---
version:  0.0.1
ns:       com.odriverobotics
summary:  ODrive Interface Definitions

dictionary: [ODrive] # Prevent the word 'ODrive' from being detected as two words 'O' and 'Drive'

userdata:
  c_preamble: |
    #include <tuple>
    using float2D = std::pair<float, float>;
    struct Iph_ABC_t { float phA; float phB; float phC; };

interfaces:
  ODrive:
    c_is_class: True
    brief: Toplevel interface of your ODrive.
    doc: |
      The odrv0, odrv1, ... objects that appear in odrivetool implement this
      toplevel interface.
    attributes:
      error:
        nullflag: NONE
        flags:
          CONTROL_ITERATION_MISSED:
            brief: At least one control iteration was missed.
            doc: |
              The main control loop is supposed to runs at a fixed frequency.
              If the device is computationally overloaded (e.g. too many active
              components) it's possible that one or more control iterations
              are skipped.
          DC_BUS_UNDER_VOLTAGE:
            brief: The DC voltage fell below the limit configured in `config.dc_bus_undervoltage_trip_level`.
            doc: |
              Confirm that your power leads are connected securely. For initial
              testing a 12V PSU which can supply a couple of amps should be
              sufficient while the use of low current ‘wall wart’ plug packs may
              lead to inconsistent behaviour and is not recommended.

              You can monitor your PSU voltage using liveplotter in odrivetool
              by entering `start_liveplotter(lambda: [odrv0.vbus_voltage])`. If
              you see your votlage drop below `config.dc_bus_undervoltage_trip_level`
              (default: ~ 8V) then you will trip this error. Even a relatively
              small motor can draw multiple kW momentary and so unless you have
              a very large PSU or are running of a battery you may encounter
              this error when executing high speed movements with a high current
              limit. To limit your PSU power draw you can limit your motor
              current and/or velocity limit `Axis:controller.config.vel_limit` and
              `Axis:motor.config.current_lim`.
          DC_BUS_OVER_VOLTAGE:
            brief: The DC voltage exceeded the limit configured in `config.dc_bus_overvoltage_trip_level`.
            doc: |
              Confirm that you have a brake resistor of the correct value
              connected securely and that `config.brake_resistance` is set to
              the value of your brake resistor.

              You can monitor your PSU voltage using liveplotter in odrivetool
              by entering `start_liveplotter(lambda: [odrv0.vbus_voltage])`. If
              during a move you see the voltage rise above your PSU’s nominal
              set voltage then you have your brake resistance set too low. This
              may happen if you are using long wires or small gauge wires to
              connect your brake resistor to your odrive which will added extra
              resistance. This extra resistance needs to be accounted for to
              prevent this voltage spike. If you have checked all your
              connections you can also try increasing your brake resistance by
              ~ 0.01 Ohm at a time to a maximum of 0.05 greater than your brake
              resistor value.
          DC_BUS_OVER_REGEN_CURRENT:
            doc: |
              Current flowing back into the power supply exceeded `config.dc_max_negative_current`.
              This can happen if your brake resistor is disabled or unable to handle the braking current.
              
              Check that `config.enable_brake_resistor` is `True` and that
              `(V_power_supply / Brake_resistance) > (total motor.config.current_lim + total motor.config.current_lim_margin)`.
          DC_BUS_OVER_CURRENT:
            doc: |
              Too much current was pulled from the power supply. `ibus` exceeded `config.dc_max_positive_current`.
          BRAKE_DEADTIME_VIOLATION:
          BRAKE_DUTY_CYCLE_NAN:
          INVALID_BRAKE_RESISTANCE: {doc: '`config.brake_resistance` is non-positive or NaN. Make sure that `config.brake_resistance` is a positive number.'}
#          BRAKE_RESISTOR_DISARMED:
#            doc: The brake resistor was unexpectedly disarmed.
        
      vbus_voltage:
        type: readonly float32
        unit: V
        brief: Voltage on the DC bus as measured by the ODrive.
      ibus:
        type: readonly float32
        unit: A
        brief: Current on the DC bus as calculated by the ODrive.
        doc: |
          A positive value means that the ODrive is consuming power from the power supply,
          a negative value means that the ODrive is sourcing power to the power supply.

          This value is equal to the sum of the motor currents and the brake resistor currents.
          The motor currents are measured, the brake resistor current is calculated based on
          `config.brake_resistance`.
      ibus_report_filter_k:
          type: float32
          doc: |
            Filter gain for the reported `ibus`. Set to a value below 1.0 to get a smoother
            line when plotting `ibus`. Set to 1.0 to disable. This filter is only applied to
            the reported value and not for internal calculations.
      serial_number: readonly uint64
      hw_version_major: readonly uint8
      hw_version_minor: readonly uint8
      hw_version_variant: readonly uint8
      fw_version_major: readonly uint8
      fw_version_minor: readonly uint8
      fw_version_revision: readonly uint8
      fw_version_unreleased:
        type: readonly uint8
        doc: 0 for official releases, 1 otherwise
      brake_resistor_armed: readonly bool
      brake_resistor_saturated: readonly bool
      brake_resistor_current:
        type: readonly float32
        doc: Commanded brake resistor current
      # Diagnostics & performance monitoring
      n_evt_sampling: {type: readonly uint32, doc: Number of input sampling events since startup (modulo 2^32)}
      n_evt_control_loop: {type: readonly uint32, doc: Number of control loop iterations since startup (modulo 2^32)}
      task_timers_armed:
        type: bool
        doc: |
          Set by a profiling application to trigger sampling of a single
          control iteration. Cleared by the device as soon as the sampling
          is complete.
      task_times:
        c_is_class: False
        attributes:
          sampling: TaskTimer
          control_loop_misc: TaskTimer
          control_loop_checks: TaskTimer
          dc_calib_wait: TaskTimer
      system_stats:
        c_is_class: False
        attributes:
          uptime: readonly uint32
          min_heap_space: readonly uint32
          max_stack_usage_axis: readonly uint32
          max_stack_usage_usb: readonly uint32
          max_stack_usage_uart: readonly uint32
          max_stack_usage_can: readonly uint32
          max_stack_usage_startup: readonly uint32
          max_stack_usage_analog: readonly uint32
          stack_size_axis: readonly uint32
          stack_size_usb: readonly uint32
          stack_size_uart: readonly uint32
          stack_size_startup: readonly uint32
          stack_size_can: readonly uint32
          stack_size_analog: readonly uint32
          prio_axis: readonly int32
          prio_usb: readonly int32
          prio_uart: readonly int32
          prio_startup: readonly int32
          prio_can: readonly int32
          prio_analog: readonly int32
          usb:
            c_is_class: False
            attributes:
              rx_cnt: readonly uint32
              tx_cnt: readonly uint32
              tx_overrun_cnt: readonly uint32
          i2c:
            c_is_class: False
            attributes:
              addr: readonly uint8
              addr_match_cnt: readonly uint32
              rx_cnt: readonly uint32
              error_cnt: readonly uint32
      user_config_loaded: readonly uint32
      misconfigured:
        # TODO: make this a system error
        type: readonly bool
        doc: |
          If this property is true, something is bad in the configuration. The
          ODrive can still be used in this state but the user should investigate
          which setting is problematic. This variable does not cover all
          misconfigurations.

