Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_DICEMBRE2020

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Dependencies:   mbed X_NUCLEO_IHM03A1_for

main.cpp@36:896cd03314f1, 2020-04-22 (annotated)

Committer:
nerit
Date:
Wed Apr 22 07:50:37 2020 +0000
Revision:
36:896cd03314f1
Parent:
35:3165f4c1c7bf
Child:
37:0a225902cf48
Verifica allineamento versione

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:a469bbd294b5 1
nerit 3:a469bbd294b5 2 //********************************************************************************************************************
nerit 3:a469bbd294b5 3 //********************************************************************************************************************
nerit 3:a469bbd294b5 4 // FIRMWARE SEMINATRICE MODULA
nerit 3:a469bbd294b5 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 3:a469bbd294b5 6 // V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A
nerit 3:a469bbd294b5 7 // IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz
nerit 3:a469bbd294b5 8 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 3:a469bbd294b5 9 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 3:a469bbd294b5 10 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 3:a469bbd294b5 11 // FIRST RELEASE OF BOARD DEC 2017
nerit 3:a469bbd294b5 12 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 3:a469bbd294b5 13 //
nerit 4:de1b296e9757 14 // THIS RELEASE: 10 february 2019
nerit 3:a469bbd294b5 15 //
nerit 8:310f9e4eac7b 16 // APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE
nerit 3:a469bbd294b5 17 //
nerit 3:a469bbd294b5 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 3:a469bbd294b5 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 3:a469bbd294b5 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 3:a469bbd294b5 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 3:a469bbd294b5 22 // ENCODER
nerit 3:a469bbd294b5 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 3:a469bbd294b5 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 3:a469bbd294b5 25 // 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01
nerit 4:de1b296e9757 26 // 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN
nerit 6:e8c18f0f399a 27 // 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE
nerit 3:a469bbd294b5 28 /********************
nerit 3:a469bbd294b5 29 IL FIRMWARE SI COMPONE DI 10 FILES:
nerit 3:a469bbd294b5 30 - main.cpp
nerit 3:a469bbd294b5 31 - main.hpp
nerit 3:a469bbd294b5 32 - iodefinition.hpp
nerit 3:a469bbd294b5 33 - canbus.hpp
nerit 3:a469bbd294b5 34 - parameters.hpp
nerit 4:de1b296e9757 35 - powerstep.hpp
nerit 3:a469bbd294b5 36 - timeandtick.hpp
nerit 3:a469bbd294b5 37 - variables.hpp
nerit 3:a469bbd294b5 38 - powerstep.hpp
nerit 3:a469bbd294b5 39 - watchdog.cpp
nerit 3:a469bbd294b5 40 - watchdog.h
nerit 8:310f9e4eac7b 41 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU'
nerit 3:a469bbd294b5 42 UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 3:a469bbd294b5 43 UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER
nerit 3:a469bbd294b5 44 *********************
nerit 3:a469bbd294b5 45 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 3:a469bbd294b5 46 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 3:a469bbd294b5 47 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 3:a469bbd294b5 48 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 3:a469bbd294b5 49 *********************
nerit 3:a469bbd294b5 50 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 8:310f9e4eac7b 51 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 3:a469bbd294b5 52 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 3:a469bbd294b5 53 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 3:a469bbd294b5 54 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 3:a469bbd294b5 55 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 3:a469bbd294b5 56 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 3:a469bbd294b5 57 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 3:a469bbd294b5 58 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 3:a469bbd294b5 59 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 3:a469bbd294b5 60 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 3:a469bbd294b5 61 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 3:a469bbd294b5 62 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 3:a469bbd294b5 63 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 3:a469bbd294b5 64 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 3:a469bbd294b5 65 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 3:a469bbd294b5 66 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 3:a469bbd294b5 67 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 3:a469bbd294b5 68 **********************
nerit 3:a469bbd294b5 69 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 3:a469bbd294b5 70 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 3:a469bbd294b5 71 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 3:a469bbd294b5 72 **********************
nerit 3:a469bbd294b5 73 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 3:a469bbd294b5 74 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 3:a469bbd294b5 75 LO STEPPER SEGUE IL DC.
nerit 3:a469bbd294b5 76 **********************
nerit 3:a469bbd294b5 77 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 3:a469bbd294b5 78 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 3:a469bbd294b5 79 **********************
nerit 3:a469bbd294b5 80 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 3:a469bbd294b5 81 **********************
nerit 3:a469bbd294b5 82 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 3:a469bbd294b5 83 AZZERAMENTO MANUALE
nerit 3:a469bbd294b5 84 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 3:a469bbd294b5 85 */
nerit 3:a469bbd294b5 86 //********************************************************************************************************************
nerit 3:a469bbd294b5 87 //********************************************************************************************************************
nerit 3:a469bbd294b5 88 #include "main.hpp"
nerit 35:3165f4c1c7bf 89 #if defined(runner)
nerit 35:3165f4c1c7bf 90 /* Helper header files. */
nerit 35:3165f4c1c7bf 91 #include "DevSPI.h"
nerit 35:3165f4c1c7bf 92 /* Component specific header files. */
nerit 35:3165f4c1c7bf 93 #include "PowerStep01.h"
nerit 35:3165f4c1c7bf 94 #endif
nerit 3:a469bbd294b5 95 #include "timeandtick.hpp"
nerit 3:a469bbd294b5 96 #include "canbus.hpp"
nerit 3:a469bbd294b5 97 #include "watchdog.h"
nerit 3:a469bbd294b5 98 #include "iodefinition.hpp"
nerit 3:a469bbd294b5 99 #include "parameters.hpp"
nerit 3:a469bbd294b5 100 #include "variables.hpp"
nerit 35:3165f4c1c7bf 101 #if defined(runner)
nerit 35:3165f4c1c7bf 102 #include "powerstep.hpp"
nerit 35:3165f4c1c7bf 103 #endif
nerit 3:a469bbd294b5 104 //********************************************************************************************************************
nerit 3:a469bbd294b5 105 //********************************************************************************************************************
nerit 8:310f9e4eac7b 106 #if defined(runnerTos)
nerit 8:310f9e4eac7b 107 Thread thread;
nerit 8:310f9e4eac7b 108 #endif
nerit 3:a469bbd294b5 109
nerit 3:a469bbd294b5 110 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 111
nerit 3:a469bbd294b5 112 /* Functions -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 113
nerit 3:a469bbd294b5 114 /**
nerit 3:a469bbd294b5 115 * @brief This is an example of user handler for the flag interrupt.
nerit 3:a469bbd294b5 116 * @param None
nerit 3:a469bbd294b5 117 * @retval None
nerit 3:a469bbd294b5 118 * @note If needed, implement it, and then attach and enable it:
nerit 3:a469bbd294b5 119 * + motor->attach_flag_irq(&my_flag_irq_handler);
nerit 3:a469bbd294b5 120 * + motor->enable_flag_irq();
nerit 3:a469bbd294b5 121 * To disable it:
nerit 3:a469bbd294b5 122 * + motor->DisbleFlagIRQ();
nerit 3:a469bbd294b5 123 */
nerit 35:3165f4c1c7bf 124 #if defined(runner)
nerit 3:a469bbd294b5 125 void my_flag_irq_handler(void)
nerit 3:a469bbd294b5 126 {
nerit 3:a469bbd294b5 127 /* Set ISR flag. */
nerit 3:a469bbd294b5 128 motor->isrFlag = TRUE;
nerit 3:a469bbd294b5 129 /* Get the value of the status register. */
nerit 3:a469bbd294b5 130 unsigned int statusRegister = motor->get_status();
nerit 10:9e70619e97ab 131 #if defined(pcSerial)
nerit 10:9e70619e97ab 132 pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit 10:9e70619e97ab 133 #endif
nerit 3:a469bbd294b5 134 /* Check SW_F flag: if not set, the SW input is opened */
nerit 3:a469bbd294b5 135 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit 10:9e70619e97ab 136 #if defined(pcSerial)
nerit 8:310f9e4eac7b 137 pc.printf(" SW closed (connected to ground).\r\n");
nerit 10:9e70619e97ab 138 #endif
nerit 3:a469bbd294b5 139 }
nerit 3:a469bbd294b5 140 /* Check SW_EN bit */
nerit 3:a469bbd294b5 141 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit 10:9e70619e97ab 142 #if defined(pcSerial)
nerit 8:310f9e4eac7b 143 pc.printf(" SW turn_on event.\r\n");
nerit 10:9e70619e97ab 144 #endif
nerit 3:a469bbd294b5 145 }
nerit 3:a469bbd294b5 146 /* Check Command Error flag: if set, the command received by SPI can't be */
nerit 3:a469bbd294b5 147 /* performed. This occurs for instance when a move command is sent to the */
nerit 3:a469bbd294b5 148 /* Powerstep01 while it is already running */
nerit 3:a469bbd294b5 149 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit 10:9e70619e97ab 150 #if defined(pcSerial)
nerit 8:310f9e4eac7b 151 pc.printf(" Non-performable command detected.\r\n");
nerit 10:9e70619e97ab 152 #endif
nerit 8:310f9e4eac7b 153 }
nerit 3:a469bbd294b5 154 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit 3:a469bbd294b5 155 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit 10:9e70619e97ab 156 #if defined(pcSerial)
nerit 8:310f9e4eac7b 157 pc.printf(" undervoltage lock-out.\r\n");
nerit 10:9e70619e97ab 158 #endif
nerit 8:310f9e4eac7b 159 }
nerit 3:a469bbd294b5 160 /* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit 3:a469bbd294b5 161 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit 8:310f9e4eac7b 162 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit 10:9e70619e97ab 163 #if defined(pcSerial)
nerit 8:310f9e4eac7b 164 pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit 10:9e70619e97ab 165 #endif
nerit 8:310f9e4eac7b 166 }
nerit 3:a469bbd294b5 167 /* Check OCD flag: if not set, there is an overcurrent detection */
nerit 3:a469bbd294b5 168 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit 10:9e70619e97ab 169 #if defined(pcSerial)
nerit 8:310f9e4eac7b 170 pc.printf(" Overcurrent detection.\r\n");
nerit 10:9e70619e97ab 171 #endif
nerit 3:a469bbd294b5 172 }
nerit 3:a469bbd294b5 173 /* Reset ISR flag. */
nerit 3:a469bbd294b5 174 motor->isrFlag = FALSE;
nerit 3:a469bbd294b5 175 }
nerit 35:3165f4c1c7bf 176 #endif
nerit 3:a469bbd294b5 177 /**
nerit 3:a469bbd294b5 178 * @brief This is an example of error handler.
