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@14:e5f5b345b2fe, 2017-06-03 (annotated)
- Committer:
- tonnyleonard
- Date:
- Sat Jun 03 18:59:04 2017 +0000
- Revision:
- 14:e5f5b345b2fe
- Parent:
- 13:e08e3540c30b
- Child:
- 15:8adff67fe707
Correct ADC & DAC factors for DCPS load conditions, add table with these corrective additions
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 | #include "inttypes.h" // for PRIu32 encoding |
tonnyleonard | 8:28ad0ba5a673 | 46 | |
tonnyleonard | 8:28ad0ba5a673 | 47 | //Defining the timer and its coresponding encoder |
tonnyleonard | 8:28ad0ba5a673 | 48 | TIM_HandleTypeDef timer2; |
tonnyleonard | 4:4f115819171f | 49 | TIM_Encoder_InitTypeDef encoder1; |
tonnyleonard | 8:28ad0ba5a673 | 50 | |
tonnyleonard | 8:28ad0ba5a673 | 51 | //The input for the encoder's index channel |
tonnyleonard | 5:29372f6cb533 | 52 | InterruptIn event(PA_8); |
tonnyleonard | 8:28ad0ba5a673 | 53 | |
tonnyleonard | 8:28ad0ba5a673 | 54 | //LED1 to signal USB serial RX interrupt reading |
tonnyleonard | 8:28ad0ba5a673 | 55 | DigitalOut led1(LED1); |
tonnyleonard | 8:28ad0ba5a673 | 56 | |
tonnyleonard | 8:28ad0ba5a673 | 57 | //LED2 to signal the encoder's index impulses |
tonnyleonard | 10:8862c8779b71 | 58 | //only for feedback, to calibrate the position |
tonnyleonard | 8:28ad0ba5a673 | 59 | //of the AVAGO encoder with respect to the shaft |
tonnyleonard | 8:28ad0ba5a673 | 60 | DigitalOut led2(PB_4); |
tonnyleonard | 8:28ad0ba5a673 | 61 | |
tonnyleonard | 12:8c355d78e081 | 62 | //Relay to power on and off the DCPS |
tonnyleonard | 12:8c355d78e081 | 63 | DigitalOut relay1(PB_5); |
tonnyleonard | 12:8c355d78e081 | 64 | |
tonnyleonard | 9:4d736d29ce19 | 65 | //AnalogIn vref(ADC_VREF); |
tonnyleonard | 9:4d736d29ce19 | 66 | //AnalogIn tempint(ADC_TEMP); |
tonnyleonard | 8:28ad0ba5a673 | 67 | |
tonnyleonard | 8:28ad0ba5a673 | 68 | //Defining the ADCs |
tonnyleonard | 6:5d4c09973041 | 69 | AnalogIn adc1(PA_3); //ADC1_IN8 |
tonnyleonard | 10:8862c8779b71 | 70 | AnalogIn adc2(PA_7); //ADC1_IN9 |
tonnyleonard | 6:5d4c09973041 | 71 | AnalogIn adc3(PA_6); //ADC1_IN11 |
tonnyleonard | 8:28ad0ba5a673 | 72 | |
tonnyleonard | 10:8862c8779b71 | 73 | //Defining the DAC for setting the half of the current amplitude |
tonnyleonard | 10:8862c8779b71 | 74 | //and generate a quasi square signal for the PLL current phase input |
tonnyleonard | 10:8862c8779b71 | 75 | AnalogOut dac1(PA_4); // DAC1_OUT1 |
tonnyleonard | 10:8862c8779b71 | 76 | |
tonnyleonard | 10:8862c8779b71 | 77 | //Defining the DAC for the Power Source |
tonnyleonard | 8:28ad0ba5a673 | 78 | //(DCPS - Digitally Controlled Power Source) |
tonnyleonard | 8:28ad0ba5a673 | 79 | //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4 |
