params bounds checking

This commit is contained in:
Thaddeus Hughes
2026-03-12 20:37:04 -05:00
parent ff1ea6615c
commit cdb3b11db1
10 changed files with 215 additions and 139 deletions

View File

@@ -53,6 +53,7 @@
#include "esp_timer.h"
#include "bt_hid.h"
#include "comms_events.h"
#include "control_fsm.h"
// ---------------------------------------------------------------------------
@@ -581,6 +582,8 @@ esp_err_t bt_hid_init(void)
*/
xTaskCreate(bt_hid_scan_task, "bt_hid_scan", 6 * 1024, NULL, 4, &s_scan_task_handle);
if (comms_event_group) xEventGroupSetBits(comms_event_group, BT_READY_BIT);
ESP_LOGI(TAG, "BLE HID host initialised");
return ESP_OK;
}
@@ -591,6 +594,7 @@ void bt_hid_stop(void)
vTaskSuspend(s_scan_task_handle);
ESP_LOGI(TAG, "BT HID scan task suspended");
}
if (comms_event_group) xEventGroupClearBits(comms_event_group, BT_READY_BIT);
}
void bt_hid_resume(void)
@@ -599,4 +603,5 @@ void bt_hid_resume(void)
vTaskResume(s_scan_task_handle);
ESP_LOGI(TAG, "BT HID scan task resumed");
}
if (comms_event_group) xEventGroupSetBits(comms_event_group, BT_READY_BIT);
}

View File

@@ -275,33 +275,11 @@ esp_err_t comms_handle_post(cJSON *root, cJSON **response_json) {
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_JACK_PREP");
cmd_executed = true;
}
else if (strcmp(cmd_str, "cal_jack_finish") == 0) {
cJSON *amt = cJSON_GetObjectItem(root, "amt");
if (cJSON_IsNumber(amt) && amt->valuedouble >= 0 && amt->valuedouble < 8) {
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_JACK_FINISH");
fsm_set_cal_val(amt->valuedouble);
fsm_request(FSM_CMD_CALIBRATE_JACK_FINISH);
cmd_executed = true;
} else {
error_msg = "cal_jack_finish requires amt parameter (0-8)";
}
}
else if (strcmp(cmd_str, "cal_drive_start") == 0) {
fsm_request(FSM_CMD_CALIBRATE_DRIVE_PREP);
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_PREP");
cmd_executed = true;
}
else if (strcmp(cmd_str, "cal_drive_finish") == 0) {
cJSON *amt = cJSON_GetObjectItem(root, "amt");
if (cJSON_IsNumber(amt) && amt->valuedouble >= 0 && amt->valuedouble < 8) {
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_FINISH");
fsm_set_cal_val(amt->valuedouble);
fsm_request(FSM_CMD_CALIBRATE_DRIVE_FINISH);
cmd_executed = true;
} else {
error_msg = "cal_drive_finish requires amt parameter (0-8)";
}
}
else if (strcmp(cmd_str, "cal_get") == 0) {
ESP_LOGI(TAG, "CAL_GET");

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@@ -83,8 +83,6 @@ void pulse_override(fsm_override_t cmd) {
}
int64_t fsm_cal_t, fsm_cal_e;
float fsm_cal_val;
void fsm_set_cal_val(float v) {fsm_cal_val = v;}
int64_t fsm_get_cal_t(){return fsm_cal_t;}
int64_t fsm_get_cal_e(){return fsm_cal_e;}
@@ -290,14 +288,6 @@ void control_task(void *param) {
log = true;
}
break;
case FSM_CMD_CALIBRATE_JACK_FINISH:
set_param_value_t(PARAM_JACK_KT,
(param_value_t){.f32 = fsm_cal_t / fsm_cal_val});
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_JACK_FINISH -> %f", get_param_value_t(PARAM_JACK_KT).f32);
break;
case FSM_CMD_CALIBRATE_DRIVE_PREP:
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_PREP");
if (current_state == STATE_IDLE
@@ -326,15 +316,6 @@ void control_task(void *param) {
log = true;
}
break;
case FSM_CMD_CALIBRATE_DRIVE_FINISH:
set_param_value_t(PARAM_DRIVE_KT,
(param_value_t){.f32 = fsm_cal_t / fsm_cal_val});
set_param_value_t(PARAM_DRIVE_KE,
(param_value_t){.f32 = fsm_cal_e / fsm_cal_val});
ESP_LOGI(TAG, "FSM_CMD_CALIBRATE_DRIVE_FINISH -> %f / %f",
get_param_value_t(PARAM_DRIVE_KT).f32,
get_param_value_t(PARAM_DRIVE_KE).f32);
break;
}
}

