drpi1.cfg

uuid.uuid.0 175
uuid.uuid.1 187
uuid.uuid.2 33
uuid.uuid.3 128
uuid.uuid.4 50
uuid.uuid.5 112
uuid.uuid.6 79
uuid.uuid.7 131
uuid.uuid.8 147
uuid.uuid.9 143
uuid.uuid.10 71
uuid.uuid.11 35
uuid.uuid.12 180
uuid.uuid.13 104
uuid.uuid.14 85
uuid.uuid.15 47
clock.hsitrim 64
aux1.i2c.i2c_hz 400000
aux1.i2c.i2c_mode 1
aux1.i2c.pullup 0
aux1.i2c.devices.0.type 0
aux1.i2c.devices.0.address 64
aux1.i2c.devices.0.poll_rate_us 1000
aux1.i2c.devices.1.type 0
aux1.i2c.devices.1.address 64
aux1.i2c.devices.1.poll_rate_us 1000
aux1.i2c.devices.2.type 0
aux1.i2c.devices.2.address 64
aux1.i2c.devices.2.poll_rate_us 1000
aux1.spi.mode 0
aux1.spi.rate_hz 12000000
aux1.spi.filter_us 64
aux1.spi.bct 0
aux1.uart.mode 0
aux1.uart.baud_rate 115200
aux1.uart.poll_rate_us 100
aux1.uart.rs422 0
aux1.uart.cui_amt21_address 84
aux1.quadrature.enabled 0
aux1.quadrature.cpr 16384
aux1.hall.enabled 0
aux1.hall.polarity 0
aux1.index.enabled 0
aux1.sine_cosine.enabled 0
aux1.sine_cosine.common 1700
aux1.i2c_startup_delay_ms 30
aux1.pins.0.mode 0
aux1.pins.0.pull 0
aux1.pins.1.mode 0
aux1.pins.1.pull 0
aux1.pins.2.mode 0
aux1.pins.2.pull 0
aux1.pins.3.mode 0
aux1.pins.3.pull 0
aux1.pins.4.mode 0
aux1.pins.4.pull 0
aux2.i2c.i2c_hz 400000
aux2.i2c.i2c_mode 1
aux2.i2c.pullup 0
aux2.i2c.devices.0.type 0
aux2.i2c.devices.0.address 64
aux2.i2c.devices.0.poll_rate_us 1000
aux2.i2c.devices.1.type 0
aux2.i2c.devices.1.address 64
aux2.i2c.devices.1.poll_rate_us 1000
aux2.i2c.devices.2.type 0
aux2.i2c.devices.2.address 64
aux2.i2c.devices.2.poll_rate_us 1000
aux2.spi.mode 0
aux2.spi.rate_hz 12000000
aux2.spi.filter_us 64
aux2.spi.bct 0
aux2.uart.mode 0
aux2.uart.baud_rate 115200
aux2.uart.poll_rate_us 100
aux2.uart.rs422 0
aux2.uart.cui_amt21_address 84
aux2.quadrature.enabled 0
aux2.quadrature.cpr 16384
aux2.hall.enabled 0
aux2.hall.polarity 0
aux2.index.enabled 0
aux2.sine_cosine.enabled 0
aux2.sine_cosine.common 1700
aux2.i2c_startup_delay_ms 30
aux2.pins.0.mode 0
aux2.pins.0.pull 0
aux2.pins.1.mode 0
aux2.pins.1.pull 0
aux2.pins.2.mode 0
aux2.pins.2.pull 0
aux2.pins.3.mode 0
aux2.pins.3.pull 0
aux2.pins.4.mode 0
aux2.pins.4.pull 0
motor_position.sources.0.aux_number 1
motor_position.sources.0.type 1
motor_position.sources.0.i2c_device 0
motor_position.sources.0.incremental_index -1
motor_position.sources.0.cpr 16384
motor_position.sources.0.offset 0.000000
motor_position.sources.0.sign 1
motor_position.sources.0.debug_override -1
motor_position.sources.0.reference 0
motor_position.sources.0.pll_filter_hz 250.000000
motor_position.sources.0.compensation_table.0 0.000000
motor_position.sources.0.compensation_table.1 0.000000
motor_position.sources.0.compensation_table.2 0.000000
motor_position.sources.0.compensation_table.3 0.000000
motor_position.sources.0.compensation_table.4 0.000000
motor_position.sources.0.compensation_table.5 0.000000
motor_position.sources.0.compensation_table.6 0.000000
motor_position.sources.0.compensation_table.7 0.000000
motor_position.sources.0.compensation_table.8 0.000000
motor_position.sources.0.compensation_table.9 0.000000
motor_position.sources.0.compensation_table.10 0.000000
motor_position.sources.0.compensation_table.11 0.000000
motor_position.sources.0.compensation_table.12 0.000000
motor_position.sources.0.compensation_table.13 0.000000
motor_position.sources.0.compensation_table.14 0.000000
motor_position.sources.0.compensation_table.15 0.000000
