diff --git a/ArduinoI2C/ArduinoI2C.ino b/ArduinoI2C/ArduinoI2C.ino
new file mode 100644
index 00000000..39d491a7
--- /dev/null
+++ b/ArduinoI2C/ArduinoI2C.ino
@@ -0,0 +1,56 @@
+
+#include <Wire.h>
+#include "odrive.h"
+
+
+// See odrive.h for a description
+bool I2C_transaction(uint8_t slave_addr, const uint8_t * tx_buffer, size_t tx_length, uint8_t * rx_buffer, size_t rx_length) {
+  // transmit
+  if (tx_buffer) {
+    Wire.beginTransmission(slave_addr);
+    if (Wire.write(tx_buffer, tx_length) != tx_length)
+      return false;
+    bool should_stop = !rx_buffer;
+    if (Wire.endTransmission(should_stop) != 0)
+      return false;
+  }
+
+  // receive
+  if (rx_buffer) {
+    while(Wire.available()) Wire.read(); // flush input buffer
+    if (Wire.requestFrom(slave_addr, (uint8_t)rx_length, (uint8_t)true /* stop after receiving */) != rx_length)
+      return false;
+    for (size_t i = 0; i < rx_length; ++i)
+      rx_buffer[i] = Wire.read();
+  }
+
+  return true;
+}
+
+
+void setup() {
+  Wire.begin(); // join i2c bus (address optional for master)
+  Serial.begin(9600);
+}
+
+byte odrive_num = 7;
+byte x;
+
+void loop() {
+  bool success;
+
+  float val;
+  success = odrive::read_property<odrive::VBUS_VOLTAGE>(odrive_num, &val);
+  if (success) {
+    Serial.println(val, HEX);
+  } else {
+    Serial.println("error");
+  }
+
+  success = odrive::write_property<odrive::TEST_PROPERTY>(odrive_num, x++);
+  if (!success)
+    Serial.println("error");
+
+  delay(500);
+}
+
diff --git a/ArduinoI2C/odrive.h b/ArduinoI2C/odrive.h
new file mode 100644
index 00000000..fb89ccb5
--- /dev/null
+++ b/ArduinoI2C/odrive.h
@@ -0,0 +1,143 @@
+/*
+* ODrive I2C communication library
+* This file implements I2C communication with the ODrive.
+*
+*   - Implement the C function I2C_transaction to provide low level I2C access.
+*   - Use read_property<PropertyId>() to read properties from the ODrive.
+*   - Use write_property<PropertyId>() to modify properties on the ODrive.
+*   - Use endpoint_type_t<PropertyId> to retrieve the underlying type
+*     of a given property.
+*
+* To regenerate the interface definitions, flash an ODrive with the new
+* firmware, then run
+*   ../tools/odrivetool generate-code --output odrive_endpoints.h
+*/
+
+
+#include <limits.h>
+#include <stdint.h>
+
+#include "odrive_endpoints.h"
+
+#ifdef __AVR__
+// AVR-GCC doesn't ship with the STL, so we use our own little excerpt
+#include "type_traits.h"
+#else
+#include <type_traits>
+#endif
+
+
+extern "C" {
+
+/* @brief Send and receive data to/from an I2C slave
+*
+* This function carries out the following sequence:
+* 1. generate a START condition
+* 2. if the tx_buffer is not null:
+*    a. send 7-bit slave address (with the LSB 0)
+*    b. send all bytes in the tx_buffer
+* 3. if both tx_buffer and rx_buffer are not null, generate a REPEATED START condition
+* 4. if the rx_buffer is not null:
+*    a. send 7-bit slave address (with the LSB 1)
+*    b. read rx_length bytes into rx_buffer
+* 5. send STOP condition
+*
+* @param slave_addr: 7-bit slave address (the MSB is ignored)
+* @return true if all data was transmitted and received as requested by the caller, false otherwise
+*/
+bool I2C_transaction(uint8_t slave_addr, const uint8_t * tx_buffer, size_t tx_length, uint8_t * rx_buffer, size_t rx_length);
+
+}
+
+
+namespace odrive {
+    static constexpr const uint8_t i2c_addr = (0xD << 3); // write: 1101xxx0, read: 1101xxx1
+
+    template<typename T>
+    using bit_width = std::integral_constant<unsigned int, CHAR_BIT * sizeof(T)>;
+
+    template<typename T>
+    using byte_width = std::integral_constant<unsigned int, (bit_width<T>::value + 7) / 8>;
