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
- Committer:
- tonnyleonard
- Date:
- 2017-05-19
- Revision:
- 8:28ad0ba5a673
- Parent:
- 7:7f59b69d8895
- Child:
- 9:4d736d29ce19
File content as of revision 8:28ad0ba5a673:
/* * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DAC * 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, * others 16bit. * Take into account that 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 * both PWM & encoders. This project does not use PWM. * * On L432KC, for example, only TIM2 has 32bit count, others 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, * 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 * pinouts & pullups/downs. * * Thanks to: * David Lowe (for the quadrature encoder code) * https://developer.mbed.org/users/gregeric/code/Nucleo_Hello_Encoder/ * * References: * http://www.st.com/resource/en/datasheet/stm32l432kc.pdf * https://developer.mbed.org/platforms/ST-Nucleo-L432KC/ * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf * * Tonny-Leonard Farauanu, 2017 */ #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; TIM_Encoder_InitTypeDef encoder1; //The input for the encoder's index channel InterruptIn event(PA_8); //LED1 to signal USB serial RX interrupt reading DigitalOut led1(LED1); //LED2 to signal the encoder's index impulses //only for debugging, to calibrate the position //of the AVAGO encoder with respect to the shaft DigitalOut led2(PB_4); AnalogIn vref(ADC_VREF); AnalogIn tempint(ADC_TEMP); //Defining the ADCs AnalogIn adc1(PA_3); //ADC1_IN8 AnalogIn adc2(PA_4); //ADC1_IN9 AnalogIn adc3(PA_6); //ADC1_IN11 //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 //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 dac_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; }; //Function invoked by the encoder's index interrupt pulses void atint() { timer1.start(); if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { adjust--; if (adjust == -3) { count2--; count1 +=__HAL_TIM_GET_COUNTER(&timer2); TIM2->CNT = 0x0000; adjust = 0; led2 =!led2; } } else { adjust++; if (adjust == 3) { count2++; count1 +=__HAL_TIM_GET_COUNTER(&timer2); TIM2->CNT = 0x0000; adjust = 0; led2 =!led2; } } } //Function attached to the serial RX interrupt event void readData(void) { char message[125]; if(raspi.readable()) { int p1=0; led1 = 1; raspi.scanf("%s", message); printf("%d %s\r\n", strlen(message), message); if (strcmp(message, "startAdc") == 0) { adc3_en = true; lines = 6; printf("true\r\n"); } else if (strcmp(message, "stopAdc") == 0) { adc3_en = false; lines = 4; printf("false\r\n"); } else if (p1=strstr(message, "DAC=") != NULL){ dac_val = atof(message+p1+3); printf("Value to write to DAC: %f\r\n", dac_val*3.3f); } } led1 = 0; } //The main function int main() { //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 //Initialise encoder EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); //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); //Message to mark the initialisation of the program printf("\n\rSTM HAL encoder with ADC and DAC\n\r"); //printf("%" PRIu32 "\n", UINT32_MAX); //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 short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3); printf("Voltage ADC1= %u, DAC=%f\r\n", voltage1, dac1.read()*3.3); printf("Vref: %f\r\n", (3.3f)*vref.read()); printf("percentage: %3.3f%%\r\n", adc2.read()*100.0f); //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("Difference: %f\r\n", dac1.read()*3.3 - adc3.read()*3.3f); } printf("\033[%dA", lines); // Moves cursor up of #lines wait(0.04); } }