nerit 3:a469bbd294b5 179 * @param[in] error Number of the error
nerit 3:a469bbd294b5 180 * @retval None
nerit 3:a469bbd294b5 181 * @note If needed, implement it, and then attach it:
nerit 3:a469bbd294b5 182 * + motor->attach_error_handler(&my_error_handler);
nerit 3:a469bbd294b5 183 */
nerit 3:a469bbd294b5 184 void my_error_handler(uint16_t error)
nerit 3:a469bbd294b5 185 {
nerit 3:a469bbd294b5 186 /* Printing to the console. */
nerit 10:9e70619e97ab 187 #if defined(pcSerial)
nerit 10:9e70619e97ab 188 pc.printf("Error %d detected\r\n\n", error);
nerit 10:9e70619e97ab 189 #endif
nerit 8:310f9e4eac7b 190
nerit 3:a469bbd294b5 191 /* Infinite loop */
nerit 3:a469bbd294b5 192 //while (true) {
nerit 8:310f9e4eac7b 193 //}
nerit 3:a469bbd294b5 194 }
nerit 8:310f9e4eac7b 195 //*******************************************************************************
nerit 8:310f9e4eac7b 196 // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit 8:310f9e4eac7b 197 //*******************************************************************************
nerit 8:310f9e4eac7b 198 #if defined(runner)
nerit 8:310f9e4eac7b 199 void step_Reading(){
nerit 8:310f9e4eac7b 200 //while(true){
nerit 8:310f9e4eac7b 201 /* Get current position of device and print to the console */
nerit 8:310f9e4eac7b 202 TBpassPosition= (uint32_t) motor->get_position();
nerit 34:eb04f4f41dfd 203 ildato=TBpassPosition;
nerit 8:310f9e4eac7b 204 if (TBpassPosition >= TBoldPosition){
nerit 8:310f9e4eac7b 205 TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 206 }else{
nerit 36:896cd03314f1 207 TBperiod=5.2f*TBrpm;
nerit 8:310f9e4eac7b 208 }
nerit 8:310f9e4eac7b 209 //wait_us(50); // 50 mS di intervallo lettura
nerit 8:310f9e4eac7b 210 //}
nerit 8:310f9e4eac7b 211 }
nerit 8:310f9e4eac7b 212 #endif
nerit 3:a469bbd294b5 213 //*******************************************************************************
nerit 3:a469bbd294b5 214 //********************************************************************************************************************
nerit 3:a469bbd294b5 215 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 216 // TASK SECTION
nerit 3:a469bbd294b5 217 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 218 //************************************************************************
nerit 8:310f9e4eac7b 219 void aggioVelocita()
nerit 8:310f9e4eac7b 220 {
nerit 8:310f9e4eac7b 221 realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit 17:9629eb019892 222 tempoBecco = realGiroSD*44.4444f; //(realGiroSD/360.0f)*16000.0f;
nerit 8:310f9e4eac7b 223 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 8:310f9e4eac7b 224 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 8:310f9e4eac7b 225 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 8:310f9e4eac7b 226 #if defined(runner)
nerit 10:9e70619e97ab 227 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 9:7f02256f6e8f 228 #if defined(Zucca)
nerit 9:7f02256f6e8f 229 TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 230 #else
nerit 17:9629eb019892 231 if (cellsNumber<8.0f){
nerit 34:eb04f4f41dfd 232 TBperiod=6.2f*TBrpm;//4.8f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 233 }else{
nerit 17:9629eb019892 234 TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 235 }
nerit 9:7f02256f6e8f 236 #endif
nerit 8:310f9e4eac7b 237 #else
nerit 10:9e70619e97ab 238 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 8:310f9e4eac7b 239 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 8:310f9e4eac7b 240 #endif
nerit 8:310f9e4eac7b 241
nerit 8:310f9e4eac7b 242 }
nerit 3:a469bbd294b5 243 //************************************************************************
nerit 3:a469bbd294b5 244 // rise of seed speed 25 pulse sensor
nerit 10:9e70619e97ab 245 void sd25Fall(){
nerit 3:a469bbd294b5 246 timeHole=metalTimer.read_ms();
nerit 10:9e70619e97ab 247 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 248 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 249 metalTimer.reset();
nerit 8:310f9e4eac7b 250 if (speedFromPick==0) {
nerit 10:9e70619e97ab 251 speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit 3:a469bbd294b5 252 }
nerit 6:e8c18f0f399a 253 #if defined(pcSerial)
nerit 6:e8c18f0f399a 254 #if defined(checkLoop)
nerit 6:e8c18f0f399a 255 pc.printf("1\n");
nerit 6:e8c18f0f399a 256 #endif
nerit 6:e8c18f0f399a 257 #endif
nerit 3:a469bbd294b5 258 }
nerit 10:9e70619e97ab 259 //************************************************************************
nerit 3:a469bbd294b5 260 // rise of seed speed motor encoder
nerit 3:a469bbd294b5 261 void encoRise(){
nerit 3:a469bbd294b5 262 timeHole=metalTimer.read_us();
nerit 10:9e70619e97ab 263 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 264 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 265 metalTimer.reset();
nerit 8:310f9e4eac7b 266 if (encoder==true) {
nerit 13:d1030d4e51a8 267 speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit 3:a469bbd294b5 268 pulseRised2=1;
nerit 13:d1030d4e51a8 269 dcEncoderCnt++;
nerit 13:d1030d4e51a8 270 double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit 13:d1030d4e51a8 271 prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit 13:d1030d4e51a8 272 #if defined(speedMaster)
nerit 13:d1030d4e51a8 273 if (quinconceActive==0) {
nerit 13:d1030d4e51a8 274 posForQuinc=500+(uint32_t)sincronizza;
nerit 13:d1030d4e51a8 275 }
nerit 13:d1030d4e51a8 276 #endif
nerit 3:a469bbd294b5 277 }
nerit 6:e8c18f0f399a 278 #if defined(pcSerial)
nerit 6:e8c18f0f399a 279 #if defined(checkLoop)
nerit 6:e8c18f0f399a 280 pc.printf("2\n");
nerit 6:e8c18f0f399a 281 #endif
nerit 6:e8c18f0f399a 282 #endif
nerit 8:310f9e4eac7b 283 aggioVelocita();
nerit 3:a469bbd294b5 284 }
nerit 6:e8c18f0f399a 285 //**************************************************
nerit 3:a469bbd294b5 286 // rise of seed presence sensor
nerit 3:a469bbd294b5 287 void seedSensorTask(){
nerit 3:a469bbd294b5 288 seedSee=1;
nerit 6:e8c18f0f399a 289 #if defined(pcSerial)
nerit 6:e8c18f0f399a 290 #if defined(checkLoop)
nerit 6:e8c18f0f399a 291 pc.printf("3\n");
nerit 6:e8c18f0f399a 292 #endif
nerit 6:e8c18f0f399a 293 #endif
nerit 3:a469bbd294b5 294 }
nerit 3:a469bbd294b5 295 //**************************************************
nerit 3:a469bbd294b5 296 // generate speed clock when speed is simulated from Tritecnica display
nerit 8:310f9e4eac7b 297 void speedSimulationClock(){
nerit 3:a469bbd294b5 298 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 299 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 300 speedTimer.reset();
nerit 3:a469bbd294b5 301 pulseRised=1;
nerit 3:a469bbd294b5 302 speedFilter.reset();
nerit 6:e8c18f0f399a 303 #if defined(pcSerial)
nerit 6:e8c18f0f399a 304 #if defined(checkLoop)
nerit 6:e8c18f0f399a 305 pc.printf("4\n");
nerit 6:e8c18f0f399a 306 #endif
nerit 6:e8c18f0f399a 307 #endif
nerit 3:a469bbd294b5 308 }
nerit 3:a469bbd294b5 309 //*******************************************************
nerit 3:a469bbd294b5 310 // interrupt task for tractor speed reading
nerit 3:a469bbd294b5 311 //*******************************************************
nerit 3:a469bbd294b5 312 void tractorReadSpeed(){
nerit 8:310f9e4eac7b 313 if ((oldTractorSpeedRead==0)) {
nerit 3:a469bbd294b5 314 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 315 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 316 speedTimer.reset();
nerit 3:a469bbd294b5 317 pulseRised=1;
nerit 3:a469bbd294b5 318 oldTractorSpeedRead=1;
nerit 3:a469bbd294b5 319 }
nerit 8:310f9e4eac7b 320 speedClock=1;
nerit 3:a469bbd294b5 321 speedFilter.reset();
nerit 10:9e70619e97ab 322 cntSpeedError=0;
nerit 6:e8c18f0f399a 323 #if defined(pcSerial)
nerit 6:e8c18f0f399a 324 #if defined(checkLoop)
nerit 6:e8c18f0f399a 325 pc.printf("5\n");
nerit 6:e8c18f0f399a 326 #endif
nerit 6:e8c18f0f399a 327 #endif
nerit 3:a469bbd294b5 328 }
nerit 3:a469bbd294b5 329 //*******************************************************
nerit 8:310f9e4eac7b 330 void speedMediaCalc()
nerit 8:310f9e4eac7b 331 {
nerit 3:a469bbd294b5 332 double lastPd=(double) lastPulseRead/1000.0f;
nerit 3:a469bbd294b5 333 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 8:310f9e4eac7b 334 if (enableSimula==1) {
nerit 3:a469bbd294b5 335 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 336 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 337 }
nerit 3:a469bbd294b5 338 mediaSpeed[0]=lastPd;
nerit 3:a469bbd294b5 339 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 10:9e70619e97ab 340 #if defined(pcSerial)
nerit 10:9e70619e97ab 341 #if defined(checkLoop)
nerit 10:9e70619e97ab 342 pc.printf("6\n");
nerit 10:9e70619e97ab 343 #endif
nerit 10:9e70619e97ab 344 #endif
nerit 8:310f9e4eac7b 345 }
bcostm 0:5701b41769fd 346
nerit 3:a469bbd294b5 347 //*******************************************************
nerit 3:a469bbd294b5 348 // clocked task for manage virtual encoder of seed wheel i/o
nerit 3:a469bbd294b5 349 //*******************************************************
nerit 3:a469bbd294b5 350 //*******************************************************
nerit 8:310f9e4eac7b 351 void step_SDPulseOut()
nerit 8:310f9e4eac7b 352 {
nerit 3:a469bbd294b5 353 SDactualPosition++;
nerit 3:a469bbd294b5 354 prePosSD++;
nerit 10:9e70619e97ab 355 #if defined(speedMaster)
nerit 10:9e70619e97ab 356 posForQuinc++;
nerit 10:9e70619e97ab 357 #endif
nerit 10:9e70619e97ab 358 #if defined(pcSerial)
nerit 10:9e70619e97ab 359 #if defined(checkLoop)
nerit 10:9e70619e97ab 360 pc.printf("7\n");
nerit 10:9e70619e97ab 361 #endif
nerit 10:9e70619e97ab 362 #endif
nerit 3:a469bbd294b5 363 }
nerit 3:a469bbd294b5 364 //*******************************************************
nerit 18:7c978f69cc51 365 void step_TBPulseOut(){
nerit 3:a469bbd294b5 366 TBmotorStepOut=!TBmotorStepOut;
nerit 8:310f9e4eac7b 367 if (TBmotorStepOut==0) {
nerit 8:310f9e4eac7b 368 if (TBmotorDirecti==TBforward) {
nerit 3:a469bbd294b5 369 TBactualPosition++;
nerit 3:a469bbd294b5 370 }
nerit 3:a469bbd294b5 371 }
nerit 10:9e70619e97ab 372 #if defined(pcSerial)
nerit 10:9e70619e97ab 373 #if defined(stepTamb)
nerit 10:9e70619e97ab 374 pc.printf("step\n");
nerit 10:9e70619e97ab 375 #endif
nerit 10:9e70619e97ab 376 #endif
nerit 6:e8c18f0f399a 377 /*
nerit 6:e8c18f0f399a 378 #if defined(pcSerial)
nerit 6:e8c18f0f399a 379 #if defined(checkLoop)
nerit 6:e8c18f0f399a 380 pc.printf("8\n");
nerit 6:e8c18f0f399a 381 #endif
nerit 6:e8c18f0f399a 382 #endif
nerit 6:e8c18f0f399a 383 */
nerit 3:a469bbd294b5 384 }
nerit 3:a469bbd294b5 385 //*******************************************************
nerit 8:310f9e4eac7b 386 void invertiLo()
nerit 8:310f9e4eac7b 387 {
nerit 8:310f9e4eac7b 388 if (TBmotorDirecti==TBreverse) {
nerit 3:a469bbd294b5 389 TBmotorDirecti=TBforward;
nerit 35:3165f4c1c7bf 390 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 391 #if !defined(runner)
nerit 35:3165f4c1c7bf 392 #if defined(Zucca)
nerit 35:3165f4c1c7bf 393 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 394 #else
nerit 35:3165f4c1c7bf 395 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 396 #endif
nerit 9:7f02256f6e8f 397 #endif
nerit 35:3165f4c1c7bf 398 #if defined(provaStepper)
nerit 35:3165f4c1c7bf 399 motor->run(StepperMotor::FWD,150.0f);
nerit 35:3165f4c1c7bf 400 #endif
nerit 18:7c978f69cc51 401 #endif
nerit 8:310f9e4eac7b 402 } else {
nerit 3:a469bbd294b5 403 TBmotorDirecti=TBreverse;
nerit 35:3165f4c1c7bf 404 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 405 #if !defined(runner)
nerit 35:3165f4c1c7bf 406 #if defined(Zucca)
nerit 35:3165f4c1c7bf 407 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 408 #else
nerit 35:3165f4c1c7bf 409 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 410 #endif
nerit 9:7f02256f6e8f 411 #endif
nerit 35:3165f4c1c7bf 412 #if defined(provaStepper)
nerit 35:3165f4c1c7bf 413 motor->run(StepperMotor::BWD,100.0f);
nerit 35:3165f4c1c7bf 414 #endif
nerit 18:7c978f69cc51 415 #endif
nerit 3:a469bbd294b5 416 }
nerit 3:a469bbd294b5 417 #if defined(pcSerial)
nerit 3:a469bbd294b5 418 #if defined(inversione)
nerit 3:a469bbd294b5 419 pc.printf("cambio M %d\n",cambiaStep);
nerit 3:a469bbd294b5 420 pc.printf("posizione %d \n",TBactualPosition);
nerit 3:a469bbd294b5 421 #endif
nerit 3:a469bbd294b5 422 #endif
nerit 6:e8c18f0f399a 423 #if defined(pcSerial)
nerit 6:e8c18f0f399a 424 #if defined(checkLoop)
nerit 6:e8c18f0f399a 425 pc.printf("9\n");
nerit 6:e8c18f0f399a 426 #endif
nerit 6:e8c18f0f399a 427 #endif
nerit 3:a469bbd294b5 428 }
nerit 3:a469bbd294b5 429 //*******************************************************
nerit 3:a469bbd294b5 430 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 8:310f9e4eac7b 431 void aggiornaParametri()
nerit 8:310f9e4eac7b 432 {
nerit 3:a469bbd294b5 433 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 3:a469bbd294b5 434 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 3:a469bbd294b5 435 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 3:a469bbd294b5 436 intraPickDistance = seedPerimeter/pickNumber;
nerit 3:a469bbd294b5 437 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 17:9629eb019892 438 //K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 3:a469bbd294b5 439 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 13:d1030d4e51a8 440 SDsectorStep = fixedStepGiroSD / pickNumber;
nerit 3:a469bbd294b5 441 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 13:d1030d4e51a8 442 seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit 13:d1030d4e51a8 443 frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit 8:310f9e4eac7b 444 #if defined(runner)
nerit 9:7f02256f6e8f 445 #if defined(Zucca)
nerit 9:7f02256f6e8f 446 KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit 9:7f02256f6e8f 447 #else
nerit 30:32e770e91998 448 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 9:7f02256f6e8f 449 #endif
nerit 8:310f9e4eac7b 450 #else
nerit 8:310f9e4eac7b 451 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 8:310f9e4eac7b 452 #endif
nerit 3:a469bbd294b5 453 angoloFase=angoloPh;
nerit 3:a469bbd294b5 454 avvioGradi=angoloAv;
nerit 3:a469bbd294b5 455 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 456 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 457 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 458 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 3:a469bbd294b5 459 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 3:a469bbd294b5 460 if (speedFromPick==1) {
nerit 3:a469bbd294b5 461 intraPickDistance = seedPerimeter/pickNumber;
nerit 8:310f9e4eac7b 462 } else {
nerit 3:a469bbd294b5 463 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 3:a469bbd294b5 464 }
nerit 6:e8c18f0f399a 465 #if defined(pcSerial)
nerit 6:e8c18f0f399a 466 #if defined(checkLoop)
nerit 6:e8c18f0f399a 467 pc.printf("10\n");
nerit 6:e8c18f0f399a 468 #endif
nerit 6:e8c18f0f399a 469 #endif
nerit 3:a469bbd294b5 470 }
nerit 3:a469bbd294b5 471 //*******************************************************
nerit 8:310f9e4eac7b 472 void cambiaTB(double perio)
nerit 8:310f9e4eac7b 473 {
nerit 8:310f9e4eac7b 474 #if defined(runner)
nerit 8:310f9e4eac7b 475 // update TB frequency
nerit 8:310f9e4eac7b 476 double TBper=0.0f;
nerit 8:310f9e4eac7b 477 if (aspettaStart==0){
nerit 8:310f9e4eac7b 478 TBper=perio;
nerit 8:310f9e4eac7b 479 if (oldPeriodoTB!=TBper){
nerit 6:e8c18f0f399a 480 #if defined(pcSerial)
nerit 8:310f9e4eac7b 481 #if defined(TBperSo)
nerit 8:310f9e4eac7b 482 pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit 6:e8c18f0f399a 483 #endif
nerit 6:e8c18f0f399a 484 #endif
nerit 9:7f02256f6e8f 485 #if defined(Zucca)
nerit 9:7f02256f6e8f 486 motor->run(StepperMotor::BWD,TBper);
nerit 9:7f02256f6e8f 487 #else
nerit 9:7f02256f6e8f 488 motor->run(StepperMotor::FWD,TBper);
nerit 9:7f02256f6e8f 489 #endif
nerit 8:310f9e4eac7b 490 oldPeriodoTB=TBper;
nerit 8:310f9e4eac7b 491 }
nerit 8:310f9e4eac7b 492 }
nerit 8:310f9e4eac7b 493 #else
nerit 8:310f9e4eac7b 494 // update TB frequency
nerit 8:310f9e4eac7b 495 double limite=500.0f;
nerit 8:310f9e4eac7b 496 double TBper=0.0f;
nerit 8:310f9e4eac7b 497 double scala =2.0f;
nerit 8:310f9e4eac7b 498 if (aspettaStart==0) {
nerit 8:310f9e4eac7b 499 if (perio<limite) {
nerit 8:310f9e4eac7b 500 perio=limite;
nerit 8:310f9e4eac7b 501 }
nerit 8:310f9e4eac7b 502 TBper=perio/scala;
nerit 8:310f9e4eac7b 503 if (oldPeriodoTB!=TBper) {
nerit 8:310f9e4eac7b 504 if (TBper >= (limite/2.0f)) {
nerit 8:310f9e4eac7b 505 #if defined(pcSerial)
nerit 8:310f9e4eac7b 506 #if defined(checkLoop)
nerit 8:310f9e4eac7b 507 pc.printf("11a\n");
nerit 8:310f9e4eac7b 508 pc.printf("11a TBper: %f \n",TBper);
nerit 8:310f9e4eac7b 509 #endif
nerit 6:e8c18f0f399a 510 #endif
nerit 8:310f9e4eac7b 511 if (TBper != NULL) {
nerit 35:3165f4c1c7bf 512 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 513 #if defined(runner)
nerit 35:3165f4c1c7bf 514 #if defined(Zucca)
nerit 35:3165f4c1c7bf 515 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 516 #else
nerit 35:3165f4c1c7bf 517 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 518 #endif
nerit 35:3165f4c1c7bf 519 #endif
nerit 9:7f02256f6e8f 520 #endif
nerit 8:310f9e4eac7b 521 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 522 }
nerit 8:310f9e4eac7b 523 } else {
nerit 8:310f9e4eac7b 524 #if defined(pcSerial)
nerit 8:310f9e4eac7b 525 #if defined(checkLoop)
nerit 8:310f9e4eac7b 526 pc.printf("11b\n");
nerit 8:310f9e4eac7b 527 #endif
nerit 6:e8c18f0f399a 528 #endif
nerit 8:310f9e4eac7b 529 TBticker.detach();
nerit 8:310f9e4eac7b 530 #if defined(pcSerial)
nerit 8:310f9e4eac7b 531 #if defined(loStop)
nerit 8:310f9e4eac7b 532 pc.printf("A1\n");
nerit 8:310f9e4eac7b 533 #endif
nerit 8:310f9e4eac7b 534 #endif
nerit 35:3165f4c1c7bf 535 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 536 #if defined(runner)
nerit 35:3165f4c1c7bf 537 motor->soft_hiz();
nerit 35:3165f4c1c7bf 538 #endif
nerit 35:3165f4c1c7bf 539 #endif
nerit 8:310f9e4eac7b 540 }
nerit 8:310f9e4eac7b 541 oldPeriodoTB=TBper;
nerit 3:a469bbd294b5 542 }
nerit 3:a469bbd294b5 543 }
nerit 8:310f9e4eac7b 544 #endif
nerit 3:a469bbd294b5 545 }
nerit 3:a469bbd294b5 546 //*******************************************************
nerit 8:310f9e4eac7b 547 void seedCorrect()
nerit 8:310f9e4eac7b 548 {
nerit 3:a469bbd294b5 549 /*
nerit 3:a469bbd294b5 550 posError determina la posizione relativa di TB rispetto ad SD
nerit 8:310f9e4eac7b 551 la reale posizione di SD viene modificata in funzione della velocità per
nerit 3:a469bbd294b5 552 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 3:a469bbd294b5 553 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 3:a469bbd294b5 554 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 3:a469bbd294b5 555 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 3:a469bbd294b5 556 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 3:a469bbd294b5 557 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 3:a469bbd294b5 558 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 3:a469bbd294b5 559 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 3:a469bbd294b5 560 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 3:a469bbd294b5 561 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 3:a469bbd294b5 562 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 3:a469bbd294b5 563 di fase di TB. In pratica il ciclo viene resettato al passaggio sul sensore di SD che riporta a 0 la posizione di SD.
