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@15:8adff67fe707, 2017-06-14 (annotated)

Committer:
tonnyleonard
Date:
Wed Jun 14 01:23:53 2017 +0000
Revision:
15:8adff67fe707
Parent:
14:e5f5b345b2fe
Child:
16:e423f891cfbc
Create encoder counter based on index counting, update readData() with new parsing options, adjust speed computation to avoid interrupts, clean code. Quasi final version.

Who changed what in which revision?

UserRevisionLine numberNew 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 15:8adff67fe707 52
tonnyleonard 8:28ad0ba5a673 53 //The input for the encoder's index channel
tonnyleonard 5:29372f6cb533 54 InterruptIn event(PA_8);
tonnyleonard 8:28ad0ba5a673 55
tonnyleonard 8:28ad0ba5a673 56 //LED1 to signal USB serial RX interrupt reading
tonnyleonard 8:28ad0ba5a673 57 DigitalOut led1(LED1);
tonnyleonard 8:28ad0ba5a673 58
tonnyleonard 8:28ad0ba5a673 59 //LED2 to signal the encoder's index impulses
tonnyleonard 10:8862c8779b71 60 //only for feedback, to calibrate the position
tonnyleonard 8:28ad0ba5a673 61 //of the AVAGO encoder with respect to the shaft
tonnyleonard 8:28ad0ba5a673 62 DigitalOut led2(PB_4);
tonnyleonard 8:28ad0ba5a673 63
tonnyleonard 15:8adff67fe707 64 //Relay port to power on and off the Digitally Controlled Power Source (DCPS)
tonnyleonard 12:8c355d78e081 65 DigitalOut relay1(PB_5);
tonnyleonard 12:8c355d78e081 66
tonnyleonard 8:28ad0ba5a673 67 //Defining the ADCs
tonnyleonard 15:8adff67fe707 68 //For reading the Phase Comparator output
tonnyleonard 6:5d4c09973041 69 AnalogIn adc1(PA_3); //ADC1_IN8
tonnyleonard 15:8adff67fe707 70 //For reading the DCPS output
tonnyleonard 15:8adff67fe707 71 AnalogIn adc2(PA_4); //ADC1_IN9
tonnyleonard 15:8adff67fe707 72 //For reading the current value from the shunt monitor
tonnyleonard 6:5d4c09973041 73 AnalogIn adc3(PA_6); //ADC1_IN11
tonnyleonard 8:28ad0ba5a673 74
tonnyleonard 15:8adff67fe707 75 //Defining the DAC for the input of DCPS
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 15:8adff67fe707 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 10:8862c8779b71 82
tonnyleonard 15:8adff67fe707 83 //Counter for the absolute position from start
tonnyleonard 15:8adff67fe707 84 int32_t count1 = 0;
tonnyleonard 15:8adff67fe707 85 //Counter for the index passes
tonnyleonard 15:8adff67fe707 86 int32_t count2 = 0;
tonnyleonard 15:8adff67fe707 87 //Records the wheel offset position to the index
tonnyleonard 15:8adff67fe707 88 int32_t count3 = 0;
tonnyleonard 15:8adff67fe707 89 //Counter recording absolute position at last index pulse
tonnyleonard 15:8adff67fe707 90 int32_t count4 = 0;
tonnyleonard 15:8adff67fe707 91 //Used to filter the first index pulse, so that the offset position
tonnyleonard 15:8adff67fe707 92 //to the index may be recorded
tonnyleonard 15:8adff67fe707 93 volatile bool adjustOffset = false;
tonnyleonard 14:e5f5b345b2fe 94
tonnyleonard 15:8adff67fe707 95 //Last data written to dac1 (using subunitary values)
tonnyleonard 15:8adff67fe707 96 float dac_val = 0.0;
tonnyleonard 8:28ad0ba5a673 97
tonnyleonard 14:e5f5b345b2fe 98 //Array with adc1, adc2 & adc3 correction addition,
tonnyleonard 15:8adff67fe707 99 //experimentally determined (hardware offset voltage dependent)
tonnyleonard 14:e5f5b345b2fe 100 const float adc_corr[] = { 0, 0.022f, 0.2995, 0.0267};
tonnyleonard 15:8adff67fe707 101
