Fixed other configurations

Fixed warnings in VescUart
Cleanups after rebase
2020-06-02 15:57:05 +02:00 · 2020-06-02 15:56:06 +02:00 · 2020-06-02 15:56:06 +02:00 · 2020-06-02 15:56:06 +02:00 · 2020-06-02 15:56:06 +02:00 · 2020-06-02 15:56:01 +02:00
73 changed files with 3289 additions and 39 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -0,0 +1,36 @@
+# !!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE
+# https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
+#
+# If you need to override existing CMake configuration or add extra,
+# please create `CMakeListsUser.txt` in the root of project.
+# The `CMakeListsUser.txt` will not be overwritten by PlatformIO.
+
+cmake_minimum_required(VERSION 3.13)
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_C_COMPILER_WORKS 1)
+set(CMAKE_CXX_COMPILER_WORKS 1)
+
+project("untitled" C CXX)
+
+include(CMakeListsPrivate.txt)
+
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/CMakeListsUser.txt)
+include(CMakeListsUser.txt)
+endif()
+
+add_custom_target(
+    Production ALL
+    COMMAND platformio -c clion run "$<$<NOT:$<CONFIG:All>>:-e${CMAKE_BUILD_TYPE}>"
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_custom_target(
+    Debug ALL
+    COMMAND platformio -c clion run --target debug "$<$<NOT:$<CONFIG:All>>:-e${CMAKE_BUILD_TYPE}>"
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_executable(Z_DUMMY_TARGET ${SRC_LIST})
+
+add_definitions(-DVESC_CONTROLLER)
+add_definitions(-DFEATURE_DPAD)
--- a/CMakeListsPrivate.txt
+++ b/CMakeListsPrivate.txt
@ -0,0 +1,173 @@
+# !!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE
+# https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
+#
+# If you need to override existing CMake configuration or add extra,
+# please create `CMakeListsUser.txt` in the root of project.
+# The `CMakeListsUser.txt` will not be overwritten by PlatformIO.
+
+
+
+set(CMAKE_CONFIGURATION_TYPES "esp32dev" CACHE STRING "Build Types reflect PlatformIO Environments" FORCE)
+
+
+SET(CMAKE_C_COMPILER "$ENV{HOME}/.platformio/packages/toolchain-xtensa32/bin/xtensa-esp32-elf-gcc")
+SET(CMAKE_CXX_COMPILER "$ENV{HOME}/.platformio/packages/toolchain-xtensa32/bin/xtensa-esp32-elf-g++")
+SET(CMAKE_CXX_FLAGS "-fno-rtti -fno-exceptions -std=gnu++11 -Werror=all -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-error=unused-function -Os -Wall -nostdlib -Wpointer-arith -Wno-error=unused-but-set-variable -Wno-error=unused-variable -mlongcalls -ffunction-sections -fdata-sections -fstrict-volatile-bitfields")
+SET(CMAKE_C_FLAGS "-Wno-old-style-declaration -std=gnu99 -Werror=all -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-error=unused-function -Os -Wall -nostdlib -Wpointer-arith -Wno-error=unused-but-set-variable -Wno-error=unused-variable -mlongcalls -ffunction-sections -fdata-sections -fstrict-volatile-bitfields")
+
+SET(CMAKE_C_STANDARD 99)
+set(CMAKE_CXX_STANDARD 11)
+
+if (CMAKE_BUILD_TYPE MATCHES "esp32dev")
+    add_definitions(-D'WITH_POSIX')
+    add_definitions(-D'UNITY_INCLUDE_CONFIG_H')
+    add_definitions(-D'IDF_VER=\"3.30300.190916\"')
+    add_definitions(-D'PLATFORMIO=40303')
+    add_definitions(-D'ARDUINO_ESP32_DEV')
+    add_definitions(-D'ESP32')
+    add_definitions(-D'ESP_PLATFORM')
+    add_definitions(-D'F_CPU=240000000L')
+    add_definitions(-D'HAVE_CONFIG_H')
+    add_definitions(-D'MBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\"')
+    add_definitions(-D'GCC_NOT_5_2_0=0')
+    add_definitions(-D'PROJECT_NAME=\"untitled\"')
+    add_definitions(-D'PROJECT_VER=\"1.0.0\"')
+
+    include_directories("${CMAKE_CURRENT_LIST_DIR}/include")
+    include_directories("${CMAKE_CURRENT_LIST_DIR}/src")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/avrc/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/smp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/gatt/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/gap/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/a2dp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/sdp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/avct/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/btm/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/rfcomm/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/l2cap/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/avdt/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/stack/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/osi/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/hci/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/common/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/gatt/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/sdp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/ar/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/hh/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/dm/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/av/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/jv/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/hf_client/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/sys/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/bta/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/api/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/external/sbc/encoder/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/external/sbc/decoder/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/hid/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/battery/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/smp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/a2dp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/dis/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/std/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/esp/blufi/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/profile/esp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/btc/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/device/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/app_trace/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/app_update/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/asio/asio/asio/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/asio/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/aws_iot/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/aws_iot/aws-iot-device-sdk-embedded-C/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bootloader_support/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bootloader_support/include_bootloader")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/bt/bluedroid/api/include/api")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/coap/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/coap/port/include/coap")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/coap/libcoap/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/coap/libcoap/include/coap")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/console")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/driver/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/efuse/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/efuse/esp32/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp-tls")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_adc_cal/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_event/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_http_client/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_http_server/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_https_server/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_https_ota/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp_ringbuf/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/esp32/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/espcoredump/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/ethernet/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/expat/expat/lib")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/expat/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/fatfs/src")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/freemodbus/modbus/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/freemodbus/modbus_controller")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/freertos/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/heap/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/jsmn/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/json/cJSON")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/libsodium/libsodium/src/libsodium/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/libsodium/port_include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/log/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/lwip/include/apps")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/lwip/lwip/src/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/lwip/port/esp32/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/lwip/port/esp32/include/arch")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/include_compat")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/mbedtls/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/mbedtls/mbedtls/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/mdns/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/micro-ecc/micro-ecc")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/mqtt/esp-mqtt/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/nghttp/nghttp2/lib/includes")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/nghttp/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/newlib/platform_include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/newlib/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/nvs_flash/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/openssl/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/protobuf-c/protobuf-c")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/protocomm/include/common")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/protocomm/include/security")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/protocomm/include/transports")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/pthread/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/sdmmc/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/smartconfig_ack/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/soc/esp32/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/soc/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/spi_flash/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/spiffs/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/tcp_transport/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/tcpip_adapter/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/unity/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/unity/unity/src")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/ulp/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/vfs/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/wear_levelling/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/wifi_provisioning/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/wpa_supplicant/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/wpa_supplicant/port/include")
+    include_directories("$ENV{HOME}/.platformio/packages/framework-espidf/components/xtensa-debug-module/include")
+    include_directories("$ENV{HOME}/.platformio/packages/toolchain-xtensa32/xtensa-esp32-elf/include/c++/5.2.0")
+    include_directories("$ENV{HOME}/.platformio/packages/toolchain-xtensa32/xtensa-esp32-elf/include/c++/5.2.0/xtensa-esp32-elf")
+    include_directories("$ENV{HOME}/.platformio/packages/toolchain-xtensa32/lib/gcc/xtensa-esp32-elf/5.2.0/include-fixed")
+    include_directories("$ENV{HOME}/.platformio/packages/toolchain-xtensa32/lib/gcc/xtensa-esp32-elf/5.2.0/include")
+    include_directories("$ENV{HOME}/.platformio/packages/toolchain-xtensa32/xtensa-esp32-elf/include")
+    include_directories("$ENV{HOME}/.platformio/packages/tool-unity")
+
+    FILE(GLOB_RECURSE EXTRA_LIB_SOURCES
+        ${CMAKE_CURRENT_LIST_DIR}/.pio/libdeps/esp32dev/*.*
+    )
+endif()
+
+
+FILE(GLOB_RECURSE SRC_LIST
+    ${CMAKE_CURRENT_LIST_DIR}/src/*.*
+    ${CMAKE_CURRENT_LIST_DIR}/lib/*.*
+)
+
+list(APPEND SRC_LIST ${EXTRA_LIB_SOURCES})
--- a/platformio.ini
+++ b/platformio.ini
@ -83,6 +83,7 @@ build_flags =
  ${peters_platine.build_flags}
  ${default_limits.build_flags}
  -DDEVICE_PREFIX=bobbyquad
+  -DGLUMP_CONTROLLER
  -DFEATURE_WEBSERVER
  -DFEATURE_3WIRESW
  -DPINS_3WIRESW_OUT=0
@ -147,6 +148,7 @@ build_flags =
  ${peters_platine.build_flags}
  ${default_limits.build_flags}
  -DDEVICE_PREFIX=bobbycar
+  -DGLUMP_CONTROLLER
  -DFEATURE_WEBSERVER
  -DDEFAULT_GASMIN=400
  -DDEFAULT_GASMAX=2000
@ -181,23 +183,13 @@ upload_port = /dev/ttyUSB*



-[env:aveexy_usb]
-platform = ${common_env_data.platform}
-board = ${common_env_data.board}
-framework = ${common_env_data.framework}
-board_build.partitions = ${common_env_data.board_build.partitions}
-lib_deps = ${common_env_data.lib_deps}
-lib_compat_mode = ${common_env_data.lib_compat_mode}
-build_unflags = ${common_env_data.build_unflags}
-
-upload_speed = 921600
-upload_port = /dev/ttyUSB*
-
+[aveexy]
 build_flags =
  ${common_env_data.build_flags}
  ${peters_platine.build_flags}
  ${default_limits.build_flags}
  -DDEVICE_PREFIX=bobbyquad
+  -DVESC_CONTROLLER
  -DFEATURE_WEBSERVER
 ;  -DFEATURE_3WIRESW
 ;  -DPINS_3WIRESW_OUT=0
@ -217,6 +209,31 @@ build_flags =
  -DDEFAULT_BREMSMIN=1300
  -DDEFAULT_BREMSMAX=4000

+[env:aveexy_usb]
+platform = ${common_env_data.platform}
+board = ${common_env_data.board}
+framework = ${common_env_data.framework}
+board_build.partitions = ${common_env_data.board_build.partitions}
+lib_deps = ${common_env_data.lib_deps}
+lib_compat_mode = ${common_env_data.lib_compat_mode}
+build_unflags = ${common_env_data.build_unflags}
+build_flags = ${aveexy.build_flags}
+
+upload_speed = 921600
+upload_port = /dev/ttyUSB*
+
+[env:aveexy_ota]
+platform = ${common_env_data.platform}
+board = ${common_env_data.board}
+framework = ${common_env_data.framework}
+board_build.partitions = ${common_env_data.board_build.partitions}
+lib_deps = ${common_env_data.lib_deps}
+lib_compat_mode = ${common_env_data.lib_compat_mode}
+build_unflags = ${common_env_data.build_unflags}
+build_flags = ${aveexy.build_flags}
+
+upload_protocol = espota
+upload_port = 192.168.127.108