nerit 3:a469bbd294b5 564 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 3:a469bbd294b5 565 Questo si traduce nel fatto che il controllo di posizione viene gestito solo all'interno di uno slot di semina in modo che
nerit 3:a469bbd294b5 566 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 8:310f9e4eac7b 567
nerit 3:a469bbd294b5 568 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 3:a469bbd294b5 569 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 8:310f9e4eac7b 570 */
nerit 3:a469bbd294b5 571 /*
nerit 3:a469bbd294b5 572 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 573 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 3:a469bbd294b5 574 KcorT = (SDsectorStep/TBsectorStep);
nerit 3:a469bbd294b5 575 angoloFase=angoloPh;
nerit 3:a469bbd294b5 576 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 577 avvioGradi = costante da terminale tritecnica
nerit 3:a469bbd294b5 578 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 579 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 580 */
nerit 8:310f9e4eac7b 581 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 582 if (inhibit==0) {
nerit 3:a469bbd294b5 583 double posError =0.0f;
nerit 3:a469bbd294b5 584 double posSD=((double)SDactualPosition)/KcorT;
nerit 8:310f9e4eac7b 585 posError = posSD - (double)TBactualPosition;
nerit 3:a469bbd294b5 586 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 8:310f9e4eac7b 587 if((lowSpeed==0)&&(aspettaStart==0)) {
nerit 23:ccd253b36733 588 double lowLim=-50.0f;
nerit 23:ccd253b36733 589 double higLim = 50.0f;
nerit 23:ccd253b36733 590 double divide= 100.0f;
nerit 24:2b5e749e26b2 591 if (drumSelect==false){
nerit 25:4461bc76aaab 592 if (pickNumber <= 5) {
nerit 25:4461bc76aaab 593 lowLim=-500.0f;
nerit 25:4461bc76aaab 594 higLim= 500.0f;
nerit 25:4461bc76aaab 595 divide= 25.0f;
nerit 25:4461bc76aaab 596 } else {
nerit 25:4461bc76aaab 597 lowLim=-10.0f;
nerit 25:4461bc76aaab 598 higLim= 130.0f;
nerit 25:4461bc76aaab 599 divide= 100.0f;
nerit 25:4461bc76aaab 600 }
nerit 24:2b5e749e26b2 601 }else{
nerit 25:4461bc76aaab 602 if (pickNumber <= 5) {
nerit 30:32e770e91998 603 lowLim=-100.0f;
nerit 30:32e770e91998 604 higLim= 100.0f;
nerit 30:32e770e91998 605 divide= 75.0f;
nerit 24:2b5e749e26b2 606 }else{
nerit 25:4461bc76aaab 607 lowLim=-500.0f; //pneumatico Alessandria
nerit 25:4461bc76aaab 608 higLim= 130.0f; //pneumatico Alessandria
nerit 25:4461bc76aaab 609 divide= 20.0f; //pneumatico Alessandria
nerit 24:2b5e749e26b2 610 }
nerit 4:de1b296e9757 611 }
nerit 25:4461bc76aaab 612
nerit 8:310f9e4eac7b 613 if (posError>higLim) {
nerit 17:9629eb019892 614 posError=higLim;
nerit 17:9629eb019892 615 //posError=0.0f;
nerit 17:9629eb019892 616 //motor->soft_hiz();
nerit 28:0534c86365ec 617 //aspettareSincro=1;
nerit 28:0534c86365ec 618 //stopCicloTB=1;
nerit 8:310f9e4eac7b 619 }
nerit 8:310f9e4eac7b 620 if (posError<lowLim) {
nerit 8:310f9e4eac7b 621 posError=lowLim;
nerit 28:0534c86365ec 622 //aspettareSincro=1;
nerit 28:0534c86365ec 623 //stopCicloTB=1;
nerit 8:310f9e4eac7b 624 }
nerit 28:0534c86365ec 625 if (((posError >=1.0f)||(posError<=-1.0f))) {
nerit 8:310f9e4eac7b 626 #if defined(runner)
nerit 28:0534c86365ec 627 double variante = posError/divide;
nerit 29:25a875d09817 628 if (variante < -0.399f){variante=-0.3999;}
nerit 30:32e770e91998 629 /*if ((posError<=15.0f)&&(posError>=-15.0f)){
nerit 30:32e770e91998 630 ePpos = periodo;// *(1.0f+ variante);
nerit 30:32e770e91998 631 }else{*/
nerit 30:32e770e91998 632 ePpos = periodo *(1.0f+ variante);
nerit 30:32e770e91998 633 //}
nerit 30:32e770e91998 634 #if defined(pcSerial)
nerit 30:32e770e91998 635 #if defined(TBperS)
nerit 30:32e770e91998 636 pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f KcorT: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo, KcorT);
nerit 30:32e770e91998 637 #endif
nerit 30:32e770e91998 638 #endif
nerit 8:310f9e4eac7b 639 #else
nerit 8:310f9e4eac7b 640 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 641 #endif
nerit 8:310f9e4eac7b 642 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 643 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 644 } else {
nerit 6:e8c18f0f399a 645 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 646 }
nerit 6:e8c18f0f399a 647 }
nerit 3:a469bbd294b5 648 }
nerit 3:a469bbd294b5 649 }
nerit 3:a469bbd294b5 650 }
nerit 10:9e70619e97ab 651 #if defined(pcSerial)
nerit 10:9e70619e97ab 652 #if defined(checkLoopa)
nerit 10:9e70619e97ab 653 pc.printf("12\n");
nerit 10:9e70619e97ab 654 #endif
nerit 10:9e70619e97ab 655 #endif
nerit 3:a469bbd294b5 656 }
nerit 3:a469bbd294b5 657 //*******************************************************
nerit 8:310f9e4eac7b 658 void videoUpdate()
nerit 8:310f9e4eac7b 659 {
nerit 8:310f9e4eac7b 660 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 661 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 662 }
nerit 3:a469bbd294b5 663 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 664 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 665 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 666 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 667 }
nerit 3:a469bbd294b5 668 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 669 #if defined(pcSerial)
nerit 10:9e70619e97ab 670 #if defined(SDreset)
nerit 10:9e70619e97ab 671 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 672 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 673 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 674 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 675 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 676 #endif
nerit 10:9e70619e97ab 677 #endif
nerit 10:9e70619e97ab 678 #if defined(pcSerial)
nerit 10:9e70619e97ab 679 #if defined(checkLoop)
nerit 10:9e70619e97ab 680 pc.printf("13\n");
nerit 10:9e70619e97ab 681 #endif
nerit 10:9e70619e97ab 682 #endif
nerit 3:a469bbd294b5 683 }
nerit 3:a469bbd294b5 684 //*******************************************************
nerit 8:310f9e4eac7b 685 void ciclaTB()
nerit 8:310f9e4eac7b 686 {
nerit 8:310f9e4eac7b 687 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 688 #if defined(pcSerial)
nerit 6:e8c18f0f399a 689 #if defined(checkLoop)
nerit 6:e8c18f0f399a 690 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 691 #endif
nerit 6:e8c18f0f399a 692 #endif
nerit 8:310f9e4eac7b 693 #if defined(runner)
nerit 9:7f02256f6e8f 694 #if defined(Zucca)
nerit 9:7f02256f6e8f 695 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 696 #else
nerit 9:7f02256f6e8f 697 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 698 #endif
nerit 8:310f9e4eac7b 699 #else
nerit 8:310f9e4eac7b 700 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 701 if (TBperiod != NULL) {
nerit 35:3165f4c1c7bf 702 #if !defined(oldstepperDriver)
nerit 35:3165f4c1c7bf 703 #if defined(runner)
nerit 35:3165f4c1c7bf 704 #if defined(Zucca)
nerit 35:3165f4c1c7bf 705 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 706 #else
nerit 35:3165f4c1c7bf 707 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 708 #endif
nerit 35:3165f4c1c7bf 709 #endif
nerit 9:7f02256f6e8f 710 #endif
nerit 8:310f9e4eac7b 711 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 712 }
nerit 6:e8c18f0f399a 713 }
nerit 8:310f9e4eac7b 714 #endif
nerit 8:310f9e4eac7b 715 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 716 startCicloTB=0;
nerit 3:a469bbd294b5 717 }
nerit 8:310f9e4eac7b 718 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 719 #if defined(pcSerial)
nerit 6:e8c18f0f399a 720 #if defined(checkLoop)
nerit 6:e8c18f0f399a 721 pc.printf("14b\n");
nerit 6:e8c18f0f399a 722 #endif
nerit 6:e8c18f0f399a 723 #endif
nerit 8:310f9e4eac7b 724 #if defined(runner)
nerit 9:7f02256f6e8f 725 #if defined(Zucca)
nerit 9:7f02256f6e8f 726 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 727 #else
nerit 9:7f02256f6e8f 728 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 729 #endif
nerit 8:310f9e4eac7b 730 #else
nerit 35:3165f4c1c7bf 731 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 732 #if defined(Zucca)
nerit 35:3165f4c1c7bf 733 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 734 #else
nerit 35:3165f4c1c7bf 735 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 736 #endif
nerit 9:7f02256f6e8f 737 #endif
nerit 8:310f9e4eac7b 738 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 739 #endif
nerit 3:a469bbd294b5 740 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 741 stopCicloTB=0;
nerit 3:a469bbd294b5 742 }
nerit 28:0534c86365ec 743 if ((stopCicloTB==1)&&(TBactualPosition>5)&&(TBactualPosition<50)) {
nerit 6:e8c18f0f399a 744 #if defined(pcSerial)
nerit 6:e8c18f0f399a 745 #if defined(checkLoop)
nerit 6:e8c18f0f399a 746 pc.printf("14c\n");
nerit 6:e8c18f0f399a 747 #endif
nerit 6:e8c18f0f399a 748 #endif
nerit 8:310f9e4eac7b 749 #if !defined(runner)
nerit 8:310f9e4eac7b 750 TBticker.detach();
nerit 8:310f9e4eac7b 751 #endif
nerit 6:e8c18f0f399a 752 #if defined(pcSerial)
nerit 6:e8c18f0f399a 753 #if defined(loStop)
nerit 6:e8c18f0f399a 754 pc.printf("A2\n");
nerit 6:e8c18f0f399a 755 #endif
nerit 6:e8c18f0f399a 756 #endif
nerit 35:3165f4c1c7bf 757 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 758 motor->soft_hiz();
nerit 35:3165f4c1c7bf 759 #endif
nerit 3:a469bbd294b5 760 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 761 stopCicloTB=0;
nerit 3:a469bbd294b5 762 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 763 loadDaCan=0;
nerit 3:a469bbd294b5 764 }
nerit 3:a469bbd294b5 765 }
nerit 3:a469bbd294b5 766 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 767 void stepSetting()
nerit 8:310f9e4eac7b 768 {
nerit 3:a469bbd294b5 769 // Stepper driver init and set
nerit 3:a469bbd294b5 770 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 771 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 772 #if defined(pcSerial)
nerit 6:e8c18f0f399a 773 #if defined(checkLoop)
nerit 6:e8c18f0f399a 774 pc.printf("15\n");
nerit 6:e8c18f0f399a 775 #endif
nerit 6:e8c18f0f399a 776 #endif
nerit 8:310f9e4eac7b 777 TBmotorRst=1;
nerit 3:a469bbd294b5 778 }
nerit 3:a469bbd294b5 779 //****************************************
nerit 12:b0fc1d313813 780 void controllaCorrente(){
nerit 12:b0fc1d313813 781 correggiCorrente=1;
nerit 12:b0fc1d313813 782 }
nerit 12:b0fc1d313813 783 //****************************************
nerit 3:a469bbd294b5 784 void dcSetting(){
nerit 8:310f9e4eac7b 785 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 786 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 787 }
nerit 8:310f9e4eac7b 788 if (encoder==true) {
nerit 8:310f9e4eac7b 789 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 790 }
nerit 6:e8c18f0f399a 791 #if defined(pcSerial)
nerit 6:e8c18f0f399a 792 #if defined(checkLoop)
nerit 6:e8c18f0f399a 793 pc.printf("16\n");
nerit 6:e8c18f0f399a 794 #endif
nerit 6:e8c18f0f399a 795 #endif
nerit 3:a469bbd294b5 796 }
nerit 3:a469bbd294b5 797 //*******************************************************
nerit 8:310f9e4eac7b 798 void allarmi()
nerit 8:310f9e4eac7b 799 {
nerit 8:310f9e4eac7b 800 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 801 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 802 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 803
nerit 8:310f9e4eac7b 804 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 805 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 806 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 807 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 808 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 809 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 810 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 811 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 812 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 813 }
nerit 3:a469bbd294b5 814
nerit 8:310f9e4eac7b 815 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 816 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 817 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 818 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 819 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 820 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 821 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 822 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 823 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 824 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 825 }
nerit 3:a469bbd294b5 826
nerit 10:9e70619e97ab 827 #if defined(pcSerial)
nerit 10:9e70619e97ab 828 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 829 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 830 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 831 }
nerit 10:9e70619e97ab 832 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 833 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 834 }
nerit 10:9e70619e97ab 835 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 836 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 837 }
nerit 10:9e70619e97ab 838 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 839 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 840 }
nerit 10:9e70619e97ab 841 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 842 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 843 }
nerit 10:9e70619e97ab 844 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 845 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 846 }
nerit 10:9e70619e97ab 847 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 848 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 849 }
nerit 10:9e70619e97ab 850 if (all_speedError==1) {
nerit 10:9e70619e97ab 851 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 852 }
nerit 10:9e70619e97ab 853 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 854 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 855 }
nerit 10:9e70619e97ab 856 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 857 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 858 }
nerit 10:9e70619e97ab 859 if (all_genericals==1) {
