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Commit 6b0645f9 authored by David Preiss's avatar David Preiss
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Update README.md

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......@@ -35,13 +35,13 @@ I also experimented with just measuring Rp directly, which the impedance analyze
And lastly below is a picture of the encoder setup for the most part (I was soldering on different caps so wound up removing one of the screws that's in the way). It appears I have 26105 ticks of resolution, but am still sorting through parameter tuning necessary to bump that off and starting to trade some it in for SPS.
![encoderPCBs.png](./images/encoderPCBs.png)
![encoderTesting1.png](./images/encoderTesting1.png)
## HTMSTMAA Week 8 - 4/22/21
This week I managed to get the LDC1101 configured and up and running, and in the process switched over to an [STM32L432KC](https://www.st.com/en/microcontrollers-microprocessors/stm32l432kc.html) in Nucleo form, which is a cortex M4 clocked at 80 MHz with an FPU, and most importantly gives straightforward access to timer peripherals (my struggle last week was that after configuring a timer on the Feather M4, it seemed to promply get overwritten by Arduino's USB peripheral). Ultimately this will make more sense considering I would like to integrate this sensor into a closed loop stepper driver that I also built on ST hardware.
![RpInterpolation.png](./images/RpInterpolation.png)
![encoderPCBs.png](./images/encoderPCBs.png)
ST micros require an ST-Link for programming and debugging, which is a dedicated programmer with their own M0 MCU on board. For their lines of pre-broken-out microcontrollers (Nucelos or Discovery Boards), akin to what we all think of as an Arduino, they supply an on-board version of the ST-link, often with break-away tabs. They make it simple to perform in-line debugging with breakpoints, but if you want to actually start reading out data in real-time, the simplest way to do it is actually to talk with the St-Link over UART. It took me a while to figure this all out, but [Here's an excellent + straightforward guide to getting serial communication up and running if you're curious.](https://deepbluembedded.com/stm32-debugging-with-uart-serial-print/)
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