tonnyleonard 15:8adff67fe707 102 //Enable ADC reading and printing to the serial interface
tonnyleonard 15:8adff67fe707 103 bool adc_en = true;
tonnyleonard 15:8adff67fe707 104
tonnyleonard 15:8adff67fe707 105 //Enables speed computing and printing to the serial interface
tonnyleonard 15:8adff67fe707 106 bool speed_en = true;
tonnyleonard 14:e5f5b345b2fe 107
tonnyleonard 15:8adff67fe707 108 //Enable position reading and printing to the serial interface
tonnyleonard 15:8adff67fe707 109 bool pos_en = true;
tonnyleonard 8:28ad0ba5a673 110
tonnyleonard 15:8adff67fe707 111 //Enable alternative position computation and printing to the serial interface,
tonnyleonard 15:8adff67fe707 112 //relative to the encoder index pulses counter
tonnyleonard 15:8adff67fe707 113 bool posIndex_en = true;
tonnyleonard 8:28ad0ba5a673 114
tonnyleonard 8:28ad0ba5a673 115 //Function invoked by the encoder's index interrupt pulses
tonnyleonard 15:8adff67fe707 116 //It counts the index pulses, incrementing or decrementing the number,
tonnyleonard 15:8adff67fe707 117 //and registers the offset position of the wheel at start in count3;
tonnyleonard 15:8adff67fe707 118 //The index counter is used to correct possible reading errors of the
tonnyleonard 15:8adff67fe707 119 //encoder's counter
tonnyleonard 15:8adff67fe707 120 //led2 is used for visual feedback.
tonnyleonard 7:7f59b69d8895 121 void atint()
tonnyleonard 7:7f59b69d8895 122 {
tonnyleonard 15:8adff67fe707 123 count4 =__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 7:7f59b69d8895 124 if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) {
tonnyleonard 15:8adff67fe707 125 if (count2 == 0 && adjustOffset == false) { //catch first index pulse
tonnyleonard 15:8adff67fe707 126 count3 = count4;
tonnyleonard 15:8adff67fe707 127 adjustOffset = true;
tonnyleonard 5:29372f6cb533 128 }
tonnyleonard 15:8adff67fe707 129 count2--;
tonnyleonard 15:8adff67fe707 130 led2 =!led2;
tonnyleonard 7:7f59b69d8895 131 } else {
tonnyleonard 15:8adff67fe707 132 if (count2 == 0 && adjustOffset == false) { //catch first index pulse
tonnyleonard 15:8adff67fe707 133 count3 = count4;
tonnyleonard 15:8adff67fe707 134 adjustOffset = true;
tonnyleonard 5:29372f6cb533 135 }
tonnyleonard 15:8adff67fe707 136 count2++;
tonnyleonard 15:8adff67fe707 137 led2 =!led2;
tonnyleonard 5:29372f6cb533 138 }
tonnyleonard 5:29372f6cb533 139 }
tonnyleonard 15:8adff67fe707 140
tonnyleonard 15:8adff67fe707 141 //Function for adaptive speed computation
tonnyleonard 14:e5f5b345b2fe 142 float speedRead()
tonnyleonard 14:e5f5b345b2fe 143 {
tonnyleonard 15:8adff67fe707 144 //counter for the waiting time window
tonnyleonard 10:8862c8779b71 145 uint16_t i = 0;
tonnyleonard 15:8adff67fe707 146 //sample time for speed computation
tonnyleonard 10:8862c8779b71 147 uint32_t deltaT;
tonnyleonard 15:8adff67fe707 148
tonnyleonard 15:8adff67fe707 149 //Computer speed
tonnyleonard 10:8862c8779b71 150 float speed;
tonnyleonard 15:8adff67fe707 151
tonnyleonard 15:8adff67fe707 152 //First and second registered position
tonnyleonard 15:8adff67fe707 153 int32_t pos1;
tonnyleonard 15:8adff67fe707 154 int32_t pos2;
tonnyleonard 15:8adff67fe707 155 //position difference to be used for speed computation
tonnyleonard 10:8862c8779b71 156 int32_t pos;
tonnyleonard 15:8adff67fe707 157 //Direction of rotation, read from the encoder, for the first
