/*
	Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

#include "conf_general.h"
#include "ch.h"
#include "eeprom.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "utils.h"
#include "stm32f4xx_conf.h"
#include "timeout.h"
#include "commands.h"
#include "encoder.h"
#include "comm_can.h"
#include "app.h"
#include "confgenerator.h"
#include "mempools.h"
#include "worker.h"
#include "crc.h"
#include "terminal.h"

#include <string.h>
#include <math.h>

//#define TEST_BAD_MC_CRC
//#define TEST_BAD_APP_CRC

// EEPROM settings
#define EEPROM_BASE_MCCONF		1000
#define EEPROM_BASE_APPCONF		2000
#define EEPROM_BASE_HW			3000
#define EEPROM_BASE_CUSTOM		4000
#define EEPROM_BASE_MCCONF_2	5000

// Global variables
uint16_t VirtAddVarTab[NB_OF_VAR];
bool conf_general_permanent_nrf_found = false;

// Private functions
static bool read_eeprom_var(eeprom_var *v, int address, uint16_t base);
static bool store_eeprom_var(eeprom_var *v, int address, uint16_t base);

void conf_general_init(void) {
	// First, make sure that all relevant virtual addresses are assigned for page swapping.
	memset(VirtAddVarTab, 0, sizeof(VirtAddVarTab));

	int ind = 0;
	for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
		VirtAddVarTab[ind++] = EEPROM_BASE_MCCONF + i;
	}

	for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
		VirtAddVarTab[ind++] = EEPROM_BASE_APPCONF + i;
	}

	for (unsigned int i = 0;i < (EEPROM_VARS_HW * 2);i++) {
		VirtAddVarTab[ind++] = EEPROM_BASE_HW + i;
	}

	for (unsigned int i = 0;i < (EEPROM_VARS_CUSTOM * 2);i++) {
		VirtAddVarTab[ind++] = EEPROM_BASE_CUSTOM + i;
	}

	FLASH_Unlock();
	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
	EE_Init();
	FLASH_Lock();
}

/**
 * Read hw-specific variable from emulated EEPROM.
 *
 * @param v
 * The variable to read the result from.
 *
 * @param address
 * Mapped address in EEPROM. Range 0 to 63.
 *
 * @return
 * true for success, false if variable was not found.
 */
bool conf_general_read_eeprom_var_hw(eeprom_var *v, int address) {
	return read_eeprom_var(v, address, EEPROM_BASE_HW);
}

/**
 * Read custom variable from emulated EEPROM.
 *
 * @param v
 * The variable to read the result from.
 *
 * @param address
 * Mapped address in EEPROM. Range 0 to 63.
 *
 * @return
 * true for success, false if variable was not found.
 */
bool conf_general_read_eeprom_var_custom(eeprom_var *v, int address) {
	return read_eeprom_var(v, address, EEPROM_BASE_CUSTOM);
}

/**
 * Store hw-specific variable to emulated EEPROM.
 *
 * @param v
 * The variable to store the result in.
 *
 * @param address
 * Mapped address in EEPROM. Range 0 to 63.
 *
 * @return
 * true for success, false if something went wrong.
 */
bool conf_general_store_eeprom_var_hw(eeprom_var *v, int address) {
	return store_eeprom_var(v, address, EEPROM_BASE_HW);
}

/**
 * Store custom variable to emulated EEPROM.
 *
 * @param v
 * The variable to store the result in.
 *
 * @param address
 * Mapped address in EEPROM. Range 0 to 63.
 *
 * @return
 * true for success, false if something went wrong.
 */
bool conf_general_store_eeprom_var_custom(eeprom_var *v, int address) {
	return store_eeprom_var(v, address, EEPROM_BASE_CUSTOM);
}

static bool read_eeprom_var(eeprom_var *v, int address, uint16_t base) {
	bool is_ok = true;
	uint16_t var0, var1;

	if (EE_ReadVariable(base + 2 * address, &var0) == 0 &&
			EE_ReadVariable(base + 2 * address + 1, &var1) == 0) {
		uint32_t res = ((uint32_t)var0) << 16 | var1;
		v->as_u32 = res;
	} else {
		is_ok = false;
	}

	return is_ok;
}

static bool store_eeprom_var(eeprom_var *v, int address, uint16_t base) {
	bool is_ok = true;
	uint16_t var0, var1;

	var0 = v->as_u32 >> 16;
	var1 = v->as_u32 & 0xFFFF;

	timeout_configure_IWDT_slowest();

	FLASH_Unlock();
	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

	if (EE_WriteVariable(base + address * 2, var0) != FLASH_COMPLETE) {
		is_ok = false;
	}

	if (is_ok) {
		if (EE_WriteVariable(base + address * 2 + 1, var1) != FLASH_COMPLETE) {
			is_ok = false;
		}
	}

	FLASH_Lock();

	timeout_configure_IWDT();

	return is_ok;
}

/**
 * Read app_configuration from EEPROM. If this fails, default values will be used.
 *
 * @param conf
 * A pointer to a app_configuration struct to write the read configuration to.
 */
void conf_general_read_app_configuration(app_configuration *conf) {
	bool is_ok = true;
	uint8_t *conf_addr = (uint8_t*)conf;
	uint16_t var;

	for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
		if (EE_ReadVariable(EEPROM_BASE_APPCONF + i, &var) == 0) {
			conf_addr[2 * i] = (var >> 8) & 0xFF;
			conf_addr[2 * i + 1] = var & 0xFF;
		} else {
			is_ok = false;
			break;
		}
	}

	// check CRC
#ifdef TEST_BAD_APP_CRC
	conf->crc++;
#endif
	if(conf->crc != app_calc_crc(conf)) {
		is_ok = false;
//		mc_interface_fault_stop(FAULT_CODE_FLASH_CORRUPTION_APP_CFG, false, false);
		fault_data f;
		f.fault = FAULT_CODE_FLASH_CORRUPTION_APP_CFG;
		terminal_add_fault_data(&f);
	}

	// Set the default configuration
	if (!is_ok) {
		confgenerator_set_defaults_appconf(conf);
	}
}

/**
 * Write app_configuration to EEPROM.
 *
 * @param conf
 * A pointer to the configuration that should be stored.
 */
bool conf_general_store_app_configuration(app_configuration *conf) {
	int motor_old = mc_interface_get_motor_thread();

	mc_interface_select_motor_thread(1);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_lock();

	mc_interface_select_motor_thread(2);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_lock();

	utils_sys_lock_cnt();

	timeout_configure_IWDT_slowest();

	bool is_ok = true;
	uint8_t *conf_addr = (uint8_t*)conf;
	uint16_t var;

	conf->crc = app_calc_crc(conf);

