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@9:4d736d29ce19, 2017-05-27 (annotated)

Committer:
tonnyleonard
Date:
Sat May 27 01:26:41 2017 +0000
Revision:
9:4d736d29ce19
Parent:
8:28ad0ba5a673
Child:
10:8862c8779b71
Testing ADC with shunt

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 9:4d736d29ce19 27 *
tonnyleonard 9:4d736d29ce19 28 * And Frederic Blanc
tonnyleonard 9:4d736d29ce19 29 * https://developer.mbed.org/users/fblanc/code/AnalogIn_Diff/
tonnyleonard 9:4d736d29ce19 30 *
tonnyleonard 9:4d736d29ce19 31 * And Eric Lewiston / STM32L4xx_HAL_Driver
tonnyleonard 9:4d736d29ce19 32 * https://developer.mbed.org/users/EricLew/code/STM32L4xx_HAL_Driver/docs/tip/group__ADC__LL__EF__Configuration__Channels.html
tonnyleonard 0:789510d98ade 33 *
tonnyleonard 0:789510d98ade 34 * References:
tonnyleonard 8:28ad0ba5a673 35 * http://www.st.com/resource/en/datasheet/stm32l432kc.pdf
tonnyleonard 8:28ad0ba5a673 36 * https://developer.mbed.org/platforms/ST-Nucleo-L432KC/
tonnyleonard 0:789510d98ade 37 * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf
tonnyleonard 0:789510d98ade 38 * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf
tonnyleonard 7:7f59b69d8895 39 *
tonnyleonard 8:28ad0ba5a673 40 * Tonny-Leonard Farauanu, 2017
tonnyleonard 0:789510d98ade 41 */
tonnyleonard 0:789510d98ade 42
tonnyleonard 0:789510d98ade 43 #include "mbed.h"
tonnyleonard 0:789510d98ade 44 #include "Encoder.h"
tonnyleonard 8:28ad0ba5a673 45 #include "inttypes.h" // for PRIu32 encoding
tonnyleonard 8:28ad0ba5a673 46 //#include <string.h> // strstr()
tonnyleonard 8:28ad0ba5a673 47 //#include <stdbool.h> // bool, true, false
tonnyleonard 0:789510d98ade 48
tonnyleonard 8:28ad0ba5a673 49 #define DAC_RANGE (0xFFF) // 12 bits
tonnyleonard 8:28ad0ba5a673 50 #define SAMPLE_RATE 150000
tonnyleonard 8:28ad0ba5a673 51
tonnyleonard 8:28ad0ba5a673 52 //Defining the timer and its coresponding encoder
tonnyleonard 8:28ad0ba5a673 53 TIM_HandleTypeDef timer2;
tonnyleonard 4:4f115819171f 54 TIM_Encoder_InitTypeDef encoder1;
tonnyleonard 8:28ad0ba5a673 55
tonnyleonard 8:28ad0ba5a673 56 //The input for the encoder's index channel
tonnyleonard 5:29372f6cb533 57 InterruptIn event(PA_8);
tonnyleonard 8:28ad0ba5a673 58
tonnyleonard 8:28ad0ba5a673 59 //LED1 to signal USB serial RX interrupt reading
tonnyleonard 8:28ad0ba5a673 60 DigitalOut led1(LED1);
tonnyleonard 8:28ad0ba5a673 61
tonnyleonard 8:28ad0ba5a673 62 //LED2 to signal the encoder's index impulses
tonnyleonard 8:28ad0ba5a673 63 //only for debugging, to calibrate the position
tonnyleonard 8:28ad0ba5a673 64 //of the AVAGO encoder with respect to the shaft
tonnyleonard 8:28ad0ba5a673 65 DigitalOut led2(PB_4);
tonnyleonard 8:28ad0ba5a673 66
tonnyleonard 9:4d736d29ce19 67 //AnalogIn vref(ADC_VREF);
tonnyleonard 9:4d736d29ce19 68 //AnalogIn tempint(ADC_TEMP);
tonnyleonard 8:28ad0ba5a673 69
tonnyleonard 8:28ad0ba5a673 70 //Defining the ADCs
tonnyleonard 6:5d4c09973041 71 AnalogIn adc1(PA_3); //ADC1_IN8
tonnyleonard 8:28ad0ba5a673 72 AnalogIn adc2(PA_4); //ADC1_IN9
tonnyleonard 6:5d4c09973041 73 AnalogIn adc3(PA_6); //ADC1_IN11
tonnyleonard 8:28ad0ba5a673 74
tonnyleonard 8:28ad0ba5a673 75 //Defining the DAC for the Power Source