tonnyleonard 15:8adff67fe707 158 //and the second registered positions
tonnyleonard 10:8862c8779b71 159 int8_t sens1;
tonnyleonard 10:8862c8779b71 160 int8_t sens2;
tonnyleonard 15:8adff67fe707 161
tonnyleonard 15:8adff67fe707 162 timer1.start();
tonnyleonard 10:8862c8779b71 163 pos1=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 10:8862c8779b71 164 sens1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 15:8adff67fe707 165 //Minumum waiting time for this project would be 100 microseconds,
tonnyleonard 15:8adff67fe707 166 //for 10 kHz quadrature frequency. We will set it 100 times longer
tonnyleonard 15:8adff67fe707 167 //wait_ms(10);
tonnyleonard 15:8adff67fe707 168 // Avoiding wait(), since it uses interrupts and timing here
tonnyleonard 15:8adff67fe707 169 // is not critical. This takes 10 ms, if not interrupted
tonnyleonard 15:8adff67fe707 170 for (uint32_t j=0; j<199950; j++){}
tonnyleonard 10:8862c8779b71 171 pos2=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 10:8862c8779b71 172 sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 14:e5f5b345b2fe 173
tonnyleonard 10:8862c8779b71 174 //The speed computation method adapts to slow/fast speeds, in order to
tonnyleonard 10:8862c8779b71 175 //optimize the rapport between computation precision and time windows size
tonnyleonard 15:8adff67fe707 176 while (pos2 == pos1 && i<49) { // The accepted max delay time is 0.5 seconds
tonnyleonard 15:8adff67fe707 177 //wait_ms(10);
tonnyleonard 15:8adff67fe707 178 // Avoiding wait(), since it uses interrupts and timing here
tonnyleonard 15:8adff67fe707 179 // is not critical. This takes 10 ms, if not interrupted
tonnyleonard 15:8adff67fe707 180 for (uint32_t j=0; j<199950; j++){}
tonnyleonard 10:8862c8779b71 181 i++;
tonnyleonard 10:8862c8779b71 182 pos2=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 10:8862c8779b71 183 sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 14:e5f5b345b2fe 184 }
tonnyleonard 10:8862c8779b71 185 pos2=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 10:8862c8779b71 186 sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 15:8adff67fe707 187 timer1.stop();
tonnyleonard 15:8adff67fe707 188 deltaT = timer1.read_us();
tonnyleonard 15:8adff67fe707 189 timer1.reset();
tonnyleonard 15:8adff67fe707 190 if (sens1 == sens2) {
tonnyleonard 15:8adff67fe707 191 pos = pos2 - pos1;
tonnyleonard 15:8adff67fe707 192 } else {
tonnyleonard 15:8adff67fe707 193 printf("E:Speed computation error, change of direction between readings!\r\n");
tonnyleonard 15:8adff67fe707 194 }
tonnyleonard 14:e5f5b345b2fe 195
tonnyleonard 15:8adff67fe707 196 //For debugging
tonnyleonard 15:8adff67fe707 197 //printf("%lu microseconds, %ld steps: start:%lu stop%lu\r\n", deltaT, pos, pos1, pos2);
tonnyleonard 14:e5f5b345b2fe 198 if (deltaT > 0) {
tonnyleonard 15:8adff67fe707 199 //speed computation in rot/s
tonnyleonard 11:7a9837acbea0 200 speed = ((float) pos)*125.f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s
tonnyleonard 14:e5f5b345b2fe 201 } else {
tonnyleonard 15:8adff67fe707 202 printf("E:Error, time interval not greater than zero, speed not calculated!\r\n");
tonnyleonard 14:e5f5b345b2fe 203 }
tonnyleonard 10:8862c8779b71 204 return speed;
tonnyleonard 14:e5f5b345b2fe 205 }
tonnyleonard 0:789510d98ade 206
