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@8:28ad0ba5a673, 2017-05-19 (annotated)
- Committer:
- tonnyleonard
- Date:
- Fri May 19 23:01:01 2017 +0000
- Revision:
- 8:28ad0ba5a673
- Parent:
- 7:7f59b69d8895
- Child:
- 9:4d736d29ce19
Small improvements
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tonnyleonard | 0:789510d98ade | 1 | /* |
tonnyleonard | 8:28ad0ba5a673 | 2 | * Nucleo STM32F4(or L4) quadrature decoder, ADCs and DAC |
tonnyleonard | 8:28ad0ba5a673 | 3 | * with serial communication over the USB virtual serial port |
tonnyleonard | 8:28ad0ba5a673 | 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 | 8:28ad0ba5a673 | 8 | * Encoders are supported on F4xx's TIM1,2,3,4,5. TIM2 & TIM5 have 32bit count, |
tonnyleonard | 8:28ad0ba5a673 | 9 | * others 16bit. |
tonnyleonard | 8:28ad0ba5a673 | 10 | * Take into account that Mbed uses TIM5 for system timer, SPI needs TIM1, |
tonnyleonard | 8:28ad0ba5a673 | 11 | * others are used for PWM. |
tonnyleonard | 8:28ad0ba5a673 | 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 | 8:28ad0ba5a673 | 15 | * On L432KC, for example, only TIM2 has 32bit count, others 16bit. |
tonnyleonard | 8:28ad0ba5a673 | 16 | * However, mbed has TIM2 assigned by default to the system ticker |
tonnyleonard | 8:28ad0ba5a673 | 17 | * For L432KC to work with TIM2 encoder input one needs to reassign |
tonnyleonard | 8:28ad0ba5a673 | 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 | 0:789510d98ade | 27 | * |
tonnyleonard | 0:789510d98ade | 28 | * References: |
tonnyleonard | 8:28ad0ba5a673 | 29 | * http://www.st.com/resource/en/datasheet/stm32l432kc.pdf |
tonnyleonard | 8:28ad0ba5a673 | 30 | * https://developer.mbed.org/platforms/ST-Nucleo-L432KC/ |
tonnyleonard | 0:789510d98ade | 31 | * http://www.st.com/web/en/resource/technical/document/application_note/DM00042534.pdf |
tonnyleonard | 0:789510d98ade | 32 | * http://www.st.com/web/en/resource/technical/document/datasheet/DM00102166.pdf |
tonnyleonard | 7:7f59b69d8895 | 33 | * |
tonnyleonard | 8:28ad0ba5a673 | 34 | * Tonny-Leonard Farauanu, 2017 |
tonnyleonard | 0:789510d98ade | 35 | */ |
tonnyleonard | 0:789510d98ade | 36 | |
tonnyleonard | 0:789510d98ade | 37 | #include "mbed.h" |
tonnyleonard | 0:789510d98ade | 38 | #include "Encoder.h" |
tonnyleonard | 8:28ad0ba5a673 | 39 | #include "inttypes.h" // for PRIu32 encoding |
tonnyleonard | 8:28ad0ba5a673 | 40 | //#include <string.h> // strstr() |
tonnyleonard | 8:28ad0ba5a673 | 41 | //#include <stdbool.h> // bool, true, false |
tonnyleonard | 0:789510d98ade | 42 | |
tonnyleonard | 8:28ad0ba5a673 | 43 | #define DAC_RANGE (0xFFF) // 12 bits |
tonnyleonard | 8:28ad0ba5a673 | 44 | #define SAMPLE_RATE 150000 |
tonnyleonard | 8:28ad0ba5a673 | 45 | |
tonnyleonard | 8:28ad0ba5a673 | 46 | //Defining the timer and its coresponding encoder |
tonnyleonard | 8:28ad0ba5a673 | 47 | TIM_HandleTypeDef timer2; |
tonnyleonard | 4:4f115819171f | 48 | TIM_Encoder_InitTypeDef encoder1; |
tonnyleonard | 8:28ad0ba5a673 | 49 | |
tonnyleonard | 8:28ad0ba5a673 | 50 | //The input for the encoder's index channel |