+
+
+    template<unsigned int IBitSize>
+    struct unsigned_int_of_size;
+
+    template<> struct unsigned_int_of_size<32> { typedef uint32_t type; };
+
+
+    template<typename T>
+    typename std::enable_if<std::is_integral<T>::value, T>::type
+    read_le(const uint8_t buffer[byte_width<T>::value]) {
+        T value = 0;
+        for (size_t i = 0; i < byte_width<T>::value; ++i)
+            value |= (static_cast<T>(buffer[i]) << (i << 3));
+        return value;
+    }
+
+    template<typename T>
+    typename std::enable_if<std::is_floating_point<T>::value, T>::type
+    read_le(const uint8_t buffer[]) {
+        using T_Int = typename unsigned_int_of_size<bit_width<T>::value>::type;
+        T_Int value = read_le<T_Int>(buffer);
+        return *reinterpret_cast<T*>(&value);
+    }
+
+    template<typename T>
+    typename std::enable_if<std::is_integral<T>::value, void>::type
+    write_le(uint8_t buffer[byte_width<T>::value], T value) {
+        for (size_t i = 0; i < byte_width<T>::value; ++i)
+            buffer[i] = (value >> (i << 3)) & 0xff;
+    }
+
+    template<typename T>
+    typename std::enable_if<std::is_floating_point<T>::value, T>::type
+    write_le(uint8_t buffer[byte_width<T>::value], T value) {
+        using T_Int = typename unsigned_int_of_size<bit_width<T>::value>::type;
+        write_le<T_Int>(buffer, *reinterpret_cast<T_Int*>(&value));
+    }
+
+    /* @brief Read from an endpoint on the ODrive
+    *
+    * Usage example:
+    *   float val;
+    *   success = odrive::read_property<odrive::VBUS_VOLTAGE>(0, &val);
+    *
+    * @param num Selects the ODrive. For instance the value 4 selects
+    * the ODrive that has [A2, A1, A0] connected to [VCC, GND, GND].
+    * @return true if the I2C transaction succeeded, false otherwise
+    */
+    template<int IPropertyId>
+    bool read_property(uint8_t num, endpoint_type_t<IPropertyId>* value) {
+        uint8_t i2c_tx_buffer[4];
+        write_le<uint16_t>(i2c_tx_buffer, IPropertyId);
+        write_le<uint16_t>(i2c_tx_buffer + sizeof(i2c_tx_buffer) - 2, json_crc);
+        uint8_t i2c_rx_buffer[byte_width<endpoint_type_t<IPropertyId>>::value];
+        if (!I2C_transaction(i2c_addr + num,
+            i2c_tx_buffer, sizeof(i2c_tx_buffer),
+            i2c_rx_buffer, sizeof(i2c_rx_buffer)))
+            return false;
+        if (value)
+            *value = read_le<endpoint_type_t<IPropertyId>>(i2c_rx_buffer);
+        return true;
+    }
+
+    /* @brief Write to an endpoint on the ODrive
+    *
+    * Usage example:
+    *   success = odrive::write_property<odrive::AXIS0__CONTROLLER__VEL_SETPOINT>(0, 10000);
+    *
+    * @param num Selects the ODrive. For instance the value 4 selects
+    * the ODrive that has [A2, A1, A0] connected to [VCC, GND, GND].
+    * @return true if the I2C transaction succeeded, false otherwise
+    */
+    template<int IPropertyId>
+    bool write_property(uint8_t num, endpoint_type_t<IPropertyId> value) {
+        uint8_t i2c_tx_buffer[4 + byte_width<endpoint_type_t<IPropertyId>>::value];
+        write_le<uint16_t>(i2c_tx_buffer, IPropertyId);
+        write_le<endpoint_type_t<IPropertyId>>(i2c_tx_buffer + 2, value);
+        write_le<uint16_t>(i2c_tx_buffer + sizeof(i2c_tx_buffer) - 2, json_crc);
+        return I2C_transaction(i2c_addr + num, i2c_tx_buffer, sizeof(i2c_tx_buffer), nullptr, 0);
+    }
+
+}
diff --git a/ArduinoI2C/odrive_endpoints.h b/ArduinoI2C/odrive_endpoints.h
new file mode 100644
index 00000000..e8e4ee98
--- /dev/null
+++ b/ArduinoI2C/odrive_endpoints.h
@@ -0,0 +1,444 @@
+/*
+* 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.