          Possible causes:
           - A GPIO was set to a mode that it doesn't support
           - A GPIO was set to a mode for which the corresponding feature was
             not enabled. Example: `GPIO_MODE_UART_A` was used without enabling
             `config.enable_uart_a`.
           - A feature was enabled which is not supported on this hardware.
             Example: `config.enable_uart_c` set to true on ODrive v3.x.
           - A GPIO was used as an interrupt input for two internal components
             or two GPIOs that are mutually exclusive in their interrupt
             capability were both used as interrupt input.
             Example: `Axis:config.step_gpio_pin` of both axes were set to the same GPIO.
            
      oscilloscope: {type: Oscilloscope}
      can: {type: Can}
      test_property: uint32
      otp_valid: readonly bool
        
    functions:
      test_function: {in: {delta: int32}, out: {cnt: int32}}
      get_adc_voltage: {in: {gpio: uint32}, out: {voltage: float32}, doc: Reads the ADC voltage of the specified GPIO. The GPIO should be in `GPIO_MODE_ANALOG_IN`.}
      save_configuration: {out: {success: bool}, doc: Saves the current configuration to non-volatile memory and reboots the board.}
      erase_configuration:
      reboot:
      enter_dfu_mode:
      get_interrupt_status:
        in: {irqn: {type: int32, doc: '-12...-1: processor interrupts, 0...239: NVIC interrupts'}}
        out:
          status:
            type: uint32
            doc: |
              bit 31:     enabled (1) or disabled (0)
              bits 30:8:  number of times the interrupt fired (modulo 0x800000)
              bits 7:0:   priority (0 is highest priority)
              0xffffffff if the specified number is not a valid interrupt number.
        doc: Returns information about the specified interrupt number.
      get_dma_status:
        in: {stream_num: {type: uint8, doc: '0...7: DMA1 streams, 8...15: DMA2 streams'}}
        out:
          status:
            type: uint32
            doc: |
              bit 31:     zero if the stream's configuration is equal to the reset state
              bits 4:2:   channel
              bits 1:0:   priority (3 is highest priority)
              0xffffffff if the specified number is not a valid DMA stream number.
        doc: Returns information about the specified DMA stream.
      get_gpio_states:
        out: {status: {type: uint32}}
        doc: Returns the logic states of all GPIOs. Bit i represents the state of GPIOi.
      get_drv_fault: {out: {drv_fault: uint64}}
      clear_errors:
        doc: Clear all the errors of this device including all contained submodules.

  ODrive.Config:
    c_is_class: False
    attributes:
      enable_uart_a:
        type: bool
        brief: Enables/disables UART_A.
        doc: |
          You also need to set the corresponding GPIOs to GPIO_MODE_UART_A.
          Refer to [interfaces](interfaces.md) to see which pins support UART_A.
          Changing this requires a reboot.
      enable_uart_b:
        type: bool
        brief: Enables/disables UART_B.
        doc: |
          You also need to set the corresponding GPIOs to GPIO_MODE_UART_B.
          Refer to [interfaces](interfaces.md) to see which pins support UART_B.
          Changing this requires a reboot.
      enable_uart_c: {type: bool, doc: Not supported on ODrive v3.x.}
      uart_a_baudrate:
        type: uint32
        unit: baud/s
        brief: Defines the baudrate used on the UART interface.
        doc: |
          Some baudrates will have a small timing error due to hardware limitations.

          Here's an (incomplete) list of baudrates for ODrive v3.x:
          
            Configured  | Actual        | Error [%]
           -------------|---------------|-----------
            1.2 KBps    | 1.2 KBps      | 0
            2.4 KBps    | 2.4 KBps      | 0
            9.6 KBps    | 9.6 KBps      | 0
            19.2 KBps   | 19.195 KBps   | 0.02
            38.4 KBps   | 38.391 KBps   | 0.02
            57.6 KBps   | 57.613 KBps   | 0.02
            115.2 KBps  | 115.068 KBps  | 0.11
            230.4 KBps  | 230.769 KBps  | 0.16
            460.8 KBps  | 461.538 KBps  | 0.16
            921.6 KBps  | 913.043 KBps  | 0.93
            1.792 MBps  | 1.826 MBps    | 1.9
            1.8432 MBps | 1.826 MBps    | 0.93

          For more information refer to Section 30.3.4 and Table 142 (the column with f_PCLK = 42 MHz) in the
          [STM datasheet](https://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf).
      uart_b_baudrate:
        type: uint32
        unit: baud/s
        brief: Defines the baudrate used on the UART interface.
        doc: See `uart_a_baudrate` for details.
      uart_c_baudrate: {type: uint32, doc: Not supported on ODrive v3.x.}
      enable_can_a:
        type: bool
        doc: |
          Enables CAN. Changing this setting requires a reboot.
      enable_i2c_a:
        type: bool
        doc: |
          Enables I2C. The I2C pins on ODrive v3.x are in conflict with CAN.
          This setting has no effect if `enable_can_a` is also true.
          This setting has no effect on ODrive v3.2 or earlier.
          Changing this setting requires a reboot.
      usb_cdc_protocol:
        type: StreamProtocolType
        doc: |
          The protocol that's being run on the device's virtual COM port on
          USB.
          Note that the ODrive has two independent interfaces on USB: One
          is the virtual COM port (affected by this option) and the other
          one is a vendor specific interface which always runs Fibre.
          So changing this option does not affect the working of odrivetool.
      uart0_protocol: StreamProtocolType
      uart1_protocol: StreamProtocolType
      uart2_protocol: StreamProtocolType
      max_regen_current: float32
      brake_resistance:
        type: float32
        unit: Ohm
        brief: Value of the brake resistor connected to the ODrive.
        doc: |
          If you set this to a lower value than the true brake resistance
          then the ODrive will not meed the `max_regen_current` constraint
          during braking, that is it will sink more than `max_regen_current`
          into the power supply. Some power supplies don't like this.

          If you set this to a higher value than the true brake resistance
          then the ODrive will unnecessarily burn more power than required
          during braking.
      enable_brake_resistor:
        type: bool
        brief: Enable/disable the use of a brake resistor.
        doc: |
          Setting this to False even though a brake resistor is connected is
          harmless. Setting this to True even though no brake resistor is
          connected can break the power supply.
          Changes to this value require a reboot to take effect.

      dc_bus_undervoltage_trip_level:
        type: float32
        unit: V
        brief: Minimum voltage below which the motor stops operating.
      dc_bus_overvoltage_trip_level:
        type: float32
        unit: V
        brief: Maximum voltage above which the motor stops operating.
        doc: |
          This protects against cases in which the power supply fails to dissipate
          the brake power if the brake resistor is disabled.
          The default is 26V for the 24V board version and 52V for the 48V board version.

      enable_dc_bus_overvoltage_ramp:
        type: bool
        status: experimental
        brief: Enables the DC bus overvoltage ramp feature.
        doc: |
          If enabled, if the measured DC voltage exceeds `dc_bus_overvoltage_ramp_start`,
          the ODrive will sink more power than usual into the the brake resistor
          in an attempt to bring the voltage down again.
          
