLER__CONFIG__MIRROR_RATIO = 282, - AXIS__CONTROLLER__CONFIG__TORQUE_MIRROR_RATIO = 283, - AXIS__CONTROLLER__CONFIG__LOAD_ENCODER_AXIS = 284, - AXIS__CONTROLLER__CONFIG__INPUT_FILTER_BANDWIDTH = 285, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__INDEX = 286, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__PRE_CALIBRATED = 287, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_ANTICOGGING = 288, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_POS_THRESHOLD = 289, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_VEL_THRESHOLD = 290, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__COGGING_RATIO = 291, - AXIS__CONTROLLER__CONFIG__ANTICOGGING__ANTICOGGING_ENABLED = 292, - AXIS__CONTROLLER__CONFIG__MECHANICAL_POWER_BANDWIDTH = 293, - AXIS__CONTROLLER__CONFIG__ELECTRICAL_POWER_BANDWIDTH = 294, - AXIS__CONTROLLER__CONFIG__SPINOUT_MECHANICAL_POWER_THRESHOLD = 295, - AXIS__CONTROLLER__CONFIG__SPINOUT_ELECTRICAL_POWER_THRESHOLD = 296, - AXIS__CONTROLLER__AUTOTUNING__FREQUENCY = 297, - AXIS__CONTROLLER__AUTOTUNING__POS_AMPLITUDE = 298, - AXIS__CONTROLLER__AUTOTUNING__VEL_AMPLITUDE = 299, - AXIS__CONTROLLER__AUTOTUNING__TORQUE_AMPLITUDE = 300, - AXIS__CONTROLLER__MECHANICAL_POWER = 301, - AXIS__CONTROLLER__ELECTRICAL_POWER = 302, - AXIS__CONTROLLER__START_ANTICOGGING_CALIBRATION = 306, - AXIS__ENCODER__ERROR = 307, - AXIS__ENCODER__IS_READY = 308, - AXIS__ENCODER__INDEX_FOUND = 309, - AXIS__ENCODER__SHADOW_COUNT = 310, - AXIS__ENCODER__COUNT_IN_CPR = 311, - AXIS__ENCODER__INTERPOLATION = 312, - AXIS__ENCODER__PHASE = 313, - AXIS__ENCODER__POS_ESTIMATE = 314, - AXIS__ENCODER__POS_ESTIMATE_COUNTS = 315, - AXIS__ENCODER__POS_CIRCULAR = 316, - AXIS__ENCODER__POS_CPR_COUNTS = 317, - AXIS__ENCODER__DELTA_POS_CPR_COUNTS = 318, - AXIS__ENCODER__HALL_STATE = 319, - AXIS__ENCODER__VEL_ESTIMATE = 320, - AXIS__ENCODER__VEL_ESTIMATE_COUNTS = 321, - AXIS__ENCODER__CALIB_SCAN_RESPONSE = 322, - AXIS__ENCODER__POS_ABS = 323, - AXIS__ENCODER__SPI_ERROR_RATE = 324, - AXIS__ENCODER__CONFIG__MODE = 325, - AXIS__ENCODER__CONFIG__USE_INDEX = 326, - AXIS__ENCODER__CONFIG__INDEX_OFFSET = 327, - AXIS__ENCODER__CONFIG__USE_INDEX_OFFSET = 328, - AXIS__ENCODER__CONFIG__FIND_IDX_ON_LOCKIN_ONLY = 329, - AXIS__ENCODER__CONFIG__ABS_SPI_CS_GPIO_PIN = 330, - AXIS__ENCODER__CONFIG__CPR = 331, - AXIS__ENCODER__CONFIG__PHASE_OFFSET = 332, - AXIS__ENCODER__CONFIG__PHASE_OFFSET_FLOAT = 333, - AXIS__ENCODER__CONFIG__DIRECTION = 334, - AXIS__ENCODER__CONFIG__PRE_CALIBRATED = 335, - AXIS__ENCODER__CONFIG__ENABLE_PHASE_INTERPOLATION = 336, - AXIS__ENCODER__CONFIG__BANDWIDTH = 337, - AXIS__ENCODER__CONFIG__CALIB_RANGE = 338, - AXIS__ENCODER__CONFIG__CALIB_SCAN_DISTANCE = 339, - AXIS__ENCODER__CONFIG__CALIB_SCAN_OMEGA = 340, - AXIS__ENCODER__CONFIG__IGNORE_ILLEGAL_HALL_STATE = 341, - AXIS__ENCODER__CONFIG__HALL_POLARITY = 342, - AXIS__ENCODER__CONFIG__HALL_POLARITY_CALIBRATED = 343, - AXIS__ENCODER__CONFIG__SINCOS_GPIO_PIN_SIN = 