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@17:75815e312312, 2017-06-15 (annotated)
- Committer:
- tonnyleonard
- Date:
- Thu Jun 15 17:20:59 2017 +0000
- Revision:
- 17:75815e312312
- Parent:
- 16:e423f891cfbc
- Child:
- 18:1ef20c13693c
Adjust error messages and change serial read method from scanf() to getc()
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tonnyleonard | 0:789510d98ade | 1 | /* |
tonnyleonard | 10:8862c8779b71 | 2 | * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DACs |
tonnyleonard | 8:28ad0ba5a673 | 3 | * with serial communication over the USB virtual serial port |
tonnyleonard | 10:8862c8779b71 | 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 | 10:8862c8779b71 | 8 | * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, |
tonnyleonard | 8:28ad0ba5a673 | 9 | * others 16bit. |
tonnyleonard | 10:8862c8779b71 | 10 | * Take into account that on F4xx Mbed uses TIM5 for system timer, SPI needs TIM1, |
tonnyleonard | 8:28ad0ba5a673 | 11 | * others are used for PWM. |
tonnyleonard | 10:8862c8779b71 | 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 | 10:8862c8779b71 | 15 | * On L432KC, for example, only TIM2 has 32bit count, others have 16bit. |
tonnyleonard | 8:28ad0ba5a673 | 16 | * However, mbed has TIM2 assigned by default to the system ticker |
tonnyleonard | 10:8862c8779b71 | 17 | * For L432KC to work with TIM2 encoder input one needs to reassign |
tonnyleonard | 10:8862c8779b71 | 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 | 10:8862c8779b71 | 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 | |
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 | 15:8adff67fe707 | 50 | //Timer to be used for the speed computation function |
tonnyleonard | 15:8adff67fe707 | 51 | Timer timer1; |
tonnyleonard | 17:75815e312312 | 52 | Timer timer3; |
tonnyleonard | 15:8adff67fe707 | 53 | |
tonnyleonard | 8:28ad0ba5a673 | 54 | //The input for the encoder's index channel |
tonnyleonard | 5:29372f6cb533 | 55 | InterruptIn event(PA_8); |
tonnyleonard | 8:28ad0ba5a673 | 56 | |
tonnyleonard | 8:28ad0ba5a673 | 57 | //LED1 to signal USB serial RX interrupt reading |
tonnyleonard | 8:28ad0ba5a673 | 58 | DigitalOut led1(LED1); |
tonnyleonard | 8:28ad0ba5a673 | 59 | |
tonnyleonard | 8:28ad0ba5a673 | 60 | //LED2 to signal the encoder's index impulses |
tonnyleonard | 10:8862c8779b71 | 61 | //only for feedback, to calibrate the position |
tonnyleonard | 8:28ad0ba5a673 | 62 | //of the AVAGO encoder with respect to the shaft |
tonnyleonard | 8:28ad0ba5a673 | 63 | DigitalOut led2(PB_4); |
tonnyleonard | 8:28ad0ba5a673 | 64 | |
tonnyleonard | 15:8adff67fe707 | 65 | //Relay port to power on and off the Digitally Controlled Power Source (DCPS) |
tonnyleonard | 12:8c355d78e081 | 66 | DigitalOut relay1(PB_5); |
tonnyleonard | 12:8c355d78e081 | 67 | |
tonnyleonard | 8:28ad0ba5a673 | 68 | //Defining the ADCs |
tonnyleonard | 15:8adff67fe707 | 69 | //For reading the Phase Comparator output |
tonnyleonard | 6:5d4c09973041 | 70 | AnalogIn adc1(PA_3); //ADC1_IN8 |
tonnyleonard | 15:8adff67fe707 | 71 | //For reading the DCPS output |