          The brake duty cycle is increased by the following amount:

           * `ODrive:vbus_voltage` == `dc_bus_overvoltage_ramp_start`  =>  brake_duty_cycle += 0%
           * `ODrive:vbus_voltage` == `dc_bus_overvoltage_ramp_end`  =>  brake_duty_cycle += 100%
          
          Remarks:
           - This feature is active even when all motors are disarmed.
           - This feature is disabled if `brake_resistance` is non-positive.
      dc_bus_overvoltage_ramp_start:
        type: float32
        status: experimental
        brief: See `enable_dc_bus_overvoltage_ramp`.
        doc: Do not set this lower than your usual `ODrive:vbus_voltage`,
          unless you like fried brake resistors.
      dc_bus_overvoltage_ramp_end:
        type: float32
        status: experimental
        brief: See `enable_dc_bus_overvoltage_ramp`.
        doc: Must be larger than `dc_bus_overvoltage_ramp_start`,
          otherwise the ramp feature is disabled.

      dc_max_positive_current:
        type: float32
        unit: A
        brief: Max current the power supply can source.
      dc_max_negative_current:
        type: float32
        unit: A
        brief: Max current the power supply can sink.
        doc: You most likely want a non-positive value here. Set to -INFINITY to disable.

      error_gpio_pin: {type: uint32}

      gpio3_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}
      gpio4_analog_mapping: {type: Endpoint, c_name: 'analog_mappings[4]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_ANALOG_IN`.}

  ODrive.Can:
    c_is_class: True
    attributes:
      error:
        nullflag: NONE
        flags: {DUPLICATE_CAN_IDS: }
      config:
        c_is_class: False
        attributes:
          baud_rate: {type: uint32, c_setter: 'set_baud_rate'}
          protocol: Protocol

  ODrive.Endpoint:
    c_is_class: False
    attributes:
      endpoint: endpoint_ref
      min: float32
      max: float32

  ODrive.Axis:
    c_is_class: True
    attributes:
      error:
        nullflag: NONE
        flags:
          INVALID_STATE:
            brief: An invalid state was requested.
            doc: |
              You tried to run a state before you are allowed to. Typically you
              tried to run encoder calibration or closed loop control before the
              motor was calibrated, or you tried to run closed loop control
              before the encoder was calibrated.
          WATCHDOG_TIMER_EXPIRED:
            bit: 11
            brief: The axis watchdog timer expired.
            doc: |
              An amount of time greater than `config.watchdog_timeout` passed
              without the watchdog being fed.
          MIN_ENDSTOP_PRESSED:
            brief: The min endstop was pressed
          MAX_ENDSTOP_PRESSED:
            brief: The max endstop was pressed
          ESTOP_REQUESTED:
            brief: The estop message was sent over CAN
          HOMING_WITHOUT_ENDSTOP:
            bit: 17
            doc: the min endstop was not enabled during homing
          OVER_TEMP:
            # unused
            doc: Check `motor.error` for more details.
          UNKNOWN_POSITION:
            doc: There isn't a valid position estimate available.
      step_dir_active: readonly bool
      last_drv_fault: readonly uint32
      steps: readonly int64
      current_state: readonly AxisState
      requested_state: AxisState
      is_homed: {type: bool, c_name: homing_.is_homed}
      config:
        c_is_class: False
        attributes:
          startup_motor_calibration:
            type: bool
            doc: run motor calibration at startup, skip otherwise
          startup_encoder_index_search:
            type: bool
            doc: run encoder index search after startup, skip otherwise this only has an effect if encoder.config.use_index is also true
          startup_encoder_offset_calibration:
            type: bool
            doc: run encoder offset calibration after startup, skip otherwise
          startup_closed_loop_control:
            type: bool
            doc: enable closed loop control after calibration/startup
          startup_homing:
            type: bool
            doc: enable homing after calibration/startup
          enable_step_dir:
            type: bool
            doc: Enable step/dir input after calibration.
              Make sure to set the corresponding GPIO's mode to `GPIO_MODE_DIGITAL`.
          step_dir_always_on:
            type: bool
            doc: Keep step/dir enabled while the motor is disabled.
              This is ignored if enable_step_dir is false.
              This setting only takes effect on a state transition
              into idle or out of closed loop control.
          enable_sensorless_mode: bool
          watchdog_timeout:
            type: float32
            unit: s
          enable_watchdog: bool
          step_gpio_pin: {type: uint16, c_setter: 'set_step_gpio_pin'}
          dir_gpio_pin: {type: uint16, c_setter: 'set_dir_gpio_pin'}
          calibration_lockin: # TODO: this is a subset of lockin state
            c_is_class: False
            attributes:
              current: float32
              ramp_time: float32
              ramp_distance: float32
              accel: float32
              vel: float32
          sensorless_ramp: LockinConfig
          general_lockin: LockinConfig
          can: CanConfig
      motor: Motor
      controller: Controller
      encoder: Encoder
      acim_estimator: AcimEstimator
      sensorless_estimator: SensorlessEstimator
      trap_traj: TrapezoidalTrajectory
      min_endstop: Endstop
      max_endstop: Endstop
      mechanical_brake: MechanicalBrake
      task_times:
        c_is_class: False
        attributes:
          thermistor_update: TaskTimer
          encoder_update: TaskTimer
          sensorless_estimator_update: TaskTimer
          endstop_update: TaskTimer
          can_heartbeat: TaskTimer
          controller_update: TaskTimer
          open_loop_controller_update: TaskTimer
          acim_estimator_update: TaskTimer
          motor_update: TaskTimer
          current_controller_update: TaskTimer
          dc_calib: TaskTimer
          current_sense: TaskTimer
          pwm_update: TaskTimer
    functions:
      watchdog_feed:
        doc: Feed the watchdog to prevent watchdog timeouts.

  ODrive.Axis.LockinConfig:
    c_is_class: False
    attributes:
      current:
        type: float32
        unit: A
      ramp_time:
        type: float32
        unit: s
      ramp_distance:
        type: float32
        unit: rad
      accel:
        type: float32
        unit: rad/s^2
      vel:
        type: float32
        unit: rad/s
      finish_distance:
        type: float32
        unit: rad
      finish_on_vel: bool
      finish_on_distance: bool
      finish_on_enc_idx: bool

  ODrive.Axis.CanConfig:
    c_is_class: False
    attributes:
      node_id: uint32
      is_extended: bool
      heartbeat_rate_ms: uint32
      encoder_rate_ms: uint32

  ODrive.ThermistorCurrentLimiter:
    c_is_class: False

  ODrive.OnboardThermistorCurrentLimiter:
    c_is_class: True
    attributes:
      temperature:
        type: readonly float32
        unit: °C
      config:
        c_is_class: False
        attributes:
          temp_limit_lower: 
            type: float32
            doc: The lower limit when the controller starts limiting current.
          temp_limit_upper: 
            type: float32
            doc: The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.
          enabled: {type: bool, doc: Whether this thermistor is enabled. }

  ODrive.OffboardThermistorCurrentLimiter:
    c_is_class: True
    attributes:
      temperature:
        type: readonly float32
        unit: °C
      config:
        c_is_class: False
        attributes:
          gpio_pin: {type: uint16, c_setter: set_gpio_pin}
          poly_coefficient_0: {type: float32, c_name: 'thermistor_poly_coeffs[0]'}
          poly_coefficient_1: {type: float32, c_name: 'thermistor_poly_coeffs[1]'}
          poly_coefficient_2: {type: float32, c_name: 'thermistor_poly_coeffs[2]'}
          poly_coefficient_3: {type: float32, c_name: 'thermistor_poly_coeffs[3]'}
          temp_limit_lower: 
            type: float32
            doc: The lower limit when the controller starts limiting current.
          temp_limit_upper: 
            type: float32
            doc: The upper limit when current limit reaches 0 Amps and an over temperature error is triggered.
          enabled: {type: bool, doc: Whether this thermistor is enabled. }

  ODrive.Motor:
    c_is_class: True
    attributes:
      last_error_time: float32
      error:
        nullflag: NONE
        flags:
          PHASE_RESISTANCE_OUT_OF_RANGE:
            brief: The measured motor phase resistance is outside of the plausible range.
            doc: |
              During calibration the motor resistance and
              [inductance](https://en.wikipedia.org/wiki/Inductance) is measured.
              If the measured motor resistance or inductance falls outside a set
              range this error will be returned. Check that all motor leads are
              connected securely.