 [env:testbench_usb]
@ -234,6 +251,7 @@ upload_speed = 921600
 build_flags =
  ${common_env_data.build_flags}
  -DDEVICE_PREFIX=testbench
+  -DGLUMP_CONTROLLER
  -DFEATURE_WEBSERVER
  -DILI9341_DRIVER=1
  -DTFT_MOSI=22
@ -282,6 +300,7 @@ upload_speed = 921600
 build_flags =
  ${common_env_data.build_flags}
  -DDEVICE_PREFIX=bobbyquad
+  -DGLUMP_CONTROLLER
  -DFEATURE_WEBSERVER
  ${default_limits.build_flags}
  -DUSER_SETUP_LOADED=1
--- a/src/VescUartControl-VESC6/.gitignore
+++ b/src/VescUartControl-VESC6/.gitignore
@ -0,0 +1,13 @@
+################################################################################
+# This .gitignore file was automatically created by Microsoft(R) Visual Studio.
+################################################################################
+
+*.d
+*.o
+*.hex
+*.elf
+*.xml
+*.buildinfo
+*.a
+*.suo
+/examples/VescTestGetTelemetry/__vm/.VescTestGetTelemetry.vsarduino.h
--- a/src/VescUartControl-VESC6/LICENSE.md
+++ b/src/VescUartControl-VESC6/LICENSE.md
@ -0,0 +1,15 @@
+VescUartControl library
+Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
+
+This program 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.
+
+This program 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/>.
--- a/src/VescUartControl-VESC6/Readme.md
+++ b/src/VescUartControl-VESC6/Readme.md
@ -0,0 +1,48 @@
+#VescUartControl library
+
+Library for arduino to interface over UART with the Vesc BLDC controler (http://vedder.se/2015/01/vesc-open-source-esc/)
+It is used in the ArduBoardControl. Refer here: https://github.com/RollingGecko/ArduBoardControler
+
+The files libraries
+
+crc
+
+datatypes
+
+buffer
+
+are directly forked from https://github.com/vedderb/bldc
+
+
+All available UART handlers the VESC can deal with can be found in the file commands.c (https://github.com/vedderb/bldc)
+in the function commands_process_packet. You can write easily own handler functions. Use converting functions in 
+the library buffer.c.
+
+The rest shut be comment sufficient in the VescUart.h. Take also a look to the RX-Site of the ArduBoardControler (https://github.com/RollingGecko/ArduBoardControler)
+
+##Requirements to use this library on bldc FW
+
+The needed changes where already merged by Vedder to the FW. :)
+
+In bldc-tool please activate UART and if needed the nunchuk application. 
+
+
+
+##Some details to the UART port used in the VESC
+
+It is a uint8_t byte stream. 
+
+First byte: 
+
+0x02 for payload length of 256 byte >> next byte is for the payload length 
+
+0x03 for >256 byte payload length  >> next 2 byte for the payload length
+
+The follwing 2 bytes after the payload are the checksum. (see crc.h)
+
+The byte stream it terminated with a 0x03.
+
+For more details please refer also to http://vedder.se/2015/10/communicating-with-the-vesc-using-uart/
+
+
+
--- a/src/VescUartControl-VESC6/VescUart.cpp
+++ b/src/VescUartControl-VESC6/VescUart.cpp
@ -0,0 +1,556 @@
+/*
+Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
+
+This program 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.
+
+This program 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 "VescUart.h"
+#include "buffer.h"
+#include "crc.h"
+#include "datatypes.h"
+//#include <SoftwareSerial.h>
+
+
+static SerialType* serialPort1;
+static SerialType* serialPort2;
+static SerialType* serialPort3;
+static SerialType* serialPort4;
+static SerialType* debugSerialPort = NULL;
+
+bool UnpackPayload(uint8_t* message, int lenMes, uint8_t* payload, int lenPa);
+bool ProcessReadPacket(uint8_t* message, struct bldcMeasure& values, int len);
+
+void SetSerialPort(SerialType*  _serialPort1, SerialType*  _serialPort2, SerialType*  _serialPort3, SerialType*  _serialPort4)
+{
+	serialPort1 = _serialPort1;
+	serialPort2 = _serialPort2;
+	serialPort3 = _serialPort3;
+	serialPort4 = _serialPort4;
+}
+
+void SetSerialPort(SerialType* _serialPort)
+{
+	SetSerialPort(_serialPort, _serialPort, _serialPort, _serialPort);
+}
+
+void SetDebugSerialPort(SerialType * _debugSerialPort)
+{
+	debugSerialPort = _debugSerialPort;
+}
+
+
+//SerialType *serial; ///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+int ReceiveUartMessage(uint8_t* payloadReceived, int num) {
+
+	//Messages <= 255 start with 2. 2nd byte is length
+	//Messages >255 start with 3. 2nd and 3rd byte is length combined with 1st >>8 and then &0xFF
+
+	int counter = 0;
+	int endMessage = 256;
+	bool messageRead = false;
+	uint8_t messageReceived[256];
+	int lenPayload = 0;
+    SerialType* serial = nullptr;
+
+
+	switch (num) {
+		case 0:
+			serial = serialPort1;
+			break;
+		case 1:
+			serial = serialPort2;
+			break;
+		case 2:
+			serial = serialPort3;
+			break;
+		case 3:
+			serial = serialPort4;
+			break;
+		default:
+			break;
+
+	}
+
+	int mycnt=0;
+	if(!serial->available())delay(10);
+	while (serial->available()) {
+		mycnt++;
+
+		messageReceived[counter++] = serial->read();
+
+		if (counter == 2) {//case if state of 'counter' with last read 1
+
+			switch (messageReceived[0])
+			{
+			case 2:
+				endMessage = messageReceived[1] + 5; //Payload size + 2 for sice + 3 for SRC and End.
+				lenPayload = messageReceived[1];
+				break;
+			case 3:
+				//ToDo: Add Message Handling > 255 (starting with 3)
+				break;
+			default:
+				break;
+			}
+
+		}
+		if (counter >= sizeof(messageReceived))
+		{
+			break;
+		}
+
+		if (counter == endMessage && messageReceived[endMessage - 1] == 3) {//+1: Because of counter++ state of 'counter' with last read = "endMessage"
+			messageReceived[endMessage] = 0;
+			if (debugSerialPort != NULL) {
+				debugSerialPort->println("End of message reached!");
+			}
+			messageRead = true;
+			break; //Exit if end of message is reached, even if there is still more data in buffer.
+		}
+		if(!serial->available())delay(50);
+	}
+
+	bool unpacked = false;
+	if (messageRead) {
+		unpacked = UnpackPayload(messageReceived, endMessage, payloadReceived, messageReceived[1]);
+	}
+	if (unpacked)
+	{
+		//Serial.println(String("")+"payload :"+lenPayload);
+		return lenPayload; //Message was read
+
+	}
+	else {
+		//Serial.println("not unpacked :(");
+		return 0; //No Message Read
+	}
+}
+
+bool UnpackPayload(uint8_t* message, int lenMes, uint8_t* payload, int lenPay) {
+	uint16_t crcMessage = 0;
+	uint16_t crcPayload = 0;
+	//Rebuild src:
+	crcMessage = message[lenMes - 3] << 8;
+	crcMessage &= 0xFF00;
+	crcMessage += message[lenMes - 2];
+if(debugSerialPort!=NULL){
+	debugSerialPort->print("SRC received: "); debugSerialPort->println(crcMessage);
+} // DEBUG
+
+	//Extract payload:
+	memcpy(payload, &message[2], message[1]);
+
+	crcPayload = crc16(payload, message[1]);
+if(debugSerialPort!=NULL){
+	debugSerialPort->print("SRC calc: "); debugSerialPort->println(crcPayload);
+}
+	if (crcPayload == crcMessage)
+	{
+if(debugSerialPort!=NULL){
+		debugSerialPort->print("Received: "); SerialPrint(message, lenMes); debugSerialPort->println();
+		debugSerialPort->print("Payload :      "); SerialPrint(payload, message[1] - 1); debugSerialPort->println();
+} // DEBUG
+
+		return true;
+	}
+	else
+	{
+		return false;
+	}
+}
+
+
+
+
+int PackSendPayload(uint8_t* payload, int lenPay, int num) {
+	uint16_t crcPayload = crc16(payload, lenPay);
+	int count = 0;
+	uint8_t messageSend[256];
+
+	if (lenPay <= 256)
+	{
+		messageSend[count++] = 2;
+		messageSend[count++] = lenPay;
+	}
+	else
+	{
+		messageSend[count++] = 3;
+		messageSend[count++] = (uint8_t)(lenPay >> 8);
+		messageSend[count++] = (uint8_t)(lenPay & 0xFF);
+	}
+	memcpy(&messageSend[count], payload, lenPay);
+
+	count += lenPay;
+	messageSend[count++] = (uint8_t)(crcPayload >> 8);
+	messageSend[count++] = (uint8_t)(crcPayload & 0xFF);
+	messageSend[count++] = 3;
+    messageSend[count] = 0;
+
+if(debugSerialPort!=NULL){
+	debugSerialPort->print("UART package send: "); SerialPrint(messageSend, count);
+
+} // DEBUG
+
+
+    SerialType *serial = nullptr;
+
+	switch (num) {
+		case 0:
+			serial=serialPort1;
+			break;
+		case 1:
+			serial=serialPort2;
+			break;
+		case 2:
+			serial=serialPort3;
+			break;
+		case 3:
+			serial=serialPort4;
+			break;
+		default:
+			break;
+	}
+
+	//Sending package
+	serial->write(messageSend, count);
+
+
+	//Returns number of send bytes
+	return count;
+}
+
+
+bool ProcessReadPacket(uint8_t* message, struct bldcMeasure& values, int len) {
+	COMM_PACKET_ID packetId;
+	int32_t ind = 0;
+
+	packetId = (COMM_PACKET_ID)message[0];
+	message++;//Eliminates the message id
+	len--;
+
+	switch (packetId)
+	{
+
+	case COMM_GET_VALUES:
+		values.tempFetFiltered		= buffer_get_float16(message, 1e1, &ind);
+		values.tempMotorFiltered	= buffer_get_float16(message, 1e1, &ind);
+		values.avgMotorCurrent		= buffer_get_float32(message, 100.0, &ind);
+		values.avgInputCurrent		= buffer_get_float32(message, 100.0, &ind);
+		values.avgId				= buffer_get_float32(message, 1e2, &ind);
+		values.avgIq				= buffer_get_float32(message, 1e2, &ind);
+		values.dutyNow				= buffer_get_float16(message, 1000.0, &ind);
+		values.rpm					= buffer_get_float32(message, 1.0, &ind);
+		values.inpVoltage			= buffer_get_float16(message, 10.0, &ind);
+		values.ampHours				= buffer_get_float32(message, 10000.0, &ind);
+		values.ampHoursCharged		= buffer_get_float32(message, 10000.0, &ind);
+		values.wattHours			= buffer_get_float32(message, 1e4, &ind);
+		values.watthoursCharged		= buffer_get_float32(message, 1e4, &ind);
+		values.tachometer			= buffer_get_int32(message, &ind);
+		values.tachometerAbs		= buffer_get_int32(message, &ind);
+		values.faultCode			= message[ind];
+		return true;
+		break;
+	default:
+		return false;
+		break;
+	}
+
+}
+/*
+bool ProcessReadPacketMC(uint8_t* message, struct mc_configuration& values, int len) {
+	COMM_PACKET_ID packetId;
+	int32_t ind = 0;
+
+	packetId = (COMM_PACKET_ID)message[0];
+	message++;//Eliminates the message id
+	len--;
+
+	switch (packetId)
+	{
+
+	case COMM_GET_MCCONF:
+
+
+		mc_pwm_mode pwm_mode;
+		mc_comm_mode comm_mode;
+		mc_motor_type motor_type;
+		mc_sensor_mode sensor_mode;
+		float l_current_max;
+		float l_current_min;
+		float l_in_current_max;
+		float l_in_current_min;
+		float l_abs_current_max;
+		float l_min_erpm;
+		float l_max_erpm;
+		float l_max_erpm_fbrake;
+		float l_max_erpm_fbrake_cc;
+		float l_min_vin;
+		float l_max_vin;
+		float l_battery_cut_start;
+		float l_battery_cut_end;
+		bool l_slow_abs_current;
+		bool l_rpm_lim_neg_torque;
+		float l_temp_fet_start;
+		float l_temp_fet_end;
+		float l_temp_motor_start;
+		float l_temp_motor_end;
+		float l_min_duty;
+		float l_max_duty;
+		float lo_current_max;
+		float lo_current_min;
+		float lo_in_current_max;
+		float lo_in_current_min;
+		float sl_min_erpm;
+		float sl_min_erpm_cycle_int_limit;
+		float sl_max_fullbreak_current_dir_change;
+		float sl_cycle_int_limit;
+		float sl_phase_advance_at_br;
+		float sl_cycle_int_rpm_br;
+		float sl_bemf_coupling_k;
+		int8_t hall_table[8];
+		float hall_sl_erpm;
+		float foc_current_kp;
+		float foc_current_ki;
+		float foc_f_sw;
+		float foc_dt_us;
+		float foc_encoder_offset;
+		bool foc_encoder_inverted;
+		float foc_encoder_ratio;
+		float foc_motor_l;
+		float foc_motor_r;
+		float foc_motor_flux_linkage;
+		float foc_observer_gain;
+		float foc_pll_kp;
+		float foc_pll_ki;
+		float foc_duty_dowmramp_kp;
+		float foc_duty_dowmramp_ki;
+		float foc_openloop_rpm;
+		float foc_sl_openloop_hyst;
+		float foc_sl_openloop_time;
+		float foc_sl_d_current_duty;
+		float foc_sl_d_current_factor;
+		mc_foc_sensor_mode foc_sensor_mode;
+		uint8_t foc_hall_table[8];
+		float foc_sl_erpm;
+		float s_pid_kp;
+		float s_pid_ki;
+		float s_pid_kd;
+		float s_pid_min_erpm;
+		float p_pid_kp;
+		float p_pid_ki;
+		float p_pid_kd;
+		float p_pid_ang_div;
+		float cc_startup_boost_duty;
+		float cc_min_current;
+		float cc_gain;
+		float cc_ramp_step_max;
+		int32_t m_fault_stop_time_ms;
+		float m_duty_ramp_step;
+		float m_duty_ramp_step_rpm_lim;
+		float m_current_backoff_gain;
+		uint32_t m_encoder_counts;
+		sensor_port_mode m_sensor_port_mode;
+
+		values.tempFetFiltered		= buffer_get_float16(message, 1e1, &ind);
+		values.tempMotorFiltered	= buffer_get_float16(message, 1e1, &ind);
+		values.avgMotorCurrent		= buffer_get_float32(message, 100.0, &ind);
+		values.avgInputCurrent		= buffer_get_float32(message, 100.0, &ind);
+		values.avgId				= buffer_get_float32(message, 1e2, &ind);
+		values.avgIq				= buffer_get_float32(message, 1e2, &ind);
+		values.dutyNow				= buffer_get_float16(message, 1000.0, &ind);
+		values.rpm					= buffer_get_float32(message, 1.0, &ind);
+		values.inpVoltage			= buffer_get_float16(message, 10.0, &ind);
+		values.ampHours				= buffer_get_float32(message, 10000.0, &ind);
+		values.ampHoursCharged		= buffer_get_float32(message, 10000.0, &ind);
+		values.wattHours			= buffer_get_float32(message, 1e4, &ind);
+		values.watthoursCharged		= buffer_get_float32(message, 1e4, &ind);
+		values.tachometer			= buffer_get_int32(message, &ind);
+		values.tachometerAbs		= buffer_get_int32(message, &ind);
+		values.faultCode			= message[ind];
+		return true;
+		break;
+	default:
+		return false;
+		break;
+	}
+
+}*/
+int VescUartGetMC(uint8_t* values) {
+	uint8_t command[1] = { COMM_GET_MCCONF_DEFAULT };
+	uint8_t payload[512];
+	PackSendPayload(command, 1, 0);
+	//delay(0); //needed, otherwise data is not read
+	int lenPayload = ReceiveUartMessage(payload, 0);
+	if (lenPayload > 1) {
+		//bool read = ProcessReadPacketMC(payload, values, lenPayload); //returns true if sucessful
+		memcpy(values,payload+1,lenPayload-1);
+		return lenPayload;
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+
+
+
+
+
+
+bool VescUartGetValue(bldcMeasure& values, int num) {
+	uint8_t command[1] = { COMM_GET_VALUES };
+	uint8_t payload[256];
+	PackSendPayload(command, 1, num);
+	delay(10); //needed, otherwise data is not read
+	int lenPayload = ReceiveUartMessage(payload, num);
+	if (lenPayload > 1) {
+		bool read = ProcessReadPacket(payload, values, lenPayload); //returns true if sucessful
+		return read;
+	}
+	else
+	{
+		return false;
+	}
+}
+
+
+bool VescUartGetValue(bldcMeasure& values) {
+	return VescUartGetValue(values, 0);
+}
+
+void VescUartSetCurrent(float current, int num) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_CURRENT ;
+	buffer_append_int32(payload, (int32_t)(current * 1000), &index);
+	PackSendPayload(payload, 5, num);
+}
+void VescUartSetCurrent(float current){
+	VescUartSetCurrent(current, 0);
+}
+
+void VescUartSetPosition(float position, int num) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_POS ;
+	buffer_append_int32(payload, (int32_t)(position * 1000000.0), &index);
+	PackSendPayload(payload, 5, num);
+}
+void VescUartSetPosition(float position) {
+	VescUartSetPosition(position, 0);
+}
+
+void VescUartSetDuty(float duty, int num) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_DUTY ;
+	buffer_append_int32(payload, (int32_t)(duty * 100000), &index);
+	PackSendPayload(payload, 5, num);
+}
+void VescUartSetDuty(float duty) {
+	VescUartSetDuty(duty, 0);
+}
+
+
+void VescUartSetRPM(float rpm, int num) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_RPM ;
+	buffer_append_int32(payload, (int32_t)(rpm), &index);
+	PackSendPayload(payload, 5, num);
+}
+void VescUartSetRPM(float rpm) {
+	VescUartSetRPM(rpm, 0);
+}
+
+void VescUartSetCurrentBrake(float brakeCurrent, int num) {
+	int32_t index = 0;
+	uint8_t payload[5];
+
+	payload[index++] = COMM_SET_CURRENT_BRAKE;
+	buffer_append_int32(payload, (int32_t)(brakeCurrent * 1000), &index);
+	PackSendPayload(payload, 5, num);
+}
+void VescUartSetCurrentBrake(float brakeCurrent) {
+	VescUartSetCurrentBrake(brakeCurrent, 0);
+}
+
+
+void VescUartSetNunchukValues(remotePackage& data, int num) {
+	int32_t ind = 0;
+	uint8_t payload[11];
+	payload[ind++] = COMM_SET_CHUCK_DATA;
+	payload[ind++] = data.valXJoy;
+	payload[ind++] = data.valYJoy;
+	buffer_append_bool(payload, data.valLowerButton, &ind);
+	buffer_append_bool(payload, data.valUpperButton, &ind);
+	//Acceleration Data. Not used, Int16 (2 byte)
+	payload[ind++] = 0;
+	payload[ind++] = 0;
+	payload[ind++] = 0;
+	payload[ind++] = 0;
+	payload[ind++] = 0;
+	payload[ind++] = 0;
+
+if(debugSerialPort!=NULL){
+	debugSerialPort->println("Data reached at VescUartSetNunchuckValues:");
+	debugSerialPort->print("valXJoy = "); debugSerialPort->print(data.valXJoy); debugSerialPort->print(" valYJoy = "); debugSerialPort->println(data.valYJoy);
+	debugSerialPort->print("LowerButton = "); debugSerialPort->print(data.valLowerButton); debugSerialPort->print(" UpperButton = "); debugSerialPort->println(data.valUpperButton);
+}
+
+	PackSendPayload(payload, 11, num);
+}
+void VescUartSetNunchukValues(remotePackage& data) {
+	VescUartSetNunchukValues(data, 0);
+}
+
+
+void SerialPrint(uint8_t* data, int len) {
+
+	//	debugSerialPort->print("Data to display: "); debugSerialPort->println(sizeof(data));
+
+	for (int i = 0; i <= len; i++)
+	{
+		debugSerialPort->print(data[i]);
+		debugSerialPort->print(" ");
+	}
+	debugSerialPort->println("");
+}
+
+
+void SerialPrint(const struct bldcMeasure& values) {
+	debugSerialPort->print("tempFetFiltered:	"); debugSerialPort->println(values.tempFetFiltered);
+	debugSerialPort->print("tempMotorFiltered:"); debugSerialPort->println(values.tempMotorFiltered);
+	debugSerialPort->print("avgMotorCurrent:	"); debugSerialPort->println(values.avgMotorCurrent);
+	debugSerialPort->print("avgInputCurrent:	"); debugSerialPort->println(values.avgInputCurrent);
+	debugSerialPort->print("avgId:			"); debugSerialPort->println(values.avgId);
+	debugSerialPort->print("avgIq:			"); debugSerialPort->println(values.avgIq);
+	debugSerialPort->print("dutyNow:			"); debugSerialPort->println(values.dutyNow);
+	debugSerialPort->print("rpm:				"); debugSerialPort->println(values.rpm);
+	debugSerialPort->print("inpVoltage:		"); debugSerialPort->println(values.inpVoltage);
+	debugSerialPort->print("ampHours:		"); debugSerialPort->println(values.ampHours);
+	debugSerialPort->print("ampHoursCharged:	"); debugSerialPort->println(values.ampHoursCharged);
+	debugSerialPort->print("wattHours:		"); debugSerialPort->println(values.wattHours);
+	debugSerialPort->print("wattHoursCharged:	"); debugSerialPort->println(values.watthoursCharged);
+	debugSerialPort->print("tachometer:		"); debugSerialPort->println(values.tachometer);
+	debugSerialPort->print("tachometerAbs:	"); debugSerialPort->println(values.tachometerAbs);
+	debugSerialPort->print("faultCode:		"); debugSerialPort->println(values.faultCode);
+
+
+}
--- a/src/VescUartControl-VESC6/VescUart.h
+++ b/src/VescUartControl-VESC6/VescUart.h
@ -0,0 +1,167 @@
+/*
+Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
+
+This program 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.
+
+This program 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/>.
+
+*/
+
+#ifndef _VESCUART_h
+#define _VESCUART_h
+
+
+#define SerialType HardwareSerial
+
+//#include <Config.h>
+#include <HardwareSerial.h>
+//#include <SoftwareSerial.h>
+
+void SetSerialPort(SerialType* _serialPort1, SerialType* _serialPort2, SerialType* _serialPort3, SerialType* _serialPort4);
+void SetSerialPort(SerialType* _serialPort);
+void SetDebugSerialPort(SerialType* _debugSerialPort);
+
+
+
+/*TThis library was created on an Adruinio 2560 with different serial ports to have a better possibility
+to debug. The serial ports are define with #define:
+#define SERIALIO Serial1  		for the UART port to VESC
+#define DEBUGSERIAL Serial		for debugging over USB
+So you need here to define the right serial port for your arduino.
+If you want to use debug, uncomment DEBUGSERIAL and define a port.*/
+
+
+//#ifndef _CONFIG_h
+//
+//#ifdef __AVR_ATmega2560__
+//#define SERIALIO0 Serial
+//#define SERIALIO1 Serial1
+//#define SERIALIO2 Serial2
+//#define SERIALIO3 Serial3
+//#define DEBUGSERIAL Serial1
+//#endif
+//
+//#ifdef ARDUINO_AVR_NANO
+//#define SERIALIO0 Serial
+//#define SERIALIO1 Serial
+//#define SERIALIO2 Serial
+//#define SERIALIO3 Serial
+//#ifdef DEBUG
+////#define DEBUGSERIAL Serial
+//#endif
+////TODO: ifndef DEBUG trow build exception
+//#endif
+//#endif
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "datatypes.h"
+#include "local_datatypes.h"
+
+
+int VescUartGetMC(uint8_t* values);
+
+///SetSerialPort sets the serial to communicate with the VESC
+///Multiple ports possible
+void SetSerialPort(SerialType*  _serialPort1, SerialType*  _serialPort2, SerialType*  _serialPort3, SerialType*  _serialPort4);
+void SetSerialPort(SerialType* _serialPort);
+
+///SetDebugSerialPort sets the serial for debug information
+
+void SetDebugSerialPort(SerialType* _debugSerialPort);
+
+///PackSendPayload Packs the payload and sends it over Serial.
+///Define in a Config.h a SERIAL with the Serial in Arduino Style you want to you
+///@param: payload as the payload [unit8_t Array] with length of int lenPayload
+///@return the number of bytes send
+
+int PackSendPayload(uint8_t* payload, int lenPay, int num);
+
+///ReceiveUartMessage receives the a message over Serial
+///Define in a Config.h a SERIAL with the Serial in Arduino Style you want to you
+///@parm the payload as the payload [unit8_t Array]
+///@return the number of bytes receeived within the payload
+
+int ReceiveUartMessage(uint8_t* payloadReceived, int num);
+
+///Help Function to print struct bldcMeasure over Serial for Debug
+///#define DEBUG necessary
+///Define in a Config.h the DEBUGSERIAL you want to use
+
+void SerialPrint(const struct bldcMeasure& values);
+
+///Help Function to print uint8_t array over Serial for Debug
+///Define in a Config.h the DEBUGSERIAL you want to use
+
+void SerialPrint(uint8_t* data, int len);
+
+///Sends a command to VESC and stores the returned data
+///@param bldcMeasure struct with received data
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+//@return true if success
+bool VescUartGetValue(struct bldcMeasure& values, int num);
+bool VescUartGetValue(bldcMeasure& values);
+
+///Sends a command to VESC to control the motor current
+///@param current as float with the current for the motor
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetCurrent(float current, int num);
+void VescUartSetCurrent(float current);
+
+///Sends a command to VESC to control the motor brake
+///@param breakCurrent as float with the current for the brake
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetCurrentBrake(float brakeCurrent, int num);
+void VescUartSetCurrentBrake(float brakeCurrent);
+
+///Sends values of a joystick and 2 buttons to VESC to control the nunchuk app
+///@param struct remotePackage with all values
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetNunchukValues(remotePackage& data, int num);
+void VescUartSetNunchukValues(remotePackage& data);
+
+///Sends a command to VESC to control the motor position
+///@param position as float with the position in degrees for the motor
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetPosition(float position, int num) ;
+void VescUartSetPosition(float position) ;
+
+///Sends a command to VESC to control the motor duty cycle
+///@param duty as float with the duty cycle for the motor
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetDuty(float duty, int num) ;
+void VescUartSetDuty(float duty) ;
+
+///Sends a command to VESC to control the motor rotational speed
+///@param rpm as float with the revolutions per second for the motor
+///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
+///num must not be set, when only one Serial
+
+void VescUartSetRPM(float rpm, int num);
+void VescUartSetRPM(float rpm);
+
+#endif
--- a/src/VescUartControl-VESC6/buffer.cpp
+++ b/src/VescUartControl-VESC6/buffer.cpp
@ -0,0 +1,127 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	This program 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.
+
+    This program 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/>.
+    */
+
+/*
+ * buffer.c
+ *
+ *  Created on: 13 maj 2013
+ *      Author: benjamin
+ */
+
+#include "buffer.h"
+
+void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 24;
+	buffer[(*index)++] = number >> 16;
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index) {
+	buffer[(*index)++] = number >> 24;
+	buffer[(*index)++] = number >> 16;
+	buffer[(*index)++] = number >> 8;
+	buffer[(*index)++] = number;
+}
+
+void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index) {
+    buffer_append_int16(buffer, (int16_t)(number * scale), index);
+}
+
+void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index) {
+    buffer_append_int32(buffer, (int32_t)(number * scale), index);
+}
+
+int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index) {
+	int16_t res =	((uint16_t) buffer[*index]) << 8 |
+					((uint16_t) buffer[*index + 1]);
+	*index += 2;
+	return res;
+}
+
+uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
+	uint16_t res = 	((uint16_t) buffer[*index]) << 8 |
+					((uint16_t) buffer[*index + 1]);
+	*index += 2;
+	return res;
+}
+
+int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
+	int32_t res =	((uint32_t) buffer[*index]) << 24 |
+					((uint32_t) buffer[*index + 1]) << 16 |
+					((uint32_t) buffer[*index + 2]) << 8 |
+					((uint32_t) buffer[*index + 3]);
+	*index += 4;
+	return res;
+}
+
+uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
+	uint32_t res =	((uint32_t) buffer[*index]) << 24 |
+					((uint32_t) buffer[*index + 1]) << 16 |
+					((uint32_t) buffer[*index + 2]) << 8 |
+					((uint32_t) buffer[*index + 3]);
+	*index += 4;
+	return res;
+}
+
+float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index) {
+    return (float)buffer_get_int16(buffer, index) / scale;
+}
+
+float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index) {
+    return (float)buffer_get_int32(buffer, index) / scale;
+}
+
+bool buffer_get_bool(const uint8_t *buffer, int32_t *index) {
+	
+		if (buffer[*index] == 1)
+		{
+			index++;
+			return true;
+		}
+		else
+		{
+			index++;
+			return false;
+		}
+		
+}
+
+void buffer_append_bool(uint8_t *buffer,bool value, int32_t *index) {
+
+	if (value == true)
+	{
+		buffer[*index] = 1;
+		(*index)++;
+	}
+	else
+	{
+		buffer[*index] = 0;
+		(*index)++;
+	}
+
+}
--- a/src/VescUartControl-VESC6/buffer.h
+++ b/src/VescUartControl-VESC6/buffer.h
@ -0,0 +1,44 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	This program 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.
+
+    This program 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/>.
+    */
+
+/*
+ * buffer.h
+ *
+ *  Created on: 13 maj 2013
+ *      Author: benjamin
+ */
+
+#ifndef BUFFER_H_
+#define BUFFER_H_
+
+#include <stdint.h>
+
+void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index);
+void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index);
+void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index);
+void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index);
+void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index);
+void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index);
+int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index);
+uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index);
+int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index);
+uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index);
+float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index);
+float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index);
+bool buffer_get_bool(const uint8_t *buffer, int32_t *index);
+void buffer_append_bool(uint8_t *buffer,bool value, int32_t *index);
+#endif /* BUFFER_H_ */
--- a/src/VescUartControl-VESC6/crc.cpp
+++ b/src/VescUartControl-VESC6/crc.cpp
@ -0,0 +1,64 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	This program 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.
+
+    This program 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/>.
+    */
+
+/*
+ * crc.c
+ *
+ *  Created on: 26 feb 2012
+ *      Author: benjamin
+ */
+#include "crc.h"
+
+// CRC Table
+const unsigned short crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
+		0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
+		0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
+		0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+		0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
+		0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
+		0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
+		0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
+		0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
+		0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
+		0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
+		0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+		0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
+		0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
+		0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
+		0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
+		0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
+		0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
+		0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
+		0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+		0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
+		0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
+		0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
+		0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
+		0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
+		0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
+		0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
+		0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+		0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
+
+unsigned short crc16(unsigned char *buf, unsigned int len) {
+	unsigned int i;
+	unsigned short cksum = 0;
+	for (i = 0; i < len; i++) {
+		cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
+	}
+	return cksum;
+}
--- a/src/VescUartControl-VESC6/crc.h
+++ b/src/VescUartControl-VESC6/crc.h
@ -0,0 +1,33 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	This program 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.
+
+    This program 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/>.
+    */
+
+/*
+ * crc.h
+ *
+ *  Created on: 26 feb 2012
+ *      Author: benjamin
+ */
+
+#ifndef CRC_H_
+#define CRC_H_
+
+/*
+ * Functions
+ */
+unsigned short crc16(unsigned char *buf, unsigned int len);
+
+#endif /* CRC_H_ */
--- a/src/VescUartControl-VESC6/datatypes.h
+++ b/src/VescUartControl-VESC6/datatypes.h
@ -0,0 +1,523 @@
+/*
+	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+
+	This program 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.
+
+    This program 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/>.
+    */
+
+/*
+ * datatypes.h
+ *
+ *  Created on: 14 sep 2014
+ *      Author: benjamin
+ */
+
+#ifndef DATATYPES_H_
+#define DATATYPES_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+//#include "ch.h"
+
+// Data types
+typedef enum {
+   MC_STATE_OFF = 0,
+   MC_STATE_DETECTING,
+   MC_STATE_RUNNING,
+   MC_STATE_FULL_BRAKE,
+} mc_state;
+
+typedef enum {
+	PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
+	PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
+	PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
+} mc_pwm_mode;
+
+typedef enum {
+	COMM_MODE_INTEGRATE = 0,
+	COMM_MODE_DELAY
+} mc_comm_mode;
+
+typedef enum {
+	SENSOR_MODE_SENSORLESS = 0,
+	SENSOR_MODE_SENSORED,
+	SENSOR_MODE_HYBRID
+} mc_sensor_mode;
+
+typedef enum {
+	FOC_SENSOR_MODE_SENSORLESS = 0,
+	FOC_SENSOR_MODE_ENCODER,
+	FOC_SENSOR_MODE_HALL
+} mc_foc_sensor_mode;
+
+typedef enum {
+	MOTOR_TYPE_BLDC = 0,
+	MOTOR_TYPE_DC,
+	MOTOR_TYPE_FOC
+} mc_motor_type;
+
+typedef enum {
+	FAULT_CODE_NONE = 0,
+	FAULT_CODE_OVER_VOLTAGE,
+	FAULT_CODE_UNDER_VOLTAGE,
+	FAULT_CODE_DRV8302,
+	FAULT_CODE_ABS_OVER_CURRENT,
+	FAULT_CODE_OVER_TEMP_FET,
+	FAULT_CODE_OVER_TEMP_MOTOR
+} mc_fault_code;
+
+typedef enum {
+	CONTROL_MODE_DUTY = 0,
+	CONTROL_MODE_SPEED,
+	CONTROL_MODE_CURRENT,
+	CONTROL_MODE_CURRENT_BRAKE,
+	CONTROL_MODE_POS,
+	CONTROL_MODE_NONE
+} mc_control_mode;
+
+typedef enum {
+	DISP_POS_MODE_NONE = 0,
+	DISP_POS_MODE_INDUCTANCE,
+	DISP_POS_MODE_OBSERVER,
+	DISP_POS_MODE_ENCODER,
+	DISP_POS_MODE_PID_POS,
+	DISP_POS_MODE_PID_POS_ERROR,
+	DISP_POS_MODE_ENCODER_OBSERVER_ERROR
+} disp_pos_mode;
+
+typedef enum {
+	SENSOR_PORT_MODE_HALL = 0,
+	SENSOR_PORT_MODE_ABI,
+	SENSOR_PORT_MODE_AS5047_SPI
+} sensor_port_mode;
+
+typedef struct {
+	float cycle_int_limit;
+	float cycle_int_limit_running;
+	float cycle_int_limit_max;
+	float comm_time_sum;
+	float comm_time_sum_min_rpm;
+	int32_t comms;
+	uint32_t time_at_comm;
+} mc_rpm_dep_struct;
+
+typedef struct {
+	// Switching and drive
+	mc_pwm_mode pwm_mode;
+	mc_comm_mode comm_mode;
+	mc_motor_type motor_type;
+	mc_sensor_mode sensor_mode;
+	// Limits
+	float l_current_max;
+	float l_current_min;
+	float l_in_current_max;
+	float l_in_current_min;
+	float l_abs_current_max;
+	float l_min_erpm;
+	float l_max_erpm;
+	float l_max_erpm_fbrake;
+	float l_max_erpm_fbrake_cc;
+	float l_min_vin;
+	float l_max_vin;
+	float l_battery_cut_start;
+	float l_battery_cut_end;
+	bool l_slow_abs_current;
+	bool l_rpm_lim_neg_torque;
+	float l_temp_fet_start;
+	float l_temp_fet_end;
+	float l_temp_motor_start;
+	float l_temp_motor_end;
+	float l_min_duty;
+	float l_max_duty;
+	// Overridden limits (Computed during runtime)
+	float lo_current_max;
+	float lo_current_min;
+	float lo_in_current_max;
+	float lo_in_current_min;
+	// Sensorless
+	float sl_min_erpm;
+	float sl_min_erpm_cycle_int_limit;
+	float sl_max_fullbreak_current_dir_change;
+	float sl_cycle_int_limit;
+	float sl_phase_advance_at_br;
+	float sl_cycle_int_rpm_br;
+	float sl_bemf_coupling_k;
+	// Hall sensor
+	int8_t hall_table[8];
+	float hall_sl_erpm;
+	// FOC
+	float foc_current_kp;
+	float foc_current_ki;
+	float foc_f_sw;
+	float foc_dt_us;
+	float foc_encoder_offset;
+	bool foc_encoder_inverted;
+	float foc_encoder_ratio;
+	float foc_motor_l;
+	float foc_motor_r;
+	float foc_motor_flux_linkage;
+	float foc_observer_gain;
+	float foc_pll_kp;
+	float foc_pll_ki;
+	float foc_duty_dowmramp_kp;
+	float foc_duty_dowmramp_ki;
+	float foc_openloop_rpm;
+	float foc_sl_openloop_hyst;
+	float foc_sl_openloop_time;
+	float foc_sl_d_current_duty;
+	float foc_sl_d_current_factor;
+	mc_foc_sensor_mode foc_sensor_mode;
+	uint8_t foc_hall_table[8];
+	float foc_sl_erpm;
+	// Speed PID
+	float s_pid_kp;
+	float s_pid_ki;
+	float s_pid_kd;
+	float s_pid_min_erpm;
+	// Pos PID
+	float p_pid_kp;
+	float p_pid_ki;
+	float p_pid_kd;
+	float p_pid_ang_div;
+	// Current controller
+	float cc_startup_boost_duty;
+	float cc_min_current;
+	float cc_gain;
+	float cc_ramp_step_max;
+	// Misc
+	int32_t m_fault_stop_time_ms;
+	float m_duty_ramp_step;
+	float m_duty_ramp_step_rpm_lim;
+	float m_current_backoff_gain;
+	uint32_t m_encoder_counts;
+	sensor_port_mode m_sensor_port_mode;
+} mc_configuration;
+
+// Applications to use
+typedef enum {
+	APP_NONE = 0,
+	APP_PPM,
+	APP_ADC,
+	APP_UART,
+	APP_PPM_UART,
+	APP_ADC_UART,
+	APP_NUNCHUK,
+	APP_NRF,
+	APP_CUSTOM
+} app_use;
+
+// PPM control types
+typedef enum {
+	PPM_CTRL_TYPE_NONE = 0,
+	PPM_CTRL_TYPE_CURRENT,
+	PPM_CTRL_TYPE_CURRENT_NOREV,
+	PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE,
+	PPM_CTRL_TYPE_DUTY,
+	PPM_CTRL_TYPE_DUTY_NOREV,
+	PPM_CTRL_TYPE_PID,
+	PPM_CTRL_TYPE_PID_NOREV
+} ppm_control_type;
+
+typedef struct {
+	ppm_control_type ctrl_type;
+	float pid_max_erpm;
+	float hyst;
+	float pulse_start;
+	float pulse_end;
+	bool median_filter;
+	bool safe_start;
+	float rpm_lim_start;
+	float rpm_lim_end;
+	bool multi_esc;
+	bool tc;
+	float tc_max_diff;
+} ppm_config;
+
+// ADC control types
+typedef enum {
+	ADC_CTRL_TYPE_NONE = 0,
+	ADC_CTRL_TYPE_CURRENT,
+	ADC_CTRL_TYPE_CURRENT_REV_CENTER,
+	ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
+	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
+	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
+	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
+	ADC_CTRL_TYPE_DUTY,
+	ADC_CTRL_TYPE_DUTY_REV_CENTER,
+	ADC_CTRL_TYPE_DUTY_REV_BUTTON
+} adc_control_type;
+
+typedef struct {
+	adc_control_type ctrl_type;
+	float hyst;
+	float voltage_start;
+	float voltage_end;
+	bool use_filter;
+	bool safe_start;
+	bool cc_button_inverted;
+	bool rev_button_inverted;
+	bool voltage_inverted;
+	float rpm_lim_start;
+	float rpm_lim_end;
+	bool multi_esc;
+	bool tc;
+	float tc_max_diff;
+	uint32_t update_rate_hz;
+} adc_config;
+
+// Nunchuk control types
+typedef enum {
+	CHUK_CTRL_TYPE_NONE = 0,
+	CHUK_CTRL_TYPE_CURRENT,
+	CHUK_CTRL_TYPE_CURRENT_NOREV
+} chuk_control_type;
+
+typedef struct {
+	chuk_control_type ctrl_type;
+	float hyst;
+	float rpm_lim_start;
+	float rpm_lim_end;
+	float ramp_time_pos;
+	float ramp_time_neg;
+	float stick_erpm_per_s_in_cc;
+	bool multi_esc;
+	bool tc;
+	float tc_max_diff;
+} chuk_config;
+
+// NRF Datatypes
+typedef enum {
+	NRF_SPEED_250K = 0,
+	NRF_SPEED_1M,
+	NRF_SPEED_2M
+} NRF_SPEED;
+
+typedef enum {
+	NRF_POWER_M18DBM = 0,
+	NRF_POWER_M12DBM,
+	NRF_POWER_M6DBM,
+	NRF_POWER_0DBM
+} NRF_POWER;
+
+typedef enum {
+	NRF_AW_3 = 0,
+	NRF_AW_4,
+	NRF_AW_5
+} NRF_AW;
+
+typedef enum {
+	NRF_CRC_DISABLED = 0,
+	NRF_CRC_1B,
+	NRF_CRC_2B
+} NRF_CRC;
+
+typedef enum {
+	NRF_RETR_DELAY_250US = 0,
+	NRF_RETR_DELAY_500US,
+	NRF_RETR_DELAY_750US,
+	NRF_RETR_DELAY_1000US,
+	NRF_RETR_DELAY_1250US,
+	NRF_RETR_DELAY_1500US,
+	NRF_RETR_DELAY_1750US,
+	NRF_RETR_DELAY_2000US,
+	NRF_RETR_DELAY_2250US,
+	NRF_RETR_DELAY_2500US,
+	NRF_RETR_DELAY_2750US,
+	NRF_RETR_DELAY_3000US,
+	NRF_RETR_DELAY_3250US,
+	NRF_RETR_DELAY_3500US,
+	NRF_RETR_DELAY_3750US,
+	NRF_RETR_DELAY_4000US
+} NRF_RETR_DELAY;
+
+typedef struct {
+	NRF_SPEED speed;
+	NRF_POWER power;
+	NRF_CRC crc_type;
+	NRF_RETR_DELAY retry_delay;
+	unsigned char retries;
+	unsigned char channel;
+	unsigned char address[3];
+	bool send_crc_ack;
+} nrf_config;
+
+typedef struct {
+	// Settings
+	uint8_t controller_id;
+	uint32_t timeout_msec;
+	float timeout_brake_current;
+	bool send_can_status;
+	uint32_t send_can_status_rate_hz;
+
+	// Application to use
+	app_use app_to_use;
+
+	// PPM application settings
+	ppm_config app_ppm_conf;
+
+	// ADC application settings
+	adc_config app_adc_conf;
+
+	// UART application settings
+	uint32_t app_uart_baudrate;
+
+	// Nunchuk application settings
+	chuk_config app_chuk_conf;
+
+	// NRF application settings
+	nrf_config app_nrf_conf;
+} app_configuration;
+
+// Communication commands
+typedef enum {
+	COMM_FW_VERSION = 0,
+	COMM_JUMP_TO_BOOTLOADER,
+	COMM_ERASE_NEW_APP,
+	COMM_WRITE_NEW_APP_DATA,
+	COMM_GET_VALUES,
+	COMM_SET_DUTY,
+	COMM_SET_CURRENT,
+	COMM_SET_CURRENT_BRAKE,
+	COMM_SET_RPM,
+	COMM_SET_POS,
+	COMM_SET_DETECT,
+	COMM_SET_SERVO_POS,
+	COMM_SET_MCCONF,
+	COMM_GET_MCCONF,
+	COMM_GET_MCCONF_DEFAULT,
+	COMM_SET_APPCONF,
+	COMM_GET_APPCONF,
+	COMM_GET_APPCONF_DEFAULT,
+	COMM_SAMPLE_PRINT,
+	COMM_TERMINAL_CMD,
+	COMM_PRINT,
+	COMM_ROTOR_POSITION,
+	COMM_EXPERIMENT_SAMPLE,
+	COMM_DETECT_MOTOR_PARAM,
+	COMM_DETECT_MOTOR_R_L,
+	COMM_DETECT_MOTOR_FLUX_LINKAGE,
+	COMM_DETECT_ENCODER,
+	COMM_DETECT_HALL_FOC,
+	COMM_REBOOT,
+	COMM_ALIVE,
+	COMM_GET_DECODED_PPM,
+	COMM_GET_DECODED_ADC,
+	COMM_GET_DECODED_CHUK,
+	COMM_FORWARD_CAN,
+	COMM_SET_CHUCK_DATA,
+	COMM_CUSTOM_APP_DATA,
+	COMM_NON
+} COMM_PACKET_ID;
+
+// CAN commands
+typedef enum {
+	CAN_PACKET_SET_DUTY = 0,
+	CAN_PACKET_SET_CURRENT,
+	CAN_PACKET_SET_CURRENT_BRAKE,
+	CAN_PACKET_SET_RPM,
+	CAN_PACKET_SET_POS,
+	CAN_PACKET_FILL_RX_BUFFER,
+	CAN_PACKET_FILL_RX_BUFFER_LONG,
+	CAN_PACKET_PROCESS_RX_BUFFER,
+	CAN_PACKET_PROCESS_SHORT_BUFFER,
+	CAN_PACKET_STATUS
+} CAN_PACKET_ID;
+
+// Logged fault data
+typedef struct {
+	mc_fault_code fault;
+	float current;
+	float current_filtered;
+	float voltage;
+	float duty;
+	float rpm;
+	int tacho;
+	int cycles_running;
+	int tim_val_samp;
+	int tim_current_samp;
+	int tim_top;
+	int comm_step;
+	float temperature;
+} fault_data;
+
+// External LED state
+typedef enum {
+	LED_EXT_OFF = 0,
+	LED_EXT_NORMAL,
+	LED_EXT_BRAKE,
+	LED_EXT_TURN_LEFT,
+	LED_EXT_TURN_RIGHT,
+	LED_EXT_BRAKE_TURN_LEFT,
+	LED_EXT_BRAKE_TURN_RIGHT,
+	LED_EXT_BATT
+} LED_EXT_STATE;
+
+typedef struct {
+	int js_x;
+	int js_y;
+	int acc_x;
+	int acc_y;
+	int acc_z;
+	bool bt_c;
+	bool bt_z;
+} chuck_data;
+
+//typedef struct {
+//	int id;
+//	systime_t rx_time;
+//	float rpm;
+//	float current;
+//	float duty;
+//} can_status_msg;
+
+typedef struct {
+	uint8_t js_x;
+	uint8_t js_y;
+	bool bt_c;
+	bool bt_z;
+	bool bt_push;
+	float vbat;
+} mote_state;
+
+typedef enum {
+	MOTE_PACKET_BATT_LEVEL = 0,
+	MOTE_PACKET_BUTTONS,
+	MOTE_PACKET_ALIVE,
+	MOTE_PACKET_FILL_RX_BUFFER,
+	MOTE_PACKET_FILL_RX_BUFFER_LONG,
+	MOTE_PACKET_PROCESS_RX_BUFFER,
+	MOTE_PACKET_PROCESS_SHORT_BUFFER,
+} MOTE_PACKET;
+
+struct mc_values{
+	
+	float temp_fet_filtered;
+    float temp_motor_filtered;
+	float avg_Motor_Current;
+	float avg_input_current;
+	float avg_id;
+	float avg_iq;
+    float duty_now;
+	float rpm;
+	float input_voltage;
+    float amp_hours;
+    float amp_hours_charged;
+    float watt_hours;
+    float watt_hours_charged;
+    int tachometer;
+    int tachometer_abs;
+	int fault_code;
+	//mc_fault_code fault_code;
+} ;
+
+#endif /* DATATYPES_H_ */
--- a/src/VescUartControl-VESC6/desktop.ini
+++ b/src/VescUartControl-VESC6/desktop.ini
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+IconIndex=16
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--- a/src/VescUartControl-VESC6/examples/VescTestGetTelemetry/VescTestGetTelemetry.sln
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+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
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+		Release|x86 = Release|x86
+	EndGlobalSection
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+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32
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+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32
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+	GlobalSection(SolutionProperties) = preSolution
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+      <UniqueIdentifier>{56e8439e-cc41-4ace-b6bf-26e08bb7fa2d}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\variants">
+      <UniqueIdentifier>{69425d39-c499-4210-8dfc-a76031c12081}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\variants\mega">
+      <UniqueIdentifier>{cd6fd157-4af7-46f6-aa4f-fe35836ba5eb}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\libraries">
+      <UniqueIdentifier>{09857de3-0376-49eb-9fc3-714c3904c6df}</UniqueIdentifier>
+    </Filter>
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+      <UniqueIdentifier>{d0589eb9-9000-4842-8ffd-e6f68df841ad}</UniqueIdentifier>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="VescTestGetTelemetry.ino" />
+    <None Include="__vm\.VescTestGetTelemetry.vsarduino.h">
+      <Filter>Header Files</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\abi.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Arduino.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\binary.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\CDC.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Client.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial0.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial1.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial2.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial3.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial_private.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HID.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\main.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Printable.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Server.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Tone.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Udp.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBAPI.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBDesc.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WCharacter.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\wiring_private.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WMath.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </None>
+    <None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\variants\mega\pins_arduino.h">
+      <Filter>src\_micro-api-readonly\variants\mega</Filter>
+    </None>
+    <None Include="..\..\buffer.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\buffer.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\Config.txt">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\crc.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\crc.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\datatypes.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\printf.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\VESC.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\VESC.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\VescIo.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+    <None Include="..\..\VescIo.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </None>
+  </ItemGroup>
+</Project>
--- a/src/VescUartControl-VESC6/examples/VescTestGetTelemetry/desktop.ini
+++ b/src/VescUartControl-VESC6/examples/VescTestGetTelemetry/desktop.ini
@ -0,0 +1,5 @@
+[.ShellClassInfo]
+InfoTip=Dieser Ordner wird online freigegeben.
+IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
+IconIndex=16
+    
--- a/src/VescUartControl-VESC6/examples/VescUartSample/Config.h
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/Config.h
@ -0,0 +1,25 @@
+/*
+Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
+This program 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.
+This program 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/>.
+*/
+
+//The Config.h is a file, that I use in other programs usualy. So I define also the serial ports there. If you don't want to
+//use it, just comment the include statement in the VescUart.h out.
+
+#ifndef _CONFIG_h
+#define _CONFIG_h
+
+#define SERIALIO Serial1
+#define DEBUGSERIAL Serial
+
+
+#endif
--- a/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.ino
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.ino
@ -0,0 +1,60 @@
+/*
+ Name:		VescUartSample.ino
+ Created:	9/26/2015 10:12:38 PM
+ Author:	AC
+*/
+
+// the setup function runs once when you press reset or power the board
+// To use VescUartControl stand alone you need to define a config.h file, that should contain the Serial or you have to comment the line
+// #include Config.h out in VescUart.h
+
+//Include libraries copied from VESC
+
+#define DEBUG 
+#include "Config.h"
+#include <VescUart.h>
+#include <datatypes.h>
+
+
+unsigned long count;
+
+void setup() {
+	
+	//Setup UART port
+	SetSerialPort(&SERIALIO);
+	SERIALIO.begin(115200);
+#ifdef DEBUG
+	//SEtup debug port
+	SetDebugSerialPort(&DEBUGSERIAL);
+	DEBUGSERIAL.begin(115200);
+	#endif
+	
+}
+
+struct bldcMeasure measuredVal;
+	
+// the loop function runs over and over again until power down or reset
+void loop() {
+	//int len=0;
+	//len = ReceiveUartMessage(message);
+	//if (len > 0)
+	//{
+	//	len = PackSendPayload(message, len);
+	//	len = 0;
+	//}
+	
+	if (VescUartGetValue(measuredVal)) {
+		DEBUGSERIAL.print("Loop: "); DEBUGSERIAL.println(count++);
+		SerialPrint(measuredVal);
+	}
+	else
+	{
+		Serial.println("Failed to get data!");
+	}
+	
+}
+
+
+
+
+
--- a/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.sln
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.sln
@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.26430.14
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "VescUartSample", "VescUartSample.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x86 = Debug|x86
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32
+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32
+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32
+		{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
--- a/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.vcxproj
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.vcxproj
@ -0,0 +1,141 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{C5F80730-F44F-4478-BDAE-6634EFC2CA88}</ProjectGuid>
+    <RootNamespace>
+    </RootNamespace>
+    <ProjectName>VescUartSample</ProjectName>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>
+    </PlatformToolset>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>
+    </PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup />
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\..\..\VescUartControl;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\libraries;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\libraries;$(ProjectDir)..\..\..\..\libraries;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\variants\mega;$(ProjectDir)..\VescUartSample;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\dev\arduino-1.5.8\hardware\tools\avr\avr\include\;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\dev\arduino-1.5.8\hardware\tools\avr\avr\include\avr\;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\dev\arduino-1.5.8\hardware\tools\avr\avr\;$(ProjectDir)..\..\..\..\..\..\..\..\..\..\dev\arduino-1.5.8\hardware\tools\avr\lib\gcc\avr\4.8.1\include\;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <ForcedIncludeFiles>$(ProjectDir)__vm\.VescUartSample.vsarduino.h;%(ForcedIncludeFiles)</ForcedIncludeFiles>
+      <IgnoreStandardIncludePath>false</IgnoreStandardIncludePath>
+      <PreprocessorDefinitions>__AVR_ATmega2560__;F_CPU=16000000L;ARDUINO=158;ARDUINO_AVR_MEGA2560;ARDUINO_ARCH_AVR;__cplusplus=201103L;GCC_VERSION=40801;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ProjectCapability Include="VisualMicro" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="VescUartSample.ino">
+      <FileType>CppCode</FileType>
+    </None>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Arduino.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\binary.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Client.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.h" />
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+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Printable.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Server.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.h" />
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+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WCharacter.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\wiring_private.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.h" />
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\variants\mega\pins_arduino.h" />
+    <ClInclude Include="..\..\buffer.h" />
+    <ClInclude Include="..\..\crc.h" />
+    <ClInclude Include="..\..\datatypes.h" />
+    <ClInclude Include="..\..\local_datatypes.h" />
+    <ClInclude Include="..\..\printf.h" />
+    <ClInclude Include="..\..\VescUart.h" />
+    <ClInclude Include="Config.h">
+      <FileType>CppCode</FileType>
+    </ClInclude>
+    <ClInclude Include="__vm\.VescUartSample.vsarduino.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\abi.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\CDC.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial0.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial1.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial2.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial3.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HID.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\main.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Tone.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WMath.cpp" />
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.cpp" />
+    <ClCompile Include="..\..\buffer.cpp" />
+    <ClCompile Include="..\..\crc.cpp" />
+    <ClCompile Include="..\..\VescUart.cpp" />
+  </ItemGroup>
+  <PropertyGroup>
+    <DebuggerFlavor>VisualMicroDebugger</DebuggerFlavor>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
--- a/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.vcxproj.filters
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/VescUartSample.vcxproj.filters
@ -0,0 +1,180 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+    <Filter Include="src">
+      <UniqueIdentifier>{f18380e6-7a91-4934-9331-5d99023fa773}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly">
+      <UniqueIdentifier>{ec171034-81e3-4e0a-b289-bab8714d1072}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\core">
+      <UniqueIdentifier>{068f43d6-1888-4dff-93bd-0dd2a6361625}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\libraries">
+      <UniqueIdentifier>{fa337233-0ab9-497f-83e3-28ef4b0bc31f}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="src\_micro-api-readonly\libraries\VescUartControl">
+      <UniqueIdentifier>{1269ddfc-015a-4abf-98fc-6f0542b0637c}</UniqueIdentifier>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="VescUartSample.ino" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="__vm\.VescUartSample.vsarduino.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Config.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Arduino.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\binary.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Client.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial_private.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Printable.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Server.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Udp.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBAPI.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBDesc.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WCharacter.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\wiring_private.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\variants\mega\pins_arduino.h">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\buffer.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\crc.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\datatypes.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\local_datatypes.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\printf.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\VescUart.h">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\abi.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\CDC.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial0.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial1.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial2.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial3.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HID.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\main.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Tone.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WMath.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.cpp">
+      <Filter>src\_micro-api-readonly\core</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\buffer.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\crc.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\VescUart.cpp">
+      <Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>
--- a/src/VescUartControl-VESC6/examples/VescUartSample/__vm/.VescUartSample.vsarduino.h
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/__vm/.VescUartSample.vsarduino.h
@ -0,0 +1,72 @@
+/* 
+	Editor: http://www.visualmicro.com
+			visual micro and the arduino ide ignore this code during compilation. this code is automatically maintained by visualmicro, manual changes to this file will be overwritten
+			the contents of the Visual Micro sketch sub folder can be deleted prior to publishing a project
+			all non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!).
+			note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again
+	
+	Hardware: Arduino Mega w/ ATmega2560 (Mega 2560), Platform=avr, Package=arduino
+*/
+
+#if defined(_VMICRO_INTELLISENSE)
+
+#ifndef _VSARDUINO_H_
+#define _VSARDUINO_H_
+#define __AVR_ATmega2560__
+#define F_CPU 16000000L
+#define ARDUINO 158
+#define ARDUINO_AVR_MEGA2560
+#define ARDUINO_ARCH_AVR
+#define __cplusplus 201103L
+#define GCC_VERSION 40801
+#define __inline__
+#define __asm__(x)
+#define __extension__
+//#define __ATTR_PURE__
+//#define __ATTR_CONST__
+#define __inline__
+//#define __asm__ 
+#define __volatile__
+#define GCC_VERSION 40301
+#define volatile(va_arg) 
+#define __AVR__
+typedef void *__builtin_va_list;
+#define __builtin_va_start
+#define __builtin_va_end
+//#define __DOXYGEN__
+#define __attribute__(x)
+#define NOINLINE __attribute__((noinline))
+#define prog_void
+#define PGM_VOID_P int
+#define NEW_H
+/*
+#ifndef __ATTR_CONST__
+#define __ATTR_CONST__ __attribute__((__const__))
+#endif
+
+#ifndef __ATTR_MALLOC__
+#define __ATTR_MALLOC__ __attribute__((__malloc__))
+#endif
+
+#ifndef __ATTR_NORETURN__
+#define __ATTR_NORETURN__ __attribute__((__noreturn__))
+#endif
+
+#ifndef __ATTR_PURE__
+#define __ATTR_PURE__ __attribute__((__pure__))
+#endif            
+*/
+typedef unsigned char byte;
+extern "C" void __cxa_pure_virtual() {;}
+
+
+
+#include <arduino.h>
+#include <pins_arduino.h> 
+#undef F
+#define F(string_literal) ((const PROGMEM char *)(string_literal))
+#undef PSTR
+#define PSTR(string_literal) ((const PROGMEM char *)(string_literal))
+#include "VescUartSample.ino"
+#endif
+#endif
--- a/src/VescUartControl-VESC6/examples/VescUartSample/__vm/desktop.ini
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/__vm/desktop.ini
@ -0,0 +1,5 @@
+[.ShellClassInfo]
+InfoTip=Dieser Ordner wird online freigegeben.
+IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
+IconIndex=16
+    
--- a/src/VescUartControl-VESC6/examples/VescUartSample/desktop.ini
+++ b/src/VescUartControl-VESC6/examples/VescUartSample/desktop.ini
@ -0,0 +1,5 @@
+[.ShellClassInfo]
+InfoTip=Dieser Ordner wird online freigegeben.
+IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
+IconIndex=16
+    
--- a/src/VescUartControl-VESC6/examples/desktop.ini
+++ b/src/VescUartControl-VESC6/examples/desktop.ini
@ -0,0 +1,5 @@
+[.ShellClassInfo]
+InfoTip=Dieser Ordner wird online freigegeben.
+IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
+IconIndex=16
+    
--- a/src/VescUartControl-VESC6/local_datatypes.h
+++ b/src/VescUartControl-VESC6/local_datatypes.h
@ -0,0 +1,34 @@
+#ifndef LOCAL_DATATYPES_H_
+#define LOCAL_DATATYPES_H_
+
+// Added by AC to store measured values
+struct bldcMeasure {
+	float tempFetFiltered;
+	float tempMotorFiltered;
+	float avgMotorCurrent;
+	float avgInputCurrent;
+	float avgId;
+	float avgIq;
+	float dutyNow;
+	long rpm;
+	float inpVoltage;
+	float ampHours;
+	float ampHoursCharged;
+	float wattHours;
+	float watthoursCharged;
+	long tachometer;
+	long tachometerAbs;
+	int faultCode;
+};
+//Define remote Package
+
+struct remotePackage {
+
+	int		valXJoy;
+	int		valYJoy;
+	boolean	valUpperButton;
+	boolean	valLowerButton;
+
+};
+
+#endif
--- a/src/VescUartControl-VESC6/printf.h
+++ b/src/VescUartControl-VESC6/printf.h
@ -0,0 +1,31 @@
+/*
+ Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
+ 
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+ 
+/**
+ * @file printf.h
+ *
+ * Setup necessary to direct stdout to the Arduino Serial library, which
+ * enables 'printf'
+ */
+
+#ifndef __PRINTF_H__
+#define __PRINTF_H__
+
+int serial_putc( char c, FILE * ) 
+{
+  Serial.write( c );
+
+  return c;
+} 
+
+void printf_begin(void)
+{
+  fdevopen( &serial_putc, 0 );
+}
+
+#endif // __PRINTF_H__
--- a/src/changevaluedisplay.h
+++ b/src/changevaluedisplay.h
@ -137,8 +137,10 @@ void ChangeValueDisplay<Tvalue>::confirm()

