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

Committer:
tonnyleonard
Date:
2017-05-13
Revision:
5:29372f6cb533
Parent:
4:4f115819171f
Child:
6:5d4c09973041

File content as of revision 5:29372f6cb533:

/*
 * 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.
 *
 * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs.
 *
 * Thanks to:
 * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/
 *
 * 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/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
 */

#include "mbed.h"
#include "Encoder.h"

TIM_Encoder_InitTypeDef encoder1;
TIM_HandleTypeDef timer2;
InterruptIn event(PA_8);
DigitalOut led(LED1);
uint32_t count1=0;
int16_t count2=0;
int16_t count3=0;
int16_t adjust=0;
Timer timer1;

void atint() {
    timer1.start();
    if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2))
    {
    adjust--;
    if (adjust == -3)
        {
            count2--;
            count1 +=__HAL_TIM_GET_COUNTER(&timer2);
            TIM2->CNT = 0x0000;
            adjust = 0;
            led =!led;
        }
    }
    else
    {
        adjust++;
        if (adjust == 3)
        {
            count2++;
            count1 +=__HAL_TIM_GET_COUNTER(&timer2);
            TIM2->CNT = 0x0000;
            adjust = 0;
            led =!led;
        }
    }
}

int main()
{

    //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle, 
    //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
    EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
    event.rise(&atint);
    
    printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
    
    while(1) {
        uint32_t count3=0;
        
        int8_t dir1;


        //OK 401 411 446 NOK 030
        //count1=TIM2->CNT;
        //dir1=TIM2->CR1&TIM_CR1_DIR;
        count3=__HAL_TIM_GET_COUNTER(&timer2);
        dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);

        
        printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3);
        wait(0.1);
    }
}