user: 请将以下的汇编代码转换成C语言代码:

```asm
<link_pid>:
  endbr64
  push   %r15
  lea    D1560(%rip),%rdi
  lea    D283(%rip),%r15
  push   %r14
  lea    D196(%rip),%r14
  push   %r13
  lea    D1557(%rip),%r13
  push   %r12
  lea    D426(%rip),%r12
  push   %rbp
  lea    D1590(%rip),%rbp
  push   %rbx
  lea    D1842(%rip),%rbx
  sub    $0x8,%rsp
  movsd  D222(%rip),%xmm0
  call   <set_hal_pin@plt>
  movsd  D125(%rip),%xmm0
  lea    D717(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    D125(%rip),%rax
  lea    D530(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  movsd  D556(%rip),%xmm0
  lea    D1953(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    D556(%rip),%rax
  lea    D2658(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  movsd  D2381(%rip),%xmm0
  lea    D2012(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D1085(%rip),%xmm0
  lea    D298(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D791(%rip),%xmm0
  lea    D334(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D1442(%rip),%xmm0
  lea    D305(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D431(%rip),%xmm0
  lea    D416(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D2392(%rip),%xmm0
  lea    D654(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D1187(%rip),%xmm0
  lea    D583(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D442(%rip),%xmm0
  lea    D854(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D1382(%rip),%xmm0
  lea    D2132(%rip),%rdi
  call   <set_hal_pin@plt>
  movsd  D430(%rip),%xmm0
  lea    D2067(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    D430(%rip),%rax
  lea    D1662(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  lea    D982(%rip),%rsi
  lea    D1372(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r13,%rsi
  lea    D2722(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1523(%rip),%r9
  lea    D974(%rip),%rsi
  mov    %r9,%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D1097(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D2317(%rip),%rsi
  lea    D1942(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D2292(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbx,%rsi
  lea    D220(%rip),%rdi
  call   <link_hal_pins@plt>
  movsd  D551(%rip),%xmm0
  lea    D2088(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    %r13,%rdi
  lea    D586(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbx,%rdi
  lea    D466(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D461(%rip),%rsi
  lea    D371(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1405(%rip),%r11
  lea    D2613(%rip),%rsi
  mov    %r11,%rdi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D2082(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D1174(%rip),%rsi
  lea    D609(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2345(%rip),%r10
  lea    D376(%rip),%rsi
  mov    %r10,%rdi
  call   <link_hal_pins@plt>
  lea    D2390(%rip),%rsi
  lea    D212(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r12,%rsi
  lea    D554(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D291(%rip),%rsi
  lea    D1508(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D944(%rip),%rsi
  lea    D291(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r12,%rdi
  lea    D172(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D1284(%rip),%rsi
  lea    D2273(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D161(%rip),%rsi
  lea    D2778(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2640(%rip),%rsi
  lea    D2716(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D265(%rip),%rsi
  lea    D361(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2151(%rip),%rsi
  lea    D2760(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2720(%rip),%rsi
  lea    D150(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D869(%rip),%rsi
  lea    D303(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1946(%rip),%rsi
  lea    D2494(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1940(%rip),%rsi
  lea    D286(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2708(%rip),%rsi
  lea    D1805(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2668(%rip),%rsi
  lea    D920(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D851(%rip),%rsi
  lea    D226(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D383(%rip),%rsi