tonnyleonard 8:28ad0ba5a673 76 //(DCPS - Digitally Controlled Power Source)
tonnyleonard 8:28ad0ba5a673 77 //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4
tonnyleonard 8:28ad0ba5a673 78 AnalogOut dac1(PA_5); // DAC1_OUT2
tonnyleonard 8:28ad0ba5a673 79
tonnyleonard 8:28ad0ba5a673 80 //Defining the serial object to be used for communicating with Raspi
tonnyleonard 8:28ad0ba5a673 81 Serial raspi(USBTX, USBRX);
tonnyleonard 8:28ad0ba5a673 82 //Serial raspi(SERIAL_TX, SERIAL_RX);
tonnyleonard 8:28ad0ba5a673 83 //Serial& raspi = get_stdio_serial();
tonnyleonard 7:7f59b69d8895 84
tonnyleonard 7:7f59b69d8895 85 //Serial debug(PB_6,PA_10); // Serial1 tx rx
tonnyleonard 7:7f59b69d8895 86 //Serial configBT(PA_2,PA_3); // Serial2 tx rx
tonnyleonard 7:7f59b69d8895 87 //Serial slave(PC_10,PC_11); // Serial3 tx rx
tonnyleonard 7:7f59b69d8895 88 //Serial modem(PA_0,PA_1); // Serial4 tx rx
tonnyleonard 7:7f59b69d8895 89
tonnyleonard 8:28ad0ba5a673 90 uint16_t count1=0;
tonnyleonard 5:29372f6cb533 91 int16_t count2=0;
tonnyleonard 8:28ad0ba5a673 92 int32_t count3=0;
tonnyleonard 5:29372f6cb533 93 int16_t adjust=0;
tonnyleonard 8:28ad0ba5a673 94
tonnyleonard 8:28ad0ba5a673 95 float dac_val=0;
tonnyleonard 8:28ad0ba5a673 96
tonnyleonard 7:7f59b69d8895 97 volatile bool adc3_en = false;
tonnyleonard 8:28ad0ba5a673 98 int16_t lines = 4;
tonnyleonard 8:28ad0ba5a673 99
tonnyleonard 8:28ad0ba5a673 100 //TIM1 to be used with the interrupt for the encoder's index pulses
tonnyleonard 5:29372f6cb533 101 Timer timer1;
tonnyleonard 5:29372f6cb533 102
tonnyleonard 8:28ad0ba5a673 103 //Function to convert a string to float
tonnyleonard 8:28ad0ba5a673 104 float stof(const char* s){
tonnyleonard 8:28ad0ba5a673 105 float rez = 0, fact = 1;
tonnyleonard 8:28ad0ba5a673 106 if (*s == '-'){
tonnyleonard 8:28ad0ba5a673 107 s++;
tonnyleonard 8:28ad0ba5a673 108 fact = -1;
tonnyleonard 8:28ad0ba5a673 109 };
tonnyleonard 8:28ad0ba5a673 110 for (int point_seen = 0; *s; s++){
tonnyleonard 8:28ad0ba5a673 111 if (*s == '.'){
tonnyleonard 8:28ad0ba5a673 112 point_seen = 1;
tonnyleonard 8:28ad0ba5a673 113 continue;
tonnyleonard 8:28ad0ba5a673 114 };
tonnyleonard 8:28ad0ba5a673 115 int d = *s - '0';
tonnyleonard 8:28ad0ba5a673 116 if (d >= 0 && d <= 9){
tonnyleonard 8:28ad0ba5a673 117 if (point_seen) fact /= 10.0f;
tonnyleonard 8:28ad0ba5a673 118 rez = rez * 10.0f + (float)d;
tonnyleonard 8:28ad0ba5a673 119 };
tonnyleonard 8:28ad0ba5a673 120 };
tonnyleonard 8:28ad0ba5a673 121 return rez * fact;
tonnyleonard 8:28ad0ba5a673 122 };
tonnyleonard 8:28ad0ba5a673 123
tonnyleonard 8:28ad0ba5a673 124 //Function invoked by the encoder's index interrupt pulses
tonnyleonard 7:7f59b69d8895 125 void atint()
tonnyleonard 7:7f59b69d8895 126 {
tonnyleonard 5:29372f6cb533 127 timer1.start();
tonnyleonard 7:7f59b69d8895 128 if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) {
tonnyleonard 7:7f59b69d8895 129 adjust--;
tonnyleonard 7:7f59b69d8895 130 if (adjust == -3) {
tonnyleonard 5:29372f6cb533 131 count2--;
tonnyleonard 5:29372f6cb533 132 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 9:4d736d29ce19 133 //TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 134 adjust = 0;
tonnyleonard 8:28ad0ba5a673 135 led2 =!led2;
tonnyleonard 5:29372f6cb533 136 }
