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@0:789510d98ade, 2017-03-08 (annotated)

Committer:
tonnyleonard
Date:
Wed Mar 08 16:59:48 2017 +0000
Revision:
0:789510d98ade
Child:
1:a611582bffa7
Adapting attempt to L432KC

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 0:789510d98ade 24 TIM_Encoder_InitTypeDef encoder2; // encoder3, encoder4;
tonnyleonard 0:789510d98ade 25 TIM_HandleTypeDef timer2; // timer3, timer4;
tonnyleonard 0:789510d98ade 26
tonnyleonard 0:789510d98ade 27 int main()
tonnyleonard 0:789510d98ade 28 {
tonnyleonard 0:789510d98ade 29 //examples
tonnyleonard 0:789510d98ade 30
tonnyleonard 0:789510d98ade 31 //counting on A-input only, 2 ticks per cycle, rolls over at 100
tonnyleonard 0:789510d98ade 32 //EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
tonnyleonard 0:789510d98ade 33
tonnyleonard 0:789510d98ade 34 //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
tonnyleonard 0:789510d98ade 35 EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 0:789510d98ade 36
tonnyleonard 0:789510d98ade 37 //counting on B-input only, 2 ticks per cycle, full 16-bit count
tonnyleonard 0:789510d98ade 38 //EncoderInit(&encoder3, &timer3, TIM3, 0xffff, TIM_ENCODERMODE_TI2);
tonnyleonard 0:789510d98ade 39
tonnyleonard 0:789510d98ade 40 //counting on both A&B inputs, 4 ticks per cycle, full 16-bit count
tonnyleonard 0:789510d98ade 41 //EncoderInit(&encoder4, &timer4, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
tonnyleonard 0:789510d98ade 42
tonnyleonard 0:789510d98ade 43 //TIM5 is used by mbed for systick
tonnyleonard 0:789510d98ade 44 //EncoderInit(encoder2, timer2, TIM5, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 0:789510d98ade 45
tonnyleonard 0:789510d98ade 46 printf("STM HAL encoder demo\n\r");
tonnyleonard 0:789510d98ade 47
tonnyleonard 0:789510d98ade 48 while(1) {
tonnyleonard 0:789510d98ade 49 //uint16_t count1=0, count3=0, count4=0;
tonnyleonard 0:789510d98ade 50 uint32_t count2=0;
tonnyleonard 0:789510d98ade 51 int8_t dir2; // dir3, dir4;
tonnyleonard 0:789510d98ade 52
tonnyleonard 0:789510d98ade 53
tonnyleonard 0:789510d98ade 54 //OK 401 411 446 TICKER 030
tonnyleonard 0:789510d98ade 55 //count1=TIM1->CNT;
tonnyleonard 0:789510d98ade 56 //dir1=TIM1->CR1&TIM_CR1_DIR;
tonnyleonard 0:789510d98ade 57 //count1=__HAL_TIM_GET_COUNTER(&timer1);
tonnyleonard 0:789510d98ade 58 //dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
tonnyleonard 0:789510d98ade 59
tonnyleonard 0:789510d98ade 60 //OK 401 411 446 NOK 030
tonnyleonard 0:789510d98ade 61 //count2=TIM2->CNT;
tonnyleonard 0:789510d98ade 62 //dir2=TIM2->CR1&TIM_CR1_DIR;
tonnyleonard 0:789510d98ade 63 count2=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 0:789510d98ade 64 dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 0:789510d98ade 65
tonnyleonard 0:789510d98ade 66 //OK 401 411 446 030
tonnyleonard 0:789510d98ade 67 //count3=TIM3->CNT;
tonnyleonard 0:789510d98ade 68 //dir3=TIM3->CR1&TIM_CR1_DIR;
tonnyleonard 0:789510d98ade 69 //count3=__HAL_TIM_GET_COUNTER(&timer3);
tonnyleonard 0:789510d98ade 70 //dir3 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer3);
tonnyleonard 0:789510d98ade 71
tonnyleonard 0:789510d98ade 72 //OK 401 411 446 N/A 030
tonnyleonard 0:789510d98ade 73 //count4=TIM4->CNT;
tonnyleonard 0:789510d98ade 74 //dir4=TIM4->CR1&TIM_CR1_DIR;
tonnyleonard 0:789510d98ade 75 //count4=__HAL_TIM_GET_COUNTER(&timer4);
tonnyleonard 0:789510d98ade 76 //dir4 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer4);
tonnyleonard 0:789510d98ade 77
tonnyleonard 0:789510d98ade 78 //TICKER 401 411 446 N/A 030
tonnyleonard 0:789510d98ade 79 // count5=__HAL_TIM_GET_COUNTER(&timer5);
tonnyleonard 0:789510d98ade 80 // dir5 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer5);
tonnyleonard 0:789510d98ade 81
tonnyleonard 0:789510d98ade 82 printf("%d%s\r\n", count2, dir2==0 ? "+":"-" );
tonnyleonard 0:789510d98ade 83 wait(0.5);
tonnyleonard 0:789510d98ade 84 }
tonnyleonard 0:789510d98ade 85 }