From ed248fab84c038c212b87ec1b87c3b75655454fb Mon Sep 17 00:00:00 2001
From: Yannis Chatzikonstantinou <info@tinymovr.com>
Date: Sun, 10 Sep 2023 01:52:23 +0300
Subject: [PATCH] version 1.6.0

---
 src/can.cpp          | 12 +++++-----
 src/controller.cpp   | 32 +++++++++++++-------------
 src/current.cpp      | 42 +++++++++++++++++-----------------
 src/encoder.cpp      | 28 +++++++++++------------
 src/homing.cpp       | 24 ++++++++++----------
 src/motor.cpp        | 50 ++++++++++++++++++++--------------------
 src/position.cpp     | 12 +++++-----
 src/scheduler.cpp    | 26 ++-------------------
 src/scheduler.hpp    |  2 --
 src/stall_detect.cpp | 18 +++++++--------
 src/tinymovr.cpp     | 54 ++++++++++++++++++++++++++++++++------------
 src/tinymovr.hpp     | 24 ++++++++++++++++++--
 src/traj_planner.cpp | 44 ++++++++++++++++++------------------
 src/velocity.cpp     | 36 ++++++++++++++---------------
 src/voltage.cpp      |  4 ++--
 src/watchdog.cpp     | 16 ++++++-------
 16 files changed, 222 insertions(+), 202 deletions(-)

diff --git a/src/can.cpp b/src/can.cpp
index 29761c0..33b1da0 100644
--- a/src/can.cpp
+++ b/src/can.cpp
@@ -11,8 +11,8 @@
 uint32_t Can_::get_rate(void)
 {
     uint32_t value = 0;
-    this->send(41, this->_data, 0, true);
-    if (this->recv(41, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(42, this->_data, 0, true);
+    if (this->recv(42, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint32_t Can_::get_rate(void)
 void Can_::set_rate(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(41, this->_data, sizeof(uint32_t), false);
+    this->send(42, this->_data, sizeof(uint32_t), false);
 }
 
 uint32_t Can_::get_id(void)
 {
     uint32_t value = 0;
-    this->send(42, this->_data, 0, true);
-    if (this->recv(42, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(43, this->_data, 0, true);
+    if (this->recv(43, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,7 +39,7 @@ uint32_t Can_::get_id(void)
 void Can_::set_id(uint32_t value)
 {
     write_le(value, this->_data);
-    this->send(42, this->_data, sizeof(uint32_t), false);
+    this->send(43, this->_data, sizeof(uint32_t), false);
 }
 
 
diff --git a/src/controller.cpp b/src/controller.cpp
index 779b750..9bd6447 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -11,8 +11,8 @@
 uint8_t Controller_::get_state(void)
 {
     uint8_t value = 0;
-    this->send(14, this->_data, 0, true);
-    if (this->recv(14, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(15, this->_data, 0, true);
+    if (this->recv(15, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ uint8_t Controller_::get_state(void)
 void Controller_::set_state(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(14, this->_data, sizeof(uint8_t), false);
+    this->send(15, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_mode(void)
 {
     uint8_t value = 0;
-    this->send(15, this->_data, 0, true);
-    if (this->recv(15, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(16, this->_data, 0, true);
+    if (this->recv(16, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ uint8_t Controller_::get_mode(void)
 void Controller_::set_mode(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(15, this->_data, sizeof(uint8_t), false);
+    this->send(16, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Controller_::get_warnings(void)
 {
     uint8_t value = 0;
-    this->send(16, this->_data, 0, true);
-    if (this->recv(16, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(17, this->_data, 0, true);
+    if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,8 +56,8 @@ uint8_t Controller_::get_warnings(void)
 uint8_t Controller_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(17, this->_data, 0, true);
-    if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(18, this->_data, 0, true);
+    if (this->recv(18, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -67,27 +67,27 @@ uint8_t Controller_::get_errors(void)
 
 void Controller_::calibrate()
 {
-    this->send(35, this->_data, 0, true);
+    this->send(36, this->_data, 0, true);
 }
 
 void Controller_::idle()
 {
-    this->send(36, this->_data, 0, true);
+    this->send(37, this->_data, 0, true);
 }
 
 void Controller_::position_mode()
 {
-    this->send(37, this->_data, 0, true);
+    this->send(38, this->_data, 0, true);
 }
 
 void Controller_::velocity_mode()
 {
-    this->send(38, this->_data, 0, true);
+    this->send(39, this->_data, 0, true);
 }
 
 void Controller_::current_mode()
 {
-    this->send(39, this->_data, 0, true);
+    this->send(40, this->_data, 0, true);
 }
 
 float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
@@ -98,7 +98,7 @@ float Controller_::set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint)
     write_le(vel_setpoint, this->_data + data_len);
     data_len += sizeof(vel_setpoint);
 