tonnyleonard | 5:29372f6cb533 | 51 | InterruptIn event(PA_8); |
tonnyleonard | 8:28ad0ba5a673 | 52 | |
tonnyleonard | 8:28ad0ba5a673 | 53 | //LED1 to signal USB serial RX interrupt reading |
tonnyleonard | 8:28ad0ba5a673 | 54 | DigitalOut led1(LED1); |
tonnyleonard | 8:28ad0ba5a673 | 55 | |
tonnyleonard | 8:28ad0ba5a673 | 56 | //LED2 to signal the encoder's index impulses |
tonnyleonard | 8:28ad0ba5a673 | 57 | //only for debugging, to calibrate the position |
tonnyleonard | 8:28ad0ba5a673 | 58 | //of the AVAGO encoder with respect to the shaft |
tonnyleonard | 8:28ad0ba5a673 | 59 | DigitalOut led2(PB_4); |
tonnyleonard | 8:28ad0ba5a673 | 60 | |
tonnyleonard | 8:28ad0ba5a673 | 61 | AnalogIn vref(ADC_VREF); |
tonnyleonard | 8:28ad0ba5a673 | 62 | AnalogIn tempint(ADC_TEMP); |
tonnyleonard | 8:28ad0ba5a673 | 63 | |
tonnyleonard | 8:28ad0ba5a673 | 64 | //Defining the ADCs |
tonnyleonard | 6:5d4c09973041 | 65 | AnalogIn adc1(PA_3); //ADC1_IN8 |
tonnyleonard | 8:28ad0ba5a673 | 66 | AnalogIn adc2(PA_4); //ADC1_IN9 |
tonnyleonard | 6:5d4c09973041 | 67 | AnalogIn adc3(PA_6); //ADC1_IN11 |
tonnyleonard | 8:28ad0ba5a673 | 68 | |
tonnyleonard | 8:28ad0ba5a673 | 69 | //Defining the DAC for the Power Source |
tonnyleonard | 8:28ad0ba5a673 | 70 | //(DCPS - Digitally Controlled Power Source) |
tonnyleonard | 8:28ad0ba5a673 | 71 | //DAC1_OUT2 on pin PA_5 is at least twices as fast as DAC1_OUT1 on pin PA_4 |
tonnyleonard | 8:28ad0ba5a673 | 72 | AnalogOut dac1(PA_5); // DAC1_OUT2 |
tonnyleonard | 8:28ad0ba5a673 | 73 | |
tonnyleonard | 8:28ad0ba5a673 | 74 | //Defining the serial object to be used for communicating with Raspi |
tonnyleonard | 8:28ad0ba5a673 | 75 | Serial raspi(USBTX, USBRX); |
tonnyleonard | 8:28ad0ba5a673 | 76 | //Serial raspi(SERIAL_TX, SERIAL_RX); |
tonnyleonard | 8:28ad0ba5a673 | 77 | //Serial& raspi = get_stdio_serial(); |
tonnyleonard | 7:7f59b69d8895 | 78 | |
tonnyleonard | 7:7f59b69d8895 | 79 | //Serial debug(PB_6,PA_10); // Serial1 tx rx |
tonnyleonard | 7:7f59b69d8895 | 80 | //Serial configBT(PA_2,PA_3); // Serial2 tx rx |
tonnyleonard | 7:7f59b69d8895 | 81 | //Serial slave(PC_10,PC_11); // Serial3 tx rx |
tonnyleonard | 7:7f59b69d8895 | 82 | //Serial modem(PA_0,PA_1); // Serial4 tx rx |
tonnyleonard | 7:7f59b69d8895 | 83 | |
tonnyleonard | 8:28ad0ba5a673 | 84 | uint16_t count1=0; |
tonnyleonard | 5:29372f6cb533 | 85 | int16_t count2=0; |
tonnyleonard | 8:28ad0ba5a673 | 86 | int32_t count3=0; |
tonnyleonard | 5:29372f6cb533 | 87 | int16_t adjust=0; |
tonnyleonard | 8:28ad0ba5a673 | 88 | |
tonnyleonard | 8:28ad0ba5a673 | 89 | float dac_val=0; |
tonnyleonard | 8:28ad0ba5a673 | 90 | |
tonnyleonard | 7:7f59b69d8895 | 91 | volatile bool adc3_en = false; |
tonnyleonard | 8:28ad0ba5a673 | 92 | int16_t lines = 4; |
tonnyleonard | 8:28ad0ba5a673 | 93 | |
tonnyleonard | 8:28ad0ba5a673 | 94 | //TIM1 to be used with the interrupt for the encoder's index pulses |
tonnyleonard | 5:29372f6cb533 | 95 | Timer timer1; |
tonnyleonard | 5:29372f6cb533 | 96 | |
tonnyleonard | 8:28ad0ba5a673 | 97 | //Function to convert a string to float |