 #include "changevaluedisplay_bool.h"
 #include "changevaluedisplay_bluetoothmode.h"
+#ifdef GLUMP_CONTROLLER
 #include "changevaluedisplay_controlmode.h"
 #include "changevaluedisplay_controltype.h"
 #include "changevaluedisplay_larsmmode_mode.h"
+#endif
 #include "changevaluedisplay_wifi_mode_t.h"
 #include "changevaluedisplay_wifi_power_t.h"
--- a/src/changevaluedisplay_controlmode.h
+++ b/src/changevaluedisplay_controlmode.h
@ -8,6 +8,7 @@
 #include "icons/back.h"
 #include "texts.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<ControlMode> :
@ -62,3 +63,4 @@ void ChangeValueDisplay<ControlMode>::itemPressed(int index)
    triggered();
 }
 }
+#endif
--- a/src/changevaluedisplay_controltype.h
+++ b/src/changevaluedisplay_controltype.h
@ -8,6 +8,7 @@
 #include "icons/back.h"
 #include "texts.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<ControlType> :
@ -58,3 +59,4 @@ void ChangeValueDisplay<ControlType>::itemPressed(int index)
    triggered();
 }
 }
+#endif
--- a/src/changevaluedisplay_larsmmode_mode.h
+++ b/src/changevaluedisplay_larsmmode_mode.h
@ -9,6 +9,7 @@
 #include "texts.h"
 #include "modes/larsmmode.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 template<>
 class ChangeValueDisplay<LarsmModeMode> :
@ -63,3 +64,4 @@ void ChangeValueDisplay<LarsmModeMode>::itemPressed(int index)
    triggered();
 }
 }
+#endif
--- a/src/controller.h
+++ b/src/controller.h
@ -2,13 +2,19 @@

