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@8:28ad0ba5a673, 2017-05-19 (annotated)

Committer:
tonnyleonard
Date:
Fri May 19 23:01:01 2017 +0000
Revision:
8:28ad0ba5a673
Parent:
7:7f59b69d8895
Child:
9:4d736d29ce19
Small improvements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tonnyleonard 0:789510d98ade 1 /*
tonnyleonard 8:28ad0ba5a673 2 * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DAC
tonnyleonard 8:28ad0ba5a673 3 * with serial communication over the USB virtual serial port
tonnyleonard 8:28ad0ba5a673 4
tonnyleonard 8:28ad0ba5a673 5 * Developed for Elliptec X15 piezoelectric motor control, on a L432KC board
tonnyleonard 8:28ad0ba5a673 6 *
tonnyleonard 0:789510d98ade 7 * Using STM32's counter peripherals to interface rotary encoders.
tonnyleonard 8:28ad0ba5a673 8 * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count,
tonnyleonard 8:28ad0ba5a673 9 * others 16bit.
tonnyleonard 8:28ad0ba5a673 10 * Take into account that Mbed uses TIM5 for system timer, SPI needs TIM1,
tonnyleonard 8:28ad0ba5a673 11 * others are used for PWM.
tonnyleonard 8:28ad0ba5a673 12 * Check your platform's PeripheralPins.c & PeripheralNames.h if you need
tonnyleonard 8:28ad0ba5a673 13 * both PWM & encoders. This project does not use PWM.
tonnyleonard 0:789510d98ade 14 *
tonnyleonard 8:28ad0ba5a673 15 * On L432KC, for example, only TIM2 has 32bit count, others 16bit.
tonnyleonard 8:28ad0ba5a673 16 * However, mbed has TIM2 assigned by default to the system ticker
tonnyleonard 8:28ad0ba5a673 17 * For L432KC to work with TIM2 encoder input one needs to reassign
tonnyleonard 8:28ad0ba5a673 18 * the system ticker from TIM2 to TIM7, for example,
tonnyleonard 8:28ad0ba5a673 19 * in mbed-dev/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h
tonnyleonard 8:28ad0ba5a673 20 *
tonnyleonard 8:28ad0ba5a673 21 * Edit HAL_TIM_Encoder_MspInitFx(Lx).cpp to suit your mcu & board's available
tonnyleonard 8:28ad0ba5a673 22 * pinouts & pullups/downs.
tonnyleonard 0:789510d98ade 23 *
tonnyleonard 0:789510d98ade 24 * Thanks to:
tonnyleonard 8:28ad0ba5a673 25 * David Lowe (for the quadrature encoder code)
tonnyleonard 8:28ad0ba5a673 26 * https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/
tonnyleonard 0:789510d98ade 27 *
tonnyleonard 0:789510d98ade 28 * References:
tonnyleonard 8:28ad0ba5a673 29 * http://www.st.com/resource/en/datasheet/stm32l432kc.pdf
tonnyleonard 8:28ad0ba5a673 30 * https://developer.mbed.org/platforms/ST-Nucleo-L432KC/
tonnyleonard 0:789510d98ade 31 * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
tonnyleonard 0:789510d98ade 32 * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
tonnyleonard 7:7f59b69d8895 33 *
tonnyleonard 8:28ad0ba5a673 34 * Tonny-Leonard Farauanu, 2017
tonnyleonard 0:789510d98ade 35 */
tonnyleonard 0:789510d98ade 36
tonnyleonard 0:789510d98ade 37 #include "mbed.h"
