57.10. SEI Slave: Simulate HIPERFACE Encoder

57.10.1. 概述

  • 该工程主要演示通过SEI接口模拟HIPERFACE编码器，产生编码器位置数据等，并通过串口将信息打印出来。

  • 模拟的HIPERFACE编码器的型号为SKM36-HFA0-K02。

57.10.2. 配置

  • 准备一个USB转485模块

  • 将SEI接口信号DATA_P/DATA_N与USB转485的A/B信号相连接。

57.10.3. 运行现象

  • 将程序下载至开发板并运行。

  • 通过PC的串口调试助手与开发板进行通讯，模拟获取编码器数据。

  • 串口调试助手设置为：波特率：9600；起始位：1位；数据位：8位；停止位：1位；校验位：偶校验。通过串口调试助手发送数据：0x40 0x42 0x02，开发板模拟的编码器将会进行响应。 sei_slave_hiperface.png

  • 同时，可通过串口终端查看开发板输出的log信息，POS数值每次加1。

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$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
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SEI slave hiperface sample
Started sei engine!
ADDR:0x40, CMD:0x42, POS:0xa5a5, CRC:0x40, sample_tm1:301346678, sample_tm2:0, sample_interval:1883416 us
ADDR:0x40, CMD:0x42, POS:0xa5a6, CRC:0x80, sample_tm1:333346343, sample_tm2:301346678, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5a7, CRC:0x0, sample_tm1:365346007, sample_tm2:333346343, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5a8, CRC:0xf0, sample_tm1:397345672, sample_tm2:365346007, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5a9, CRC:0x70, sample_tm1:429345337, sample_tm2:397345672, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5aa, CRC:0xb0, sample_tm1:461345002, sample_tm2:429345337, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5ab, CRC:0x30, sample_tm1:493344667, sample_tm2:461345002, sample_interval:199997 us
ADDR:0x40, CMD:0x42, POS:0xa5ac, CRC:0xd0, sample_tm1:525344332, sample_tm2:493344667, sample_interval:199997 us