  lea    D2112(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2298(%rip),%rsi
  lea    D2456(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D102(%rip),%rsi
  lea    D1367(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1797(%rip),%rsi
  lea    D1230(%rip),%rdi
  call   <link_hal_pins@plt>
  pxor   %xmm0,%xmm0
  lea    D907(%rip),%rdi
  call   <set_hal_pin@plt>
  lea    D2633(%rip),%rsi
  lea    D2103(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1122(%rip),%rsi
  lea    D1668(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D527(%rip),%rsi
  lea    D152(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1904(%rip),%rsi
  lea    D345(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D2826(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D1242(%rip),%rsi
  lea    D1981(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1611(%rip),%rsi
  lea    D2093(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2418(%rip),%rsi
  lea    D391(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1430(%rip),%rsi
  lea    D2730(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1651(%rip),%rsi
  lea    D29(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2409(%rip),%rsi
  lea    D2101(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r13,%rdi
  lea    D1035(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D1405(%rip),%r11
  lea    D48(%rip),%rsi
  mov    %r11,%rdi
  call   <link_hal_pins@plt>
  lea    D107(%rip),%rsi
  lea    D771(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1016(%rip),%rsi
  lea    D1446(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2167(%rip),%rsi
  lea    D1512(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D806(%rip),%rsi
  lea    D1102(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D748(%rip),%rsi
  lea    D2749(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D2144(%rip),%rsi
  lea    D1200(%rip),%rbp
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D2758(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D248(%rip),%rsi
  lea    D1976(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1739(%rip),%rsi
  lea    D1653(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D725(%rip),%rsi
  lea    D2396(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2339(%rip),%rsi
  lea    D585(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1056(%rip),%rsi
  lea    D1932(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2813(%rip),%rsi
  lea    D1813(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2345(%rip),%r10
  lea    D2214(%rip),%rsi
  mov    %r10,%rdi
  call   <link_hal_pins@plt>
  lea    D1873(%rip),%rsi
  lea    D2137(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1100(%rip),%rsi
  lea    D993(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1928(%rip),%rsi
  lea    D472(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2408(%rip),%rsi
  lea    D1437(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2733(%rip),%rsi
  lea    D94(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1523(%rip),%r9
  lea    D2659(%rip),%rsi
  mov    %r9,%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D254(%rip),%rsi
  lea    D677(%rip),%r14
  call   <link_hal_pins@plt>
  lea    D2467(%rip),%rsi
  lea    D1610(%rip),%rdi
  call   <link_hal_pins@plt>
  movsd  D1445(%rip),%xmm0
  lea    D938(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    D1445(%rip),%rax
  lea    D1683(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1445(%rip),%rax
  lea    D1538(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  lea    D1844(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  lea    D174(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  lea    D215(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  mov    %rbp,%rdi
  lea    D2674(%rip),%rbp
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  lea    D2129(%rip),%rsi
  lea    D2623(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D894(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D2424(%rip),%r10
  lea    D1479(%rip),%rsi
  mov    %r10,%rdi
  call   <link_hal_pins@plt>
  lea    D306(%rip),%rsi
  lea    D409(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1698(%rip),%rsi
  lea    D1897(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D592(%rip),%rsi
  lea    D2689(%rip),%r15
  call   <link_hal_pins@plt>
  lea    D424(%rip),%rcx
  lea    D134(%rip),%rsi