 #include <functional>

+#include <Arduino.h>
+#include <WString.h>
+
 #include "bobbycar-protocol/protocol.h"

 #include "feedbackparser.h"
+#include "VescUartControl-VESC6/VescUart.h"

 class HardwareSerial;

 namespace {
+#ifdef GLUMP_CONTROLLER
+
 struct Controller {
    Controller(HardwareSerial &serial, bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
        serial{serial}, enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
@ -25,4 +31,38 @@ struct Controller {

    FeedbackParser parser{serial, feedbackValid, feedback};
 };
+#endif
+
+#ifdef VESC_CONTROLLER
+struct VescController {
+  VescController(HardwareSerial &serial, bool &enable, bool &invert) :
+        serial{serial}, enable{enable}, invert{invert}
+    {
+    }
+
+    std::reference_wrapper<HardwareSerial> serial;
+    bool &enable;
+    bool &invert;
+
+    bldcMeasure values;
+
+    float pwm = 0;
+
+//    Command command{};
+//
+//    bool feedbackValid{};
+//    Feedback feedback{};
+//
+//    FeedbackParser parser{serial, feedbackValid, feedback};
+
+    void update() {
+      SetSerialPort(&serial.get());
+      SetDebugSerialPort(NULL);
+
+      VescUartGetValue(values);
+
+      Serial.println(String{"Duty now "} + values.dutyNow);
+    }
+};
+#endif
 }
--- a/src/debugcolorhelpers.h
+++ b/src/debugcolorhelpers.h
@ -3,6 +3,7 @@
 #include "colorinterface.h"
 #include "globals.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 template<Controller &Tcontroller, int TsuccessColor>
 class FeedbackColor : public virtual ColorInterface { public: int color() const { return Tcontroller.feedbackValid ? TsuccessColor : TFT_RED; } };
@ -13,3 +14,4 @@ using FrontFeedbackColor = FeedbackColor<front, TsuccessColor>;
 template<int TsuccessColor>
 using BackFeedbackColor = FeedbackColor<back, TsuccessColor>;
 }
+#endif
--- a/src/debugtexthelpers.h
+++ b/src/debugtexthelpers.h
@ -4,6 +4,7 @@
 #include "globals.h"
 #include "utils.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 template<Controller &controller>
 struct ControllerTexts
@ -88,3 +89,4 @@ struct ControllerTexts
 using FrontTexts = ControllerTexts<front>;
 using BackTexts = ControllerTexts<back>;
 }
+#endif
--- a/src/displays/calibratedisplay.h
+++ b/src/displays/calibratedisplay.h
@ -37,8 +37,15 @@ public:

 private:
    const bool m_bootup{false};
+    bool saved{false};
    ModeInterface *m_oldMode;
-    IgnoreInputMode m_mode{0, ControlType::FieldOrientedControl, ControlMode::Torque};
+    IgnoreInputMode m_mode{
+      0,
+#ifdef GLUMP_CONTROLLER
+      ControlType::FieldOrientedControl,
+      ControlMode::Torque
+#endif
+    };

    std::array<Label, 4> m_labels {{
        Label{25, 50}, // 100, 23
@ -51,6 +58,8 @@ private:
        ProgressBar{20, 200, 200, 10, 0, 1000},
        ProgressBar{20, 230, 200, 10, 0, 1000}
    }};
+
+    Label savedLabel{25, 50};
 };