-    this->send(40, this->_data, data_len, false);
+    this->send(41, this->_data, data_len, false);
     float value = 0;
     this->send(17, this->_data, 0, true);
     if (this->recv(17, this->_data, &(this->_dlc), this->delay_us_value)) 
diff --git a/src/current.cpp b/src/current.cpp
index 19257d9..c7873f8 100644
--- a/src/current.cpp
+++ b/src/current.cpp
@@ -11,8 +11,8 @@
 float Current_::get_Iq_setpoint(void)
 {
     float value = 0;
-    this->send(26, this->_data, 0, true);
-    if (this->recv(26, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(27, this->_data, 0, true);
+    if (this->recv(27, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Current_::get_Iq_setpoint(void)
 void Current_::set_Iq_setpoint(float value)
 {
     write_le(value, this->_data);
-    this->send(26, this->_data, sizeof(float), false);
+    this->send(27, this->_data, sizeof(float), false);
 }
 
 float Current_::get_Id_setpoint(void)
 {
     float value = 0;
-    this->send(27, this->_data, 0, true);
-    if (this->recv(27, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(28, this->_data, 0, true);
+    if (this->recv(28, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,8 +39,8 @@ float Current_::get_Id_setpoint(void)
 float Current_::get_Iq_limit(void)
 {
     float value = 0;
-    this->send(28, this->_data, 0, true);
-    if (this->recv(28, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(29, this->_data, 0, true);
+    if (this->recv(29, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -50,14 +50,14 @@ float Current_::get_Iq_limit(void)
 void Current_::set_Iq_limit(float value)
 {
     write_le(value, this->_data);
-    this->send(28, this->_data, sizeof(float), false);
+    this->send(29, this->_data, sizeof(float), false);
 }
 
 float Current_::get_Iq_estimate(void)
 {
     float value = 0;
-    this->send(29, this->_data, 0, true);
-    if (this->recv(29, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(30, this->_data, 0, true);
+    if (this->recv(30, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -67,8 +67,8 @@ float Current_::get_Iq_estimate(void)
 float Current_::get_bandwidth(void)
 {
     float value = 0;
-    this->send(30, this->_data, 0, true);
-    if (this->recv(30, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(31, this->_data, 0, true);
+    if (this->recv(31, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -78,14 +78,14 @@ float Current_::get_bandwidth(void)
 void Current_::set_bandwidth(float value)
 {
     write_le(value, this->_data);
-    this->send(30, this->_data, sizeof(float), false);
+    this->send(31, this->_data, sizeof(float), false);
 }
 
 float Current_::get_Iq_p_gain(void)
 {
     float value = 0;
-    this->send(31, this->_data, 0, true);
-    if (this->recv(31, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(32, this->_data, 0, true);
+    if (this->recv(32, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -95,8 +95,8 @@ float Current_::get_Iq_p_gain(void)
 float Current_::get_max_Ibus_regen(void)
 {
     float value = 0;
-    this->send(32, this->_data, 0, true);
-    if (this->recv(32, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(33, this->_data, 0, true);
+    if (this->recv(33, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -106,14 +106,14 @@ float Current_::get_max_Ibus_regen(void)
 void Current_::set_max_Ibus_regen(float value)
 {
     write_le(value, this->_data);
-    this->send(32, this->_data, sizeof(float), false);
+    this->send(33, this->_data, sizeof(float), false);
 }
 
 float Current_::get_max_Ibrake(void)
 {
     float value = 0;
-    this->send(33, this->_data, 0, true);
-    if (this->recv(33, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(34, this->_data, 0, true);
+    if (this->recv(34, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -123,7 +123,7 @@ float Current_::get_max_Ibrake(void)
 void Current_::set_max_Ibrake(float value)
 {
     write_le(value, this->_data);
-    this->send(33, this->_data, sizeof(float), false);
+    this->send(34, this->_data, sizeof(float), false);
 }
 
