Diff: main.cpp

Revision:

8:28ad0ba5a673

Parent:

7:7f59b69d8895

Child:

9:4d736d29ce19

--- a/main.cpp	Thu May 18 00:08:20 2017 +0000
+++ b/main.cpp	Fri May 19 23:01:01 2017 +0000
@@ -1,53 +1,121 @@
 /*
+ * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DAC 
+ * with serial communication over the USB virtual serial port
+ 
+ * Developed for Elliptec X15 piezoelectric motor control, on a L432KC board
+ *
  * Using STM32's counter peripherals to interface rotary encoders.
- * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, others 16bit.
- * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM.
- * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders.
+ * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, 
+ * others 16bit.
+ * Take into account that Mbed uses TIM5 for system timer, SPI needs TIM1, 
+ * others are used for PWM.
+ * Check your platform's PeripheralPins.c & PeripheralNames.h if you need 
+ * both PWM & encoders. This project does not use PWM.
  *
- * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
+ * On L432KC, for example, only TIM2 has 32bit count, others 16bit.
+ * However, mbed has TIM2 assigned by default to the system ticker
+ * For L432KC to work with TIM2 encoder input one needs to reassign 
+ * the system ticker from TIM2 to TIM7, for example, 
+ * in mbed-dev/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h
+ *
+ * Edit HAL_TIM_Encoder_MspInitFx(Lx).cpp to suit your mcu & board's available
+ *  pinouts & pullups/downs.
  *
  * Thanks to:
- * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/
+ * David Lowe (for the quadrature encoder code)
+ * https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/
  *
  * References:
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf
- * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf
+ * http://www.st.com/resource/en/datasheet/stm32l432kc.pdf
+ * https://developer.mbed.org/platforms/ST-Nucleo-L432KC/
  * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
  * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
  *
- * David Lowe Jan 2015
+ * Tonny-Leonard Farauanu, 2017
  */
 
 #include "mbed.h"
 #include "Encoder.h"
-#include "inttypes.h"
-#include <string.h>   // strstr()
-#include <stdbool.h>  // bool, true, false
+#include "inttypes.h" // for PRIu32 encoding
+//#include <string.h>   // strstr()
+//#include <stdbool.h>  // bool, true, false
 
+#define DAC_RANGE (0xFFF) // 12 bits
+#define SAMPLE_RATE    150000
+
+//Defining the timer and its coresponding encoder
+TIM_HandleTypeDef timer2;
 TIM_Encoder_InitTypeDef encoder1;
-TIM_HandleTypeDef timer2;
+
+//The input for the encoder's index channel
 InterruptIn event(PA_8);
-DigitalOut led(LED1);
+
+//LED1 to signal USB serial RX interrupt reading
+DigitalOut led1(LED1);
+
+//LED2 to signal the encoder's index impulses
+//only for debugging, to calibrate the position
+//of the AVAGO encoder with respect to the shaft
+DigitalOut led2(PB_4);
+
+AnalogIn    vref(ADC_VREF);
+AnalogIn   tempint(ADC_TEMP);
+
+//Defining the ADCs
 AnalogIn adc1(PA_3); //ADC1_IN8
-AnalogIn adc2(PA_5); //ADC1_IN10
+AnalogIn adc2(PA_4); //ADC1_IN9
 AnalogIn adc3(PA_6); //ADC1_IN11
-AnalogOut dac1(PA_4); // DAC1_OUT1
-//Serial pc(SERIAL_TX, SERIAL_RX);
-Serial pc(USBTX, USBRX);
-//Serial& pc = get_stdio_serial();
+
+//Defining the DAC for the Power Source 
+//(DCPS - Digitally Controlled Power Source)
+//DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4
+AnalogOut dac1(PA_5); // DAC1_OUT2
+
+//Defining the serial object to be used for communicating with Raspi
+Serial raspi(USBTX, USBRX);
+//Serial raspi(SERIAL_TX, SERIAL_RX);
+//Serial& raspi = get_stdio_serial();
 
 //Serial debug(PB_6,PA_10);    // Serial1 tx rx
 //Serial configBT(PA_2,PA_3);  // Serial2 tx rx
 //Serial slave(PC_10,PC_11);   // Serial3 tx rx
 //Serial modem(PA_0,PA_1);     // Serial4 tx rx
 
-uint32_t count1=0;
+uint16_t count1=0;
 int16_t count2=0;
-int16_t count3=0;
+int32_t count3=0;
 int16_t adjust=0;
+
+float dac_val=0;
+
 volatile bool adc3_en = false;
+int16_t lines = 4;
+
+//TIM1 to be used with the interrupt for the encoder's index pulses
 Timer timer1;
 
