DECODING DATA VALUE Sample Clauses

DECODING DATA VALUE. The second step is to decode the data inside the data packet. According to the OP_CODE it is necessary to use different decoding mode. DECODING OP_CODE : ‘0’ – ‘2’ – ‘3’ – ‘4’ Byte 1 to Byte 5 and Byte 7 to Byte 11 contain the data values selected by the OP_CODE. The first value is in floating point according to IEEE754. The second byte is in long (32bit integer) Because each byte is composed by only 7 bits (bit B7 is always set to 0) are necessary 5 bytes to transport the value information. Byte 1 to Byte 4 contain the first 7 bits of each byte for the first data value Byte 5 contains the 8th bit of each byte for the first data value Byte 6 contains the measurement unit for the first and second value Byte 7 to Byte 10 contain the first 7 bits of each byte for the second data value Byte 11 contains the 8th bit of each byte for the second data value The table below explain how to rebuild the values from the incoming data packet First actual value (float) Float B7 B6 B5 B4 B3 B2 B1 B0 Second actual value (long) : only opcode ‘0’ long B7 B6 B5 B4 B3 B2 B1 B0 Values unit byte B7 B6 B5 B4 B3 B2 B1 B0 Index of second value unit Index of first value unit DECODING OP_CODE ‘0’ The Op_code ‘0’ is transmitted automatically with a data rate equal to the conversion speed selected. It contains the actual data values Torque and Position or Speed. Torque is the first actual value and it is transmitted in floating point according to IEEE754. Its value is already in engineering unit. Its unit is represented by the index of first value according to the table below Index of first value Torque Unit 2 kgm 3 kNm 4 in.ft 5 ft.lbf 6 gcm 8 Nm 9 Nm Position/ Speed is the second value. It is transmitted as long 32 bit integer. In case of Unit = 0 it contains the steps counter from last zero command If Unit <>0 it contains the number of steps detected every 100ms Index of second value Unit 2 Steps / 100ms The numbers of step for every complete EasyTORK revolution (360°) depends on the type 5760 steps/revolution for EasyTork 3520 steps / revolution for RT2 type 1 8000 steps / revolution for RT2 type 2 The following C code explain how to decode the data packet Example in C RxBuffer is the incoming serial buffer. Indice is the index of the desired OP_CODE inside RxBuffer #define IMPULSI_PER_GIRO -5760.0 //use minus if you want positive value in clockwise direction #define DEGREE_RESOLUTION 360.0/IMPULSI_PER_GIRO void GetFloat(int Indice) { union { unsigned char Byte[4]; long L; float F; ...
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