 
diff --git a/src/encoder.cpp b/src/encoder.cpp
index d969497..9622c48 100644
--- a/src/encoder.cpp
+++ b/src/encoder.cpp
@@ -11,8 +11,8 @@
 float Encoder_::get_position_estimate(void)
 {
     float value = 0;
-    this->send(52, this->_data, 0, true);
-    if (this->recv(52, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(53, this->_data, 0, true);
+    if (this->recv(53, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,8 +22,8 @@ float Encoder_::get_position_estimate(void)
 float Encoder_::get_velocity_estimate(void)
 {
     float value = 0;
-    this->send(53, this->_data, 0, true);
-    if (this->recv(53, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(54, this->_data, 0, true);
+    if (this->recv(54, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -33,8 +33,8 @@ float Encoder_::get_velocity_estimate(void)
 uint8_t Encoder_::get_type(void)
 {
     uint8_t value = 0;
-    this->send(54, this->_data, 0, true);
-    if (this->recv(54, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(55, this->_data, 0, true);
+    if (this->recv(55, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -44,14 +44,14 @@ uint8_t Encoder_::get_type(void)
 void Encoder_::set_type(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(54, this->_data, sizeof(uint8_t), false);
+    this->send(55, this->_data, sizeof(uint8_t), false);
 }
 
 float Encoder_::get_bandwidth(void)
 {
     float value = 0;
-    this->send(55, this->_data, 0, true);
-    if (this->recv(55, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(56, this->_data, 0, true);
+    if (this->recv(56, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -61,14 +61,14 @@ float Encoder_::get_bandwidth(void)
 void Encoder_::set_bandwidth(float value)
 {
     write_le(value, this->_data);
-    this->send(55, this->_data, sizeof(float), false);
+    this->send(56, this->_data, sizeof(float), false);
 }
 
 bool Encoder_::get_calibrated(void)
 {
     bool value = 0;
-    this->send(56, this->_data, 0, true);
-    if (this->recv(56, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(57, this->_data, 0, true);
+    if (this->recv(57, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -78,8 +78,8 @@ bool Encoder_::get_calibrated(void)
 uint8_t Encoder_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(57, this->_data, 0, true);
-    if (this->recv(57, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(58, this->_data, 0, true);
+    if (this->recv(58, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
diff --git a/src/homing.cpp b/src/homing.cpp
index 7a245aa..697b292 100644
--- a/src/homing.cpp
+++ b/src/homing.cpp
@@ -11,8 +11,8 @@
 float Homing_::get_velocity(void)
 {
     float value = 0;
-    this->send(67, this->_data, 0, true);
-    if (this->recv(67, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(68, this->_data, 0, true);
+    if (this->recv(68, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Homing_::get_velocity(void)
 void Homing_::set_velocity(float value)
 {
     write_le(value, this->_data);
-    this->send(67, this->_data, sizeof(float), false);
+    this->send(68, this->_data, sizeof(float), false);
 }
 
 float Homing_::get_max_homing_t(void)
 {
     float value = 0;
-    this->send(68, this->_data, 0, true);
-    if (this->recv(68, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(69, this->_data, 0, true);
+    if (this->recv(69, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Homing_::get_max_homing_t(void)
 void Homing_::set_max_homing_t(float value)
 {
     write_le(value, this->_data);
-    this->send(68, this->_data, sizeof(float), false);
+    this->send(69, this->_data, sizeof(float), false);
 }
 
 float Homing_::get_retract_dist(void)
 {
     float value = 0;
-    this->send(69, this->_data, 0, true);
-    if (this->recv(69, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(70, this->_data, 0, true);
+    if (this->recv(70, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,14 +56,14 @@ float Homing_::get_retract_dist(void)
 void Homing_::set_retract_dist(float value)
 {
     write_le(value, this->_data);
-    this->send(69, this->_data, sizeof(float), false);
+    this->send(70, this->_data, sizeof(float), false);
 }
 
 uint8_t Homing_::get_warnings(void)
 {
     uint8_t value = 0;
-    this->send(70, this->_data, 0, true);
-    if (this->recv(70, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(71, this->_data, 0, true);
+    if (this->recv(71, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -73,7 +73,7 @@ uint8_t Homing_::get_warnings(void)
 
 void Homing_::home()
 {
-    this->send(74, this->_data, 0, true);
+    this->send(75, this->_data, 0, true);
 }
 
 
diff --git a/src/motor.cpp b/src/motor.cpp
index 31d58d4..2eb11bc 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -11,8 +11,8 @@
 float Motor_::get_R(void)
 {
     float value = 0;
-    this->send(43, this->_data, 0, true);
-    if (this->recv(43, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(44, this->_data, 0, true);
+    if (this->recv(44, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Motor_::get_R(void)
 void Motor_::set_R(float value)
 {
     write_le(value, this->_data);
-    this->send(43, this->_data, sizeof(float), false);
+    this->send(44, this->_data, sizeof(float), false);
 }
 