              The measured values can be viewed using odrivetool as is shown below:
              ```
              In [2]: odrv0.axis0.motor.config.phase_inductance
              Out[2]: 1.408751450071577e-05

              In [3]: odrv0.axis0.motor.config.phase_resistance
              Out[3]: 0.029788672924041748
              ```
              Some motors will have a considerably different phase resistance
              and inductance than this. For example, gimbal motors, some small
              motors (e.g. < 10A peak current). If you think this applies to you
              try increasing `config.resistance_calib_max_voltage` from
              its default value of 1 using odrivetool and repeat the motor
              calibration process. If your motor has a small peak current draw
              (e.g. < 20A) you can also try decreasing
              `config.calibration_current` from its default value of 10A.

              In general, you need
              ```text
              resistance_calib_max_voltage > calibration_current * phase_resistance
              resistance_calib_max_voltage < 0.5 * vbus_voltage
              ```
          PHASE_INDUCTANCE_OUT_OF_RANGE:
            brief: The measured motor phase inductance is outside of the plausible range.
            doc: |
              See `PHASE_RESISTANCE_OUT_OF_RANGE` for details.
          DRV_FAULT:
            bit: 3
            brief: The gate driver chip reported an error.
            doc: |
              The ODrive v3.4 is known to have a hardware issue whereby the
              motors would stop operating when applying high currents to M0. The
              reported error of both motors in this case is `ERROR_DRV_FAULT`.

              The conjecture is that the high switching current creates large
              ripples in the power supply of the DRV8301 gate driver chips, thus
              tripping its under-voltage fault detection.

              To resolve this issue you can limit the M0 current to 40A. The
              lowest current at which the DRV fault was observed is 45A on one
              test motor and 50A on another test motor. Refer to
              [this post](https://discourse.odriverobotics.com/t/drv-fault-on-odrive-v3-4/558)
              for instructions for a hardware fix.
          CONTROL_DEADLINE_MISSED:
          MODULATION_MAGNITUDE:
            bit: 7
            doc: |
              The bus voltage was insufficent to push the requested current
              through the motor.
              If you are getting this during motor calibration, make sure that
              `config.resistance_calib_max_voltage` is no more than half
              your bus voltage.

              For gimbal motors, it is recommended to set the
              `config.calibration_current` and `config.current_lim`
              to half your bus voltage, or less.
          CURRENT_SENSE_SATURATION:
            bit: 10
            doc: |
              The current sense circuit saturated the current sense amplifier.
              This can be caused by setting `config.current_lim` higher than
              `config.requested_current_range`. If this happens, increase the
              requested current range, save the configuration, and reboot the controller.
          CURRENT_LIMIT_VIOLATION:
            bit: 12
            doc: |
              The motor current exceeded `motor.config.current_lim + motor.config.current_lim_margin`.
              The current controller is a PI controller, so it can experience overshoot. The PI gains
              are automatically calculated based on `config.current_control_bandwidth` and the
              motor resistance and inductance (pole placement). Some overshoot is normal, so a sensible
              solution is to increase the current limit margin if your current limit is large.
          MODULATION_IS_NAN: {bit: 16}
          MOTOR_THERMISTOR_OVER_TEMP: {doc: The motor thermistor measured a temperature above motor.motor_thermistor.config.temp_limit_upper}
          FET_THERMISTOR_OVER_TEMP: {doc: The inverter thermistor measured a temperature above motor.fet_thermistor.config.temp_limit_upper}
          TIMER_UPDATE_MISSED: {doc: A timer update event was missed. Perhaps the previous timer update took too much time. This is not expected in official release firmware.}
          CURRENT_MEASUREMENT_UNAVAILABLE: {doc: The phase current measurement is not available. The ADC failed to sample the current sensor in time. This is not expected in official release firmware.}
          CONTROLLER_FAILED: {doc: The motor was disarmed because the underlying controller failed. Usually this is the FOC controller.}
          I_BUS_OUT_OF_RANGE:
            doc: |
              The DC current sourced/sunk by this motor exceeded the configured
              hard limits. More specifically `I_bus` fell outside of the range
              `config.I_bus_hard_min` ... `config.I_bus_hard_max`.
          BRAKE_RESISTOR_DISARMED:
            doc: |
              An attempt was made to run the motor PWM while the brake resistor was configured as enabled
              (`config.enable_brake_resistor`) but disarmed.

              The most common cause is that you just set `config.enable_brake_resistor` to `True` but didn't
              arm the brake resistor yet (by either rebooting or running `odrvX.clear_errors()`).

              Otherwise, the brake resistor can be disarmed due to various system-wide errors.
              The root cause will usually show up under `system` when you run `dump_errors(odrvX)`.

              To re-arm the brake resistor reboot the ODrive or run `odrvX.clear_errors()`.
          SYSTEM_LEVEL:
            doc: |
              The motor had to be disarmed because of a system level error.
              See `ODrive:error` for more details.
          BAD_TIMING: {doc: The main control loop got out of sync with the motor control loop. This could indicate that the main control loop got stuck.}
          UNKNOWN_PHASE_ESTIMATE: {doc: The current controller did not get a valid angle input. Maybe you didn't calibrate the encoder.}
          UNKNOWN_PHASE_VEL: {doc: The motor controller did not get a valid phase velocity input.}
          UNKNOWN_TORQUE: {doc: The motor controller did not get a valid torque input.}
          UNKNOWN_CURRENT_COMMAND: {doc: The current controller did not get a valid current setpoint. Maybe you didn't configure the controller correctly.}
          UNKNOWN_CURRENT_MEASUREMENT: {doc: The current controller did not get a valid current measurement.}
          UNKNOWN_VBUS_VOLTAGE: {doc: 'The current controller did not get a valid `ODrive:vbus_voltage` measurement.'}
          UNKNOWN_VOLTAGE_COMMAND: {doc: The current controller did not get a valid feedforward voltage setpoint.}
          UNKNOWN_GAINS: {doc: The current controller gains were not configured. Run motor calibration or set `config.phase_resistance` and `config.phase_inductance` manually.}
          CONTROLLER_INITIALIZING: {doc: Internal value used while the controller is not yet ready to generate PWM timings.}
          UNBALANCED_PHASES: {doc: The motor phases are not balanced.}
      is_armed: readonly bool
      is_calibrated: readonly bool
      current_meas_phA: {type: readonly float32, c_getter: 'current_meas_.value_or(Iph_ABC_t{0.0f, 0.0f, 0.0f}).phA'}
      current_meas_phB: {type: readonly float32, c_getter: 'current_meas_.value_or(Iph_ABC_t{0.0f, 0.0f, 0.0f}).phB'}
      current_meas_phC: {type: readonly float32, c_getter: 'current_meas_.value_or(Iph_ABC_t{0.0f, 0.0f, 0.0f}).phC'}
      DC_calib_phA: {type: float32, c_name: DC_calib_.phA}
      DC_calib_phB: {type: float32, c_name: DC_calib_.phB}
      DC_calib_phC: {type: float32, c_name: DC_calib_.phC}
      I_bus: {type: readonly float32, unit: A}
      phase_current_rev_gain: float32
      effective_current_lim: readonly float32
      max_allowed_current:
        type: readonly float32
        unit: A
        doc: |
          Indicates the maximum current that can be measured by the current
          sensors in the current hardware configuration. This value depends on
          `config.requested_current_range`.
      max_dc_calib: {type: readonly float32, unit: A}
      fet_thermistor: OnboardThermistorCurrentLimiter
      motor_thermistor: OffboardThermistorCurrentLimiter
      current_control:
        c_is_class: True
        attributes:
          p_gain: {type: readonly float32, c_getter: 'pi_gains_.value_or(float2D{0.0f, 0.0f}).first'}
          i_gain: {type: readonly float32, c_getter: 'pi_gains_.value_or(float2D{0.0f, 0.0f}).second'}
          I_measured_report_filter_k: float32
          Id_setpoint: {type: readonly float32, c_getter: 'Idq_setpoint_.value_or(float2D{0.0f, 0.0f}).first'}
          Iq_setpoint: {type: readonly float32, c_getter: 'Idq_setpoint_.value_or(float2D{0.0f, 0.0f}).second'}
          Vd_setpoint: {type: readonly float32, c_getter: 'Vdq_setpoint_.value_or(float2D{0.0f, 0.0f}).first'}
          Vq_setpoint: {type: readonly float32, c_getter: 'Vdq_setpoint_.value_or(float2D{0.0f, 0.0f}).second'}
          phase: {type: readonly float32, c_getter: 'phase_.value_or(0.0f)'}
          phase_vel: {type: readonly float32, c_getter: 'phase_vel_.value_or(0.0f)'}
          Ialpha_measured: {type: readonly float32, c_getter: 'Ialpha_beta_measured_.value_or(float2D{0.0f, 0.0f}).first'}
          Ibeta_measured: {type: readonly float32, c_getter: 'Ialpha_beta_measured_.value_or(float2D{0.0f, 0.0f}).second'}
          Id_measured: readonly float32
          Iq_measured: readonly float32
          power: readonly float32
          v_current_control_integral_d: float32
          v_current_control_integral_q: float32
          final_v_alpha: readonly float32
          final_v_beta: readonly float32
      n_evt_current_measurement: {type: readonly uint32, doc: Number of current measurement events since startup (modulo 2^32)}
      n_evt_pwm_update: {type: readonly uint32, doc: Number of PWM update events since startup (modulo 2^32)}