 CalibrateDisplay::CalibrateDisplay(bool bootup) :
@ -76,15 +85,24 @@ void CalibrateDisplay::initScreen()

    tft.setTextColor(TFT_WHITE, TFT_BLACK);

-    for (auto &label : m_labels)
+    if (!saved) {
+      for (auto &label : m_labels)
        label.start();

-    for (auto &progressBar : m_progressBars)
+      for (auto &progressBar : m_progressBars)
        progressBar.start();
+    }
+
+    savedLabel.start();
 }

 void CalibrateDisplay::redraw()
 {
+    if (saved) {
+        savedLabel.redraw(String{"Saved"});
+        return;
+    }
+
    m_labels[0].redraw(String{gas});
    m_labels[1].redraw(String{raw_gas});

@ -104,14 +122,35 @@ void CalibrateDisplay::stop()
 void CalibrateDisplay::back()
 {
    if (!m_bootup)
+#ifdef GLUMP_CONTROLLER
        switchScreen<BoardcomputerHardwareSettingsMenu>();
+#endif
+#ifdef VESC_CONTROLLER
+        switchScreen<StatusDisplay>();
+#endif
 }

 void CalibrateDisplay::triggered()
 {
+#ifdef GLUMP_CONTROLLER
    if (m_bootup)
        switchScreen<StatusDisplay>();
    else
        switchScreen<BoardcomputerHardwareSettingsMenu>();
+#endif
+#ifdef VESC_CONTROLLER
+    if (saved) {
+        switchScreen<BoardcomputerHardwareSettingsMenu>();
+        return;
+    }
+
+    settings.boardcomputerHardware.gasMax = raw_gas * 0.9;
+    settings.boardcomputerHardware.bremsMax = raw_brems * 0.9;
+    saveSettings();
+
+    saved = true;
+
+    initScreen();
+#endif
 }
 }
--- a/src/displays/lockscreen.h
+++ b/src/displays/lockscreen.h
@ -50,7 +50,13 @@ private:
    int m_rotated;

    ModeInterface *m_oldMode;
-    IgnoreInputMode m_mode{0, ControlType::FieldOrientedControl, ControlMode::Speed};
+    IgnoreInputMode m_mode{
+      0,
+#ifdef GLUMP_CONTROLLER
+      ControlType::FieldOrientedControl,
+      ControlMode::Speed
+#endif
+    };
 };

 void Lockscreen::start()
--- a/src/displays/menus/buzzermenu.h
+++ b/src/displays/menus/buzzermenu.h
@ -13,6 +13,7 @@
 #include "globals.h"
 #include "settingsaccessors.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class BuzzerMenu;
 class SettingsMenu;
@ -102,3 +103,4 @@ class BuzzerMenu :
    >
 {};
 }
+#endif
--- a/src/displays/menus/commanddebugmenu.h
+++ b/src/displays/menus/commanddebugmenu.h
@ -10,6 +10,7 @@
 #include "texts.h"
 #include "debugtexthelpers.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@ -32,3 +33,4 @@ class CommandDebugMenu :
 class FrontCommandDebugMenu : public CommandDebugMenu<TEXT_FRONTCOMMAND, FrontTexts> {};
 class BackCommandDebugMenu : public CommandDebugMenu<TEXT_BACKCOMMAND, BackTexts> {};
 }
+#endif
--- a/src/displays/menus/controllerhardwaresettingsmenu.h
+++ b/src/displays/menus/controllerhardwaresettingsmenu.h
@ -56,7 +56,9 @@ class ControllerHardwareSettingsMenu :
        makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERMM>,   SwitchScreenAction<WheelDiameterMmChangeScreen>>,
        makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERINCH>, SwitchScreenAction<WheelDiameterInchChangeScreen>>,
        makeComponent<MenuItem, StaticText<TEXT_NUMMAGNETPOLES>,    SwitchScreenAction<NumMagnetPolesChangeScreen>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_SWAPFRONTBACK>,     ToggleBoolAction, CheckboxIcon, SwapFrontBackAccessor>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::back>>
    >
 {};
--- a/src/displays/menus/debugmenu.h
+++ b/src/displays/menus/debugmenu.h
@ -17,6 +17,7 @@

 namespace {
 class MainMenu;
+#ifdef GLUMP_CONTROLLER
 class FrontCommandDebugMenu;
 class BackCommandDebugMenu;
 class FrontLeftMotorStateDebugMenu;
@ -29,6 +30,7 @@ class FrontLeftMotorFeedbackDebugMenu;
 class FrontRightMotorFeedbackDebugMenu;
 class BackLeftMotorFeedbackDebugMenu;
 class BackRightMotorFeedbackDebugMenu;
+#endif
 class DynamicDebugMenu;
 }

@ -41,6 +43,7 @@ class DebugMenu :
        makeComponent<MenuItem, StaticText<TEXT_LOADSETTINGS>,         LoadSettingsAction>,
        makeComponent<MenuItem, StaticText<TEXT_SAVESETTINGS>,         SaveSettingsAction>,
        makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_FRONTCOMMAND>,         SwitchScreenAction<FrontCommandDebugMenu>>,
        makeComponent<MenuItem, StaticText<TEXT_BACKCOMMAND>,          SwitchScreenAction<BackCommandDebugMenu>>,
        makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
@ -56,6 +59,7 @@ class DebugMenu :
        makeComponent<MenuItem, StaticText<TEXT_FRONTRIGHTFEEDBACK>,   SwitchScreenAction<FrontRightMotorFeedbackDebugMenu>, FrontFeedbackColor<TFT_WHITE>>,
        makeComponent<MenuItem, StaticText<TEXT_BACKLEFTFEEDBACK>,     SwitchScreenAction<BackLeftMotorFeedbackDebugMenu>, BackFeedbackColor<TFT_WHITE>>,
        makeComponent<MenuItem, StaticText<TEXT_BACKRIGHTFEEDBACK>,    SwitchScreenAction<BackRightMotorFeedbackDebugMenu>, BackFeedbackColor<TFT_WHITE>>,
+#endif
        makeComponent<MenuItem, StaticText<nullptr>,                   DummyAction>,
        makeComponent<MenuItem, StaticText<TEXT_DYNAMICMENU>,          SwitchScreenAction<DynamicDebugMenu>>,
        makeComponent<MenuItem, StaticText<TEXT_BACK>,                 SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
--- a/src/displays/menus/defaultmodesettingsmenu.h
+++ b/src/displays/menus/defaultmodesettingsmenu.h
@ -18,6 +18,7 @@ class ModesSettingsMenu;
 }

 namespace {
+#ifdef GLUMP_CONTROLLER
 using DefaultModeCtrlTypChangeDisplay = makeComponent<
    ChangeValueDisplay<ControlType>,
    StaticText<TEXT_SETCONTROLTYPE>,
@ -32,6 +33,7 @@ using DefaultModeCtrlModChangeDisplay = makeComponent<
    BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
    SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#endif
 using DefaultModeSmoothingChangeDisplay = makeComponent<
    ChangeValueDisplay<int16_t>,
    StaticText<TEXT_SETSMOOTHING>,
@ -39,6 +41,7 @@ using DefaultModeSmoothingChangeDisplay = makeComponent<
    BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
    SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#ifdef GLUMP_CONTROLLER
 using DefaultModeFrontPercentageChangeDisplay = makeComponent<
    ChangeValueDisplay<int16_t>,
    StaticText<TEXT_SETFRONTPERCENTAGE>,
@ -53,6 +56,7 @@ using DefaultModeBackPercentageChangeDisplay = makeComponent<
    BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
    SwitchScreenAction<DefaultModeSettingsMenu>
 >;
+#endif
 using DefaultModeAddSchwelleChangeDisplay = makeComponent<
    ChangeValueDisplay<int16_t>,
    StaticText<TEXT_SETADDSCHWELLE>,
@ -94,12 +98,16 @@ class DefaultModeSettingsMenu :
    public StaticText<TEXT_DEFAULTMODESETTIGNS>,
    public BackActionInterface<SwitchScreenAction<ModesSettingsMenu>>,
    public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_SETCONTROLTYPE>,     SwitchScreenAction<DefaultModeCtrlTypChangeDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SETCONTROLMODE>,     SwitchScreenAction<DefaultModeCtrlModChangeDisplay>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHING>,     ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_SETSMOOTHING>,       SwitchScreenAction<DefaultModeSmoothingChangeDisplay>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_SETFRONTPERCENTAGE>, SwitchScreenAction<DefaultModeFrontPercentageChangeDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SETBACKPERCENTAGE>,  SwitchScreenAction<DefaultModeBackPercentageChangeDisplay>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_SETADDSCHWELLE>,     SwitchScreenAction<DefaultModeAddSchwelleChangeDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SETGAS1WERT>,        SwitchScreenAction<DefaultModeGas1WertChangeDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SETGAS2WERT>,        SwitchScreenAction<DefaultModeGas2WertChangeDisplay>>,
--- a/src/displays/menus/enablemenu.h
+++ b/src/displays/menus/enablemenu.h
@ -21,11 +21,17 @@ class EnableMenu :
    public StaticText<TEXT_SETENABLED>,
    public BackActionInterface<SwitchScreenAction<ControllerHardwareSettingsMenu>>,
    public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_ENABLEFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, FrontLeftEnabledAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_ENABLEFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, FrontRightEnabledAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKLEFT>,   ToggleBoolAction, CheckboxIcon, BackLeftEnabledAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, BackRightEnabledAccessor>,
+#endif
+#ifdef VESC_CONTROLLER
+        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, OneEnabledAccessor>,
+        makeComponent<MenuItem, StaticText<TEXT_ENABLEBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, TwoEnabledAccessor>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_BACK>,             SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::back>>
    >
 {};
-}
+}
--- a/src/displays/menus/feedbackdebugmenu.h
+++ b/src/displays/menus/feedbackdebugmenu.h
@ -11,6 +11,7 @@
 #include "debugtexthelpers.h"
 #include "debugcolorhelpers.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@ -33,3 +34,4 @@ class FeedbackDebugMenu :

 class FrontFeedbackDebugMenu : public FeedbackDebugMenu<TEXT_FRONTFEEDBACK, FrontTexts, FrontFeedbackColor> {};
 class BackFeedbackDebugMenu : public FeedbackDebugMenu<TEXT_BACKFEEDBACK, BackTexts, FrontFeedbackColor> {}; }
+#endif
--- a/src/displays/menus/graphsmenu.h
+++ b/src/displays/menus/graphsmenu.h
@ -21,8 +21,12 @@ using AvgSpeedGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_AVGS
 using AvgSpeedKmhGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_AVGSPEEDKMH>, MultiStatisticsSingleImpl, AvgSpeedKmhStatistics>;
 using SumCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SUMCURRENT>, MultiStatisticsSingleImpl, SumCurrentStatistics>;
 using SumAbsoluteCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_SUMABSOLUTECURRENT>, MultiStatisticsSingleImpl, SumAbsoluteCurrentStatistics>;
+
+#ifdef GLUMP_CONTROLLER
 using FrontVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_FRONTVOLTAGE>, MultiStatisticsSingleImpl, FrontVoltageStatistics>;
 using BackVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BACKVOLTAGE>, MultiStatisticsSingleImpl, BackVoltageStatistics>;
+#endif
+
 #ifdef FEATURE_BMS
 using BmsVoltageGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSVOLTAGE>, MultiStatisticsSingleImpl, BmsVoltageStatistics>;
 using BmsCurrentGraphDisplay = makeComponent<GraphDisplay<1>, StaticText<TEXT_BMSCURRENT>, MultiStatisticsSingleImpl, BmsCurrentStatistics>;
@ -37,7 +41,7 @@ class SumCurrentsComparisonStatistics : public virtual MultiStatisticsInterface<
 };
 using SumCurrentsComparisonGraphDisplay = makeComponent<GraphDisplay<2>, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SumCurrentsComparisonStatistics>;
 #endif
-
+#ifdef GLUMP_CONTROLLER
 class MotorCurrentsStatistics : public virtual MultiStatisticsInterface<4>
 {
    std::array<std::reference_wrapper<const statistics::ContainerType>, 4> getBuffers() const override
@ -46,6 +50,7 @@ class MotorCurrentsStatistics : public virtual MultiStatisticsInterface<4>
    }
 };
 using MotorCurrentsGraphDisplay = makeComponent<GraphDisplay<4>, StaticText<TEXT_MOTORCURRENTS>, MotorCurrentsStatistics>;
+#endif

 class GraphsMenu :
    public MenuDisplay,
@ -58,15 +63,19 @@ class GraphsMenu :
        makeComponent<MenuItem, StaticText<TEXT_AVGSPEEDKMH>,           SwitchScreenAction<AvgSpeedKmhGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SUMCURRENT>,            SwitchScreenAction<SumCurrentGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SUMABSOLUTECURRENT>,    SwitchScreenAction<SumAbsoluteCurrentGraphDisplay>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_FRONTVOLTAGE>,          SwitchScreenAction<FrontVoltageGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_BACKVOLTAGE>,           SwitchScreenAction<BackVoltageGraphDisplay>>,
+#endif
 #ifdef FEATURE_BMS
        makeComponent<MenuItem, StaticText<TEXT_BMSVOLTAGE>,            SwitchScreenAction<BmsVoltageGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_BMSCURRENT>,            SwitchScreenAction<BmsCurrentGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_BMSPOWER>,              SwitchScreenAction<BmsPowerGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_SUMCURRENTSCOMPARISON>, SwitchScreenAction<SumCurrentsComparisonGraphDisplay>>,
 #endif
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_MOTORCURRENTS>,         SwitchScreenAction<MotorCurrentsGraphDisplay>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_DUALGRAPHS>,            SwitchScreenAction<DualGraphDisplay>>,
        makeComponent<MenuItem, StaticText<TEXT_BACK>,                  SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
    >
--- a/src/displays/menus/invertmenu.h
+++ b/src/displays/menus/invertmenu.h
@ -21,11 +21,17 @@ class InvertMenu :
    public StaticText<TEXT_SETINVERTED>,
    public BackActionInterface<SwitchScreenAction<ControllerHardwareSettingsMenu>>,
    public StaticMenuDefinition<
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, FrontLeftInvertedAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, FrontRightInvertedAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_INVERTBACKLEFT>,   ToggleBoolAction, CheckboxIcon, BackLeftInvertedAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_INVERTBACKRIGHT>,  ToggleBoolAction, CheckboxIcon, BackRightInvertedAccessor>,
+#endif
+#ifdef VESC_CONTROLLER
+        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTLEFT>,  ToggleBoolAction, CheckboxIcon, OneInvertedAccessor>,
+        makeComponent<MenuItem, StaticText<TEXT_INVERTFRONTRIGHT>, ToggleBoolAction, CheckboxIcon, TwoInvertedAccessor>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_BACK>,             SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::back>>
    >
 {};
-}
+}
--- a/src/displays/menus/larsmmodesettingsmenu.h
+++ b/src/displays/menus/larsmmodesettingsmenu.h
@ -10,6 +10,7 @@
 #include "texts.h"
 #include "settingsaccessors.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class LarsmModeSettingsMenu;
 class ModesSettingsMenu;
@ -42,3 +43,4 @@ class LarsmModeSettingsMenu :
    >
 {};
 }
+#endif
--- a/src/displays/menus/mainmenu.h
+++ b/src/displays/menus/mainmenu.h
@ -38,7 +38,9 @@ class MainMenu :
    public BackActionInterface<SwitchScreenAction<StatusDisplay>>,
    public StaticMenuDefinition<
        makeComponent<MenuItem, StaticText<TEXT_STATUS>,      SwitchScreenAction<StatusDisplay>, StaticMenuItemIcon<&icons::back>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_SELECTMODE>,  SwitchScreenAction<SelectModeMenu>, StaticMenuItemIcon<&icons::modes>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_PRESETS>,     SwitchScreenAction<PresetsMenu>, StaticMenuItemIcon<&icons::presets>>,
        makeComponent<MenuItem, StaticText<TEXT_GRAPHS>,      SwitchScreenAction<GraphsMenu>, StaticMenuItemIcon<&icons::graph>>,
 #ifdef FEATURE_BMS
@ -50,7 +52,9 @@ class MainMenu :
        makeComponent<MenuItem, StaticText<TEXT_MOSFETS>,     SwitchScreenAction<MosfetsMenu>, StaticMenuItemIcon<&icons::lock>>, // TODO icon
 #endif
        makeComponent<MenuItem, StaticText<TEXT_DEMOS>,       SwitchScreenAction<DemosMenu>, StaticMenuItemIcon<&icons::demos>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_POWEROFF>,    SwitchScreenAction<PoweroffDisplay>, StaticMenuItemIcon<&icons::poweroff>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_REBOOT>,      RebootAction, StaticMenuItemIcon<&icons::reboot>>,
        makeComponent<MenuItem, StaticText<TEXT_DEBUG>,       SwitchScreenAction<DebugMenu>>
    >
--- a/src/displays/menus/modessettingsmenu.h
+++ b/src/displays/menus/modessettingsmenu.h
@ -10,7 +10,9 @@
 namespace {
 class DefaultModeSettingsMenu;
 class TempomatModeSettingsMenu;
+#ifdef GLUMP_CONTROLLER
 class LarsmModeSettingsMenu;
+#endif
 class GametrakModeSettingsMenu;
 class SettingsMenu;
 }
@ -23,7 +25,9 @@ class ModesSettingsMenu :
    public StaticMenuDefinition<
        makeComponent<MenuItem, StaticText<TEXT_DEFAULTMODESETTIGNS>,   SwitchScreenAction<DefaultModeSettingsMenu>>,
        makeComponent<MenuItem, StaticText<TEXT_TEMPOMATMODESETTINGS>,  SwitchScreenAction<TempomatModeSettingsMenu>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_LARSMMODESETTINGS>,     SwitchScreenAction<LarsmModeSettingsMenu>>,
+#endif
 #ifdef FEATURE_GAMETRAK
        makeComponent<MenuItem, StaticText<TEXT_GAMETRAKMODESETTINGS>,  SwitchScreenAction<GametrakModeSettingsMenu>>,
 #endif
--- a/src/displays/menus/motorfeedbackdebugmenu.h
+++ b/src/displays/menus/motorfeedbackdebugmenu.h
@ -11,6 +11,7 @@
 #include "debugtexthelpers.h"
 #include "debugcolorhelpers.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@ -39,3 +40,4 @@ class FrontRightMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_FRON
 class BackLeftMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_BACKLEFTFEEDBACK, BackTexts::LeftFeedback, BackFeedbackColor> {};
 class BackRightMotorFeedbackDebugMenu : public MotorFeedbackDebugMenu<TEXT_BACKRIGHTFEEDBACK, BackTexts::RightFeedback, BackFeedbackColor> {};
 }
+#endif
--- a/src/displays/menus/motorstatedebugmenu.h
+++ b/src/displays/menus/motorstatedebugmenu.h
@ -10,6 +10,7 @@
 #include "texts.h"
 #include "debugtexthelpers.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class DebugMenu;
 }
@ -39,3 +40,4 @@ class FrontRightMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_FRONTRIGHT
 class BackLeftMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_BACKLEFTCOMMAND, BackTexts::LeftCommand> {};
 class BackRightMotorStateDebugMenu : public MotorStateDebugMenu<TEXT_BACKRIGHTCOMMAND, BackTexts::RightCommand> {};
 }
+#endif
--- a/src/displays/menus/presetsmenu.h
+++ b/src/displays/menus/presetsmenu.h
@ -55,7 +55,9 @@ class PresetsMenu :
        makeComponent<MenuItem, StaticText<TEXT_KIDSLIMITS>,                   ApplyLimitsPresetAction<&presets::kidsLimits>>,
        makeComponent<MenuItem, StaticText<TEXT_DEFAULTCONTROLLERHARDWARE>,    ApplyControllerHardwarePresetAction<&presets::defaultControllerHardware>>,
        makeComponent<MenuItem, StaticText<TEXT_MOSFETSOFFCONTROLLERHARDWARE>, ApplyControllerHardwarePresetAction<&presets::mosfetsOffControllerHardware>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_SPINNERCONTROLLERHARDWARE>,    ApplyControllerHardwarePresetAction<&presets::spinnerControllerHardware>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_DEFAULTBOARDCOMPUTERHARDWARE>, ApplyBoardcomputerHardwarePresetAction<&presets::defaultBoardcomputerHardware>>,
        makeComponent<MenuItem, StaticText<TEXT_STREET>,                       DisabledColor, DummyAction>,
        makeComponent<MenuItem, StaticText<TEXT_SIDEWALK>,                     DisabledColor, DummyAction>,
--- a/src/displays/menus/selectmodemenu.h
+++ b/src/displays/menus/selectmodemenu.h
@ -14,6 +14,7 @@
 #include "modes/larsmmode.h"
 #include "modes/gametrakmode.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class MainMenu;
 }
@ -69,3 +70,4 @@ void SelectModeMenu::start()
    }
 }
 }
+#endif
--- a/src/displays/menus/settingsmenu.h
+++ b/src/displays/menus/settingsmenu.h
@ -41,8 +41,10 @@ using BluetoothModeChangeDisplay = makeComponent<
    SwitchScreenAction<SettingsMenu>
 >;

+#ifdef GLUMP_CONTROLLER
 struct FrontLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return front.command.led; } };
 struct BackLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return back.command.led; } };
+#endif

 class SettingsMenu :
    public MenuDisplay,
@ -52,16 +54,20 @@ class SettingsMenu :
        makeComponent<MenuItem, StaticText<TEXT_LIMITSSETTINGS>,                SwitchScreenAction<LimitsSettingsMenu>>,
        makeComponent<MenuItem, StaticText<TEXT_WIFISETTINGS>,                  SwitchScreenAction<WifiSettingsMenu>, StaticMenuItemIcon<&icons::wifi>>,
        makeComponent<MenuItem, StaticText<TEXT_BLUETOOTHSETTINGS>,             SwitchScreenAction<BluetoothSettingsMenu>, StaticMenuItemIcon<&icons::bluetooth>>,
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_MODESSETTINGS>,                 SwitchScreenAction<ModesSettingsMenu>>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_CONTROLLERHARDWARESETTINGS>,    SwitchScreenAction<ControllerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
        makeComponent<MenuItem, StaticText<TEXT_BOARDCOMPUTERHARDWARESETTINGS>, SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&icons::hardware>>,
        makeComponent<MenuItem, StaticText<TEXT_BLUETOOTHMODE>,                 SwitchScreenAction<BluetoothModeChangeDisplay>>,
 #ifdef FEATURE_BMS
        makeComponent<MenuItem, StaticText<TEXT_AUTOCONNECTBMS>,                ToggleBoolAction, CheckboxIcon, AutoConnectBmsAccessor>,
 #endif
+#ifdef GLUMP_CONTROLLER
        makeComponent<MenuItem, StaticText<TEXT_BUZZER>,                        SwitchScreenAction<BuzzerMenu>, StaticMenuItemIcon<&icons::buzzer>>,
        makeComponent<MenuItem, StaticText<TEXT_FRONTLED>,                      ToggleBoolAction, CheckboxIcon, FrontLedAccessor>,
        makeComponent<MenuItem, StaticText<TEXT_BACKLED>,                       ToggleBoolAction, CheckboxIcon, BackLedAccessor>,
+#endif
        makeComponent<MenuItem, StaticText<TEXT_ABOUT>,                         SwitchScreenAction<AboutMenu>, StaticMenuItemIcon<&icons::info>>,
        makeComponent<MenuItem, StaticText<TEXT_BACK>,                          SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&icons::back>>
    >
--- a/src/displays/menus/tempomatmodesettingsmenu.h
+++ b/src/displays/menus/tempomatmodesettingsmenu.h
@ -10,6 +10,7 @@
 #include "texts.h"
 #include "settingsaccessors.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class TempomatModeSettingsMenu;
 class ModesSettingsMenu;
@ -42,3 +43,4 @@ class TempomatModeSettingsMenu :
    >
 {};
 }
+#endif
--- a/src/displays/poweroffdisplay.h
+++ b/src/displays/poweroffdisplay.h
@ -7,6 +7,7 @@
 #include "globals.h"
 #include "texts.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class MainMenu;
 }
@ -60,3 +61,4 @@ void PoweroffDisplay::stop()
        controller.command.poweroff = false;
 }
 }
+#endif
--- a/src/displays/statusdisplay.h
+++ b/src/displays/statusdisplay.h
@ -35,21 +35,34 @@ private:
    {
    public:
        BoardStatus(int y) :
-            m_y{y},
-            m_labelLeftPwm{65, y}, // 80, 22
+            m_y{y}
+#ifdef GLUMP_CONTROLLER
+            ,m_labelLeftPwm{65, y}, // 80, 22
            m_labelRightPwm{155, y}, // 80, 22
            m_labelVoltage{30, y+25}, // 85, 22
            m_labelTemperature{150, y+25}, // 85, 22
            m_leftMotor{y+50},
            m_rightMotor{y+75}
+#endif
+#ifdef VESC_CONTROLLER
+            ,m_labelPwm{65, y}, // 80, 22
+            m_labelSpeed{135, y+50}
+#endif
        {}

        void start();
+#ifdef GLUMP_CONTROLLER
        void redraw(const Controller &controller);
+#endif
+
+#ifdef VESC_CONTROLLER
+        void redraw(const VescController &controller);
+#endif

    private:
        void drawWarning();

+#ifdef GLUMP_CONTROLLER
        class MotorStatus
        {
        public:
@ -69,9 +82,16 @@ private:
            Label m_labelSpeed;
            Label m_labelHallSensors;
        };
+#endif

        const int m_y;

+#ifdef VESC_CONTROLLER
+        Label m_labelPwm;
+        Label m_labelSpeed;
+#endif
+
+#ifdef GLUMP_CONTROLLER
        bool m_lastFeedbackValid{};

        Label m_labelLeftPwm;
@ -82,6 +102,7 @@ private:

        MotorStatus m_leftMotor;
        MotorStatus m_rightMotor;
+#endif
    };

    Label m_labelRawGas{45, 0}; // 40, 15
@ -92,18 +113,27 @@ private:
    Label m_labelBrems{90, 15}; // 60, 15
    ProgressBar m_progressBarBrems{150, 15, 90, 15, 0, 1000};

+#ifdef GLUMP_CONTROLLER
    BoardStatus m_frontStatus{42};
    BoardStatus m_backStatus{142};
+#endif
+
+#ifdef VESC_CONTROLLER
+    BoardStatus m_one{42};
+    BoardStatus m_two{142};
+#endif
+
+    static const constexpr int bottomLines[4] { 251, 266, 281, 296 };

    Label m_labelWifiStatus{35, bottomLines[0]}; // 120, 15
    Label m_labelLimit0{205, bottomLines[0]}; // 35, 15
    Label m_labelIpAddress{25, bottomLines[1]}; // 130, 15
+#ifdef GLUMP_CONTROLLER
    Label m_labelLimit1{205, bottomLines[1]}; // 35, 15
+#endif
    Label m_labelPerformance{85, bottomLines[2]}; // 40, 15
    Label m_labelMode{165, bottomLines[2]}; // 75, 15
    Label m_labelName{40, bottomLines[3]}; // 40, 15
-
-    static const constexpr int bottomLines[4] { 251, 266, 281, 296 };
 };

 void StatusDisplay::initScreen()
@ -121,8 +151,15 @@ void StatusDisplay::initScreen()
    m_labelBrems.start();
    m_progressBarBrems.start();

+#ifdef GLUMP_CONTROLLER
    m_frontStatus.start();
    m_backStatus.start();
+#endif
+
+#ifdef VESC_CONTROLLER
+    m_one.start();
+    m_two.start();
+#endif

    tft.setTextFont(2);
    tft.drawString("WiFi:", 0, bottomLines[0]);
@ -131,8 +168,10 @@ void StatusDisplay::initScreen()
    m_labelLimit0.start();
    tft.drawString("IP:", 0, bottomLines[1]);
    m_labelIpAddress.start();
+#ifdef GLUMP_CONTROLLER
    tft.drawString("Limit1:", 160, bottomLines[1]);
    m_labelLimit1.start();
+#endif
    tft.drawString("Performance:", 0, bottomLines[2]);
    m_labelPerformance.start();
    tft.drawString("Mode:", 125, bottomLines[2]);
@ -153,14 +192,28 @@ void StatusDisplay::redraw()
    m_labelBrems.redraw(String{brems});
    m_progressBarBrems.redraw(brems);

+#ifdef GLUMP_CONTROLLER
    m_frontStatus.redraw(::front);
    m_backStatus.redraw(::back);
+#endif
+
+#ifdef VESC_CONTROLLER
+    m_one.redraw(::one);
+    m_two.redraw(::two);
+#endif

    tft.setTextFont(2);
    m_labelWifiStatus.redraw(toString(WiFi.status()));
+#ifdef GLUMP_CONTROLLER
    m_labelLimit0.redraw(String{front.command.left.iMotMax} + "A");
+#endif
+#ifdef VESC_CONTROLLER
+    m_labelLimit0.redraw(String{settings.limits.iMotMax} + "A");
+#endif
    m_labelIpAddress.redraw(WiFi.localIP().toString());
+#ifdef GLUMP_CONTROLLER
    m_labelLimit1.redraw(String{front.command.left.iDcMax} + "A");
+#endif
    m_labelPerformance.redraw(String{performance.last});
    m_labelMode.redraw(currentMode->displayName());
    m_labelName.redraw(&deviceName[0]);
@ -181,12 +234,15 @@ void StatusDisplay::rotate(int offset)
 void StatusDisplay::BoardStatus::start()
 {
    tft.setTextFont(4);
+#ifdef GLUMP_CONTROLLER
    tft.drawString("pwm:", 0, m_y);
    m_labelLeftPwm.start();
    m_labelRightPwm.start();
    drawWarning();
+#endif
 }

+#ifdef GLUMP_CONTROLLER
 void StatusDisplay::BoardStatus::redraw(const Controller &controller)
 {
    tft.setTextFont(4);
@ -227,6 +283,24 @@ void StatusDisplay::BoardStatus::redraw(const Controller &controller)
        m_rightMotor.redraw(controller.feedback.right);
    }
 }
+#endif
+
+#ifdef VESC_CONTROLLER
+void StatusDisplay::BoardStatus::redraw(const VescController &controller) {
+  tft.setTextFont(4);
+
+  m_labelPwm.redraw(String{controller.pwm});
+
+  tft.fillRect(0, m_y+25, tft.width(), 75, TFT_BLACK);
+
+  tft.setTextColor(TFT_WHITE);
+
+  m_labelSpeed.redraw(String{convertToKmh(controller.values.rpm)});
+
+  tft.setTextColor(TFT_WHITE, TFT_BLACK);
+}
+
+#endif

 void StatusDisplay::BoardStatus::drawWarning()
 {
@ -239,6 +313,7 @@ void StatusDisplay::BoardStatus::drawWarning()
    tft.setSwapBytes(settings.boardcomputerHardware.swapScreenBytes);
 }

+#ifdef GLUMP_CONTROLLER
 void StatusDisplay::BoardStatus::MotorStatus::start()
 {
    m_labelError.start();
@ -262,4 +337,5 @@ void StatusDisplay::BoardStatus::MotorStatus::redraw(const MotorFeedback &motor)

    tft.setTextColor(TFT_WHITE, TFT_BLACK);
 }
+#endif
 }
--- a/src/feedbackparser.h
+++ b/src/feedbackparser.h
@ -7,6 +7,7 @@

 #include "bobbycar-protocol/protocol.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class FeedbackParser
 {
@ -84,3 +85,4 @@ private:
    Feedback &m_feedback, m_newFeedback;
 };
 }
+#endif
--- a/src/globals.h
+++ b/src/globals.h
@ -29,8 +29,15 @@ char deviceName[32];
 Settings settings;
 SettingsSaver settingsSaver;

+#ifdef GLUMP_CONTROLLER
 Controller front{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight};
 Controller back{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight};
+#endif
+
+#ifdef VESC_CONTROLLER
+VescController one{Serial1, settings.controllerHardware.enableOne, settings.controllerHardware.invertOne};
+VescController two{Serial2, settings.controllerHardware.enableTwo, settings.controllerHardware.invertTwo};
+#endif

 struct {
    unsigned long lastTime = millis();
--- a/src/main.cpp
+++ b/src/main.cpp
@ -72,7 +72,9 @@ void setup()
    if (settingsSaver.init())
        loadSettings();

+#ifdef GLUMP_CONTROLLER
    updateSwapFrontBack();
+#endif

    {
        uint8_t macAddress[6];
@ -107,16 +109,26 @@ void setup()
    } else if (settings.bluetoothMode == BluetoothMode::Slave)
        BluetoothBeginAction{}.triggered();

+#ifdef GLUMP_CONTROLLER
    front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
    back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+#endif
+
+#ifdef VESC_CONTROLLER
+    one.serial.get().begin(57600, SERIAL_8N1, PINS_RX1, PINS_TX1);
+    two.serial.get().begin(57600, SERIAL_8N1, PINS_RX2, PINS_TX2);
+    Serial.println("vesc begin");
+#endif

    raw_gas = 0;
    raw_brems = 0;
    gas = 0;
    brems = 0;

+#ifdef GLUMP_CONTROLLER
    for (Controller &controller : controllers())
        controller.command.buzzer = {};
+#endif

    currentMode = &modes::defaultMode;

@ -194,8 +206,15 @@ void loop()
        performance.lastTime = now;
    }

+#ifdef GLUMP_CONTROLLER
    for (Controller &controller : controllers())
        controller.parser.update();
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers())
+        controller.update();
+#endif

    handleSerial();

--- a/src/modes/defaultmode.h
+++ b/src/modes/defaultmode.h
@ -75,6 +75,7 @@ void DefaultMode::update()
    lastPwm = pwm;
    lastTime = now;

+#ifdef GLUMP_CONTROLLER
    for (Controller &controller : controllers())
        for (MotorState &motor : motorsInController(controller))
        {
@ -82,8 +83,18 @@ void DefaultMode::update()
            motor.ctrlMod = settings.defaultMode.ctrlMod;
            motor.pwm = pwm / 100. * (&controller == &front ? settings.defaultMode.frontPercentage : settings.defaultMode.backPercentage);
        }
+#endif

+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+        controller.pwm = pwm;
+      Serial.println(String{"new pwm "} + pwm);
+    }
+#endif
+
+#ifdef GLUMP_CONTROLLER
    fixCommonParams();
+#endif

    sendCommands();
 }
--- a/src/modes/ignoreinputmode.h
+++ b/src/modes/ignoreinputmode.h
@ -5,15 +5,26 @@
 #include "utils.h"

 #include "bobbycar-protocol/protocol.h"
+#include "../controller.h"
+#include "../utils.h"

 namespace {
 class IgnoreInputMode : public ModeInterface
 {
 public:
+#ifdef GLUMP_CONTROLLER
    IgnoreInputMode(int16_t pwm, ControlType ctrlTyp, ControlMode ctrlMod) :
        m_pwm{pwm}, m_ctrlTyp{ctrlTyp}, m_ctrlMod{ctrlMod}
    {
    }
+#endif
+
+#ifdef VESC_CONTROLLER
+  IgnoreInputMode(int16_t pwm) :
+      m_pwm{pwm}
+  {
+  }
+#endif

    void update() override;

@ -21,12 +32,15 @@ public:

 private:
    const int16_t m_pwm;
+#ifdef GLUMP_CONTROLLER
    const ControlType m_ctrlTyp;
    const ControlMode m_ctrlMod;
+#endif
 };

 void IgnoreInputMode::update()
 {
+#ifdef GLUMP_CONTROLLER
    for (MotorState &motor : motors())
    {
        motor.ctrlTyp = m_ctrlTyp;
@ -35,6 +49,13 @@ void IgnoreInputMode::update()
    }

    fixCommonParams();
+#endif
+
+#ifdef VESC_CONTROLLER
+  for (VescController &controller : controllers()) {
+    controller.pwm = m_pwm;
+  }
+#endif

    sendCommands();
 }
--- a/src/modes/larsmmode.h
+++ b/src/modes/larsmmode.h
@ -6,6 +6,7 @@

 #include "bobbycar-protocol/protocol.h"

+#ifdef GLUMP_CONTROLLER
 namespace {
 class LarsmMode : public ModeInterface
 {
@ -108,3 +109,4 @@ void LarsmMode::update()
    sendCommands();
 }
 }
+#endif
--- a/src/modes/tempomatmode.h
+++ b/src/modes/tempomatmode.h
@ -42,7 +42,7 @@ void TempomatMode::update()
    }

    pwm += (gas/1000.) - (brems/1000.);
-
+#ifdef GLUMP_CONTROLLER
    for (MotorState &motor : motors())
    {
        motor.ctrlTyp = settings.tempomatMode.ctrlTyp;
@ -51,6 +51,13 @@ void TempomatMode::update()
    }

    fixCommonParams();
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+      controller.pwm = pwm;
+    }
+#endif

    sendCommands();
 }
--- a/src/presets.h
+++ b/src/presets.h
@ -20,6 +20,7 @@ constexpr Settings::Limits kidsLimits {
 };

 constexpr Settings::ControllerHardware defaultControllerHardware {
+  #ifdef GLUMP_CONTROLLER
    .enableFrontLeft = true,
    .enableFrontRight = true,
    .enableBackLeft = true,
@ -30,12 +31,23 @@ constexpr Settings::ControllerHardware defaultControllerHardware {
    .invertBackLeft = false,
    .invertBackRight = true,

+    .swapFrontBack = false,
+  #endif
+
+#ifdef VESC_CONTROLLER
+    .enableOne = true,
+    .enableTwo = true,
+
+    .invertOne = true,
+    .invertTwo = true,
+#endif
+
    .wheelDiameter = 165,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
 };

 constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
+  #ifdef GLUMP_CONTROLLER
    .enableFrontLeft = false,
    .enableFrontRight = false,
    .enableBackLeft = false,
@ -46,11 +58,22 @@ constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
    .invertBackLeft = false,
    .invertBackRight = true,

+    .swapFrontBack = false,
+  #endif
+
+#ifdef VESC_CONTROLLER
+    .enableOne = false,
+    .enableTwo = false,
+
+    .invertOne = false,
+    .invertTwo = false,
+#endif
+
    .wheelDiameter = 165,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
 };