motor_position.sources.0.compensation_table.16 0.000000
motor_position.sources.0.compensation_table.17 0.000000
motor_position.sources.0.compensation_table.18 0.000000
motor_position.sources.0.compensation_table.19 0.000000
motor_position.sources.0.compensation_table.20 0.000000
motor_position.sources.0.compensation_table.21 0.000000
motor_position.sources.0.compensation_table.22 0.000000
motor_position.sources.0.compensation_table.23 0.000000
motor_position.sources.0.compensation_table.24 0.000000
motor_position.sources.0.compensation_table.25 0.000000
motor_position.sources.0.compensation_table.26 0.000000
motor_position.sources.0.compensation_table.27 0.000000
motor_position.sources.0.compensation_table.28 0.000000
motor_position.sources.0.compensation_table.29 0.000000
motor_position.sources.0.compensation_table.30 0.000000
motor_position.sources.0.compensation_table.31 0.000000
motor_position.sources.1.aux_number 1
motor_position.sources.1.type 0
motor_position.sources.1.i2c_device 0
motor_position.sources.1.incremental_index -1
motor_position.sources.1.cpr 16384
motor_position.sources.1.offset 0.000000
motor_position.sources.1.sign 1
motor_position.sources.1.debug_override -1
motor_position.sources.1.reference 0
motor_position.sources.1.pll_filter_hz 400.000000
motor_position.sources.1.compensation_table.0 0.000000
motor_position.sources.1.compensation_table.1 0.000000
motor_position.sources.1.compensation_table.2 0.000000
motor_position.sources.1.compensation_table.3 0.000000
motor_position.sources.1.compensation_table.4 0.000000
motor_position.sources.1.compensation_table.5 0.000000
motor_position.sources.1.compensation_table.6 0.000000
motor_position.sources.1.compensation_table.7 0.000000
motor_position.sources.1.compensation_table.8 0.000000
motor_position.sources.1.compensation_table.9 0.000000
motor_position.sources.1.compensation_table.10 0.000000
motor_position.sources.1.compensation_table.11 0.000000
motor_position.sources.1.compensation_table.12 0.000000
motor_position.sources.1.compensation_table.13 0.000000
motor_position.sources.1.compensation_table.14 0.000000
motor_position.sources.1.compensation_table.15 0.000000
motor_position.sources.1.compensation_table.16 0.000000
motor_position.sources.1.compensation_table.17 0.000000
motor_position.sources.1.compensation_table.18 0.000000
motor_position.sources.1.compensation_table.19 0.000000
motor_position.sources.1.compensation_table.20 0.000000
motor_position.sources.1.compensation_table.21 0.000000
motor_position.sources.1.compensation_table.22 0.000000
motor_position.sources.1.compensation_table.23 0.000000
motor_position.sources.1.compensation_table.24 0.000000
motor_position.sources.1.compensation_table.25 0.000000
motor_position.sources.1.compensation_table.26 0.000000
motor_position.sources.1.compensation_table.27 0.000000
motor_position.sources.1.compensation_table.28 0.000000
motor_position.sources.1.compensation_table.29 0.000000
motor_position.sources.1.compensation_table.30 0.000000
motor_position.sources.1.compensation_table.31 0.000000
motor_position.sources.2.aux_number 1
motor_position.sources.2.type 0
motor_position.sources.2.i2c_device 0
motor_position.sources.2.incremental_index -1
motor_position.sources.2.cpr 16384
motor_position.sources.2.offset 0.000000
motor_position.sources.2.sign 1
motor_position.sources.2.debug_override -1
motor_position.sources.2.reference 0
motor_position.sources.2.pll_filter_hz 400.000000