+*/
+
+#ifndef __ODRIVE_ENDPOINTS_HPP
+#define __ODRIVE_ENDPOINTS_HPP
+
+
+namespace odrive {
+    
+static constexpr const uint16_t json_crc = 0x7199;
+
+enum { 
+  VBUS_VOLTAGE = 1,
+  SERIAL_NUMBER = 2,
+  HW_VERSION_MAJOR = 3,
+  HW_VERSION_MINOR = 4,
+  HW_VERSION_VARIANT = 5,
+  FW_VERSION_MAJOR = 6,
+  FW_VERSION_MINOR = 7,
+  FW_VERSION_REVISION = 8,
+  FW_VERSION_UNRELEASED = 9,
+  USER_CONFIG_LOADED = 10,
+  BRAKE_RESISTOR_ARMED = 11,
+  SYSTEM_STATS__UPTIME = 12,
+  SYSTEM_STATS__MIN_HEAP_SPACE = 13,
+  SYSTEM_STATS__MIN_STACK_SPACE_AXIS0 = 14,
+  SYSTEM_STATS__MIN_STACK_SPACE_AXIS1 = 15,
+  SYSTEM_STATS__MIN_STACK_SPACE_COMMS = 16,
+  SYSTEM_STATS__MIN_STACK_SPACE_USB = 17,
+  SYSTEM_STATS__MIN_STACK_SPACE_UART = 18,
+  SYSTEM_STATS__MIN_STACK_SPACE_USB_IRQ = 19,
+  SYSTEM_STATS__MIN_STACK_SPACE_STARTUP = 20,
+  SYSTEM_STATS__USB__RX_CNT = 21,
+  SYSTEM_STATS__USB__TX_CNT = 22,
+  SYSTEM_STATS__USB__TX_OVERRUN_CNT = 23,
+  SYSTEM_STATS__I2C__ADDR = 24,
+  SYSTEM_STATS__I2C__ADDR_MATCH_CNT = 25,
+  SYSTEM_STATS__I2C__RX_CNT = 26,
+  SYSTEM_STATS__I2C__ERROR_CNT = 27,
+  CONFIG__BRAKE_RESISTANCE = 28,
+  CONFIG__ENABLE_UART = 29,
+  CONFIG__ENABLE_I2C_INSTEAD_OF_CAN = 30,
+  CONFIG__DC_BUS_UNDERVOLTAGE_TRIP_LEVEL = 31,
+  CONFIG__DC_BUS_OVERVOLTAGE_TRIP_LEVEL = 32,
+  AXIS0__ERROR = 33,
+  AXIS0__ENABLE_STEP_DIR = 34,
+  AXIS0__CURRENT_STATE = 35,
+  AXIS0__REQUESTED_STATE = 36,
+  AXIS0__LOOP_COUNTER = 37,
+  AXIS0__CONFIG__STARTUP_MOTOR_CALIBRATION = 38,
+  AXIS0__CONFIG__STARTUP_ENCODER_INDEX_SEARCH = 39,
+  AXIS0__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION = 40,
+  AXIS0__CONFIG__STARTUP_CLOSED_LOOP_CONTROL = 41,
+  AXIS0__CONFIG__STARTUP_SENSORLESS_CONTROL = 42,
+  AXIS0__CONFIG__ENABLE_STEP_DIR = 43,
+  AXIS0__CONFIG__COUNTS_PER_STEP = 44,
+  AXIS0__CONFIG__RAMP_UP_TIME = 45,
+  AXIS0__CONFIG__RAMP_UP_DISTANCE = 46,
+  AXIS0__CONFIG__SPIN_UP_CURRENT = 47,
+  AXIS0__CONFIG__SPIN_UP_ACCELERATION = 48,
+  AXIS0__CONFIG__SPIN_UP_TARGET_VEL = 49,
+  AXIS0__MOTOR__ERROR = 50,
+  AXIS0__MOTOR__ARMED_STATE = 51,
+  AXIS0__MOTOR__IS_CALIBRATED = 52,
+  AXIS0__MOTOR__CURRENT_MEAS_PHB = 53,
+  AXIS0__MOTOR__CURRENT_MEAS_PHC = 54,
+  AXIS0__MOTOR__DC_CALIB_PHB = 55,
+  AXIS0__MOTOR__DC_CALIB_PHC = 56,
+  AXIS0__MOTOR__PHASE_CURRENT_REV_GAIN = 57,
+  AXIS0__MOTOR__CURRENT_CONTROL__P_GAIN = 58,
+  AXIS0__MOTOR__CURRENT_CONTROL__I_GAIN = 59,
+  AXIS0__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 60,
+  AXIS0__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 61,
+  AXIS0__MOTOR__CURRENT_CONTROL__IBUS = 62,
+  AXIS0__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 63,
+  AXIS0__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 64,
+  AXIS0__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 65,
+  AXIS0__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 66,
+  AXIS0__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT = 67,
+  AXIS0__MOTOR__GATE_DRIVER__DRV_FAULT = 68,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL = 69,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I = 70,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC = 71,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R = 72,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L = 73,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB = 74,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH = 75,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE = 76,
+  AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT = 77,
+  AXIS0__MOTOR__CONFIG__PRE_CALIBRATED = 78,
+  AXIS0__MOTOR__CONFIG__POLE_PAIRS = 79,
+  AXIS0__MOTOR__CONFIG__CALIBRATION_CURRENT = 80,
+  AXIS0__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 81,
+  AXIS0__MOTOR__CONFIG__PHASE_INDUCTANCE = 82,
+  AXIS0__MOTOR__CONFIG__PHASE_RESISTANCE = 83,
+  AXIS0__MOTOR__CONFIG__DIRECTION = 84,
+  AXIS0__MOTOR__CONFIG__MOTOR_TYPE = 85,
+  AXIS0__MOTOR__CONFIG__CURRENT_LIM = 86,
+  AXIS0__CONTROLLER__POS_SETPOINT = 87,
+  AXIS0__CONTROLLER__VEL_SETPOINT = 88,
+  AXIS0__CONTROLLER__VEL_INTEGRATOR_CURRENT = 89,
+  AXIS0__CONTROLLER__CURRENT_SETPOINT = 90,
+  AXIS0__CONTROLLER__CONFIG__CONTROL_MODE = 91,
+  AXIS0__CONTROLLER__CONFIG__POS_GAIN = 92,
+  AXIS0__CONTROLLER__CONFIG__VEL_GAIN = 93,
+  AXIS0__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 94,
+  AXIS0__CONTROLLER__CONFIG__VEL_LIMIT = 95,
+  AXIS0__ENCODER__ERROR = 106,
+  AXIS0__ENCODER__IS_READY = 107,
+  AXIS0__ENCODER__INDEX_FOUND = 108,
+  AXIS0__ENCODER__SHADOW_COUNT = 109,
+  AXIS0__ENCODER__COUNT_IN_CPR = 110,
+  AXIS0__ENCODER__OFFSET = 111,
+  AXIS0__ENCODER__PHASE = 112,
+  AXIS0__ENCODER__POS_ESTIMATE = 113,