 float Motor_::get_L(void)
 {
     float value = 0;
-    this->send(44, this->_data, 0, true);
-    if (this->recv(44, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(45, this->_data, 0, true);
+    if (this->recv(45, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Motor_::get_L(void)
 void Motor_::set_L(float value)
 {
     write_le(value, this->_data);
-    this->send(44, this->_data, sizeof(float), false);
+    this->send(45, this->_data, sizeof(float), false);
 }
 
 uint8_t Motor_::get_pole_pairs(void)
 {
     uint8_t value = 0;
-    this->send(45, this->_data, 0, true);
-    if (this->recv(45, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(46, this->_data, 0, true);
+    if (this->recv(46, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,14 +56,14 @@ uint8_t Motor_::get_pole_pairs(void)
 void Motor_::set_pole_pairs(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(45, this->_data, sizeof(uint8_t), false);
+    this->send(46, this->_data, sizeof(uint8_t), false);
 }
 
 uint8_t Motor_::get_type(void)
 {
     uint8_t value = 0;
-    this->send(46, this->_data, 0, true);
-    if (this->recv(46, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(47, this->_data, 0, true);
+    if (this->recv(47, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -73,14 +73,14 @@ uint8_t Motor_::get_type(void)
 void Motor_::set_type(uint8_t value)
 {
     write_le(value, this->_data);
-    this->send(46, this->_data, sizeof(uint8_t), false);
+    this->send(47, this->_data, sizeof(uint8_t), false);
 }
 
 float Motor_::get_offset(void)
 {
     float value = 0;
-    this->send(47, this->_data, 0, true);
-    if (this->recv(47, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(48, this->_data, 0, true);
+    if (this->recv(48, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -90,14 +90,14 @@ float Motor_::get_offset(void)
 void Motor_::set_offset(float value)
 {
     write_le(value, this->_data);
-    this->send(47, this->_data, sizeof(float), false);
+    this->send(48, this->_data, sizeof(float), false);
 }
 
 int8_t Motor_::get_direction(void)
 {
     int8_t value = 0;
-    this->send(48, this->_data, 0, true);
-    if (this->recv(48, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(49, this->_data, 0, true);
+    if (this->recv(49, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -107,14 +107,14 @@ int8_t Motor_::get_direction(void)
 void Motor_::set_direction(int8_t value)
 {
     write_le(value, this->_data);
-    this->send(48, this->_data, sizeof(int8_t), false);
+    this->send(49, this->_data, sizeof(int8_t), false);
 }
 
 bool Motor_::get_calibrated(void)
 {
     bool value = 0;
-    this->send(49, this->_data, 0, true);
-    if (this->recv(49, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(50, this->_data, 0, true);
+    if (this->recv(50, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -124,8 +124,8 @@ bool Motor_::get_calibrated(void)
 float Motor_::get_I_cal(void)
 {
     float value = 0;
-    this->send(50, this->_data, 0, true);
-    if (this->recv(50, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(51, this->_data, 0, true);
+    if (this->recv(51, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -135,14 +135,14 @@ float Motor_::get_I_cal(void)
 void Motor_::set_I_cal(float value)
 {
     write_le(value, this->_data);
-    this->send(50, this->_data, sizeof(float), false);
+    this->send(51, this->_data, sizeof(float), false);
 }
 
 uint8_t Motor_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(51, this->_data, 0, true);
-    if (this->recv(51, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(52, this->_data, 0, true);
+    if (this->recv(52, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
diff --git a/src/position.cpp b/src/position.cpp
index 30f8257..6848657 100644
--- a/src/position.cpp
+++ b/src/position.cpp
@@ -11,8 +11,8 @@
 float Position_::get_setpoint(void)
 {
     float value = 0;
-    this->send(18, this->_data, 0, true);
-    if (this->recv(18, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(19, this->_data, 0, true);
+    if (this->recv(19, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Position_::get_setpoint(void)
 void Position_::set_setpoint(float value)
 {
     write_le(value, this->_data);
-    this->send(18, this->_data, sizeof(float), false);
+    this->send(19, this->_data, sizeof(float), false);
 }
 
 float Position_::get_p_gain(void)
 {
     float value = 0;
-    this->send(19, this->_data, 0, true);
-    if (this->recv(19, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(20, this->_data, 0, true);
+    if (this->recv(20, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,7 +39,7 @@ float Position_::get_p_gain(void)
 void Position_::set_p_gain(float value)
 {
     write_le(value, this->_data);
-    this->send(19, this->_data, sizeof(float), false);
+    this->send(20, this->_data, sizeof(float), false);
 }
 
 
diff --git a/src/scheduler.cpp b/src/scheduler.cpp
index 37c4b5c..de9bd30 100644
--- a/src/scheduler.cpp
+++ b/src/scheduler.cpp
@@ -8,33 +8,11 @@
 
