From 64324d17d4fd13c56d482823fab19c50554759f1 Mon Sep 17 00:00:00 2001
From: Samuel Sadok <samuel.sadok@bluewin.ch>
Date: Fri, 27 Apr 2018 17:36:47 -0700
Subject: [PATCH] update header file generator to address axes by number

---
 ArduinoI2C/odrive.h               |   4 +-
 ArduinoI2C/odrive_endpoints.h     | 460 +++++++++---------------------
 tools/odrive/code_generator.py    |  20 +-
 tools/odrive_header_template.h.in |  14 +-
 4 files changed, 173 insertions(+), 325 deletions(-)

diff --git a/ArduinoI2C/odrive.h b/ArduinoI2C/odrive.h
index 9458af55..bce435f1 100644
--- a/ArduinoI2C/odrive.h
+++ b/ArduinoI2C/odrive.h
@@ -166,12 +166,12 @@ namespace odrive {
 
     template<int IPropertyId>
     bool read_axis_property(uint8_t num, uint8_t axis, endpoint_type_t<IPropertyId>* value) {
-        return read_property<IPropertyId>(num, value, IPropertyId + axis * AXIS_ENDPOINT_COUNT);
+        return read_property<IPropertyId>(num, value, IPropertyId + axis * per_axis_offset);
     }
 
     template<int IPropertyId>
     bool write_axis_property(uint8_t num, uint8_t axis, endpoint_type_t<IPropertyId> value) {
-        return write_property<IPropertyId>(num, value, IPropertyId + axis * AXIS_ENDPOINT_COUNT);
+        return write_property<IPropertyId>(num, value, IPropertyId + axis * per_axis_offset);
     }
 
 
diff --git a/ArduinoI2C/odrive_endpoints.h b/ArduinoI2C/odrive_endpoints.h
index 3397f364..765da575 100644
--- a/ArduinoI2C/odrive_endpoints.h
+++ b/ArduinoI2C/odrive_endpoints.h
@@ -9,234 +9,145 @@
 #ifndef __ODRIVE_ENDPOINTS_HPP
 #define __ODRIVE_ENDPOINTS_HPP
 
-#define AXIS_ENDPOINT_COUNT 101
 
 namespace odrive {
     
 static constexpr const uint16_t json_crc = 0x64cd;
 