      config:
        c_is_class: False
        attributes:
          pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
          pole_pairs: int32
          calibration_current: float32
          resistance_calib_max_voltage: float32
          phase_inductance: {type: float32, c_setter: set_phase_inductance}
          phase_resistance: {type: float32, c_setter: set_phase_resistance}
          torque_constant: float32
          motor_type: MotorType
          current_lim: float32
          current_lim_margin: float32
          torque_lim: float32
          inverter_temp_limit_lower: float32
          inverter_temp_limit_upper: float32
          requested_current_range: float32
          current_control_bandwidth: {type: float32, c_setter: set_current_control_bandwidth}
          acim_gain_min_flux: float32
          acim_autoflux_min_Id: float32
          acim_autoflux_enable: bool
          acim_autoflux_attack_gain: float32
          acim_autoflux_decay_gain: float32
          R_wL_FF_enable: bool
          bEMF_FF_enable: bool
          I_bus_hard_min:
            type: float32
            unit: A
            doc: |
              If the controller fails to keep this motor's DC current (`ODrive.Motor:I_bus`)
              above this value the motor gets disarmed immediately. Most likely
              you want a negative value here. Set to -inf to disable. Take noise
              into account when chosing a value.
          I_bus_hard_max:
            type: float32
            unit: A
            doc: |
              If the controller fails to keep this motor's DC current (`ODrive.Motor:I_bus`)
              below this value the motor gets disarmed immediately. Usually this
              is set in conjunction with `I_bus_hard_min`. Set to inf to disable.
              Take noise into account when chosing a value.
          I_leak_max:
            type: float32
            unit: A
            doc: |
              In almost all scenarios, the currents on phase A, B and C should
              add up to zero. A small amount of measurement noise is expected.
              However if the sum of A, B, C currents exceeds this configuration
              value, the motor gets disarmed immediately.

              Note that this feature is only works on devices with three current
              sensors (e.g. ODrive v4).
          dc_calib_tau: float32

  ODrive.Oscilloscope:
    c_is_class: True
    attributes:
      size: readonly uint32
    functions:
      get_val: {in: {index: uint32}, out: {val: float32}}
  
  ODrive.AcimEstimator:
    c_is_class: True
    attributes:
      rotor_flux: {type: readonly float32, unit: A, doc: estimated magnitude of the rotor flux}
      slip_vel:
        type: readonly float32
        unit: rad/s
        doc: estimated slip between physical and electrical angular velocity}
        c_getter: slip_vel_.any().value_or(0.0f)
      phase_offset:
        type: readonly float32
        unit: rad
        doc: estimate offset between physical and electrical angular position}
      stator_phase_vel:
        type: readonly float32
        unit: rad/s
        doc: calculated setpoint for the electrical velocity}
        c_getter: stator_phase_vel_.any().value_or(0.0f)
      stator_phase:
        type: readonly float32
        unit: rad
        doc: calculated setpoint for the electrical phase}
        c_getter: stator_phase_.any().value_or(0.0f)
      config:
        c_is_class: False
        attributes:
          slip_velocity: float32

  ODrive.Controller:
    c_is_class: True
    attributes:
      error: 
        nullflag: NONE
        flags:
          OVERSPEED:
            brief: Motor speed exceeded `config.vel_limit * config.vel_limit_tolerance` and `config.enable_overspeed_error` was enabled.
            doc: |
              Try increasing `config.vel_limit`. The default of 2 turns per second 
              gives a motor speed of only 120 RPM. Note: Even if
              you do not command your motor to exceed `config.vel_limit`,
              sudden changes in the load placed on a motor may cause this speed
              to be temporarily exceeded, resulting in this error.