tonnyleonard 15:8adff67fe707 207 //Function attached to the serial RX interrupt event, it parses
tonnyleonard 15:8adff67fe707 208 //the serial messages and invoques the corresponding commands
tonnyleonard 7:7f59b69d8895 209 void readData(void)
tonnyleonard 7:7f59b69d8895 210 {
tonnyleonard 15:8adff67fe707 211 char message[50];
tonnyleonard 8:28ad0ba5a673 212 if(raspi.readable()) {
tonnyleonard 15:8adff67fe707 213 // Signalling the beginning of serial read
tonnyleonard 8:28ad0ba5a673 214 led1 = 1;
tonnyleonard 15:8adff67fe707 215 int p1 = 0;
tonnyleonard 15:8adff67fe707 216
tonnyleonard 8:28ad0ba5a673 217 raspi.scanf("%s", message);
tonnyleonard 15:8adff67fe707 218 //Message received printed for debugging
tonnyleonard 15:8adff67fe707 219 //printf("M:%d %s\r\n", strlen(message), message);
tonnyleonard 15:8adff67fe707 220
tonnyleonard 15:8adff67fe707 221 if (strcmp(message, "adcOn") == 0) {
tonnyleonard 15:8adff67fe707 222 adc_en = true;
tonnyleonard 15:8adff67fe707 223 printf("M:ADC true\r\n");
tonnyleonard 15:8adff67fe707 224 } else if (strcmp(message, "adcOff") == 0) {
tonnyleonard 15:8adff67fe707 225 adc_en = false;
tonnyleonard 15:8adff67fe707 226 printf("M:ADC false\r\n");
tonnyleonard 15:8adff67fe707 227 } else if (p1=strstr(message, "dac=") != NULL) {
tonnyleonard 15:8adff67fe707 228 //Writing the dac1 value read from serial
tonnyleonard 14:e5f5b345b2fe 229 //The DCPS has 1V offset, so we have to remove it
tonnyleonard 15:8adff67fe707 230 dac_val = (atof(message+p1+3)-1.0f)/15.51;
tonnyleonard 15:8adff67fe707 231 dac1.write(dac_val);
tonnyleonard 15:8adff67fe707 232 printf("M:Value to write to DAC: %f\r\n", dac_val*3.3f);
tonnyleonard 10:8862c8779b71 233 } else if (strcmp(message, "reset") == 0) {
tonnyleonard 15:8adff67fe707 234 //encoder related counters reset command
tonnyleonard 10:8862c8779b71 235 TIM2->CNT = 0x0000;
tonnyleonard 15:8adff67fe707 236 count1 = 0;
tonnyleonard 15:8adff67fe707 237 count2 = 0;
tonnyleonard 15:8adff67fe707 238 count3 = 0;
tonnyleonard 15:8adff67fe707 239 count4 = 0;
tonnyleonard 15:8adff67fe707 240 adjustOffset = false;
tonnyleonard 15:8adff67fe707 241 printf("M:Encoder counters reset!\r\n");
tonnyleonard 15:8adff67fe707 242 } else if (strcmp(message, "powerOn") == 0) {
tonnyleonard 15:8adff67fe707 243 //command to power on the DCPS
tonnyleonard 12:8c355d78e081 244 relay1.write(1);
tonnyleonard 15:8adff67fe707 245 printf("M:DCPS on\r\n");
tonnyleonard 15:8adff67fe707 246 } else if (strcmp(message, "powerOff") == 0) {
tonnyleonard 15:8adff67fe707 247 //command to power off the DCPS
tonnyleonard 12:8c355d78e081 248 relay1.write(0);
tonnyleonard 15:8adff67fe707 249 printf("M:DCPS off\r\n");
tonnyleonard 15:8adff67fe707 250 } else if (strcmp(message, "posOn") == 0) {
tonnyleonard 15:8adff67fe707 251 //command to enable the encoder position notification
tonnyleonard 15:8adff67fe707 252 pos_en = true;
tonnyleonard 15:8adff67fe707 253 printf("M:Position notification enabled\r\n");
tonnyleonard 15:8adff67fe707 254 } else if (strcmp(message, "posOff") == 0) {
tonnyleonard 15:8adff67fe707 255 //command to disable the encoder position notification
tonnyleonard 15:8adff67fe707 256 pos_en = false;
tonnyleonard 15:8adff67fe707 257 printf("M:Position notification disabled\r\n");
tonnyleonard 15:8adff67fe707 258 } else if (strcmp(message, "posIndexOn") == 0) {