motor_position.sources.2.compensation_table.0 0.000000
motor_position.sources.2.compensation_table.1 0.000000
motor_position.sources.2.compensation_table.2 0.000000
motor_position.sources.2.compensation_table.3 0.000000
motor_position.sources.2.compensation_table.4 0.000000
motor_position.sources.2.compensation_table.5 0.000000
motor_position.sources.2.compensation_table.6 0.000000
motor_position.sources.2.compensation_table.7 0.000000
motor_position.sources.2.compensation_table.8 0.000000
motor_position.sources.2.compensation_table.9 0.000000
motor_position.sources.2.compensation_table.10 0.000000
motor_position.sources.2.compensation_table.11 0.000000
motor_position.sources.2.compensation_table.12 0.000000
motor_position.sources.2.compensation_table.13 0.000000
motor_position.sources.2.compensation_table.14 0.000000
motor_position.sources.2.compensation_table.15 0.000000
motor_position.sources.2.compensation_table.16 0.000000
motor_position.sources.2.compensation_table.17 0.000000
motor_position.sources.2.compensation_table.18 0.000000
motor_position.sources.2.compensation_table.19 0.000000
motor_position.sources.2.compensation_table.20 0.000000
motor_position.sources.2.compensation_table.21 0.000000
motor_position.sources.2.compensation_table.22 0.000000
motor_position.sources.2.compensation_table.23 0.000000
motor_position.sources.2.compensation_table.24 0.000000
motor_position.sources.2.compensation_table.25 0.000000
motor_position.sources.2.compensation_table.26 0.000000
motor_position.sources.2.compensation_table.27 0.000000
motor_position.sources.2.compensation_table.28 0.000000
motor_position.sources.2.compensation_table.29 0.000000
motor_position.sources.2.compensation_table.30 0.000000
motor_position.sources.2.compensation_table.31 0.000000
motor_position.commutation_source 0
motor_position.output.source 0
motor_position.output.offset 0.096283
motor_position.output.sign 1
motor_position.output.reference_source -1
motor_position.rotor_to_output_ratio 1.000000
motor.poles 14
motor.phase_invert 1
motor.resistance_ohm 0.051102
motor.v_per_hz 0.108271
motor.offset.0 0.513519
motor.offset.1 0.496148
motor.offset.2 0.498814
motor.offset.3 0.523695
motor.offset.4 0.517544
motor.offset.5 0.520577
motor.offset.6 0.531450
motor.offset.7 0.511825
motor.offset.8 0.494513
motor.offset.9 0.501477
motor.offset.10 0.479779
motor.offset.11 0.471320
motor.offset.12 0.495335
motor.offset.13 0.498122
motor.offset.14 0.501709
motor.offset.15 0.528700
motor.offset.16 0.523876
motor.offset.17 0.512903
motor.offset.18 0.523121
motor.offset.19 0.510143
motor.offset.20 0.496463
motor.offset.21 0.507925
motor.offset.22 0.506230
motor.offset.23 0.497957
motor.offset.24 0.513351
motor.offset.25 0.508738
motor.offset.26 0.492486
motor.offset.27 0.497721
motor.offset.28 0.487500
motor.offset.29 0.468827
motor.offset.30 0.477151
motor.offset.31 0.481727
motor.offset.32 0.468108
motor.offset.33 0.483994
motor.offset.34 0.487092
motor.offset.35 0.470277
motor.offset.36 0.473471
motor.offset.37 0.465301
motor.offset.38 0.441442
motor.offset.39 0.445697
motor.offset.40 0.455109
motor.offset.41 0.441726
motor.offset.42 0.457240
motor.offset.43 0.464937
motor.offset.44 0.452182
motor.offset.45 0.454919
motor.offset.46 0.465700
motor.offset.47 0.459676
motor.offset.48 0.473632
motor.offset.49 0.498423
motor.offset.50 0.498948
motor.offset.51 0.520057
motor.offset.52 0.531699
motor.offset.53 0.513701