tonnyleonard | 15:8adff67fe707 | 72 | AnalogIn adc2(PA_4); //ADC1_IN9 |
tonnyleonard | 15:8adff67fe707 | 73 | //For reading the current value from the shunt monitor |
tonnyleonard | 6:5d4c09973041 | 74 | AnalogIn adc3(PA_6); //ADC1_IN11 |
tonnyleonard | 8:28ad0ba5a673 | 75 | |
tonnyleonard | 15:8adff67fe707 | 76 | //Defining the DAC for the input of DCPS |
tonnyleonard | 8:28ad0ba5a673 | 77 | //(DCPS - Digitally Controlled Power Source) |
tonnyleonard | 8:28ad0ba5a673 | 78 | //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4 |
tonnyleonard | 15:8adff67fe707 | 79 | AnalogOut dac1(PA_5); // DAC1_OUT2 |
tonnyleonard | 8:28ad0ba5a673 | 80 | |
tonnyleonard | 8:28ad0ba5a673 | 81 | //Defining the serial object to be used for communicating with Raspi |
tonnyleonard | 8:28ad0ba5a673 | 82 | Serial raspi(USBTX, USBRX); |
tonnyleonard | 10:8862c8779b71 | 83 | |
tonnyleonard | 15:8adff67fe707 | 84 | //Counter for the absolute position from start |
tonnyleonard | 15:8adff67fe707 | 85 | int32_t count1 = 0; |
tonnyleonard | 15:8adff67fe707 | 86 | //Counter for the index passes |
tonnyleonard | 15:8adff67fe707 | 87 | int32_t count2 = 0; |
tonnyleonard | 15:8adff67fe707 | 88 | //Records the wheel offset position to the index |
tonnyleonard | 15:8adff67fe707 | 89 | int32_t count3 = 0; |
tonnyleonard | 15:8adff67fe707 | 90 | //Counter recording absolute position at last index pulse |
tonnyleonard | 15:8adff67fe707 | 91 | int32_t count4 = 0; |
tonnyleonard | 15:8adff67fe707 | 92 | //Used to filter the first index pulse, so that the offset position |
tonnyleonard | 15:8adff67fe707 | 93 | //to the index may be recorded |
tonnyleonard | 15:8adff67fe707 | 94 | volatile bool adjustOffset = false; |
tonnyleonard | 14:e5f5b345b2fe | 95 | |
tonnyleonard | 15:8adff67fe707 | 96 | //Last data written to dac1 (using subunitary values) |
tonnyleonard | 15:8adff67fe707 | 97 | float dac_val = 0.0; |
tonnyleonard | 8:28ad0ba5a673 | 98 | |
tonnyleonard | 14:e5f5b345b2fe | 99 | //Array with adc1, adc2 & adc3 correction addition, |
tonnyleonard | 15:8adff67fe707 | 100 | //experimentally determined (hardware offset voltage dependent) |
tonnyleonard | 14:e5f5b345b2fe | 101 | const float adc_corr[] = { 0, 0.022f, 0.2995, 0.0267}; |
tonnyleonard | 15:8adff67fe707 | 102 | |
tonnyleonard | 15:8adff67fe707 | 103 | //Enable ADC reading and printing to the serial interface |
tonnyleonard | 15:8adff67fe707 | 104 | bool adc_en = true; |
tonnyleonard | 15:8adff67fe707 | 105 | |
tonnyleonard | 15:8adff67fe707 | 106 | //Enables speed computing and printing to the serial interface |
tonnyleonard | 15:8adff67fe707 | 107 | bool speed_en = true; |
tonnyleonard | 14:e5f5b345b2fe | 108 | |
tonnyleonard | 15:8adff67fe707 | 109 | //Enable position reading and printing to the serial interface |
tonnyleonard | 15:8adff67fe707 | 110 | bool pos_en = true; |
tonnyleonard | 8:28ad0ba5a673 | 111 | |
tonnyleonard | 15:8adff67fe707 | 112 | //Enable alternative position computation and printing to the serial interface, |
tonnyleonard | 15:8adff67fe707 | 113 | //relative to the encoder index pulses counter |