tonnyleonard 0:789510d98ade 38 #include "Encoder.h"
tonnyleonard 8:28ad0ba5a673 39 #include "inttypes.h" // for PRIu32 encoding
tonnyleonard 8:28ad0ba5a673 40 //#include <string.h> // strstr()
tonnyleonard 8:28ad0ba5a673 41 //#include <stdbool.h> // bool, true, false
tonnyleonard 0:789510d98ade 42
tonnyleonard 8:28ad0ba5a673 43 #define DAC_RANGE (0xFFF) // 12 bits
tonnyleonard 8:28ad0ba5a673 44 #define SAMPLE_RATE 150000
tonnyleonard 8:28ad0ba5a673 45
tonnyleonard 8:28ad0ba5a673 46 //Defining the timer and its coresponding encoder
tonnyleonard 8:28ad0ba5a673 47 TIM_HandleTypeDef timer2;
tonnyleonard 4:4f115819171f 48 TIM_Encoder_InitTypeDef encoder1;
tonnyleonard 8:28ad0ba5a673 49
tonnyleonard 8:28ad0ba5a673 50 //The input for the encoder's index channel
tonnyleonard 5:29372f6cb533 51 InterruptIn event(PA_8);
tonnyleonard 8:28ad0ba5a673 52
tonnyleonard 8:28ad0ba5a673 53 //LED1 to signal USB serial RX interrupt reading
tonnyleonard 8:28ad0ba5a673 54 DigitalOut led1(LED1);
tonnyleonard 8:28ad0ba5a673 55
tonnyleonard 8:28ad0ba5a673 56 //LED2 to signal the encoder's index impulses
tonnyleonard 8:28ad0ba5a673 57 //only for debugging, to calibrate the position
tonnyleonard 8:28ad0ba5a673 58 //of the AVAGO encoder with respect to the shaft
tonnyleonard 8:28ad0ba5a673 59 DigitalOut led2(PB_4);
tonnyleonard 8:28ad0ba5a673 60
tonnyleonard 8:28ad0ba5a673 61 AnalogIn vref(ADC_VREF);
tonnyleonard 8:28ad0ba5a673 62 AnalogIn tempint(ADC_TEMP);
tonnyleonard 8:28ad0ba5a673 63
tonnyleonard 8:28ad0ba5a673 64 //Defining the ADCs
tonnyleonard 6:5d4c09973041 65 AnalogIn adc1(PA_3); //ADC1_IN8
tonnyleonard 8:28ad0ba5a673 66 AnalogIn adc2(PA_4); //ADC1_IN9
tonnyleonard 6:5d4c09973041 67 AnalogIn adc3(PA_6); //ADC1_IN11
tonnyleonard 8:28ad0ba5a673 68
tonnyleonard 8:28ad0ba5a673 69 //Defining the DAC for the Power Source
tonnyleonard 8:28ad0ba5a673 70 //(DCPS - Digitally Controlled Power Source)
tonnyleonard 8:28ad0ba5a673 71 //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4
tonnyleonard 8:28ad0ba5a673 72 AnalogOut dac1(PA_5); // DAC1_OUT2
tonnyleonard 8:28ad0ba5a673 73
tonnyleonard 8:28ad0ba5a673 74 //Defining the serial object to be used for communicating with Raspi
tonnyleonard 8:28ad0ba5a673 75 Serial raspi(USBTX, USBRX);
tonnyleonard 8:28ad0ba5a673 76 //Serial raspi(SERIAL_TX, SERIAL_RX);
tonnyleonard 8:28ad0ba5a673 77 //Serial& raspi = get_stdio_serial();
tonnyleonard 7:7f59b69d8895 78
tonnyleonard 7:7f59b69d8895 79 //Serial debug(PB_6,PA_10); // Serial1 tx rx
tonnyleonard 7:7f59b69d8895 80 //Serial configBT(PA_2,PA_3); // Serial2 tx rx
tonnyleonard 7:7f59b69d8895 81 //Serial slave(PC_10,PC_11); // Serial3 tx rx
tonnyleonard 7:7f59b69d8895 82 //Serial modem(PA_0,PA_1); // Serial4 tx rx
tonnyleonard 7:7f59b69d8895 83
tonnyleonard 8:28ad0ba5a673 84 uint16_t count1=0;