	FLASH_Unlock();
	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

	for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
		var = (conf_addr[2 * i] << 8) & 0xFF00;
		var |= conf_addr[2 * i + 1] & 0xFF;

		if (EE_WriteVariable(EEPROM_BASE_APPCONF + i, var) != FLASH_COMPLETE) {
			is_ok = false;
			break;
		}
	}
	FLASH_Lock();

	timeout_configure_IWDT();

	chThdSleepMilliseconds(100);

	mc_interface_select_motor_thread(1);
	mc_interface_unlock();
	mc_interface_select_motor_thread(2);
	mc_interface_unlock();

	utils_sys_unlock_cnt();

	mc_interface_select_motor_thread(motor_old);

	return is_ok;
}

/**
 * Read mc_configuration from EEPROM. If this fails, default values will be used.
 *
 * @param conf
 * A pointer to a mc_configuration struct to write the read configuration to.
 */
void conf_general_read_mc_configuration(mc_configuration *conf, bool is_motor_2) {
	bool is_ok = true;
	uint8_t *conf_addr = (uint8_t*)conf;
	uint16_t var;
	unsigned int base = is_motor_2 ? EEPROM_BASE_MCCONF_2 : EEPROM_BASE_MCCONF;

	for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
		if (EE_ReadVariable(base + i, &var) == 0) {
			conf_addr[2 * i] = (var >> 8) & 0xFF;
			conf_addr[2 * i + 1] = var & 0xFF;
		} else {
			is_ok = false;
			break;
		}
	}

	// check CRC
#ifdef TEST_BAD_MC_CRC
	conf->crc++;
#endif
	if(conf->crc != mc_interface_calc_crc(conf, is_motor_2)) {
		is_ok = false;
//		mc_interface_fault_stop(FAULT_CODE_FLASH_CORRUPTION_MC_CFG, is_motor_2, false);
		fault_data f;
		f.fault = FAULT_CODE_FLASH_CORRUPTION_MC_CFG;
		terminal_add_fault_data(&f);
	}

	if (!is_ok) {
		confgenerator_set_defaults_mcconf(conf);
	}
}

/**
 * Write mc_configuration to EEPROM.
 *
 * @param conf
 * A pointer to the configuration that should be stored.
 */
bool conf_general_store_mc_configuration(mc_configuration *conf, bool is_motor_2) {
	int motor_old = mc_interface_get_motor_thread();

	mc_interface_select_motor_thread(1);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_lock();

	mc_interface_select_motor_thread(2);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_lock();

	utils_sys_lock_cnt();

	timeout_configure_IWDT_slowest();

	bool is_ok = true;
	uint8_t *conf_addr = (uint8_t*)conf;
	unsigned int base = is_motor_2 ? EEPROM_BASE_MCCONF_2 : EEPROM_BASE_MCCONF;

	conf->crc = mc_interface_calc_crc(conf, is_motor_2);

	FLASH_Unlock();
	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

	for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
		uint16_t var = (conf_addr[2 * i] << 8) & 0xFF00;
		var |= conf_addr[2 * i + 1] & 0xFF;

		if (EE_WriteVariable(base + i, var) != FLASH_COMPLETE) {
			is_ok = false;
			break;
		}
	}
	FLASH_Lock();

	timeout_configure_IWDT();

	chThdSleepMilliseconds(100);

	mc_interface_select_motor_thread(1);
	mc_interface_unlock();
	mc_interface_select_motor_thread(2);
	mc_interface_unlock();

	utils_sys_unlock_cnt();

	mc_interface_select_motor_thread(motor_old);

	return is_ok;
}

bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,
		float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res) {

	int ok_steps = 0;
	const float spinup_to_duty = 0.5;

	mc_configuration *mcconf = mempools_alloc_mcconf();
	mc_configuration *mcconf_old = mempools_alloc_mcconf();

	*mcconf = *mc_interface_get_configuration();
	*mcconf_old = *mcconf;

	mcconf->motor_type = MOTOR_TYPE_BLDC;
	mcconf->sensor_mode = SENSOR_MODE_SENSORLESS;
	mcconf->comm_mode = COMM_MODE_INTEGRATE;
	mcconf->sl_phase_advance_at_br = 1.0;
	mcconf->sl_min_erpm = min_rpm;
	mcconf->sl_bemf_coupling_k = 300;
	mcconf->sl_cycle_int_limit = 50;
	mcconf->sl_min_erpm_cycle_int_limit = 1100;
	mcconf->m_invert_direction = false;
	mc_interface_set_configuration(mcconf);

	// Wait maximum 5s for fault code to disappear
	for (int i = 0;i < 500;i++) {
		if (mc_interface_get_fault() == FAULT_CODE_NONE) {
			break;
		}
		chThdSleepMilliseconds(10);
	}

	// Wait one second for things to get ready after
	// the fault disappears. (will fry things otherwise...)
	chThdSleepMilliseconds(1000);

	// Disable timeout
	systime_t tout = timeout_get_timeout_msec();
	float tout_c = timeout_get_brake_current();
	timeout_reset();
	timeout_configure(60000, 0.0);

	mc_interface_lock();

	mc_interface_lock_override_once();
	mc_interface_set_current(current);

	// Try to spin up the motor. Up to three attempts with different settings are made.
	bool started = false;
	for (int i = 0;i < 3;i++) {
		if (i == 1) {
			mc_interface_lock_override_once();
			mc_interface_release_motor();
			mcconf->sl_min_erpm = 2 * min_rpm;
			mcconf->sl_cycle_int_limit = 20;
			mc_interface_lock_override_once();
			mc_interface_set_configuration(mcconf);
			chThdSleepMilliseconds(1000);
			mc_interface_lock_override_once();
			mc_interface_set_current(current);
		} else if (i == 2) {
			mc_interface_lock_override_once();
			mc_interface_release_motor();
			mcconf->sl_min_erpm = 4 * min_rpm;
			mcconf->comm_mode = COMM_MODE_DELAY;
			mc_interface_lock_override_once();
			mc_interface_set_configuration(mcconf);
			chThdSleepMilliseconds(1000);
			mc_interface_lock_override_once();
			mc_interface_set_current(current);
		}

		int cnt = 0;
		bool switch_done = false;
		started = true;

		while (mc_interface_get_duty_cycle_now() < spinup_to_duty) {
			chThdSleepMilliseconds(1);
			cnt++;

			if (mc_interface_get_duty_cycle_now() >= (spinup_to_duty / 2.0) && !switch_done) {
				mcpwm_switch_comm_mode(COMM_MODE_DELAY);
				switch_done = true;
			}

			if (cnt > 2000 && !switch_done) {
				started = false;
				break;
			}

			if (cnt >= 5000) {
				started = false;
				break;
			}
		}

		if (switch_done) {
			break;
		}
	}

	if (!started) {
		mc_interface_set_current(0.0);
		timeout_configure(tout, tout_c);
		mc_interface_set_configuration(mcconf_old);
		mc_interface_unlock();
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
		return false;
	}

	ok_steps++;

