50.2. QEIV2 ABZ Encoder Oneshot Mode
50.2.1. Overview
Qeiv2 ABZ Encoder Oneshot Mode project demonstrates configuring the ABZ encoder and obtaining its data using oneshot mode, then printing the data through a serial console.
50.2.2. Configurations
Install the serial terminal, view board information, and configure the serial terminal parameters
This program uses the BLM57050-1000 brushless motor of “Leisai Intelligence”, refer to the Leisai Intelligence website for the specific parameters of the motor.
Click DRV-LV50A-MP1907 Motor Driver Board section and configure
50.2.3. Running the Demo
Power on, open the serial terminal, log as following:
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$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
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qeiv2 abz encoder example
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
z: 0x64, phase: 0x1f4
Rotating the motor will trigger an interrupt in the encoder’s calculation of speed, then printing the following information.
cycle0 --- pulse_snap0: 0xffffffff, cylce_snap0: 0x0, spd : 0 deg/s
cycle0 --- pulse_snap1: 0x0, cylce_snap1: 0x0, spd : 0 deg/s
cycle1 --- pulse_snap0: 0xffffffff, cylce_snap0: 0x0, spd : 0 deg/s
cycle1 --- pulse_snap1: 0x0, cylce_snap1: 0x0, spd : 0 deg/s
pulse1 --- cycle_snap0: 0x6cf42561, spd: 5 deg/s,
pulse1 --- cycle_snap1: 0x1a119d, spd: 5 deg/s,
pulse0 --- cycle_snap0: 0x160b51b, spd: 5 deg/s,
pulse0 --- cycle_snap1: 0x25bfd0, spd: 5 deg/s,