+static constexpr const uint16_t per_axis_offset = 101;
+
 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,
-  AXIS__ERROR = 33,
-  AXIS__ENABLE_STEP_DIR = 34,
-  AXIS__CURRENT_STATE = 35,
-  AXIS__REQUESTED_STATE = 36,
-  AXIS__LOOP_COUNTER = 37,
-  AXIS__CONFIG__STARTUP_MOTOR_CALIBRATION = 38,
-  AXIS__CONFIG__STARTUP_ENCODER_INDEX_SEARCH = 39,
-  AXIS__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION = 40,
-  AXIS__CONFIG__STARTUP_CLOSED_LOOP_CONTROL = 41,
-  AXIS__CONFIG__STARTUP_SENSORLESS_CONTROL = 42,
-  AXIS__CONFIG__ENABLE_STEP_DIR = 43,
-  AXIS__CONFIG__COUNTS_PER_STEP = 44,
-  AXIS__CONFIG__RAMP_UP_TIME = 45,
-  AXIS__CONFIG__RAMP_UP_DISTANCE = 46,
-  AXIS__CONFIG__SPIN_UP_CURRENT = 47,
-  AXIS__CONFIG__SPIN_UP_ACCELERATION = 48,
-  AXIS__CONFIG__SPIN_UP_TARGET_VEL = 49,
-  AXIS__MOTOR__ERROR = 50,
-  AXIS__MOTOR__ARMED_STATE = 51,
-  AXIS__MOTOR__IS_CALIBRATED = 52,
-  AXIS__MOTOR__CURRENT_MEAS_PHB = 53,
-  AXIS__MOTOR__CURRENT_MEAS_PHC = 54,
-  AXIS__MOTOR__DC_CALIB_PHB = 55,
-  AXIS__MOTOR__DC_CALIB_PHC = 56,
-  AXIS__MOTOR__PHASE_CURRENT_REV_GAIN = 57,
-  AXIS__MOTOR__CURRENT_CONTROL__P_GAIN = 58,
-  AXIS__MOTOR__CURRENT_CONTROL__I_GAIN = 59,
-  AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 60,
-  AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 61,
-  AXIS__MOTOR__CURRENT_CONTROL__IBUS = 62,
-  AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 63,
-  AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 64,
-  AXIS__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 65,
-  AXIS__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 66,
-  AXIS__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT = 67,
-  AXIS__MOTOR__GATE_DRIVER__DRV_FAULT = 68,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL = 69,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I = 70,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC = 71,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R = 72,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L = 73,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB = 74,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH = 75,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE = 76,
-  AXIS__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT = 77,
-  AXIS__MOTOR__CONFIG__PRE_CALIBRATED = 78,
-  AXIS__MOTOR__CONFIG__POLE_PAIRS = 79,
-  AXIS__MOTOR__CONFIG__CALIBRATION_CURRENT = 80,
-  AXIS__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 81,
-  AXIS__MOTOR__CONFIG__PHASE_INDUCTANCE = 82,
-  AXIS__MOTOR__CONFIG__PHASE_RESISTANCE = 83,
-  AXIS__MOTOR__CONFIG__DIRECTION = 84,
-  AXIS__MOTOR__CONFIG__MOTOR_TYPE = 85,
-  AXIS__MOTOR__CONFIG__CURRENT_LIM = 86,
-  AXIS__CONTROLLER__POS_SETPOINT = 87,
-  AXIS__CONTROLLER__VEL_SETPOINT = 88,
-  AXIS__CONTROLLER__VEL_INTEGRATOR_CURRENT = 89,
-  AXIS__CONTROLLER__CURRENT_SETPOINT = 90,
-  AXIS__CONTROLLER__CONFIG__CONTROL_MODE = 91,
-  AXIS__CONTROLLER__CONFIG__POS_GAIN = 92,
-  AXIS__CONTROLLER__CONFIG__VEL_GAIN = 93,
-  AXIS__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 94,
-  AXIS__CONTROLLER__CONFIG__VEL_LIMIT = 95,
-  AXIS__CONTROLLER__START_ANTICOGGING_CALIBRATION = 105,
-  AXIS__ENCODER__ERROR = 106,
-  AXIS__ENCODER__IS_READY = 107,
-  AXIS__ENCODER__INDEX_FOUND = 108,
-  AXIS__ENCODER__SHADOW_COUNT = 109,