  mov    %rcx,%rdi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D445(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D396(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D608(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D1250(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D1306(%rip),%rsi
  lea    D1313(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1802(%rip),%rsi
  lea    D117(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1522(%rip),%rsi
  lea    D2525(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D541(%rip),%rsi
  lea    D1730(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D582(%rip),%r11
  lea    D888(%rip),%rsi
  mov    %r11,%rdi
  call   <link_hal_pins@plt>
  lea    D2788(%rip),%r8
  lea    D1402(%rip),%rsi
  mov    %r8,%rdi
  call   <link_hal_pins@plt>
  mov    %r12,%rdi
  lea    D1689(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D2768(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D2291(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D672(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D2424(%rip),%r10
  lea    D2655(%rip),%rsi
  mov    %r10,%rdi
  call   <link_hal_pins@plt>
  lea    D1502(%rip),%rsi
  lea    D1584(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D563(%rip),%r9
  lea    D2542(%rip),%rsi
  mov    %r9,%rdi
  call   <link_hal_pins@plt>
  lea    D1421(%rip),%rsi
  lea    D2626(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2746(%rip),%rdx
  lea    D824(%rip),%rsi
  mov    %rdx,%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D811(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D563(%rip),%r9
  lea    D1344(%rip),%rsi
  mov    %r9,%rdi
  call   <link_hal_pins@plt>
  mov    %r15,%rdi
  lea    D2211(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D581(%rip),%rsi
  call   <link_hal_pins@plt>
  mov    %rbp,%rdi
  lea    D330(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D2424(%rip),%r10
  lea    D2811(%rip),%rsi
  mov    %r10,%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D1572(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D424(%rip),%rcx
  lea    D1209(%rip),%rsi
  mov    %rcx,%rdi
  call   <link_hal_pins@plt>
  lea    D2746(%rip),%rdx
  lea    D2611(%rip),%rsi
  mov    %rdx,%rdi
  call   <link_hal_pins@plt>
  lea    D563(%rip),%r9
  lea    D2323(%rip),%rsi
  mov    %r9,%rdi
  call   <link_hal_pins@plt>
  lea    D2797(%rip),%rsi
  lea    D1257(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2183(%rip),%rsi
  lea    D2593(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D2551(%rip),%rsi
  lea    D1684(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D582(%rip),%r11
  lea    D1304(%rip),%rsi
  mov    %r11,%rdi
  call   <link_hal_pins@plt>
  lea    D2788(%rip),%r8
  lea    D758(%rip),%rsi
  mov    %r8,%rdi
  call   <link_hal_pins@plt>
  mov    %r14,%rdi
  lea    D2553(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D332(%rip),%rsi
  lea    D1149(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D619(%rip),%rsi
  lea    D2483(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D454(%rip),%rsi
  lea    D2055(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1495(%rip),%rsi
  lea    D2706(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1435(%rip),%rsi
  lea    D406(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %r13,%rdi
  lea    D189(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D34(%rip),%rsi
  lea    D291(%rip),%rdi
  call   <link_hal_pins@plt>
  mov    %rbx,%rdi
  lea    D2500(%rip),%rsi
  call   <link_hal_pins@plt>
  lea    D2030(%rip),%rsi
  mov    %r12,%rdi
  call   <link_hal_pins@plt>
  movsd  D2107(%rip),%xmm0
  lea    D1534(%rip),%rdi
  call   <set_hal_pin@plt>
  mov    D2107(%rip),%rax
  lea    D1474(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  lea    D74(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  mov    D1413(%rip),%rax
  lea    D2644(%rip),%rdi
  movq   %rax,%xmm0
  call   <set_hal_pin@plt>
  lea    D2695(%rip),%rsi
  lea    D1443(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D1998(%rip),%rsi
  lea    D1588(%rip),%rdi
  call   <link_hal_pins@plt>
  lea    D687(%rip),%rsi
  lea    D326(%rip),%rdi
  call   <link_hal_pins@plt>
  add    $0x8,%rsp
  lea    D1079(%rip),%rsi
  lea    D2464(%rip),%rdi
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  jmp    1070 <link_hal_pins@plt>
```