tonnyleonard 7:7f59b69d8895 137 } else {
tonnyleonard 5:29372f6cb533 138 adjust++;
tonnyleonard 7:7f59b69d8895 139 if (adjust == 3) {
tonnyleonard 5:29372f6cb533 140 count2++;
tonnyleonard 5:29372f6cb533 141 count1 +=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 9:4d736d29ce19 142 //TIM2->CNT = 0x0000;
tonnyleonard 5:29372f6cb533 143 adjust = 0;
tonnyleonard 8:28ad0ba5a673 144 led2 =!led2;
tonnyleonard 5:29372f6cb533 145 }
tonnyleonard 5:29372f6cb533 146 }
tonnyleonard 5:29372f6cb533 147 }
tonnyleonard 0:789510d98ade 148
tonnyleonard 8:28ad0ba5a673 149 //Function attached to the serial RX interrupt event
tonnyleonard 7:7f59b69d8895 150 void readData(void)
tonnyleonard 7:7f59b69d8895 151 {
tonnyleonard 7:7f59b69d8895 152 char message[125];
tonnyleonard 8:28ad0ba5a673 153 if(raspi.readable()) {
tonnyleonard 8:28ad0ba5a673 154 int p1=0;
tonnyleonard 8:28ad0ba5a673 155 led1 = 1;
tonnyleonard 8:28ad0ba5a673 156 raspi.scanf("%s", message);
tonnyleonard 7:7f59b69d8895 157 printf("%d %s\r\n", strlen(message), message);
tonnyleonard 7:7f59b69d8895 158 if (strcmp(message, "startAdc") == 0) {
tonnyleonard 7:7f59b69d8895 159 adc3_en = true;
tonnyleonard 8:28ad0ba5a673 160 lines = 6;
tonnyleonard 7:7f59b69d8895 161 printf("true\r\n");
tonnyleonard 8:28ad0ba5a673 162 } else if (strcmp(message, "stopAdc") == 0) {
tonnyleonard 7:7f59b69d8895 163 adc3_en = false;
tonnyleonard 8:28ad0ba5a673 164 lines = 4;
tonnyleonard 7:7f59b69d8895 165 printf("false\r\n");
tonnyleonard 8:28ad0ba5a673 166 } else if (p1=strstr(message, "DAC=") != NULL){
tonnyleonard 8:28ad0ba5a673 167 dac_val = atof(message+p1+3);
tonnyleonard 8:28ad0ba5a673 168 printf("Value to write to DAC: %f\r\n", dac_val*3.3f);
tonnyleonard 8:28ad0ba5a673 169 }
tonnyleonard 8:28ad0ba5a673 170
tonnyleonard 8:28ad0ba5a673 171 }
tonnyleonard 8:28ad0ba5a673 172 led1 = 0;
tonnyleonard 8:28ad0ba5a673 173 }
tonnyleonard 7:7f59b69d8895 174
tonnyleonard 8:28ad0ba5a673 175 //The main function
tonnyleonard 0:789510d98ade 176 int main()
tonnyleonard 0:789510d98ade 177 {
tonnyleonard 0:789510d98ade 178
tonnyleonard 7:7f59b69d8895 179 //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
tonnyleonard 5:29372f6cb533 180 //full 32-bit count
tonnyleonard 7:7f59b69d8895 181 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 2:958e9094b198 182 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
tonnyleonard 8:28ad0ba5a673 183
tonnyleonard 8:28ad0ba5a673 184 //Initialise encoder
tonnyleonard 4:4f115819171f 185 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 8:28ad0ba5a673 186
tonnyleonard 8:28ad0ba5a673 187 //Define function to call for interrupt event rise
tonnyleonard 8:28ad0ba5a673 188 //This is triggered by the encoder's index pulses
tonnyleonard 8:28ad0ba5a673 189 //and it resets the encoder counter
tonnyleonard 5:29372f6cb533 190 event.rise(&atint);
tonnyleonard 8:28ad0ba5a673 191
tonnyleonard 8:28ad0ba5a673 192 //Attach functin to call for serial interrupt event
tonnyleonard 8:28ad0ba5a673 193 raspi.attach(&readData);
tonnyleonard 7:7f59b69d8895 194
tonnyleonard 8:28ad0ba5a673 195 //Message to mark the initialisation of the program
tonnyleonard 4:4f115819171f 196 printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 9:4d736d29ce19 197 printf("Running at %u MHz\r\n\n", HAL_RCC_GetSysClockFreq()/1000000);
