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@4:4f115819171f, 2017-05-13 (annotated)

Committer:
tonnyleonard
Date:
Sat May 13 19:04:08 2017 +0000
Revision:
4:4f115819171f
Parent:
2:958e9094b198
Child:
5:29372f6cb533
Excluding the first 16 bit encoder, not needed

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 2:958e9094b198 25 TIM_HandleTypeDef timer1, timer2;
tonnyleonard 0:789510d98ade 26
tonnyleonard 0:789510d98ade 27 int main()
tonnyleonard 0:789510d98ade 28 {
tonnyleonard 0:789510d98ade 29
tonnyleonard 0:789510d98ade 30 //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
tonnyleonard 2:958e9094b198 31 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 2:958e9094b198 32 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h
tonnyleonard 4:4f115819171f 33 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 0:789510d98ade 34
tonnyleonard 4:4f115819171f 35 printf("\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 0:789510d98ade 36
tonnyleonard 0:789510d98ade 37 while(1) {
tonnyleonard 4:4f115819171f 38 uint16_t count2=0;
tonnyleonard 4:4f115819171f 39 uint32_t count1=0;
tonnyleonard 4:4f115819171f 40 int8_t dir1;
tonnyleonard 0:789510d98ade 41
tonnyleonard 0:789510d98ade 42
tonnyleonard 0:789510d98ade 43 //OK 401 411 446 NOK 030
tonnyleonard 0:789510d98ade 44 //count2=TIM2->CNT;
tonnyleonard 0:789510d98ade 45 //dir2=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 4:4f115819171f 46 count1=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 4:4f115819171f 47 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 0:789510d98ade 48
tonnyleonard 0:789510d98ade 49
tonnyleonard 4:4f115819171f 50 printf("%d%s\r\n", count1, dir1==0 ? "+":"-");
tonnyleonard 2:958e9094b198 51 wait(0.1);
tonnyleonard 0:789510d98ade 52 }
tonnyleonard 0:789510d98ade 53 }