              You can also try increasing `config.vel_limit_tolerance`. The
              default value of 1.2 means it will only allow a 20% violation of
              the speed limit. You can set `config.enable_overspeed_error` to False
              to disable this error.
          INVALID_INPUT_MODE:
            brief: The `config.input_mode` setting was set to an invalid value. See InputMode for available values
            doc: |
              Input modes and control modes are separate concepts. A control mode sets the type of control to be used,
              like position, velocity, or torque control. Input modes modify the input given (`input_pos`, etc) to
              give desired behavior. For example, in position *control mode*, the position filter *input mode* will
              smooth out `input_pos` commands to give smoother motion.
          UNSTABLE_GAIN:
          INVALID_MIRROR_AXIS:
          INVALID_LOAD_ENCODER:
          INVALID_ESTIMATE:
          INVALID_CIRCULAR_RANGE:
          SPINOUT_DETECTED:
            doc: |
              The motor mechanical power and electrical power do not agree. This is usually
              caused by a slipping encoder or incorrect encoder offset calibration.
              Check that your encoder is not slipping on the motor. If using an Index pin, check
              that you are not getting false index pulses caused by noise. This can happen if you
              are using unshielded cable for the encoder signals.
      last_error_time: float32
      input_pos:
        type: float32
        unit: turn
        c_setter: set_input_pos
      input_vel:
        type: float32
        unit: turn/s
      input_torque: float32
      pos_setpoint: readonly float32
      vel_setpoint: readonly float32
      torque_setpoint: readonly float32
      trajectory_done: readonly bool
      vel_integrator_torque: float32
      anticogging_valid: bool
      autotuning_phase: float32
      config:
        c_is_class: False
        attributes:
          gain_scheduling_width: float32
          enable_vel_limit: bool
          enable_torque_mode_vel_limit:
            type: bool
            doc: Enable velocity limit in torque control mode (requires a valid velocity estimator).
          enable_gain_scheduling: bool
          enable_overspeed_error: bool
          control_mode: ControlMode
          input_mode: InputMode
          pos_gain:
            type: float32
            unit: (turn/s) / turn
            doc: units = (turn/s) / turn
          vel_gain:
            type: float32
            unit: Nm / (turn/s)
            doc: units = Nm / (turn/s)
          vel_integrator_gain:
            type: float32
            unit: Nm / (turn/s * s)
            doc: units = Nm / (turn/s * s)
          vel_integrator_limit:
            type: float32
            unit: Nm
            doc: Limit the integrator output (independent of proportional gain output). Set to infinity to disable. Units = Nm
          vel_limit:
            type: float32
            unit: turn/s
            doc: Infinity to disable.
          vel_limit_tolerance:
            type: float32
            doc: Ratio to `vel_limit`. Infinity to disable.
          vel_ramp_rate: 
            type: float32
            unit: turn/s^2
          torque_ramp_rate:
            type: float32
            unit: Nm / sec
          circular_setpoints:
            type: bool
          circular_setpoint_range:
            type: float32
            doc: circular range in [turns] for position setpoints when circular_setpoints is True
          steps_per_circular_range:
            type: int32
            doc: Number of steps within the circular setpoint range. Set this and the circular setpoint range to powers of 2 for the best results.
            c_setter: set_steps_per_circular_range
          homing_speed:
            type: float32
            unit: turns/s
          inertia:
            type: float32
            unit: Nm/(turn/s^2)
          axis_to_mirror: uint8
          mirror_ratio: float32
          torque_mirror_ratio: float32
          load_encoder_axis:
            type: uint8
            # TODO: this is meaningless for a user. Should there be a separate developer note?
            doc: Default depends on Axis number and is set in load_configuration()
          input_filter_bandwidth:
            type: float32
            unit: 1/s
            c_setter: set_input_filter_bandwidth
          anticogging:
            c_is_class: False
            attributes:
              index: readonly uint32
              pre_calibrated: bool
              calib_anticogging: readonly bool
              calib_pos_threshold: float32
              calib_vel_threshold: float32
              cogging_ratio: readonly float32
              anticogging_enabled: bool
          mechanical_power_bandwidth:
            type: float32
            doc: "Bandwidth for mechanical power estimate. Used for spinout detection"
            unit: rad/s
          electrical_power_bandwidth:
            type: float32
            doc: "Bandwidth for electrical power estimate. Used for spinout detection. Dot product of Vdq and Idq"
            unit: rad/s
          spinout_mechanical_power_threshold:
            type: float32
            doc: "Mechanical power threshold for spinout detection. This should be a negative value"
            unit: Watt
          spinout_electrical_power_threshold:
            type: float32
            doc: "Electrical power threshold for spinout detection. This should be a positive value"
            unit: Watt
      autotuning:
        c_is_class: False
        doc: Automatically generate sine waves for frequency-domain response tuning
        attributes:
          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}
      mechanical_power:
        type: readonly float32
        unit: Watt
        doc: "Mechanical power estimate. Torque * velocity"
      electrical_power:
        type: readonly float32
        unit: Watt
        doc: "Electrical power estimate. Vdq dot Idq"
    functions:
      move_incremental:
        doc: Moves the axes' goal point by a specified increment.
        in:
          displacement: {type: float32, doc: The desired position change.}
          from_input_pos: {type: bool, doc:
            'If true, the increment is applied relative to `input_pos`.
            If false, the increment is applied relative to `pos_setpoint`, which
            usually corresponds roughly to the current position of the axis.'
          }
      start_anticogging_calibration:


  ODrive.Encoder:
    c_is_class: True
    attributes:
      error:
        nullflag: NONE
        flags:
          UNSTABLE_GAIN:
          CPR_POLEPAIRS_MISMATCH:
            doc: |
              Confirm you have entered the correct count per rotation (CPR) for
              [your encoder](https://docs.odriverobotics.com/encoders). The
              ODrive uses your supplied value for the motor pole pairs to
              measure the CPR. So you should also double check this value.
              
              If you are still having issues, you can try to increase
              `config.calib_scan_distance` up to a factor of 4 above the default.

              If your encoder cpr and motor pole pair settings are correct,
              this error can be caused because motor cogging makes the motor
              move less or more than commanded. You can fix this by increasing
              `config.calib_scan_distance`.

              Note that the AMT encoders are configurable using the micro-
              switches on the encoder PCB and so you may need to check that
              these are in the right positions. If your encoder lists its pulse
              per rotation (PPR) multiply that number by four to get CPR.
          NO_RESPONSE:
            doc: |
              Confirm that your encoder is plugged into the right pins on the
              ODrive board.
          UNSUPPORTED_ENCODER_MODE:
          ILLEGAL_HALL_STATE:
            doc: |
              Hall effect encoder only have 6 valid states out of 8 (2^3) possible states.
              An invalid state can be caused by noise or a hardware fault. If you get this
              error and you are sure that your electrical connections are correct, add
              22nF capacitors between the encoder A,B,Z pins and ground to filter out noise.
          INDEX_NOT_FOUND_YET:
            doc: |
              Check that your encoder is a model that has an index pulse. If
              your encoder does not have a wire connected to pin Z on your
              ODrive then it does not output an index pulse.
          ABS_SPI_TIMEOUT:
          ABS_SPI_COM_FAIL:
          ABS_SPI_NOT_READY:
          HALL_NOT_CALIBRATED_YET:
      is_ready: readonly bool
      index_found: readonly bool
      shadow_count: 
        type: readonly int32
        unit: counts
        doc: Raw linear count from the encoder.
      count_in_cpr: 
        type: readonly int32
        unit: counts
        doc: Raw circular count from the encoder on [0, cpr)
      interpolation: readonly float32
      phase: {type: readonly float32, c_getter: phase_.any().value_or(0.0f)}
      pos_estimate: 
        type: readonly float32
        c_getter: pos_estimate_.any().value_or(0.0f)
        unit: turns
        doc: Linear position estimate of the encoder, in turns.  Also known as "multi-turn" position.
      pos_estimate_counts:
        type: readonly float32
        unit: counts
        doc: Linear position estimate of the encoder, in counts.  Equal to `pos_estimate * config.cpr`
      pos_circular: 
        type: readonly float32
        c_getter: pos_circular_.any().value_or(0.0f)
        unit: turns
        doc: Circular position estimate of the encoder, as a decimal from [0, 1).  Also known as "single-turn" position.
      pos_cpr_counts:
        type: readonly float32
        unit: counts
        doc: Circular position estimate of the encoder, on the space [0, cpr).
      delta_pos_cpr_counts: 
        type: readonly float32
        unit: counts
        doc: Circular position delta of the encoder in the most recent loop. Primarily for debug purposes, it indicates much the encoder changed since the last time it was checked.
      hall_state: readonly uint8
      vel_estimate: 
        type: readonly float32
        c_getter: vel_estimate_.any().value_or(0.0f)
        unit: turns/s
        doc: Estimate of the linear velocity of an axis in turns/s
      vel_estimate_counts: 
        type: readonly float32
        unit: counts/sec
        doc: Estimate of the linear velocity of an axis, in counts/s.
      calib_scan_response: readonly float32
      pos_abs:
        type: int32
        doc: The last (valid) position from an absolute encoder, if used.
      spi_error_rate: readonly float32
      config:
        c_is_class: False
        attributes:
          mode: Mode
          use_index: {type: bool, c_setter: set_use_index}
          index_offset: float32
          use_index_offset: bool
          find_idx_on_lockin_only: {type: bool, c_setter: set_find_idx_on_lockin_only}
          abs_spi_cs_gpio_pin: {type: uint16, c_setter: set_abs_spi_cs_gpio_pin, doc: Make sure that the GPIO is in `GPIO_MODE_DIGITAL`.}
          cpr: int32
          phase_offset: int32
          phase_offset_float: float32
          direction: int32
          pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
          enable_phase_interpolation: bool
          bandwidth: {type: float32, c_setter: set_bandwidth}
          calib_range: float32
          calib_scan_distance: float32
          calib_scan_omega: float32
          ignore_illegal_hall_state: bool
          hall_polarity: uint8
          hall_polarity_calibrated: bool
          sincos_gpio_pin_sin:
            type: uint16
            doc: Analog sine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.
          sincos_gpio_pin_cos:
            type: uint16
            doc: Analog cosine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.
    functions:
      set_linear_count: {in: {count: int32}}