tonnyleonard 15:8adff67fe707 259 //command to enable the index related encoder position notification
tonnyleonard 15:8adff67fe707 260 posIndex_en = true;
tonnyleonard 15:8adff67fe707 261 printf("M:Index related position notification enabled\r\n");
tonnyleonard 15:8adff67fe707 262 } else if (strcmp(message, "posIndexOff") == 0) {
tonnyleonard 15:8adff67fe707 263 //command to disable the index related encoder position notification
tonnyleonard 15:8adff67fe707 264 posIndex_en = false;
tonnyleonard 15:8adff67fe707 265 printf("M:Index related position notification disabled\r\n");
tonnyleonard 15:8adff67fe707 266 } else if (strcmp(message, "speedOn") == 0) {
tonnyleonard 15:8adff67fe707 267 //command to enable speed computation and notification
tonnyleonard 15:8adff67fe707 268 speed_en = true;
tonnyleonard 15:8adff67fe707 269 printf("M:Speed enabled\r\n");
tonnyleonard 15:8adff67fe707 270 } else if (strcmp(message, "speedOff") == 0) {
tonnyleonard 15:8adff67fe707 271 //command to disable speed computation and notification
tonnyleonard 15:8adff67fe707 272 speed_en = false;
tonnyleonard 15:8adff67fe707 273 printf("M:Speed disabled\r\n");
tonnyleonard 10:8862c8779b71 274 }
tonnyleonard 10:8862c8779b71 275
tonnyleonard 8:28ad0ba5a673 276 }
tonnyleonard 15:8adff67fe707 277 //Signalling the end of searial read
tonnyleonard 8:28ad0ba5a673 278 led1 = 0;
tonnyleonard 8:28ad0ba5a673 279 }
tonnyleonard 7:7f59b69d8895 280
tonnyleonard 15:8adff67fe707 281 float ADC_read(AnalogIn adc)
tonnyleonard 14:e5f5b345b2fe 282 {
tonnyleonard 15:8adff67fe707 283
tonnyleonard 15:8adff67fe707 284 float Voltage;
tonnyleonard 15:8adff67fe707 285 float Voltage_total = 0.0;
tonnyleonard 15:8adff67fe707 286
tonnyleonard 15:8adff67fe707 287 // Voltage is summed then averaged
tonnyleonard 15:8adff67fe707 288 for (int i=0; i<100; i++) { // do 100 readings
tonnyleonard 14:e5f5b345b2fe 289 Voltage = adc.read();
tonnyleonard 14:e5f5b345b2fe 290
tonnyleonard 15:8adff67fe707 291 Voltage_total = Voltage_total+ Voltage;
tonnyleonard 14:e5f5b345b2fe 292 //wait_us(10);
tonnyleonard 14:e5f5b345b2fe 293 }
tonnyleonard 15:8adff67fe707 294 Voltage = Voltage_total/100.f;
tonnyleonard 15:8adff67fe707 295 return Voltage;
tonnyleonard 14:e5f5b345b2fe 296 }
tonnyleonard 14:e5f5b345b2fe 297
tonnyleonard 8:28ad0ba5a673 298 //The main function
tonnyleonard 0:789510d98ade 299 int main()
tonnyleonard 0:789510d98ade 300 {
tonnyleonard 12:8c355d78e081 301 //Power onn the DCPS
tonnyleonard 15:8adff67fe707 302 relay1.write(0);
tonnyleonard 14:e5f5b345b2fe 303
tonnyleonard 7:7f59b69d8895 304 //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle,
tonnyleonard 5:29372f6cb533 305 //full 32-bit count
tonnyleonard 7:7f59b69d8895 306 //For L432KC to work with TIM2 one needs to reassign the system ticker
tonnyleonard 10:8862c8779b71 307 //from TIM2 to TIM7 in TARGET/../device/hal_tick.h\
tonnyleonard 8:28ad0ba5a673 308 //Initialise encoder
tonnyleonard 4:4f115819171f 309 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
tonnyleonard 10:8862c8779b71 310
tonnyleonard 10:8862c8779b71 311 //Define function to call for interrupt event rise
tonnyleonard 8:28ad0ba5a673 312 //This is triggered by the encoder's index pulses
tonnyleonard 8:28ad0ba5a673 313 //and it resets the encoder counter
tonnyleonard 5:29372f6cb533 314 event.rise(&atint);
tonnyleonard 14:e5f5b345b2fe 315