+#ifdef GLUMP_CONTROLLER
 constexpr Settings::ControllerHardware spinnerControllerHardware {
    .enableFrontLeft = true,
    .enableFrontRight = true,
@ -62,10 +85,12 @@ constexpr Settings::ControllerHardware spinnerControllerHardware {
    .invertBackLeft = false,
    .invertBackRight = false,

+    .swapFrontBack = false,
+
    .wheelDiameter = 165,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
 };
+#endif

 constexpr Settings::BoardcomputerHardware defaultBoardcomputerHardware {
    .sampleCount = 100,
@ -85,8 +110,10 @@ constexpr Settings::BoardcomputerHardware defaultBoardcomputerHardware {
 };

 constexpr Settings::DefaultMode defaultDefaultMode {
+#ifdef GLUMP_CONTROLLER
    .ctrlTyp = ControlType::FieldOrientedControl,
    .ctrlMod = ControlMode::Torque,
+#endif
    .enableSmoothing = true,
    .smoothing = 20,
    .frontPercentage = 100,
@ -98,6 +125,7 @@ constexpr Settings::DefaultMode defaultDefaultMode {
    .brems2_wert = 750
 };

+#ifdef GLUMP_CONTROLLER
 constexpr Settings::TempomatMode defaultTempomatMode {
    .ctrlTyp = ControlType::FieldOrientedControl,
    .ctrlMod = ControlMode::Speed
@ -107,6 +135,7 @@ constexpr Settings::LarsmMode defaultLarsmMode {
    .mode = LarsmModeMode::Mode4,
    .iterations = 100
 };
+#endif

 constexpr Settings defaultSettings{
 #ifdef FEATURE_BMS
@ -122,7 +151,10 @@ constexpr Settings defaultSettings{
    .controllerHardware = defaultControllerHardware,
    .boardcomputerHardware = defaultBoardcomputerHardware,
    .defaultMode = defaultDefaultMode,
+
+#ifdef GLUMP_CONTROLLER
    .tempomatMode = defaultTempomatMode,
    .larsmMode = defaultLarsmMode
+#endif
 };
 }
--- a/src/screens.h
+++ b/src/screens.h
@ -61,26 +61,35 @@ union X {
 #ifdef FEATURE_BMS
    BmsMenu bmsMenu;
 #endif
+#ifdef GLUMP_CONTROLLER
    BuzzerMenu buzzerMenu;
    FrontCommandDebugMenu frontCommandDebugMenu;
    BackCommandDebugMenu backCommandDebugMenu;
+#endif
    ControllerHardwareSettingsMenu controllerHardwareSettingsMenu;
    DebugMenu debugMenu;
    DefaultModeSettingsMenu defaultModeSettingsMenu;
    DemosMenu demosMenu;
    DynamicDebugMenu dynamicDebugMenu;
    EnableMenu enableMenu;
+#ifdef GLUMP_CONTROLLER
    FrontFeedbackDebugMenu frontFeedbackDebugMenu;
    BackFeedbackDebugMenu backFeedbackDebugMenu;
+#endif
 #ifdef FEATURE_GAMETRAK
    GametrakModeSettingsMenu gametrakModeSettingsMenu;
 #endif
    GenericWifiSettingsMenu genericWifiSettingsMenu;
    GraphsMenu graphsMenu;
    InvertMenu invertMenu;
+
+#ifdef GLUMP_CONTROLLER
    LarsmModeSettingsMenu larsmModeSettingsMenu;
+#endif
+
    LimitsSettingsMenu limitsSettingsMenu;
    MainMenu mainMenu;
+#ifdef GLUMP_CONTROLLER
    TempomatModeSettingsMenu tempomatModeSettingsMenu;
    ModesSettingsMenu modesSettingsMenu;
 #ifdef FEATURE_MOSFETS
@ -94,9 +103,14 @@ union X {
    FrontRightMotorFeedbackDebugMenu frontRightMotorFeedbackDebugMenu;
    BackLeftMotorFeedbackDebugMenu backLeftMotorFeedbackDebugMenu;
    BackRightMotorFeedbackDebugMenu backRightMotorFeedbackDebugMenu;
+#endif
    BoardcomputerHardwareSettingsMenu boardcomputerHardwareSettingsMenu;
    PresetsMenu presetsMenu;
+
+#ifdef GLUMP_CONTROLLER
    SelectModeMenu selectModeMenu;
+#endif
+
    SettingsMenu settingsMenu;
    StationWifiSettingsMenu stationWifiSettingsMenu;
    WifiScanMenu wifiScanMenu;
@ -114,7 +128,9 @@ union X {
    Lockscreen lockScreen;
    MetersDisplay metersDisplay;
    PingPongDisplay pingPongDisplay;
+#ifdef GLUMP_CONTROLLER
    PoweroffDisplay poweroffDisplay;
+#endif
    SpiroDisplay spiroDisplay;
    StarfieldDisplay starFieldDisplay;
    StatusDisplay statusDisplay;
@ -124,6 +140,7 @@ union X {

    BluetoothModeChangeDisplay bluetoothModeChangeDisplay;

+#ifdef GLUMP_CONTROLLER
    FrontFreqChangeScreen changeFrontFreq;
    FrontPatternChangeScreen changeFrontPattern;
    BackFreqChangeScreen changeBackFreq;
@ -132,6 +149,7 @@ union X {
    ReverseBeepFreq1ChangeScreen changeReverseBeepFreq1;
    ReverseBeepDuration0ChangeScreen changeReverseBeepDuration0;
    ReverseBeepDuration1ChangeScreen changeReverseBeepDuration1;
+#endif

    IMotMaxChangeScreen changeIMotMax;
    IDcMaxChangeScreen changeIDcMax;
@ -144,22 +162,28 @@ union X {
    WheelDiameterInchChangeScreen wheelDiameterInchChangeScreen;
    NumMagnetPolesChangeScreen numMagnetPolesChangeScreen;

+#ifdef GLUMP_CONTROLLER
    DefaultModeCtrlTypChangeDisplay changeDefaultModeCtrlTyp;
    DefaultModeCtrlModChangeDisplay changeDefaultModeCtrlMod;
+#endif
    DefaultModeSmoothingChangeDisplay changeDefaultModeSmoothing;
+#ifdef GLUMP_CONTROLLER
    DefaultModeFrontPercentageChangeDisplay changeDefaultModeFrontPercentage;
    DefaultModeBackPercentageChangeDisplay changeDefaultModeBackPercentage;
+#endif
    DefaultModeAddSchwelleChangeDisplay changeDefaultModeAddSchwelle;
    DefaultModeGas1WertChangeDisplay changeDefaultModeGas1Wert;
    DefaultModeGas2WertChangeDisplay changeDefaultModeGas2Wert;
    DefaultModeBrems1WertChangeDisplay changeDefaultModeBrems1Wert;
    DefaultModeBrems2WertChangeDisplay changeDefaultModeBrems2Wert;

+#ifdef GLUMP_CONTROLLER
    TempomatModeCtrlTypChangeScreen changeManualModeCtrlTyp;
    TempomatModeCtrlModChangeScreen changeManualModeCtrlMod;

    LarsmModeModeChangeDisplay larsmModeModeChangeDisplay;
    LarsmModeIterationsChangeDisplay larsmModeIterationsChangeDisplay;
+#endif

    SampleCountChangeScreen sampleCountChangeScreen;
    GasMinChangeScreen changeGasMin;
@ -184,15 +208,19 @@ union X {
    AvgSpeedKmhGraphDisplay avgSpeedKmhGraphDisplay;
    SumCurrentGraphDisplay sumCurrentGraphDisplay;
    SumAbsoluteCurrentGraphDisplay sumAbsoluteCurrentGraphDisplay;
+#ifdef GLUMP_CONTROLLER
    FrontVoltageGraphDisplay frontVoltageGraphDisplay;
    BackVoltageGraphDisplay backVoltageGraphDisplay;
+#endif
 #ifdef FEATURE_BMS
    BmsVoltageGraphDisplay bmsVoltageGraphDisplay;
    BmsCurrentGraphDisplay bmsCurrentGraphDisplay;
    BmsPowerGraphDisplay bmsPowerGraphDisplay;
    SumCurrentsComparisonGraphDisplay sumCurrentsComparisonGraphDisplay;
 #endif
+#ifdef GLUMP_CONTROLLER
    MotorCurrentsGraphDisplay motorCurrentsGraphDisplay;
+#endif
 } displays;

 template<typename T> T &getRefByType() = delete;
@ -202,27 +230,37 @@ template<> decltype(displays.bluetoothSettingsMenu)                            &
 #ifdef FEATURE_BMS
 template<> decltype(displays.bmsMenu)                                          &getRefByType<decltype(displays.bmsMenu)>()                                          { return displays.bmsMenu; }
 #endif
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.buzzerMenu)                                       &getRefByType<decltype(displays.buzzerMenu)>()                                       { return displays.buzzerMenu; }
+#endif
 template<> decltype(displays.boardcomputerHardwareSettingsMenu)                &getRefByType<decltype(displays.boardcomputerHardwareSettingsMenu)>()                { return displays.boardcomputerHardwareSettingsMenu; }
 template<> decltype(displays.controllerHardwareSettingsMenu)                   &getRefByType<decltype(displays.controllerHardwareSettingsMenu)>()                   { return displays.controllerHardwareSettingsMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontCommandDebugMenu)                            &getRefByType<decltype(displays.frontCommandDebugMenu)>()                            { return displays.frontCommandDebugMenu; }
 template<> decltype(displays.backCommandDebugMenu)                             &getRefByType<decltype(displays.backCommandDebugMenu)>()                             { return displays.backCommandDebugMenu; }
+#endif
 template<> decltype(displays.debugMenu)                                        &getRefByType<decltype(displays.debugMenu)>()                                        { return displays.debugMenu; }
 template<> decltype(displays.defaultModeSettingsMenu)                          &getRefByType<decltype(displays.defaultModeSettingsMenu)>()                          { return displays.defaultModeSettingsMenu; }
 template<> decltype(displays.demosMenu)                                        &getRefByType<decltype(displays.demosMenu)>()                                        { return displays.demosMenu; }
 template<> decltype(displays.dynamicDebugMenu)                                 &getRefByType<decltype(displays.dynamicDebugMenu)>()                                 { return displays.dynamicDebugMenu; }
 template<> decltype(displays.enableMenu)                                       &getRefByType<decltype(displays.enableMenu)>()                                       { return displays.enableMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontFeedbackDebugMenu)                           &getRefByType<decltype(displays.frontFeedbackDebugMenu)>()                           { return displays.frontFeedbackDebugMenu; }
 template<> decltype(displays.backFeedbackDebugMenu)                            &getRefByType<decltype(displays.backFeedbackDebugMenu)>()                            { return displays.backFeedbackDebugMenu; }
+#endif
+
 #ifdef FEATURE_GAMETRAK
 template<> decltype(displays.gametrakModeSettingsMenu)                         &getRefByType<decltype(displays.gametrakModeSettingsMenu)>()                         { return displays.gametrakModeSettingsMenu; }
 #endif
 template<> decltype(displays.genericWifiSettingsMenu)                          &getRefByType<decltype(displays.genericWifiSettingsMenu)>()                          { return displays.genericWifiSettingsMenu; }
 template<> decltype(displays.graphsMenu)                                       &getRefByType<decltype(displays.graphsMenu)>()                                       { return displays.graphsMenu; }
 template<> decltype(displays.invertMenu)                                       &getRefByType<decltype(displays.invertMenu)>()                                       { return displays.invertMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.larsmModeSettingsMenu)                            &getRefByType<decltype(displays.larsmModeSettingsMenu)>()                            { return displays.larsmModeSettingsMenu; }
+#endif
 template<> decltype(displays.limitsSettingsMenu)                               &getRefByType<decltype(displays.limitsSettingsMenu)>()                               { return displays.limitsSettingsMenu; }
 template<> decltype(displays.mainMenu)                                         &getRefByType<decltype(displays.mainMenu)>()                                         { return displays.mainMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.tempomatModeSettingsMenu)                         &getRefByType<decltype(displays.tempomatModeSettingsMenu)>()                         { return displays.tempomatModeSettingsMenu; }
 template<> decltype(displays.modesSettingsMenu)                                &getRefByType<decltype(displays.modesSettingsMenu)>()                                { return displays.modesSettingsMenu; }
 #ifdef FEATURE_MOSFETS
@ -236,8 +274,11 @@ template<> decltype(displays.frontLeftMotorFeedbackDebugMenu)                  &
 template<> decltype(displays.frontRightMotorFeedbackDebugMenu)                 &getRefByType<decltype(displays.frontRightMotorFeedbackDebugMenu)>()                 { return displays.frontRightMotorFeedbackDebugMenu; }
 template<> decltype(displays.backLeftMotorFeedbackDebugMenu)                   &getRefByType<decltype(displays.backLeftMotorFeedbackDebugMenu)>()                   { return displays.backLeftMotorFeedbackDebugMenu; }
 template<> decltype(displays.backRightMotorFeedbackDebugMenu)                  &getRefByType<decltype(displays.backRightMotorFeedbackDebugMenu)>()                  { return displays.backRightMotorFeedbackDebugMenu; }
+#endif
 template<> decltype(displays.presetsMenu)                                      &getRefByType<decltype(displays.presetsMenu)>()                                      { return displays.presetsMenu; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.selectModeMenu)                                   &getRefByType<decltype(displays.selectModeMenu)>()                                   { return displays.selectModeMenu; }
+#endif
 template<> decltype(displays.settingsMenu)                                     &getRefByType<decltype(displays.settingsMenu)>()                                     { return displays.settingsMenu; }
 template<> decltype(displays.stationWifiSettingsMenu)                          &getRefByType<decltype(displays.stationWifiSettingsMenu)>()                          { return displays.stationWifiSettingsMenu; }
 template<> decltype(displays.wifiScanMenu)                                     &getRefByType<decltype(displays.wifiScanMenu)>()                                     { return displays.wifiScanMenu; }
@ -255,7 +296,9 @@ template<> decltype(displays.gametrakCalibrateDisplay)                         &
 template<> decltype(displays.lockScreen)                                       &getRefByType<decltype(displays.lockScreen)>()                                       { return displays.lockScreen; }
 template<> decltype(displays.metersDisplay)                                    &getRefByType<decltype(displays.metersDisplay)>()                                    { return displays.metersDisplay; }
 template<> decltype(displays.pingPongDisplay)                                  &getRefByType<decltype(displays.pingPongDisplay)>()                                  { return displays.pingPongDisplay; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.poweroffDisplay)                                  &getRefByType<decltype(displays.poweroffDisplay)>()                                  { return displays.poweroffDisplay; }
+#endif
 template<> decltype(displays.spiroDisplay)                                     &getRefByType<decltype(displays.spiroDisplay)>()                                     { return displays.spiroDisplay; }
 template<> decltype(displays.starFieldDisplay)                                 &getRefByType<decltype(displays.starFieldDisplay)>()                                 { return displays.starFieldDisplay; }
 template<> decltype(displays.statusDisplay)                                    &getRefByType<decltype(displays.statusDisplay)>()                                    { return displays.statusDisplay; }
@ -265,6 +308,7 @@ template<> decltype(displays.updateDisplay)                                    &

 template<> decltype(displays.bluetoothModeChangeDisplay)                       &getRefByType<decltype(displays.bluetoothModeChangeDisplay)>()                       { return displays.bluetoothModeChangeDisplay; }

+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.changeFrontFreq)                                  &getRefByType<decltype(displays.changeFrontFreq)>()                                  { return displays.changeFrontFreq; }
 template<> decltype(displays.changeFrontPattern)                               &getRefByType<decltype(displays.changeFrontPattern)>()                               { return displays.changeFrontPattern; }
 template<> decltype(displays.changeBackFreq)                                   &getRefByType<decltype(displays.changeBackFreq)>()                                   { return displays.changeBackFreq; }
@ -273,6 +317,7 @@ template<> decltype(displays.changeReverseBeepFreq0)                           &
 template<> decltype(displays.changeReverseBeepFreq1)                           &getRefByType<decltype(displays.changeReverseBeepFreq1)>()                           { return displays.changeReverseBeepFreq1; }
 template<> decltype(displays.changeReverseBeepDuration0)                       &getRefByType<decltype(displays.changeReverseBeepDuration0)>()                       { return displays.changeReverseBeepDuration0; }
 template<> decltype(displays.changeReverseBeepDuration1)                       &getRefByType<decltype(displays.changeReverseBeepDuration1)>()                       { return displays.changeReverseBeepDuration1; }
+#endif

 template<> decltype(displays.changeIMotMax)                                    &getRefByType<decltype(displays.changeIMotMax)>()                                    { return displays.changeIMotMax; }
 template<> decltype(displays.changeIDcMax)                                     &getRefByType<decltype(displays.changeIDcMax)>()                                     { return displays.changeIDcMax; }
@ -285,6 +330,7 @@ template<> decltype(displays.wheelDiameterMmChangeScreen)                      &
 template<> decltype(displays.wheelDiameterInchChangeScreen)                    &getRefByType<decltype(displays.wheelDiameterInchChangeScreen)>()                    { return displays.wheelDiameterInchChangeScreen; }
 template<> decltype(displays.numMagnetPolesChangeScreen)                       &getRefByType<decltype(displays.numMagnetPolesChangeScreen)>()                       { return displays.numMagnetPolesChangeScreen; }