	// Reset hall sensor samples
	mcpwm_reset_hall_detect_table();

	// Run for a while to get hall sensor samples
	mc_interface_lock_override_once();
	mc_interface_set_duty(spinup_to_duty);
	chThdSleepMilliseconds(400);

	// Release the motor and wait a few commutations
	mc_interface_lock_override_once();
	mc_interface_set_current(0.0);
	int tacho = mc_interface_get_tachometer_value(0);
	for (int i = 0;i < 2000;i++) {
		if ((mc_interface_get_tachometer_value(0) - tacho) < 3) {
			chThdSleepMilliseconds(1);
		} else {
			ok_steps++;
			break;
		}
	}

	// Average the cycle integrator for 50 commutations
	mcpwm_read_reset_avg_cycle_integrator();
	tacho = mc_interface_get_tachometer_value(false);
	for (int i = 0;i < 3000;i++) {
		if ((mc_interface_get_tachometer_value(false) - tacho) < 50) {
			chThdSleepMilliseconds(1);
		} else {
			ok_steps++;
			break;
		}
	}

	// Get hall detect result
	*hall_res = mcpwm_get_hall_detect_result(hall_table);

	*int_limit = mcpwm_read_reset_avg_cycle_integrator();

	// Wait for the motor to slow down
	for (int i = 0;i < 5000;i++) {
		if (mc_interface_get_duty_cycle_now() > low_duty) {
			chThdSleepMilliseconds(1);
		} else {
			ok_steps++;
			break;
		}
	}

	mc_interface_lock_override_once();
	mc_interface_set_duty(low_duty);

	// Average the cycle integrator for 100 commutations
	mcpwm_read_reset_avg_cycle_integrator();
	tacho = mc_interface_get_tachometer_value(0);
	float rpm_sum = 0.0;
	float rpm_iterations = 0.0;
	for (int i = 0;i < 3000;i++) {
		if ((mc_interface_get_tachometer_value(0) - tacho) < 100) {
			rpm_sum += mc_interface_get_rpm();
			rpm_iterations += 1;
			chThdSleepMilliseconds(1);
		} else {
			ok_steps++;
			break;
		}
	}

	float avg_cycle_integrator_running = mcpwm_read_reset_avg_cycle_integrator();
	float rpm = rpm_sum / rpm_iterations;

	mc_interface_lock_override_once();
	mc_interface_release_motor();

	// Try to figure out the coupling factor
	avg_cycle_integrator_running -= *int_limit;
	avg_cycle_integrator_running /= (float)ADC_Value[ADC_IND_VIN_SENS];
	avg_cycle_integrator_running *= rpm;
	*bemf_coupling_k = avg_cycle_integrator_running;

	// Restore settings
	mc_interface_set_configuration(mcconf_old);
	timeout_configure(tout, tout_c);

	mc_interface_unlock();

	mempools_free_mcconf(mcconf);
	mempools_free_mcconf(mcconf_old);

	return ok_steps == 5 ? true : false;
}

/**
 * Try to measure the motor flux linkage.
 *
 * @param current
 * The current so spin up the motor with.
 *
 * @param duty
 * The duty cycle to maintain.
 *
 * @param min_erpm
 * The minimum ERPM for the delay commutation mode.
 *
 * @param res
 * The motor phase resistance.
 *
 * @param linkage
 * The calculated flux linkage.
 *
 * @return
 * True for success, false otherwise.
 */
bool conf_general_measure_flux_linkage(float current, float duty,
		float min_erpm, float res, float *linkage) {

	mc_configuration *mcconf = mempools_alloc_mcconf();
	mc_configuration *mcconf_old = mempools_alloc_mcconf();

	*mcconf = *mc_interface_get_configuration();
	*mcconf_old = *mcconf;

	mcconf->motor_type = MOTOR_TYPE_BLDC;
	mcconf->sensor_mode = SENSOR_MODE_SENSORLESS;
	mcconf->comm_mode = COMM_MODE_INTEGRATE;
	mcconf->sl_phase_advance_at_br = 1.0;
	mcconf->sl_min_erpm = min_erpm;
	mcconf->m_bldc_f_sw_min = 10000.0;
	mcconf->sl_bemf_coupling_k = 300;
	mcconf->sl_cycle_int_limit = 50;
	mcconf->sl_min_erpm_cycle_int_limit = 1100;
	mc_interface_set_configuration(mcconf);

	// Wait maximum 5s for fault code to disappear
	for (int i = 0;i < 500;i++) {
		if (mc_interface_get_fault() == FAULT_CODE_NONE) {
			break;
		}
		chThdSleepMilliseconds(10);
	}

	if (mc_interface_get_fault() != FAULT_CODE_NONE) {
		mc_interface_set_configuration(mcconf_old);
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
		return false;
	}

	// Wait one second for things to get ready after
	// the fault disapears.
	chThdSleepMilliseconds(1000);

	// Disable timeout
	systime_t tout = timeout_get_timeout_msec();
	float tout_c = timeout_get_brake_current();
	timeout_reset();
	timeout_configure(60000, 0.0);

	mc_interface_lock();

	mc_interface_lock_override_once();
	mc_interface_set_current(current);

	// Try to spin up the motor. Up to three attempts with different settings are made.
	bool started = false;
	for (int i = 0;i < 4;i++) {
		if (i == 1) {
			mc_interface_lock_override_once();
			mc_interface_release_motor();
			mcconf->sl_cycle_int_limit = 250;
			mc_interface_lock_override_once();
			mc_interface_set_configuration(mcconf);
			chThdSleepMilliseconds(1000);
			mc_interface_lock_override_once();
			mc_interface_set_current(current);
		} else if (i == 2) {
			mc_interface_lock_override_once();
			mc_interface_release_motor();
			mcconf->sl_min_erpm = 2 * min_erpm;
			mcconf->sl_cycle_int_limit = 20;
			mc_interface_lock_override_once();
			mc_interface_set_configuration(mcconf);
			chThdSleepMilliseconds(1000);
			mc_interface_lock_override_once();
			mc_interface_set_current(current);
		} else if (i == 3) {
			mc_interface_lock_override_once();
			mc_interface_release_motor();
			mcconf->sl_min_erpm = 4 * min_erpm;
			mcconf->comm_mode = COMM_MODE_DELAY;
			mc_interface_lock_override_once();
			mc_interface_set_configuration(mcconf);
			chThdSleepMilliseconds(1000);
			mc_interface_lock_override_once();
			mc_interface_set_current(current);
		}