tonnyleonard | 8:28ad0ba5a673 | 98 | float stof(const char* s){ |
tonnyleonard | 8:28ad0ba5a673 | 99 | float rez = 0, fact = 1; |
tonnyleonard | 8:28ad0ba5a673 | 100 | if (*s == '-'){ |
tonnyleonard | 8:28ad0ba5a673 | 101 | s++; |
tonnyleonard | 8:28ad0ba5a673 | 102 | fact = -1; |
tonnyleonard | 8:28ad0ba5a673 | 103 | }; |
tonnyleonard | 8:28ad0ba5a673 | 104 | for (int point_seen = 0; *s; s++){ |
tonnyleonard | 8:28ad0ba5a673 | 105 | if (*s == '.'){ |
tonnyleonard | 8:28ad0ba5a673 | 106 | point_seen = 1; |
tonnyleonard | 8:28ad0ba5a673 | 107 | continue; |
tonnyleonard | 8:28ad0ba5a673 | 108 | }; |
tonnyleonard | 8:28ad0ba5a673 | 109 | int d = *s - '0'; |
tonnyleonard | 8:28ad0ba5a673 | 110 | if (d >= 0 && d <= 9){ |
tonnyleonard | 8:28ad0ba5a673 | 111 | if (point_seen) fact /= 10.0f; |
tonnyleonard | 8:28ad0ba5a673 | 112 | rez = rez * 10.0f + (float)d; |
tonnyleonard | 8:28ad0ba5a673 | 113 | }; |
tonnyleonard | 8:28ad0ba5a673 | 114 | }; |
tonnyleonard | 8:28ad0ba5a673 | 115 | return rez * fact; |
tonnyleonard | 8:28ad0ba5a673 | 116 | }; |
tonnyleonard | 8:28ad0ba5a673 | 117 | |
tonnyleonard | 8:28ad0ba5a673 | 118 | //Function invoked by the encoder's index interrupt pulses |
tonnyleonard | 7:7f59b69d8895 | 119 | void atint() |
tonnyleonard | 7:7f59b69d8895 | 120 | { |
tonnyleonard | 5:29372f6cb533 | 121 | timer1.start(); |
tonnyleonard | 7:7f59b69d8895 | 122 | if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2)) { |
tonnyleonard | 7:7f59b69d8895 | 123 | adjust--; |
tonnyleonard | 7:7f59b69d8895 | 124 | if (adjust == -3) { |
tonnyleonard | 5:29372f6cb533 | 125 | count2--; |
tonnyleonard | 5:29372f6cb533 | 126 | count1 +=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 5:29372f6cb533 | 127 | TIM2->CNT = 0x0000; |
tonnyleonard | 5:29372f6cb533 | 128 | adjust = 0; |
tonnyleonard | 8:28ad0ba5a673 | 129 | led2 =!led2; |
tonnyleonard | 5:29372f6cb533 | 130 | } |
tonnyleonard | 7:7f59b69d8895 | 131 | } else { |
tonnyleonard | 5:29372f6cb533 | 132 | adjust++; |
tonnyleonard | 7:7f59b69d8895 | 133 | if (adjust == 3) { |
tonnyleonard | 5:29372f6cb533 | 134 | count2++; |
tonnyleonard | 5:29372f6cb533 | 135 | count1 +=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 5:29372f6cb533 | 136 | TIM2->CNT = 0x0000; |
tonnyleonard | 5:29372f6cb533 | 137 | adjust = 0; |
tonnyleonard | 8:28ad0ba5a673 | 138 | led2 =!led2; |
tonnyleonard | 5:29372f6cb533 | 139 | } |
tonnyleonard | 5:29372f6cb533 | 140 | } |
tonnyleonard | 5:29372f6cb533 | 141 | } |
tonnyleonard | 0:789510d98ade | 142 | |
tonnyleonard | 8:28ad0ba5a673 | 143 | //Function attached to the serial RX interrupt event |
tonnyleonard | 7:7f59b69d8895 | 144 | void readData(void) |
tonnyleonard | 7:7f59b69d8895 | 145 | { |
tonnyleonard | 7:7f59b69d8895 | 146 | char message[125]; |
tonnyleonard | 8:28ad0ba5a673 | 147 | if(raspi.readable()) { |
tonnyleonard | 8:28ad0ba5a673 | 148 | int p1=0; |
tonnyleonard | 8:28ad0ba5a673 | 149 | led1 = 1; |
tonnyleonard | 8:28ad0ba5a673 | 150 | raspi.scanf("%s", message); |
tonnyleonard | 7:7f59b69d8895 | 151 | printf("%d %s\r\n", strlen(message), message); |