tonnyleonard | 15:8adff67fe707 | 114 | bool posIndex_en = true; |
tonnyleonard | 8:28ad0ba5a673 | 115 | |
tonnyleonard | 8:28ad0ba5a673 | 116 | //Function invoked by the encoder's index interrupt pulses |
tonnyleonard | 15:8adff67fe707 | 117 | //It counts the index pulses, incrementing or decrementing the number, |
tonnyleonard | 15:8adff67fe707 | 118 | //and registers the offset position of the wheel at start in count3; |
tonnyleonard | 15:8adff67fe707 | 119 | //The index counter is used to correct possible reading errors of the |
tonnyleonard | 15:8adff67fe707 | 120 | //encoder's counter |
tonnyleonard | 15:8adff67fe707 | 121 | //led2 is used for visual feedback. |
tonnyleonard | 7:7f59b69d8895 | 122 | void atint() |
tonnyleonard | 7:7f59b69d8895 | 123 | { |
tonnyleonard | 15:8adff67fe707 | 124 | count4 =__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 7:7f59b69d8895 | 125 | if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { |
tonnyleonard | 16:e423f891cfbc | 126 | if (count2 == 0 && adjustOffset == false) { //catch first index pulse |
tonnyleonard | 15:8adff67fe707 | 127 | count3 = count4; |
tonnyleonard | 15:8adff67fe707 | 128 | adjustOffset = true; |
tonnyleonard | 5:29372f6cb533 | 129 | } |
tonnyleonard | 15:8adff67fe707 | 130 | count2--; |
tonnyleonard | 15:8adff67fe707 | 131 | led2 =!led2; |
tonnyleonard | 7:7f59b69d8895 | 132 | } else { |
tonnyleonard | 15:8adff67fe707 | 133 | if (count2 == 0 && adjustOffset == false) { //catch first index pulse |
tonnyleonard | 15:8adff67fe707 | 134 | count3 = count4; |
tonnyleonard | 15:8adff67fe707 | 135 | adjustOffset = true; |
tonnyleonard | 5:29372f6cb533 | 136 | } |
tonnyleonard | 15:8adff67fe707 | 137 | count2++; |
tonnyleonard | 15:8adff67fe707 | 138 | led2 =!led2; |
tonnyleonard | 5:29372f6cb533 | 139 | } |
tonnyleonard | 5:29372f6cb533 | 140 | } |
tonnyleonard | 15:8adff67fe707 | 141 | |
tonnyleonard | 15:8adff67fe707 | 142 | //Function for adaptive speed computation |
tonnyleonard | 14:e5f5b345b2fe | 143 | float speedRead() |
tonnyleonard | 14:e5f5b345b2fe | 144 | { |
tonnyleonard | 15:8adff67fe707 | 145 | //counter for the waiting time window |
tonnyleonard | 10:8862c8779b71 | 146 | uint16_t i = 0; |
tonnyleonard | 15:8adff67fe707 | 147 | //sample time for speed computation |
tonnyleonard | 10:8862c8779b71 | 148 | uint32_t deltaT; |
tonnyleonard | 15:8adff67fe707 | 149 | |
tonnyleonard | 15:8adff67fe707 | 150 | //Computer speed |
tonnyleonard | 10:8862c8779b71 | 151 | float speed; |
tonnyleonard | 15:8adff67fe707 | 152 | |
tonnyleonard | 15:8adff67fe707 | 153 | //First and second registered position |
tonnyleonard | 15:8adff67fe707 | 154 | int32_t pos1; |
tonnyleonard | 15:8adff67fe707 | 155 | int32_t pos2; |
tonnyleonard | 15:8adff67fe707 | 156 | //position difference to be used for speed computation |
tonnyleonard | 10:8862c8779b71 | 157 | int32_t pos; |
tonnyleonard | 15:8adff67fe707 | 158 | //Direction of rotation, read from the encoder, for the first |
tonnyleonard | 15:8adff67fe707 | 159 | //and the second registered positions |
tonnyleonard | 10:8862c8779b71 | 160 | int8_t sens1; |