		int cnt = 0;
		bool switch_done = false;
		started = true;

		while (mc_interface_get_duty_cycle_now() < duty) {
			chThdSleepMilliseconds(1);
			cnt++;

			if (mc_interface_get_duty_cycle_now() >= (duty / 2.0) && !switch_done) {
				mcpwm_switch_comm_mode(COMM_MODE_DELAY);
				switch_done = true;
			}

			if (cnt > 2000 && !switch_done) {
				started = false;
				break;
			}

			if (cnt >= 5000) {
				started = false;
				break;
			}
		}

		if (switch_done) {
			break;
		}
	}

	if (!started) {
		mc_interface_set_current(0.0);
		timeout_configure(tout, tout_c);
		mc_interface_set_configuration(mcconf);
		mc_interface_unlock();
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
		return false;
	}

	mc_interface_lock_override_once();
	mc_interface_set_duty(duty);

	float avg_voltage = 0.0;
	float avg_rpm = 0.0;
	float avg_current = 0.0;
	float samples = 0.0;
	for (int i = 0;i < 2000;i++) {
		avg_voltage += GET_INPUT_VOLTAGE() * mc_interface_get_duty_cycle_now();
		avg_rpm += mc_interface_get_rpm();
		avg_current += mc_interface_get_tot_current();
		samples += 1.0;
		chThdSleepMilliseconds(1.0);
	}

	timeout_configure(tout, tout_c);
	mc_interface_set_configuration(mcconf_old);
	mc_interface_unlock();
	mc_interface_set_current(0.0);

	avg_voltage /= samples;
	avg_rpm /= samples;
	avg_current /= samples;
	avg_voltage -= avg_current * res * 2.0;

	*linkage = avg_voltage * 60.0 / (sqrtf(3.0) * 2.0 * M_PI * avg_rpm);

	mempools_free_mcconf(mcconf);
	mempools_free_mcconf(mcconf_old);

	return true;
}

/* Calculate DTG register */
uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq) {
	uint8_t DTG = 0;
	float timebase = 1.0 / (core_clock_freq / 1000000.0) * 1000.0;

	if (deadtime_ns <= (timebase * 127.0)) {
		DTG = deadtime_ns / timebase;
	} else {
		if (deadtime_ns <= ((63.0 + 64.0) * 2.0 * timebase)) {
			DTG = deadtime_ns / (2.0 * timebase) - 64.0;
			DTG |= 0x80;
		} else {
			if (deadtime_ns <= ((31.0 + 32.0) * 8.0 * timebase)) {
				DTG = deadtime_ns / (8.0 * timebase) - 32.0;
				DTG |= 0xC0;
			} else {
				if (deadtime_ns <= ((31.0 + 32) * 16 * timebase)) {
					DTG = deadtime_ns / (16.0 * timebase) - 32.0;
					DTG |= 0xE0;
				} else {
					// Deadtime requested is longer than max achievable. Set deadtime at
					// longest possible value
					DTG = 0xFF;
					assert_param(1); //catch this
				}
			}
		}
	}

	return DTG;
}

/**
 * Try to measure the motor flux linkage using open loop FOC control.
 *
 * @param current
 * The Q-axis current to spin up the motor.
 *
 * @param duty
 * Duty cycle % to measure at
 *
 * @param erpm_per_sec
 * Acceleration rate
 *
 * @param res
 * The motor phase resistance.
 *
 * @param linkage
 * The calculated flux linkage.
 *
 * @param linkage_undriven
 * Flux linkage measured while the motor was undriven.
 *
 * @param undriven_samples
 * Number of flux linkage samples while the motor was undriven.
 *
 * @return
 * True for success, false otherwise.
 */
bool conf_general_measure_flux_linkage_openloop(float current, float duty,
		float erpm_per_sec, float res, float ind, float *linkage,
		float *linkage_undriven, float *undriven_samples) {
	bool result = false;

	mc_configuration *mcconf = mempools_alloc_mcconf();
	mc_configuration *mcconf_old = mempools_alloc_mcconf();

	*mcconf = *mc_interface_get_configuration();
	*mcconf_old = *mcconf;

	mcconf->motor_type = MOTOR_TYPE_FOC;
	mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
	mcconf->foc_current_kp = 0.0005;
	mcconf->foc_current_ki = 1.0;
	mcconf->foc_cc_decoupling = FOC_CC_DECOUPLING_DISABLED;
	mc_interface_set_configuration(mcconf);

	// Wait maximum 5s for fault code to disappear
	for (int i = 0;i < 500;i++) {
		if (mc_interface_get_fault() == FAULT_CODE_NONE) {
			break;
		}
		chThdSleepMilliseconds(10);
	}

	if (mc_interface_get_fault() != FAULT_CODE_NONE) {
		mc_interface_set_configuration(mcconf_old);
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
		return false;
	}

	// Wait one second for things to get ready after
	// the fault disapears.
	chThdSleepMilliseconds(1000);

	// Disable timeout
	systime_t tout = timeout_get_timeout_msec();
	float tout_c = timeout_get_brake_current();
	timeout_reset();
	timeout_configure(60000, 0.0);

	mc_interface_lock();

	int cnt = 0;
	float rpm_now = 0;

	// Start by locking the motor
	for (int i = 0;i < 200;i++) {
		mcpwm_foc_set_openloop((float)i * current / 200.0, rpm_now);
		chThdSleepMilliseconds(1);
	}

	float duty_still = 0;
	float samples = 0;
	for (int i = 0;i < 1000;i++) {
		duty_still += fabsf(mc_interface_get_duty_cycle_now());
		samples += 1.0;
		chThdSleepMilliseconds(1);
	}

	duty_still /= samples;
	float duty_max = 0.0;
	const int max_time = 15000;

	while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
		rpm_now += erpm_per_sec / 1000.0;
		mcpwm_foc_set_openloop(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);

		chThdSleepMilliseconds(1);
		cnt++;

		float duty_now = fabsf(mc_interface_get_duty_cycle_now());

		if (duty_now > duty_max) {
			duty_max = duty_now;
		}

		if (cnt >= max_time) {
			*linkage = -1.0;
			break;
		}

		if (cnt > 4000 && duty_now < (duty_max * 0.7)) {
			cnt = max_time;
			*linkage = -2.0;
			break;
		}

		if (cnt > 4000 && duty < duty_still * 1.1) {
			cnt = max_time;
			*linkage = -3.0;
			break;
		}

		if (rpm_now >= 12000) {
			break;
		}
	}

	chThdSleepMilliseconds(1000);

	if (cnt < max_time) {
		float vq_avg = 0.0;
		float vd_avg = 0.0;
		float iq_avg = 0.0;
		float id_avg = 0.0;
		float samples2 = 0.0;