  ODrive.SensorlessEstimator:
    c_is_class: True
    attributes:
      error:
        nullflag: NONE
        flags:
          UNSTABLE_GAIN:
          UNKNOWN_CURRENT_MEASUREMENT:
      phase: {type: readonly float32, unit: rad, c_getter: phase_.any().value_or(0.0f)}
      pll_pos: {type: readonly float32, unit: rad}
      phase_vel: {type: readonly float32, unit: rad/s, c_getter: phase_vel_.any().value_or(0.0f)}
      vel_estimate: {type: readonly float32, unit: turns/s, c_getter: vel_estimate_.any().value_or(0.0f)}
      # pll_kp: float32
      # pll_ki: float32
      config:
        c_is_class: False
        attributes:
          observer_gain: float32
          pll_bandwidth: float32
          pm_flux_linkage: float32


  ODrive.TrapezoidalTrajectory:
    c_is_class: True
    attributes:
      config:
        c_is_class: False
        attributes:
          vel_limit: float32
          accel_limit: float32
          decel_limit: float32

  ODrive.Endstop:
    c_is_class: True
    attributes:
      endstop_state: readonly bool
      config:
        c_is_class: False
        attributes:
          gpio_num: {type: uint16, c_setter: set_gpio_num, doc: Make sure the corresponding GPIO is in `GPIO_MODE_DIGITAL`.}
          enabled: {type: bool, c_setter: set_enabled}
          offset: float32
          is_active_high: bool
          debounce_ms: {type: uint32, c_setter: set_debounce_ms}

  ODrive.MechanicalBrake:
    c_is_class: True
    attributes:
      config:
        c_is_class: False
        attributes:
          gpio_num: {type: uint16, c_setter: set_gpio_num}
          is_active_low: bool
    functions:
      engage:
        doc: |
          This function engages the mechanical brake if one is present and enabled.
      release:
        doc: |
          This function releases the mecahncal brake if one is present and enabled.

  ODrive.TaskTimer:
    c_is_class: True
    attributes:
      start_time: readonly uint32
      end_time: readonly uint32
      length: readonly uint32
      max_length: uint32

  ODrive3:
    c_is_class: True
    implements: ODrive
    attributes:
      config:
        c_is_class: False
        implements: ODrive.Config
        attributes:
          # TODO: add support for arrays
          gpio1_mode: {type: ODrive.GpioMode, doc: Mode of GPIO1 (changes take effect after reboot), c_name: 'gpio_modes[1]'}
          gpio2_mode: {type: ODrive.GpioMode, doc: Mode of GPIO2 (changes take effect after reboot), c_name: 'gpio_modes[2]'}
          gpio3_mode: {type: ODrive.GpioMode, doc: Mode of GPIO3 (changes take effect after reboot), c_name: 'gpio_modes[3]'}
          gpio4_mode: {type: ODrive.GpioMode, doc: Mode of GPIO4 (changes take effect after reboot), c_name: 'gpio_modes[4]'}
          gpio5_mode: {type: ODrive.GpioMode, doc: Mode of GPIO5 (changes take effect after reboot), c_name: 'gpio_modes[5]'}
          gpio6_mode: {type: ODrive.GpioMode, doc: Mode of GPIO6 (changes take effect after reboot), c_name: 'gpio_modes[6]'}
          gpio7_mode: {type: ODrive.GpioMode, doc: Mode of GPIO7 (changes take effect after reboot), c_name: 'gpio_modes[7]'}
          gpio8_mode: {type: ODrive.GpioMode, doc: Mode of GPIO8 (changes take effect after reboot), c_name: 'gpio_modes[8]'}
          gpio9_mode: {type: ODrive.GpioMode, doc: Mode of GPIO9 (changes take effect after reboot), c_name: 'gpio_modes[9]'}
          gpio10_mode: {type: ODrive.GpioMode, doc: Mode of GPIO10 (changes take effect after reboot), c_name: 'gpio_modes[10]'}
          gpio11_mode: {type: ODrive.GpioMode, doc: Mode of GPIO11 (changes take effect after reboot), c_name: 'gpio_modes[11]'}
          gpio12_mode: {type: ODrive.GpioMode, doc: Mode of GPIO12 (changes take effect after reboot), c_name: 'gpio_modes[12]'}
          gpio13_mode: {type: ODrive.GpioMode, doc: Mode of GPIO13 (changes take effect after reboot), c_name: 'gpio_modes[13]'}
          gpio14_mode: {type: ODrive.GpioMode, doc: Mode of GPIO14 (changes take effect after reboot), c_name: 'gpio_modes[14]'}
          gpio15_mode: {type: ODrive.GpioMode, doc: Mode of GPIO15 (changes take effect after reboot), c_name: 'gpio_modes[15]'}
          gpio16_mode: {type: ODrive.GpioMode, doc: Mode of GPIO16 (changes take effect after reboot), c_name: 'gpio_modes[16]'}

          gpio1_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[0]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
          gpio2_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[1]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
          gpio3_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[2]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
          gpio4_pwm_mapping: {type: ODrive.Endpoint, c_name: 'pwm_mappings[3]', doc: Make sure the corresponding GPIO is in `GPIO_MODE_PWM`.}
      axis0: {type: ODrive.Axis, c_name: get_axis(0)}
      axis1: {type: ODrive.Axis, c_name: get_axis(1)}

valuetypes:
  ODrive.GpioMode:
    values:
      DIGITAL:
        doc: |
          The pin can be used for one or more of these functions:
          Step, dir, enable, encoder index, hall effect encoder, SPI encoder nCS (this one is exclusive).
      DIGITAL_PULL_UP:
        doc: Same as `DIGITAL` but with the internal pull-up resistor enabled.
      DIGITAL_PULL_DOWN:
        doc: Same as `DIGITAL` but with the internal pull-down resistor enabled.
      ANALOG_IN:
        doc: |
          The pin can be used for one or more of these functions:
          Sin/cos encoders, analog input, `get_adc_voltage()`.
      UART_A: {doc: See `config.enable_uart_a`.}
      UART_B: {doc: This mode is not supported on ODrive v3.x.}
      UART_C: {doc: This mode is not supported on ODrive v3.x.}
      CAN_A: {doc: See `config.enable_can_a`.}
      I2C_A: {doc: See `config.enable_i2c_a`.}
      SPI_A: {doc: Note that the SPI pins on ODrive v3.x are hardwired so they
        cannot be configured through software. Consequently, even though SPI_A
        is exposed, this mode is of no use on ODrive v3.x.}
      PWM: {doc: See `config.gpio1_pwm_mapping`.}
      ENC0: {doc: The pin is used by quadrature encoder 0.}
      ENC1: {doc: The pin is used by quadrature encoder 1.}
      ENC2: {doc: This mode is not supported on ODrive v3.x.}
      MECH_BRAKE: {doc: This is to support external mechanical brakes.}
      STATUS: {doc: The pin is used for status output (see `config.error_gpio_pin`)}

  ODrive.StreamProtocolType:
    values:
      Fibre:
        doc: |
          Machine-to-machine protocol which gives access to all features of the
          ODrive. This protocol is used by the official odrivetool and GUI.
          Developers who wish to interact with this protocol are advised to do
          so through libfibre.
      Ascii:
        doc: |
          Human readable protocol designed for easy implementation for cases
          where the use of libfibre is not desired or feasible.
          Refer to [this page](ascii-protocol.md) for details.
      Stdout: {doc: Output of printf(). Only intended for developers who modify
          ODrive firmware.}
      AsciiAndStdout: {doc: Combination of `Ascii` and `Stdout`.}