tonnyleonard | 10:8862c8779b71 | 161 | int8_t sens2; |
tonnyleonard | 15:8adff67fe707 | 162 | |
tonnyleonard | 15:8adff67fe707 | 163 | timer1.start(); |
tonnyleonard | 10:8862c8779b71 | 164 | pos1=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 165 | sens1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 15:8adff67fe707 | 166 | //Minumum waiting time for this project would be 100 microseconds, |
tonnyleonard | 15:8adff67fe707 | 167 | //for 10 kHz quadrature frequency. We will set it 100 times longer |
tonnyleonard | 15:8adff67fe707 | 168 | //wait_ms(10); |
tonnyleonard | 15:8adff67fe707 | 169 | // Avoiding wait(), since it uses interrupts and timing here |
tonnyleonard | 15:8adff67fe707 | 170 | // is not critical. This takes 10 ms, if not interrupted |
tonnyleonard | 16:e423f891cfbc | 171 | for (uint32_t j=0; j<199950; j++) {} |
tonnyleonard | 10:8862c8779b71 | 172 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 173 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 14:e5f5b345b2fe | 174 | |
tonnyleonard | 10:8862c8779b71 | 175 | //The speed computation method adapts to slow/fast speeds, in order to |
tonnyleonard | 10:8862c8779b71 | 176 | //optimize the rapport between computation precision and time windows size |
tonnyleonard | 15:8adff67fe707 | 177 | while (pos2 == pos1 && i<49) { // The accepted max delay time is 0.5 seconds |
tonnyleonard | 15:8adff67fe707 | 178 | //wait_ms(10); |
tonnyleonard | 15:8adff67fe707 | 179 | // Avoiding wait(), since it uses interrupts and timing here |
tonnyleonard | 15:8adff67fe707 | 180 | // is not critical. This takes 10 ms, if not interrupted |
tonnyleonard | 16:e423f891cfbc | 181 | for (uint32_t j=0; j<199950; j++) {} |
tonnyleonard | 10:8862c8779b71 | 182 | i++; |
tonnyleonard | 10:8862c8779b71 | 183 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 184 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 14:e5f5b345b2fe | 185 | } |
tonnyleonard | 10:8862c8779b71 | 186 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 187 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 15:8adff67fe707 | 188 | timer1.stop(); |
tonnyleonard | 15:8adff67fe707 | 189 | deltaT = timer1.read_us(); |
tonnyleonard | 15:8adff67fe707 | 190 | timer1.reset(); |
tonnyleonard | 15:8adff67fe707 | 191 | if (sens1 == sens2) { |
tonnyleonard | 15:8adff67fe707 | 192 | pos = pos2 - pos1; |
tonnyleonard | 15:8adff67fe707 | 193 | } else { |
tonnyleonard | 17:75815e312312 | 194 | printf("\nE:Speed computation error, change of direction between readings!\n"); |
tonnyleonard | 15:8adff67fe707 | 195 | } |
tonnyleonard | 14:e5f5b345b2fe | 196 | |
tonnyleonard | 15:8adff67fe707 | 197 | //For debugging |
tonnyleonard | 16:e423f891cfbc | 198 | //printf("%lu microseconds, %ld steps: start:%lu stop%lu\n", deltaT, pos, pos1, pos2); |
tonnyleonard | 14:e5f5b345b2fe | 199 | if (deltaT > 0) { |
tonnyleonard | 15:8adff67fe707 | 200 | //speed computation in rot/s |
tonnyleonard | 11:7a9837acbea0 | 201 | speed = ((float) pos)*125.f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s |
tonnyleonard | 14:e5f5b345b2fe | 202 | } else { |