View File

@@ -17,12 +17,10 @@ typedef enum {
FSM_CMD_CALIBRATE_JACK_PREP,
FSM_CMD_CALIBRATE_JACK_START,
FSM_CMD_CALIBRATE_JACK_END,
FSM_CMD_CALIBRATE_JACK_FINISH,
FSM_CMD_CALIBRATE_DRIVE_PREP,
FSM_CMD_CALIBRATE_DRIVE_START,
FSM_CMD_CALIBRATE_DRIVE_END,
FSM_CMD_CALIBRATE_DRIVE_FINISH
FSM_CMD_CALIBRATE_DRIVE_END
} fsm_cmd_t;
typedef enum {
@@ -90,7 +88,6 @@ void pulse_override(fsm_override_t cmd);
esp_err_t fsm_init();
esp_err_t fsm_stop();
void fsm_set_cal_val(float v);
int64_t fsm_get_cal_t();
int64_t fsm_get_cal_e();
void fsm_request(fsm_cmd_t cmd);

View File

@@ -209,7 +209,7 @@ void app_main(void) {esp_task_wdt_add(NULL);
adc_post(); // ADC channels readable and not frozen
storage_post(); // flash write-read-verify on test sector
run_all_log_tests();
//run_all_log_tests();
esp_reset_reason_t reset_reason = esp_reset_reason();
esp_sleep_wakeup_cause_t wake_cause = esp_sleep_get_wakeup_cause();
@@ -263,7 +263,8 @@ void app_main(void) {esp_task_wdt_add(NULL);
// Create event group before non-critical inits (they set bits on it)
comms_event_group = xEventGroupCreate();
// Non-critical — retry once on failure, then log and continue
// Non-critical — retry once on failure, then log and continue.
// Set event bits even on failure so alarm-wake doesn't block forever.
if (rf_433_init() != ESP_OK) {
ESP_LOGW(TAG, "RF init failed, retrying...");
vTaskDelay(pdMS_TO_TICKS(200));
@@ -272,12 +273,18 @@ void app_main(void) {esp_task_wdt_add(NULL);
if (bt_hid_init() != ESP_OK) {
ESP_LOGW(TAG, "BT init failed, retrying...");
vTaskDelay(pdMS_TO_TICKS(200));
if (bt_hid_init() != ESP_OK) ESP_LOGE(TAG, "BT HID FAILED (continuing without BT)");
if (bt_hid_init() != ESP_OK) {
ESP_LOGE(TAG, "BT HID FAILED (continuing without BT)");
if (comms_event_group) xEventGroupSetBits(comms_event_group, BT_READY_BIT);
}
}
if (webserver_init() != ESP_OK) {
ESP_LOGW(TAG, "Webserver init failed, retrying...");
vTaskDelay(pdMS_TO_TICKS(500));
if (webserver_init() != ESP_OK) ESP_LOGE(TAG, "WEBSERVER FAILED (continuing without WiFi)");
if (webserver_init() != ESP_OK) {
ESP_LOGE(TAG, "WEBSERVER FAILED (continuing without WiFi)");
if (comms_event_group) xEventGroupSetBits(comms_event_group, WIFI_READY_BIT);
}
}
// POST + FSM started successfully — this firmware is good.