-  AXIS__ENCODER__COUNT_IN_CPR = 110,
-  AXIS__ENCODER__OFFSET = 111,
-  AXIS__ENCODER__INTERPOLATION = 112,
-  AXIS__ENCODER__PHASE = 113,
-  AXIS__ENCODER__POS_ESTIMATE = 114,
-  AXIS__ENCODER__POS_CPR = 115,
-  AXIS__ENCODER__HALL_STATE = 116,
-  AXIS__ENCODER__PLL_VEL = 117,
-  AXIS__ENCODER__PLL_KP = 118,
-  AXIS__ENCODER__PLL_KI = 119,
-  AXIS__ENCODER__CONFIG__MODE = 120,
-  AXIS__ENCODER__CONFIG__USE_INDEX = 121,
-  AXIS__ENCODER__CONFIG__PRE_CALIBRATED = 122,
-  AXIS__ENCODER__CONFIG__IDX_SEARCH_SPEED = 123,
-  AXIS__ENCODER__CONFIG__CPR = 124,
-  AXIS__ENCODER__CONFIG__OFFSET = 125,
-  AXIS__ENCODER__CONFIG__OFFSET_FLOAT = 126,
-  AXIS__ENCODER__CONFIG__CALIB_RANGE = 127,
-  AXIS__SENSORLESS_ESTIMATOR__ERROR = 128,
-  AXIS__SENSORLESS_ESTIMATOR__PHASE = 129,
-  AXIS__SENSORLESS_ESTIMATOR__PLL_POS = 130,
-  AXIS__SENSORLESS_ESTIMATOR__PLL_VEL = 131,
-  AXIS__SENSORLESS_ESTIMATOR__PLL_KP = 132,
-  AXIS__SENSORLESS_ESTIMATOR__PLL_KI = 133,
-  AXIS1__ERROR = 134,
-  AXIS1__ENABLE_STEP_DIR = 135,
-  AXIS1__CURRENT_STATE = 136,
-  AXIS1__REQUESTED_STATE = 137,
-  AXIS1__LOOP_COUNTER = 138,
-  AXIS1__CONFIG__STARTUP_MOTOR_CALIBRATION = 139,
-  AXIS1__CONFIG__STARTUP_ENCODER_INDEX_SEARCH = 140,
-  AXIS1__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION = 141,
-  AXIS1__CONFIG__STARTUP_CLOSED_LOOP_CONTROL = 142,
-  AXIS1__CONFIG__STARTUP_SENSORLESS_CONTROL = 143,
-  AXIS1__CONFIG__ENABLE_STEP_DIR = 144,
-  AXIS1__CONFIG__COUNTS_PER_STEP = 145,
-  AXIS1__CONFIG__RAMP_UP_TIME = 146,
-  AXIS1__CONFIG__RAMP_UP_DISTANCE = 147,
-  AXIS1__CONFIG__SPIN_UP_CURRENT = 148,
-  AXIS1__CONFIG__SPIN_UP_ACCELERATION = 149,
-  AXIS1__CONFIG__SPIN_UP_TARGET_VEL = 150,
-  AXIS1__MOTOR__ERROR = 151,
-  AXIS1__MOTOR__ARMED_STATE = 152,
-  AXIS1__MOTOR__IS_CALIBRATED = 153,
-  AXIS1__MOTOR__CURRENT_MEAS_PHB = 154,
-  AXIS1__MOTOR__CURRENT_MEAS_PHC = 155,
-  AXIS1__MOTOR__DC_CALIB_PHB = 156,
-  AXIS1__MOTOR__DC_CALIB_PHC = 157,
-  AXIS1__MOTOR__PHASE_CURRENT_REV_GAIN = 158,
-  AXIS1__MOTOR__CURRENT_CONTROL__P_GAIN = 159,
-  AXIS1__MOTOR__CURRENT_CONTROL__I_GAIN = 160,
-  AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 161,
-  AXIS1__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 162,
-  AXIS1__MOTOR__CURRENT_CONTROL__IBUS = 163,
-  AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 164,
-  AXIS1__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 165,
-  AXIS1__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 166,
-  AXIS1__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 167,
-  AXIS1__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT = 168,
-  AXIS1__MOTOR__GATE_DRIVER__DRV_FAULT = 169,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL = 170,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I = 171,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC = 172,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R = 173,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L = 174,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB = 175,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH = 176,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE = 177,
-  AXIS1__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT = 178,
-  AXIS1__MOTOR__CONFIG__PRE_CALIBRATED = 179,
-  AXIS1__MOTOR__CONFIG__POLE_PAIRS = 180,
-  AXIS1__MOTOR__CONFIG__CALIBRATION_CURRENT = 181,