tonnyleonard 7:7f59b69d8895 198
tonnyleonard 6:5d4c09973041 199 //printf("%" PRIu32 "\n", UINT32_MAX);
tonnyleonard 7:7f59b69d8895 200
tonnyleonard 8:28ad0ba5a673 201
tonnyleonard 8:28ad0ba5a673 202 //The main loop
tonnyleonard 0:789510d98ade 203 while(1) {
tonnyleonard 8:28ad0ba5a673 204
tonnyleonard 8:28ad0ba5a673 205 //Variable for the one loop encoder counter
tonnyleonard 5:29372f6cb533 206 uint32_t count3=0;
tonnyleonard 7:7f59b69d8895 207
tonnyleonard 8:28ad0ba5a673 208 //Variable for the direction of the counter
tonnyleonard 4:4f115819171f 209 int8_t dir1;
tonnyleonard 8:28ad0ba5a673 210
tonnyleonard 8:28ad0ba5a673 211
tonnyleonard 9:4d736d29ce19 212 //uint16_t voltage1=0;
tonnyleonard 0:789510d98ade 213
tonnyleonard 0:789510d98ade 214
tonnyleonard 0:789510d98ade 215 //OK 401 411 446 NOK 030
tonnyleonard 5:29372f6cb533 216 //count1=TIM2->CNT;
tonnyleonard 5:29372f6cb533 217 //dir1=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 8:28ad0ba5a673 218
tonnyleonard 8:28ad0ba5a673 219 //It reads the ADC1 value converted from 12bit to 16bit resolution
tonnyleonard 9:4d736d29ce19 220 //voltage1=adc1.read_u16();
tonnyleonard 8:28ad0ba5a673 221
tonnyleonard 8:28ad0ba5a673 222 //It resets the DAC1
tonnyleonard 8:28ad0ba5a673 223 //dac1.free();
tonnyleonard 8:28ad0ba5a673 224
tonnyleonard 8:28ad0ba5a673 225 //It writes the DAC1 value as a 16bit number
tonnyleonard 8:28ad0ba5a673 226 //dac1.write_u16(count3*2);
tonnyleonard 8:28ad0ba5a673 227
tonnyleonard 8:28ad0ba5a673 228 //It writes the DAC1 value as a subunitary float number
tonnyleonard 8:28ad0ba5a673 229 //to be multiplied with the max DAC_RANGE
tonnyleonard 8:28ad0ba5a673 230 dac1.write(dac_val);
tonnyleonard 8:28ad0ba5a673 231
tonnyleonard 8:28ad0ba5a673 232 //It gets the one loop position and the direction of the encoder
tonnyleonard 5:29372f6cb533 233 count3=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 4:4f115819171f 234 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 8:28ad0ba5a673 235
tonnyleonard 9:4d736d29ce19 236 printf("%ld%s passes=%d\r\n", count3, dir1==0 ? "+":"-", count2);
tonnyleonard 9:4d736d29ce19 237 printf("Voltage ADC1= %3.3f%V, DAC=%f\r\n", adc1.read()*3.3f, dac1.read()*3.3);
tonnyleonard 9:4d736d29ce19 238 //printf("Vref: %f\r\n", vref.read());
tonnyleonard 9:4d736d29ce19 239 printf("Voltage ADC2: %3.3f%V\r\n", adc2.read()*3.3f);
tonnyleonard 8:28ad0ba5a673 240
tonnyleonard 8:28ad0ba5a673 241 //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n",
tonnyleonard 8:28ad0ba5a673 242 // vref.read(), vref.read_u16(), tempint.read_u16());
tonnyleonard 7:7f59b69d8895 243 if (adc3_en) {
tonnyleonard 8:28ad0ba5a673 244 printf("Voltage ADC3: %3.3f%V\r\n", adc3.read()*3.3f);
tonnyleonard 9:4d736d29ce19 245 printf("Voltage ADC3: %u\r\n", adc3.read_u16());
tonnyleonard 9:4d736d29ce19 246 printf("DAC read: %3.3f%V\r\n", dac1.read()*3.3f);
tonnyleonard 8:28ad0ba5a673 247 }
tonnyleonard 9:4d736d29ce19 248 //printf("\033[%dA", lines); // Moves cursor up of #lines
tonnyleonard 6:5d4c09973041 249
tonnyleonard 9:4d736d29ce19 250 wait(3.04);
tonnyleonard 0:789510d98ade 251 }
tonnyleonard 8:28ad0ba5a673 252
tonnyleonard 8:28ad0ba5a673 253 }