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@5:29372f6cb533, 2017-05-13 (annotated)

Committer:
tonnyleonard
Date:
Sat May 13 23:47:38 2017 +0000
Revision:
5:29372f6cb533
Parent:
4:4f115819171f
Child:
6:5d4c09973041
classical encoder implementation

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 0:789510d98ade 23
tonnyleonard 4:4f115819171f 24 TIM_Encoder_InitTypeDef encoder1;
tonnyleonard 5:29372f6cb533 25 TIM_HandleTypeDef timer2;
tonnyleonard 5:29372f6cb533 26 InterruptIn event(PA_8);
tonnyleonard 5:29372f6cb533 27 DigitalOut led(LED1);
tonnyleonard 5:29372f6cb533 28 uint32_t count1=0;
tonnyleonard 5:29372f6cb533 29 int16_t count2=0;
tonnyleonard 5:29372f6cb533 30 int16_t count3=0;
tonnyleonard 5:29372f6cb533 31 int16_t adjust=0;
tonnyleonard 5:29372f6cb533 32 Timer timer1;
tonnyleonard 5:29372f6cb533 33
tonnyleonard 5:29372f6cb533 34 void atint() {
tonnyleonard 5:29372f6cb533 35 timer1.start();
tonnyleonard 5:29372f6cb533 36 if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2))
tonnyleonard 5:29372f6cb533 37 {
tonnyleonard 5:29372f6cb533 38 adjust--;
tonnyleonard 5:29372f6cb533 39 if (adjust == -3)
tonnyleonard 5:29372f6cb533 40 {
tonnyleonard 5:29372f6cb533 41 count2--;
tonnyleonard 5:29372f6cb533 42 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 43 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 44 adjust = 0;
tonnyleonard 5:29372f6cb533 45 led =!led;
tonnyleonard 5:29372f6cb533 46 }
tonnyleonard 5:29372f6cb533 47 }
tonnyleonard 5:29372f6cb533 48 else
tonnyleonard 5:29372f6cb533 49 {
tonnyleonard 5:29372f6cb533 50 adjust++;
tonnyleonard 5:29372f6cb533 51 if (adjust == 3)
tonnyleonard 5:29372f6cb533 52 {
tonnyleonard 5:29372f6cb533 53 count2++;
tonnyleonard 5:29372f6cb533 54 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 5:29372f6cb533 55 TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 56 adjust = 0;
tonnyleonard 5:29372f6cb533 57 led =!led;
tonnyleonard 5:29372f6cb533 58 }
tonnyleonard 5:29372f6cb533 59 }
tonnyleonard 5:29372f6cb533 60 }
tonnyleonard 0:789510d98ade 61
tonnyleonard 0:789510d98ade 62 int main()
tonnyleonard 0:789510d98ade 63 {
tonnyleonard 0:789510d98ade 64
tonnyleonard 5:29372f6cb533 65 //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
tonnyleonard 5:29372f6cb533 66 //full 32-bit count
tonnyleonard 2:958e9094b198 67 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 2:958e9094b198 68 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
tonnyleonard 4:4f115819171f 69 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 5:29372f6cb533 70 event.rise(&atint);
tonnyleonard 0:789510d98ade 71
tonnyleonard 4:4f115819171f 72 printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 0:789510d98ade 73
tonnyleonard 0:789510d98ade 74 while(1) {
tonnyleonard 5:29372f6cb533 75 uint32_t count3=0;
tonnyleonard 5:29372f6cb533 76
tonnyleonard 4:4f115819171f 77 int8_t dir1;
tonnyleonard 0:789510d98ade 78
tonnyleonard 0:789510d98ade 79
tonnyleonard 0:789510d98ade 80 //OK 401 411 446 NOK 030
tonnyleonard 5:29372f6cb533 81 //count1=TIM2->CNT;
tonnyleonard 5:29372f6cb533 82 //dir1=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 5:29372f6cb533 83 count3=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 4:4f115819171f 84 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 0:789510d98ade 85
tonnyleonard 0:789510d98ade 86
tonnyleonard 5:29372f6cb533 87 printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3);
tonnyleonard 2:958e9094b198 88 wait(0.1);
tonnyleonard 0:789510d98ade 89 }
tonnyleonard 0:789510d98ade 90 }