tonnyleonard | 10:8862c8779b71 | 80 | AnalogOut dac2(PA_5); // DAC1_OUT2 |
tonnyleonard | 8:28ad0ba5a673 | 81 | |
tonnyleonard | 8:28ad0ba5a673 | 82 | //Defining the serial object to be used for communicating with Raspi |
tonnyleonard | 8:28ad0ba5a673 | 83 | Serial raspi(USBTX, USBRX); |
tonnyleonard | 10:8862c8779b71 | 84 | |
tonnyleonard | 8:28ad0ba5a673 | 85 | //Serial& raspi = get_stdio_serial(); |
tonnyleonard | 7:7f59b69d8895 | 86 | //Serial debug(PB_6,PA_10); // Serial1 tx rx |
tonnyleonard | 7:7f59b69d8895 | 87 | |
tonnyleonard | 14:e5f5b345b2fe | 88 | int ADC_Count = 0; |
tonnyleonard | 14:e5f5b345b2fe | 89 | float Voltage; |
tonnyleonard | 14:e5f5b345b2fe | 90 | float Voltage_total; |
tonnyleonard | 14:e5f5b345b2fe | 91 | float samples[1024]; |
tonnyleonard | 14:e5f5b345b2fe | 92 | |
tonnyleonard | 8:28ad0ba5a673 | 93 | uint16_t count1=0; |
tonnyleonard | 5:29372f6cb533 | 94 | int16_t count2=0; |
tonnyleonard | 8:28ad0ba5a673 | 95 | int32_t count3=0; |
tonnyleonard | 5:29372f6cb533 | 96 | int16_t adjust=0; |
tonnyleonard | 8:28ad0ba5a673 | 97 | |
tonnyleonard | 10:8862c8779b71 | 98 | float speedLast=0; |
tonnyleonard | 10:8862c8779b71 | 99 | |
tonnyleonard | 8:28ad0ba5a673 | 100 | float dac_val=0; |
tonnyleonard | 13:e08e3540c30b | 101 | float dac2_val=0; |
tonnyleonard | 10:8862c8779b71 | 102 | float adc3_val=0; |
tonnyleonard | 8:28ad0ba5a673 | 103 | |
tonnyleonard | 14:e5f5b345b2fe | 104 | //Array with adc1, adc2 & adc3 correction addition, |
tonnyleonard | 14:e5f5b345b2fe | 105 | //experimentally determined |
tonnyleonard | 14:e5f5b345b2fe | 106 | const float adc_corr[] = { 0, 0.022f, 0.2995, 0.0267}; |
tonnyleonard | 14:e5f5b345b2fe | 107 | |
tonnyleonard | 14:e5f5b345b2fe | 108 | int main() |
tonnyleonard | 14:e5f5b345b2fe | 109 | { |
tonnyleonard | 14:e5f5b345b2fe | 110 | printf("%d\n", lookup("X0")); |
tonnyleonard | 14:e5f5b345b2fe | 111 | return 0; |
tonnyleonard | 14:e5f5b345b2fe | 112 | } |
tonnyleonard | 14:e5f5b345b2fe | 113 | |
tonnyleonard | 13:e08e3540c30b | 114 | volatile bool adc3_en = true; |
tonnyleonard | 8:28ad0ba5a673 | 115 | int16_t lines = 4; |
tonnyleonard | 8:28ad0ba5a673 | 116 | |
tonnyleonard | 8:28ad0ba5a673 | 117 | //TIM1 to be used with the interrupt for the encoder's index pulses |
tonnyleonard | 5:29372f6cb533 | 118 | Timer timer1; |
tonnyleonard | 10:8862c8779b71 | 119 | Timer timer3; |
tonnyleonard | 8:28ad0ba5a673 | 120 | |
tonnyleonard | 8:28ad0ba5a673 | 121 | //Function invoked by the encoder's index interrupt pulses |
tonnyleonard | 7:7f59b69d8895 | 122 | void atint() |
tonnyleonard | 7:7f59b69d8895 | 123 | { |
tonnyleonard | 5:29372f6cb533 | 124 | timer1.start(); |
tonnyleonard | 7:7f59b69d8895 | 125 | if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { |
tonnyleonard | 7:7f59b69d8895 | 126 | adjust--; |
tonnyleonard | 10:8862c8779b71 | 127 | if (adjust == -1) { |
tonnyleonard | 5:29372f6cb533 | 128 | count2--; |
tonnyleonard | 5:29372f6cb533 | 129 | count1 +=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 9:4d736d29ce19 | 130 | //TIM2->CNT = 0x0000; |
tonnyleonard | 5:29372f6cb533 | 131 | adjust = 0; |
tonnyleonard | 8:28ad0ba5a673 | 132 | led2 =!led2; |
tonnyleonard | 5:29372f6cb533 | 133 | } |
tonnyleonard | 7:7f59b69d8895 | 134 | } else { |
tonnyleonard | 5:29372f6cb533 | 135 | adjust++; |
tonnyleonard | 10:8862c8779b71 | 136 | if (adjust == 1) { |
tonnyleonard | 5:29372f6cb533 | 137 | count2++; |
tonnyleonard | 5:29372f6cb533 | 138 | count1 +=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 9:4d736d29ce19 | 139 | //TIM2->CNT = 0x0000; |
tonnyleonard | 5:29372f6cb533 | 140 | adjust = 0; |
tonnyleonard | 8:28ad0ba5a673 | 141 | led2 =!led2; |
tonnyleonard | 5:29372f6cb533 | 142 | } |
tonnyleonard | 5:29372f6cb533 | 143 | } |
tonnyleonard | 5:29372f6cb533 | 144 | } |
tonnyleonard | 14:e5f5b345b2fe | 145 | float speedRead() |
tonnyleonard | 14:e5f5b345b2fe | 146 | { |
tonnyleonard | 10:8862c8779b71 | 147 | uint16_t i = 0; |
tonnyleonard | 10:8862c8779b71 | 148 | uint32_t deltaT; |
tonnyleonard | 10:8862c8779b71 | 149 | float speed; |
tonnyleonard | 10:8862c8779b71 | 150 | uint32_t pos1; |
tonnyleonard | 10:8862c8779b71 | 151 | uint32_t pos2; |
tonnyleonard | 10:8862c8779b71 | 152 | int32_t pos; |
tonnyleonard | 10:8862c8779b71 | 153 | int8_t sens1; |
tonnyleonard | 10:8862c8779b71 | 154 | int8_t sens2; |
tonnyleonard | 10:8862c8779b71 | 155 | printf("Encoder speed reading!\r\n"); |
tonnyleonard | 10:8862c8779b71 | 156 | timer3.start(); |
tonnyleonard | 10:8862c8779b71 | 157 | pos1=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 158 | sens1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 10:8862c8779b71 | 159 | wait_ms(5); |
tonnyleonard | 10:8862c8779b71 | 160 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 161 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 14:e5f5b345b2fe | 162 | |
tonnyleonard | 10:8862c8779b71 | 163 | //The speed computation method adapts to slow/fast speeds, in order to |
tonnyleonard | 10:8862c8779b71 | 164 | //optimize the rapport between computation precision and time windows size |
tonnyleonard | 10:8862c8779b71 | 165 | while (pos2 == pos1 && i<99) { // The accepted max delay time is 0.5 seconds |
tonnyleonard | 10:8862c8779b71 | 166 | wait_ms(5); |
tonnyleonard | 10:8862c8779b71 | 167 | i++; |
tonnyleonard | 10:8862c8779b71 | 168 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 169 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 14:e5f5b345b2fe | 170 | } |