 #include <scheduler.hpp>
 
-uint32_t Scheduler_::get_total(void)
-{
-    uint32_t value = 0;
-    this->send(11, this->_data, 0, true);
-    if (this->recv(11, this->_data, &(this->_dlc), this->delay_us_value)) 
-    {
-        read_le(&value, this->_data);
-    }
-    return value;
-}
-
-uint32_t Scheduler_::get_busy(void)
-{
-    uint32_t value = 0;
-    this->send(12, this->_data, 0, true);
-    if (this->recv(12, this->_data, &(this->_dlc), this->delay_us_value)) 
-    {
-        read_le(&value, this->_data);
-    }
-    return value;
-}
-
 uint8_t Scheduler_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(13, this->_data, 0, true);
-    if (this->recv(13, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(14, this->_data, 0, true);
+    if (this->recv(14, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
diff --git a/src/scheduler.hpp b/src/scheduler.hpp
index c2a496a..2fe9bbc 100644
--- a/src/scheduler.hpp
+++ b/src/scheduler.hpp
@@ -16,8 +16,6 @@ class Scheduler_ : Node
 
         Scheduler_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
             Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
-        uint32_t get_total(void);
-        uint32_t get_busy(void);
         uint8_t get_errors(void);
 
 };
diff --git a/src/stall_detect.cpp b/src/stall_detect.cpp
index a602173..b3a5d93 100644
--- a/src/stall_detect.cpp
+++ b/src/stall_detect.cpp
@@ -11,8 +11,8 @@
 float Stall_detect_::get_velocity(void)
 {
     float value = 0;
-    this->send(71, this->_data, 0, true);
-    if (this->recv(71, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(72, this->_data, 0, true);
+    if (this->recv(72, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Stall_detect_::get_velocity(void)
 void Stall_detect_::set_velocity(float value)
 {
     write_le(value, this->_data);
-    this->send(71, this->_data, sizeof(float), false);
+    this->send(72, this->_data, sizeof(float), false);
 }
 
 float Stall_detect_::get_delta_pos(void)
 {
     float value = 0;
-    this->send(72, this->_data, 0, true);
-    if (this->recv(72, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(73, this->_data, 0, true);
+    if (this->recv(73, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Stall_detect_::get_delta_pos(void)
 void Stall_detect_::set_delta_pos(float value)
 {
     write_le(value, this->_data);
-    this->send(72, this->_data, sizeof(float), false);
+    this->send(73, this->_data, sizeof(float), false);
 }
 
 float Stall_detect_::get_t(void)
 {
     float value = 0;
-    this->send(73, this->_data, 0, true);
-    if (this->recv(73, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(74, this->_data, 0, true);
+    if (this->recv(74, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,7 +56,7 @@ float Stall_detect_::get_t(void)
 void Stall_detect_::set_t(float value)
 {
     write_le(value, this->_data);
-    this->send(73, this->_data, sizeof(float), false);
+    this->send(74, this->_data, sizeof(float), false);
 }
 
 
diff --git a/src/tinymovr.cpp b/src/tinymovr.cpp
index 118d7e5..f4e977b 100644
--- a/src/tinymovr.cpp
+++ b/src/tinymovr.cpp
@@ -26,19 +26,18 @@ uint32_t Tinymovr::get_uid(void)
     }
     return value;
 }
-float Tinymovr::get_Vbus(void)
+void Tinymovr::get_fw_version(char out_value[])
 {
-    float value = 0;
     this->send(2, this->_data, 0, true);
+    this->_dlc = 0;
     if (this->recv(2, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
-        read_le(&value, this->_data);
+        memcpy(out_value, this->_data, this->_dlc);
     }
-    return value;
 }
-float Tinymovr::get_Ibus(void)
+uint32_t Tinymovr::get_hw_revision(void)
 {
-    float value = 0;
+    uint32_t value = 0;
     this->send(3, this->_data, 0, true);
     if (this->recv(3, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
@@ -46,7 +45,7 @@ float Tinymovr::get_Ibus(void)
     }
     return value;
 }
-float Tinymovr::get_power(void)
+float Tinymovr::get_Vbus(void)
 {
     float value = 0;
     this->send(4, this->_data, 0, true);
@@ -56,7 +55,7 @@ float Tinymovr::get_power(void)
     }
     return value;
 }
-float Tinymovr::get_temp(void)
+float Tinymovr::get_Ibus(void)
 {
     float value = 0;
     this->send(5, this->_data, 0, true);
@@ -66,9 +65,9 @@ float Tinymovr::get_temp(void)
     }
     return value;
 }
-bool Tinymovr::get_calibrated(void)
+float Tinymovr::get_power(void)
 {
-    bool value = 0;
+    float value = 0;
     this->send(6, this->_data, 0, true);
     if (this->recv(6, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
@@ -76,9 +75,9 @@ bool Tinymovr::get_calibrated(void)
     }
     return value;
 }
-uint8_t Tinymovr::get_errors(void)
+float Tinymovr::get_temp(void)
 {
-    uint8_t value = 0;
+    float value = 0;
     this->send(7, this->_data, 0, true);
     if (this->recv(7, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
@@ -86,19 +85,44 @@ uint8_t Tinymovr::get_errors(void)
     }
     return value;
 }
+bool Tinymovr::get_calibrated(void)
+{
+    bool value = 0;
+    this->send(8, this->_data, 0, true);
+    if (this->recv(8, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
+uint8_t Tinymovr::get_errors(void)
+{
+    uint8_t value = 0;
+    this->send(9, this->_data, 0, true);
+    if (this->recv(9, this->_data, &(this->_dlc), this->delay_us_value)) 
+    {
+        read_le(&value, this->_data);
+    }
+    return value;
+}
 