tonnyleonard | 7:7f59b69d8895 | 152 | if (strcmp(message, "startAdc") == 0) { |
tonnyleonard | 7:7f59b69d8895 | 153 | adc3_en = true; |
tonnyleonard | 8:28ad0ba5a673 | 154 | lines = 6; |
tonnyleonard | 7:7f59b69d8895 | 155 | printf("true\r\n"); |
tonnyleonard | 8:28ad0ba5a673 | 156 | } else if (strcmp(message, "stopAdc") == 0) { |
tonnyleonard | 7:7f59b69d8895 | 157 | adc3_en = false; |
tonnyleonard | 8:28ad0ba5a673 | 158 | lines = 4; |
tonnyleonard | 7:7f59b69d8895 | 159 | printf("false\r\n"); |
tonnyleonard | 8:28ad0ba5a673 | 160 | } else if (p1=strstr(message, "DAC=") != NULL){ |
tonnyleonard | 8:28ad0ba5a673 | 161 | dac_val = atof(message+p1+3); |
tonnyleonard | 8:28ad0ba5a673 | 162 | printf("Value to write to DAC: %f\r\n", dac_val*3.3f); |
tonnyleonard | 8:28ad0ba5a673 | 163 | } |
tonnyleonard | 8:28ad0ba5a673 | 164 | |
tonnyleonard | 8:28ad0ba5a673 | 165 | } |
tonnyleonard | 8:28ad0ba5a673 | 166 | led1 = 0; |
tonnyleonard | 8:28ad0ba5a673 | 167 | } |
tonnyleonard | 7:7f59b69d8895 | 168 | |
tonnyleonard | 8:28ad0ba5a673 | 169 | //The main function |
tonnyleonard | 0:789510d98ade | 170 | int main() |
tonnyleonard | 0:789510d98ade | 171 | { |
tonnyleonard | 0:789510d98ade | 172 | |
tonnyleonard | 7:7f59b69d8895 | 173 | //counting on both A&B inputs (A at PA0, B at PA1), 4 ticks per cycle, |
tonnyleonard | 5:29372f6cb533 | 174 | //full 32-bit count |
tonnyleonard | 7:7f59b69d8895 | 175 | //For L432KC to work with TIM2 one needs to reassign the system ticker |
tonnyleonard | 2:958e9094b198 | 176 | //from TIM2 to TIM7 in TARGET/../device/hal_tick.h |
tonnyleonard | 8:28ad0ba5a673 | 177 | |
tonnyleonard | 8:28ad0ba5a673 | 178 | //Initialise encoder |
tonnyleonard | 4:4f115819171f | 179 | EncoderInit(&encoder1, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12); |
tonnyleonard | 8:28ad0ba5a673 | 180 | |
tonnyleonard | 8:28ad0ba5a673 | 181 | //Define function to call for interrupt event rise |
tonnyleonard | 8:28ad0ba5a673 | 182 | //This is triggered by the encoder's index pulses |
tonnyleonard | 8:28ad0ba5a673 | 183 | //and it resets the encoder counter |
tonnyleonard | 5:29372f6cb533 | 184 | event.rise(&atint); |
tonnyleonard | 8:28ad0ba5a673 | 185 | |
tonnyleonard | 8:28ad0ba5a673 | 186 | //Attach functin to call for serial interrupt event |
tonnyleonard | 8:28ad0ba5a673 | 187 | raspi.attach(&readData); |
tonnyleonard | 7:7f59b69d8895 | 188 | |
tonnyleonard | 8:28ad0ba5a673 | 189 | //Message to mark the initialisation of the program |
tonnyleonard | 4:4f115819171f | 190 | printf("\n\rSTM HAL encoder with ADC and DAC\n\r"); |
tonnyleonard | 7:7f59b69d8895 | 191 | |
tonnyleonard | 6:5d4c09973041 | 192 | //printf("%" PRIu32 "\n", UINT32_MAX); |
tonnyleonard | 7:7f59b69d8895 | 193 | |
tonnyleonard | 8:28ad0ba5a673 | 194 | |
tonnyleonard | 8:28ad0ba5a673 | 195 | //The main loop |
tonnyleonard | 0:789510d98ade | 196 | while(1) { |
tonnyleonard | 8:28ad0ba5a673 | 197 | |
tonnyleonard | 8:28ad0ba5a673 | 198 | //Variable for the one loop encoder counter |
tonnyleonard | 5:29372f6cb533 | 199 | uint32_t count3=0; |