tonnyleonard 5:29372f6cb533 85 int16_t count2=0;
tonnyleonard 8:28ad0ba5a673 86 int32_t count3=0;
tonnyleonard 5:29372f6cb533 87 int16_t adjust=0;
tonnyleonard 8:28ad0ba5a673 88
tonnyleonard 8:28ad0ba5a673 89 float dac_val=0;
tonnyleonard 8:28ad0ba5a673 90
tonnyleonard 7:7f59b69d8895 91 volatile bool adc3_en = false;
tonnyleonard 8:28ad0ba5a673 92 int16_t lines = 4;
tonnyleonard 8:28ad0ba5a673 93
tonnyleonard 8:28ad0ba5a673 94 //TIM1 to be used with the interrupt for the encoder's index pulses
tonnyleonard 5:29372f6cb533 95 Timer timer1;
tonnyleonard 5:29372f6cb533 96
tonnyleonard 8:28ad0ba5a673 97 //Function to convert a string to float
tonnyleonard 8:28ad0ba5a673 98 float stof(const char* s){
tonnyleonard 8:28ad0ba5a673 99 float rez = 0, fact = 1;
tonnyleonard 8:28ad0ba5a673 100 if (*s == '-'){
tonnyleonard 8:28ad0ba5a673 101 s++;
tonnyleonard 8:28ad0ba5a673 102 fact = -1;
tonnyleonard 8:28ad0ba5a673 103 };
tonnyleonard 8:28ad0ba5a673 104 for (int point_seen = 0; *s; s++){
tonnyleonard 8:28ad0ba5a673 105 if (*s == '.'){
tonnyleonard 8:28ad0ba5a673 106 point_seen = 1;
tonnyleonard 8:28ad0ba5a673 107 continue;
tonnyleonard 8:28ad0ba5a673 108 };
tonnyleonard 8:28ad0ba5a673 109 int d = *s - '0';
tonnyleonard 8:28ad0ba5a673 110 if (d >= 0 && d <= 9){
tonnyleonard 8:28ad0ba5a673 111 if (point_seen) fact /= 10.0f;
tonnyleonard 8:28ad0ba5a673 112 rez = rez * 10.0f + (float)d;
tonnyleonard 8:28ad0ba5a673 113 };
tonnyleonard 8:28ad0ba5a673 114 };
tonnyleonard 8:28ad0ba5a673 115 return rez * fact;
tonnyleonard 8:28ad0ba5a673 116 };
tonnyleonard 8:28ad0ba5a673 117
tonnyleonard 8:28ad0ba5a673 118 //Function invoked by the encoder's index interrupt pulses
tonnyleonard 7:7f59b69d8895 119 void atint()
tonnyleonard 7:7f59b69d8895 120 {
tonnyleonard 5:29372f6cb533 121 timer1.start();
tonnyleonard 7:7f59b69d8895 122 if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) {
tonnyleonard 7:7f59b69d8895 123 adjust--;
tonnyleonard 7:7f59b69d8895 124 if (adjust == -3) {
tonnyleonard 5:29372f6cb533 125 count2--;
tonnyleonard 5:29372f6cb533 126 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 127 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 128 adjust = 0;
tonnyleonard 8:28ad0ba5a673 129 led2 =!led2;
tonnyleonard 5:29372f6cb533 130 }
tonnyleonard 7:7f59b69d8895 131 } else {
tonnyleonard 5:29372f6cb533 132 adjust++;
tonnyleonard 7:7f59b69d8895 133 if (adjust == 3) {
tonnyleonard 5:29372f6cb533 134 count2++;
tonnyleonard 5:29372f6cb533 135 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 136 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 137 adjust = 0;
tonnyleonard 8:28ad0ba5a673 138 led2 =!led2;
tonnyleonard 5:29372f6cb533 139 }
tonnyleonard 5:29372f6cb533 140 }
tonnyleonard 5:29372f6cb533 141 }
tonnyleonard 0:789510d98ade 142
tonnyleonard 8:28ad0ba5a673 143 //Function attached to the serial RX interrupt event