nerit 10:9e70619e97ab 860 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 861 }
nerit 10:9e70619e97ab 862 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 863 #endif
nerit 10:9e70619e97ab 864 #endif
nerit 8:310f9e4eac7b 865 all_semiFiniti=0;
nerit 8:310f9e4eac7b 866 all_pickSignal=0;
nerit 8:310f9e4eac7b 867 all_cellSignal=0;
nerit 8:310f9e4eac7b 868 all_lowBattery=0;
nerit 8:310f9e4eac7b 869 all_overCurrDC=0;
nerit 8:310f9e4eac7b 870 all_stopSistem=0;
nerit 8:310f9e4eac7b 871 all_upElements=0;
nerit 8:310f9e4eac7b 872 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 873 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 874 all_noDcRotati=0;
nerit 8:310f9e4eac7b 875 all_noStepRota=0;
nerit 8:310f9e4eac7b 876 all_speedError=0;
nerit 8:310f9e4eac7b 877 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 878 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 879 all_genericals=0;
nerit 10:9e70619e97ab 880 #if defined(pcSerial)
nerit 10:9e70619e97ab 881 #if defined(checkLoop)
nerit 10:9e70619e97ab 882 pc.printf("17\n");
nerit 10:9e70619e97ab 883 #endif
nerit 10:9e70619e97ab 884 #endif
nerit 3:a469bbd294b5 885 }
nerit 3:a469bbd294b5 886 //*******************************************************
nerit 3:a469bbd294b5 887 #if defined(speedMaster)
nerit 3:a469bbd294b5 888 void upDateSincro(){
nerit 8:310f9e4eac7b 889 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 890 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 891 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 892 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 893 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 894 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 895 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 896 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 897 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 898 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 899 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 900 #if defined(canbusActive)
nerit 3:a469bbd294b5 901 #if defined(speedMaster)
nerit 8:310f9e4eac7b 902 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 903 checkState=0;
nerit 3:a469bbd294b5 904 }
nerit 3:a469bbd294b5 905 #endif
nerit 3:a469bbd294b5 906 #endif
nerit 6:e8c18f0f399a 907 #if defined(pcSerial)
nerit 6:e8c18f0f399a 908 #if defined(checkLoop)
nerit 6:e8c18f0f399a 909 pc.printf("18\n");
nerit 6:e8c18f0f399a 910 #endif
nerit 6:e8c18f0f399a 911 #endif
nerit 3:a469bbd294b5 912 }
nerit 3:a469bbd294b5 913 #endif
nerit 3:a469bbd294b5 914 //*******************************************************
nerit 8:310f9e4eac7b 915 void upDateSpeed()
nerit 8:310f9e4eac7b 916 {
nerit 3:a469bbd294b5 917 /*
nerit 3:a469bbd294b5 918 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 919 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 920 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 921 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 922 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 923 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 924 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 925 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 926 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 927 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 928 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 929 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 930 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 931 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 932 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 933 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 934 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 935 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 936 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 937 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 938 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 939 bit 1= sensore celle
nerit 3:a469bbd294b5 940 bit 2= sensore posizione
nerit 3:a469bbd294b5 941 bit 3= sensore becchi
nerit 3:a469bbd294b5 942 bit 4= motore DC
nerit 3:a469bbd294b5 943 bit 5= controller
nerit 3:a469bbd294b5 944 bit 6= motore stepper
nerit 3:a469bbd294b5 945 */
nerit 8:310f9e4eac7b 946 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 947
nerit 8:310f9e4eac7b 948 val1[3]=0;
nerit 8:310f9e4eac7b 949 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 950 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 951 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 952 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 953 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 954 if (buttonUser==0) {
nerit 10:9e70619e97ab 955 val1[1]=0x02;
nerit 10:9e70619e97ab 956 } else {
nerit 10:9e70619e97ab 957 val1[1]=0x00;
nerit 10:9e70619e97ab 958 }
nerit 10:9e70619e97ab 959 val1[3]=valore;
nerit 10:9e70619e97ab 960 valore+=1;
nerit 10:9e70619e97ab 961 if(valore>50) {
nerit 10:9e70619e97ab 962 valore=0;
nerit 10:9e70619e97ab 963 }
nerit 10:9e70619e97ab 964 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 965 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 966 #endif
nerit 3:a469bbd294b5 967 allarmi();
nerit 3:a469bbd294b5 968 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 969 val1[0]=valore;
nerit 3:a469bbd294b5 970 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 971 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 972 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 973 val1[4]=resetComandi;
nerit 3:a469bbd294b5 974 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 975 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 976 #if defined(canbusActive)
nerit 10:9e70619e97ab 977 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 978 checkState=0;
nerit 10:9e70619e97ab 979 }
nerit 10:9e70619e97ab 980 #endif
nerit 10:9e70619e97ab 981 #if defined(pcSerial)
nerit 10:9e70619e97ab 982 #if defined(checkLoop)
nerit 10:9e70619e97ab 983 pc.printf("19\n");
nerit 10:9e70619e97ab 984 #endif
nerit 10:9e70619e97ab 985 #endif
nerit 3:a469bbd294b5 986 }
nerit 3:a469bbd294b5 987 //*******************************************************
nerit 8:310f9e4eac7b 988 void leggiCAN()
nerit 8:310f9e4eac7b 989 {
nerit 8:310f9e4eac7b 990 #if defined(canbusActive)
nerit 8:310f9e4eac7b 991 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 992 if (firstStart==1) {
nerit 8:310f9e4eac7b 993 #if defined(speedMaster)
nerit 8:310f9e4eac7b 994 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 995 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 996 #else
nerit 8:310f9e4eac7b 997 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 998 #endif
nerit 8:310f9e4eac7b 999 firstStart=0;
nerit 8:310f9e4eac7b 1000 }
nerit 8:310f9e4eac7b 1001 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 1002 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1003 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 1004 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 1005 #endif
nerit 8:310f9e4eac7b 1006 #endif
nerit 8:310f9e4eac7b 1007 }
nerit 8:310f9e4eac7b 1008 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 1009 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1010 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 1011 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 1012 #endif
nerit 8:310f9e4eac7b 1013 #endif
nerit 8:310f9e4eac7b 1014 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 1015 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 1016 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 1017 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 1018 comandiDaCan = rxMsg.data[4];
nerit 20:4a400a4cc419 1019 speedStepp = rxMsg.data[5];
nerit 20:4a400a4cc419 1020 if (speedStepp==0){
nerit 20:4a400a4cc419 1021 simStepper=0;
nerit 20:4a400a4cc419 1022 }else{
nerit 20:4a400a4cc419 1023 simStepper=1;
nerit 20:4a400a4cc419 1024 }
nerit 8:310f9e4eac7b 1025 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1026 #if defined(canDataReceived)
nerit 3:a469bbd294b5 1027 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 1028 #endif
nerit 8:310f9e4eac7b 1029 #endif
nerit 8:310f9e4eac7b 1030 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 1031 case 1:
nerit 8:310f9e4eac7b 1032 case 3:
nerit 8:310f9e4eac7b 1033 azzeraDaCan=1;
nerit 8:310f9e4eac7b 1034 resetComandi=0x01;
nerit 8:310f9e4eac7b 1035 comandiDaCan=0;
nerit 8:310f9e4eac7b 1036 break;
nerit 8:310f9e4eac7b 1037 case 2:
nerit 8:310f9e4eac7b 1038 loadDaCan=1;
nerit 8:310f9e4eac7b 1039 resetComandi=0x02;
nerit 8:310f9e4eac7b 1040 comandiDaCan=0;
nerit 8:310f9e4eac7b 1041 break;
nerit 8:310f9e4eac7b 1042 default:
nerit 8:310f9e4eac7b 1043 comandiDaCan=0;
nerit 8:310f9e4eac7b 1044 resetComandi=0xFF;
nerit 8:310f9e4eac7b 1045 break;
nerit 8:310f9e4eac7b 1046 }
nerit 8:310f9e4eac7b 1047 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1048 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 1049 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 1050 #endif
nerit 8:310f9e4eac7b 1051 #endif
nerit 8:310f9e4eac7b 1052 if (speedSimula>45) {
nerit 8:310f9e4eac7b 1053 speedSimula=45;
nerit 8:310f9e4eac7b 1054 }
nerit 8:310f9e4eac7b 1055 // modulo 1
nerit 8:310f9e4eac7b 1056 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 1057 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 1058 simOk=1;
nerit 8:310f9e4eac7b 1059 } else {
nerit 8:310f9e4eac7b 1060 simOk=0;
nerit 3:a469bbd294b5 1061 }
nerit 8:310f9e4eac7b 1062 }
nerit 8:310f9e4eac7b 1063 // modulo 2
nerit 8:310f9e4eac7b 1064 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1065 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1066 simOk=1;
nerit 8:310f9e4eac7b 1067 } else {
nerit 8:310f9e4eac7b 1068 simOk=0;
nerit 3:a469bbd294b5 1069 }
nerit 8:310f9e4eac7b 1070 }
nerit 8:310f9e4eac7b 1071 // modulo 3
nerit 8:310f9e4eac7b 1072 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1073 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1074 simOk=1;
nerit 8:310f9e4eac7b 1075 } else {
nerit 8:310f9e4eac7b 1076 simOk=0;
nerit 3:a469bbd294b5 1077 }
nerit 8:310f9e4eac7b 1078 }
nerit 8:310f9e4eac7b 1079 // modulo 4
nerit 8:310f9e4eac7b 1080 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1081 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1082 simOk=1;
nerit 8:310f9e4eac7b 1083 } else {
nerit 8:310f9e4eac7b 1084 simOk=0;
nerit 3:a469bbd294b5 1085 }
nerit 8:310f9e4eac7b 1086 }
nerit 8:310f9e4eac7b 1087 // modulo 5
nerit 8:310f9e4eac7b 1088 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1089 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1090 simOk=1;
nerit 8:310f9e4eac7b 1091 } else {
nerit 8:310f9e4eac7b 1092 simOk=0;
nerit 3:a469bbd294b5 1093 }
nerit 3:a469bbd294b5 1094 }
nerit 8:310f9e4eac7b 1095
nerit 8:310f9e4eac7b 1096 }
nerit 14:e2b5efa06c41 1097 //if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1098 if (rxMsg.id==RX_Settings) {
nerit 14:e2b5efa06c41 1099 //if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1100 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1101 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 17:9629eb019892 1102 deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1103 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1104 speedWheelDiameter = ((rxMsg.data[6]*0x100)+rxMsg.data[5])/10000.0f; // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
nerit 3:a469bbd294b5 1105 speedWheelPulse = rxMsg.data[7]; // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
nerit 3:a469bbd294b5 1106 aggiornaParametri();
nerit 14:e2b5efa06c41 1107 //}
nerit 3:a469bbd294b5 1108 }
nerit 14:e2b5efa06c41 1109 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1110 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1111 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1112 #if defined(M1)
nerit 3:a469bbd294b5 1113 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1114 aggiornaParametri();
nerit 3:a469bbd294b5 1115 #endif
nerit 3:a469bbd294b5 1116 #if defined(M2)
nerit 3:a469bbd294b5 1117 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1118 aggiornaParametri();
nerit 3:a469bbd294b5 1119 #endif
nerit 3:a469bbd294b5 1120 #if defined(M3)
nerit 3:a469bbd294b5 1121 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1122 aggiornaParametri();
nerit 3:a469bbd294b5 1123 #endif
nerit 3:a469bbd294b5 1124 #if defined(M4)
nerit 3:a469bbd294b5 1125 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1126 aggiornaParametri();
nerit 3:a469bbd294b5 1127 #endif
nerit 3:a469bbd294b5 1128 #if defined(M5)
nerit 3:a469bbd294b5 1129 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1130 aggiornaParametri();
nerit 3:a469bbd294b5 1131 #endif
nerit 3:a469bbd294b5 1132 #if defined(M6)
nerit 3:a469bbd294b5 1133 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1134 aggiornaParametri();
nerit 3:a469bbd294b5 1135 #endif
nerit 3:a469bbd294b5 1136 }
nerit 3:a469bbd294b5 1137 }
nerit 8:310f9e4eac7b 1138 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1139 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1140 #if defined(M1)
nerit 3:a469bbd294b5 1141 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1142 aggiornaParametri();
nerit 3:a469bbd294b5 1143 #endif
nerit 3:a469bbd294b5 1144 #if defined(M2)
nerit 3:a469bbd294b5 1145 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1146 aggiornaParametri();
nerit 3:a469bbd294b5 1147 #endif
nerit 3:a469bbd294b5 1148 #if defined(M3)
nerit 3:a469bbd294b5 1149 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1150 aggiornaParametri();
nerit 3:a469bbd294b5 1151 #endif
nerit 3:a469bbd294b5 1152 #if defined(M4)
nerit 3:a469bbd294b5 1153 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1154 aggiornaParametri();
nerit 3:a469bbd294b5 1155 #endif
nerit 3:a469bbd294b5 1156 #if defined(M5)
nerit 3:a469bbd294b5 1157 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1158 aggiornaParametri();
nerit 3:a469bbd294b5 1159 #endif
nerit 3:a469bbd294b5 1160 #if defined(M6)