tonnyleonard | 17:75815e312312 | 203 | printf("\nE:Error, time interval not greater than zero, speed not calculated!\n"); |
tonnyleonard | 14:e5f5b345b2fe | 204 | } |
tonnyleonard | 10:8862c8779b71 | 205 | return speed; |
tonnyleonard | 14:e5f5b345b2fe | 206 | } |
tonnyleonard | 0:789510d98ade | 207 | |
tonnyleonard | 15:8adff67fe707 | 208 | //Function attached to the serial RX interrupt event, it parses |
tonnyleonard | 15:8adff67fe707 | 209 | //the serial messages and invoques the corresponding commands |
tonnyleonard | 7:7f59b69d8895 | 210 | void readData(void) |
tonnyleonard | 7:7f59b69d8895 | 211 | { |
tonnyleonard | 17:75815e312312 | 212 | led1 = 1; |
tonnyleonard | 17:75815e312312 | 213 | char message[15]; |
tonnyleonard | 17:75815e312312 | 214 | if (raspi.readable()) { |
tonnyleonard | 15:8adff67fe707 | 215 | // Signalling the beginning of serial read |
tonnyleonard | 17:75815e312312 | 216 | int i = 0; |
tonnyleonard | 17:75815e312312 | 217 | bool rx = true; |
tonnyleonard | 17:75815e312312 | 218 | while(rx && i<14) { |
tonnyleonard | 17:75815e312312 | 219 | message[i] = raspi.getc(); |
tonnyleonard | 17:75815e312312 | 220 | if (message[i] == '\r') { |
tonnyleonard | 17:75815e312312 | 221 | message[i] = NULL; |
tonnyleonard | 17:75815e312312 | 222 | rx = false; |
tonnyleonard | 17:75815e312312 | 223 | } |
tonnyleonard | 17:75815e312312 | 224 | i++; |
tonnyleonard | 17:75815e312312 | 225 | } |
tonnyleonard | 15:8adff67fe707 | 226 | //Message received printed for debugging |
tonnyleonard | 16:e423f891cfbc | 227 | //printf("M:%d %s\n", strlen(message), message); |
tonnyleonard | 17:75815e312312 | 228 | int p1 = 0; |
tonnyleonard | 15:8adff67fe707 | 229 | if (strcmp(message, "adcOn") == 0) { |
tonnyleonard | 15:8adff67fe707 | 230 | adc_en = true; |
tonnyleonard | 17:75815e312312 | 231 | printf("\nM:ADC true\n"); |
tonnyleonard | 15:8adff67fe707 | 232 | } else if (strcmp(message, "adcOff") == 0) { |
tonnyleonard | 15:8adff67fe707 | 233 | adc_en = false; |
tonnyleonard | 17:75815e312312 | 234 | printf("\nM:ADC false\n"); |
tonnyleonard | 15:8adff67fe707 | 235 | } else if (p1=strstr(message, "dac=") != NULL) { |
tonnyleonard | 15:8adff67fe707 | 236 | //Writing the dac1 value read from serial |
tonnyleonard | 14:e5f5b345b2fe | 237 | //The DCPS has 1V offset, so we have to remove it |
tonnyleonard | 15:8adff67fe707 | 238 | dac_val = (atof(message+p1+3)-1.0f)/15.51; |
tonnyleonard | 15:8adff67fe707 | 239 | dac1.write(dac_val); |
tonnyleonard | 17:75815e312312 | 240 | printf("\nM:Value to write to DAC: %f\n", dac_val*3.3f); |
tonnyleonard | 10:8862c8779b71 | 241 | } else if (strcmp(message, "reset") == 0) { |
tonnyleonard | 15:8adff67fe707 | 242 | //encoder related counters reset command |
tonnyleonard | 10:8862c8779b71 | 243 | TIM2->CNT = 0x0000; |
tonnyleonard | 15:8adff67fe707 | 244 | count1 = 0; |
tonnyleonard | 15:8adff67fe707 | 245 | count2 = 0; |
tonnyleonard | 15:8adff67fe707 | 246 | count3 = 0; |
tonnyleonard | 15:8adff67fe707 | 247 | count4 = 0; |
tonnyleonard | 15:8adff67fe707 | 248 | adjustOffset = false; |
tonnyleonard | 17:75815e312312 | 249 | printf("\nM:Encoder counters reset!\n"); |