-  AXIS1__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 182,
-  AXIS1__MOTOR__CONFIG__PHASE_INDUCTANCE = 183,
-  AXIS1__MOTOR__CONFIG__PHASE_RESISTANCE = 184,
-  AXIS1__MOTOR__CONFIG__DIRECTION = 185,
-  AXIS1__MOTOR__CONFIG__MOTOR_TYPE = 186,
-  AXIS1__MOTOR__CONFIG__CURRENT_LIM = 187,
-  AXIS1__CONTROLLER__POS_SETPOINT = 188,
-  AXIS1__CONTROLLER__VEL_SETPOINT = 189,
-  AXIS1__CONTROLLER__VEL_INTEGRATOR_CURRENT = 190,
-  AXIS1__CONTROLLER__CURRENT_SETPOINT = 191,
-  AXIS1__CONTROLLER__CONFIG__CONTROL_MODE = 192,
-  AXIS1__CONTROLLER__CONFIG__POS_GAIN = 193,
-  AXIS1__CONTROLLER__CONFIG__VEL_GAIN = 194,
-  AXIS1__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 195,
-  AXIS1__CONTROLLER__CONFIG__VEL_LIMIT = 196,
-  AXIS1__CONTROLLER__START_ANTICOGGING_CALIBRATION = 206,
-  AXIS1__ENCODER__ERROR = 207,
-  AXIS1__ENCODER__IS_READY = 208,
-  AXIS1__ENCODER__INDEX_FOUND = 209,
-  AXIS1__ENCODER__SHADOW_COUNT = 210,
-  AXIS1__ENCODER__COUNT_IN_CPR = 211,
-  AXIS1__ENCODER__OFFSET = 212,
-  AXIS1__ENCODER__INTERPOLATION = 213,
-  AXIS1__ENCODER__PHASE = 214,
-  AXIS1__ENCODER__POS_ESTIMATE = 215,
-  AXIS1__ENCODER__POS_CPR = 216,
-  AXIS1__ENCODER__HALL_STATE = 217,
-  AXIS1__ENCODER__PLL_VEL = 218,
-  AXIS1__ENCODER__PLL_KP = 219,
-  AXIS1__ENCODER__PLL_KI = 220,
-  AXIS1__ENCODER__CONFIG__MODE = 221,
-  AXIS1__ENCODER__CONFIG__USE_INDEX = 222,
-  AXIS1__ENCODER__CONFIG__PRE_CALIBRATED = 223,
-  AXIS1__ENCODER__CONFIG__IDX_SEARCH_SPEED = 224,
-  AXIS1__ENCODER__CONFIG__CPR = 225,
-  AXIS1__ENCODER__CONFIG__OFFSET = 226,
-  AXIS1__ENCODER__CONFIG__OFFSET_FLOAT = 227,
-  AXIS1__ENCODER__CONFIG__CALIB_RANGE = 228,
-  AXIS1__SENSORLESS_ESTIMATOR__ERROR = 229,
-  AXIS1__SENSORLESS_ESTIMATOR__PHASE = 230,
-  AXIS1__SENSORLESS_ESTIMATOR__PLL_POS = 231,
-  AXIS1__SENSORLESS_ESTIMATOR__PLL_VEL = 232,
-  AXIS1__SENSORLESS_ESTIMATOR__PLL_KP = 233,
-  AXIS1__SENSORLESS_ESTIMATOR__PLL_KI = 234,
-  TEST_PROPERTY = 235,
-  SAVE_CONFIGURATION = 242,
-  ERASE_CONFIGURATION = 243,
-  REBOOT = 244,
-  ENTER_DFU_MODE = 245,
+    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,
+    TEST_PROPERTY = 235,
+    SAVE_CONFIGURATION = 242,
+    ERASE_CONFIGURATION = 243,
+    REBOOT = 244,
+    ENTER_DFU_MODE = 245,
+
+    // Per-Axis endpoints (to be used with read_axis_property and write_axis_property)
+    AXIS__ERROR = 33,
+    AXIS__ENABLE_STEP_DIR = 34,
+    AXIS__CURRENT_STATE = 35,
+    AXIS__REQUESTED_STATE = 36,
+    AXIS__LOOP_COUNTER = 37,
+    AXIS__CONFIG__STARTUP_MOTOR_CALIBRATION = 38,
+    AXIS__CONFIG__STARTUP_ENCODER_INDEX_SEARCH = 39,
+    AXIS__CONFIG__STARTUP_ENCODER_OFFSET_CALIBRATION = 40,
+    AXIS__CONFIG__STARTUP_CLOSED_LOOP_CONTROL = 41,
+    AXIS__CONFIG__STARTUP_SENSORLESS_CONTROL = 42,
+    AXIS__CONFIG__ENABLE_STEP_DIR = 43,
+    AXIS__CONFIG__COUNTS_PER_STEP = 44,
+    AXIS__CONFIG__RAMP_UP_TIME = 45,
+    AXIS__CONFIG__RAMP_UP_DISTANCE = 46,
+    AXIS__CONFIG__SPIN_UP_CURRENT = 47,
+    AXIS__CONFIG__SPIN_UP_ACCELERATION = 48,
+    AXIS__CONFIG__SPIN_UP_TARGET_VEL = 49,
+    AXIS__MOTOR__ERROR = 50,
+    AXIS__MOTOR__ARMED_STATE = 51,
+    AXIS__MOTOR__IS_CALIBRATED = 52,
+    AXIS__MOTOR__CURRENT_MEAS_PHB = 53,
+    AXIS__MOTOR__CURRENT_MEAS_PHC = 54,
+    AXIS__MOTOR__DC_CALIB_PHB = 55,
+    AXIS__MOTOR__DC_CALIB_PHC = 56,
+    AXIS__MOTOR__PHASE_CURRENT_REV_GAIN = 57,
+    AXIS__MOTOR__CURRENT_CONTROL__P_GAIN = 58,
+    AXIS__MOTOR__CURRENT_CONTROL__I_GAIN = 59,
+    AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_D = 60,
+    AXIS__MOTOR__CURRENT_CONTROL__V_CURRENT_CONTROL_INTEGRAL_Q = 61,
+    AXIS__MOTOR__CURRENT_CONTROL__IBUS = 62,
+    AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_ALPHA = 63,
+    AXIS__MOTOR__CURRENT_CONTROL__FINAL_V_BETA = 64,
+    AXIS__MOTOR__CURRENT_CONTROL__IQ_SETPOINT = 65,
+    AXIS__MOTOR__CURRENT_CONTROL__IQ_MEASURED = 66,
+    AXIS__MOTOR__CURRENT_CONTROL__MAX_ALLOWED_CURRENT = 67,
+    AXIS__MOTOR__GATE_DRIVER__DRV_FAULT = 68,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_GENERAL = 69,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_I = 70,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ADC_CB_DC = 71,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_R = 72,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_MEAS_L = 73,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_ENC_CALIB = 74,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_IDX_SEARCH = 75,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_FOC_VOLTAGE = 76,
+    AXIS__MOTOR__TIMING_LOG__TIMING_LOG_FOC_CURRENT = 77,
+    AXIS__MOTOR__CONFIG__PRE_CALIBRATED = 78,
+    AXIS__MOTOR__CONFIG__POLE_PAIRS = 79,
+    AXIS__MOTOR__CONFIG__CALIBRATION_CURRENT = 80,
+    AXIS__MOTOR__CONFIG__RESISTANCE_CALIB_MAX_VOLTAGE = 81,
+    AXIS__MOTOR__CONFIG__PHASE_INDUCTANCE = 82,
+    AXIS__MOTOR__CONFIG__PHASE_RESISTANCE = 83,
+    AXIS__MOTOR__CONFIG__DIRECTION = 84,
+    AXIS__MOTOR__CONFIG__MOTOR_TYPE = 85,
+    AXIS__MOTOR__CONFIG__CURRENT_LIM = 86,
+    AXIS__CONTROLLER__POS_SETPOINT = 87,
+    AXIS__CONTROLLER__VEL_SETPOINT = 88,
+    AXIS__CONTROLLER__VEL_INTEGRATOR_CURRENT = 89,
+    AXIS__CONTROLLER__CURRENT_SETPOINT = 90,
+    AXIS__CONTROLLER__CONFIG__CONTROL_MODE = 91,
+    AXIS__CONTROLLER__CONFIG__POS_GAIN = 92,
+    AXIS__CONTROLLER__CONFIG__VEL_GAIN = 93,
+    AXIS__CONTROLLER__CONFIG__VEL_INTEGRATOR_GAIN = 94,
+    AXIS__CONTROLLER__CONFIG__VEL_LIMIT = 95,
+    AXIS__CONTROLLER__START_ANTICOGGING_CALIBRATION = 105,
+    AXIS__ENCODER__ERROR = 106,
+    AXIS__ENCODER__IS_READY = 107,
+    AXIS__ENCODER__INDEX_FOUND = 108,
+    AXIS__ENCODER__SHADOW_COUNT = 109,
+    AXIS__ENCODER__COUNT_IN_CPR = 110,
+    AXIS__ENCODER__OFFSET = 111,
+    AXIS__ENCODER__INTERPOLATION = 112,
+    AXIS__ENCODER__PHASE = 113,
+    AXIS__ENCODER__POS_ESTIMATE = 114,
+    AXIS__ENCODER__POS_CPR = 115,
+    AXIS__ENCODER__HALL_STATE = 116,
+    AXIS__ENCODER__PLL_VEL = 117,
+    AXIS__ENCODER__PLL_KP = 118,
+    AXIS__ENCODER__PLL_KI = 119,
+    AXIS__ENCODER__CONFIG__MODE = 120,
+    AXIS__ENCODER__CONFIG__USE_INDEX = 121,
+    AXIS__ENCODER__CONFIG__PRE_CALIBRATED = 122,
+    AXIS__ENCODER__CONFIG__IDX_SEARCH_SPEED = 123,
+    AXIS__ENCODER__CONFIG__CPR = 124,
+    AXIS__ENCODER__CONFIG__OFFSET = 125,
+    AXIS__ENCODER__CONFIG__OFFSET_FLOAT = 126,
+    AXIS__ENCODER__CONFIG__CALIB_RANGE = 127,
+    AXIS__SENSORLESS_ESTIMATOR__ERROR = 128,
+    AXIS__SENSORLESS_ESTIMATOR__PHASE = 129,
+    AXIS__SENSORLESS_ESTIMATOR__PLL_POS = 130,
+    AXIS__SENSORLESS_ESTIMATOR__PLL_VEL = 131,
+    AXIS__SENSORLESS_ESTIMATOR__PLL_KP = 132,
+    AXIS__SENSORLESS_ESTIMATOR__PLL_KI = 133,
 };
 
 template<int I>
@@ -274,6 +185,14 @@ 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<TEST_PROPERTY> { typedef uint32_t type; };
+template<> struct endpoint_type<SAVE_CONFIGURATION> { typedef void type; };
+template<> struct endpoint_type<ERASE_CONFIGURATION> { typedef void type; };
+template<> struct endpoint_type<REBOOT> { typedef void type; };
+template<> struct endpoint_type<ENTER_DFU_MODE> { typedef void type; };
+
+
+// Per-axis endpoints
 template<> struct endpoint_type<AXIS__ERROR> { typedef uint16_t type; };
 template<> struct endpoint_type<AXIS__ENABLE_STEP_DIR> { typedef bool type; };
 template<> struct endpoint_type<AXIS__CURRENT_STATE> { typedef uint8_t type; };
@@ -366,103 +285,6 @@ template<> struct endpoint_type<AXIS__SENSORLESS_ESTIMATOR__PLL_POS> { typedef f
 template<> struct endpoint_type<AXIS__SENSORLESS_ESTIMATOR__PLL_VEL> { typedef float type; };
 template<> struct endpoint_type<AXIS__SENSORLESS_ESTIMATOR__PLL_KP> { typedef float type; };
 template<> struct endpoint_type<AXIS__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 uint16_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__CONTROLLER__START_ANTICOGGING_CALIBRATION> { typedef void 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__INTERPOLATION> { typedef float 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__HALL_STATE> { typedef uint8_t 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__MODE> { typedef uint8_t 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__OFFSET_FLOAT> { typedef float 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<> struct endpoint_type<SAVE_CONFIGURATION> { typedef void type; };
-template<> struct endpoint_type<ERASE_CONFIGURATION> { typedef void type; };
-template<> struct endpoint_type<REBOOT> { typedef void type; };
-template<> struct endpoint_type<ENTER_DFU_MODE> { typedef void type; };
 