nerit 3:a469bbd294b5 1161 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1162 aggiornaParametri();
nerit 3:a469bbd294b5 1163 #endif
nerit 3:a469bbd294b5 1164 }
nerit 3:a469bbd294b5 1165 }
nerit 8:310f9e4eac7b 1166 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1167 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1168 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1169 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1170 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1171 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1172 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1173 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1174 aggiornaParametri();
nerit 3:a469bbd294b5 1175 }
nerit 3:a469bbd294b5 1176 }
nerit 8:310f9e4eac7b 1177 }
nerit 8:310f9e4eac7b 1178 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1179 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1180 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1181 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1182 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1183 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1184 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1185 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1186 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1187 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1188 canDataCheck=1;
nerit 3:a469bbd294b5 1189 }
nerit 8:310f9e4eac7b 1190 }
nerit 33:81b406a911b6 1191 //if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1192 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1193 uint8_t flags = rxMsg.data[0];
nerit 32:cfc3d7420fa5 1194 if ((flags&0x80)==0x80) { // comando taglianylon
nerit 33:81b406a911b6 1195 if (oldTagliaNylon==false){
nerit 33:81b406a911b6 1196 tagliaNylonAttivo=true;
nerit 33:81b406a911b6 1197 oldTagliaNylon=true;
nerit 33:81b406a911b6 1198 }
nerit 32:cfc3d7420fa5 1199 } else {
nerit 33:81b406a911b6 1200 if (oldTagliaNylon==true){
nerit 33:81b406a911b6 1201 tagliaNylonAttivo=false;
nerit 33:81b406a911b6 1202 oldTagliaNylon=false;
nerit 3:a469bbd294b5 1203 }
nerit 33:81b406a911b6 1204 if ((tagliaNylonAttivo==false)&&(tractorSpeed_MtS_timed<=0.01f)){
nerit 33:81b406a911b6 1205 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 33:81b406a911b6 1206 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 33:81b406a911b6 1207 TBmotorSteps =steps;
nerit 33:81b406a911b6 1208 //stepSetting();
nerit 33:81b406a911b6 1209 cellsCountSet = rxMsg.data[3];
nerit 33:81b406a911b6 1210 if ((flags&0x01)==0x01) {
nerit 33:81b406a911b6 1211 if (encoder==false) {
nerit 33:81b406a911b6 1212 encoder=true;
nerit 33:81b406a911b6 1213 speedFromPick=0;
nerit 33:81b406a911b6 1214 DcEncoder.rise(NULL);
nerit 33:81b406a911b6 1215 dcSetting();
nerit 33:81b406a911b6 1216 }
nerit 33:81b406a911b6 1217 } else {
nerit 33:81b406a911b6 1218 if (encoder==true) {
nerit 33:81b406a911b6 1219 encoder=false;
nerit 33:81b406a911b6 1220 speedFromPick=1;
nerit 33:81b406a911b6 1221 DcEncoder.rise(NULL);
nerit 33:81b406a911b6 1222 dcSetting();
nerit 33:81b406a911b6 1223 }
nerit 33:81b406a911b6 1224 }
nerit 33:81b406a911b6 1225 if ((flags&0x02)==0x02) {
nerit 33:81b406a911b6 1226 tankLevelEnable=true;
nerit 33:81b406a911b6 1227 } else {
nerit 33:81b406a911b6 1228 tankLevelEnable=false;
nerit 33:81b406a911b6 1229 }
nerit 33:81b406a911b6 1230 if ((flags&0x04)==0x04) {
nerit 33:81b406a911b6 1231 seedSensorEnable=true;
nerit 33:81b406a911b6 1232 } else {
nerit 33:81b406a911b6 1233 seedSensorEnable=false;
nerit 33:81b406a911b6 1234 }
nerit 33:81b406a911b6 1235 if ((flags&0x08)==0x08) {
nerit 33:81b406a911b6 1236 drumSelect=true; // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO
nerit 33:81b406a911b6 1237 } else {
nerit 33:81b406a911b6 1238 drumSelect=false; // forzato a true per Germania
nerit 33:81b406a911b6 1239 }
nerit 33:81b406a911b6 1240 if ((flags&0x10)==0x10) {
nerit 33:81b406a911b6 1241 canDataCheckEnable=true;
nerit 33:81b406a911b6 1242 } else {
nerit 33:81b406a911b6 1243 canDataCheckEnable=false;
nerit 33:81b406a911b6 1244 }
nerit 33:81b406a911b6 1245 if ((flags&0x20)==0x20) {
nerit 33:81b406a911b6 1246 tamburoStandard=1;
nerit 33:81b406a911b6 1247 } else {
nerit 33:81b406a911b6 1248 tamburoStandard=0;
nerit 33:81b406a911b6 1249 }
nerit 33:81b406a911b6 1250 if ((flags&0x40)==0x40) {
nerit 33:81b406a911b6 1251 currentCheckEnable=true;
nerit 33:81b406a911b6 1252 } else {
nerit 33:81b406a911b6 1253 currentCheckEnable=false;
nerit 33:81b406a911b6 1254 }
nerit 33:81b406a911b6 1255 aggiornaParametri();
nerit 3:a469bbd294b5 1256 }
nerit 3:a469bbd294b5 1257 }
nerit 3:a469bbd294b5 1258 }
nerit 33:81b406a911b6 1259 //}
nerit 8:310f9e4eac7b 1260 }
nerit 10:9e70619e97ab 1261 #endif
nerit 10:9e70619e97ab 1262 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1263 enableSimula=1;
nerit 10:9e70619e97ab 1264 speedSimula=25;
nerit 10:9e70619e97ab 1265 avviaSimula=1;
nerit 10:9e70619e97ab 1266 simOk=1;
nerit 10:9e70619e97ab 1267 #endif
nerit 10:9e70619e97ab 1268 #if defined(pcSerial)
nerit 10:9e70619e97ab 1269 #if defined(checkLoop)
nerit 10:9e70619e97ab 1270 pc.printf("20\n");
nerit 10:9e70619e97ab 1271 #endif
nerit 10:9e70619e97ab 1272 #endif
bcostm 0:5701b41769fd 1273 }
bcostm 0:5701b41769fd 1274
nerit 3:a469bbd294b5 1275 //*******************************************************
nerit 8:310f9e4eac7b 1276 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1277 {
nerit 8:310f9e4eac7b 1278
nerit 3:a469bbd294b5 1279 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1280 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1281
nerit 3:a469bbd294b5 1282 //float SD_analogMatrix[10]={0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f};
nerit 3:a469bbd294b5 1283 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1284 // Analog reading
nerit 3:a469bbd294b5 1285 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1286 timeout.detach();
nerit 8:310f9e4eac7b 1287 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1288 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1289 }
nerit 3:a469bbd294b5 1290 //*******************************************************
nerit 8:310f9e4eac7b 1291 void DC_prepare()
nerit 8:310f9e4eac7b 1292 {
nerit 3:a469bbd294b5 1293 // direction or brake preparation
nerit 8:310f9e4eac7b 1294 if (DC_brake==1) {
nerit 3:a469bbd294b5 1295 SDmotorInA=1;
nerit 3:a469bbd294b5 1296 SDmotorInB=1;
nerit 8:310f9e4eac7b 1297 } else {
nerit 8:310f9e4eac7b 1298 if (DC_forward==0) {
nerit 3:a469bbd294b5 1299 SDmotorInA=1;
nerit 3:a469bbd294b5 1300 SDmotorInB=0;
nerit 8:310f9e4eac7b 1301 } else {
nerit 3:a469bbd294b5 1302 SDmotorInA=0;
nerit 3:a469bbd294b5 1303 SDmotorInB=1;
nerit 3:a469bbd294b5 1304 }
nerit 3:a469bbd294b5 1305 }
nerit 3:a469bbd294b5 1306 // fault reading
nerit 8:310f9e4eac7b 1307 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1308 SD_faultA=1;
nerit 8:310f9e4eac7b 1309 } else {
nerit 8:310f9e4eac7b 1310 SD_faultA=0;
nerit 8:310f9e4eac7b 1311 }
nerit 8:310f9e4eac7b 1312 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1313 SD_faultB=1;
nerit 8:310f9e4eac7b 1314 } else {
nerit 8:310f9e4eac7b 1315 SD_faultB=0;
nerit 8:310f9e4eac7b 1316 }
nerit 10:9e70619e97ab 1317 #if defined(pcSerial)
nerit 10:9e70619e97ab 1318 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1319 pc.printf("22\n");
nerit 10:9e70619e97ab 1320 #endif
nerit 10:9e70619e97ab 1321 #endif
nerit 3:a469bbd294b5 1322 }
nerit 3:a469bbd294b5 1323 //*******************************************************
nerit 12:b0fc1d313813 1324 void startDelay(){
nerit 12:b0fc1d313813 1325 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1326 int ritardo =0;
nerit 12:b0fc1d313813 1327 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1328 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1329 }
nerit 3:a469bbd294b5 1330 //*******************************************************
nerit 10:9e70619e97ab 1331 void quincTrigon(){
nerit 3:a469bbd294b5 1332 quincClock=true;
nerit 10:9e70619e97ab 1333 #if defined(pcSerial)
nerit 10:9e70619e97ab 1334 #if defined(checkLoop)
nerit 10:9e70619e97ab 1335 pc.printf("24\n");
nerit 10:9e70619e97ab 1336 #endif
nerit 10:9e70619e97ab 1337 #endif
nerit 3:a469bbd294b5 1338 }
nerit 10:9e70619e97ab 1339 void quincTrigof(){
nerit 3:a469bbd294b5 1340 quincClock=false;
nerit 10:9e70619e97ab 1341 #if defined(pcSerial)
nerit 10:9e70619e97ab 1342 #if defined(checkLoop)
nerit 10:9e70619e97ab 1343 pc.printf("25\n");
nerit 10:9e70619e97ab 1344 #endif
nerit 10:9e70619e97ab 1345 #endif
nerit 3:a469bbd294b5 1346 }
nerit 3:a469bbd294b5 1347 //*******************************************************
nerit 8:310f9e4eac7b 1348 void quinCalc()
nerit 8:310f9e4eac7b 1349 {
nerit 3:a469bbd294b5 1350 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1351 #if !defined(mezzo)
nerit 10:9e70619e97ab 1352 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1353 oldQuincIn=1;
nerit 10:9e70619e97ab 1354 if (quincStart==0) {
nerit 10:9e70619e97ab 1355 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1356 quincTime.reset();
nerit 10:9e70619e97ab 1357 quincTimeSD.reset();
nerit 10:9e70619e97ab 1358 quincStart=1;
nerit 10:9e70619e97ab 1359 }
nerit 3:a469bbd294b5 1360 }
nerit 10:9e70619e97ab 1361 if(quincClock==false) {
nerit 3:a469bbd294b5 1362 oldQuincIn=0;
nerit 3:a469bbd294b5 1363 }
nerit 10:9e70619e97ab 1364 #else
nerit 10:9e70619e97ab 1365 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1366 oldQuincIn=1;
nerit 10:9e70619e97ab 1367 if (quincStart==0) {
nerit 10:9e70619e97ab 1368 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1369 quincTime.reset();
nerit 10:9e70619e97ab 1370 quincStart=1;
nerit 10:9e70619e97ab 1371 }
nerit 3:a469bbd294b5 1372 }
nerit 10:9e70619e97ab 1373 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1374 if (quincClock==false) {
nerit 10:9e70619e97ab 1375 oldQuincIn=0;
nerit 10:9e70619e97ab 1376 }
nerit 10:9e70619e97ab 1377 } else {
nerit 10:9e70619e97ab 1378 if (quincClock==true) {
nerit 10:9e70619e97ab 1379 oldQuincIn=0;
nerit 10:9e70619e97ab 1380 }
nerit 10:9e70619e97ab 1381 }
nerit 10:9e70619e97ab 1382 #endif
nerit 3:a469bbd294b5 1383 //****************************************************************************************
nerit 8:310f9e4eac7b 1384 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1385 if (countPicks==0) {
nerit 8:310f9e4eac7b 1386 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1387 // decelera
nerit 3:a469bbd294b5 1388 countPicks=1;
nerit 3:a469bbd294b5 1389 }
nerit 8:310f9e4eac7b 1390 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1391 // accelera
nerit 3:a469bbd294b5 1392 countPicks=2;
nerit 3:a469bbd294b5 1393 }
nerit 3:a469bbd294b5 1394 }
nerit 8:310f9e4eac7b 1395 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1396 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1397 scostamento = oldQuincTimeSD;
nerit 17:9629eb019892 1398 if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit 3:a469bbd294b5 1399 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1400 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1401 #if defined(pcSerial)
nerit 3:a469bbd294b5 1402 #if defined(laq)
nerit 3:a469bbd294b5 1403 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1404 #endif
nerit 3:a469bbd294b5 1405 #endif
nerit 3:a469bbd294b5 1406 }
nerit 3:a469bbd294b5 1407 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1408 }
nerit 8:310f9e4eac7b 1409 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1410 scostamento = (double)quincTime.read_ms();
nerit 17:9629eb019892 1411 if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit 3:a469bbd294b5 1412 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1413 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1414 #if defined(pcSerial)
nerit 3:a469bbd294b5 1415 #if defined(laq)
nerit 8:310f9e4eac7b 1416 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1417 #endif
nerit 3:a469bbd294b5 1418 #endif
nerit 3:a469bbd294b5 1419 }
nerit 3:a469bbd294b5 1420 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1421 }
nerit 3:a469bbd294b5 1422 sincroQui=0;
nerit 3:a469bbd294b5 1423 quincStart=0;
nerit 3:a469bbd294b5 1424 countPicks=0;
nerit 5:2a3a64b52f54 1425 // questo e il primo
nerit 3:a469bbd294b5 1426 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1427 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1428 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1429 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1430 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1431 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1432 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1433 }
nerit 13:d1030d4e51a8 1434 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1435 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1436 }*/
nerit 3:a469bbd294b5 1437 }
nerit 8:310f9e4eac7b 1438 }
nerit 3:a469bbd294b5 1439 }
nerit 3:a469bbd294b5 1440 #endif
nerit 3:a469bbd294b5 1441 }
nerit 8:310f9e4eac7b 1442
nerit 3:a469bbd294b5 1443 //*******************************************************************
nerit 8:310f9e4eac7b 1444 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1445 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1446 canDataCheck=0;
nerit 17:9629eb019892 1447 double parametro = SDsectorStep/(double)quincSector;
nerit 3:a469bbd294b5 1448 double differenza=0.0f;
nerit 3:a469bbd294b5 1449 #if defined(mezzo)
nerit 8:310f9e4eac7b 1450 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1451 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1452 } else {
nerit 3:a469bbd294b5 1453 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1454 }
nerit 3:a469bbd294b5 1455 #else
nerit 3:a469bbd294b5 1456 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1457 #endif
nerit 17:9629eb019892 1458 if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit 8:310f9e4eac7b 1459 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1460 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1461 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1462 }
