57.3. SEI Master: Connect HIPERFACE Encoder
57.3.1. 概述
该工程主要演示通过SEI接口获取HIPERFACE编码器位置数据，自动计算采样/更新延时，并通过串口将信息打印出来。
57.3.2. 配置
HIPERFACE编码器的型号为SKM36-HFA0-K02。
将SEI接口信号DATA_P/DATA_N与编码器的数据信号相连接，编码器通过外接电源+9V供电。
57.3.3. 运行现象
通过串口终端查看到的log如下，旋转编码器，相应的数值会变化。
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$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
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SEI master hiperface sample
Started sei engine!
rev:0x272, pos:0x55100000, addr:0x40, CRC:0x8a, sample_tm:2683013340, update_tm:2684690833, TimeDelay:8387 us
rev:0x272, pos:0xa400000, addr:0x40, CRC:0x85, sample_tm:2723013856, update_tm:2724691348, TimeDelay:8387 us
rev:0x272, pos:0xa000000, addr:0x40, CRC:0xa5, sample_tm:2763013939, update_tm:2764691431, TimeDelay:8387 us
rev:0x271, pos:0xc0200000, addr:0x40, CRC:0xdc, sample_tm:2803013180, update_tm:2804690667, TimeDelay:8387 us
rev:0x271, pos:0x7f900000, addr:0x40, CRC:0xd3, sample_tm:2843013262, update_tm:2844690749, TimeDelay:8387 us
rev:0x271, pos:0x6f800000, addr:0x40, CRC:0xd3, sample_tm:2883012911, update_tm:2884690397, TimeDelay:8387 us
rev:0x271, pos:0x6f600000, addr:0x40, CRC:0xa3, sample_tm:2923014268, update_tm:2924691755, TimeDelay:8387 us
rev:0x271, pos:0x6fa00000, addr:0x40, CRC:0x93, sample_tm:2963013510, update_tm:2964690996, TimeDelay:8387 us
rev:0x271, pos:0x6f900000, addr:0x40, CRC:0x53, sample_tm:3003013158, update_tm:3004690645, TimeDelay:8387 us
rev:0x271, pos:0x6fa00000, addr:0x40, CRC:0x93, sample_tm:3043013784, update_tm:3044691270, TimeDelay:8387 us
rev:0x271, pos:0x6fa00000, addr:0x40, CRC:0x93, sample_tm:3083016146, update_tm:3084693633, TimeDelay:8387 us
rev:0x271, pos:0x6fa00000, addr:0x40, CRC:0x93, sample_tm:3123011969, update_tm:3124689456, TimeDelay:8387 us