raspiezo / Nucleo_L432KC_Quadrature_Decoder_with_ADC_and_DAC

A program to monitor some parameters for a motor

Dependencies:   mbed-dev BufferSerial

Thanks to David Lowe for https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/ which I adapted for the use of TIM2 32bit timer as an encoder reader on the Nucleo L432KC board.

main.cpp@6:5d4c09973041, 2017-05-14 (annotated)

Committer:
tonnyleonard
Date:
Sun May 14 21:44:05 2017 +0000
Revision:
6:5d4c09973041
Parent:
5:29372f6cb533
Child:
7:7f59b69d8895
Preliminary encoder with 3 ADC inputs and one DAC output

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tonnyleonard 0:789510d98ade 1 /*
tonnyleonard 0:789510d98ade 2 * Using STM32's counter peripherals to interface rotary encoders.
tonnyleonard 0:789510d98ade 3 * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
tonnyleonard 0:789510d98ade 4 * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM.
tonnyleonard 0:789510d98ade 5 * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
tonnyleonard 0:789510d98ade 6 *
tonnyleonard 0:789510d98ade 7 * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
tonnyleonard 0:789510d98ade 8 *
tonnyleonard 0:789510d98ade 9 * Thanks to:
tonnyleonard 0:789510d98ade 10 * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/
tonnyleonard 0:789510d98ade 11 *
tonnyleonard 0:789510d98ade 12 * References:
tonnyleonard 0:789510d98ade 13 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf
tonnyleonard 0:789510d98ade 14 * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf
tonnyleonard 0:789510d98ade 15 * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
tonnyleonard 0:789510d98ade 16 * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
tonnyleonard 0:789510d98ade 17 *
tonnyleonard 0:789510d98ade 18 * David Lowe Jan 2015
tonnyleonard 0:789510d98ade 19 */
tonnyleonard 0:789510d98ade 20
tonnyleonard 0:789510d98ade 21 #include "mbed.h"
tonnyleonard 0:789510d98ade 22 #include "Encoder.h"
tonnyleonard 6:5d4c09973041 23 #include "inttypes.h"
tonnyleonard 0:789510d98ade 24
tonnyleonard 4:4f115819171f 25 TIM_Encoder_InitTypeDef encoder1;
tonnyleonard 5:29372f6cb533 26 TIM_HandleTypeDef timer2;
tonnyleonard 5:29372f6cb533 27 InterruptIn event(PA_8);
tonnyleonard 5:29372f6cb533 28 DigitalOut led(LED1);
tonnyleonard 6:5d4c09973041 29 AnalogIn adc1(PA_3); //ADC1_IN8
tonnyleonard 6:5d4c09973041 30 AnalogIn adc2(PA_5); //ADC1_IN10
tonnyleonard 6:5d4c09973041 31 AnalogIn adc3(PA_6); //ADC1_IN11
tonnyleonard 6:5d4c09973041 32 AnalogOut dac1(PA_4); // DAC1_OUT1
tonnyleonard 5:29372f6cb533 33 uint32_t count1=0;
tonnyleonard 5:29372f6cb533 34 int16_t count2=0;
tonnyleonard 5:29372f6cb533 35 int16_t count3=0;
tonnyleonard 5:29372f6cb533 36 int16_t adjust=0;
tonnyleonard 5:29372f6cb533 37 Timer timer1;
tonnyleonard 5:29372f6cb533 38
tonnyleonard 5:29372f6cb533 39 void atint() {
tonnyleonard 5:29372f6cb533 40 timer1.start();
tonnyleonard 5:29372f6cb533 41 if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2))
tonnyleonard 5:29372f6cb533 42 {
tonnyleonard 5:29372f6cb533 43 adjust--;
tonnyleonard 5:29372f6cb533 44 if (adjust == -3)
tonnyleonard 5:29372f6cb533 45 {
tonnyleonard 5:29372f6cb533 46 count2--;
tonnyleonard 5:29372f6cb533 47 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 48 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 49 adjust = 0;
tonnyleonard 5:29372f6cb533 50 led =!led;
tonnyleonard 5:29372f6cb533 51 }
tonnyleonard 5:29372f6cb533 52 }
tonnyleonard 5:29372f6cb533 53 else
tonnyleonard 5:29372f6cb533 54 {
tonnyleonard 5:29372f6cb533 55 adjust++;
tonnyleonard 5:29372f6cb533 56 if (adjust == 3)
tonnyleonard 5:29372f6cb533 57 {
tonnyleonard 5:29372f6cb533 58 count2++;
tonnyleonard 5:29372f6cb533 59 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 60 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 61 adjust = 0;
tonnyleonard 5:29372f6cb533 62 led =!led;
tonnyleonard 5:29372f6cb533 63 }
tonnyleonard 5:29372f6cb533 64 }
tonnyleonard 5:29372f6cb533 65 }
tonnyleonard 0:789510d98ade 66
tonnyleonard 0:789510d98ade 67 int main()
tonnyleonard 0:789510d98ade 68 {
tonnyleonard 0:789510d98ade 69
tonnyleonard 5:29372f6cb533 70 //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
tonnyleonard 5:29372f6cb533 71 //full 32-bit count
tonnyleonard 2:958e9094b198 72 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 2:958e9094b198 73 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
tonnyleonard 4:4f115819171f 74 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 5:29372f6cb533 75 event.rise(&atint);
tonnyleonard 0:789510d98ade 76
tonnyleonard 4:4f115819171f 77 printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 0:789510d98ade 78
tonnyleonard 6:5d4c09973041 79 //printf("%" PRIu32 "\n", UINT32_MAX);
tonnyleonard 6:5d4c09973041 80
tonnyleonard 0:789510d98ade 81 while(1) {
tonnyleonard 5:29372f6cb533 82 uint32_t count3=0;
tonnyleonard 5:29372f6cb533 83
tonnyleonard 4:4f115819171f 84 int8_t dir1;
tonnyleonard 6:5d4c09973041 85 uint16_t voltage1=0;
tonnyleonard 0:789510d98ade 86
tonnyleonard 0:789510d98ade 87
tonnyleonard 0:789510d98ade 88 //OK 401 411 446 NOK 030
tonnyleonard 5:29372f6cb533 89 //count1=TIM2->CNT;
tonnyleonard 5:29372f6cb533 90 //dir1=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 5:29372f6cb533 91 count3=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 4:4f115819171f 92 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 6:5d4c09973041 93 voltage1=adc1.read_u16();
tonnyleonard 6:5d4c09973041 94 dac1.write_u16(count3*2);
tonnyleonard 0:789510d98ade 95
tonnyleonard 5:29372f6cb533 96 printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3);
tonnyleonard 6:5d4c09973041 97 printf("Voltage= %d, DAC=%f\r\n", voltage1, dac1.read()*3.3);
tonnyleonard 6:5d4c09973041 98 printf("percentage: %3.3f%%\r\n", adc2.read()*100.0f);
tonnyleonard 6:5d4c09973041 99 printf("percentage: %3.3f%%\r\n", adc3.read()*100.0f);
tonnyleonard 6:5d4c09973041 100
tonnyleonard 6:5d4c09973041 101 wait(2.1);
tonnyleonard 0:789510d98ade 102 }
tonnyleonard 0:789510d98ade 103 }