		for (int i = 0;i < 10000;i++) {
			vq_avg += mcpwm_foc_get_vq();
			vd_avg += mcpwm_foc_get_vd();
			iq_avg += mcpwm_foc_get_iq();
			id_avg += mcpwm_foc_get_id();
			samples2 += 1.0;
			chThdSleep(1);
		}

		vq_avg /= samples2;
		vd_avg /= samples2;
		iq_avg /= samples2;
		id_avg /= samples2;

		float rad_s = rpm_now * ((2.0 * M_PI) / 60.0);
		float v_mag = sqrtf(SQ(vq_avg) + SQ(vd_avg));
		float i_mag = sqrtf(SQ(iq_avg) + SQ(id_avg));
		*linkage = (v_mag - (2.0 / 3.0) * res * i_mag) / rad_s - (2.0 / 3.0) * i_mag * ind;

		mcconf->foc_motor_r = res;
		mcconf->foc_motor_l = ind;
		mcconf->foc_motor_flux_linkage = *linkage;
		mcconf->foc_observer_gain = 0.5e3 / SQ(*linkage);
		mc_interface_set_configuration(mcconf);
		chThdSleepMilliseconds(500);
		mcpwm_foc_set_current(0.0);
		chThdSleepMilliseconds(5);

		float linkage_sum = 0.0;
		float linkage_samples = 0.0;
		for (int i = 0;i < 20000;i++) {
			float rad_s_now = mcpwm_foc_get_rpm_faster() * ((2.0 * M_PI) / 60.0);
			if (fabsf(mcpwm_foc_get_duty_cycle_now()) < 0.01) {
				break;
			}

			linkage_sum += mcpwm_foc_get_vq() / rad_s_now;
			linkage_samples += 1.0;
			chThdSleep(1);
		}

		*undriven_samples = linkage_samples;

		if (linkage_samples > 0) {
			*linkage_undriven = linkage_sum / linkage_samples;
		} else {
			*linkage_undriven = 0.0;
		}

		result = true;
	}

	timeout_configure(tout, tout_c);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_set_configuration(mcconf_old);
	mempools_free_mcconf(mcconf);
	mempools_free_mcconf(mcconf_old);
	return result;
}

/**
 * Automatically detect sensors and apply settings in FOC mode.
 *
 * @param current
 * Current to use for detection.
 *
 * @param store_mcconf_on_success
 * Store motor configuration in emulated EEPROM if the detection succeeds.
 *
 * @param send_mcconf_on_success
 * Send motor configuration if the detection succeeds.
 *
 * @return
 * 2: AS5147 detected successfully
 * 1: Hall sensors detected successfully
 * 0: No sensors detected and sensorless mode applied successfully
 * -1: Detection failed
 */
int conf_general_autodetect_apply_sensors_foc(float current,
		bool store_mcconf_on_success, bool send_mcconf_on_success) {
	int result = -1;

	mc_configuration *mcconf = mempools_alloc_mcconf();
	mc_configuration *mcconf_old = mempools_alloc_mcconf();

	*mcconf = *mc_interface_get_configuration();
	*mcconf_old = *mcconf;

	mcconf->motor_type = MOTOR_TYPE_FOC;
	mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
	mcconf->foc_current_kp = 0.0005;
	mcconf->foc_current_ki = 1.0;
	mc_interface_set_configuration(mcconf);

	// Wait maximum 5s for fault code to disappear
	for (int i = 0;i < 500;i++) {
		if (mc_interface_get_fault() == FAULT_CODE_NONE) {
			break;
		}
		chThdSleepMilliseconds(10);
	}

	if (mc_interface_get_fault() != FAULT_CODE_NONE) {
		mc_interface_set_configuration(mcconf_old);
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
		return -1;
	}

	// Wait one second for things to get ready after
	// the fault disappears.
	chThdSleepMilliseconds(1000);

	// Disable timeout
	systime_t tout = timeout_get_timeout_msec();
	float tout_c = timeout_get_brake_current();
	timeout_reset();
	timeout_configure(60000, 0.0);

	mc_interface_lock();

	// Hall sensors
	mcconf->m_sensor_port_mode = SENSOR_PORT_MODE_HALL;
	mc_interface_set_configuration(mcconf);

	uint8_t hall_table[8];
	bool res = mcpwm_foc_hall_detect(current, hall_table);

	// Lock again, as hall detection will undo the lock
	mc_interface_lock();

	if (res) {
		mcconf_old->m_sensor_port_mode = SENSOR_PORT_MODE_HALL;
		mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_HALL;
		for (int i = 0;i < 8;i++) {
			mcconf_old->foc_hall_table[i] = hall_table[i];
		}

		result = 1;
	}

	// AS5047 encoder
#ifndef HW_HAS_DUAL_MOTORS
	if (!res) {
		mcconf->m_sensor_port_mode = SENSOR_PORT_MODE_AS5047_SPI;
		mc_interface_set_configuration(mcconf);

		for (int i = 0;i < 1000;i++) {
			mcpwm_foc_set_openloop_phase((float)i * current / 1000.0, 0.0);
			chThdSleepMilliseconds(1);
		}

		float phase_start = encoder_read_deg();
		float phase_mid = 0.0;
		float phase_end = 0.0;

		for (int i = 0;i < 180.0;i++) {
			mcpwm_foc_set_openloop_phase(current, i);
			chThdSleepMilliseconds(5);

			if (i == 90) {
				phase_mid = encoder_read_deg();
			}
		}

		phase_end = encoder_read_deg();
		float diff = fabsf(utils_angle_difference(phase_start, phase_end));
		float diff_mid = fabsf(utils_angle_difference(phase_mid, phase_end));

		if (diff > 2.0 && (diff_mid - diff / 2.0) < (diff / 4)) {
			float offset, ratio;
			bool inverted;
			mcpwm_foc_encoder_detect(current, false, &offset, &ratio, &inverted);
			mcconf_old->m_sensor_port_mode = SENSOR_PORT_MODE_AS5047_SPI;
			mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_ENCODER;
			mcconf_old->foc_encoder_offset = offset;
			mcconf_old->foc_encoder_ratio = ratio;
			mcconf_old->foc_encoder_inverted = inverted;

			res = true;
			result = 2;
		}
	}
#endif

	// Sensorless
	if (!res) {
		mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
		result = 0;
		res = true;
	}

	timeout_configure(tout, tout_c);
	mc_interface_unlock();
	mc_interface_release_motor();
	mc_interface_set_configuration(mcconf_old);