  ODrive.Can.Protocol:
    flags: 
      SIMPLE:
        doc: CANSimple, an ODrive-specific protocol for basic functionality

  ODrive.Axis.AxisState: # TODO: remove redundant "Axis" in name
    values:
      UNDEFINED:
        doc: will fall through to idle
      IDLE:
        brief: Disable motor PWM and do nothing.
      STARTUP_SEQUENCE:
        brief: Run the startup procedure.
        doc: the actual sequence is defined by the `config`.startup... flags
      FULL_CALIBRATION_SEQUENCE:
        doc: Run motor calibration and then encoder offset calibration (or encoder
          index search if `<axis>.encoder.config.use_index` is `True`).
      MOTOR_CALIBRATION:
        brief: Measure phase resistance and phase inductance of the motor.
        doc: |
           * To store the results set `motor.config.pre_calibrated` to `True`
           and save the configuration (`save_configuration()`). After that you
           don't have to run the motor calibration on the next start up.
           * This modifies the variables `motor.config.phase_resistance` and
           `motor.config.phase_inductance`.
      ENCODER_INDEX_SEARCH:
        brief: Turn the motor in one direction until the encoder index is traversed.
        doc: This state can only be entered if `encoder.config.use_index` is `True`.
        value: 6
      ENCODER_OFFSET_CALIBRATION:
        brief: Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
        doc: |
           * Can only be entered if the motor is calibrated (`motor.is_calibrated`).
           * A successful encoder calibration will make the `encoder.is_ready`
           go to true.
      CLOSED_LOOP_CONTROL:
        brief: Run closed loop control.
        doc: |
           * The action depends on the `controller.config.control_mode`.
           * Can only be entered if the motor is calibrated
           (`motor.is_calibrated`) and the encoder is ready (`encoder.is_ready`).
      LOCKIN_SPIN:
        brief: Run lockin spin.
        doc: |
          Can only be entered if the motor is calibrated (`motor.is_calibrated`)
          or the motor direction is unspecified (`encoder.config.direction` == 1)
      ENCODER_DIR_FIND:
        brief: Run encoder direction search.
        doc: |
          Can only be entered if the motor is calibrated (`motor.is_calibrated`).
      HOMING:
        brief: Run axis homing function.
        doc:
          Endstops must be enabled to use this feature.
      ENCODER_HALL_POLARITY_CALIBRATION:
        brief: Rotate the motor in lockin and calibrate hall polarity
        doc:
          ODrive assumes 120 degree electrical hall spacing. This routine determines if that
          is the case and sets the polarity if the halls are on 60 degree electrical spacing
      ENCODER_HALL_PHASE_CALIBRATION:
        brief: Rotate the motor for 30s to calibrate hall sensor edge offsets
        doc:
          The phase offset is not calibrated at this time, so the map is only relative

  ODrive.Encoder.Mode:
    values:
      INCREMENTAL:
      HALL:
      SINCOS:
      SPI_ABS_CUI:
        value: 0x100
        doc: compatible with CUI AMT23xx
      SPI_ABS_AMS:
        value: 0x101
        doc: compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)
      SPI_ABS_AEAT:
        value: 0x102
        doc: not yet implemented
      SPI_ABS_RLS:
        value: 0x103
        doc: RLS Encoders
      SPI_ABS_MA732:
        value: 0x104
        doc: MagAlpha MA732 magnetic encoder

  ODrive.Controller.ControlMode:
    values:
      # Note: these should be sorted from lowest level of control to
      # highest level of control, to allow "<" style comparisons.
      VOLTAGE_CONTROL:
        doc: this one is not normally used
      TORQUE_CONTROL:
      VELOCITY_CONTROL:
      POSITION_CONTROL:

  ODrive.Controller.InputMode:
    values:
      INACTIVE:
        brief: Disable inputs. Setpoints retain their last value.
      PASSTHROUGH:
        brief: Pass `input_xxx` through to `xxx_setpoint` directly.
        doc: |
          ### Valid Inputs:
          * `input_pos`
          * `input_vel`
          * `input_torque`

          ### Valid Control modes:
          * `CONTROL_MODE_VOLTAGE_CONTROL`
          * `CONTROL_MODE_TORQUE_CONTROL`
          * `CONTROL_MODE_VELOCITY_CONTROL`
          * `CONTROL_MODE_POSITION_CONTROL`
      VEL_RAMP:
        brief: Ramps a velocity command from the current value to the target value.
        doc: |
          ### Configuration Values:
          * `config.vel_ramp_rate` [turn/sec]
          * `config.inertia` [Nm/(turn/s^2))]

          ### Valid inputs:
          * `input_vel`

          ### Valid Control Modes:
          * `CONTROL_MODE_VELOCITY_CONTROL`
      POS_FILTER:
        brief: Implements a 2nd order position tracking filter.
        doc: |
          Intended for use with step/dir interface, but can also be used with
          position-only commands.

          ![POS Filter Response](../secondOrderResponse.PNG)
          Result of a step command from 1000 to 0

          ### Configuration Values:
          * `config.input_filter_bandwidth`
          * `config.inertia`

          ### Valid inputs:
          * `input_pos`

          ### Valid Control modes:
          * `CONTROL_MODE_POSITION_CONTROL`
      MIX_CHANNELS:
        brief: Not Implemented.
      TRAP_TRAJ:
        brief: Implementes an online trapezoidal trajectory planner.
        doc: |
          ![Trapezoidal Planner Response](../TrapTrajPosVel.PNG)

          ### Configuration Values:
          * `Axis:trap_traj.config.vel_limit`
          * `Axis:trap_traj.config.accel_limit`
          * `Axis:trap_traj.config.decel_limit`
          * `config.inertia`

          ### Valid Inputs:
          * `input_pos`

          ### Valid Control Modes:
          * `CONTROL_MODE_POSITION_CONTROL`
      TORQUE_RAMP:
        brief: Ramp a torque command from the current value to the target value.
        doc: |
          ### Configuration Values:
          * `config.torque_ramp_rate`

          ### Valid Inputs:
          * `input_torque`

          ### Valid Control Modes:
          * `CONTROL_MODE_TORQUE_CONTROL`
      MIRROR:
        brief: Implements "electronic mirroring".
        doc: |
          This is like electronic camming, but you can only mirror exactly the
          movements of the other motor, according to a fixed ratio.

          [![](http://img.youtube.com/vi/D4_vBtyVVzM/0.jpg)](http://www.youtube.com/watch?v=D4_vBtyVVzM "Example Mirroring Video")

          ### Configuration Values
          * `config.axis_to_mirror`
          * `config.mirror_ratio`

          ### Valid Inputs
          * None.  Inputs are taken directly from the other axis encoder estimates

          ### Valid Control modes
          * `CONTROL_MODE_POSITION_CONTROL`
          * `CONTROL_MODE_VELOCITY_CONTROL`
          * `CONTROL_MODE_TORQUE_CONTROL`
      Tuning:
        brief: Implements a tuning mode
        doc: |
          Used for tuning your odrive, this mode allows the user to set different frequencies.
          Set control_mode for the loop you want to tune, then set the frequency desired.
          The ODrive will send a 1 turn amplitude sine wave to the controller with the given frequency and phase.

  ODrive.Motor.MotorType:
    values:
      HIGH_CURRENT:
      #LowCurrent: # not implemented
      GIMBAL: {value: 2}
      ACIM: