From f713f5ab5f3e80a95cfa726f22a4954e73289b01 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Wed, 21 Jul 2021 12:28:56 -0400
Subject: [PATCH] Change CAN protocols from Flags to Values

---
 Arduino/ODriveArduino/ODriveEnums.h |  2 +-
 Firmware/odrive-interface.yaml      | 18 ++++++++++--------
 tools/odrive/enums.py               |  2 +-
 3 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/Arduino/ODriveArduino/ODriveEnums.h b/Arduino/ODriveArduino/ODriveEnums.h
index f196ecbd..759cc2d9 100644
--- a/Arduino/ODriveArduino/ODriveEnums.h
+++ b/Arduino/ODriveArduino/ODriveEnums.h
@@ -37,7 +37,7 @@ enum StreamProtocolType {
 
 // ODrive.Can.Protocol
 enum Protocol {
-    PROTOCOL_SIMPLE                          = 0x00000001,
+    PROTOCOL_SIMPLE                          = 0,
 };
 
 // ODrive.Axis.AxisState
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index a0d0d00d..fd741784 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -986,14 +986,14 @@ interfaces:
             unit: Watt
       autotuning:
         c_is_class: False
+        doc: Automatically generate sine waves for frequency-domain response tuning
         attributes:
-          frequency: float32
-          pos_amplitude: float32
-          vel_amplitude: float32
-          torque_amplitude: float32
-          # pos_phase: float32
-          # vel_phase: float32
-          # torque_phase: float32
+          frequency: {type: float32, unit: Hz}
+          pos_amplitude: {type: float32, unit: turns}
+          vel_amplitude: {type: float32, unit: turns/sec}
+          torque_amplitude: {type: float32, unit: N-m}
+          measured_phase: readonly float32
+          measured_amplitude: readonly float32
       mechanical_power:
         type: readonly float32
         unit: Watt
@@ -1292,7 +1292,9 @@ valuetypes:
       AsciiAndStdout: {doc: Combination of `Ascii` and `Stdout`.}
 
   ODrive.Can.Protocol:
-    flags: {SIMPLE: }
+    values: 
+      SIMPLE:
+        doc: CANSimple, an ODrive-specific protocol for basic functionality
 
   ODrive.Axis.AxisState: # TODO: remove redundant "Axis" in name
     values:
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index 292ee3be..af2920df 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -28,7 +28,7 @@ STREAM_PROTOCOL_TYPE_STDOUT              = 2
 STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT    = 3
 
 # ODrive.Can.Protocol
-PROTOCOL_SIMPLE                          = 0x00000001
+PROTOCOL_SIMPLE                          = 0
 
 # ODrive.Axis.AxisState
 AXIS_STATE_UNDEFINED                     = 0