nerit 8:310f9e4eac7b 1463 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1464 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1465 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1466 }
nerit 5:2a3a64b52f54 1467 // questo e il secondo
nerit 3:a469bbd294b5 1468 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1469 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1470 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1471 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1472 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1473 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1474 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1475 }
nerit 13:d1030d4e51a8 1476 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1477 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1478 }*/
nerit 3:a469bbd294b5 1479 }
nerit 5:2a3a64b52f54 1480 }
nerit 3:a469bbd294b5 1481 }
nerit 3:a469bbd294b5 1482 #endif
nerit 3:a469bbd294b5 1483 }
nerit 3:a469bbd294b5 1484 }
nerit 8:310f9e4eac7b 1485
nerit 3:a469bbd294b5 1486 }
nerit 8:310f9e4eac7b 1487 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1488 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1489 }
nerit 8:310f9e4eac7b 1490 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1491 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1492 }
nerit 6:e8c18f0f399a 1493 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1494 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1495 pc.printf("26\n");
nerit 6:e8c18f0f399a 1496 #endif
nerit 6:e8c18f0f399a 1497 #endif
bcostm 0:5701b41769fd 1498 }
nerit 8:310f9e4eac7b 1499 // ----------------------------------------
nerit 3:a469bbd294b5 1500 #if defined(seedSensor)
nerit 3:a469bbd294b5 1501 void resetDelay(){
nerit 3:a469bbd294b5 1502 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1503 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1504 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1505 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1506 pc.printf("27\n");
nerit 8:310f9e4eac7b 1507 #endif
nerit 6:e8c18f0f399a 1508 #endif
nerit 3:a469bbd294b5 1509 }
nerit 3:a469bbd294b5 1510 #endif
nerit 18:7c978f69cc51 1511 // ----------------------------------------
nerit 17:9629eb019892 1512 void aggiornati(){
nerit 17:9629eb019892 1513 #if defined(runner)
nerit 17:9629eb019892 1514 legPos.detach();
nerit 17:9629eb019892 1515 TBoldPosition= (uint32_t) motor->get_position();
nerit 17:9629eb019892 1516 legPos.attach(&step_Reading,0.002f);
nerit 17:9629eb019892 1517 #if defined(pcSerial)
nerit 17:9629eb019892 1518 #if defined(TBperS)
nerit 17:9629eb019892 1519 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 17:9629eb019892 1520 #endif
nerit 17:9629eb019892 1521 #endif
nerit 17:9629eb019892 1522
nerit 17:9629eb019892 1523 #else
nerit 17:9629eb019892 1524 TBactualPosition=0;
nerit 17:9629eb019892 1525 #endif
nerit 17:9629eb019892 1526 }
nerit 17:9629eb019892 1527
nerit 3:a469bbd294b5 1528 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1529 // MAIN SECTION
nerit 3:a469bbd294b5 1530 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1531
nerit 3:a469bbd294b5 1532 //*******************************************************************************
nerit 8:310f9e4eac7b 1533 int main()
nerit 8:310f9e4eac7b 1534 {
nerit 6:e8c18f0f399a 1535 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1536 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1537 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1538 #endif
nerit 6:e8c18f0f399a 1539 #endif
nerit 8:310f9e4eac7b 1540
nerit 8:310f9e4eac7b 1541 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1542 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1543 #endif
nerit 8:310f9e4eac7b 1544
nerit 8:310f9e4eac7b 1545 wait(1.0f);
nerit 8:310f9e4eac7b 1546 wait(1.0f);
nerit 19:231b8931cabc 1547 wait(ritAvv);
nerit 8:310f9e4eac7b 1548
nerit 8:310f9e4eac7b 1549 //stepSetting();
nerit 8:310f9e4eac7b 1550
nerit 6:e8c18f0f399a 1551 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1552 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1553 //----- Initialization
nerit 8:310f9e4eac7b 1554 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1555 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1556 // D11= PA7; D12= PA6; D13= PA5
nerit 35:3165f4c1c7bf 1557 #if defined(runner)
nerit 35:3165f4c1c7bf 1558 DevSPI dev_spi(D11, D12, D13);
nerit 35:3165f4c1c7bf 1559 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1560
nerit 35:3165f4c1c7bf 1561 /* Initializing Motor Control Component. */
nerit 35:3165f4c1c7bf 1562 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 35:3165f4c1c7bf 1563 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 35:3165f4c1c7bf 1564 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 35:3165f4c1c7bf 1565 if (motor->init(&init) != COMPONENT_OK) {
nerit 35:3165f4c1c7bf 1566 exit(EXIT_FAILURE);
nerit 35:3165f4c1c7bf 1567 }
nerit 35:3165f4c1c7bf 1568
nerit 35:3165f4c1c7bf 1569 /* Attaching and enabling an interrupt handler. */
nerit 35:3165f4c1c7bf 1570 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 35:3165f4c1c7bf 1571 motor->enable_flag_irq();
nerit 35:3165f4c1c7bf 1572 //motor->disable_flag_irq();
nerit 35:3165f4c1c7bf 1573
nerit 35:3165f4c1c7bf 1574 /* Attaching an error handler */
nerit 35:3165f4c1c7bf 1575 //motor->attach_error_handler(&my_error_handler);
nerit 35:3165f4c1c7bf 1576 #endif
nerit 8:310f9e4eac7b 1577 wait(1.0f);
nerit 8:310f9e4eac7b 1578 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1579 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1580 }
nerit 8:310f9e4eac7b 1581
nerit 3:a469bbd294b5 1582 // DC reset ad set
nerit 3:a469bbd294b5 1583 int decima = 100;
nerit 3:a469bbd294b5 1584 wait_ms(200);
nerit 3:a469bbd294b5 1585 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1586 wait_ms(2);
nerit 3:a469bbd294b5 1587 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1588 wait_ms(1);
nerit 3:a469bbd294b5 1589 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1590 wait_ms(3);
nerit 3:a469bbd294b5 1591 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1592 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1593 wait_ms(100);
nerit 3:a469bbd294b5 1594 DC_prepare();
nerit 8:310f9e4eac7b 1595
nerit 8:310f9e4eac7b 1596 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1597 intraPickTimer.start();
nerit 8:310f9e4eac7b 1598 speedTimeOut.start();
nerit 3:a469bbd294b5 1599 speedFilter.start();
nerit 3:a469bbd294b5 1600 seedFilter.start();
nerit 3:a469bbd294b5 1601 TBfilter.start();
nerit 3:a469bbd294b5 1602 sincroTimer.start();
nerit 3:a469bbd294b5 1603 rotationTimeOut.start();
nerit 3:a469bbd294b5 1604 metalTimer.start();
nerit 3:a469bbd294b5 1605 quincTime.start();
nerit 3:a469bbd294b5 1606 quincTimeSD.start();
nerit 8:310f9e4eac7b 1607 #if defined(runner)
nerit 8:310f9e4eac7b 1608 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1609 #endif
nerit 8:310f9e4eac7b 1610
nerit 3:a469bbd294b5 1611 //*******************************************************
nerit 3:a469bbd294b5 1612 // controls for check DC motor current
nerit 8:310f9e4eac7b 1613 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1614 wait_ms(500);
nerit 8:310f9e4eac7b 1615
nerit 12:b0fc1d313813 1616 dcVeri.attach(&controllaCorrente,2.0f);
nerit 13:d1030d4e51a8 1617 delaySpeedCheck.start();
nerit 12:b0fc1d313813 1618
nerit 8:310f9e4eac7b 1619 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1620 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1621 #endif
nerit 3:a469bbd294b5 1622
nerit 8:310f9e4eac7b 1623 if (inProva==0) {
nerit 3:a469bbd294b5 1624 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1625 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1626 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1627 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1628 #endif
nerit 3:a469bbd294b5 1629 #if defined(speedMaster)
nerit 3:a469bbd294b5 1630 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1631 #endif
nerit 3:a469bbd294b5 1632 seedCorrection.attach(&seedCorrect,0.010f); // con 16 becchi a 4,5Kmh ci sono 37mS tra un becco e l'altro, quindi 8 correzioni di tb
nerit 3:a469bbd294b5 1633 dcSetting();
nerit 3:a469bbd294b5 1634 #if defined(seedSensor)
nerit 3:a469bbd294b5 1635 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1636 #endif
nerit 8:310f9e4eac7b 1637 } else {
nerit 8:310f9e4eac7b 1638 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1639 }
nerit 8:310f9e4eac7b 1640
nerit 3:a469bbd294b5 1641 aggiornaParametri();
nerit 3:a469bbd294b5 1642
nerit 3:a469bbd294b5 1643 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1644 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1645 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1646
nerit 3:a469bbd294b5 1647 #if defined(provaStepper)
nerit 3:a469bbd294b5 1648 TBmotorRst=1;
nerit 3:a469bbd294b5 1649 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1650 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1651 #if defined(Zucca)
nerit 17:9629eb019892 1652 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1653 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1654 #else
nerit 18:7c978f69cc51 1655 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1656 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1657 #endif
nerit 3:a469bbd294b5 1658 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1659 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1660 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1661 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1662 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1663 #endif
nerit 6:e8c18f0f399a 1664 #endif
nerit 10:9e70619e97ab 1665 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 18:7c978f69cc51 1666 TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1667 #else
nerit 35:3165f4c1c7bf 1668 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 1669 // definire il pin di clock che è PB_3
nerit 35:3165f4c1c7bf 1670 motor->set_home();
nerit 35:3165f4c1c7bf 1671 motor->go_to(50);
nerit 35:3165f4c1c7bf 1672 motor->wait_while_active();
nerit 35:3165f4c1c7bf 1673 #if !defined(runner)
nerit 35:3165f4c1c7bf 1674 #if defined(Zucca)
nerit 35:3165f4c1c7bf 1675 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 1676 #else
nerit 35:3165f4c1c7bf 1677 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 1678 #endif
nerit 9:7f02256f6e8f 1679 #endif
nerit 35:3165f4c1c7bf 1680 #if defined(pcSerial)
nerit 35:3165f4c1c7bf 1681 #if defined(loStop)
nerit 35:3165f4c1c7bf 1682 pc.printf("A3\n");
nerit 35:3165f4c1c7bf 1683 #endif
nerit 6:e8c18f0f399a 1684 #endif
nerit 35:3165f4c1c7bf 1685 motor->soft_hiz();
nerit 35:3165f4c1c7bf 1686 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 35:3165f4c1c7bf 1687 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1688 #endif
nerit 3:a469bbd294b5 1689 #endif // end prova stepper
nerit 8:310f9e4eac7b 1690
nerit 8:310f9e4eac7b 1691 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1692
nerit 8:310f9e4eac7b 1693
nerit 3:a469bbd294b5 1694 //**************************************************************************************************************
nerit 3:a469bbd294b5 1695 // MAIN LOOP
nerit 3:a469bbd294b5 1696 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1697 while (true) {
nerit 6:e8c18f0f399a 1698 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1699 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1700 speedClock=0;
nerit 8:310f9e4eac7b 1701 }
nerit 31:92a9e183be8e 1702 if ((tractorSpeed_MtS_timed>0.0f)&&(oldTractStop==1)){
nerit 31:92a9e183be8e 1703 alarmDelay.start();
nerit 31:92a9e183be8e 1704 oldTractStop=0;
nerit 31:92a9e183be8e 1705 }
nerit 31:92a9e183be8e 1706 if (alarmDelay.read()>5){
nerit 31:92a9e183be8e 1707 alarmEnable=true;
nerit 31:92a9e183be8e 1708 }
nerit 31:92a9e183be8e 1709 if ((tractorSpeed_MtS_timed<=0.05f)){
nerit 31:92a9e183be8e 1710 oldTractStop=1;
nerit 31:92a9e183be8e 1711 alarmDelay.stop();
nerit 31:92a9e183be8e 1712 alarmDelay.reset();
nerit 31:92a9e183be8e 1713 alarmEnable=false;
nerit 31:92a9e183be8e 1714 }
nerit 8:310f9e4eac7b 1715
nerit 3:a469bbd294b5 1716 // inversione segnali ingressi
nerit 3:a469bbd294b5 1717 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1718 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1719 #else
nerit 8:310f9e4eac7b 1720 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1721 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1722 }
nerit 8:310f9e4eac7b 1723 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1724 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1725 }
nerit 8:310f9e4eac7b 1726 #endif
nerit 25:4461bc76aaab 1727 if (drumSelect==true){
nerit 25:4461bc76aaab 1728 TBzeroPinInput = TBzeroPinInputRev;
nerit 25:4461bc76aaab 1729 }else{
nerit 25:4461bc76aaab 1730 TBzeroPinInput = !TBzeroPinInputRev;
nerit 25:4461bc76aaab 1731 }
nerit 3:a469bbd294b5 1732 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1733 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1734 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1735 quinconceOut=0;
nerit 3:a469bbd294b5 1736 }
nerit 8:310f9e4eac7b 1737 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1738 quinconceOut=1;
nerit 3:a469bbd294b5 1739 }
nerit 8:310f9e4eac7b 1740 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1741 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1742 posForQuinc=500;
nerit 3:a469bbd294b5 1743 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1744 }
nerit 8:310f9e4eac7b 1745 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1746 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1747 }
nerit 8:310f9e4eac7b 1748 }
nerit 3:a469bbd294b5 1749 #endif
nerit 3:a469bbd294b5 1750
nerit 3:a469bbd294b5 1751 // simulazione velocita
nerit 8:310f9e4eac7b 1752 if (enableSimula==1) {