View File

@@ -220,10 +220,6 @@ esp_err_t rf_433_init() {
esp_err_t rf_433_stop() { return ESP_OK; }
void rf_433_set_keycode(uint8_t index, uint32_t code) {
set_param_value_t(PARAM_KEYCODE_0+index, (param_value_t){.u32=code});
}
void rf_433_learn_keycode(uint8_t index) {
if (index >= 8) return;
learn_flag = index;

View File

@@ -16,13 +16,6 @@ int64_t receive_keycode(void);
esp_err_t rf_433_init();
esp_err_t rf_433_stop();
void rf_433_set_keycode(uint8_t index, uint32_t code);
/*
int8_t rf_433_get_keycode();
int64_t rf_433_get_raw_keycode();
*/
void rf_433_learn_keycode(uint8_t index);
void rf_433_cancel_learn_keycode();

View File

@@ -61,40 +61,54 @@ typedef struct {
#define PARAM_NAME_STR(name) #name
// Generate parameter table with live values (initialized to defaults)
#define PARAM_DEF(name, type, default_val, unit) PARAM_VALUE_INIT(type, default_val),
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_VALUE_INIT(type, default_val),
param_value_t parameter_table[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate default values array
#define PARAM_DEF(name, type, default_val, unit) PARAM_VALUE_INIT(type, default_val),
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_VALUE_INIT(type, default_val),
const param_value_t parameter_defaults[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate parameter types array
#define PARAM_DEF(name, type, default_val, unit) PARAM_TYPE_ENUM(type),
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_TYPE_ENUM(type),
const param_type_e parameter_types[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate parameter names array
#define PARAM_DEF(name, type, default_val, unit) PARAM_NAME_STR(name),
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_NAME_STR(name),
const char* parameter_names[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate parameter units array (8 chars max per unit)
#define PARAM_DEF(name, type, default_val, unit) unit,
#define PARAM_DEF(name, type, default_val, unit, min, max) unit,
const char parameter_units[NUM_PARAMS][8] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate parameter min bounds array
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_VALUE_INIT(type, min),
static const param_value_t parameter_mins[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
// Generate parameter max bounds array
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_VALUE_INIT(type, max),
static const param_value_t parameter_maxs[NUM_PARAMS] = {
PARAM_LIST
};
#undef PARAM_DEF
size_t param_type_size(param_type_e x) {
switch(x) {
case PARAM_TYPE_u16: return 2;
@@ -108,6 +122,96 @@ size_t param_type_size(param_type_e x) {
return -1;
}
// ============================================================================
// PARAMETER VALIDATION
// ============================================================================
// Returns true if the value was modified (clamped or reset to default).
// - Strings: always skipped
// - Float NaN/Inf: reset to default
// - min == max (same raw bytes): skip bounds check (sentinel for "no bounds")
// - Otherwise: clamp to [min, max]
static bool validate_param(param_idx_t id) {
param_type_e type = parameter_types[id];
// String params: no numeric validation
if (type == PARAM_TYPE_str) return false;
// Float types: NaN/Inf → reset to default
