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// Context: https://github.com/madcowswe/ODrive/pull/419

#include <stdint.h>

struct HwConfig_t {
    // [polynomial and ADC channel]
};

class ThermistorCurrentLimiter {
public:

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# Maintainer: Yunhui Fu ([email protected])
# Contributor: Julien Sopena ([email protected])
# Contributor: Oleg Smirnov ([email protected])
# Contributor: angrycore ([email protected])
# Contributor: Christophe Guéret ([email protected])
# Contributor: oguzkagan <me at oguzkaganeren dot com dot tr>
# 
pkgname="omnetpp"
pkgver=5.5.1
pkgrel=3

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/*
 * Note: This code is mostly taken from Whitequark's Lab Notebook:
 * https://lab.whitequark.org/notes/2017-11-08/accessing-intel-ich-pch-gpios/
 * 
 * Compile with:
 *  gcc -std=c11 -lpci -Wall -g -o gpioke gpioke.c
 * 
 * Usage Example:
 *  sudo ./gpioke --set-dir 10 1 --set-level 10 0 --sleep 1000 --set-level 10 1
 * 

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#include <stdint.h>
#include <odrive_main.h>
#include <axis.hpp>
#include <algorithm>

#include "midi.hpp"

#define MAX_SONGS 10
const uint8_t* songs[MAX_SONGS] = {0};

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def generic_test(test_name, axis, vf_tuples, duration = 2.0, savefile = None):
    axis.motor.config.motor_type = 2 # force voltage control
    axis.motor.config.pole_pairs = 1 # ensure vel_setpoint is in [Hz]

    axis.controller.current_setpoint = 0
    axis.requested_state = 11 # open loop
    axis.controller.vel_setpoint = 0
    time.sleep(0.01)
    if axis.current_state != 11:

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source Support/gdbtrace.init

target remote | openocd -f "interface/stlink-v2.cfg" -f "target/stm32f4x_stlink.cfg" -c "gdb_port pipe; log_output openocd.log"
#cortex_m vector_catch all
#monitor swdp_scan
monitor reset halt
monitor cortex_m vector_catch all
#file /Data/Projects/ODrive/Firmware/build/ODriveFirmware.elf
#attach 1                                # <---- Connect to the target
set mem inaccessible-by-default off

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source Support/gdbtrace.init

target remote | openocd -f "interface/stlink-v2.cfg" -f "target/stm32f4x_stlink.cfg" -c "gdb_port pipe; log_output openocd.log"
#cortex_m vector_catch all
#monitor swdp_scan
monitor reset halt
monitor cortex_m vector_catch all
#file /Data/Projects/ODrive/Firmware/build/ODriveFirmware.elf
#attach 1                                # <---- Connect to the target
set mem inaccessible-by-default off

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[
    {
        "omega_stator": 6.283185307179586,
        "omega_rotor": 0,
        "timestamps": [
            1.0155001291423105e-05,
            0.00447514600091381,
            0.008955860999776633,
            0.011569055001018569,
            0.014018842000950826,

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[
    {
        "omega_stator": 0.0,
        "omega_rotor": 0,
        "timestamps": [
            6.594000296900049e-06,
            0.002872992999982671,
            0.006120308999015833,
            0.009046040999237448,
            0.01208515699909185,

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import numpy as np
from math import pi, sqrt
from scipy.integrate import odeint, complex_ode
from scipy.optimize import least_squares
import matplotlib.pyplot as plt

filenames = [
    "dc_test_blue_motor_2019-04-05.json",
#    "blocked_rotor_test_blue_motor_2019-04-05.json"