tonnyleonard | 10:8862c8779b71 | 171 | pos2=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 10:8862c8779b71 | 172 | sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 10:8862c8779b71 | 173 | timer3.stop(); |
tonnyleonard | 10:8862c8779b71 | 174 | deltaT = timer3.read_us(); |
tonnyleonard | 10:8862c8779b71 | 175 | timer3.reset(); |
tonnyleonard | 10:8862c8779b71 | 176 | pos = (int32_t) pos2 - (int32_t) pos1; |
tonnyleonard | 14:e5f5b345b2fe | 177 | |
tonnyleonard | 10:8862c8779b71 | 178 | printf("Time is %lu microseconds, position modified %ld %lu %lu\r\n", deltaT, pos, pos1, pos2); |
tonnyleonard | 14:e5f5b345b2fe | 179 | if (deltaT > 0) { |
tonnyleonard | 11:7a9837acbea0 | 180 | speed = ((float) pos)*125.f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s |
tonnyleonard | 14:e5f5b345b2fe | 181 | } else { |
tonnyleonard | 10:8862c8779b71 | 182 | printf("Error, time interval not greater than zero, speed not calculated!\r\n"); |
tonnyleonard | 14:e5f5b345b2fe | 183 | } |
tonnyleonard | 14:e5f5b345b2fe | 184 | printf("The encoder speed is %f rot/s\r\n", speed); |
tonnyleonard | 10:8862c8779b71 | 185 | return speed; |
tonnyleonard | 14:e5f5b345b2fe | 186 | } |
tonnyleonard | 0:789510d98ade | 187 | |
tonnyleonard | 8:28ad0ba5a673 | 188 | //Function attached to the serial RX interrupt event |
tonnyleonard | 7:7f59b69d8895 | 189 | void readData(void) |
tonnyleonard | 7:7f59b69d8895 | 190 | { |
tonnyleonard | 7:7f59b69d8895 | 191 | char message[125]; |
tonnyleonard | 8:28ad0ba5a673 | 192 | if(raspi.readable()) { |
tonnyleonard | 8:28ad0ba5a673 | 193 | int p1=0; |
tonnyleonard | 8:28ad0ba5a673 | 194 | led1 = 1; |
tonnyleonard | 8:28ad0ba5a673 | 195 | raspi.scanf("%s", message); |
tonnyleonard | 7:7f59b69d8895 | 196 | printf("%d %s\r\n", strlen(message), message); |
tonnyleonard | 7:7f59b69d8895 | 197 | if (strcmp(message, "startAdc") == 0) { |
tonnyleonard | 7:7f59b69d8895 | 198 | adc3_en = true; |
tonnyleonard | 8:28ad0ba5a673 | 199 | lines = 6; |
tonnyleonard | 7:7f59b69d8895 | 200 | printf("true\r\n"); |
tonnyleonard | 8:28ad0ba5a673 | 201 | } else if (strcmp(message, "stopAdc") == 0) { |
tonnyleonard | 7:7f59b69d8895 | 202 | adc3_en = false; |
tonnyleonard | 8:28ad0ba5a673 | 203 | lines = 4; |
tonnyleonard | 7:7f59b69d8895 | 204 | printf("false\r\n"); |
tonnyleonard | 10:8862c8779b71 | 205 | } else if (p1=strstr(message, "DAC=") != NULL) { |
tonnyleonard | 14:e5f5b345b2fe | 206 | //The DCPS has 1V offset, so we have to remove it |
tonnyleonard | 14:e5f5b345b2fe | 207 | dac_val = (atof(message+p1+3)-1.0f)/15.61; |
tonnyleonard | 10:8862c8779b71 | 208 | dac2.write(dac_val); |
tonnyleonard | 8:28ad0ba5a673 | 209 | printf("Value to write to DAC: %f\r\n", dac_val*3.3f); |
tonnyleonard | 10:8862c8779b71 | 210 | } else if (strcmp(message, "reset") == 0) { |