 void Tinymovr::save_config()
 {
-    this->send(8, this->_data, 0, true);
+    this->send(10, this->_data, 0, true);
 }
 
 void Tinymovr::erase_config()
 {
-    this->send(9, this->_data, 0, true);
+    this->send(11, this->_data, 0, true);
 }
 
 void Tinymovr::reset()
 {
-    this->send(10, this->_data, 0, true);
+    this->send(12, this->_data, 0, true);
+}
+
+void Tinymovr::enter_dfu()
+{
+    this->send(13, this->_data, 0, true);
 }
 
diff --git a/src/tinymovr.hpp b/src/tinymovr.hpp
index e67ee03..400e186 100644
--- a/src/tinymovr.hpp
+++ b/src/tinymovr.hpp
@@ -18,13 +18,18 @@
 #include <homing.hpp>
 #include <watchdog.hpp>
 
-static uint32_t avlos_proto_hash = 3667602695;
+static uint32_t avlos_proto_hash = 4118115615;
 
 enum errors_flags
 {
     ERRORS_NONE = 0,
     ERRORS_UNDERVOLTAGE = (1 << 0), 
-    ERRORS_DRIVER_FAULT = (1 << 1)
+    ERRORS_DRIVER_FAULT = (1 << 1), 
+    ERRORS_CHARGE_PUMP_FAULT_STAT = (1 << 2), 
+    ERRORS_CHARGE_PUMP_FAULT = (1 << 3), 
+    ERRORS_DRV10_DISABLE = (1 << 4), 
+    ERRORS_DRV32_DISABLE = (1 << 5), 
+    ERRORS_DRV54_DISABLE = (1 << 6)
 };
 
 enum scheduler_errors_flags
@@ -75,6 +80,18 @@ enum homing_warnings_flags
     HOMING_WARNINGS_HOMING_TIMEOUT = (1 << 0)
 };
 
+enum motor_type_options
+{
+    MOTOR_TYPE_HIGH_CURRENT = 0, 
+    MOTOR_TYPE_GIMBAL = 1
+};
+
+enum encoder_type_options
+{
+    ENCODER_TYPE_INTERNAL = 0, 
+    ENCODER_TYPE_HALL = 1
+};
+
 class Tinymovr : Node
 {
     public:
@@ -91,6 +108,8 @@ class Tinymovr : Node
             , watchdog(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
         uint32_t get_protocol_hash(void);
         uint32_t get_uid(void);
+        void get_fw_version(char out_value[]);
+        uint32_t get_hw_revision(void);
         float get_Vbus(void);
         float get_Ibus(void);
         float get_power(void);
@@ -100,6 +119,7 @@ class Tinymovr : Node
         void save_config();
         void erase_config();
         void reset();
+        void enter_dfu();
         Scheduler_ scheduler;
         Controller_ controller;
         Comms_ comms;
diff --git a/src/traj_planner.cpp b/src/traj_planner.cpp
index 44d06e1..058ec08 100644
--- a/src/traj_planner.cpp
+++ b/src/traj_planner.cpp
@@ -11,8 +11,8 @@
 float Traj_planner_::get_max_accel(void)
 {
     float value = 0;
-    this->send(58, this->_data, 0, true);
-    if (this->recv(58, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(59, this->_data, 0, true);
+    if (this->recv(59, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Traj_planner_::get_max_accel(void)
 void Traj_planner_::set_max_accel(float value)
 {
     write_le(value, this->_data);
-    this->send(58, this->_data, sizeof(float), false);
+    this->send(59, this->_data, sizeof(float), false);
 }
 