+//Function to convert a string to float
+float stof(const char* s){
+  float rez = 0, fact = 1;
+  if (*s == '-'){
+    s++;
+    fact = -1;
+  };
+  for (int point_seen = 0; *s; s++){
+    if (*s == '.'){
+      point_seen = 1; 
+      continue;
+    };
+    int d = *s - '0';
+    if (d >= 0 && d <= 9){
+      if (point_seen) fact /= 10.0f;
+      rez = rez * 10.0f + (float)d;
+    };
+  };
+  return rez * fact;
+};
+
+//Function invoked by the encoder's index interrupt pulses
 void atint()
 {
     timer1.start();
@@ -58,7 +126,7 @@
             count1 +=__HAL_TIM_GET_COUNTER(&timer2);
             TIM2->CNT = 0x0000;
             adjust = 0;
-            led =!led;
+            led2 =!led2;
         }
     } else {
         adjust++;
@@ -67,27 +135,38 @@
             count1 +=__HAL_TIM_GET_COUNTER(&timer2);
             TIM2->CNT = 0x0000;
             adjust = 0;
-            led =!led;
+            led2 =!led2;
         }
     }
 }
 
+//Function attached to the serial RX interrupt event
 void readData(void)
 {
     char message[125];
-    if(pc.readable()) {
-        pc.scanf("%s", message);
+    if(raspi.readable()) {
+        int p1=0;
+        led1 = 1;
+        raspi.scanf("%s", message);
         printf("%d %s\r\n", strlen(message), message);
         if (strcmp(message, "startAdc") == 0) {
             adc3_en = true;
+            lines = 6;
             printf("true\r\n");
-        } else {
+        } else if (strcmp(message, "stopAdc") == 0) {
             adc3_en = false;
+            lines = 4;
             printf("false\r\n");
-        }
+        } else if (p1=strstr(message, "DAC=") != NULL){
+            dac_val = atof(message+p1+3);
+            printf("Value to write to DAC: %f\r\n", dac_val*3.3f);
+            }
+        
+    }
+    led1 = 0;
+}
 
-    }
-}
+//The main function
 int main()
 {
 
@@ -95,37 +174,72 @@
     //full 32-bit count
     //For L432KC to work with TIM2 one needs to reassign the system ticker
     //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
+    
+    //Initialise encoder
     EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+    
+    //Define function to call for interrupt event rise 
+    //This is triggered by the encoder's index pulses
+    //and it resets the encoder counter
     event.rise(&atint);
-    pc.attach(&readData);
+    
+    //Attach functin to call for serial interrupt event
+    raspi.attach(&readData);
 
+    //Message to mark the initialisation of the program
     printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
 
     //printf("%" PRIu32 "\n", UINT32_MAX);
 
+    
+    //The main loop
     while(1) {
+        
+        //Variable for the one loop encoder counter
         uint32_t count3=0;
 
+        //Variable for the direction of the counter
         int8_t dir1;
+        
+        
         uint16_t voltage1=0;
 
 
         //OK 401 411 446 NOK 030
         //count1=TIM2->CNT;
         //dir1=TIM2->CR1&TIM_CR1_DIR;
+        
+        //It reads the ADC1 value converted from 12bit to 16bit resolution
+        voltage1=adc1.read_u16();
+        
+        //It resets the DAC1
+        //dac1.free();
+        
+        //It writes the DAC1 value as a 16bit number
+        //dac1.write_u16(count3*2);
+        
+        //It writes the DAC1 value as a subunitary float number
+        //to be multiplied with the max DAC_RANGE
+        dac1.write(dac_val);
+        
+        //It gets the one loop position and the direction of the encoder
         count3=__HAL_TIM_GET_COUNTER(&timer2);
         dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
-        voltage1=adc1.read_u16();
-        dac1.write_u16(count3*2);
-
+        
         printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3);
-        printf("Voltage= %d, DAC=%f\r\n", voltage1, dac1.read()*3.3);
+        printf("Voltage ADC1= %u, DAC=%f\r\n", voltage1, dac1.read()*3.3);
+        printf("Vref: %f\r\n", (3.3f)*vref.read());
         printf("percentage: %3.3f%%\r\n", adc2.read()*100.0f);
+        
+        //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n",
+        //         vref.read(), vref.read_u16(), tempint.read_u16());
         if (adc3_en) {
-            printf("percentage: %3.3f%V\r\n", adc3.read()*3.3f);
-        }
-
+            printf("Voltage ADC3: %3.3f%V\r\n", adc3.read()*3.3f);
+            printf("Difference: %f\r\n", dac1.read()*3.3 - adc3.read()*3.3f);
+        } 
+        printf("\033[%dA", lines); // Moves cursor up of #lines
 
-        wait(2.1);
+        wait(0.04);
     }
-}
+
+}
\ No newline at end of file