344, - AXIS__ENCODER__CONFIG__SINCOS_GPIO_PIN_COS = 345, - AXIS__ACIM_ESTIMATOR__ROTOR_FLUX = 348, - AXIS__ACIM_ESTIMATOR__SLIP_VEL = 349, - AXIS__ACIM_ESTIMATOR__PHASE_OFFSET = 350, - AXIS__ACIM_ESTIMATOR__STATOR_PHASE_VEL = 351, - AXIS__ACIM_ESTIMATOR__STATOR_PHASE = 352, - AXIS__ACIM_ESTIMATOR__CONFIG__SLIP_VELOCITY = 353, - AXIS__SENSORLESS_ESTIMATOR__ERROR = 354, - AXIS__SENSORLESS_ESTIMATOR__PHASE = 355, - AXIS__SENSORLESS_ESTIMATOR__PLL_POS = 356, - AXIS__SENSORLESS_ESTIMATOR__PHASE_VEL = 357, - AXIS__SENSORLESS_ESTIMATOR__VEL_ESTIMATE = 358, - AXIS__SENSORLESS_ESTIMATOR__CONFIG__OBSERVER_GAIN = 359, - AXIS__SENSORLESS_ESTIMATOR__CONFIG__PLL_BANDWIDTH = 360, - AXIS__SENSORLESS_ESTIMATOR__CONFIG__PM_FLUX_LINKAGE = 361, - AXIS__TRAP_TRAJ__CONFIG__VEL_LIMIT = 362, - AXIS__TRAP_TRAJ__CONFIG__ACCEL_LIMIT = 363, - AXIS__TRAP_TRAJ__CONFIG__DECEL_LIMIT = 364, - AXIS__MIN_ENDSTOP__ENDSTOP_STATE = 365, - AXIS__MIN_ENDSTOP__CONFIG__GPIO_NUM = 366, - AXIS__MIN_ENDSTOP__CONFIG__ENABLED = 367, - AXIS__MIN_ENDSTOP__CONFIG__OFFSET = 368, - AXIS__MIN_ENDSTOP__CONFIG__IS_ACTIVE_HIGH = 369, - AXIS__MIN_ENDSTOP__CONFIG__DEBOUNCE_MS = 370, - AXIS__MAX_ENDSTOP__ENDSTOP_STATE = 371, - AXIS__MAX_ENDSTOP__CONFIG__GPIO_NUM = 372, - AXIS__MAX_ENDSTOP__CONFIG__ENABLED = 373, - AXIS__MAX_ENDSTOP__CONFIG__OFFSET = 374, - AXIS__MAX_ENDSTOP__CONFIG__IS_ACTIVE_HIGH = 375, - AXIS__MAX_ENDSTOP__CONFIG__DEBOUNCE_MS = 376, - AXIS__MECHANICAL_BRAKE__CONFIG__GPIO_NUM = 377, - AXIS__MECHANICAL_BRAKE__CONFIG__IS_ACTIVE_LOW = 378, - AXIS__MECHANICAL_BRAKE__ENGAGE = 379, - AXIS__MECHANICAL_BRAKE__RELEASE = 380, - AXIS__TASK_TIMES__THERMISTOR_UPDATE__START_TIME = 381, - AXIS__TASK_TIMES__THERMISTOR_UPDATE__END_TIME = 382, - AXIS__TASK_TIMES__THERMISTOR_UPDATE__LENGTH = 383, - AXIS__TASK_TIMES__THERMISTOR_UPDATE__MAX_LENGTH = 384, - AXIS__TASK_TIMES__ENCODER_UPDATE__START_TIME = 385, - AXIS__TASK_TIMES__ENCODER_UPDATE__END_TIME = 386, - AXIS__TASK_TIMES__ENCODER_UPDATE__LENGTH = 387, - AXIS__TASK_TIMES__ENCODER_UPDATE__MAX_LENGTH = 388, - AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__START_TIME = 389, - AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__END_TIME = 390, - AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__LENGTH = 391, - AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__MAX_LENGTH = 392, - AXIS__TASK_TIMES__ENDSTOP_UPDATE__START_TIME = 393, - AXIS__TASK_TIMES__ENDSTOP_UPDATE__END_TIME = 394, - AXIS__TASK_TIMES__ENDSTOP_UPDATE__LENGTH = 395, - AXIS__TASK_TIMES__ENDSTOP_UPDATE__MAX_LENGTH = 396, - AXIS__TASK_TIMES__CAN_HEARTBEAT__START_TIME = 397, - AXIS__TASK_TIMES__CAN_HEARTBEAT__END_TIME = 398, - AXIS__TASK_TIMES__CAN_HEARTBEAT__LENGTH = 399, - AXIS__TASK_TIMES__CAN_HEARTBEAT__MAX_LENGTH = 400, - AXIS__TASK_TIMES__CONTROLLER_UPDATE__START_TIME = 401, - AXIS__TASK_TIMES__CONTROLLER_UPDATE__END_TIME = 402, - AXIS__TASK_TIMES__CONTROLLER_UPDATE__LENGTH = 403, - AXIS__TASK_TIMES__CONTROLLER_UPDATE__MAX_LENGTH = 404, - AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__START_TIME = 405, - AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__END_TIME = 406, - AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__LENGTH = 407, - AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__MAX_LENGTH = 408, - AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__START_TIME = 409, - AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__END_TIME = 410, - AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__LENGTH = 411, - AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__MAX_LENGTH = 412, - AXIS__TASK_TIMES__MOTOR_UPDATE__START_TIME = 413, - AXIS__TASK_TIMES__MOTOR_UPDATE__END_TIME = 414, - AXIS__TASK_TIMES__MOTOR_UPDATE__LENGTH = 415, - AXIS__TASK_TIMES__MOTOR_UPDATE__MAX_LENGTH = 416, - AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__START_TIME = 417, - AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__END_TIME = 418, - AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__LENGTH = 419, - AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__MAX_LENGTH = 420, - AXIS__TASK_TIMES__DC_CALIB__START_TIME = 421, - AXIS__TASK_TIMES__DC_CALIB__END_TIME = 422, - AXIS__TASK_TIMES__DC_CALIB__LENGTH = 423, - AXIS__TASK_TIMES__DC_CALIB__MAX_LENGTH = 424, - AXIS__TASK_TIMES__CURRENT_SENSE__START_TIME = 425, - AXIS__TASK_TIMES__CURRENT_SENSE__END_TIME = 426, - AXIS__TASK_TIMES__CURRENT_SENSE__LENGTH = 427, - AXIS__TASK_TIMES__CURRENT_SENSE__MAX_LENGTH = 428, - AXIS__TASK_TIMES__PWM_UPDATE__START_TIME = 429, - AXIS__TASK_TIMES__PWM_UPDATE__END_TIME = 430, - AXIS__TASK_TIMES__PWM_UPDATE__LENGTH = 431, - AXIS__TASK_TIMES__PWM_UPDATE__MAX_LENGTH = 432, - AXIS__WATCHDOG_FEED = 433, + AXIS__CONFIG__CAN__MOTOR_ERROR_RATE_MS = 176, + AXIS__CONFIG__CAN__ENCODER_ERROR_RATE_MS = 177, + AXIS__CONFIG__CAN__CONTROLLER_ERROR_RATE_MS = 178, + AXIS__CONFIG__CAN__SENSORLESS_ERROR_RATE_MS = 179, + AXIS__CONFIG__CAN__ENCODER_COUNT_RATE_MS = 180, + AXIS__CONFIG__CAN__IQ_RATE_MS = 181, + AXIS__CONFIG__CAN__SENSORLESS_RATE_MS = 182, + AXIS__CONFIG__CAN__BUS_VI_RATE_MS = 183, + AXIS__MOTOR__LAST_ERROR_TIME = 184, + AXIS__MOTOR__ERROR = 185, + AXIS__MOTOR__IS_ARMED = 186, + AXIS__MOTOR__IS_CALIBRATED = 187, + AXIS__MOTOR__CURRENT_MEAS_PHA = 188, + AXIS__MOTOR__CURRENT_MEAS_PHB = 189, + AXIS__MOTOR__CURRENT_MEAS_PHC = 190, + AXIS__MOTOR__DC_CALIB_PHA = 191, + AXIS__MOTOR__DC_CALIB_PHB = 192, + AXIS__MOTOR__DC_CALIB_PHC = 193, + AXIS__MOTOR__I_BUS = 194, + AXIS__MOTOR__PHASE_CURRENT_REV_GAIN = 195, + AXIS__MOTOR__EFFECTIVE_CURRENT_LIM = 196, + AXIS__MOTOR__MAX_ALLOWED_CURRENT = 197, + AXIS__MOTOR__MAX_DC_CALIB = 198, + AXIS__MOTOR__FET_THERMISTOR__TEMPERATURE = 199, + AXIS__MOTOR__FET_THERMISTOR__CONFIG__TEMP_LIMIT_LOWER = 200, + AXIS__MOTOR__FET_THERMISTOR__CONFIG__TEMP_LIMIT_UPPER = 201, + AXIS__MOTOR__FET_THERMISTOR__CONFIG__ENABLED = 202, + AXIS__MOTOR__MOTOR_THERMISTOR__TEMPERATURE = 203, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__GPIO_PIN = 204, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_0 = 205, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_1 = 206, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_2 = 207, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__POLY_COEFFICIENT_3 = 208, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__TEMP_LIMIT_LOWER = 209, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__TEMP_LIMIT_UPPER = 210, + AXIS__MOTOR__MOTOR_THERMISTOR__CONFIG__ENABLED = 211, + AXIS__MOTOR__CURRENT_CONTROL__P_GAIN = 212, + AXIS__MOTOR__CURRENT_CONTROL__I_GAIN = 213, + AXIS__MOTOR__CURRENT_CONTROL__I_MEASURED_REPORT_FILTER_K = 214, + AXIS__MOTOR__CURRENT_CONTROL__ID_SETPOINT = 215, + AXIS__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 216, + AXIS__MOTOR__CURRENT_CONTROL__VD_SETPOINT = 217, + AXIS__MOTOR__CURRENT_CONTROL__VQ_SETPOINT = 218, + AXIS__MOTOR__CURRENT_CONTROL__PHASE = 219, + AXIS__MOTOR__CURRENT_CONTROL__PHASE_VEL = 220, + AXIS__MOTOR__CURRENT_CONTROL__IALPHA_MEASURED = 221, + AXIS__MOTOR__CURRENT_CONTROL__IBETA_MEASURED = 222, + AXIS__MOTOR__CURRENT_CONTROL__ID_MEASURED = 223, + AXIS__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 224, + AXIS__MOTOR__CURRENT_CONTROL__POWER = 225, + AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 226, + AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 227, + AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 228, + AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 229, + AXIS__MOTOR__N_EVT_CURRENT_MEASUREMENT = 230, + AXIS__MOTOR__N_EVT_PWM_UPDATE = 231, + AXIS__MOTOR__CONFIG__PRE_CALIBRATED = 232, + AXIS__MOTOR__CONFIG__POLE_PAIRS = 233, + AXIS__MOTOR__CONFIG__CALIBRATION_CURRENT = 234, + AXIS__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 235, + AXIS__MOTOR__CONFIG__PHASE_INDUCTANCE = 236, + AXIS__MOTOR__CONFIG__PHASE_RESISTANCE = 237, + AXIS__MOTOR__CONFIG__TORQUE_CONSTANT = 238, + AXIS__MOTOR__CONFIG__MOTOR_TYPE = 239, + AXIS__MOTOR__CONFIG__CURRENT_LIM = 240, + AXIS__MOTOR__CONFIG__CURRENT_LIM_MARGIN = 241, + AXIS__MOTOR__CONFIG__TORQUE_LIM = 242, + AXIS__MOTOR__CONFIG__INVERTER_TEMP_LIMIT_LOWER = 243, + AXIS__MOTOR__CONFIG__INVERTER_TEMP_LIMIT_UPPER = 244, + AXIS__MOTOR__CONFIG__REQUESTED_CURRENT_RANGE = 245, + AXIS__MOTOR__CONFIG__CURRENT_CONTROL_BANDWIDTH = 246, + AXIS__MOTOR__CONFIG__ACIM_GAIN_MIN_FLUX = 247, + AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_MIN_ID = 248, + AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_ENABLE = 249, + AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_ATTACK_GAIN = 250, + AXIS__MOTOR__CONFIG__ACIM_AUTOFLUX_DECAY_GAIN = 251, + AXIS__MOTOR__CONFIG__R_WL_FF_ENABLE = 252, + AXIS__MOTOR__CONFIG__BEMF_FF_ENABLE = 253, + AXIS__MOTOR__CONFIG__I_BUS_HARD_MIN = 254, + AXIS__MOTOR__CONFIG__I_BUS_HARD_MAX = 255, + AXIS__MOTOR__CONFIG__I_LEAK_MAX = 256, + AXIS__MOTOR__CONFIG__DC_CALIB_TAU = 257, + AXIS__CONTROLLER__ERROR = 