 float Traj_planner_::get_max_decel(void)
 {
     float value = 0;
-    this->send(59, this->_data, 0, true);
-    if (this->recv(59, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(60, this->_data, 0, true);
+    if (this->recv(60, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Traj_planner_::get_max_decel(void)
 void Traj_planner_::set_max_decel(float value)
 {
     write_le(value, this->_data);
-    this->send(59, this->_data, sizeof(float), false);
+    this->send(60, this->_data, sizeof(float), false);
 }
 
 float Traj_planner_::get_max_vel(void)
 {
     float value = 0;
-    this->send(60, this->_data, 0, true);
-    if (this->recv(60, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(61, this->_data, 0, true);
+    if (this->recv(61, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,14 +56,14 @@ float Traj_planner_::get_max_vel(void)
 void Traj_planner_::set_max_vel(float value)
 {
     write_le(value, this->_data);
-    this->send(60, this->_data, sizeof(float), false);
+    this->send(61, this->_data, sizeof(float), false);
 }
 
 float Traj_planner_::get_t_accel(void)
 {
     float value = 0;
-    this->send(61, this->_data, 0, true);
-    if (this->recv(61, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(62, this->_data, 0, true);
+    if (this->recv(62, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -73,14 +73,14 @@ float Traj_planner_::get_t_accel(void)
 void Traj_planner_::set_t_accel(float value)
 {
     write_le(value, this->_data);
-    this->send(61, this->_data, sizeof(float), false);
+    this->send(62, this->_data, sizeof(float), false);
 }
 
 float Traj_planner_::get_t_decel(void)
 {
     float value = 0;
-    this->send(62, this->_data, 0, true);
-    if (this->recv(62, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(63, this->_data, 0, true);
+    if (this->recv(63, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -90,14 +90,14 @@ float Traj_planner_::get_t_decel(void)
 void Traj_planner_::set_t_decel(float value)
 {
     write_le(value, this->_data);
-    this->send(62, this->_data, sizeof(float), false);
+    this->send(63, this->_data, sizeof(float), false);
 }
 
 float Traj_planner_::get_t_total(void)
 {
     float value = 0;
-    this->send(63, this->_data, 0, true);
-    if (this->recv(63, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(64, this->_data, 0, true);
+    if (this->recv(64, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -107,7 +107,7 @@ float Traj_planner_::get_t_total(void)
 void Traj_planner_::set_t_total(float value)
 {
     write_le(value, this->_data);
-    this->send(63, this->_data, sizeof(float), false);
+    this->send(64, this->_data, sizeof(float), false);
 }
 
 
@@ -117,7 +117,7 @@ void Traj_planner_::move_to(float pos_setpoint)
     write_le(pos_setpoint, this->_data + data_len);
     data_len += sizeof(pos_setpoint);
 
-    this->send(64, this->_data, data_len, false);
+    this->send(65, this->_data, data_len, false);
 }
 
 void Traj_planner_::move_to_tlimit(float pos_setpoint)
@@ -126,13 +126,13 @@ void Traj_planner_::move_to_tlimit(float pos_setpoint)
     write_le(pos_setpoint, this->_data + data_len);
     data_len += sizeof(pos_setpoint);
 
-    this->send(65, this->_data, data_len, false);
+    this->send(66, this->_data, data_len, false);
 }
 uint8_t Traj_planner_::get_errors(void)
 {
     uint8_t value = 0;
-    this->send(66, this->_data, 0, true);
-    if (this->recv(66, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(67, this->_data, 0, true);
+    if (this->recv(67, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
diff --git a/src/velocity.cpp b/src/velocity.cpp
index 56b5480..318995e 100644
--- a/src/velocity.cpp
+++ b/src/velocity.cpp
@@ -11,8 +11,8 @@
 float Velocity_::get_setpoint(void)
 {
     float value = 0;
-    this->send(20, this->_data, 0, true);
-    if (this->recv(20, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(21, this->_data, 0, true);
+    if (this->recv(21, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ float Velocity_::get_setpoint(void)
 void Velocity_::set_setpoint(float value)
 {
     write_le(value, this->_data);
-    this->send(20, this->_data, sizeof(float), false);
+    this->send(21, this->_data, sizeof(float), false);
 }
 