if (type == PARAM_TYPE_f32) {
if (isnanf(parameter_table[id].f32) || isinff(parameter_table[id].f32)) {
ESP_LOGW(TAG, "Param %s: NaN/Inf, reset to default", parameter_names[id]);
parameter_table[id] = parameter_defaults[id];
return true;
}
}
if (type == PARAM_TYPE_f64) {
if (isnan(parameter_table[id].f64) || isinf(parameter_table[id].f64)) {
ESP_LOGW(TAG, "Param %s: NaN/Inf, reset to default", parameter_names[id]);
parameter_table[id] = parameter_defaults[id];
return true;
}
}
// Skip bounds check if min == max (sentinel)
size_t sz = param_type_size(type);
if (memcmp(&parameter_mins[id], &parameter_maxs[id], sz) == 0)
return false;
// Clamp to [min, max] per type
bool clamped = false;
switch (type) {
case PARAM_TYPE_u16:
if (parameter_table[id].u16 < parameter_mins[id].u16) {
parameter_table[id].u16 = parameter_mins[id].u16; clamped = true;
} else if (parameter_table[id].u16 > parameter_maxs[id].u16) {
parameter_table[id].u16 = parameter_maxs[id].u16; clamped = true;
}
break;
case PARAM_TYPE_i16:
if (parameter_table[id].i16 < parameter_mins[id].i16) {
parameter_table[id].i16 = parameter_mins[id].i16; clamped = true;
} else if (parameter_table[id].i16 > parameter_maxs[id].i16) {
parameter_table[id].i16 = parameter_maxs[id].i16; clamped = true;
}
break;
case PARAM_TYPE_u32:
if (parameter_table[id].u32 < parameter_mins[id].u32) {
parameter_table[id].u32 = parameter_mins[id].u32; clamped = true;
} else if (parameter_table[id].u32 > parameter_maxs[id].u32) {
parameter_table[id].u32 = parameter_maxs[id].u32; clamped = true;
}
break;
case PARAM_TYPE_i32:
if (parameter_table[id].i32 < parameter_mins[id].i32) {
parameter_table[id].i32 = parameter_mins[id].i32; clamped = true;
} else if (parameter_table[id].i32 > parameter_maxs[id].i32) {
parameter_table[id].i32 = parameter_maxs[id].i32; clamped = true;
}
break;
case PARAM_TYPE_f32:
if (parameter_table[id].f32 < parameter_mins[id].f32) {
parameter_table[id].f32 = parameter_mins[id].f32; clamped = true;
} else if (parameter_table[id].f32 > parameter_maxs[id].f32) {
parameter_table[id].f32 = parameter_maxs[id].f32; clamped = true;
}
break;
case PARAM_TYPE_f64:
if (parameter_table[id].f64 < parameter_mins[id].f64) {
parameter_table[id].f64 = parameter_mins[id].f64; clamped = true;
} else if (parameter_table[id].f64 > parameter_maxs[id].f64) {
parameter_table[id].f64 = parameter_maxs[id].f64; clamped = true;
}
break;
default:
break;
}
if (clamped) {
ESP_LOGW(TAG, "Param %s: out of range, clamped", parameter_names[id]);
}
return clamped;
}
// Partition pointers (separate partitions for params, log, and POST test)
static const esp_partition_t *params_partition = NULL;
static const esp_partition_t *log_partition = NULL;
@@ -380,6 +484,9 @@ esp_err_t commit_params(void) {
param_stored_t stored;
memset(&stored, 0, sizeof(param_stored_t));
// Validate before writing — clamp out-of-range, reset NaN/Inf
validate_param(i);
// Pack parameter data
pack_param(stored.data, i);
@@ -568,6 +675,9 @@ esp_err_t storage_init(void) {
if (calculated_crc == stored.crc) {
unpack_param(stored.data, i);
if (validate_param(i)) {
ESP_LOGW(TAG, "Param %d (%s) out of range after load, clamped", i, parameter_names[i]);
}
} else {
ESP_LOGW(TAG, "Parameter %d (%s) failed CRC check, using default",
i, parameter_names[i]);

