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.
Diff: main.cpp
- Revision:
- 10:8862c8779b71
- Parent:
- 9:4d736d29ce19
- Child:
- 11:7a9837acbea0
--- a/main.cpp Sat May 27 01:26:41 2017 +0000 +++ b/main.cpp Tue May 30 22:35:08 2017 +0000 @@ -1,21 +1,21 @@ /* - * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DAC + * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DACs * with serial communication over the USB virtual serial port - + * Developed for Elliptec X15 piezoelectric motor control, on a L432KC board * * Using STM32's counter peripherals to interface rotary encoders. - * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, + * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, * others 16bit. - * Take into account that Mbed uses TIM5 for system timer, SPI needs TIM1, + * Take into account that on F4xx Mbed uses TIM5 for system timer, SPI needs TIM1, * others are used for PWM. - * Check your platform's PeripheralPins.c & PeripheralNames.h if you need + * Check your platform's PeripheralPins.c & PeripheralNames.h if you need * both PWM & encoders. This project does not use PWM. * - * On L432KC, for example, only TIM2 has 32bit count, others 16bit. + * On L432KC, for example, only TIM2 has 32bit count, others have 16bit. * However, mbed has TIM2 assigned by default to the system ticker - * For L432KC to work with TIM2 encoder input one needs to reassign - * the system ticker from TIM2 to TIM7, for example, + * For L432KC to work with TIM2 encoder input one needs to reassign + * the system ticker from TIM2 to TIM7, for example, * in mbed-dev/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L432xC/device/hal_tick.h * * Edit HAL_TIM_Encoder_MspInitFx(Lx).cpp to suit your mcu & board's available @@ -24,7 +24,7 @@ * Thanks to: * David Lowe (for the quadrature encoder code) * https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/ - * + * * And Frederic Blanc * https://developer.mbed.org/users/fblanc/code/AnalogIn_Diff/ * @@ -43,11 +43,6 @@ #include "mbed.h" #include "Encoder.h" #include "inttypes.h" // for PRIu32 encoding -//#include <string.h> // strstr() -//#include <stdbool.h> // bool, true, false - -#define DAC_RANGE (0xFFF) // 12 bits -#define SAMPLE_RATE 150000 //Defining the timer and its coresponding encoder TIM_HandleTypeDef timer2; @@ -60,7 +55,7 @@ DigitalOut led1(LED1); //LED2 to signal the encoder's index impulses -//only for debugging, to calibrate the position +//only for feedback, to calibrate the position //of the AVAGO encoder with respect to the shaft DigitalOut led2(PB_4); @@ -69,57 +64,40 @@ //Defining the ADCs AnalogIn adc1(PA_3); //ADC1_IN8 -AnalogIn adc2(PA_4); //ADC1_IN9 +AnalogIn adc2(PA_7); //ADC1_IN9 AnalogIn adc3(PA_6); //ADC1_IN11 -//Defining the DAC for the Power Source +//Defining the DAC for setting the half of the current amplitude +//and generate a quasi square signal for the PLL current phase input +AnalogOut dac1(PA_4); // DAC1_OUT1 + +//Defining the DAC for the Power Source //(DCPS - Digitally Controlled Power Source) //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4 -AnalogOut dac1(PA_5); // DAC1_OUT2 +AnalogOut dac2(PA_5); // DAC1_OUT2 //Defining the serial object to be used for communicating with Raspi Serial raspi(USBTX, USBRX); -//Serial raspi(SERIAL_TX, SERIAL_RX); + //Serial& raspi = get_stdio_serial(); - //Serial debug(PB_6,PA_10); // Serial1 tx rx -//Serial configBT(PA_2,PA_3); // Serial2 tx rx -//Serial slave(PC_10,PC_11); // Serial3 tx rx -//Serial modem(PA_0,PA_1); // Serial4 tx rx uint16_t count1=0; int16_t count2=0; int32_t count3=0; int16_t adjust=0; +float speedLast=0; + float dac_val=0; +float adc3_val=0; volatile bool adc3_en = false; int16_t lines = 4; //TIM1 to be used with the interrupt for the encoder's index pulses Timer timer1; - -//Function to convert a string to float -float stof(const char* s){ - float rez = 0, fact = 1; - if (*s == '-'){ - s++; - fact = -1; - }; - for (int point_seen = 0; *s; s++){ - if (*s == '.'){ - point_seen = 1; - continue; - }; - int d = *s - '0'; - if (d >= 0 && d <= 9){ - if (point_seen) fact /= 10.0f; - rez = rez * 10.0f + (float)d; - }; - }; - return rez * fact; -}; +Timer timer3; //Function invoked by the encoder's index interrupt pulses void atint() @@ -127,7 +105,7 @@ timer1.start(); if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { adjust--; - if (adjust == -3) { + if (adjust == -1) { count2--; count1 +=__HAL_TIM_GET_COUNTER(&timer2); //TIM2->CNT = 0x0000; @@ -136,7 +114,7 @@ } } else { adjust++; - if (adjust == 3) { + if (adjust == 1) { count2++; count1 +=__HAL_TIM_GET_COUNTER(&timer2); //TIM2->CNT = 0x0000; @@ -145,6 +123,48 @@ } } } +float speedRead(){ + uint16_t i = 0; + uint32_t deltaT; + float speed; + uint32_t pos1; + uint32_t pos2; + int32_t pos; + int8_t sens1; + int8_t sens2; + printf("Encoder speed reading!