# UART tomagawa

## Overview

This example shows UART communicate with tamarawa encoder.
In this example, configure UART sending to be triggered by hardware. UART first writes the command data, which is then saved in the FIFO. After a hardware trigger event occurs, UART will issue the command and receive the encoder's return data. After receiving the specified length of data, an interrupt is generated to complete a communication.

## Note

The Tamagawa sensor outputs RS485 signals, which requires to use a suitable RS485 to TTL module (supporting 2.5Mbps) to convert the signal and connect it to the corresponding pins of the UART.

## Board Setting

- connect Tamagawa sensor output signals to RS485 port of the RS485 to TTL module and power to Tamagawa sensor.
- connect uart tx/rx pin to (Please refer to [Pin Description](lab_board_resource)) to TTL port of the RS485 to TTL module.
- according to whether the RS485 to TTL module requires a directional selection signal, choose to connect the DE pin of UART to it.

## Running the example

When the project runs correctly, the serial port terminal will output the information like:
```console
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0xb4 0xbd 0x1c 0x37
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0x50 0xa9 0x78 0xa3
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0x81 0xe5 0x6e 0x28
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0x71 0x26 0x5c 0x29
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0xa4 0x4d 0x39 0xf2
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0xd6 0x3a 0x17 0xd9
uart tamagawa transfer complete.
uart sent cmd: 0x02
uart receive excepted count data: 0x02 0x20 0x43 0x7f 0x03 0x1d
```