tonnyleonard | 15:8adff67fe707 | 250 | } else if (strcmp(message, "powerOn") == 0) { |
tonnyleonard | 15:8adff67fe707 | 251 | //command to power on the DCPS |
tonnyleonard | 12:8c355d78e081 | 252 | relay1.write(1); |
tonnyleonard | 17:75815e312312 | 253 | printf("\nM:DCPS on\n"); |
tonnyleonard | 15:8adff67fe707 | 254 | } else if (strcmp(message, "powerOff") == 0) { |
tonnyleonard | 15:8adff67fe707 | 255 | //command to power off the DCPS |
tonnyleonard | 12:8c355d78e081 | 256 | relay1.write(0); |
tonnyleonard | 16:e423f891cfbc | 257 | printf("M:DCPS off\n"); |
tonnyleonard | 15:8adff67fe707 | 258 | } else if (strcmp(message, "posOn") == 0) { |
tonnyleonard | 15:8adff67fe707 | 259 | //command to enable the encoder position notification |
tonnyleonard | 15:8adff67fe707 | 260 | pos_en = true; |
tonnyleonard | 17:75815e312312 | 261 | printf("\nM:Position notification enabled\n"); |
tonnyleonard | 15:8adff67fe707 | 262 | } else if (strcmp(message, "posOff") == 0) { |
tonnyleonard | 15:8adff67fe707 | 263 | //command to disable the encoder position notification |
tonnyleonard | 15:8adff67fe707 | 264 | pos_en = false; |
tonnyleonard | 17:75815e312312 | 265 | printf("\nM:Position notification disabled\n"); |
tonnyleonard | 15:8adff67fe707 | 266 | } else if (strcmp(message, "posIndexOn") == 0) { |
tonnyleonard | 15:8adff67fe707 | 267 | //command to enable the index related encoder position notification |
tonnyleonard | 15:8adff67fe707 | 268 | posIndex_en = true; |
tonnyleonard | 17:75815e312312 | 269 | printf("\nM:Index related position notification enabled\n"); |
tonnyleonard | 15:8adff67fe707 | 270 | } else if (strcmp(message, "posIndexOff") == 0) { |
tonnyleonard | 15:8adff67fe707 | 271 | //command to disable the index related encoder position notification |
tonnyleonard | 15:8adff67fe707 | 272 | posIndex_en = false; |
tonnyleonard | 17:75815e312312 | 273 | printf("\nM:Index related position notification disabled\n"); |
tonnyleonard | 15:8adff67fe707 | 274 | } else if (strcmp(message, "speedOn") == 0) { |
tonnyleonard | 15:8adff67fe707 | 275 | //command to enable speed computation and notification |
tonnyleonard | 15:8adff67fe707 | 276 | speed_en = true; |
tonnyleonard | 17:75815e312312 | 277 | printf("\nM:Speed enabled\n"); |
tonnyleonard | 15:8adff67fe707 | 278 | } else if (strcmp(message, "speedOff") == 0) { |
tonnyleonard | 15:8adff67fe707 | 279 | //command to disable speed computation and notification |
tonnyleonard | 15:8adff67fe707 | 280 | speed_en = false; |
tonnyleonard | 17:75815e312312 | 281 | printf("\nM:Speed disabled\n"); |
tonnyleonard | 10:8862c8779b71 | 282 | } |
tonnyleonard | 8:28ad0ba5a673 | 283 | } |
tonnyleonard | 17:75815e312312 | 284 | |
tonnyleonard | 15:8adff67fe707 | 285 | //Signalling the end of searial read |
tonnyleonard | 8:28ad0ba5a673 | 286 | led1 = 0; |
tonnyleonard | 8:28ad0ba5a673 | 287 | } |
tonnyleonard | 7:7f59b69d8895 | 288 | |
tonnyleonard | 15:8adff67fe707 | 289 | float ADC_read(AnalogIn adc) |
tonnyleonard | 14:e5f5b345b2fe | 290 | { |
tonnyleonard | 16:e423f891cfbc | 291 | |
tonnyleonard | 15:8adff67fe707 | 292 | float Voltage; |