\r\n"); + timer3.start(); + pos1=__HAL_TIM_GET_COUNTER(&timer2); + sens1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); + wait_ms(5); + pos2=__HAL_TIM_GET_COUNTER(&timer2); + sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); + + //The speed computation method adapts to slow/fast speeds, in order to + //optimize the rapport between computation precision and time windows size + while (pos2 == pos1 && i<99) { // The accepted max delay time is 0.5 seconds + wait_ms(5); + i++; + pos2=__HAL_TIM_GET_COUNTER(&timer2); + sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); + } + pos2=__HAL_TIM_GET_COUNTER(&timer2); + sens2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); + timer3.stop(); + deltaT = timer3.read_us(); + timer3.reset(); + pos = (int32_t) pos2 - (int32_t) pos1; + + printf("Time is %lu microseconds, position modified %ld %lu %lu\r\n", deltaT, pos, pos1, pos2); + if (deltaT > 0){ + speed = ((float) pos)*12.5f/((float) deltaT); // (pulses/us)*1000000/8000 -> rot/s + } + else { + printf("Error, time interval not greater than zero, speed not calculated!\r\n"); + } + printf("The encoder speed is %f rot/s\r\n", speed); + return speed; + } //Function attached to the serial RX interrupt event void readData(void) @@ -163,11 +183,15 @@ adc3_en = false; lines = 4; printf("false\r\n"); - } else if (p1=strstr(message, "DAC=") != NULL){ + } else if (p1=strstr(message, "DAC=") != NULL) { dac_val = atof(message+p1+3); + dac2.write(dac_val); printf("Value to write to DAC: %f\r\n", dac_val*3.3f); - } - + } else if (strcmp(message, "reset") == 0) { + TIM2->CNT = 0x0000; + printf("Encoder reset!\r\n"); + } + } led1 = 0; } @@ -179,16 +203,15 @@ //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle, //full 32-bit count //For L432KC to work with TIM2 one needs to reassign the system ticker - //from TIM2 to TIM7 in TARGET/../device/hal_tick.h - + //from TIM2 to TIM7 in TARGET/../device/hal_tick.h\ //Initialise encoder EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); - - //Define function to call for interrupt event rise + + //Define function to call for interrupt event rise //This is triggered by the encoder's index pulses //and it resets the encoder counter event.rise(&atint); - + //Attach functin to call for serial interrupt event raspi.attach(&readData); @@ -198,56 +221,65 @@ //printf("%" PRIu32 "\n", UINT32_MAX); - + int i = 0; //The main loop while(1) { - + //Variable for the one loop encoder counter uint32_t count3=0; //Variable for the direction of the counter int8_t dir1; - - + //uint16_t voltage1=0; //OK 401 411 446 NOK 030 //count1=TIM2->CNT; //dir1=TIM2->CR1&TIM_CR1_DIR; - + //It reads the ADC1 value converted from 12bit to 16bit resolution //voltage1=adc1.read_u16(); - + //It resets the DAC1 //dac1.free(); - + //It writes the DAC1 value as a 16bit number //dac1.write_u16(count3*2); - + //It writes the DAC1 value as a subunitary float number //to be multiplied with the max DAC_RANGE - dac1.write(dac_val); + //It gets the one loop position and the direction of the encoder count3=__HAL_TIM_GET_COUNTER(&timer2); dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); - - printf("%ld%s passes=%d\r\n", count3, dir1==0 ? "+":"-", count2); - printf("Voltage ADC1= %3.3f%V, DAC=%f\r\n", adc1.read()*3.3f, dac1.read()*3.3); - //printf("Vref: %f\r\n", vref.read()); - printf("Voltage ADC2: %3.3f%V\r\n", adc2.read()*3.3f); - - //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n", - // vref.read(), vref.read_u16(), tempint.read_u16()); - if (adc3_en) { - printf("Voltage ADC3: %3.3f%V\r\n", adc3.read()*3.3f); - printf("Voltage ADC3: %u\r\n", adc3.read_u16()); - printf("DAC read: %3.3f%V\r\n", dac1.read()*3.3f); - } - //printf("\033[%dA", lines); // Moves cursor up of #lines + + if (i >= 100) { + adc3_val = adc3.read(); + dac1.write(adc3_val); + + printf("%ld%s passes=%d\r\n", count3, dir1==0 ? "+":"-", count2); + printf("Voltage ADC1= %3.3f%V, DAC=%f\r\n", adc1.read()*3.3f, dac2.read()*3.3f); + //printf("Vref: %f\r\n", vref.read()); + printf("Voltage ADC2: %3.3f%V\r\n", adc2.read()*3.3f); - wait(3.04); + //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n", + // vref.read(), vref.read_u16(), tempint.read_u16()); + if (adc3_en) { + printf("Voltage ADC3: %3.3f%V\r\n", adc3_val*3.3f); + printf("Voltage ADC3: %u\r\n", adc3.read_u16()); + printf("DAC1 read: %3.3f%V\r\n", dac1.read()*3.3f); + printf("DAC2 read: %3.3f%V\r\n", dac2.read()*3.3f); + } + speedLast = speedRead(); + //printf("\033[%dA", lines); // Moves cursor up of #lines + + i=0; + } + i++; + + wait(0.04); } } \ No newline at end of file