nerit 3:a469bbd294b5 1753 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1754 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1755 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1756 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1757 } else {
nerit 3:a469bbd294b5 1758 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1759 }
nerit 8:310f9e4eac7b 1760 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1761 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1762 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1763 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1764 }
nerit 8:310f9e4eac7b 1765 } else {
nerit 3:a469bbd294b5 1766 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1767 spedSimclock.detach();
nerit 3:a469bbd294b5 1768 }
nerit 8:310f9e4eac7b 1769 } else {
nerit 3:a469bbd294b5 1770 spedSimclock.detach();
nerit 3:a469bbd294b5 1771 }
nerit 8:310f9e4eac7b 1772
nerit 3:a469bbd294b5 1773 //*******************************************************
nerit 3:a469bbd294b5 1774 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1775 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1776 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1777 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1778 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1779 }
nerit 3:a469bbd294b5 1780 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1781 } else {
nerit 8:310f9e4eac7b 1782 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1783 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1784 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1785 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1786 }
nerit 3:a469bbd294b5 1787 }
nerit 3:a469bbd294b5 1788
nerit 8:310f9e4eac7b 1789 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1790 lowSpeed=1;
nerit 8:310f9e4eac7b 1791 } else {
nerit 3:a469bbd294b5 1792 lowSpeed=0;
nerit 3:a469bbd294b5 1793 }
bcostm 2:35f13b7f3659 1794
nerit 3:a469bbd294b5 1795 //**************************************************************************************************************
nerit 3:a469bbd294b5 1796 //**************************************************************************************************************
nerit 3:a469bbd294b5 1797 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1798 //**************************************************************************************************************
nerit 3:a469bbd294b5 1799 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1800
nerit 8:310f9e4eac7b 1801 if (inProva==0) {
nerit 20:4a400a4cc419 1802 // simulazione stepper
nerit 23:ccd253b36733 1803 if (simOk==1){
nerit 23:ccd253b36733 1804 if (simStepper==1){
nerit 23:ccd253b36733 1805 oldSimStepper=true;
nerit 23:ccd253b36733 1806 simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit 23:ccd253b36733 1807 if (oldSimStepSpeed!=simStepSpeed){
nerit 35:3165f4c1c7bf 1808 #if defined(runner)
nerit 35:3165f4c1c7bf 1809 motor->run(StepperMotor::FWD,simStepSpeed);
nerit 35:3165f4c1c7bf 1810 #endif
nerit 35:3165f4c1c7bf 1811 #if defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 1812 TBticker.attach_us(&step_TBPulseOut,simStepSpeed/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 35:3165f4c1c7bf 1813 #endif
nerit 23:ccd253b36733 1814 oldSimStepSpeed=simStepSpeed;
nerit 23:ccd253b36733 1815 }
nerit 23:ccd253b36733 1816 }else{
nerit 23:ccd253b36733 1817 if (oldSimStepper==true){
nerit 23:ccd253b36733 1818 oldSimStepper=false;
nerit 35:3165f4c1c7bf 1819 #if defined(runner)
nerit 35:3165f4c1c7bf 1820 motor->soft_hiz();
nerit 35:3165f4c1c7bf 1821 #endif
nerit 35:3165f4c1c7bf 1822 #if defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 1823 TBticker.detach();
nerit 35:3165f4c1c7bf 1824 #endif
nerit 23:ccd253b36733 1825 oldSimStepSpeed=0.0f;
nerit 23:ccd253b36733 1826 }
nerit 23:ccd253b36733 1827 }
nerit 20:4a400a4cc419 1828 }else{
nerit 20:4a400a4cc419 1829 if (oldSimStepper==true){
nerit 20:4a400a4cc419 1830 oldSimStepper=false;
nerit 35:3165f4c1c7bf 1831 #if defined(runner)
nerit 35:3165f4c1c7bf 1832 motor->soft_hiz();
nerit 35:3165f4c1c7bf 1833 #endif
nerit 35:3165f4c1c7bf 1834 #if defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 1835 TBticker.detach();
nerit 35:3165f4c1c7bf 1836 #endif
nerit 20:4a400a4cc419 1837 oldSimStepSpeed=0.0f;
nerit 20:4a400a4cc419 1838 }
nerit 20:4a400a4cc419 1839 }
nerit 8:310f9e4eac7b 1840 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1841 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1842 } else {
nerit 6:e8c18f0f399a 1843 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1844 }
nerit 8:310f9e4eac7b 1845 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1846 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1847 }
nerit 3:a469bbd294b5 1848 // ----------------------------------------
nerit 3:a469bbd294b5 1849 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1850 // ----------------------------------------
nerit 8:310f9e4eac7b 1851 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1852 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1853 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1854 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1855 }
nerit 3:a469bbd294b5 1856 }
nerit 8:310f9e4eac7b 1857 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1858 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1859 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1860 intraPickTimer.reset();
nerit 3:a469bbd294b5 1861 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1862 seedFilter.reset();
nerit 3:a469bbd294b5 1863 sincroTimer.reset();
nerit 3:a469bbd294b5 1864 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1865 quincTime.reset();
nerit 3:a469bbd294b5 1866 quincTimeSD.reset();
nerit 3:a469bbd294b5 1867 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1868 sincroQui=1;
nerit 3:a469bbd294b5 1869 SDwheelTimer.reset();
nerit 13:d1030d4e51a8 1870 dcEncoderCnt=0;
nerit 3:a469bbd294b5 1871 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1872 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1873 posForQuinc=500;
nerit 3:a469bbd294b5 1874 }
nerit 17:9629eb019892 1875 if (checkSDrotation==0) {
nerit 17:9629eb019892 1876 checkSDrotation=1;
nerit 17:9629eb019892 1877 SDwheelTimer.start();
nerit 17:9629eb019892 1878 }
nerit 3:a469bbd294b5 1879 #endif
nerit 8:310f9e4eac7b 1880 if (quincCnt<10) {
nerit 3:a469bbd294b5 1881 quincCnt++;
nerit 3:a469bbd294b5 1882 }
nerit 8:310f9e4eac7b 1883 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1884 beccoPronto=1;
nerit 3:a469bbd294b5 1885 }
nerit 3:a469bbd294b5 1886 lockStart=0;
nerit 3:a469bbd294b5 1887 double fase1=0.0f;
nerit 3:a469bbd294b5 1888 forzaFase=0;
nerit 3:a469bbd294b5 1889 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1890 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1891 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1892 } else {
nerit 8:310f9e4eac7b 1893 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1894 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1895 } else {
nerit 3:a469bbd294b5 1896 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1897 }
nerit 8:310f9e4eac7b 1898 if (fase1 > limite) {
nerit 3:a469bbd294b5 1899 fase1 -= limite; // se la fase calcolata supera gli step del settore riporta il valore nell'arco precedente (es. fase 1 800, limite 750, risulta 50)
nerit 3:a469bbd294b5 1900 }
nerit 8:310f9e4eac7b 1901 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1902 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1903 forzaFase=1;
nerit 3:a469bbd294b5 1904 }
nerit 3:a469bbd294b5 1905 trigRepos=1;
nerit 3:a469bbd294b5 1906 }
nerit 3:a469bbd294b5 1907 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1908 #if defined(pcSerial)
nerit 3:a469bbd294b5 1909 #if defined(inCorre)
nerit 3:a469bbd294b5 1910 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1911 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1912 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1913 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1914 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1915 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1916 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1917 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1918 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1919 #endif
nerit 3:a469bbd294b5 1920 #endif
nerit 19:231b8931cabc 1921 if (tractorSpeed_MtS_timed>0.2f){
nerit 17:9629eb019892 1922 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 31:92a9e183be8e 1923 if ((aspettaStart==0)&&(alarmEnable==true)) {
nerit 17:9629eb019892 1924 if (firstStart==0) {
nerit 17:9629eb019892 1925 all_pickSignal=1;
nerit 17:9629eb019892 1926 }
nerit 3:a469bbd294b5 1927 }
nerit 3:a469bbd294b5 1928 }
nerit 3:a469bbd294b5 1929 }
nerit 3:a469bbd294b5 1930 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1931 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1932 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1933 #if defined(pcSerial)
nerit 10:9e70619e97ab 1934 #if defined(Qnca)
nerit 10:9e70619e97ab 1935 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1936 #endif
nerit 3:a469bbd294b5 1937 #endif
nerit 3:a469bbd294b5 1938 }
nerit 8:310f9e4eac7b 1939 if (encoder==false) {
nerit 3:a469bbd294b5 1940 pulseRised2=1;
nerit 3:a469bbd294b5 1941 }
nerit 3:a469bbd294b5 1942 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1943 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1944 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1945 cntSpeedError++;
nerit 18:7c978f69cc51 1946 if (cntSpeedError >= 5){
nerit 10:9e70619e97ab 1947 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1948 }
nerit 3:a469bbd294b5 1949 }
nerit 3:a469bbd294b5 1950 }
nerit 31:92a9e183be8e 1951 if ((tractorSpeed_MtS_timed>0.2f)&&(alarmEnable==true)){
nerit 18:7c978f69cc51 1952 double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit 17:9629eb019892 1953 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 17:9629eb019892 1954 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 17:9629eb019892 1955 all_speedError =1;
nerit 17:9629eb019892 1956 }
nerit 3:a469bbd294b5 1957 }
nerit 3:a469bbd294b5 1958 }
nerit 3:a469bbd294b5 1959 #endif
nerit 3:a469bbd294b5 1960 //*******************************************
nerit 3:a469bbd294b5 1961 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1962 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1963 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1964 #if defined(pcSerial)
nerit 10:9e70619e97ab 1965 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1966 pc.printf("forza\n");
nerit 10:9e70619e97ab 1967 #endif
nerit 8:310f9e4eac7b 1968 #endif
nerit 6:e8c18f0f399a 1969 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1970 }
nerit 8:310f9e4eac7b 1971 aggioVelocita();
nerit 3:a469bbd294b5 1972 }
nerit 3:a469bbd294b5 1973 // ----------------------------------------
nerit 8:310f9e4eac7b 1974 // check SD fase
nerit 8:310f9e4eac7b 1975 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1976 forzaFase=0;
nerit 8:310f9e4eac7b 1977 if (trigRepos==1) {
nerit 3:a469bbd294b5 1978 SDactualPosition=0;
nerit 8:310f9e4eac7b 1979 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1980 countCicli++;
nerit 6:e8c18f0f399a 1981 trigCicli=1;
nerit 6:e8c18f0f399a 1982 }
nerit 8:310f9e4eac7b 1983 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1984 aspettaStart=0;
nerit 6:e8c18f0f399a 1985 }
nerit 8:310f9e4eac7b 1986 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1987 syncroCheck=1;
nerit 6:e8c18f0f399a 1988 beccoPronto=0;
nerit 6:e8c18f0f399a 1989 }
nerit 8:310f9e4eac7b 1990 if (trigTB==0) {
nerit 3:a469bbd294b5 1991 inhibit=1;
nerit 3:a469bbd294b5 1992 trigSD=1;
nerit 8:310f9e4eac7b 1993 } else {
nerit 3:a469bbd294b5 1994 inhibit=0;
nerit 3:a469bbd294b5 1995 trigTB=0;
nerit 3:a469bbd294b5 1996 trigSD=0;
nerit 3:a469bbd294b5 1997 }
nerit 3:a469bbd294b5 1998 trigRepos=0;
nerit 3:a469bbd294b5 1999 }
nerit 8:310f9e4eac7b 2000 } else {
nerit 3:a469bbd294b5 2001 trigCicli=0;
nerit 3:a469bbd294b5 2002 }
nerit 8:310f9e4eac7b 2003 // ----------------------------------------
nerit 3:a469bbd294b5 2004 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 2005 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 2006 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 2007 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 2008 }
nerit 8:310f9e4eac7b 2009 }
nerit 20:4a400a4cc419 2010 if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit 3:a469bbd294b5 2011 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 2012 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 2013 stopCicloTB=1;
nerit 3:a469bbd294b5 2014 startCicloTB=0;
nerit 3:a469bbd294b5 2015 }
nerit 3:a469bbd294b5 2016 TBfilter.reset();
nerit 3:a469bbd294b5 2017 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 2018 #if defined(runner)
nerit 8:310f9e4eac7b 2019 legPos.detach();
nerit 8:310f9e4eac7b 2020 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 2021 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 2022 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2023 #if defined(TBperS)
nerit 8:310f9e4eac7b 2024 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 2025 #endif
nerit 8:310f9e4eac7b 2026 #endif
nerit 34:eb04f4f41dfd 2027 #if defined(perProva)
nerit 34:eb04f4f41dfd 2028 pc.printf(" ildato %d Actual %d\n", ildato, TBactualPosition);
nerit 34:eb04f4f41dfd 2029 #endif
nerit 8:310f9e4eac7b 2030
nerit 8:310f9e4eac7b 2031 #else
nerit 8:310f9e4eac7b 2032 TBactualPosition=0;
nerit 8:310f9e4eac7b 2033 #endif
nerit 8:310f9e4eac7b 2034 if (cntTbError>0) {
nerit 3:a469bbd294b5 2035 cntCellsCorrect++;
nerit 3:a469bbd294b5 2036 }
nerit 19:231b8931cabc 2037 if (cntCellsCorrect>0) {
nerit 3:a469bbd294b5 2038 cntTbError=0;
nerit 3:a469bbd294b5 2039 cntCellsCorrect=0;
nerit 3:a469bbd294b5 2040 }
nerit 3:a469bbd294b5 2041 // conteggio celle erogate
nerit 8:310f9e4eac7b 2042 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 2043 cellsCounterLow++;