	// On success store the mc configuration, also send it to VESC Tool.
	if (res) {
		if (store_mcconf_on_success) {
			conf_general_store_mc_configuration(mcconf_old,
					mc_interface_get_motor_thread() == 2);
		}

		if (send_mcconf_on_success) {
			commands_send_mcconf(COMM_GET_MCCONF, mcconf_old);
		}
	}

	mempools_free_mcconf(mcconf);
	mempools_free_mcconf(mcconf_old);

	return result;
}

void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float tc) {
	float r = mcconf->foc_motor_r;
	float l = mcconf->foc_motor_l;
	float lambda = mcconf->foc_motor_flux_linkage;

	float bw = 1.0 / (tc * 1e-6);
	float kp = l * bw;
	float ki = r * bw;
	float gain = 1.0e-3 / (lambda * lambda);
//	float gain = (0.00001 / r) / (lambda * lambda); // Old method

	mcconf->foc_current_kp = kp;
	mcconf->foc_current_ki = ki;
	mcconf->foc_observer_gain = gain * 1e6;
}

static bool measure_r_l_imax(float current_min, float current_max,
		float max_power_loss, float *r, float *l, float *i_max) {
	float current_start = current_max / 50;
	if (current_start < (current_min * 1.1)) {
		current_start = current_min * 1.1;
	}

	mc_configuration *mcconf = mempools_alloc_mcconf();
	*mcconf = *mc_interface_get_configuration();

	const float res_old = mcconf->foc_motor_r;

	float i_last = 0.0;
	for (float i = current_start;i < current_max;i *= 1.5) {
		float res_tmp = mcpwm_foc_measure_resistance(i, 5, false);
		i_last = i;

		if (mc_interface_get_fault() != FAULT_CODE_NONE) {
			mempools_free_mcconf(mcconf);
			return false;
		}

		if ((i * i * res_tmp) >= (max_power_loss / 3.0)) {
			break;
		}
	}

	*r = mcpwm_foc_measure_resistance(i_last, 100, true);

	mcconf->foc_motor_r = *r;
	mc_interface_set_configuration(mcconf);

	*l = mcpwm_foc_measure_inductance_current(i_last, 100, 0, 0) * 1e-6;
	*i_max = sqrtf(max_power_loss / *r);
	utils_truncate_number(i_max, HW_LIM_CURRENT);

	mcconf->foc_motor_r = res_old;
	mc_interface_set_configuration(mcconf);
	mempools_free_mcconf(mcconf);

	return true;
}

static bool wait_fault(int timeout_ms) {
	int motor_last = mc_interface_get_motor_thread();

	for (int i = 0;i < (timeout_ms / 10);i++) {
		mc_interface_select_motor_thread(1);
		mc_fault_code fault1 = mc_interface_get_fault();
		mc_interface_select_motor_thread(2);
		mc_fault_code fault2 = mc_interface_get_fault();

		if (fault1 == FAULT_CODE_NONE && fault2 == FAULT_CODE_NONE) {
			break;
		}

		chThdSleepMilliseconds(10);
	}

	mc_interface_select_motor_thread(1);
	mc_fault_code fault1 = mc_interface_get_fault();
	mc_interface_select_motor_thread(2);
	mc_fault_code fault2 = mc_interface_get_fault();

	mc_interface_select_motor_thread(motor_last);

	return fault1 == FAULT_CODE_NONE && fault2 == FAULT_CODE_NONE;
}

static bool wait_motor_stop(int timeout_ms) {
	int motor_last = mc_interface_get_motor_thread();

	for (int i = 0;i < (timeout_ms / 10);i++) {
		mc_interface_select_motor_thread(1);
		float rpm1 = mc_interface_get_rpm();
		mc_interface_select_motor_thread(2);
		float rpm2 = mc_interface_get_rpm();

		if (fabsf(rpm1) < 100.0 && fabsf(rpm2) < 100.0) {
			break;
		}
		chThdSleepMilliseconds(10);
	}

	mc_interface_select_motor_thread(1);
	float rpm1 = mc_interface_get_rpm();
	mc_interface_select_motor_thread(2);
	float rpm2 = mc_interface_get_rpm();

	mc_interface_select_motor_thread(motor_last);

	return fabsf(rpm1) < 100.0 && fabsf(rpm2) < 100.0;
}

#ifdef HW_HAS_DUAL_MOTORS
typedef struct {
	float current_min;
	float current_max;
	float max_power_loss;
	float r;
	float l;
	float i_max;
	bool res;
	int motor;
} measure_r_l_imax_arg_t;

static void measure_r_l_imax_task(void *arg) {
	measure_r_l_imax_arg_t *args = (measure_r_l_imax_arg_t*)arg;
	mc_interface_select_motor_thread(args->motor);
	args->res = measure_r_l_imax(
			args->current_min,
			args->current_max,
			args->max_power_loss,
			&args->r, &args->l, &args->i_max);
}

typedef struct {
	float current;
	float duty;
	float erpm_per_sec;
	float res;
	float ind;
	float linkage;
	bool result;
	int motor;
} measure_flux_linkage_arg_t;

static void measure_flux_linkage_task(void *arg) {
	measure_flux_linkage_arg_t *args = (measure_flux_linkage_arg_t*)arg;
	mc_interface_select_motor_thread(args->motor);

	float linkage, linkage_undriven, undriven_samples;

	args->result = conf_general_measure_flux_linkage_openloop(
			args->current,
			args->duty,
			args->erpm_per_sec,
			args->res,
			args->ind,
			&linkage,
			&linkage_undriven,
			&undriven_samples);

	if (undriven_samples > 60) {
		args->linkage = linkage_undriven;
	} else {
		args->linkage = linkage;
	}
}

typedef struct {
	float current;
	bool store_mcconf_on_success;
	bool send_mcconf_on_success;
	int res;
	int motor;
} detect_sensors_arg_t;

static void detect_sensors_task(void *arg) {
	detect_sensors_arg_t *args = (detect_sensors_arg_t*)arg;
	mc_interface_select_motor_thread(args->motor);
	args->res = conf_general_autodetect_apply_sensors_foc(
			args->current,
			args->store_mcconf_on_success,
			args->send_mcconf_on_success);
}
#endif

/**
 * Detect and apply all parameters, current limits and sensors. This is done for
 * both motors on dual controllers.
 *
 * @param max_power_loss
 * The maximum power loss to derive current limits, as well as detection currents, from.
 *
 * @param store_mcconf_on_success
 * Store motor configuration in emulated EEPROM if the detection succeeds.
 *
 * @param send_mcconf_on_success
 * Send motor configuration if the detection succeeds.
 *
 * @return
 * >=0: Success, see conf_general_autodetect_apply_sensors_foc codes
 * -10: Flux linkage detection failed
 *  -x: see conf_general_autodetect_apply_sensors_foc faults
 */
int conf_general_detect_apply_all_foc(float max_power_loss,
		bool store_mcconf_on_success, bool send_mcconf_on_success) {
	int result = -1;

	int motor_last = mc_interface_get_motor_thread();
	mc_interface_select_motor_thread(1);

	mc_configuration *mcconf = mempools_alloc_mcconf();
	mc_configuration *mcconf_old = mempools_alloc_mcconf();