+  AXIS0__ENCODER__POS_CPR = 114,
+  AXIS0__ENCODER__PLL_VEL = 115,
+  AXIS0__ENCODER__PLL_KP = 116,
+  AXIS0__ENCODER__PLL_KI = 117,
+  AXIS0__ENCODER__CONFIG__USE_INDEX = 118,
+  AXIS0__ENCODER__CONFIG__PRE_CALIBRATED = 119,
+  AXIS0__ENCODER__CONFIG__IDX_SEARCH_SPEED = 120,
+  AXIS0__ENCODER__CONFIG__CPR = 121,
+  AXIS0__ENCODER__CONFIG__OFFSET = 122,
+  AXIS0__ENCODER__CONFIG__CALIB_RANGE = 123,
+  AXIS0__SENSORLESS_ESTIMATOR__ERROR = 124,
+  AXIS0__SENSORLESS_ESTIMATOR__PHASE = 125,
+  AXIS0__SENSORLESS_ESTIMATOR__PLL_POS = 126,
+  AXIS0__SENSORLESS_ESTIMATOR__PLL_VEL = 127,
+  AXIS0__SENSORLESS_ESTIMATOR__PLL_KP = 128,
+  AXIS0__SENSORLESS_ESTIMATOR__PLL_KI = 129,
+  AXIS1__ERROR = 130,
+  AXIS1__ENABLE_STEP_DIR = 131,
+  AXIS1__CURRENT_STATE = 132,
+  AXIS1__REQUESTED_STATE = 133,
+  AXIS1__LOOP_COUNTER = 134,
+  AXIS1__CONFIG__STARTUP_MOTOR_CALIBRATION = 135,
+  AXIS1__CONFIG__STARTUP_ENCODER_INDEX_SEARCH = 136,
+  AXIS1__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION = 137,
+  AXIS1__CONFIG__STARTUP_CLOSED_LOOP_CONTROL = 138,
+  AXIS1__CONFIG__STARTUP_SENSORLESS_CONTROL = 139,
+  AXIS1__CONFIG__ENABLE_STEP_DIR = 140,
+  AXIS1__CONFIG__COUNTS_PER_STEP = 141,
+  AXIS1__CONFIG__RAMP_UP_TIME = 142,
+  AXIS1__CONFIG__RAMP_UP_DISTANCE = 143,
+  AXIS1__CONFIG__SPIN_UP_CURRENT = 144,
+  AXIS1__CONFIG__SPIN_UP_ACCELERATION = 145,
+  AXIS1__CONFIG__SPIN_UP_TARGET_VEL = 146,
+  AXIS1__MOTOR__ERROR = 147,
+  AXIS1__MOTOR__ARMED_STATE = 148,
+  AXIS1__MOTOR__IS_CALIBRATED = 149,
+  AXIS1__MOTOR__CURRENT_MEAS_PHB = 150,
+  AXIS1__MOTOR__CURRENT_MEAS_PHC = 151,
+  AXIS1__MOTOR__DC_CALIB_PHB = 152,
+  AXIS1__MOTOR__DC_CALIB_PHC = 153,
+  AXIS1__MOTOR__PHASE_CURRENT_REV_GAIN = 154,
+  AXIS1__MOTOR__CURRENT_CONTROL__P_GAIN = 155,
+  AXIS1__MOTOR__CURRENT_CONTROL__I_GAIN = 156,
+  AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 157,
+  AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 158,
+  AXIS1__MOTOR__CURRENT_CONTROL__IBUS = 159,
+  AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 160,
+  AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 161,
+  AXIS1__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 162,
+  AXIS1__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 163,
+  AXIS1__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT = 164,
+  AXIS1__MOTOR__GATE_DRIVER__DRV_FAULT = 165,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL = 166,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I = 167,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC = 168,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R = 169,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L = 170,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB = 171,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH = 172,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE = 173,
+  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT = 174,
+  AXIS1__MOTOR__CONFIG__PRE_CALIBRATED = 175,
+  AXIS1__MOTOR__CONFIG__POLE_PAIRS = 176,
+  AXIS1__MOTOR__CONFIG__CALIBRATION_CURRENT = 177,
+  AXIS1__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 178,
+  AXIS1__MOTOR__CONFIG__PHASE_INDUCTANCE = 179,
+  AXIS1__MOTOR__CONFIG__PHASE_RESISTANCE = 180,
+  AXIS1__MOTOR__CONFIG__DIRECTION = 181,
+  AXIS1__MOTOR__CONFIG__MOTOR_TYPE = 182,
+  AXIS1__MOTOR__CONFIG__CURRENT_LIM = 183,
+  AXIS1__CONTROLLER__POS_SETPOINT = 184,
+  AXIS1__CONTROLLER__VEL_SETPOINT = 185,
+  AXIS1__CONTROLLER__VEL_INTEGRATOR_CURRENT = 186,
+  AXIS1__CONTROLLER__CURRENT_SETPOINT = 187,
+  AXIS1__CONTROLLER__CONFIG__CONTROL_MODE = 188,
+  AXIS1__CONTROLLER__CONFIG__POS_GAIN = 189,
+  AXIS1__CONTROLLER__CONFIG__VEL_GAIN = 190,
+  AXIS1__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 191,
+  AXIS1__CONTROLLER__CONFIG__VEL_LIMIT = 192,
+  AXIS1__ENCODER__ERROR = 203,
+  AXIS1__ENCODER__IS_READY = 204,
+  AXIS1__ENCODER__INDEX_FOUND = 205,
+  AXIS1__ENCODER__SHADOW_COUNT = 206,
+  AXIS1__ENCODER__COUNT_IN_CPR = 207,
+  AXIS1__ENCODER__OFFSET = 208,
+  AXIS1__ENCODER__PHASE = 209,
+  AXIS1__ENCODER__POS_ESTIMATE = 210,
+  AXIS1__ENCODER__POS_CPR = 211,
+  AXIS1__ENCODER__PLL_VEL = 212,
+  AXIS1__ENCODER__PLL_KP = 213,
+  AXIS1__ENCODER__PLL_KI = 214,
+  AXIS1__ENCODER__CONFIG__USE_INDEX = 215,
+  AXIS1__ENCODER__CONFIG__PRE_CALIBRATED = 216,
+  AXIS1__ENCODER__CONFIG__IDX_SEARCH_SPEED = 217,
+  AXIS1__ENCODER__CONFIG__CPR = 218,
+  AXIS1__ENCODER__CONFIG__OFFSET = 219,
+  AXIS1__ENCODER__CONFIG__CALIB_RANGE = 220,
+  AXIS1__SENSORLESS_ESTIMATOR__ERROR = 221,
+  AXIS1__SENSORLESS_ESTIMATOR__PHASE = 222,
+  AXIS1__SENSORLESS_ESTIMATOR__PLL_POS = 223,
+  AXIS1__SENSORLESS_ESTIMATOR__PLL_VEL = 224,
