49.1. QEIV2 ABZ Encoder
49.1.1. 概述
Qeiv2 ABZ Encoder工程主要演示配置ABZ编码器并获取其数据，然后通过串口终端将数据打印出来。
49.1.2. 配置
安装串口终端，查看板子信息并配置串口终端参数
电机使用的是雷赛智能 BLM57050-1000 无刷电机，电机具体参数请参考雷赛智能官网。
点击查看DRV-LV50A-MP1907电机驱动板章节并进行配置
49.1.3. 运行现象
上电后，打开串口终端，打印启动信息。
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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
转动电机就会触发编码器计算速度的中断，打印如下信息。
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1686b6d, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x16627c4, spd : 1 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1686b6d, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x24dd73, spd : 19 deg/s
cycle0 --- pulse_snap0: 0xd, cylce_snap0: 0x25a71f, spd : 82 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x24dd73, spd : 19 deg/s
cycle0 --- pulse_snap0: 0xc, cylce_snap0: 0x2315c9, spd : 82 deg/s
cycle0 --- pulse_snap1: 0xd, cylce_snap1: 0x25a71f, spd : 82 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x176666, spd : 30 deg/s
cycle0 --- pulse_snap1: 0xc, cylce_snap1: 0x2315c9, spd : 82 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x176666, spd : 30 deg/s
cycle0 --- pulse_snap0: 0x22, cylce_snap0: 0x90d929, spd : 53 deg/s
cycle0 --- pulse_snap1: 0x3, cylce_snap1: 0x16627c4, spd : 1 deg/s
cycle0 --- pulse_snap0: 0x1, cylce_snap0: 0x1986a2, spd : 9 deg/s
cycle0 --- pulse_snap1: 0x1, cylce_snap1: 0x1986a2, spd : 9 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x25e74f, spd : 12 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1a119d, spd : 18 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x25e74f, spd : 12 deg/s
cycle0 --- pulse_snap0: 0x8, cylce_snap0: 0x160b51b, spd : 4 deg/s
cycle0 --- pulse_snap1: 0x22, cylce_snap1: 0x90d929, spd : 53 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1a119d, spd : 18 deg/s
cycle0 --- pulse_snap0: 0x1, cylce_snap0: 0x14aa84, spd : 11 deg/s
cycle0 --- pulse_snap0: 0x2, cylce_snap0: 0x1f9b08, spd : 15 deg/s
cycle0 --- pulse_snap1: 0x1, cylce_snap1: 0x14aa84, spd : 11 deg/s
cycle0 --- pulse_snap0: 0x3, cylce_snap0: 0x25bfd0, spd : 18 deg/s
cycle0 --- pulse_snap1: 0x2, cylce_snap1: 0x1f9b08, spd : 15 deg/s