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:
- 2017-05-13
- Revision:
- 4:4f115819171f
- Parent:
- 2:958e9094b198
- Child:
- 5:29372f6cb533
File content as of revision 4:4f115819171f:
/* * 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. * Beware mbed uses TIM5 for system timer, SPI needs TIM1, others used for PWM. * Check your platform's PeripheralPins.c & PeripheralNames.h if you need both PWM & encoders. * * Edit HAL_TIM_Encoder_MspInitFx.cpp to suit your mcu & board's available pinouts & pullups/downs. * * Thanks to: * http://petoknm.wordpress.com/2015/01/05/rotary-encoder-and-stm32/ * * References: * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/user_manual/DM00122015.pdf * http://www.st.com/st-web-ui/static/active/en/resource/technical/document/reference_manual/DM00096844.pdf * 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 * * David Lowe Jan 2015 */ #include "mbed.h" #include "Encoder.h" TIM_Encoder_InitTypeDef encoder1; TIM_HandleTypeDef timer1, timer2; int main() { //counting on both A&B inputs, 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 EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); printf("\n\rSTM HAL encoder with ADC and DAC\n\r"); while(1) { uint16_t count2=0; uint32_t count1=0; int8_t dir1; //OK 401 411 446 NOK 030 //count2=TIM2->CNT; //dir2=TIM2->CR1&TIM_CR1_DIR; count1=__HAL_TIM_GET_COUNTER(&timer2); dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); printf("%d%s\r\n", count1, dir1==0 ? "+":"-"); wait(0.1); } }