+  AXIS1__SENSORLESS_ESTIMATOR__PLL_KP = 225,
+  AXIS1__SENSORLESS_ESTIMATOR__PLL_KI = 226,
+  TEST_PROPERTY = 227,
+};
+
+template<int I>
+struct endpoint_type;
+
+template<> struct endpoint_type<VBUS_VOLTAGE> { typedef float type; };
+template<> struct endpoint_type<SERIAL_NUMBER> { typedef uint64_t type; };
+template<> struct endpoint_type<HW_VERSION_MAJOR> { typedef uint8_t type; };
+template<> struct endpoint_type<HW_VERSION_MINOR> { typedef uint8_t type; };
+template<> struct endpoint_type<HW_VERSION_VARIANT> { typedef uint8_t type; };
+template<> struct endpoint_type<FW_VERSION_MAJOR> { typedef uint8_t type; };
+template<> struct endpoint_type<FW_VERSION_MINOR> { typedef uint8_t type; };
+template<> struct endpoint_type<FW_VERSION_REVISION> { typedef uint8_t type; };
+template<> struct endpoint_type<FW_VERSION_UNRELEASED> { typedef uint8_t type; };
+template<> struct endpoint_type<USER_CONFIG_LOADED> { typedef bool type; };
+template<> struct endpoint_type<BRAKE_RESISTOR_ARMED> { typedef bool type; };
+template<> struct endpoint_type<SYSTEM_STATS__UPTIME> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_HEAP_SPACE> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_AXIS0> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_AXIS1> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_COMMS> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_USB> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_UART> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_USB_IRQ> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__MIN_STACK_SPACE_STARTUP> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__USB__RX_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__USB__TX_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__USB__TX_OVERRUN_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__I2C__ADDR> { typedef uint8_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__I2C__ADDR_MATCH_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__I2C__RX_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<SYSTEM_STATS__I2C__ERROR_CNT> { typedef uint32_t type; };
+template<> struct endpoint_type<CONFIG__BRAKE_RESISTANCE> { typedef float type; };
+template<> struct endpoint_type<CONFIG__ENABLE_UART> { typedef bool type; };
+template<> struct endpoint_type<CONFIG__ENABLE_I2C_INSTEAD_OF_CAN> { typedef bool type; };
+template<> struct endpoint_type<CONFIG__DC_BUS_UNDERVOLTAGE_TRIP_LEVEL> { typedef float type; };
+template<> struct endpoint_type<CONFIG__DC_BUS_OVERVOLTAGE_TRIP_LEVEL> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ERROR> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__ENABLE_STEP_DIR> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CURRENT_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__REQUESTED_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__LOOP_COUNTER> { typedef uint32_t type; };
+template<> struct endpoint_type<AXIS0__CONFIG__STARTUP_MOTOR_CALIBRATION> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__STARTUP_ENCODER_INDEX_SEARCH> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__STARTUP_CLOSED_LOOP_CONTROL> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__STARTUP_SENSORLESS_CONTROL> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__ENABLE_STEP_DIR> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__CONFIG__COUNTS_PER_STEP> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONFIG__RAMP_UP_TIME> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONFIG__RAMP_UP_DISTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONFIG__SPIN_UP_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONFIG__SPIN_UP_ACCELERATION> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONFIG__SPIN_UP_TARGET_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__ARMED_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__IS_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_MEAS_PHB> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_MEAS_PHC> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__DC_CALIB_PHB> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__DC_CALIB_PHC> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__PHASE_CURRENT_REV_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__P_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__I_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__IBUS> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__FINAL_V_BETA> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__IQ_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__IQ_MEASURED> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__GATE_DRIVER__DRV_FAULT> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__