258, + AXIS__CONTROLLER__LAST_ERROR_TIME = 259, + AXIS__CONTROLLER__INPUT_POS = 260, + AXIS__CONTROLLER__INPUT_VEL = 261, + AXIS__CONTROLLER__INPUT_TORQUE = 262, + AXIS__CONTROLLER__POS_SETPOINT = 263, + AXIS__CONTROLLER__VEL_SETPOINT = 264, + AXIS__CONTROLLER__TORQUE_SETPOINT = 265, + AXIS__CONTROLLER__TRAJECTORY_DONE = 266, + AXIS__CONTROLLER__VEL_INTEGRATOR_TORQUE = 267, + AXIS__CONTROLLER__ANTICOGGING_VALID = 268, + AXIS__CONTROLLER__AUTOTUNING_PHASE = 269, + AXIS__CONTROLLER__CONFIG__GAIN_SCHEDULING_WIDTH = 270, + AXIS__CONTROLLER__CONFIG__ENABLE_VEL_LIMIT = 271, + AXIS__CONTROLLER__CONFIG__ENABLE_TORQUE_MODE_VEL_LIMIT = 272, + AXIS__CONTROLLER__CONFIG__ENABLE_GAIN_SCHEDULING = 273, + AXIS__CONTROLLER__CONFIG__ENABLE_OVERSPEED_ERROR = 274, + AXIS__CONTROLLER__CONFIG__CONTROL_MODE = 275, + AXIS__CONTROLLER__CONFIG__INPUT_MODE = 276, + AXIS__CONTROLLER__CONFIG__POS_GAIN = 277, + AXIS__CONTROLLER__CONFIG__VEL_GAIN = 278, + AXIS__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 279, + AXIS__CONTROLLER__CONFIG__VEL_INTEGRATOR_LIMIT = 280, + AXIS__CONTROLLER__CONFIG__VEL_LIMIT = 281, + AXIS__CONTROLLER__CONFIG__VEL_LIMIT_TOLERANCE = 282, + AXIS__CONTROLLER__CONFIG__VEL_RAMP_RATE = 283, + AXIS__CONTROLLER__CONFIG__TORQUE_RAMP_RATE = 284, + AXIS__CONTROLLER__CONFIG__CIRCULAR_SETPOINTS = 285, + AXIS__CONTROLLER__CONFIG__CIRCULAR_SETPOINT_RANGE = 286, + AXIS__CONTROLLER__CONFIG__STEPS_PER_CIRCULAR_RANGE = 287, + AXIS__CONTROLLER__CONFIG__HOMING_SPEED = 288, + AXIS__CONTROLLER__CONFIG__INERTIA = 289, + AXIS__CONTROLLER__CONFIG__AXIS_TO_MIRROR = 290, + AXIS__CONTROLLER__CONFIG__MIRROR_RATIO = 291, + AXIS__CONTROLLER__CONFIG__TORQUE_MIRROR_RATIO = 292, + AXIS__CONTROLLER__CONFIG__LOAD_ENCODER_AXIS = 293, + AXIS__CONTROLLER__CONFIG__INPUT_FILTER_BANDWIDTH = 294, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__INDEX = 295, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__PRE_CALIBRATED = 296, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_ANTICOGGING = 297, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_POS_THRESHOLD = 298, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__CALIB_VEL_THRESHOLD = 299, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__COGGING_RATIO = 300, + AXIS__CONTROLLER__CONFIG__ANTICOGGING__ANTICOGGING_ENABLED = 301, + AXIS__CONTROLLER__CONFIG__MECHANICAL_POWER_BANDWIDTH = 302, + AXIS__CONTROLLER__CONFIG__ELECTRICAL_POWER_BANDWIDTH = 303, + AXIS__CONTROLLER__CONFIG__SPINOUT_MECHANICAL_POWER_THRESHOLD = 304, + AXIS__CONTROLLER__CONFIG__SPINOUT_ELECTRICAL_POWER_THRESHOLD = 305, + AXIS__CONTROLLER__AUTOTUNING__FREQUENCY = 306, + AXIS__CONTROLLER__AUTOTUNING__POS_AMPLITUDE = 307, + AXIS__CONTROLLER__AUTOTUNING__VEL_AMPLITUDE = 308, + AXIS__CONTROLLER__AUTOTUNING__TORQUE_AMPLITUDE = 309, + AXIS__CONTROLLER__MECHANICAL_POWER = 310, + AXIS__CONTROLLER__ELECTRICAL_POWER = 311, + AXIS__CONTROLLER__MOVE_INCREMENTAL = 312, + AXIS__CONTROLLER__START_ANTICOGGING_CALIBRATION = 315, + AXIS__CONTROLLER__REMOVE_ANTICOGGING_BIAS = 316, + AXIS__CONTROLLER__GET_ANTICOGGING_VALUE = 318, + AXIS__ENCODER__ERROR = 321, + AXIS__ENCODER__IS_READY = 322, + AXIS__ENCODER__INDEX_FOUND = 323, + AXIS__ENCODER__SHADOW_COUNT = 324, + AXIS__ENCODER__COUNT_IN_CPR = 325, + AXIS__ENCODER__INTERPOLATION = 326, + AXIS__ENCODER__PHASE = 327, + AXIS__ENCODER__POS_ESTIMATE = 328, + AXIS__ENCODER__POS_ESTIMATE_COUNTS = 329, + AXIS__ENCODER__POS_CIRCULAR = 330, + AXIS__ENCODER__POS_CPR_COUNTS = 331, + AXIS__ENCODER__DELTA_POS_CPR_COUNTS = 332, + AXIS__ENCODER__HALL_STATE = 333, + AXIS__ENCODER__VEL_ESTIMATE = 334, + AXIS__ENCODER__VEL_ESTIMATE_COUNTS = 335, + AXIS__ENCODER__CALIB_SCAN_RESPONSE = 336, + AXIS__ENCODER__POS_ABS = 337, + AXIS__ENCODER__SPI_ERROR_RATE = 338, + AXIS__ENCODER__CONFIG__MODE = 339, + AXIS__ENCODER__CONFIG__USE_INDEX = 340, + AXIS__ENCODER__CONFIG__INDEX_OFFSET = 341, + AXIS__ENCODER__CONFIG__USE_INDEX_OFFSET = 342, + AXIS__ENCODER__CONFIG__FIND_IDX_ON_LOCKIN_ONLY = 343, + AXIS__ENCODER__CONFIG__ABS_SPI_CS_GPIO_PIN = 344, + AXIS__ENCODER__CONFIG__CPR = 345, + AXIS__ENCODER__CONFIG__PHASE_OFFSET = 346, + AXIS__ENCODER__CONFIG__PHASE_OFFSET_FLOAT = 347, + AXIS__ENCODER__CONFIG__DIRECTION = 348, + AXIS__ENCODER__CONFIG__PRE_CALIBRATED = 349, + AXIS__ENCODER__CONFIG__ENABLE_PHASE_INTERPOLATION = 350, + AXIS__ENCODER__CONFIG__BANDWIDTH = 351, + AXIS__ENCODER__CONFIG__CALIB_RANGE = 352, + AXIS__ENCODER__CONFIG__CALIB_SCAN_DISTANCE = 353, + AXIS__ENCODER__CONFIG__CALIB_SCAN_OMEGA = 354, + AXIS__ENCODER__CONFIG__IGNORE_ILLEGAL_HALL_STATE = 355, + AXIS__ENCODER__CONFIG__HALL_POLARITY = 356, + AXIS__ENCODER__CONFIG__HALL_POLARITY_CALIBRATED = 357, + AXIS__ENCODER__CONFIG__SINCOS_GPIO_PIN_SIN = 358, + AXIS__ENCODER__CONFIG__SINCOS_GPIO_PIN_COS = 359, + AXIS__ENCODER__SET_LINEAR_COUNT = 360, + AXIS__ACIM_ESTIMATOR__ROTOR_FLUX = 362, + AXIS__ACIM_ESTIMATOR__SLIP_VEL = 363, + AXIS__ACIM_ESTIMATOR__PHASE_OFFSET = 364, + AXIS__ACIM_ESTIMATOR__STATOR_PHASE_VEL = 365, + AXIS__ACIM_ESTIMATOR__STATOR_PHASE = 366, + AXIS__ACIM_ESTIMATOR__CONFIG__SLIP_VELOCITY = 367, + AXIS__SENSORLESS_ESTIMATOR__ERROR = 368, + AXIS__SENSORLESS_ESTIMATOR__PHASE = 369, + AXIS__SENSORLESS_ESTIMATOR__PLL_POS = 370, + AXIS__SENSORLESS_ESTIMATOR__PHASE_VEL = 371, + AXIS__SENSORLESS_ESTIMATOR__VEL_ESTIMATE = 372, + AXIS__SENSORLESS_ESTIMATOR__CONFIG__OBSERVER_GAIN = 373, + AXIS__SENSORLESS_ESTIMATOR__CONFIG__PLL_BANDWIDTH = 374, + AXIS__SENSORLESS_ESTIMATOR__CONFIG__PM_FLUX_LINKAGE = 375, + AXIS__TRAP_TRAJ__CONFIG__VEL_LIMIT = 376, + AXIS__TRAP_TRAJ__CONFIG__ACCEL_LIMIT = 377, + AXIS__TRAP_TRAJ__CONFIG__DECEL_LIMIT = 378, + AXIS__MIN_ENDSTOP__ENDSTOP_STATE = 379, + AXIS__MIN_ENDSTOP__CONFIG__GPIO_NUM = 380, + AXIS__MIN_ENDSTOP__CONFIG__ENABLED = 381, + AXIS__MIN_ENDSTOP__CONFIG__OFFSET = 382, + AXIS__MIN_ENDSTOP__CONFIG__IS_ACTIVE_HIGH = 383, + AXIS__MIN_ENDSTOP__CONFIG__DEBOUNCE_MS = 384, + AXIS__MAX_ENDSTOP__ENDSTOP_STATE = 