Nucleo Boards for Control Systems - Revision history

Rafaels at 11:23, 1 March 2023

2023-03-01T11:23:08Z

Rafaels at 08:23, 1 March 2023

2023-03-01T08:23:29Z

Rafaels at 08:21, 1 March 2023

2023-03-01T08:21:23Z

138.4.229.255 at 14:07, 6 February 2023

2023-02-06T14:07:18Z

138.4.229.255 at 13:50, 6 February 2023

2023-02-06T13:50:41Z

Blancal at 11:11, 6 February 2023

2023-02-06T11:11:22Z

Blancal at 11:10, 6 February 2023

2023-02-06T11:10:43Z

Blancal at 10:41, 6 February 2023

2023-02-06T10:41:50Z

Blancal at 10:41, 6 February 2023

2023-02-06T10:41:13Z

Blancal at 10:40, 6 February 2023

2023-02-06T10:40:26Z

@@ Line 72: / Line 72: @@
 Specifically, the frequency reduction is applied using the following formula:
-f_PWM = f_CLK / (PSC + 1)
+f_TMR = f_CLK / (PSC + 1)
 Therefore, if the frequency to set is the same as the frequency of the clock, the PSC register must be set at PSC=0.

← Older revision		Revision as of 08:23, 1 March 2023
Line 143:		Line 143:
	During the execution, in order to read the sent data in our computer, we have to configure a console terminal as Serial Port. We recommend to set up the native console in STM32CubeIDE, selecting the correct USB serial port and fixing the desired baud rate and data size.		During the execution, in order to read the sent data in our computer, we have to configure a console terminal as Serial Port. We recommend to set up the native console in STM32CubeIDE, selecting the correct USB serial port and fixing the desired baud rate and data size.
	Command Shell Console". In the console configuration we create a new connection.		Command Shell Console". In the console configuration we create a new connection.
		+
		+	In order to enable the transmission of float data, the setting "use float" must be enabled in the config route "Project/Properties/C/C++Build/Settings/MCU Settings".

@@ Line 45: / Line 45: @@
 <pre>HAL_TIM_Encoder_Start_IT(&htimx, TIM_CHANNEL_ALL);</pre>
 Additionally, we have to code a callback function that is executed every time the interrupt is activated.
 <pre>
@@ Line 51: / Line 52: @@
+}
 </pre>
-Finally, the current value of the counter can be accessed though the following function:
+The current value of the counter can be accessed though the following function:
 <pre>
 __HAL_TIM_GET_COUNTER(htim)
@@ Line 140: / Line 142: @@
 During the execution, in order to read the sent data in our computer, we have to configure a console terminal as Serial Port. We recommend to set up the native console in STM32CubeIDE, selecting the correct USB serial port and fixing the desired baud rate and data size.
-Command Shell Console". In the console configuration we create a new connection
+Command Shell Console". In the console configuration we create a new connection.

← Older revision		Revision as of 14:07, 6 February 2023
Line 132:		Line 132:

	<h1> Serial Port </h1>		<h1> Serial Port </h1>
		+	In STM32CubeIDE we can enable the UART serial port communication of the STM32 by activating the corresponding USART_TX and USART_RX pins in the Pinout View.
		+	Then, we can transmit data as follows:
		+	<pre>
		+	uint8_t msg[] = "Hello World !!!\r\n";
		+	HAL_UART_Transmit(&huart1,msg,sizeof(msg),10);
		+	</pre>
		+
		+	During the execution, in order to read the sent data in our computer, we have to configure a console terminal as Serial Port. We recommend to set up the native console in STM32CubeIDE, selecting the correct USB serial port and fixing the desired baud rate and data size.
		+	Command Shell Console". In the console configuration we create a new connection

← Older revision		Revision as of 13:50, 6 February 2023
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	<h2> Encoder Configuration in STM32CubeIDE</h2>		<h2> Encoder Configuration in STM32CubeIDE</h2>
		+	This section explains how to easily configure an STM32 timer as an encoder with STM32CubeIDE.
		+	The first step is to select one of the available timers that can be
		+	The main timers that can be set as PWM are: TIM2, TIM3, TIM4 and TIM5.

		+	<b>Advice:</b> It is recommended to use the timer that matches directly with the pins connected to the encoder of the motor through the H-bridge.
		+
		+	It is very important to configure this timer using the Encoder Mode in the Combined Channels (Channels 1 and 2) of the selected timer.
		+	Once the timer has been configured as an encoder, we must activate corresponding global interrupt in the NVIC Interrupt Table.
		+	Other relevant parameters are:
		+	<ul>
		+	<li><b>Counter Period:</b> Parameter to set the value of the ARR register. It represents the max. value of the timer's counter before reset. </li>
		+	<li><b>Encoder Mode:</b>Should be set to "Encoder Mode TI1 and TI2" for handling both encoder channels.</li>
		+	</ul>
		+
		+	Once configured, we should start the timer as follows:
		+	<pre>HAL_TIM_Encoder_Start_IT(&htimx, TIM_CHANNEL_ALL);</pre>
		+
		+	Additionally, we have to code a callback function that is executed every time the interrupt is activated.
		+	<pre>
		+	void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim){
		+	// Rellenar
		+	}
		+	</pre>
		+
		+	Finally, the current value of the counter can be accessed though the following function:
		+	<pre>
		+	__HAL_TIM_GET_COUNTER(htim)
		+	</pre>
		+	where htimX is the instance of the timer X used as encoder (e.g. htim2 or htim3).

@@ Line 25: / Line 25: @@
 <h2> Theory </h2>
-The encoder used in the laboratory is a position sensor that uses a two-channels hall effect sensor. It is a quadrature encoder that is attached to the motor shaft and which provides a resolution of <b>48 counts per revolution</b>. This means that, for a complete turn of the motor shaft, the encoder provides a value of 48 counts. The hall sensor requires an input voltage, Vcc. Additionally, the output of the encoder comes from reading the output of the two channels, channel A and channel B, of the hall sensor. These two channels are square waves which are 90ª out of phase.
+The encoder used in the laboratory is a position sensor that uses a two-channels hall effect sensor. It is a quadrature encoder that is attached to the motor shaft and which provides a resolution of <b>48 counts per revolution</b>. This means that, for a complete turn of the motor shaft, the encoder provides a value of 48 counts. The hall sensor requires an input voltage, Vcc. Additionally, the output of the encoder comes from reading the output of the two channels, channel A and channel B, of the hall sensor. These two channels are square waves which are 90º out of phase.
 <h2> Encoder Configuration in STM32CubeIDE</h2>

@@ Line 34: / Line 34: @@
 <h2> Theory </h2>
+One method that is often used to control the speed of a DC motor is the Pulse Width Modulation (PWM) method. The speed of the electric motor depends on the modulator voltage. The greater the voltage, the faster the rotation of an electric motor. The use of this PWM can be used to control motor rotation through changes in PWM duty cycle or PWM pulse width. When the duty cycle is 0%, the motor will stop completely. When the duty cycle is 50%, the motor will rotate at half the speed of the maximum speed and when the PWM is 100%, the motor rotates with maximum speed.
-−
-−
-−
 <h2> Main registers </h2>