tonnyleonard | 10:8862c8779b71 | 211 | TIM2->CNT = 0x0000; |
tonnyleonard | 10:8862c8779b71 | 212 | printf("Encoder reset!\r\n"); |
tonnyleonard | 12:8c355d78e081 | 213 | } else if (strcmp(message, "poweron") == 0) { |
tonnyleonard | 12:8c355d78e081 | 214 | relay1.write(1); |
tonnyleonard | 12:8c355d78e081 | 215 | printf("DCPS on\r\n"); |
tonnyleonard | 12:8c355d78e081 | 216 | } else if (strcmp(message, "poweroff") == 0) { |
tonnyleonard | 12:8c355d78e081 | 217 | relay1.write(0); |
tonnyleonard | 12:8c355d78e081 | 218 | printf("DCPS off\r\n"); |
tonnyleonard | 10:8862c8779b71 | 219 | } |
tonnyleonard | 10:8862c8779b71 | 220 | |
tonnyleonard | 8:28ad0ba5a673 | 221 | } |
tonnyleonard | 8:28ad0ba5a673 | 222 | led1 = 0; |
tonnyleonard | 8:28ad0ba5a673 | 223 | } |
tonnyleonard | 7:7f59b69d8895 | 224 | |
tonnyleonard | 14:e5f5b345b2fe | 225 | void ADC_read(AnalogIn adc) |
tonnyleonard | 14:e5f5b345b2fe | 226 | { |
tonnyleonard | 14:e5f5b345b2fe | 227 | ADC_Count++; |
tonnyleonard | 14:e5f5b345b2fe | 228 | Voltage_total =0; |
tonnyleonard | 14:e5f5b345b2fe | 229 | for (int i=0; i<100; i++) { // do 25 readings |
tonnyleonard | 14:e5f5b345b2fe | 230 | Voltage = adc.read(); |
tonnyleonard | 14:e5f5b345b2fe | 231 | |
tonnyleonard | 14:e5f5b345b2fe | 232 | Voltage_total = Voltage_total+ Voltage; //Note Vinput.read can be summed then averaged |
tonnyleonard | 14:e5f5b345b2fe | 233 | //wait_us(10); |
tonnyleonard | 14:e5f5b345b2fe | 234 | } |
tonnyleonard | 14:e5f5b345b2fe | 235 | Voltage=Voltage_total/100.f; |
tonnyleonard | 14:e5f5b345b2fe | 236 | samples[ADC_Count] = Voltage; //Save averaged reading within an array |
tonnyleonard | 14:e5f5b345b2fe | 237 | if (ADC_Count == 1023){ |
tonnyleonard | 14:e5f5b345b2fe | 238 | ADC_Count = 0; |
tonnyleonard | 14:e5f5b345b2fe | 239 | } |
tonnyleonard | 14:e5f5b345b2fe | 240 | |
tonnyleonard | 14:e5f5b345b2fe | 241 | } |
tonnyleonard | 14:e5f5b345b2fe | 242 | |
tonnyleonard | 8:28ad0ba5a673 | 243 | //The main function |
tonnyleonard | 0:789510d98ade | 244 | int main() |
tonnyleonard | 0:789510d98ade | 245 | { |
tonnyleonard | 12:8c355d78e081 | 246 | //Power onn the DCPS |
tonnyleonard | 12:8c355d78e081 | 247 | relay1.write(1); |
tonnyleonard | 14:e5f5b345b2fe | 248 | |
tonnyleonard | 7:7f59b69d8895 | 249 | //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle, |
tonnyleonard | 5:29372f6cb533 | 250 | //full 32-bit count |
tonnyleonard | 7:7f59b69d8895 | 251 | //For L432KC to work with TIM2 one needs to reassign the system ticker |
tonnyleonard | 10:8862c8779b71 | 252 | //from TIM2 to TIM7 in TARGET/../device/hal_tick.h\ |
tonnyleonard | 8:28ad0ba5a673 | 253 | //Initialise encoder |
tonnyleonard | 4:4f115819171f | 254 | EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); |