 
 template<int I>
diff --git a/tools/odrive/code_generator.py b/tools/odrive/code_generator.py
index 45c01c22..c14d6bcb 100644
--- a/tools/odrive/code_generator.py
+++ b/tools/odrive/code_generator.py
@@ -3,10 +3,12 @@ import jinja2
 import os
 import json
 
-def get_flat_endpoint_list(json, prefix):
+def get_flat_endpoint_list(json, prefix, id_offset):
     flat_list = []
     for item in json:
         item = item.copy()
+        if 'id' in item:
+            item['id'] -= id_offset
         if 'type' in item:
             if item['type'] in {'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64'}:
                 item['type'] += '_t'
@@ -25,14 +27,22 @@ def get_flat_endpoint_list(json, prefix):
                 item['name'] = prefix + item['name']
                 flat_list.append(item)
         if 'members' in item:
-            flat_list = flat_list + get_flat_endpoint_list(item['members'], prefix + item['name'] + '.')
+            flat_list = flat_list + get_flat_endpoint_list(item['members'], prefix + item['name'] + '.', id_offset)
     return flat_list
 
 def generate_code(odrv, template_file, output_file):
     json_data = odrv._json_data
     json_crc = odrv._json_crc
 
-    endpoints = get_flat_endpoint_list(json_data, '')
+    axis0_json = [item for item in json_data if item['name'].startswith("axis0")][0]
+    axis1_json = [item for item in json_data if item['name'].startswith("axis1")][0]
+    json_data = [item for item in json_data if not item['name'].startswith("axis")]
+    endpoints = get_flat_endpoint_list(json_data, '', 0)
+    per_axis_offset = axis1_json['members'][0]['id'] - axis0_json['members'][0]['id']
+    axis_endpoints = get_flat_endpoint_list(axis0_json['members'], 'axis.', 0)
+    axis_endpoints_copy = get_flat_endpoint_list(axis1_json['members'], 'axis.', per_axis_offset)
+    if axis_endpoints != axis_endpoints_copy:
+        raise Exception("axis0 and axis1 don't look exactly equal")
 
     env = jinja2.Environment(
         #loader = jinja2.FileSystemLoader("/Data/Projects/")
@@ -43,11 +53,15 @@ def generate_code(odrv, template_file, output_file):
     # Expose helper functions to jinja template code
     #env.filters["delimit"] = camel_case_to_words
 
+    #import ipdb; ipdb.set_trace()
+
     # Load and render template
     template = env.from_string(template_file.read())
     output = template.render(
         json_crc=json_crc,
         endpoints=endpoints,
+        per_axis_offset=per_axis_offset,
+        axis_endpoints=axis_endpoints,
         output_name=os.path.basename(output_file.name)
     )
 
diff --git a/tools/odrive_header_template.h.in b/tools/odrive_header_template.h.in
index c07e0174..8a7befd1 100644
--- a/tools/odrive_header_template.h.in
+++ b/tools/odrive_header_template.h.in
@@ -14,8 +14,15 @@ namespace odrive {
     
 static constexpr const uint16_t json_crc = 0x{{ "%0x" | format(json_crc) }};
 
+static constexpr const uint16_t per_axis_offset = {{ per_axis_offset }};
+
 enum { {% for endpoint in endpoints %}
-  {{enum_name(endpoint)}} = {{endpoint.id}},
+    {{enum_name(endpoint)}} = {{endpoint.id}},
+{%- endfor %}
+
+    // Per-Axis endpoints (to be used with read_axis_property and write_axis_property)
+{%- for endpoint in axis_endpoints %}
+    {{enum_name(endpoint)}} = {{endpoint.id}},
 {%- endfor %}
 };
 
@@ -26,6 +33,11 @@ struct endpoint_type;
 template<> struct endpoint_type<{{enum_name(endpoint)}}> { typedef {{endpoint.type}} type; };
 {% endfor %}
 
+// Per-axis endpoints
+{% for endpoint in axis_endpoints -%}
+template<> struct endpoint_type<{{enum_name(endpoint)}}> { typedef {{endpoint.type}} type; };
+{% endfor %}
+
 template<int I>
 using endpoint_type_t = typename endpoint_type<I>::type;