tonnyleonard | 15:8adff67fe707 | 293 | float Voltage_total = 0.0; |
tonnyleonard | 16:e423f891cfbc | 294 | |
tonnyleonard | 15:8adff67fe707 | 295 | // Voltage is summed then averaged |
tonnyleonard | 15:8adff67fe707 | 296 | for (int i=0; i<100; i++) { // do 100 readings |
tonnyleonard | 14:e5f5b345b2fe | 297 | Voltage = adc.read(); |
tonnyleonard | 14:e5f5b345b2fe | 298 | |
tonnyleonard | 15:8adff67fe707 | 299 | Voltage_total = Voltage_total+ Voltage; |
tonnyleonard | 14:e5f5b345b2fe | 300 | //wait_us(10); |
tonnyleonard | 14:e5f5b345b2fe | 301 | } |
tonnyleonard | 15:8adff67fe707 | 302 | Voltage = Voltage_total/100.f; |
tonnyleonard | 15:8adff67fe707 | 303 | return Voltage; |
tonnyleonard | 14:e5f5b345b2fe | 304 | } |
tonnyleonard | 14:e5f5b345b2fe | 305 | |
tonnyleonard | 8:28ad0ba5a673 | 306 | //The main function |
tonnyleonard | 0:789510d98ade | 307 | int main() |
tonnyleonard | 0:789510d98ade | 308 | { |
tonnyleonard | 12:8c355d78e081 | 309 | //Power onn the DCPS |
tonnyleonard | 16:e423f891cfbc | 310 | relay1.write(1); |
tonnyleonard | 16:e423f891cfbc | 311 | dac1.write(0.32); |
tonnyleonard | 14:e5f5b345b2fe | 312 | |
tonnyleonard | 7:7f59b69d8895 | 313 | //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle, |
tonnyleonard | 5:29372f6cb533 | 314 | //full 32-bit count |
tonnyleonard | 7:7f59b69d8895 | 315 | //For L432KC to work with TIM2 one needs to reassign the system ticker |
tonnyleonard | 10:8862c8779b71 | 316 | //from TIM2 to TIM7 in TARGET/../device/hal_tick.h\ |
tonnyleonard | 8:28ad0ba5a673 | 317 | //Initialise encoder |
tonnyleonard | 4:4f115819171f | 318 | EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); |
tonnyleonard | 10:8862c8779b71 | 319 | |
tonnyleonard | 10:8862c8779b71 | 320 | //Define function to call for interrupt event rise |
tonnyleonard | 8:28ad0ba5a673 | 321 | //This is triggered by the encoder's index pulses |
tonnyleonard | 8:28ad0ba5a673 | 322 | //and it resets the encoder counter |
tonnyleonard | 5:29372f6cb533 | 323 | event.rise(&atint); |
tonnyleonard | 14:e5f5b345b2fe | 324 | |
tonnyleonard | 12:8c355d78e081 | 325 | //Set serial baud rate |
tonnyleonard | 12:8c355d78e081 | 326 | raspi.baud(115200); |
tonnyleonard | 14:e5f5b345b2fe | 327 | |
tonnyleonard | 8:28ad0ba5a673 | 328 | //Attach functin to call for serial interrupt event |
tonnyleonard | 16:e423f891cfbc | 329 | wait(1); |
tonnyleonard | 17:75815e312312 | 330 | raspi.attach(&readData, Serial::RxIrq); |
tonnyleonard | 7:7f59b69d8895 | 331 | |
tonnyleonard | 8:28ad0ba5a673 | 332 | //Message to mark the initialisation of the program |
tonnyleonard | 16:e423f891cfbc | 333 | printf("M:STM HAL encoder with ADC and DAC\n"); |
tonnyleonard | 16:e423f891cfbc | 334 | printf("M:Running at %u MHz\n", HAL_RCC_GetSysClockFreq()/1000000); |
tonnyleonard | 7:7f59b69d8895 | 335 | |
tonnyleonard | 8:28ad0ba5a673 | 336 | //The main loop |
tonnyleonard | 0:789510d98ade | 337 | while(1) { |
tonnyleonard | 10:8862c8779b71 | 338 | |
tonnyleonard | 8:28ad0ba5a673 | 339 | //Variable for the direction of the counter |
tonnyleonard | 4:4f115819171f | 340 | int8_t dir1; |