tonnyleonard 12:8c355d78e081 316 //Set serial baud rate
tonnyleonard 12:8c355d78e081 317 raspi.baud(115200);
tonnyleonard 14:e5f5b345b2fe 318
tonnyleonard 8:28ad0ba5a673 319 //Attach functin to call for serial interrupt event
tonnyleonard 8:28ad0ba5a673 320 raspi.attach(&readData);
tonnyleonard 7:7f59b69d8895 321
tonnyleonard 8:28ad0ba5a673 322 //Message to mark the initialisation of the program
tonnyleonard 15:8adff67fe707 323 printf("M:\n\rSTM HAL encoder with ADC and DAC\n\r");
tonnyleonard 15:8adff67fe707 324 printf("M:Running at %u MHz\r\n\n", HAL_RCC_GetSysClockFreq()/1000000);
tonnyleonard 7:7f59b69d8895 325
tonnyleonard 8:28ad0ba5a673 326 //The main loop
tonnyleonard 0:789510d98ade 327 while(1) {
tonnyleonard 10:8862c8779b71 328
tonnyleonard 8:28ad0ba5a673 329 //Variable for the direction of the counter
tonnyleonard 4:4f115819171f 330 int8_t dir1;
tonnyleonard 10:8862c8779b71 331
tonnyleonard 15:8adff67fe707 332 //Prints the timestamp in miliseconds
tonnyleonard 15:8adff67fe707 333 printf("T:%u\r\n", us_ticker_read()/1000);
tonnyleonard 10:8862c8779b71 334
tonnyleonard 15:8adff67fe707 335 if (pos_en) {
tonnyleonard 15:8adff67fe707 336 //It gets the position and the direction of the encoder
tonnyleonard 15:8adff67fe707 337 count1=__HAL_TIM_GET_COUNTER(&timer2);
tonnyleonard 15:8adff67fe707 338 dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
tonnyleonard 15:8adff67fe707 339 printf("P:%ld S:%s C:%d\r\n", count1, dir1==0 ? "+":"-", count2);
tonnyleonard 15:8adff67fe707 340 if (posIndex_en) {
tonnyleonard 15:8adff67fe707 341 // Does not work if speed computation is enabled and uses wait(),
tonnyleonard 15:8adff67fe707 342 // because speed computation may take too long and wait()
tonnyleonard 15:8adff67fe707 343 // disables other interrupts, therefore the index pulse
tonnyleonard 15:8adff67fe707 344 // interrupt as well.
tonnyleonard 15:8adff67fe707 345 if (count2 > 1) {
tonnyleonard 15:8adff67fe707 346 printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + (count2-1)*8000 + count3, dir1==0 ? "+":"-", count2);
tonnyleonard 15:8adff67fe707 347 } else if (count2 < -1) {
tonnyleonard 15:8adff67fe707 348 printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + (count2+1)*8000 + count3, dir1==0 ? "+":"-", count2);
tonnyleonard 15:8adff67fe707 349 } else {
tonnyleonard 15:8adff67fe707 350 printf("PI:%ld S:%s C:%d\r\n", (count1-count4) + count3, dir1==0 ? "+":"-", count2);
tonnyleonard 15:8adff67fe707 351 }
tonnyleonard 15:8adff67fe707 352 }
tonnyleonard 15:8adff67fe707 353 }
tonnyleonard 6:5d4c09973041 354
tonnyleonard 15:8adff67fe707 355 if (speed_en) {
tonnyleonard 15:8adff67fe707 356 //Print speed
tonnyleonard 15:8adff67fe707 357 printf("S:%f\r\n", speedRead());
tonnyleonard 15:8adff67fe707 358 }
tonnyleonard 14:e5f5b345b2fe 359
tonnyleonard 15:8adff67fe707 360 if (adc_en) {
tonnyleonard 15:8adff67fe707 361 printf("Phase= %3.3f%V\r\n", (3.3f*ADC_read(adc1)+0.022f)*125.62f);
tonnyleonard 15:8adff67fe707 362 printf("Voltage DCPS: %3.3f%V\r\n", (3.3f*ADC_read(adc2)+0.062f)/0.207f);
tonnyleonard 15:8adff67fe707 363 printf("Average Current: %3.3f%mA\r\n", 3.3f*ADC_read(adc3)+0.022f);
tonnyleonard 10:8862c8779b71 364 }
tonnyleonard 10:8862c8779b71 365
tonnyleonard 15:8adff67fe707 366 wait(0.09);
tonnyleonard 0:789510d98ade 367 }
tonnyleonard 8:28ad0ba5a673 368
tonnyleonard 8:28ad0ba5a673 369 }