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:
- 2017-06-03
- Revision:
- 14:e5f5b345b2fe
- Parent:
- 13:e08e3540c30b
- Child:
- 15:8adff67fe707
File content as of revision 14:e5f5b345b2fe:
/* * 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, * others 16bit. * 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 * both PWM & encoders. This project does not use PWM. * * 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, * 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/ * * And Frederic Blanc * https://developer.mbed.org/users/fblanc/code/AnalogIn_Diff/ * * And Eric Lewiston / STM32L4xx_HAL_Driver * https://developer.mbed.org/users/EricLew/code/STM32L4xx_HAL_Driver/docs/tip/group__ADC__LL__EF__Configuration__Channels.html * * 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 //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 feedback, to calibrate the position //of the AVAGO encoder with respect to the shaft DigitalOut led2(PB_4); //Relay to power on and off the DCPS DigitalOut relay1(PB_5); //AnalogIn vref(ADC_VREF); //AnalogIn tempint(ADC_TEMP); //Defining the ADCs AnalogIn adc1(PA_3); //ADC1_IN8 AnalogIn adc2(PA_7); //ADC1_IN9 AnalogIn adc3(PA_6); //ADC1_IN11 //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 dac2(PA_5); // DAC1_OUT2 //Defining the serial object to be used for communicating with Raspi Serial raspi(USBTX, USBRX); //Serial& raspi = get_stdio_serial(); //Serial debug(PB_6,PA_10); // Serial1 tx rx int ADC_Count = 0; float Voltage; float Voltage_total; float samples[1024]; uint16_t count1=0; int16_t count2=0; int32_t count3=0; int16_t adjust=0; float speedLast=0; float dac_val=0; float dac2_val=0; float adc3_val=0; //Array with adc1, adc2 & adc3 correction addition, //experimentally determined const float adc_corr[] = { 0, 0.022f, 0.2995, 0.0267}; int main() { printf("%d\n", lookup("X0")); return 0; } volatile bool adc3_en = true; int16_t lines = 4; //TIM1 to be used with the interrupt for the encoder's index pulses Timer timer1; Timer timer3; //Function invoked by the encoder's index interrupt pulses void atint() { timer1.start(); if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { adjust--; if (adjust == -1) { count2--; count1 +=__HAL_TIM_GET_COUNTER(&timer2); //TIM2->CNT = 0x0000; adjust = 0; led2 =!led2; } } else { adjust++; if (adjust == 1) { count2++; count1 +=__HAL_TIM_GET_COUNTER(&timer2); //TIM2->CNT = 0x0000; adjust = 0; led2 =!led2; } } } 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)*125.f/((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) { 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) { //The DCPS has 1V offset, so we have to remove it dac_val = (atof(message+p1+3)-1.0f)/15.61; 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"); } else if (strcmp(message, "poweron") == 0) { relay1.write(1); printf("DCPS on\r\n"); } else if (strcmp(message, "poweroff") == 0) { relay1.write(0); printf("DCPS off\r\n"); } } led1 = 0; } void ADC_read(AnalogIn adc) { ADC_Count++; Voltage_total =0; for (int i=0; i<100; i++) { // do 25 readings Voltage = adc.read(); Voltage_total = Voltage_total+ Voltage; //Note Vinput.read can be summed then averaged //wait_us(10); } Voltage=Voltage_total/100.f; samples[ADC_Count] = Voltage; //Save averaged reading within an array if (ADC_Count == 1023){ ADC_Count = 0; } } //The main function int main() { //Power onn the DCPS relay1.write(1); //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); //Set serial baud rate raspi.baud(115200); //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("Running at %u MHz\r\n\n", HAL_RCC_GetSysClockFreq()/1000000); //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(); dac2_val = dac2.read(); //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 //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); if (i >= 100) { adc3_val = adc3.read(); ADC_read(adc1); ADC_read(adc2); ADC_read(adc3); //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", (3.3f*samples[ADC_Count-2]+0.022f), dac2_val*3.3f); printf("VOUT: %f\r\n", dac2_val*15.61f+1.0f); printf("Voltage ADC2: %3.3f%V\r\n", (3.3f*samples[ADC_Count-1]+0.062f)/0.207048458f); //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("Average ADC3: %3.3f%V\r\n", (3.3f*samples[ADC_Count]+0.022f)/0.8245614f); 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); } }