PRE_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__POLE_PAIRS> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__CALIBRATION_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__PHASE_INDUCTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__PHASE_RESISTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__DIRECTION> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__MOTOR_TYPE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__MOTOR__CONFIG__CURRENT_LIM> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__POS_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__VEL_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__VEL_INTEGRATOR_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CURRENT_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__CONTROL_MODE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__POS_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS0__CONTROLLER__CONFIG__VEL_LIMIT> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__IS_READY> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__ENCODER__INDEX_FOUND> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__ENCODER__SHADOW_COUNT> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__COUNT_IN_CPR> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__OFFSET> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__PHASE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__POS_ESTIMATE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__POS_CPR> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__PLL_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__PLL_KP> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__PLL_KI> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__USE_INDEX> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__PRE_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__IDX_SEARCH_SPEED> { typedef float type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__CPR> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__OFFSET> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS0__ENCODER__CONFIG__CALIB_RANGE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__PHASE> { typedef float type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__PLL_POS> { typedef float type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__PLL_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__PLL_KP> { typedef float type; };
+template<> struct endpoint_type<AXIS0__SENSORLESS_ESTIMATOR__PLL_KI> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ERROR> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__ENABLE_STEP_DIR> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CURRENT_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__REQUESTED_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__LOOP_COUNTER> { typedef uint32_t type; };
+template<> struct endpoint_type<AXIS1__CONFIG__STARTUP_MOTOR_CALIBRATION> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__STARTUP_ENCODER_INDEX_SEARCH> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__STARTUP_CLOSED_LOOP_CONTROL> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__STARTUP_SENSORLESS_CONTROL> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__ENABLE_STEP_DIR> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__CONFIG__COUNTS_PER_STEP> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONFIG__RAMP_UP_TIME> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONFIG__RAMP_UP_DISTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONFIG__SPIN_UP_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONFIG__SPIN_UP_ACCELERATION> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONFIG__SPIN_UP_TARGET_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__ARMED_STATE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__IS_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_MEAS_PHB> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_MEAS_PHC> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__DC_CALIB_PHB> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__DC_CALIB_PHC> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__PHASE_CURRENT_REV_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__P_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__I_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__IBUS> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_BETA> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__IQ_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__IQ_MEASURED> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__GATE_DRIVER__DRV_FAULT> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT> { typedef