tool_calls: name: extract_symbolic_data
arguments: data_tag: D1560
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D283
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D196
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1557
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D426
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1590
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1842
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D222
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D125
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D717
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D530
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D556
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D1953
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D2658
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D2381
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D2012
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1085
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D298
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D791
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D334
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1442
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D305
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D431
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D416
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D2392
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D654
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1187
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D583
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D442
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D854
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D1382
type_infered: f64
name: extract_symbolic_data
arguments: data_tag: D2132
type_infered: string
name: extract_symbolic_data
arguments: data_tag: D430
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tool: D1242: fault0.hv_temp

tool: D1981: hv0.hv_temp

tool: D1611: fault0.core_temp0

tool: D2093: net0.core_temp0

tool: D2418: fault0.core_temp1

tool: D391: net0.core_temp1

tool: D1430: fault0.motor_temp

tool: D2730: net0.motor_temp

tool: D1651: fault0.dc_cur

tool: D29: hv0.dc_cur

tool: D2409: fault0.fb_error

tool: D2101: net0.fb_error

tool: D1035: fault0.cmd

tool: D48: fault0.fb

tool: D107: cauto0.start_offset

tool: D771: fault0.start_offset

tool: D1016: curpid0.max_cur

tool: D1446: fault0.cur

tool: D2167: io0.brake

tool: D1512: fault0.brake

tool: D806: io0.fan

tool: D1102: fault0.hv_fan

tool: D748: hv0.enable

tool: D2749: fault0.enable_out

tool: D2144: pid0.enable

tool: D1200: net0.enable

tool: D2758: fault0.enable

tool: D248: io0.green

tool: D1976: fault0.led_green

tool: D1739: io0.red

tool: D1653: fault0.led_red

tool: D725: term0.fault

tool: D2396: fault0.state

tool: D2339: cauto0.mag_offset

tool: D585: conf0.fb_offset

tool: D1056: cauto0.cur

tool: D1932: conf0.phase_cur

tool: D2813: cauto0.time

tool: D1813: conf0.phase_time

tool: D2214: pid0.j

tool: D1873: pid0.p

tool: D2137: conf0.p

tool: D1100: pid0.pos_p

tool: D993: conf0.pos_p

tool: D1928: pid0.vel_p

tool: D472: conf0.vel_p

tool: D2408: pid0.acc_p

tool: D1437: conf0.acc_p

tool: D2733: pid0.acc_pi

tool: D94: conf0.acc_pi

