def send_handler(channel, data):
msg = jtag_t.decode(data)
#print("Message on channel \"%s\"" % channel)
print (bcolors.OKBLUE + "\x1b[0G\x1b[2K>> %u.%u\033[93m" \
" Address[%u, 0x%02X]\033[92m Data[%u, 0x%08X]\033[0m" \
% (msg.seconds, msg.microseconds, msg.address, msg.address, \
msg.data , msg.data))
def rec_handler(channel, data):
global data_count
msg = jtag_t.decode(data)
#print("Message on channel \"%s\"" % channel)
print (bcolors.OKBLUE + "\x1b[0G\x1b[2K<< %u.%u\033[93m" \
" Address[%u, 0x%02X]\033[92m Data[%u, 0x%08X]\033[0m" \
% (msg.seconds, msg.microseconds, msg.address, msg.address, \
msg.data , msg.data))
if(msg.address == 9):
# Closed Loop Debugging
motor_position = msg.data%21845
motor_position_cmd = 1024-(motor_position/21845.0)*1024.0
print ("Loop Debugging: %u, %u, %u" % (msg.data, motor_position, motor_position_cmd))
data_count = data_count + 1
with open('resolver_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 16):
# Closed Loop Debugging
data_count = data_count + 1
with open('delta_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 17):
# Closed Loop Debugging
data_count = data_count + 1
with open('torque_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 18):
# Closed Loop Debugging
data_count = data_count + 1
with open('u_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 20):
# Closed Loop Debugging
data_count = data_count + 1
with open('v_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 22):
# Closed Loop Debugging
data_count = data_count + 1
with open('w_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 26):
# Position Loop Debugging
data_count = data_count + 1
with open('error_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 31):
# PID Debugging
data_count = data_count + 1
with open('pid_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
elif(msg.address == 37):
# Absolute Position Debugging
data_count = data_count + 1
with open('absolute_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.data])
else:
with open('command_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.address, msg.data])
with open('full_log.csv', 'a') as csvfile:
logwriter = csv.writer(csvfile, delimiter=' ',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
time = msg.seconds + (msg.microseconds*pow(10,-6))
logwriter.writerow([data_count, msg.address, msg.data])