uint16_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__PRE_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__POLE_PAIRS> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__CALIBRATION_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__PHASE_INDUCTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__PHASE_RESISTANCE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__DIRECTION> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__MOTOR_TYPE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__MOTOR__CONFIG__CURRENT_LIM> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__POS_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__VEL_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__VEL_INTEGRATOR_CURRENT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CURRENT_SETPOINT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__CONTROL_MODE> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__POS_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN> { typedef float type; };
+template<> struct endpoint_type<AXIS1__CONTROLLER__CONFIG__VEL_LIMIT> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__IS_READY> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__ENCODER__INDEX_FOUND> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__ENCODER__SHADOW_COUNT> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__COUNT_IN_CPR> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__OFFSET> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__PHASE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__POS_ESTIMATE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__POS_CPR> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__PLL_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__PLL_KP> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__PLL_KI> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__USE_INDEX> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__PRE_CALIBRATED> { typedef bool type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__IDX_SEARCH_SPEED> { typedef float type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__CPR> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__OFFSET> { typedef int32_t type; };
+template<> struct endpoint_type<AXIS1__ENCODER__CONFIG__CALIB_RANGE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__ERROR> { typedef uint8_t type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PHASE> { typedef float type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_POS> { typedef float type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_VEL> { typedef float type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_KP> { typedef float type; };
+template<> struct endpoint_type<AXIS1__SENSORLESS_ESTIMATOR__PLL_KI> { typedef float type; };
+template<> struct endpoint_type<TEST_PROPERTY> { typedef uint32_t type; };
+
+
+template<int I>
+using endpoint_type_t = typename endpoint_type<I>::type;
+
+}
+
+#endif __ODRIVE_ENDPOINTS_HPP
\ No newline at end of file
diff --git a/ArduinoI2C/type_traits.h b/ArduinoI2C/type_traits.h
new file mode 100644
index 00000000..4c4b0367
--- /dev/null
+++ b/ArduinoI2C/type_traits.h
@@ -0,0 +1,267 @@
+/*
+* This file is a very small part of the GCC STL because AVR-GCC ships
+* without the STL.
+*/
+
+namespace std
+{
+
+  /**
+   * @defgroup metaprogramming Metaprogramming
+   * @ingroup utilities
+   *
+   * Template utilities for compile-time introspection and modification,
+   * including type classification traits, type property inspection traits
+   * and type transformation traits.
+   *
+   * @{
+   */
+
+  /// integral_constant
+  template<typename _Tp, _Tp __v>
+    struct integral_constant
+    {
+      static constexpr _Tp                  value = __v;
+      typedef _Tp                           value_type;
+      typedef integral_constant<_Tp, __v>   type;
+      constexpr operator value_type() const noexcept { return value; }
+#if __cplusplus > 201103L
+
+#define __cpp_lib_integral_constant_callable 201304
+
+      constexpr value_type operator()() const noexcept { return value; }
+#endif
+    };
+
+  template<typename _Tp, _Tp __v>
+    constexpr _Tp integral_constant<_Tp, __v>::value;
+
+  /// The type used as a compile-time boolean with true value.
+  typedef integral_constant<bool, true>     true_type;
+
+  /// The type used as a compile-time boolean with false value.
+  typedef integral_constant<bool, false>    false_type;
+
+  template<bool __v>
+    using __bool_constant = integral_constant<bool, __v>;
+
+#if __cplusplus > 201402L
+# define __cpp_lib_bool_constant 201505
+  template<bool __v>
+    using bool_constant = integral_constant<bool, __v>;
+#endif
+
+
+  // Primary type categories.