tool: D2659: pid0.max_usr_vel

tool: D254: pid0.max_usr_acc

tool: D677: conf0.polecount

tool: D2467: pid0.max_usr_torque

tool: D1610: conf0.max_force

tool: D1445: 4000

tool: D938: pid0.pos_lp

tool: D1683: pid0.vel_lp

tool: D1538: pid0.acc_lp

tool: D1413: 1

tool: D1844: pid0.torque_ff

tool: D174: pid0.vel_ff

tool: D215: pid0.acc_ff

tool: D2674: conf0.l

tool: D2129: t2c0.torque

tool: D2623: pid0.torque_cor_cmd

tool: D894: t2c0.polecount

tool: D2424: conf0.psi

tool: D1479: t2c0.psi

tool: D306: curpid0.id_cmd

tool: D409: cauto0.i_d

tool: D1698: curpid0.iq_cmd

tool: D1897: t2c0.cur

tool: D592: curpid0.dc_volt

tool: D2689: conf0.r

tool: D424: hv0.ac_volt

tool: D134: curpid0.ac_volt

tool: D445: curpid0.rd

tool: D396: curpid0.rq

tool: D608: curpid0.ld

tool: D1250: curpid0.lq

tool: D1306: curpid0.ff

tool: D1313: conf0.cur_ff

tool: D1802: curpid0.kp

tool: D117: conf0.cur_p

tool: D1522: curpid0.ki

tool: D2525: conf0.cur_i

tool: D541: curpid0.kind

tool: D1730: conf0.cur_ind

tool: D582: curpid0.ud

tool: D888: pmsm0.ud

tool: D2788: curpid0.uq

tool: D1402: pmsm0.uq

tool: D1689: pmsm0.vel

tool: D2768: pmsm0.r

tool: D2291: pmsm0.ld

tool: D672: pmsm0.lq

tool: D2655: pmsm0.psi

tool: D1502: curpid0.id_fb

tool: D1584: pmsm0.id

tool: D563: pmsm0.iq

tool: D2542: curpid0.iq_fb

tool: D1421: curpid0.indd_fb

tool: D2626: pmsm0.indd

tool: D2746: pmsm0.indq

tool: D824: curpid0.indq_fb

tool: D811: pmsm0.polecount

tool: D1344: hv0.iq

tool: D2211: pmsm_limits0.r

tool: D581: pmsm_limits0.ld

tool: D330: pmsm_limits0.lq

tool: D2811: pmsm_limits0.psi

tool: D1572: pmsm_limits0.polecount

tool: D1209: pmsm_limits0.ac_volt

tool: D2611: pmsm_limits0.indq

tool: D2323: pmsm_limits0.iq

tool: D2797: pid0.max_torque

tool: D1257: pmsm_limits0.next_max_torque

tool: D2183: pid0.min_torque

tool: D2593: pmsm_limits0.next_min_torque

tool: D2551: pid0.max_vel

tool: D1684: pmsm_limits0.abs_max_vel

tool: D1304: idq0.d

tool: D758: idq0.q

tool: D2553: idq0.polecount

tool: D332: hv0.a

tool: D1149: idq0.a

tool: D619: hv0.b

tool: D2483: idq0.b

tool: D454: hv0.rev

tool: D2055: conf0.out_rev

tool: D1495: idq0.pos

tool: D2706: cauto0.pos

tool: D1435: sim0.res

tool: D406: conf0.cmd_res

tool: D189: term0.wave0

tool: D34: term0.wave1

tool: D2500: term0.wave2

tool: D2030: term0.wave3

tool: D2107: 20

tool: D1534: term0.gain0

tool: D1474: term0.gain1

tool: D74: term0.gain2

tool: D2644: term0.gain3

tool: D2695: adc0.sin_gain

tool: D1443: conf0.sin_gain

tool: D1998: adc0.cos_gain

tool: D1588: conf0.cos_gain

tool: D687: adc0.sin_offset

tool: D326: conf0.sin_offset

tool: D1079: adc0.cos_offset

tool: D2464: conf0.cos_offset

assistant: ```c
void link_pid() {
  set_hal_pin("fault0.rt_prio", 3.0);
  set_hal_pin("rev0.rt_prio", 4.0);
  set_hal_pin("rev1.rt_prio", 4.0);
  set_hal_pin("vel0.rt_prio", 5.0);
  set_hal_pin("vel1.rt_prio", 5.0);
  set_hal_pin("stp0.rt_prio", 6.0);
  set_hal_pin("cauto0.rt_prio", 7.0);
  set_hal_pin("pid0.rt_prio", 8.0);
  set_hal_pin("t2c0.rt_prio", 9.0);
  set_hal_pin("curpid0.rt_prio", 10.0);
  set_hal_pin("pmsm0.rt_prio", 11.0);
  set_hal_pin("pmsm_limits0.rt_prio", 12.0);
  set_hal_pin("idq0.rt_prio", 13.0);
  set_hal_pin("hv0.rt_prio", 14.0);
  set_hal_pin("sim0.rt_prio", 15.0);
  set_hal_pin("term0.rt_prio", 15.0);