+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.changeDefaultModeCtrlTyp)                         &getRefByType<decltype(displays.changeDefaultModeCtrlTyp)>()                         { return displays.changeDefaultModeCtrlTyp; }
 template<> decltype(displays.changeDefaultModeCtrlMod)                         &getRefByType<decltype(displays.changeDefaultModeCtrlMod)>()                         { return displays.changeDefaultModeCtrlMod; }
 template<> decltype(displays.changeDefaultModeSmoothing)                       &getRefByType<decltype(displays.changeDefaultModeSmoothing)>()                       { return displays.changeDefaultModeSmoothing; }
@ -301,7 +347,7 @@ template<> decltype(displays.changeManualModeCtrlMod)                          &

 template<> decltype(displays.larsmModeModeChangeDisplay)                       &getRefByType<decltype(displays.larsmModeModeChangeDisplay)>()                       { return displays.larsmModeModeChangeDisplay; }
 template<> decltype(displays.larsmModeIterationsChangeDisplay)                 &getRefByType<decltype(displays.larsmModeIterationsChangeDisplay)>()                 { return displays.larsmModeIterationsChangeDisplay; }
-
+#endif
 template<> decltype(displays.sampleCountChangeScreen)                          &getRefByType<decltype(displays.sampleCountChangeScreen)>()                          { return displays.sampleCountChangeScreen; }
 template<> decltype(displays.changeGasMin)                                     &getRefByType<decltype(displays.changeGasMin)>()                                     { return displays.changeGasMin; }
 template<> decltype(displays.changeGasMax)                                     &getRefByType<decltype(displays.changeGasMax)>()                                     { return displays.changeGasMax; }
@ -325,15 +371,19 @@ template<> decltype(displays.avgSpeedGraphDisplay)                             &
 template<> decltype(displays.avgSpeedKmhGraphDisplay)                          &getRefByType<decltype(displays.avgSpeedKmhGraphDisplay)>()                          { return displays.avgSpeedKmhGraphDisplay; }
 template<> decltype(displays.sumCurrentGraphDisplay)                           &getRefByType<decltype(displays.sumCurrentGraphDisplay)>()                           { return displays.sumCurrentGraphDisplay; }
 template<> decltype(displays.sumAbsoluteCurrentGraphDisplay)                   &getRefByType<decltype(displays.sumAbsoluteCurrentGraphDisplay)>()                   { return displays.sumAbsoluteCurrentGraphDisplay; }
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.frontVoltageGraphDisplay)                         &getRefByType<decltype(displays.frontVoltageGraphDisplay)>()                         { return displays.frontVoltageGraphDisplay; }
 template<> decltype(displays.backVoltageGraphDisplay)                          &getRefByType<decltype(displays.backVoltageGraphDisplay)>()                          { return displays.backVoltageGraphDisplay; }
+#endif
 #ifdef FEATURE_BMS
 template<> decltype(displays.bmsVoltageGraphDisplay)                           &getRefByType<decltype(displays.bmsVoltageGraphDisplay)>()                           { return displays.bmsVoltageGraphDisplay; }
 template<> decltype(displays.bmsCurrentGraphDisplay)                           &getRefByType<decltype(displays.bmsCurrentGraphDisplay)>()                           { return displays.bmsCurrentGraphDisplay; }
 template<> decltype(displays.bmsPowerGraphDisplay)                             &getRefByType<decltype(displays.bmsPowerGraphDisplay)>()                             { return displays.bmsPowerGraphDisplay; }
 template<> decltype(displays.sumCurrentsComparisonGraphDisplay)                &getRefByType<decltype(displays.sumCurrentsComparisonGraphDisplay)>()                { return displays.sumCurrentsComparisonGraphDisplay; }
 #endif
+#ifdef GLUMP_CONTROLLER
 template<> decltype(displays.motorCurrentsGraphDisplay)                        &getRefByType<decltype(displays.motorCurrentsGraphDisplay)>()                        { return displays.motorCurrentsGraphDisplay; }
+#endif


 void deconstructScreen()
--- a/src/serialhandler.h
+++ b/src/serialhandler.h
@ -39,6 +39,7 @@ void handleSerial()
        case 'I':
            tft.init();
            break;
+#ifdef GLUMP_CONTROLLER
        case 'p':
        case 'P':
        {
@ -55,6 +56,7 @@ void handleSerial()
                controller.command.led = !firstLed;
            break;
        }
+#endif
        case 'r':
        case 'R':
            loadSettings();
@ -63,6 +65,7 @@ void handleSerial()
        case 'S':
            saveSettings();
            break;
+#ifdef GLUMP_CONTROLLER
        case '0':
        case '1':
        case '2':
@ -76,6 +79,7 @@ void handleSerial()
            for (Controller &controller : controllers())
                controller.command.buzzer.freq = c-'0';
            break;
+#endif
        case 'A':
            InputDispatcher::rotate(-1);
            break;
--- a/src/settings.h
+++ b/src/settings.h
@ -7,7 +7,9 @@
 #include "bluetoothmode.h"

 namespace {
+#ifdef GLUMP_CONTROLLER
 enum class LarsmModeMode : uint8_t { Mode1, Mode2, Mode3, Mode4 };
+#endif

 struct Settings
 {
@ -32,12 +34,19 @@ struct Settings
    } limits;

    struct ControllerHardware {
+#ifdef GLUMP_CONTROLLER
        bool enableFrontLeft, enableFrontRight, enableBackLeft, enableBackRight;
        bool invertFrontLeft, invertFrontRight, invertBackLeft, invertBackRight;
+        bool swapFrontBack;
+#endif
+
+#ifdef VESC_CONTROLLER
+        bool enableOne, enableTwo;
+        bool invertOne, invertTwo;
+#endif

        int16_t wheelDiameter; // in mm
        int16_t numMagnetPoles; // virtual RPM per one real RPM
-        bool swapFrontBack;
    } controllerHardware;

    struct BoardcomputerHardware {
@ -50,8 +59,10 @@ struct Settings
    } boardcomputerHardware;

    struct DefaultMode {
+#ifdef GLUMP_CONTROLLER
        ControlType ctrlTyp;
        ControlMode ctrlMod;
+#endif
        bool enableSmoothing;
        int16_t smoothing;
        int16_t frontPercentage;
@ -64,15 +75,18 @@ struct Settings
    } defaultMode;

    struct TempomatMode {
+#ifdef GLUMP_CONTROLLER
        ControlType ctrlTyp;
        ControlMode ctrlMod;
+#endif
    } tempomatMode;

+#ifdef GLUMP_CONTROLLER
    struct LarsmMode {
        LarsmModeMode mode;
        uint8_t iterations;
    } larsmMode;
-
+#endif

    template<typename T>
    void executeForEverySetting(T &&callable);
@ -99,6 +113,7 @@ void Settings::executeForEverySetting(T &&callable)
    callable("fieldWeakMax", limits.fieldWeakMax);
    callable("phaseAdvMax", limits.phaseAdvMax);

+#ifdef GLUMP_CONTROLLER
    callable("enableFrontLeft", controllerHardware.enableFrontLeft);
    callable("enableFrontRigh", controllerHardware.enableFrontRight);
    callable("enableBackLeft", controllerHardware.enableBackLeft);
@ -110,6 +125,12 @@ void Settings::executeForEverySetting(T &&callable)
    callable("invertBackRight", controllerHardware.invertBackRight);

    callable("swapFrontBack", controllerHardware.swapFrontBack);
+#endif
+
+#ifdef VESC_CONTROLLER
+    callable("enableOne", controllerHardware.enableOne);
+    callable("enableTwo", controllerHardware.enableTwo);
+#endif

    callable("sampleCount", boardcomputerHardware.sampleCount);
    callable("gasMin", boardcomputerHardware.gasMin);
@ -126,6 +147,7 @@ void Settings::executeForEverySetting(T &&callable)
 #endif
    callable("swapScreenBytes", boardcomputerHardware.swapScreenBytes);

+#ifdef GLUMP_CONTROLLER
    callable("default.ctrlTyp", defaultMode.ctrlTyp);
    callable("default.ctrlMod", defaultMode.ctrlMod);
    callable("default.enableS", defaultMode.enableSmoothing);
@ -143,5 +165,6 @@ void Settings::executeForEverySetting(T &&callable)

    callable("larsm.mode", larsmMode.mode);
    callable("larsm.iters", larsmMode.iterations);
+#endif
 }
 }
--- a/src/settingsaccessors.h
+++ b/src/settingsaccessors.h
@ -33,6 +33,7 @@ struct NMotMaxRpmAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &g
 struct FieldWeakMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.limits.fieldWeakMax; } };
 struct PhaseAdvMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.limits.phaseAdvMax; } };

+#ifdef GLUMP_CONTROLLER
 struct FrontLeftEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableFrontLeft; } };
 struct FrontRightEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableFrontRight; } };
 struct BackLeftEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableBackLeft; } };
@ -42,6 +43,14 @@ struct FrontLeftInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &
 struct FrontRightInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertFrontRight; } };
 struct BackLeftInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertBackLeft; } };
 struct BackRightInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertBackRight; } };
+#endif
+#ifdef VESC_CONTROLLER
+struct OneEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableOne; } };
+struct TwoEnabledAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.enableTwo; } };
+
+struct OneInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertOne; } };
+struct TwoInvertedAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.invertTwo; } };
+#endif

 struct WheelDiameterMmAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.controllerHardware.wheelDiameter; } };
 struct WheelDiameterInchAccessor : public virtual AccessorInterface<float>
@ -50,10 +59,13 @@ struct WheelDiameterInchAccessor : public virtual AccessorInterface<float>
    void setValue(float value) override { settings.controllerHardware.wheelDiameter = convertFromInch(value); saveSettings(); }
 };
 struct NumMagnetPolesAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.controllerHardware.numMagnetPoles; } };
+
+#ifdef GLUMP_CONTROLLER
 struct SwapFrontBackAccessor : public RefAccessorSaveSettings<bool> {
    bool &getRef() const override { return settings.controllerHardware.swapFrontBack; }
    void setValue(bool value) override { RefAccessorSaveSettings<bool>::setValue(value); updateSwapFrontBack(); };
 };
+#endif

 struct SampleCountAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.sampleCount; } };
 struct GasMinAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.gasMin; } };
@ -70,8 +82,10 @@ struct GametrakDistMaxAccessor : public RefAccessorSaveSettings<int16_t> { int16
 #endif
 struct SwapScreenBytesAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.boardcomputerHardware.swapScreenBytes; } };

+#ifdef GLUMP_CONTROLLER
 struct DefaultModeCtrlTypAccessor : public RefAccessorSaveSettings<ControlType> { ControlType &getRef() const override { return settings.defaultMode.ctrlTyp; } };
 struct DefaultModeCtrlModAccessor : public RefAccessorSaveSettings<ControlMode> { ControlMode &getRef() const override { return settings.defaultMode.ctrlMod; } };
+#endif
 struct DefaultModeEnableSmoothingAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableSmoothing; } };
 struct DefaultModeSmoothingAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.smoothing; } };
 struct DefaultModeFrontPercentageAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.frontPercentage; } };
@ -82,9 +96,11 @@ struct DefaultModeGas2WertAccessor : public RefAccessorSaveSettings<int16_t> { i
 struct DefaultModeBrems1WertAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.brems1_wert; } };
 struct DefaultModeBrems2WertAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.brems2_wert; } };

+#ifdef GLUMP_CONTROLLER
 struct TempomatModeCtrlTypAccessor : public RefAccessorSaveSettings<ControlType> { ControlType &getRef() const override { return settings.tempomatMode.ctrlTyp; } };
 struct TempomatModeCtrlModAccessor : public RefAccessorSaveSettings<ControlMode> { ControlMode &getRef() const override { return settings.tempomatMode.ctrlMod; } };

 struct LarsmModeModeAccessor : public RefAccessorSaveSettings<LarsmModeMode> { LarsmModeMode &getRef() const override { return settings.larsmMode.mode; } };
 struct LarsmModeIterationsAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.larsmMode.iterations; } };
+#endif
 }
--- a/src/settingssaver.h
+++ b/src/settingssaver.h
@ -68,6 +68,7 @@ template<> struct nvsGetterHelper<bool> { static esp_err_t nvs_get(nvs_handle ha
            *out_value = tempValue;
        return err;
    }};
+#ifdef GLUMP_CONTROLLER
 template<> struct nvsGetterHelper<ControlType> { static esp_err_t nvs_get(nvs_handle handle, const char* key, ControlType* out_value)
    {
        uint8_t tempValue;
@ -92,6 +93,7 @@ template<> struct nvsGetterHelper<LarsmModeMode> { static esp_err_t nvs_get(nvs_
            *out_value = LarsmModeMode(tempValue);
        return err;
    }};
+#endif
 template<> struct nvsGetterHelper<BluetoothMode> { static esp_err_t nvs_get(nvs_handle handle, const char* key, BluetoothMode* out_value)
    {
        uint8_t tempValue;
@ -126,6 +128,7 @@ template<> struct nvsSetterHelper<uint16_t> { static constexpr auto nvs_set = &n
 template<> struct nvsSetterHelper<int32_t> { static constexpr auto nvs_set = &nvs_set_i32; };
 template<> struct nvsSetterHelper<uint32_t> { static constexpr auto nvs_set = &nvs_set_u32; };
 template<> struct nvsSetterHelper<bool> { static constexpr auto nvs_set = &nvs_set_u8; };
+#ifdef GLUMP_CONTROLLER
 template<> struct nvsSetterHelper<ControlType> { static esp_err_t nvs_set(nvs_handle handle, const char* key, ControlType value)
    {
        return nvs_set_u8(handle, key, uint8_t(value));
@ -138,6 +141,7 @@ template<> struct nvsSetterHelper<LarsmModeMode> { static esp_err_t nvs_set(nvs_
    {
        return nvs_set_u8(handle, key, uint8_t(value));
    }};
+#endif
 template<> struct nvsSetterHelper<BluetoothMode> { static esp_err_t nvs_set(nvs_handle handle, const char* key, BluetoothMode value)
    {
        return nvs_set_u8(handle, key, uint8_t(value));
--- a/src/statistics.h
+++ b/src/statistics.h
@ -9,7 +9,11 @@
 namespace {
 namespace statistics {
 using ContainerType = ring_buffer<float, 200>;
-ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent, frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent
+ContainerType gas, brems, avgSpeed, avgSpeedKmh, sumCurrent, sumAbsoluteCurrent
+#ifdef GLUMP_CONTROLLER
+  , frontVoltage, backVoltage, frontLeftCurrent, frontRightCurrent, backLeftCurrent, backRightCurrent
+#endif
+
 #ifdef FEATURE_BMS
 , bmsVoltage, bmsCurrent, bmsPower
 #endif
@ -24,6 +28,7 @@ void pushStats()
    statistics::avgSpeedKmh.push_back(avgSpeedKmh);
    statistics::sumCurrent.push_back(sumCurrent);
    statistics::sumAbsoluteCurrent.push_back(sumAbsoluteCurrent);
+#ifdef GLUMP_CONTROLLER
    if (front.feedbackValid)
    {
        statistics::frontVoltage.push_back(fixBatVoltage(front.feedback.batVoltage));
@ -36,6 +41,7 @@ void pushStats()
        statistics::backLeftCurrent.push_back(fixCurrent(back.feedback.left.current));
        statistics::backRightCurrent.push_back(fixCurrent(back.feedback.right.current));
    }
+#endif
 #ifdef FEATURE_BMS
    statistics::bmsVoltage.push_back(bms::voltage);
    statistics::bmsCurrent.push_back(bms::current);
@ -62,15 +68,19 @@ using AvgSpeedStatistics = BufferAccessorImpl<statistics::avgSpeed>;
 using AvgSpeedKmhStatistics = BufferAccessorImpl<statistics::avgSpeedKmh>;
 using SumCurrentStatistics = BufferAccessorImpl<statistics::sumCurrent>;
 using SumAbsoluteCurrentStatistics = BufferAccessorImpl<statistics::sumAbsoluteCurrent>;
+#ifdef GLUMP_CONTROLLER
 using FrontVoltageStatistics = BufferAccessorImpl<statistics::frontVoltage>;
 using BackVoltageStatistics = BufferAccessorImpl<statistics::backVoltage>;
+#endif
 #ifdef FEATURE_BMS
 using BmsVoltageStatistics = BufferAccessorImpl<statistics::bmsVoltage>;
 using BmsCurrentStatistics = BufferAccessorImpl<statistics::bmsCurrent>;
 using BmsPowerStatistics = BufferAccessorImpl<statistics::bmsPower>;
 #endif
+#ifdef GLUMP_CONTROLLER
 using FrontLeftCurrentStatistics = BufferAccessorImpl<statistics::frontLeftCurrent>;
 using FrontRightCurrentStatistics = BufferAccessorImpl<statistics::frontRightCurrent>;
 using BackLeftCurrentStatistics = BufferAccessorImpl<statistics::backLeftCurrent>;
 using BackRightCurrentStatistics = BufferAccessorImpl<statistics::backRightCurrent>;
+#endif
 }
--- a/src/utils.h
+++ b/src/utils.h
@ -8,6 +8,7 @@

 #include "display.h"
 #include "globals.h"
+#include "VescUartControl-VESC6/VescUart.h"

 namespace {
 bool currentlyReverseBeeping;
@ -63,10 +64,12 @@ float fixBoardTemp(int16_t value)
    return value/10.;
 }

+#ifdef GLUMP_CONTROLLER
 String hallString(const MotorFeedback &motor)
 {
    return String{} + (motor.hallA ? '1' : '0') + (motor.hallB ? '1' : '0') + (motor.hallC ? '1' : '0');
 }
+#endif

 template<typename T>
 String toString(T value)
@ -80,6 +83,7 @@ String toString<bool>(bool value)
    return value ? "true" : "false";
 }

+#ifdef GLUMP_CONTROLLER
 template<>
 String toString<ControlType>(ControlType value)
 {
@ -104,6 +108,7 @@ String toString<ControlMode>(ControlMode value)
    }
    return String("Unknown: ") + int(value);
 }
+#endif

 template<>
 String toString<wl_status_t>(wl_status_t value)
@ -138,6 +143,7 @@ String toString<ota_error_t>(ota_error_t value)
    return String("Unknown: ") + int(value);
 }

+#ifdef GLUMP_CONTROLLER
 std::array<std::reference_wrapper<Controller>, 2> controllers()
 {
    return {front, back};
@ -245,25 +251,44 @@ void sendCommands()
    }
 }

-template<typename T, typename... Args>
-void switchScreen(Args&&... args);
-
 void updateSwapFrontBack()
 {
    front.serial = settings.controllerHardware.swapFrontBack ? Serial2 : Serial1;
    back.serial = settings.controllerHardware.swapFrontBack ? Serial1 : Serial2;
 }
+#endif

-void loadSettings()
+#ifdef VESC_CONTROLLER
+
+std::array<std::reference_wrapper<VescController>, 2> controllers()
 {
-    settingsSaver.load(settings);
+  return {one, two};
 }

-void saveSettings()
-{
-    settingsSaver.save(settings);
+float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
+  float r = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+  if (r < out_min)r = out_min;
+  if (r > out_max)r = out_max;
+  return r;
 }

+void sendCommands()
+{
+  for (VescController &controller : controllers())
+  {
+    SetSerialPort(&controller.serial.get());
+    SetDebugSerialPort(NULL);
+
+    float current = mapfloat(controller.pwm * (controller.invert ? -1. : 1.), -1000, 1000, -settings.limits.iMotMax, settings.limits.iMotMax);
+
+    Serial.println(String{"New current "} + current);
+
+    VescUartSetCurrent(current);
+  }
+}
+
+#endif
+
 void updateAccumulators()
 {
    avgSpeed = 0.f;
@ -271,6 +296,7 @@ void updateAccumulators()
    sumAbsoluteCurrent = 0.f;
    uint8_t count{0};

+#ifdef GLUMP_CONTROLLER
    for (const Controller &controller : controllers())
    {
        if (!controller.feedbackValid)
@ -290,6 +316,17 @@ void updateAccumulators()

        count +=2;
    }
+#endif
+
+#ifdef VESC_CONTROLLER
+    for (VescController &controller : controllers()) {
+        avgSpeed += controller.values.rpm;
+        sumCurrent += controller.values.avgMotorCurrent;
+        sumAbsoluteCurrent += std::abs(controller.values.avgMotorCurrent);
+
+        count += 2;
+    }
+#endif

    if (count)
        avgSpeed /= count;
@ -300,6 +337,20 @@ void updateAccumulators()
    avgSpeedKmh = convertToKmh(avgSpeed);
 }

+
+template<typename T, typename... Args>
+void switchScreen(Args&&... args);
+
+void loadSettings()
+{
+    settingsSaver.load(settings);
+}
+
+void saveSettings()
+{
+    settingsSaver.save(settings);
+}
+
 void readPotis()
 {
    const auto sampleMultipleTimes = [](int pin){
Author	SHA1	Message	Date
0xFEEDC0DE64	f0a8713249	Fixed other configurations	2020-06-02 15:57:05 +02:00
0xFEEDC0DE64	4054d668d9	Fixed warnings in VescUart	2020-06-02 15:56:06 +02:00
0xFEEDC0DE64	d9038a1325	Cleanups after rebase	2020-06-02 15:56:06 +02:00
Patrick Pichler	c52fa6fda6	trigger poti calibrate feature	2020-06-02 15:56:06 +02:00
Patrick Pichler	4077185010	implement invert for vesc controller; add menu items	2020-06-02 15:56:06 +02:00
Patrick Pichler	4dda961d88	vesc control	2020-06-02 15:56:01 +02:00
Patrick Pichler	053b324617	add vesc uart lib	2020-06-02 15:55:02 +02:00