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@@ -51,61 +51,63 @@ typedef struct {
// ============================================================================
// TODO: Bounds checking / constraints (especially no division by zero, no NaNs, no infs)
// TODO: abandoned parameters (esp. jack current)
// PARAM_DEF(name, type, default, unit, min, max)
// min == max → skip bounds validation (used for keycodes, strings, informational params)
// Division-critical params have min > 0 to prevent div-by-zero
// NaN/Inf floats are always reset to default regardless of bounds
#define PARAM_LIST \
PARAM_DEF(BOOT_TIME, i32, 0, "us") \
PARAM_DEF(NUM_MOVES, u32, 0, "") \
PARAM_DEF(MOVE_START, u32, 0, "s") \
PARAM_DEF(MOVE_END, u32, 0, "s") \
PARAM_DEF(DRIVE_DIST, f32, 10, "ft") \
PARAM_DEF(JACK_DIST, f32, 5, "in") \
PARAM_DEF(DRIVE_KE, f32, 29.2, "n/ft") \
PARAM_DEF(DRIVE_KT, f32, 2880000, "us/ft") \
PARAM_DEF(JACK_KT, f32, 1428571, "ms/in") \
PARAM_DEF(KEYCODE_0, u32, 0, "") \
PARAM_DEF(KEYCODE_1, u32, 0, "") \
PARAM_DEF(KEYCODE_2, u32, 0, "") \
PARAM_DEF(KEYCODE_3, u32, 0, "") \
PARAM_DEF(KEYCODE_4, u32, 0, "") \
PARAM_DEF(KEYCODE_5, u32, 0, "") \
PARAM_DEF(KEYCODE_6, u32, 0, "") \
PARAM_DEF(KEYCODE_7, u32, 0, "") \
PARAM_DEF(ADC_ALPHA_BATTERY, f32, 0.5, "-") \
PARAM_DEF(ADC_ALPHA_ISENS, f32, 0.6, "-") \
PARAM_DEF(ADC_ALPHA_IAZ, f32, 0.005, "-") \
PARAM_DEF(ADC_DB_IAZ, f32, 5.0, "A") \
PARAM_DEF(EFUSE_INOM_1, f32, 40.0, "A") \
PARAM_DEF(EFUSE_INOM_2, f32, 14.0, "A") \
PARAM_DEF(EFUSE_INOM_3, f32, 4.0, "A") \
PARAM_DEF(EFUSE_HEAT_THRESH, f32, 60.0, "i/i^2-s") \
PARAM_DEF(EFUSE_KINST, f32, 2.0, "i/i") \
PARAM_DEF(EFUSE_TAUCOOL, f32, 0.2, "i") \
PARAM_DEF(EFUSE_TCOOL, u32, 5000000, "us") \
PARAM_DEF(LOW_PROTECTION_V, f32, 10.0, "V") \
PARAM_DEF(LOW_PROTECTION_S, u32, 10, "s") \
PARAM_DEF(CHG_LOW_V, f32, 5.0, "V") \
PARAM_DEF(CHG_LOW_S, u32, 5, "s") \
PARAM_DEF(CHG_BULK_S, u32, 20, "s") \
PARAM_DEF(RF_PULSE_LENGTH, u32, 350000, "us") \
PARAM_DEF(V_SENS_OFFSET, f32, 0.4, "V") \
PARAM_DEF(NET_SSID, str, "", "") \
PARAM_DEF(NET_PASS, str, "", "") \
PARAM_DEF(WIFI_CHANNEL, u16, 6, "") \
PARAM_DEF(WIFI_SSID, str, "sc.local", "") \
PARAM_DEF(WIFI_PASS, str, "password", "") \
PARAM_DEF(EFUSE_INRUSH_US, u32, 250000, "us") \
PARAM_DEF(JACK_I_UP, f32, 8.0, "A") \
PARAM_DEF(JACK_I_DOWN, f32, 15.0, "A") \
PARAM_DEF(V_SENS_K, f32, 0.00766666666, "V/mV") \
PARAM_DEF(BUILD_VERSION, str, "undefined", "") \
PARAM_DEF(SAFETY_BREAK_US, u32, 300000, "") \
PARAM_DEF(SAFETY_MAKE_US, u32, 1000000, "") \
PARAM_DEF(JACK_IS_DOWN, f32, 8.0, "A") \
PARAM_DEF(BOOT_TIME, i32, 0, "us", 0, 0) /* informational, skip */ \
PARAM_DEF(NUM_MOVES, u32, 0, "", 0, 1000) \
PARAM_DEF(MOVE_START, u32, 0, "s", 0, 86400) \