	*mcconf = *mc_interface_get_configuration();
	*mcconf_old = *mcconf;

#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	mc_configuration *mcconf_old_second = mempools_alloc_mcconf();
	*mcconf_old_second = *mc_interface_get_configuration();
	mc_interface_select_motor_thread(1);
#endif

	mcconf->motor_type = MOTOR_TYPE_FOC;
	mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
	mcconf->foc_f_sw = 10000.0; // Lower f_sw => less dead-time distortion
	mcconf->foc_current_kp = 0.0005;
	mcconf->foc_current_ki = 1.0;
	mcconf->l_current_max = MCCONF_L_CURRENT_MAX;
	mcconf->l_current_min = MCCONF_L_CURRENT_MIN;
	mcconf->l_current_max_scale = MCCONF_L_CURRENT_MAX_SCALE;
	mcconf->l_current_min_scale = MCCONF_L_CURRENT_MIN_SCALE;
	mcconf->l_watt_max = MCCONF_L_WATT_MAX;
	mcconf->l_watt_min = MCCONF_L_WATT_MIN;
	mcconf->l_max_erpm = MCCONF_L_RPM_MAX;
	mcconf->l_min_erpm = MCCONF_L_RPM_MIN;
	mc_interface_set_configuration(mcconf);

#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	mc_interface_set_configuration(mcconf);
	mc_interface_select_motor_thread(1);
#endif

	// Wait maximum 5s for fault code to disappear
	if (!wait_fault(5000)) {
		mc_interface_set_configuration(mcconf_old);
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
		mc_interface_select_motor_thread(2);
		mc_interface_set_configuration(mcconf_old_second);
		mc_interface_select_motor_thread(1);
		mempools_free_mcconf(mcconf_old_second);
#endif
		mc_interface_select_motor_thread(motor_last);
		return -1;
	}

	// Wait one second for things to get ready after
	// the fault disappears.
	chThdSleepMilliseconds(1000);

	// Disable timeout
	systime_t tout = timeout_get_timeout_msec();
	float tout_c = timeout_get_brake_current();
	timeout_reset();
	timeout_configure(60000, 0.0);

	mc_interface_lock();

#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	mc_interface_lock();
	mc_interface_select_motor_thread(1);
#endif

#ifdef HW_HAS_DUAL_MOTORS
	measure_r_l_imax_arg_t r_l_imax_args;
	r_l_imax_args.current_min = mcconf->cc_min_current;
	r_l_imax_args.current_max = mcconf->l_current_max;
	r_l_imax_args.max_power_loss = max_power_loss;
	r_l_imax_args.motor = 2;
	worker_execute(measure_r_l_imax_task, &r_l_imax_args);
#endif

	float r = 0.0;
	float l = 0.0;
	float i_max = 0.0;
	bool res_r_l_imax_m1 = measure_r_l_imax(mcconf->cc_min_current,
			mcconf->l_current_max, max_power_loss, &r, &l, &i_max);

#ifdef HW_HAS_DUAL_MOTORS
	worker_wait();
	bool res_r_l_imax_m2 = r_l_imax_args.res;
#else
	bool res_r_l_imax_m2 = true;
#endif

	if (!res_r_l_imax_m1 || !res_r_l_imax_m2) {
		timeout_configure(tout, tout_c);
		mc_interface_unlock();
		mc_interface_release_motor();
		mc_interface_set_configuration(mcconf_old);
		mempools_free_mcconf(mcconf);
		mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
		mc_interface_select_motor_thread(2);
		mc_interface_set_configuration(mcconf_old_second);
		mc_interface_select_motor_thread(1);
		mempools_free_mcconf(mcconf_old_second);
#endif
		mc_interface_select_motor_thread(motor_last);
		return -11;
	}

	// Increase switching frequency for flux linkage measurement
	// as dead-time distortion has less effect at higher modulation.
	// Having a smooth rotation is more important.
	mcconf->foc_f_sw = 20000.0;
	mc_interface_set_configuration(mcconf);

#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	mc_interface_set_configuration(mcconf);
	mc_interface_select_motor_thread(1);
#endif

#ifdef HW_HAS_DUAL_MOTORS
	measure_flux_linkage_arg_t linkage_args;
	linkage_args.current = r_l_imax_args.i_max / 2.5;
	linkage_args.duty = 0.3;
	linkage_args.erpm_per_sec = 1800;
	linkage_args.res = r_l_imax_args.r;
	linkage_args.ind = r_l_imax_args.l;
	linkage_args.motor = 2;
	worker_execute(measure_flux_linkage_task, &linkage_args);
#endif

	float lambda = 0.0;
	float lambda_undriven = 0.0;
	float lambda_undriven_samples = 0.0;
	int res = conf_general_measure_flux_linkage_openloop(i_max / 2.5, 0.3, 1800, r, l,
			&lambda, &lambda_undriven, &lambda_undriven_samples);

	if (lambda_undriven_samples > 60) {
		lambda = lambda_undriven;
	}

#ifdef HW_HAS_DUAL_MOTORS
	worker_wait();
	bool res_linkage_m2 = linkage_args.result;
#else
	bool res_linkage_m2 = true;
#endif

	if (res && res_linkage_m2) {
		mcconf_old->l_current_max = i_max;
		mcconf_old->l_current_min = -i_max;
		mcconf_old->motor_type = MOTOR_TYPE_FOC;
		mcconf_old->foc_motor_r = r;
		mcconf_old->foc_motor_l = l;
		mcconf_old->foc_motor_flux_linkage = lambda;
		conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old, 1000);
		mc_interface_set_configuration(mcconf_old);

#ifdef HW_HAS_DUAL_MOTORS
		mcconf_old_second->l_current_max = r_l_imax_args.i_max;
		mcconf_old_second->l_current_min = -r_l_imax_args.i_max;
		mcconf_old_second->motor_type = MOTOR_TYPE_FOC;
		mcconf_old_second->foc_motor_r = r_l_imax_args.r;
		mcconf_old_second->foc_motor_l = r_l_imax_args.l;
		mcconf_old_second->foc_motor_flux_linkage = linkage_args.linkage;
		conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old_second, 1000);
		mc_interface_select_motor_thread(2);
		mc_interface_set_configuration(mcconf_old_second);
		mc_interface_select_motor_thread(1);
#endif

		// TODO: optionally apply temperature compensation here.

