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dev10110/dump.txt

Created October 3, 2021 04:55
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dump.txt
#=================================
#====== print(odrv0) =============
#=================================
axis0:
clear_errors(obj: object_ref)
config: ...
controller: ...
current_state: 1 (int32)
encoder: ...
error: 257 (int32)
fet_thermistor: ...
is_homed: False (bool)
lockin_state: 0 (int32)
loop_counter: 8932298 (uint32)
max_endstop: ...
min_endstop: ...
motor: ...
motor_thermistor: ...
requested_state: 0 (int32)
sensorless_estimator: ...
step_dir_active: False (bool)
trap_traj: ...
watchdog_feed(obj: object_ref)
axis1:
clear_errors(obj: object_ref)
config: ...
controller: ...
current_state: 1 (int32)
encoder: ...
error: 0 (int32)
fet_thermistor: ...
is_homed: False (bool)
lockin_state: 0 (int32)
loop_counter: 8932359 (uint32)
max_endstop: ...
min_endstop: ...
motor: ...
motor_thermistor: ...
requested_state: 0 (int32)
sensorless_estimator: ...
step_dir_active: False (bool)
trap_traj: ...
watchdog_feed(obj: object_ref)
brake_resistor_armed: True (bool)
brake_resistor_saturated: False (bool)
can:
config: ...
error: 0 (int32)
set_baud_rate(obj: object_ref, baudRate: uint32)
config:
brake_resistance: 0.4699999988079071 (float)
dc_bus_overvoltage_ramp_end: 25.68000030517578 (float)
dc_bus_overvoltage_ramp_start: 25.68000030517578 (float)
dc_bus_overvoltage_trip_level: 25.68000030517578 (float)
dc_bus_undervoltage_trip_level: 8.0 (float)
dc_max_negative_current: -9.999999974752427e-07 (float)
dc_max_positive_current: inf (float)
enable_ascii_protocol_on_usb: True (bool)
enable_dc_bus_overvoltage_ramp: False (bool)
enable_i2c_instead_of_can: False (bool)
enable_uart: True (bool)
gpio1_pwm_mapping: ...
gpio2_pwm_mapping: ...
gpio3_analog_mapping: ...
gpio3_pwm_mapping: ...
gpio4_analog_mapping: ...
gpio4_pwm_mapping: ...
max_regen_current: 0.0 (float)
uart_baudrate: 115200 (uint32)
enter_dfu_mode(obj: object_ref)
erase_configuration(obj: object_ref)
fw_version_major: 0 (uint8)
fw_version_minor: 5 (uint8)
fw_version_revision: 1 (uint8)
fw_version_unreleased: 0 (uint8)
get_adc_voltage(obj: object_ref, gpio: uint32) -> voltage: float
get_oscilloscope_val(obj: object_ref, index: uint32) -> val: float
hw_version_major: 3 (uint8)
hw_version_minor: 6 (uint8)
hw_version_variant: 24 (uint8)
ibus: 0.0 (float)
ibus_report_filter_k: 1.0 (float)
reboot(obj: object_ref)
save_configuration(obj: object_ref)
serial_number: 35649110890312 (uint64)
system_stats:
i2c: ...
min_heap_space: 41560 (uint32)
min_stack_space_axis0: 1628 (uint32)
min_stack_space_axis1: 1692 (uint32)
min_stack_space_can: 804 (uint32)
min_stack_space_comms: 3864 (uint32)
min_stack_space_startup: 1700 (uint32)
min_stack_space_uart: 3924 (uint32)
min_stack_space_usb: 2752 (uint32)
min_stack_space_usb_irq: 1796 (uint32)
stack_usage_axis0: 420 (uint32)
stack_usage_axis1: 356 (uint32)
stack_usage_can: 220 (uint32)
stack_usage_comms: 232 (uint32)
stack_usage_startup: 348 (uint32)
stack_usage_uart: 172 (uint32)
stack_usage_usb: 1344 (uint32)
stack_usage_usb_irq: 252 (uint32)
uptime: 1118165 (uint32)
usb: ...
test_function(obj: object_ref, delta: int32) -> cnt: int32
test_property: 0 (uint32)
user_config_loaded: True (bool)
vbus_voltage: 20.9150390625 (float)
#============================
#====print(odrv0.axis0.config)
#============================
calibration_lockin:
accel: 20.0 (float)
current: 10.0 (float)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
can_heartbeat_rate_ms: 100 (uint32)
can_node_id: 0 (uint32)
can_node_id_extended: False (bool)
dir_gpio_pin: 2 (uint16)
enable_step_dir: False (bool)
enable_watchdog: False (bool)
general_lockin:
accel: 20.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: False (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 40.0 (float)
sensorless_ramp:
accel: 200.0 (float)
current: 10.0 (float)
finish_distance: 100.0 (float)
finish_on_distance: False (bool)
finish_on_enc_idx: False (bool)
finish_on_vel: True (bool)
ramp_distance: 3.1415927410125732 (float)
ramp_time: 0.4000000059604645 (float)
vel: 400.0 (float)
startup_closed_loop_control: False (bool)
startup_encoder_index_search: False (bool)
startup_encoder_offset_calibration: False (bool)
startup_homing: False (bool)
startup_motor_calibration: False (bool)
startup_sensorless_control: False (bool)
step_dir_always_on: False (bool)
step_gpio_pin: 1 (uint16)
turns_per_step: 0.0009765625 (float)
watchdog_timeout: 0.0 (float)
#===========================
#===== print(odrv0.axis0.encoder)
#==============================
calib_scan_response: 0.0 (float)
config:
abs_spi_cs_gpio_pin: 3 (uint16)
bandwidth: 1000.0 (float)
calib_range: 0.019999999552965164 (float)
calib_scan_distance: 50.26548385620117 (float)
calib_scan_omega: 12.566370964050293 (float)
cpr: 16384 (int32)
enable_phase_interpolation: True (bool)
find_idx_on_lockin_only: False (bool)
idx_search_unidirectional: False (bool)
ignore_illegal_hall_state: False (bool)
mode: 257 (int32)
offset: 0 (int32)
offset_float: 0.0 (float)
pre_calibrated: False (bool)
sincos_gpio_pin_cos: 4 (uint16)
sincos_gpio_pin_sin: 3 (uint16)
use_index: False (bool)
zero_count_on_find_idx: True (bool)
count_in_cpr: 1671 (int32)
error: 4 (int32)
hall_state: 7 (uint8)
index_found: False (bool)
interpolation: 0.0 (float)
is_ready: False (bool)
phase: 0.7595126628875732 (float)
pos_abs: 1671 (int32)
pos_circular: 0.10202598571777344 (float)
pos_cpr: 0.10208415985107422 (float)
pos_cpr_counts: 1671.3125 (float)
pos_estimate: 0.10204219818115234 (float)
pos_estimate_counts: 1670.9375 (float)
set_linear_count(obj: object_ref, count: int32)
shadow_count: 1672 (int32)
spi_error_rate: 0.0 (float)
vel_estimate: 0.01525879092514515 (float)
vel_estimate_counts: -375.0000305175781 (float)
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