  link_hal_pins("conf0.cmd_rev", "rev0.rev");
  link_hal_pins("vel0.pos_out", "net0.cmd");
  link_hal_pins("conf0.max_vel", "stp0.max_vel");
  link_hal_pins("conf0.max_acc", "stp0.max_acc");
  link_hal_pins("rev0.out", "vel0.pos_in");
  link_hal_pins("fault0.enable_pid", "vel0.en");
  link_hal_pins("vel0.vel", "net0.cmd_d");
  set_hal_pin("vel0.w", 500.0);
  link_hal_pins("net0.cmd", "pid0.pos_ext_cmd");
  link_hal_pins("net0.cmd_d", "pid0.vel_ext_cmd");
  link_hal_pins("conf0.fb_rev", "rev1.rev");
  link_hal_pins("rev1.out", "vel1.pos_in");
  link_hal_pins("fault0.enable_pid", "vel1.en");
  link_hal_pins("vel1.pos_out", "cauto0.fb_in");
  link_hal_pins("conf0.j", "vel1.j");
  link_hal_pins("pmsm0.torque", "vel1.torque");
  link_hal_pins("vel1.vel", "net0.fb_d");
  link_hal_pins("cauto0.fb_out", "net0.fb");
  link_hal_pins("net0.fb", "pid0.pos_fb");
  link_hal_pins("net0.fb_d", "pid0.vel_fb");
  link_hal_pins("conf0.max_dc_cur", "fault0.max_dc_cur");
  link_hal_pins("conf0.max_ac_cur", "fault0.max_ac_cur");
  link_hal_pins("conf0.max_dc_volt", "fault0.max_dc_volt");
  link_hal_pins("conf0.max_hv_temp", "fault0.max_hv_temp");
  link_hal_pins("conf0.max_core_temp", "fault0.max_core_temp");
  link_hal_pins("conf0.max_motor_temp", "fault0.max_motor_temp");
  link_hal_pins("conf0.max_pos_error", "fault0.max_pos_error");
  link_hal_pins("conf0.high_dc_volt", "fault0.high_dc_volt");
  link_hal_pins("conf0.high_hv_temp", "fault0.high_hv_temp");
  link_hal_pins("conf0.high_motor_temp", "fault0.high_motor_temp");
  link_hal_pins("conf0.low_dc_volt", "fault0.low_dc_volt");
  link_hal_pins("conf0.fan_hv_temp", "fault0.fan_hv_temp");
  link_hal_pins("conf0.fan_core_temp", "fault0.fan_core_temp");
  link_hal_pins("conf0.fan_motor_temp", "fault0.fan_motor_temp");
  link_hal_pins("conf0.autophase", "fault0.phase_on_start");
  link_hal_pins("conf0.max_sat", "fault0.max_sat");
  set_hal_pin("fault0.reset", 0.0);
  link_hal_pins("fault0.phase_start", "cauto0.start");
  link_hal_pins("cauto0.ready", "fault0.phase_ready");
  link_hal_pins("pid0.pos_error", "fault0.pos_error");
  link_hal_pins("pid0.saturated", "fault0.sat");
  link_hal_pins("hv0.dc_volt", "fault0.dc_volt");
  link_hal_pins("hv0.hv_temp", "fault0.hv_temp");
  link_hal_pins("net0.core_temp0", "fault0.core_temp0");
  link_hal_pins("net0.core_temp1", "fault0.core_temp1");
  link_hal_pins("net0.motor_temp", "fault0.motor_temp");
  link_hal_pins("hv0.dc_cur", "fault0.dc_cur");
  link_hal_pins("net0.fb_error", "fault0.fb_error");
  link_hal_pins("net0.cmd", "fault0.cmd");
  link_hal_pins("rev1.out", "fault0.fb");
  link_hal_pins("fault0.start_offset", "cauto0.start_offset");
  link_hal_pins("fault0.cur", "curpid0.max_cur");
  link_hal_pins("fault0.brake", "io0.brake");
  link_hal_pins("fault0.hv_fan", "io0.fan");
  link_hal_pins("fault0.enable_out", "hv0.enable");
  link_hal_pins("fault0.enable_pid", "pid0.enable");
  link_hal_pins("net0.enable", "fault0.enable");
  link_hal_pins("fault0.led_green", "io0.green");
  link_hal_pins("fault0.led_red", "io0.red");
  link_hal_pins("fault0.state", "term0.fault");
  link_hal_pins("conf0.fb_offset", "cauto0.mag_offset");
  link_hal_pins("conf0.phase_cur", "cauto0.cur");
  link_hal_pins("conf0.phase_time", "cauto0.time");
  link_hal_pins("conf0.j", "pid0.j");
  link_hal_pins("conf0.p", "pid0.p");
  link_hal_pins("conf0.pos_p", "pid0.pos_p");
