Major restructuring for dual motor support, and added unity hw files

Author: vedderb

CHANGELOG

@@ -1,3 +1,11 @@
+=== FW 5.00 ===
+* Dual motor support. VESC-based controllers such as the focbox unity will now work.
+* 
+
+=== FW 4.03 ===
+* Fixed bug in cross BEMF decoupling.
+* Disable CC decoupling during flux linkage measurement.
+
 === FW 4.02 ===
 * Position PID fix (most notable on multiturn encoders).
 * App balance updates. See https://github.com/vedderb/bldc/pull/138.

Makefile

@@ -157,6 +157,8 @@ CSRC = $(STARTUPSRC) \
        i2c_bb.c \
        virtual_motor.c \
        shutdown.c \
+       mempools.c \
+       worker.c \
        $(HWSRC) \
        $(APPSRC) \
        $(NRFSRC) \

applications/app_uartcomm.c

@@ -213,7 +213,7 @@ void app_uartcomm_configure(uint32_t baudrate, bool permanent_enabled) {
 static THD_FUNCTION(packet_process_thread, arg) {
 	(void)arg;
 
-	chRegSetThreadName("uartcomm process");
+	chRegSetThreadName("uartcomm proc");
 
 	event_listener_t el;
 	chEvtRegisterMaskWithFlags(&HW_UART_DEV.event, &el, EVENT_MASK(0), CHN_INPUT_AVAILABLE);

chconf.h

@@ -416,7 +416,7 @@
  * @details User fields added to the end of the @p thread_t structure.
  */
 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
-  /* Add threads custom fields here.*/
+  int motor_selected;
 
 /**
  * @brief   Threads initialization hook.
@@ -427,6 +427,7 @@
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
+  tp->motor_selected = 1; \
 }
 
 /**