+
+  template<typename>
+    struct remove_cv;
+
+  template<typename>
+    struct __is_void_helper
+    : public false_type { };
+
+  template<>
+    struct __is_void_helper<void>
+    : public true_type { };
+
+  /// is_void
+  template<typename _Tp>
+    struct is_void
+    : public __is_void_helper<typename remove_cv<_Tp>::type>::type
+    { };
+
+  template<typename>
+    struct __is_integral_helper
+    : public false_type { };
+
+  template<>
+    struct __is_integral_helper<bool>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<char>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<signed char>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned char>
+    : public true_type { };
+
+#ifdef _GLIBCXX_USE_WCHAR_T
+  template<>
+    struct __is_integral_helper<wchar_t>
+    : public true_type { };
+#endif
+
+  template<>
+    struct __is_integral_helper<char16_t>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<char32_t>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<short>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned short>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<int>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned int>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<long>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned long>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<long long>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned long long>
+    : public true_type { };
+
+  // Conditionalizing on __STRICT_ANSI__ here will break any port that
+  // uses one of these types for size_t.
+#if defined(__GLIBCXX_TYPE_INT_N_0)
+  template<>
+    struct __is_integral_helper<__GLIBCXX_TYPE_INT_N_0>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned __GLIBCXX_TYPE_INT_N_0>
+    : public true_type { };
+#endif
+#if defined(__GLIBCXX_TYPE_INT_N_1)
+  template<>
+    struct __is_integral_helper<__GLIBCXX_TYPE_INT_N_1>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned __GLIBCXX_TYPE_INT_N_1>
+    : public true_type { };
+#endif
+#if defined(__GLIBCXX_TYPE_INT_N_2)
+  template<>
+    struct __is_integral_helper<__GLIBCXX_TYPE_INT_N_2>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned __GLIBCXX_TYPE_INT_N_2>
+    : public true_type { };
+#endif
+#if defined(__GLIBCXX_TYPE_INT_N_3)
+  template<>
+    struct __is_integral_helper<__GLIBCXX_TYPE_INT_N_3>
+    : public true_type { };
+
+  template<>
+    struct __is_integral_helper<unsigned __GLIBCXX_TYPE_INT_N_3>
+    : public true_type { };
+#endif
+
+  /// is_integral
+  template<typename _Tp>
+    struct is_integral
+    : public __is_integral_helper<typename remove_cv<_Tp>::type>::type
+    { };
+
+  template<typename>
+    struct __is_floating_point_helper
+    : public false_type { };
+
+  template<>
+    struct __is_floating_point_helper<float>
+    : public true_type { };
+
+  template<>
+    struct __is_floating_point_helper<double>
+    : public true_type { };
+
+  template<>
+    struct __is_floating_point_helper<long double>
+    : public true_type { };
+
+#if !defined(__STRICT_ANSI__) && defined(_GLIBCXX_USE_FLOAT128)
+  template<>
+    struct __is_floating_point_helper<__float128>
+    : public true_type { };
+#endif
+
+  /// is_floating_point
+  template<typename _Tp>
+    struct is_floating_point
+    : public __is_floating_point_helper<typename remove_cv<_Tp>::type>::type
+    { };
+
+
+
+
+  // Const-volatile modifications.
+
+  /// remove_const
+  template<typename _Tp>
+    struct remove_const
+    { typedef _Tp     type; };
+
+  template<typename _Tp>
+    struct remove_const<_Tp const>
+    { typedef _Tp     type; };
+
+  /// remove_volatile
+  template<typename _Tp>
+    struct remove_volatile
+    { typedef _Tp     type; };
+
+  template<typename _Tp>
+    struct remove_volatile<_Tp volatile>
+    { typedef _Tp     type; };
+
+  /// remove_cv
+  template<typename _Tp>
+    struct remove_cv
+    {
+      typedef typename
+      remove_const<typename remove_volatile<_Tp>::type>::type     type;
+    };
+
+
+  // Primary template.
+  /// Define a member typedef @c type only if a boolean constant is true.
+  template<bool, typename _Tp = void>
+    struct enable_if
+    { };
+
+  // Partial specialization for true.
+  template<typename _Tp>
+    struct enable_if<true, _Tp>
+    { typedef _Tp type; };
+
+
+  // Type relations.
+
+  /// is_same
+  template<typename, typename>
+    struct is_same
+    : public false_type { };
+
+  template<typename _Tp>
+    struct is_same<_Tp, _Tp>
+    : public true_type { };
+}