tonnyleonard | 10:8862c8779b71 | 341 | |
tonnyleonard | 15:8adff67fe707 | 342 | //Prints the timestamp in miliseconds |
tonnyleonard | 16:e423f891cfbc | 343 | printf("T:%u", us_ticker_read()/1000); |
tonnyleonard | 10:8862c8779b71 | 344 | |
tonnyleonard | 15:8adff67fe707 | 345 | if (pos_en) { |
tonnyleonard | 15:8adff67fe707 | 346 | //It gets the position and the direction of the encoder |
tonnyleonard | 15:8adff67fe707 | 347 | count1=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 15:8adff67fe707 | 348 | dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 16:e423f891cfbc | 349 | printf("P:%ldD:%sC:%d", count1, dir1==0 ? "+":"-", count2); |
tonnyleonard | 15:8adff67fe707 | 350 | if (posIndex_en) { |
tonnyleonard | 15:8adff67fe707 | 351 | // Does not work if speed computation is enabled and uses wait(), |
tonnyleonard | 16:e423f891cfbc | 352 | // because speed computation may take too long and wait() |
tonnyleonard | 15:8adff67fe707 | 353 | // disables other interrupts, therefore the index pulse |
tonnyleonard | 16:e423f891cfbc | 354 | // interrupt as well. |
tonnyleonard | 15:8adff67fe707 | 355 | if (count2 > 1) { |
tonnyleonard | 16:e423f891cfbc | 356 | printf("Pi:%ld", (count1-count4) + (count2-1)*8000 + count3); |
tonnyleonard | 15:8adff67fe707 | 357 | } else if (count2 < -1) { |
tonnyleonard | 16:e423f891cfbc | 358 | printf("Pi:%ld", (count1-count4) + (count2+1)*8000 + count3); |
tonnyleonard | 15:8adff67fe707 | 359 | } else { |
tonnyleonard | 16:e423f891cfbc | 360 | printf("Pi:%ld", (count1-count4) + count3); |
tonnyleonard | 15:8adff67fe707 | 361 | } |
tonnyleonard | 15:8adff67fe707 | 362 | } |
tonnyleonard | 15:8adff67fe707 | 363 | } |
tonnyleonard | 6:5d4c09973041 | 364 | |
tonnyleonard | 15:8adff67fe707 | 365 | if (speed_en) { |
tonnyleonard | 15:8adff67fe707 | 366 | //Print speed |
tonnyleonard | 16:e423f891cfbc | 367 | printf("S:%.3f%", speedRead()); // in rot/s |
tonnyleonard | 15:8adff67fe707 | 368 | } |
tonnyleonard | 14:e5f5b345b2fe | 369 | |
tonnyleonard | 15:8adff67fe707 | 370 | if (adc_en) { |
tonnyleonard | 16:e423f891cfbc | 371 | //Print phase shift in Degrees, DCPS output voltage in Volts |
tonnyleonard | 16:e423f891cfbc | 372 | // and current intensity in Ampers |
tonnyleonard | 16:e423f891cfbc | 373 | printf("F:%3.3fU:%3.3fI:%3.3f", (3.3f*ADC_read(adc1)+0.022f)*125.62f, |
tonnyleonard | 16:e423f891cfbc | 374 | (3.3f*ADC_read(adc2)+0.062f)/0.207f, 3.3f*ADC_read(adc3)+0.022f); |
tonnyleonard | 16:e423f891cfbc | 375 | //Print DCPS output voltage in Volts |
tonnyleonard | 16:e423f891cfbc | 376 | //printf("U:%3.3f%", (3.3f*ADC_read(adc2)+0.062f)/0.207f); |
tonnyleonard | 16:e423f891cfbc | 377 | //Print current intensity in Ampers |
tonnyleonard | 16:e423f891cfbc | 378 | //printf("I:%3.3f%\n", 3.3f*ADC_read(adc3)+0.022f); |
tonnyleonard | 10:8862c8779b71 | 379 | } |
tonnyleonard | 16:e423f891cfbc | 380 | printf("\n"); |
tonnyleonard | 10:8862c8779b71 | 381 | |
tonnyleonard | 16:e423f891cfbc | 382 | wait(0.08); |
tonnyleonard | 0:789510d98ade | 383 | } |
tonnyleonard | 8:28ad0ba5a673 | 384 | |
tonnyleonard | 8:28ad0ba5a673 | 385 | } |