 float Velocity_::get_limit(void)
 {
     float value = 0;
-    this->send(21, this->_data, 0, true);
-    if (this->recv(21, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(22, this->_data, 0, true);
+    if (this->recv(22, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,14 +39,14 @@ float Velocity_::get_limit(void)
 void Velocity_::set_limit(float value)
 {
     write_le(value, this->_data);
-    this->send(21, this->_data, sizeof(float), false);
+    this->send(22, this->_data, sizeof(float), false);
 }
 
 float Velocity_::get_p_gain(void)
 {
     float value = 0;
-    this->send(22, this->_data, 0, true);
-    if (this->recv(22, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(23, this->_data, 0, true);
+    if (this->recv(23, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -56,14 +56,14 @@ float Velocity_::get_p_gain(void)
 void Velocity_::set_p_gain(float value)
 {
     write_le(value, this->_data);
-    this->send(22, this->_data, sizeof(float), false);
+    this->send(23, this->_data, sizeof(float), false);
 }
 
 float Velocity_::get_i_gain(void)
 {
     float value = 0;
-    this->send(23, this->_data, 0, true);
-    if (this->recv(23, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(24, this->_data, 0, true);
+    if (this->recv(24, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -73,14 +73,14 @@ float Velocity_::get_i_gain(void)
 void Velocity_::set_i_gain(float value)
 {
     write_le(value, this->_data);
-    this->send(23, this->_data, sizeof(float), false);
+    this->send(24, this->_data, sizeof(float), false);
 }
 
 float Velocity_::get_deadband(void)
 {
     float value = 0;
-    this->send(24, this->_data, 0, true);
-    if (this->recv(24, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(25, this->_data, 0, true);
+    if (this->recv(25, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -90,14 +90,14 @@ float Velocity_::get_deadband(void)
 void Velocity_::set_deadband(float value)
 {
     write_le(value, this->_data);
-    this->send(24, this->_data, sizeof(float), false);
+    this->send(25, this->_data, sizeof(float), false);
 }
 
 float Velocity_::get_increment(void)
 {
     float value = 0;
-    this->send(25, this->_data, 0, true);
-    if (this->recv(25, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(26, this->_data, 0, true);
+    if (this->recv(26, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -107,7 +107,7 @@ float Velocity_::get_increment(void)
 void Velocity_::set_increment(float value)
 {
     write_le(value, this->_data);
-    this->send(25, this->_data, sizeof(float), false);
+    this->send(26, this->_data, sizeof(float), false);
 }
 
 
diff --git a/src/voltage.cpp b/src/voltage.cpp
index 83125fe..754640b 100644
--- a/src/voltage.cpp
+++ b/src/voltage.cpp
@@ -11,8 +11,8 @@
 float Voltage_::get_Vq_setpoint(void)
 {
     float value = 0;
-    this->send(34, this->_data, 0, true);
-    if (this->recv(34, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(35, this->_data, 0, true);
+    if (this->recv(35, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
diff --git a/src/watchdog.cpp b/src/watchdog.cpp
index 9e7401d..35548b2 100644
--- a/src/watchdog.cpp
+++ b/src/watchdog.cpp
@@ -11,8 +11,8 @@
 bool Watchdog_::get_enabled(void)
 {
     bool value = 0;
-    this->send(75, this->_data, 0, true);
-    if (this->recv(75, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(76, this->_data, 0, true);
+    if (this->recv(76, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -22,14 +22,14 @@ bool Watchdog_::get_enabled(void)
 void Watchdog_::set_enabled(bool value)
 {
     write_le(value, this->_data);
-    this->send(75, this->_data, sizeof(bool), false);
+    this->send(76, this->_data, sizeof(bool), false);
 }
 
 bool Watchdog_::get_triggered(void)
 {
     bool value = 0;
-    this->send(76, this->_data, 0, true);
-    if (this->recv(76, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(77, this->_data, 0, true);
+    if (this->recv(77, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -39,8 +39,8 @@ bool Watchdog_::get_triggered(void)
 float Watchdog_::get_timeout(void)
 {
     float value = 0;
-    this->send(77, this->_data, 0, true);
-    if (this->recv(77, this->_data, &(this->_dlc), this->delay_us_value)) 
+    this->send(78, this->_data, 0, true);
+    if (this->recv(78, this->_data, &(this->_dlc), this->delay_us_value)) 
     {
         read_le(&value, this->_data);
     }
@@ -50,7 +50,7 @@ float Watchdog_::get_timeout(void)
 void Watchdog_::set_timeout(float value)
 {
     write_le(value, this->_data);
-    this->send(77, this->_data, sizeof(float), false);
+    this->send(78, this->_data, sizeof(float), false);
 }