		wait_motor_stop(10000);

#ifdef HW_HAS_DUAL_MOTORS
		detect_sensors_arg_t sensors_args;
		sensors_args.current = r_l_imax_args.i_max / 3.0;
		sensors_args.store_mcconf_on_success = store_mcconf_on_success;
		sensors_args.send_mcconf_on_success = send_mcconf_on_success;
		sensors_args.motor = 2;
		worker_execute(detect_sensors_task, &sensors_args);
#endif

		// This will also store the settings to emulated eeprom and send them to vesc tool
		result = conf_general_autodetect_apply_sensors_foc(i_max / 3.0,
				store_mcconf_on_success, send_mcconf_on_success);

#ifdef HW_HAS_DUAL_MOTORS
		worker_wait();
		int res_sensors_m2 = sensors_args.res;
#else
		int res_sensors_m2 = 0;
#endif

		if (res_sensors_m2 < 0) {
			result = res_sensors_m2;
		}
	} else {
		result = -10;
	}

	timeout_configure(tout, tout_c);
	mc_interface_unlock();
	mc_interface_release_motor();

	if (result < 0) {
		mc_interface_set_configuration(mcconf_old);
	}

#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	if (result < 0) {
		mc_interface_set_configuration(mcconf_old_second);
	}
	mc_interface_select_motor_thread(1);
#endif

	mempools_free_mcconf(mcconf);
	mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
	mempools_free_mcconf(mcconf_old_second);
#endif

	mc_interface_select_motor_thread(motor_last);

	return result;
}

/**
 * Same as conf_general_detect_apply_all_foc, but also start detection in VESCs found on the CAN-bus.
 *
 * @param detect_can
 * Run detection on VESCs found on the CAN-bus as well. Setting this to false makes
 * this function behave like conf_general_detect_apply_all_foc, with the convenience
 * of also applying the settings.
 *
 * @param max_power_loss
 * The maximum power loss to derive current limits, as well as detection currents, from.
 *
 * @param min_current_in
 * Minimum input current (negative value). 0 means leave it unchanged.
 *
 * @param max_current_in
 * MAximum input current. 0 means leave it unchanged.
 *
 * @param openloop_rpm
 * FOC openloop ERPM in sensorless mode. 0 means leave it unchanged.
 *
 * @param sl_erpm
 * FOC ERPM above which sensorless should be used in sensored modes. 0 means leave it unchanged.
 *
 * @return
 * Same as conf_general_detect_apply_all_foc, and
 * -50: CAN detection timed out
 * -51: CAN detection failed
 */
int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
		float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm) {

	int motor_last = mc_interface_get_motor_thread();
	mc_interface_select_motor_thread(1);

	app_configuration *appconf = mempools_alloc_appconf();
	*appconf = *app_get_configuration();
	mc_configuration *mcconf = mempools_alloc_mcconf();
	*mcconf = *mc_interface_get_configuration();

	uint8_t id_new = appconf->controller_id;

	if (fabsf(min_current_in) > 0.001) {
		mcconf->l_in_current_min = min_current_in;
	} else {
		mcconf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
	}

	if (fabsf(max_current_in) > 0.001) {
		mcconf->l_in_current_max = max_current_in;
	} else {
		mcconf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
	}

	if (fabsf(openloop_rpm) > 0.001) {
		mcconf->foc_openloop_rpm = openloop_rpm;
	} else {
		mcconf->foc_openloop_rpm = MCCONF_FOC_OPENLOOP_RPM;
	}

	if (fabsf(sl_erpm) > 0.001) {
		mcconf->foc_sl_erpm = sl_erpm;
	} else {
		mcconf->foc_sl_erpm = MCCONF_FOC_SL_ERPM;
	}

	mc_interface_set_configuration(mcconf);
#ifdef HW_HAS_DUAL_MOTORS
	mc_interface_select_motor_thread(2);
	mc_interface_set_configuration(mcconf);
	mc_interface_select_motor_thread(1);
#endif

	int can_devs = 0;
	comm_can_detect_all_foc_res_clear();

	if (detect_can) {
		for (int i = 0;i < 255;i++) {
#ifdef HW_HAS_DUAL_MOTORS
			if (i == utils_second_motor_id()) {
				continue;
			}
#endif
			HW_TYPE hw_type;
			if (comm_can_ping(i, &hw_type)) {
				if (hw_type != HW_TYPE_VESC) {
					continue;
				}

				comm_can_conf_current_limits_in(i, false, mcconf->l_in_current_min, mcconf->l_in_current_max);
				comm_can_conf_foc_erpms(i, false, mcconf->foc_openloop_rpm, mcconf->foc_sl_erpm);
				comm_can_detect_apply_all_foc(i, true, max_power_loss);
				can_devs++;

				// If some other controller has the same ID, change the local one.
				if (i == id_new) {
					// Add 2 in case this was a dual controller
					id_new++;
					if (id_new == 255) {
						id_new = 0;
					}
					id_new++;
					if (id_new == 255) {
						id_new = 0;
					}
				}
			}
		}
	}

	int res = conf_general_detect_apply_all_foc(max_power_loss, false, false);

	// Wait for all VESCs on the CAN-bus to finish detection
	int timeout = true;
	for (int i = 0;i < 4000;i++) {
		if (comm_can_detect_all_foc_res_size() >= can_devs) {
			timeout = false;
			break;
		}
		chThdSleepMilliseconds(10);
	}

	if (timeout) {
		res = -50;
	} else {
		for (int i = 0;i < can_devs;i++) {
			if (comm_can_detect_all_foc_res(i) < 0) {
				res = -51;
			}
		}
	}

	// Store and send settings
	if (res >= 0) {
		if (appconf->controller_id != id_new || appconf->send_can_status != CAN_STATUS_1_2_3_4) {
			appconf->controller_id = id_new;
			appconf->send_can_status = CAN_STATUS_1_2_3_4;
			conf_general_store_app_configuration(appconf);
			app_set_configuration(appconf);
			commands_send_appconf(COMM_GET_APPCONF, appconf);
			chThdSleepMilliseconds(1000);
		}

		*mcconf = *mc_interface_get_configuration();
		conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
#ifdef HW_HAS_DUAL_MOTORS
		mc_interface_select_motor_thread(2);
		*mcconf = *mc_interface_get_configuration();
		conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
		mc_interface_select_motor_thread(1);
		*mcconf = *mc_interface_get_configuration();
#endif
		commands_send_mcconf(COMM_GET_MCCONF, mcconf);
		chThdSleepMilliseconds(1000);
	}

	mempools_free_mcconf(mcconf);
	mempools_free_appconf(appconf);

	mc_interface_select_motor_thread(motor_last);

	return res;
}