PARAM_DEF(MOVE_END, u32, 0, "s", 0, 86400) \
PARAM_DEF(DRIVE_DIST, f32, 10, "ft", 0.0, 100.0) \
PARAM_DEF(JACK_DIST, f32, 5, "in", 0.0, 10.0) \
PARAM_DEF(DRIVE_KE, f32, 29.2, "n/ft", 1.0, 1e9) \
PARAM_DEF(DRIVE_KT, f32, 2880000, "us/ft", 1.0, 1e9) /* div-critical */ \
PARAM_DEF(JACK_KT, f32, 1428571, "ms/in", 1.0, 1e9) /* div-critical */ \
PARAM_DEF(KEYCODE_0, u32, 0, "", 0, 0) /* skip */ \
PARAM_DEF(KEYCODE_1, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_2, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_3, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_4, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_5, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_6, u32, 0, "", 0, 0) \
PARAM_DEF(KEYCODE_7, u32, 0, "", 0, 0) \
PARAM_DEF(ADC_ALPHA_BATTERY, f32, 0.5, "-", 0.0, 1.0) \
PARAM_DEF(ADC_ALPHA_ISENS, f32, 0.6, "-", 0.0, 1.0) \
PARAM_DEF(ADC_ALPHA_IAZ, f32, 0.005, "-", 0.0, 1.0) \
PARAM_DEF(ADC_DB_IAZ, f32, 5.0, "A", 0.0, 200.0) \
PARAM_DEF(EFUSE_INOM_1, f32, 40.0, "A", 0.0, 200.0) \
PARAM_DEF(EFUSE_INOM_2, f32, 14.0, "A", 0.0, 200.0) \
PARAM_DEF(EFUSE_INOM_3, f32, 4.0, "A", 0.0, 200.0) \
PARAM_DEF(EFUSE_HEAT_THRESH, f32, 60.0, "i/i^2-s", 0.0, 1e9) \
PARAM_DEF(EFUSE_KINST, f32, 2.0, "i/i", 0.01, 100.0) /* div-critical */ \
PARAM_DEF(EFUSE_TAUCOOL, f32, 0.2, "i", 0.0, 100.0) \
PARAM_DEF(EFUSE_TCOOL, u32, 5000000, "us", 0, 60000000) \
PARAM_DEF(LOW_PROTECTION_V, f32, 10.0, "V", 0.0, 100.0) \
PARAM_DEF(LOW_PROTECTION_S, u32, 10, "s", 0, 3600) \
PARAM_DEF(CHG_LOW_V, f32, 5.0, "V", 0.0, 100.0) \
PARAM_DEF(CHG_LOW_S, u32, 5, "s", 0, 3600) \
PARAM_DEF(CHG_BULK_S, u32, 20, "s", 0, 3600) \
PARAM_DEF(RF_PULSE_LENGTH, u32, 350000, "us", 0, 10000000) \
PARAM_DEF(V_SENS_OFFSET, f32, 0.4, "V", -10.0, 10.0) \
PARAM_DEF(NET_SSID, str, "", "", "", "") \
PARAM_DEF(NET_PASS, str, "", "", "", "") \
PARAM_DEF(WIFI_CHANNEL, u16, 6, "", 1, 14) \
PARAM_DEF(WIFI_SSID, str, "sc.local", "", "", "") \
PARAM_DEF(WIFI_PASS, str, "password", "", "", "") \
PARAM_DEF(EFUSE_INRUSH_US, u32, 250000, "us", 0, 10000000) \
PARAM_DEF(JACK_I_UP, f32, 8.0, "A", 0.0, 200.0) \
PARAM_DEF(JACK_I_DOWN, f32, 15.0, "A", 0.0, 200.0) \
PARAM_DEF(V_SENS_K, f32, 0.00766666666, "V/mV", 0.0, 1.0) \
PARAM_DEF(BUILD_VERSION, str, "undefined", "", "", "") \
PARAM_DEF(SAFETY_BREAK_US, u32, 300000, "", 0, 10000000) \
PARAM_DEF(SAFETY_MAKE_US, u32, 1000000, "", 0, 10000000) \
PARAM_DEF(JACK_IS_DOWN, f32, 8.0, "A", 0.0, 200.0) /* deprecated: may duplicate JACK_I_DOWN */
// Generate enum for parameter indices
#define PARAM_DEF(name, type, default_val, unit) PARAM_##name,
#define PARAM_DEF(name, type, default_val, unit, min, max) PARAM_##name,
typedef enum {
PARAM_LIST
NUM_PARAMS