tonnyleonard 7:7f59b69d8895 144 void readData(void)
tonnyleonard 7:7f59b69d8895 145 {
tonnyleonard 7:7f59b69d8895 146 char message[125];
tonnyleonard 8:28ad0ba5a673 147 if(raspi.readable()) {
tonnyleonard 8:28ad0ba5a673 148 int p1=0;
tonnyleonard 8:28ad0ba5a673 149 led1 = 1;
tonnyleonard 8:28ad0ba5a673 150 raspi.scanf("%s", message);
tonnyleonard 7:7f59b69d8895 151 printf("%d %s\r\n", strlen(message), message);
tonnyleonard 7:7f59b69d8895 152 if (strcmp(message, "startAdc") == 0) {
tonnyleonard 7:7f59b69d8895 153 adc3_en = true;
tonnyleonard 8:28ad0ba5a673 154 lines = 6;
tonnyleonard 7:7f59b69d8895 155 printf("true\r\n");
tonnyleonard 8:28ad0ba5a673 156 } else if (strcmp(message, "stopAdc") == 0) {
tonnyleonard 7:7f59b69d8895 157 adc3_en = false;
tonnyleonard 8:28ad0ba5a673 158 lines = 4;
tonnyleonard 7:7f59b69d8895 159 printf("false\r\n");
tonnyleonard 8:28ad0ba5a673 160 } else if (p1=strstr(message, "DAC=") != NULL){
tonnyleonard 8:28ad0ba5a673 161 dac_val = atof(message+p1+3);
tonnyleonard 8:28ad0ba5a673 162 printf("Value to write to DAC: %f\r\n", dac_val*3.3f);
tonnyleonard 8:28ad0ba5a673 163 }
tonnyleonard 8:28ad0ba5a673 164
tonnyleonard 8:28ad0ba5a673 165 }
tonnyleonard 8:28ad0ba5a673 166 led1 = 0;
tonnyleonard 8:28ad0ba5a673 167 }
tonnyleonard 7:7f59b69d8895 168
tonnyleonard 8:28ad0ba5a673 169 //The main function
tonnyleonard 0:789510d98ade 170 int main()
tonnyleonard 0:789510d98ade 171 {
tonnyleonard 0:789510d98ade 172
tonnyleonard 7:7f59b69d8895 173 //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
tonnyleonard 5:29372f6cb533 174 //full 32-bit count
tonnyleonard 7:7f59b69d8895 175 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 2:958e9094b198 176 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
tonnyleonard 8:28ad0ba5a673 177
tonnyleonard 8:28ad0ba5a673 178 //Initialise encoder
tonnyleonard 4:4f115819171f 179 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 8:28ad0ba5a673 180
tonnyleonard 8:28ad0ba5a673 181 //Define function to call for interrupt event rise
tonnyleonard 8:28ad0ba5a673 182 //This is triggered by the encoder's index pulses
tonnyleonard 8:28ad0ba5a673 183 //and it resets the encoder counter
tonnyleonard 5:29372f6cb533 184 event.rise(&atint);
tonnyleonard 8:28ad0ba5a673 185
tonnyleonard 8:28ad0ba5a673 186 //Attach functin to call for serial interrupt event
tonnyleonard 8:28ad0ba5a673 187 raspi.attach(&readData);
tonnyleonard 7:7f59b69d8895 188
tonnyleonard 8:28ad0ba5a673 189 //Message to mark the initialisation of the program
tonnyleonard 4:4f115819171f 190 printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 7:7f59b69d8895 191
tonnyleonard 6:5d4c09973041 192 //printf("%" PRIu32 "\n", UINT32_MAX);
tonnyleonard 7:7f59b69d8895 193
tonnyleonard 8:28ad0ba5a673 194
tonnyleonard 8:28ad0ba5a673 195 //The main loop
tonnyleonard 0:789510d98ade 196 while(1) {
