57.8. SEI Slave: Simulate ENDAT Encoder

57.8.1. Overview

This demo shows SEI interface simulate ENDAT encoder and generate position data, then print related information by uart console.

57.8.2. Configration

  • Two development boards are required, one as the master and one as the slave.

  • Master sample path is “samples/drivers/sei/master/endat”, slave is this example.

  • Master’s SEI_CLK pins should bridging master side，and slave’s SEI_CLK pins should bridging slave side.

  • Connect master’s SEI pins DATA_P/DATA_N to slave’s SEI pins DATA_P/DATA_N.

  • Connect master’s SEI pins CLKO_P/CLKO_N to slave’s SEI pins CLKI_P/CLKI_N.

  • Connect master’s GND to slave’s GND.

57.8.3. Running the example

  • When the example runs successfully, the console shows the following log. ST’s value increasing by 1 each sample, sample interval is 200ms.

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
SEI slave EnDat sample
Started sei engine!
CMD:0x7, E:0x0, ST:0xa5a5, CRC:0x5, sample_tm1:20525173, sample_tm2:0, sample_interval:128282 us
CMD:0x7, E:0x0, ST:0xa5a6, CRC:0xf, sample_tm1:52524852, sample_tm2:20525173, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5a7, CRC:0x1a, sample_tm1:84524531, sample_tm2:52524852, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5a8, CRC:0x7, sample_tm1:116524210, sample_tm2:84524531, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5a9, CRC:0x12, sample_tm1:148523889, sample_tm2:116524210, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5aa, CRC:0x18, sample_tm1:180523568, sample_tm2:148523889, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5ab, CRC:0xd, sample_tm1:212523247, sample_tm2:180523568, sample_interval:199997 us
CMD:0x7, E:0x0, ST:0xa5ac, CRC:0x1d, sample_tm1:244522927, sample_tm2:212523247, sample_interval:199998 us