tonnyleonard | 7:7f59b69d8895 | 200 | |
tonnyleonard | 8:28ad0ba5a673 | 201 | //Variable for the direction of the counter |
tonnyleonard | 4:4f115819171f | 202 | int8_t dir1; |
tonnyleonard | 8:28ad0ba5a673 | 203 | |
tonnyleonard | 8:28ad0ba5a673 | 204 | |
tonnyleonard | 6:5d4c09973041 | 205 | uint16_t voltage1=0; |
tonnyleonard | 0:789510d98ade | 206 | |
tonnyleonard | 0:789510d98ade | 207 | |
tonnyleonard | 0:789510d98ade | 208 | //OK 401 411 446 NOK 030 |
tonnyleonard | 5:29372f6cb533 | 209 | //count1=TIM2->CNT; |
tonnyleonard | 5:29372f6cb533 | 210 | //dir1=TIM2->CR1&TIM_CR1_DIR; |
tonnyleonard | 8:28ad0ba5a673 | 211 | |
tonnyleonard | 8:28ad0ba5a673 | 212 | //It reads the ADC1 value converted from 12bit to 16bit resolution |
tonnyleonard | 8:28ad0ba5a673 | 213 | voltage1=adc1.read_u16(); |
tonnyleonard | 8:28ad0ba5a673 | 214 | |
tonnyleonard | 8:28ad0ba5a673 | 215 | //It resets the DAC1 |
tonnyleonard | 8:28ad0ba5a673 | 216 | //dac1.free(); |
tonnyleonard | 8:28ad0ba5a673 | 217 | |
tonnyleonard | 8:28ad0ba5a673 | 218 | //It writes the DAC1 value as a 16bit number |
tonnyleonard | 8:28ad0ba5a673 | 219 | //dac1.write_u16(count3*2); |
tonnyleonard | 8:28ad0ba5a673 | 220 | |
tonnyleonard | 8:28ad0ba5a673 | 221 | //It writes the DAC1 value as a subunitary float number |
tonnyleonard | 8:28ad0ba5a673 | 222 | //to be multiplied with the max DAC_RANGE |
tonnyleonard | 8:28ad0ba5a673 | 223 | dac1.write(dac_val); |
tonnyleonard | 8:28ad0ba5a673 | 224 | |
tonnyleonard | 8:28ad0ba5a673 | 225 | //It gets the one loop position and the direction of the encoder |
tonnyleonard | 5:29372f6cb533 | 226 | count3=__HAL_TIM_GET_COUNTER(&timer2); |
tonnyleonard | 4:4f115819171f | 227 | dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2); |
tonnyleonard | 8:28ad0ba5a673 | 228 | |
tonnyleonard | 5:29372f6cb533 | 229 | printf("%ld%s passes=%d short=%ld\r\n", count1+count3, dir1==0 ? "+":"-", count2, count3); |
tonnyleonard | 8:28ad0ba5a673 | 230 | printf("Voltage ADC1= %u, DAC=%f\r\n", voltage1, dac1.read()*3.3); |
tonnyleonard | 8:28ad0ba5a673 | 231 | printf("Vref: %f\r\n", (3.3f)*vref.read()); |
tonnyleonard | 6:5d4c09973041 | 232 | printf("percentage: %3.3f%%\r\n", adc2.read()*100.0f); |
tonnyleonard | 8:28ad0ba5a673 | 233 | |
tonnyleonard | 8:28ad0ba5a673 | 234 | //printf("Vref(f): %f, Vref : %u, Temperature : %u\r\n", |
tonnyleonard | 8:28ad0ba5a673 | 235 | // vref.read(), vref.read_u16(), tempint.read_u16()); |
tonnyleonard | 7:7f59b69d8895 | 236 | if (adc3_en) { |
tonnyleonard | 8:28ad0ba5a673 | 237 | printf("Voltage ADC3: %3.3f%V\r\n", adc3.read()*3.3f); |
tonnyleonard | 8:28ad0ba5a673 | 238 | printf("Difference: %f\r\n", dac1.read()*3.3 - adc3.read()*3.3f); |
tonnyleonard | 8:28ad0ba5a673 | 239 | } |
tonnyleonard | 8:28ad0ba5a673 | 240 | printf("\033[%dA", lines); // Moves cursor up of #lines |
tonnyleonard | 6:5d4c09973041 | 241 | |
tonnyleonard | 8:28ad0ba5a673 | 242 | wait(0.04); |
tonnyleonard | 0:789510d98ade | 243 | } |
tonnyleonard | 8:28ad0ba5a673 | 244 | |
tonnyleonard | 8:28ad0ba5a673 | 245 | } |