tonnyleonard 8:28ad0ba5a673 197
tonnyleonard 8:28ad0ba5a673 198 //Variable for the one loop encoder counter
tonnyleonard 5:29372f6cb533 199 uint32_t count3=0;
tonnyleonard 7:7f59b69d8895 200
tonnyleonard 8:28ad0ba5a673 201 //Variable for the direction of the counter
tonnyleonard 4:4f115819171f 202 int8_t dir1;
tonnyleonard 8:28ad0ba5a673 203
tonnyleonard 8:28ad0ba5a673 204
tonnyleonard 6:5d4c09973041 205 uint16_t voltage1=0;
tonnyleonard 0:789510d98ade 206
tonnyleonard 0:789510d98ade 207
tonnyleonard 0:789510d98ade 208 //OK 401 411 446 NOK 030
tonnyleonard 5:29372f6cb533 209 //count1=TIM2->CNT;
tonnyleonard 5:29372f6cb533 210 //dir1=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 8:28ad0ba5a673 211
tonnyleonard 8:28ad0ba5a673 212 //It reads the ADC1 value converted from 12bit to 16bit resolution
tonnyleonard 8:28ad0ba5a673 213 voltage1=adc1.read_u16();
tonnyleonard 8:28ad0ba5a673 214
tonnyleonard 8:28ad0ba5a673 215 //It resets the DAC1
tonnyleonard 8:28ad0ba5a673 216 //dac1.free();
tonnyleonard 8:28ad0ba5a673 217
tonnyleonard 8:28ad0ba5a673 218 //It writes the DAC1 value as a 16bit number
tonnyleonard 8:28ad0ba5a673 219 //dac1.write_u16(count3*2);
tonnyleonard 8:28ad0ba5a673 220
tonnyleonard 8:28ad0ba5a673 221 //It writes the DAC1 value as a subunitary float number
tonnyleonard 8:28ad0ba5a673 222 //to be multiplied with the max DAC_RANGE
tonnyleonard 8:28ad0ba5a673 223 dac1.write(dac_val);
tonnyleonard 8:28ad0ba5a673 224
tonnyleonard 8:28ad0ba5a673 225 //It gets the one loop position and the direction of the encoder
tonnyleonard 5:29372f6cb533 226 count3=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 4:4f115819171f 227 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 8:28ad0ba5a673 228
tonnyleonard 5:29372f6cb533 229 printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3);
tonnyleonard 8:28ad0ba5a673 230 printf("Voltage ADC1= %u, DAC=%f\r\n", voltage1, dac1.read()*3.3);
tonnyleonard 8:28ad0ba5a673 231 printf("Vref: %f\r\n", (3.3f)*vref.read());
tonnyleonard 6:5d4c09973041 232 printf("percentage: %3.3f%%\r\n", adc2.read()*100.0f);
tonnyleonard 8:28ad0ba5a673 233
tonnyleonard 8:28ad0ba5a673 234 //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n",
tonnyleonard 8:28ad0ba5a673 235 // vref.read(), vref.read_u16(), tempint.read_u16());
tonnyleonard 7:7f59b69d8895 236 if (adc3_en) {
tonnyleonard 8:28ad0ba5a673 237 printf("Voltage ADC3: %3.3f%V\r\n", adc3.read()*3.3f);
tonnyleonard 8:28ad0ba5a673 238 printf("Difference: %f\r\n", dac1.read()*3.3 - adc3.read()*3.3f);
tonnyleonard 8:28ad0ba5a673 239 }
tonnyleonard 8:28ad0ba5a673 240 printf("\033[%dA", lines); // Moves cursor up of #lines
tonnyleonard 6:5d4c09973041 241
tonnyleonard 8:28ad0ba5a673 242 wait(0.04);
tonnyleonard 0:789510d98ade 243 }
tonnyleonard 8:28ad0ba5a673 244
tonnyleonard 8:28ad0ba5a673 245 }