  link_hal_pins("conf0.vel_p", "pid0.vel_p");
  link_hal_pins("conf0.acc_p", "pid0.acc_p");
  link_hal_pins("conf0.acc_pi", "pid0.acc_pi");
  link_hal_pins("conf0.max_vel", "pid0.max_usr_vel");
  link_hal_pins("conf0.max_acc", "pid0.max_usr_acc");
  link_hal_pins("conf0.max_force", "pid0.max_usr_torque");
  set_hal_pin("pid0.pos_lp", 4000.0);
  set_hal_pin("pid0.vel_lp", 4000.0);
  set_hal_pin("pid0.acc_lp", 4000.0);
  set_hal_pin("pid0.torque_ff", 1.0);
  set_hal_pin("pid0.vel_ff", 1.0);
  set_hal_pin("pid0.acc_ff", 1.0);
  set_hal_pin("net0.enable", 1.0);
  link_hal_pins("pid0.torque_cor_cmd", "t2c0.torque");
  link_hal_pins("conf0.polecount", "t2c0.polecount");
  link_hal_pins("conf0.psi", "t2c0.psi");
  link_hal_pins("cauto0.i_d", "curpid0.id_cmd");
  link_hal_pins("t2c0.cur", "curpid0.iq_cmd");
  link_hal_pins("hv0.dc_volt", "curpid0.dc_volt");
  link_hal_pins("hv0.ac_volt", "curpid0.ac_volt");
  link_hal_pins("conf0.r", "curpid0.rd");
  link_hal_pins("conf0.r", "curpid0.rq");
  link_hal_pins("conf0.l", "curpid0.ld");
  link_hal_pins("conf0.l", "curpid0.lq");
  link_hal_pins("conf0.cur_ff", "curpid0.ff");
  link_hal_pins("conf0.cur_p", "curpid0.kp");
  link_hal_pins("conf0.cur_i", "curpid0.ki");
  link_hal_pins("conf0.cur_ind", "curpid0.kind");
  link_hal_pins("curpid0.ud", "pmsm0.ud");
  link_hal_pins("curpid0.uq", "pmsm0.uq");
  link_hal_pins("net0.fb_d", "pmsm0.vel");
  link_hal_pins("conf0.r", "pmsm0.r");
  link_hal_pins("conf0.l", "pmsm0.ld");
  link_hal_pins("conf0.l", "pmsm0.lq");
  link_hal_pins("conf0.psi", "pmsm0.psi");
  link_hal_pins("pmsm0.id", "curpid0.id_fb");
  link_hal_pins("pmsm0.iq", "curpid0.iq_fb");
  link_hal_pins("pmsm0.indd", "curpid0.indd_fb");
  link_hal_pins("pmsm0.indq", "curpid0.indq_fb");
  link_hal_pins("conf0.polecount", "pmsm0.polecount");
  link_hal_pins("pmsm0.iq", "hv0.iq");
  link_hal_pins("conf0.r", "pmsm_limits0.r");
  link_hal_pins("conf0.l", "pmsm_limits0.ld");
  link_hal_pins("conf0.l", "pmsm_limits0.lq");
  link_hal_pins("conf0.psi", "pmsm_limits0.psi");
  link_hal_pins("conf0.polecount", "pmsm_limits0.polecount");
  link_hal_pins("hv0.ac_volt", "pmsm_limits0.ac_volt");
  link_hal_pins("pmsm0.indq", "pmsm_limits0.indq");
  link_hal_pins("pmsm0.iq", "pmsm_limits0.iq");
  link_hal_pins("pmsm_limits0.next_max_torque", "pid0.max_torque");
  link_hal_pins("pmsm_limits0.next_min_torque", "pid0.min_torque");
  link_hal_pins("pmsm_limits0.abs_max_vel", "pid0.max_vel");
  link_hal_pins("curpid0.ud", "idq0.d");
  link_hal_pins("curpid0.uq", "idq0.q");
  link_hal_pins("conf0.polecount", "idq0.polecount");
  link_hal_pins("idq0.a", "hv0.a");
  link_hal_pins("idq0.b", "hv0.b");
  link_hal_pins("conf0.out_rev", "hv0.rev");
  link_hal_pins("cauto0.pos", "idq0.pos");
  link_hal_pins("conf0.cmd_res", "sim0.res");
  link_hal_pins("net0.cmd", "term0.wave0");
  link_hal_pins("net0.fb", "term0.wave1");
  link_hal_pins("net0.cmd_d", "term0.wave2");
  link_hal_pins("net0.fb_d", "term0.wave3");
  set_hal_pin("term0.gain0", 20.0);
  set_hal_pin("term0.gain1", 20.0);
  set_hal_pin("term0.gain2", 1.0);
  set_hal_pin("term0.gain3", 1.0);
  link_hal_pins("conf0.sin_gain", "adc0.sin_gain");
  link_hal_pins("conf0.cos_gain", "adc0.cos_gain");
  link_hal_pins("conf0.sin_offset", "adc0.sin_offset");
  link_hal_pins("conf0.cos_offset", "adc0.cos_offset");
}
```