motor.offset.54 0.506056
motor.offset.55 0.505099
motor.offset.56 0.485355
motor.offset.57 0.484816
motor.offset.58 0.502778
motor.offset.59 0.498525
motor.offset.60 0.512561
motor.offset.61 0.530760
motor.offset.62 0.513294
motor.offset.63 0.508598
motor.rotation_current_cutoff_A 10000.000000
motor.rotation_current_scale 0.050000
motor.rotation_torque_scale 14.700000
motor.cogging_dq_scale 0.000000
motor.cogging_dq_comp.0 0
motor.cogging_dq_comp.1 0
motor.cogging_dq_comp.2 0
motor.cogging_dq_comp.3 0
motor.cogging_dq_comp.4 0
motor.cogging_dq_comp.5 0
motor.cogging_dq_comp.6 0
motor.cogging_dq_comp.7 0
motor.cogging_dq_comp.8 0
motor.cogging_dq_comp.9 0
motor.cogging_dq_comp.10 0
motor.cogging_dq_comp.11 0
motor.cogging_dq_comp.12 0
motor.cogging_dq_comp.13 0
motor.cogging_dq_comp.14 0
motor.cogging_dq_comp.15 0
motor.cogging_dq_comp.16 0
motor.cogging_dq_comp.17 0
motor.cogging_dq_comp.18 0
motor.cogging_dq_comp.19 0
motor.cogging_dq_comp.20 0
motor.cogging_dq_comp.21 0
motor.cogging_dq_comp.22 0
motor.cogging_dq_comp.23 0
motor.cogging_dq_comp.24 0
motor.cogging_dq_comp.25 0
motor.cogging_dq_comp.26 0
motor.cogging_dq_comp.27 0
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motor.cogging_dq_comp.31 0
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drv8323_conf.dis_cpuv 0
drv8323_conf.dis_gdf 0
drv8323_conf.otw_rep 0
drv8323_conf.pwm_mode 1
drv8323_conf.pwm_1x_asynchronous 0
drv8323_conf.pwm_1x_dir 0
drv8323_conf.idrivep_hs_ma 100
drv8323_conf.idriven_hs_ma 200
drv8323_conf.cbc 1
drv8323_conf.tdrive_ns 1000
drv8323_conf.idrivep_ls_ma 100
drv8323_conf.idriven_ls_ma 200
drv8323_conf.tretry 0
drv8323_conf.dead_time_ns 50
drv8323_conf.ocp_mode 0
drv8323_conf.ocp_deg_us 4
drv8323_conf.vds_lvl_mv 700
drv8323_conf.csa_fet 0
drv8323_conf.vref_div 1
drv8323_conf.ls_ref 0
drv8323_conf.csa_gain 20
drv8323_conf.dis_sen 0
drv8323_conf.sen_lvl_mv 500
servo.pwm_rate_hz 30000
servo.i_gain 20.000000
servo.current_sense_ohm 0.000500
servo.pwm_comp_off 0.027000
servo.pwm_comp_mag 0.005000
servo.pwm_scale 1.000000
servo.max_voltage 46.000000
servo.max_power_W 450.000000
servo.derate_temperature 50.000000
servo.fault_temperature 75.000000
servo.enable_motor_temperature 0
servo.motor_derate_temperature 50.000000
servo.motor_fault_temperature nan
servo.velocity_threshold 0.000000
servo.position_derate 0.020000
servo.adc_cur_cycles 2
servo.adc_aux_cycles 47
servo.pid_dq.kp 0.041876
servo.pid_dq.ki 80.271515
servo.pid_position.kp 4.000000
servo.pid_position.ki 1.000000
servo.pid_position.kd 0.050000
servo.pid_position.iratelimit -1.000000
servo.pid_position.ilimit 0.000000
servo.pid_position.max_desired_rate 0.000000
servo.pid_position.sign -1
servo.current_feedforward 1.000000
servo.bemf_feedforward 1.000000
servo.default_velocity_limit nan
servo.default_accel_limit nan
servo.voltage_mode_control 0
servo.fixed_voltage_mode 0
servo.fixed_voltage_control_V 0.000000
servo.max_position_slip nan
servo.max_velocity_slip nan
servo.default_timeout_s 0.100000
servo.timeout_max_torque_Nm 5.000000
servo.timeout_mode 12
servo.flux_brake_min_voltage 43.500000
servo.flux_brake_resistance_ohm 0.025000
servo.max_current_A 100.000000
servo.derate_current_A -20.000000
servo.max_velocity 500.000000
servo.max_velocity_derate 2.000000
servo.cooldown_cycles 256
servo.velocity_zero_capture_threshold 0.050000
servo.timing_fault 0
servo.emit_debug 0
servopos.position_min nan
servopos.position_max nan
id.id 1
can.prefix 0