tonnyleonard | 10:8862c8779b71 | 255 | |
tonnyleonard | 10:8862c8779b71 | 256 | //Define function to call for interrupt event rise |
tonnyleonard | 8:28ad0ba5a673 | 257 | //This is triggered by the encoder's index pulses |
tonnyleonard | 8:28ad0ba5a673 | 258 | //and it resets the encoder counter |
tonnyleonard | 5:29372f6cb533 | 259 | event.rise(&atint); |
tonnyleonard | 14:e5f5b345b2fe | 260 | |
tonnyleonard | 12:8c355d78e081 | 261 | //Set serial baud rate |
tonnyleonard | 12:8c355d78e081 | 262 | raspi.baud(115200); |
tonnyleonard | 14:e5f5b345b2fe | 263 | |
tonnyleonard | 8:28ad0ba5a673 | 264 | //Attach functin to call for serial interrupt event |
tonnyleonard | 8:28ad0ba5a673 | 265 | raspi.attach(&readData); |
tonnyleonard | 7:7f59b69d8895 | 266 | |
tonnyleonard | 8:28ad0ba5a673 | 267 | //Message to mark the initialisation of the program |
tonnyleonard | 4:4f115819171f | 268 | printf("\n\rSTM HAL encoder with ADC and DAC\n\r"); |
tonnyleonard | 9:4d736d29ce19 | 269 | printf("Running at %u MHz\r\n\n", HAL_RCC_GetSysClockFreq()/1000000); |
tonnyleonard | 7:7f59b69d8895 | 270 | |
tonnyleonard | 6:5d4c09973041 | 271 | //printf("%" PRIu32 "\n", UINT32_MAX); |
tonnyleonard | 7:7f59b69d8895 | 272 | |
tonnyleonard | 10:8862c8779b71 | 273 | int i = 0; |
tonnyleonard | 8:28ad0ba5a673 | 274 | //The main loop |
tonnyleonard | 0:789510d98ade | 275 | while(1) { |
tonnyleonard | 10:8862c8779b71 | 276 | |
tonnyleonard | 8:28ad0ba5a673 | 277 | //Variable for the one loop encoder counter |
tonnyleonard | 5:29372f6cb533 | 278 | uint32_t count3=0; |
tonnyleonard | 7:7f59b69d8895 | 279 | |
tonnyleonard | 8:28ad0ba5a673 | 280 | //Variable for the direction of the counter |
tonnyleonard | 4:4f115819171f | 281 | int8_t dir1; |
tonnyleonard | 10:8862c8779b71 | 282 | |
tonnyleonard | 9:4d736d29ce19 | 283 | //uint16_t voltage1=0; |
tonnyleonard | 0:789510d98ade | 284 | |
tonnyleonard | 0:789510d98ade | 285 | |
tonnyleonard | 0:789510d98ade | 286 | //OK 401 411 446 NOK 030 |
tonnyleonard | 5:29372f6cb533 | 287 | //count1=TIM2->CNT; |
tonnyleonard | 5:29372f6cb533 | 288 | //dir1=TIM2->CR1&TIM_CR1_DIR; |
tonnyleonard | 10:8862c8779b71 | 289 | |
tonnyleonard | 8:28ad0ba5a673 | 290 | //It reads the ADC1 value converted from 12bit to 16bit resolution |
tonnyleonard | 9:4d736d29ce19 | 291 | //voltage1=adc1.read_u16(); |
tonnyleonard | 10:8862c8779b71 | 292 | |
tonnyleonard | 8:28ad0ba5a673 | 293 | //It resets the DAC1 |
tonnyleonard | 8:28ad0ba5a673 | 294 | //dac1.free(); |
tonnyleonard | 13:e08e3540c30b | 295 | dac2_val = dac2.read(); |
tonnyleonard | 10:8862c8779b71 | 296 | |
tonnyleonard | 8:28ad0ba5a673 | 297 | //It writes the DAC1 value as a 16bit number |
tonnyleonard | 8:28ad0ba5a673 | 298 | //dac1.write_u16(count3*2); |