385, + AXIS__MAX_ENDSTOP__CONFIG__GPIO_NUM = 386, + AXIS__MAX_ENDSTOP__CONFIG__ENABLED = 387, + AXIS__MAX_ENDSTOP__CONFIG__OFFSET = 388, + AXIS__MAX_ENDSTOP__CONFIG__IS_ACTIVE_HIGH = 389, + AXIS__MAX_ENDSTOP__CONFIG__DEBOUNCE_MS = 390, + AXIS__MECHANICAL_BRAKE__CONFIG__GPIO_NUM = 391, + AXIS__MECHANICAL_BRAKE__CONFIG__IS_ACTIVE_LOW = 392, + AXIS__MECHANICAL_BRAKE__ENGAGE = 393, + AXIS__MECHANICAL_BRAKE__RELEASE = 394, + AXIS__TASK_TIMES__THERMISTOR_UPDATE__START_TIME = 395, + AXIS__TASK_TIMES__THERMISTOR_UPDATE__END_TIME = 396, + AXIS__TASK_TIMES__THERMISTOR_UPDATE__LENGTH = 397, + AXIS__TASK_TIMES__THERMISTOR_UPDATE__MAX_LENGTH = 398, + AXIS__TASK_TIMES__ENCODER_UPDATE__START_TIME = 399, + AXIS__TASK_TIMES__ENCODER_UPDATE__END_TIME = 400, + AXIS__TASK_TIMES__ENCODER_UPDATE__LENGTH = 401, + AXIS__TASK_TIMES__ENCODER_UPDATE__MAX_LENGTH = 402, + AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__START_TIME = 403, + AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__END_TIME = 404, + AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__LENGTH = 405, + AXIS__TASK_TIMES__SENSORLESS_ESTIMATOR_UPDATE__MAX_LENGTH = 406, + AXIS__TASK_TIMES__ENDSTOP_UPDATE__START_TIME = 407, + AXIS__TASK_TIMES__ENDSTOP_UPDATE__END_TIME = 408, + AXIS__TASK_TIMES__ENDSTOP_UPDATE__LENGTH = 409, + AXIS__TASK_TIMES__ENDSTOP_UPDATE__MAX_LENGTH = 410, + AXIS__TASK_TIMES__CAN_HEARTBEAT__START_TIME = 411, + AXIS__TASK_TIMES__CAN_HEARTBEAT__END_TIME = 412, + AXIS__TASK_TIMES__CAN_HEARTBEAT__LENGTH = 413, + AXIS__TASK_TIMES__CAN_HEARTBEAT__MAX_LENGTH = 414, + AXIS__TASK_TIMES__CONTROLLER_UPDATE__START_TIME = 415, + AXIS__TASK_TIMES__CONTROLLER_UPDATE__END_TIME = 416, + AXIS__TASK_TIMES__CONTROLLER_UPDATE__LENGTH = 417, + AXIS__TASK_TIMES__CONTROLLER_UPDATE__MAX_LENGTH = 418, + AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__START_TIME = 419, + AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__END_TIME = 420, + AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__LENGTH = 421, + AXIS__TASK_TIMES__OPEN_LOOP_CONTROLLER_UPDATE__MAX_LENGTH = 422, + AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__START_TIME = 423, + AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__END_TIME = 424, + AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__LENGTH = 425, + AXIS__TASK_TIMES__ACIM_ESTIMATOR_UPDATE__MAX_LENGTH = 426, + AXIS__TASK_TIMES__MOTOR_UPDATE__START_TIME = 427, + AXIS__TASK_TIMES__MOTOR_UPDATE__END_TIME = 428, + AXIS__TASK_TIMES__MOTOR_UPDATE__LENGTH = 429, + AXIS__TASK_TIMES__MOTOR_UPDATE__MAX_LENGTH = 430, + AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__START_TIME = 431, + AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__END_TIME = 432, + AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__LENGTH = 433, + AXIS__TASK_TIMES__CURRENT_CONTROLLER_UPDATE__MAX_LENGTH = 434, + AXIS__TASK_TIMES__DC_CALIB__START_TIME = 435, + AXIS__TASK_TIMES__DC_CALIB__END_TIME = 436, + AXIS__TASK_TIMES__DC_CALIB__LENGTH = 437, + AXIS__TASK_TIMES__DC_CALIB__MAX_LENGTH = 438, + AXIS__TASK_TIMES__CURRENT_SENSE__START_TIME = 439, + AXIS__TASK_TIMES__CURRENT_SENSE__END_TIME = 440, + AXIS__TASK_TIMES__CURRENT_SENSE__LENGTH = 441, + AXIS__TASK_TIMES__CURRENT_SENSE__MAX_LENGTH = 442, + AXIS__TASK_TIMES__PWM_UPDATE__START_TIME = 443, + AXIS__TASK_TIMES__PWM_UPDATE__END_TIME = 444, + AXIS__TASK_TIMES__PWM_UPDATE__LENGTH = 445, + AXIS__TASK_TIMES__PWM_UPDATE__MAX_LENGTH = 446, + AXIS__WATCHDOG_FEED = 447, }; template @@ -483,19 +496,16 @@ template<> struct endpoint_type { typedef uin template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; -template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; -template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; -template<> struct endpoint_type { typedef int32_t type; }; template<> struct endpoint_type { typedef int32_t type; }; template<> struct endpoint_type { typedef int32_t type; }; template<> struct endpoint_type { typedef int32_t type; }; @@ -511,6 +521,7 @@ template<> struct endpoint_type { typedef uint32_t template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef bool type; }; template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef uint8_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint8_t type; }; @@ -567,9 +578,16 @@ template<> struct endpoint_type { typedef float template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef void type; }; @@ -620,6 +638,14 @@ template<> struct endpoint_type { typedef uint32_t t template<> struct endpoint_type { typedef bool type; }; template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; +template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef uint64_t type; }; template<> struct endpoint_type { typedef bool type; }; @@ -716,6 +742,7 @@ template<> struct endpoint_type { typedef template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; +template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; @@ -747,7 +774,10 @@ template<> struct endpoint_type { t template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef uint16_t type; }; template<> struct endpoint_type { typedef bool type; }; template<> struct endpoint_type { typedef bool type; }; @@ -787,6 +817,7 @@ template<> struct endpoint_type { typedef template<> struct endpoint_type { typedef bool type; }; template<> struct endpoint_type { typedef uint16_t type; }; template<> struct endpoint_type { typedef uint16_t type; }; +template<> struct endpoint_type { typedef void type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; template<> struct endpoint_type { typedef float type; }; @@ -874,10 +905,9 @@ template<> struct endpoint_type { typedef template<> struct endpoint_type { typedef uint32_t type; }; template<> struct endpoint_type { typedef void type; }; - template using endpoint_type_t = typename endpoint_type::type; } -#endif // __ODRIVE_ENDPOINTS_HPP \ No newline at end of file +#endif // __ODRIVE_ENDPOINTS_HPP