tonnyleonard | 10:8862c8779b71 | 299 | |
tonnyleonard | 8:28ad0ba5a673 | 300 | //It writes the DAC1 value as a subunitary float number |
tonnyleonard | 8:28ad0ba5a673 | 301 | //to be multiplied with the max DAC_RANGE |
tonnyleonard | 14:e5f5b345b2fe | 302 | |
tonnyleonard | 10:8862c8779b71 | 303 | |
tonnyleonard | 8:28ad0ba5a673 | 304 | //It gets the one loop position and the direction of the encoder |
tonnyleonard | 5:29372f6cb533 | 305 | count3=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 4:4f115819171f | 306 | dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 10:8862c8779b71 | 307 | |
tonnyleonard | 10:8862c8779b71 | 308 | if (i >= 100) { |
tonnyleonard | 10:8862c8779b71 | 309 | adc3_val = adc3.read(); |
tonnyleonard | 14:e5f5b345b2fe | 310 | ADC_read(adc1); |
tonnyleonard | 14:e5f5b345b2fe | 311 | ADC_read(adc2); |
tonnyleonard | 14:e5f5b345b2fe | 312 | ADC_read(adc3); |
tonnyleonard | 14:e5f5b345b2fe | 313 | //dac1.write(adc3_val); |
tonnyleonard | 14:e5f5b345b2fe | 314 | |
tonnyleonard | 10:8862c8779b71 | 315 | printf("%ld%s passes=%d\r\n", count3, dir1==0 ? "+":"-", count2); |
tonnyleonard | 14:e5f5b345b2fe | 316 | printf("Voltage ADC1= %3.3f%V, DAC=%f\r\n", (3.3f*samples[ADC_Count-2]+0.022f), dac2_val*3.3f); |
tonnyleonard | 14:e5f5b345b2fe | 317 | printf("VOUT: %f\r\n", dac2_val*15.61f+1.0f); |
tonnyleonard | 14:e5f5b345b2fe | 318 | printf("Voltage ADC2: %3.3f%V\r\n", (3.3f*samples[ADC_Count-1]+0.062f)/0.207048458f); |
tonnyleonard | 6:5d4c09973041 | 319 | |
tonnyleonard | 10:8862c8779b71 | 320 | //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n", |
tonnyleonard | 10:8862c8779b71 | 321 | // vref.read(), vref.read_u16(), tempint.read_u16()); |
tonnyleonard | 10:8862c8779b71 | 322 | if (adc3_en) { |
tonnyleonard | 10:8862c8779b71 | 323 | printf("Voltage ADC3: %3.3f%V\r\n", adc3_val*3.3f); |
tonnyleonard | 14:e5f5b345b2fe | 324 | printf("Average ADC3: %3.3f%V\r\n", (3.3f*samples[ADC_Count]+0.022f)/0.8245614f); |
tonnyleonard | 10:8862c8779b71 | 325 | printf("DAC1 read: %3.3f%V\r\n", dac1.read()*3.3f); |
tonnyleonard | 10:8862c8779b71 | 326 | printf("DAC2 read: %3.3f%V\r\n", dac2.read()*3.3f); |
tonnyleonard | 10:8862c8779b71 | 327 | } |
tonnyleonard | 10:8862c8779b71 | 328 | speedLast = speedRead(); |
tonnyleonard | 10:8862c8779b71 | 329 | //printf("\033[%dA", lines); // Moves cursor up of #lines |
tonnyleonard | 14:e5f5b345b2fe | 330 | |
tonnyleonard | 10:8862c8779b71 | 331 | i=0; |
tonnyleonard | 10:8862c8779b71 | 332 | } |
tonnyleonard | 10:8862c8779b71 | 333 | i++; |
tonnyleonard | 10:8862c8779b71 | 334 | |
tonnyleonard | 10:8862c8779b71 | 335 | wait(0.04); |
tonnyleonard | 0:789510d98ade | 336 | } |
tonnyleonard | 8:28ad0ba5a673 | 337 | |
tonnyleonard | 8:28ad0ba5a673 | 338 | } |