nerit 8:310f9e4eac7b 2044 } else {
nerit 3:a469bbd294b5 2045 cellsCounterHig++;
nerit 3:a469bbd294b5 2046 cellsCounterLow=0;
nerit 3:a469bbd294b5 2047 }
nerit 3:a469bbd294b5 2048 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 2049 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 2050 cntCellsForLoad++;
nerit 27:3d382b6e60ba 2051 double cellsToCount = ceil(((cellsNumber/360.0)*180.0f)+1.0f);
nerit 26:77955c5d16a3 2052 if (cntCellsForLoad >= cellsToCount) {
nerit 8:310f9e4eac7b 2053 stopCicloTB=1;
nerit 3:a469bbd294b5 2054 cntCellsForLoad=0;
nerit 3:a469bbd294b5 2055 }
nerit 8:310f9e4eac7b 2056 } else {
nerit 3:a469bbd294b5 2057 cntCellsForLoad=0;
nerit 3:a469bbd294b5 2058 }
nerit 3:a469bbd294b5 2059 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 2060 if (trigSD==0) {
nerit 3:a469bbd294b5 2061 inhibit=1;
nerit 3:a469bbd294b5 2062 trigTB=1;
nerit 8:310f9e4eac7b 2063 } else {
nerit 3:a469bbd294b5 2064 inhibit=0;
nerit 3:a469bbd294b5 2065 trigTB=0;
nerit 3:a469bbd294b5 2066 trigSD=0;
nerit 3:a469bbd294b5 2067 }
nerit 3:a469bbd294b5 2068 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 2069 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 2070 cntCellsForReload++;
nerit 8:310f9e4eac7b 2071 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 2072 TBmotorDirecti=TBforward; // rotazione normale
nerit 21:3e6576c2e126 2073 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 2074 #if defined(runner)
nerit 21:3e6576c2e126 2075 #if defined(Zucca)
nerit 21:3e6576c2e126 2076 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 2077 #else
nerit 21:3e6576c2e126 2078 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 2079 #endif
nerit 9:7f02256f6e8f 2080 #else
nerit 35:3165f4c1c7bf 2081 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 2082 #if defined(Zucca)
nerit 35:3165f4c1c7bf 2083 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 2084 #else
nerit 35:3165f4c1c7bf 2085 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 2086 #endif
nerit 21:3e6576c2e126 2087 #endif
nerit 9:7f02256f6e8f 2088 #endif
nerit 21:3e6576c2e126 2089 }
nerit 3:a469bbd294b5 2090 erroreTamburo=0;
nerit 3:a469bbd294b5 2091 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 2092 }
nerit 3:a469bbd294b5 2093 }
nerit 3:a469bbd294b5 2094 #if defined(seedSensor)
nerit 3:a469bbd294b5 2095 resetDelay();
nerit 3:a469bbd294b5 2096 delaySeedCheck.start();
nerit 3:a469bbd294b5 2097 #endif
nerit 3:a469bbd294b5 2098 }
nerit 20:4a400a4cc419 2099 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit 31:92a9e183be8e 2100 if ((firstStart==0)&&(alarmEnable==true)) {
nerit 18:7c978f69cc51 2101 if (tractorSpeed_MtS_timed>0.4f){
nerit 17:9629eb019892 2102 if (cntTbError>5) {
nerit 17:9629eb019892 2103 all_cellSignal=1;
nerit 17:9629eb019892 2104 #if defined(seedSensor)
nerit 17:9629eb019892 2105 resetDelay();
nerit 17:9629eb019892 2106 #endif
nerit 17:9629eb019892 2107 }
nerit 3:a469bbd294b5 2108 }
nerit 3:a469bbd294b5 2109 }
nerit 8:310f9e4eac7b 2110 if (erroreTamburo==0) {
nerit 17:9629eb019892 2111 if (cellsCountSet>1){
nerit 17:9629eb019892 2112 erroreTamburo=1;
nerit 17:9629eb019892 2113 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 21:3e6576c2e126 2114 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 2115 #if defined(runner)
nerit 21:3e6576c2e126 2116 #if defined(Zucca)
nerit 21:3e6576c2e126 2117 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 2118 #else
nerit 21:3e6576c2e126 2119 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 2120 #endif
nerit 17:9629eb019892 2121 #else
nerit 35:3165f4c1c7bf 2122 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 2123 #if defined(Zucca)
nerit 35:3165f4c1c7bf 2124 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 2125 #else
nerit 35:3165f4c1c7bf 2126 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 2127 #endif
nerit 21:3e6576c2e126 2128 #endif
nerit 17:9629eb019892 2129 #endif
nerit 21:3e6576c2e126 2130 }
nerit 17:9629eb019892 2131 }
nerit 3:a469bbd294b5 2132 cntCellsForReload=0;
nerit 17:9629eb019892 2133 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2134 cntTbError++;
nerit 30:32e770e91998 2135 //aggiornati();
nerit 17:9629eb019892 2136 }else{
nerit 17:9629eb019892 2137 cntTbError=0;
nerit 17:9629eb019892 2138 }
nerit 3:a469bbd294b5 2139 #if defined(seedSensor)
nerit 3:a469bbd294b5 2140 resetDelay();
nerit 3:a469bbd294b5 2141 #endif
nerit 3:a469bbd294b5 2142 }
nerit 3:a469bbd294b5 2143 }
nerit 31:92a9e183be8e 2144 if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit 17:9629eb019892 2145 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
nerit 17:9629eb019892 2146 if (firstStart==0) {
nerit 17:9629eb019892 2147 all_noStepRota=1;
nerit 17:9629eb019892 2148 #if defined(seedSensor)
nerit 17:9629eb019892 2149 resetDelay();
nerit 17:9629eb019892 2150 #endif
nerit 17:9629eb019892 2151 }
nerit 17:9629eb019892 2152 cntTbError=0;
nerit 3:a469bbd294b5 2153 }
nerit 3:a469bbd294b5 2154 }
nerit 8:310f9e4eac7b 2155 // ----------------------------------------
nerit 3:a469bbd294b5 2156 // read and manage joystick
nerit 20:4a400a4cc419 2157 if ((loadDaCan==1)&(simStepper==0)) {
nerit 8:310f9e4eac7b 2158 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2159 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2160 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2161 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2162 #endif
nerit 8:310f9e4eac7b 2163 #endif
nerit 6:e8c18f0f399a 2164 ciclaTB();
nerit 8:310f9e4eac7b 2165 }
nerit 3:a469bbd294b5 2166 }
nerit 8:310f9e4eac7b 2167
nerit 8:310f9e4eac7b 2168 //***************************************************************************************************
nerit 8:310f9e4eac7b 2169 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2170 //
nerit 3:a469bbd294b5 2171 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2172 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2173 if (pulseRised==1) {
nerit 12:b0fc1d313813 2174 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2175 pulseRised=0;
nerit 3:a469bbd294b5 2176 pulseRised1=1;
nerit 3:a469bbd294b5 2177 speedMediaCalc();
nerit 3:a469bbd294b5 2178 // calcola velocità trattore
nerit 8:310f9e4eac7b 2179 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2180 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 32:cfc3d7420fa5 2181 // todo: separare il controllo su speedfrommaster per attivarlo solo sullo slave
nerit 8:310f9e4eac7b 2182 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 3:a469bbd294b5 2183 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 13:d1030d4e51a8 2184 if (delaySpeedCheck.read()>=5.0f){
nerit 13:d1030d4e51a8 2185 if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit 13:d1030d4e51a8 2186 tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit 13:d1030d4e51a8 2187 }
nerit 13:d1030d4e51a8 2188 }
nerit 10:9e70619e97ab 2189 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2190 }
nerit 17:9629eb019892 2191 /*if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2192 checkSDrotation=1;
nerit 3:a469bbd294b5 2193 SDwheelTimer.start();
nerit 17:9629eb019892 2194 }*/
nerit 3:a469bbd294b5 2195 }
nerit 3:a469bbd294b5 2196 }
nerit 3:a469bbd294b5 2197 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2198 } else {
nerit 3:a469bbd294b5 2199 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2200 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2201 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2202 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2203 #if defined(seedSensor)
nerit 10:9e70619e97ab 2204 resetDelay();
nerit 10:9e70619e97ab 2205 #endif
nerit 3:a469bbd294b5 2206 pntMedia=0;
nerit 3:a469bbd294b5 2207 speedTimeOut.reset();
nerit 3:a469bbd294b5 2208 enableSpeed=0;
nerit 3:a469bbd294b5 2209 quincCnt=0;
nerit 3:a469bbd294b5 2210 }
nerit 3:a469bbd294b5 2211 }
nerit 8:310f9e4eac7b 2212
nerit 10:9e70619e97ab 2213 #if defined(seedSensor)
nerit 10:9e70619e97ab 2214 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2215 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2216 if (seedSee==0) {
nerit 10:9e70619e97ab 2217 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2218 }
nerit 10:9e70619e97ab 2219 resetDelay();
nerit 3:a469bbd294b5 2220 }
nerit 3:a469bbd294b5 2221 }
nerit 10:9e70619e97ab 2222 #endif
nerit 3:a469bbd294b5 2223 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2224 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2225 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2226 enableSpeed=0;
nerit 3:a469bbd294b5 2227 }*/
nerit 3:a469bbd294b5 2228 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2229 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2230 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2231 }*/
nerit 8:310f9e4eac7b 2232 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2233 // cycle logic control section
nerit 8:310f9e4eac7b 2234 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2235 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2236 if(simOk==0) {
nerit 8:310f9e4eac7b 2237 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2238 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2239 }
nerit 8:310f9e4eac7b 2240 }
nerit 20:4a400a4cc419 2241 if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2242 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2243 #if defined(Qncc)
nerit 8:310f9e4eac7b 2244 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2245
nerit 8:310f9e4eac7b 2246 #endif
nerit 8:310f9e4eac7b 2247 #endif
nerit 8:310f9e4eac7b 2248 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2249 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2250 tempoGiroSD = seedPerimeter / tractorSpeed_MtS_timed; // tempo Teorico impiegato dalla ruota di semina per fare un giro completo (a 4,5Km/h impiega 1,89 secondi)
nerit 8:310f9e4eac7b 2251 if (encoder==false) {
nerit 8:310f9e4eac7b 2252 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2253 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2254 } else {
nerit 8:310f9e4eac7b 2255 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2256 }
nerit 8:310f9e4eac7b 2257 } else {
nerit 17:9629eb019892 2258 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2259 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2260 #if defined(Qnce)
nerit 8:310f9e4eac7b 2261 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2262 #endif
nerit 5:2a3a64b52f54 2263 #endif
nerit 8:310f9e4eac7b 2264 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2265 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2266 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2267 #endif
nerit 8:310f9e4eac7b 2268 }
nerit 8:310f9e4eac7b 2269 //*******************************************
nerit 8:310f9e4eac7b 2270 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2271 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2272 double deltaV=0.0f;
nerit 12:b0fc1d313813 2273 double deltaD=0.0f;
nerit 12:b0fc1d313813 2274 double setV=0.0f;
nerit 12:b0fc1d313813 2275 double teoriaC=0.0f;
nerit 14:e2b5efa06c41 2276 double speedCorrectionMachine=0.0f;
nerit 17:9629eb019892 2277 //#if defined(speedMaster)
nerit 14:e2b5efa06c41 2278 speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2279 //#else
nerit 17:9629eb019892 2280 // speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2281 //#endif
nerit 14:e2b5efa06c41 2282 //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 17:9629eb019892 2283 if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2284 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2285 }
nerit 17:9629eb019892 2286 for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit 14:e2b5efa06c41 2287 if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2288 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2289 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2290 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 14:e2b5efa06c41 2291 //setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 14:e2b5efa06c41 2292 setV = speedCorrectionMachine-tabSpeed[ii];
nerit 12:b0fc1d313813 2293 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2294 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 14:e2b5efa06c41 2295 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2296 #if defined(boost1)
nerit 14:e2b5efa06c41 2297 pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit 14:e2b5efa06c41 2298 pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit 14:e2b5efa06c41 2299 #endif
nerit 14:e2b5efa06c41 2300 #endif
nerit 3:a469bbd294b5 2301 }
nerit 8:310f9e4eac7b 2302 }
nerit 14:e2b5efa06c41 2303 //if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 14:e2b5efa06c41 2304 // dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 14:e2b5efa06c41 2305 //}
nerit 17:9629eb019892 2306 if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit 14:e2b5efa06c41 2307 dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit 8:310f9e4eac7b 2308 }
nerit 8:310f9e4eac7b 2309 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2310 quinCalc();
nerit 8:310f9e4eac7b 2311 #endif
nerit 8:310f9e4eac7b 2312 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2313 #if defined(Qncd)
nerit 8:310f9e4eac7b 2314 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2315 #endif
nerit 8:310f9e4eac7b 2316 #endif
nerit 8:310f9e4eac7b 2317 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2318 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2319 if(encoder==false) {
nerit 8:310f9e4eac7b 2320 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2321 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2322 } else {
nerit 8:310f9e4eac7b 2323 erroreTempo = (double)memoTimeHole - tempoTraBecchi_mS; // errore tra il tempo previsto ed il tempo reale ( >0 se sto andando più piano del previsto)
nerit 3:a469bbd294b5 2324 }
nerit 8:310f9e4eac7b 2325 } else {
nerit 8:310f9e4eac7b 2326 erroreTempo = ((double)memoTimeHole/1000.0f) - tempoTraBecchi_mS; // errore tra il tempo previsto ed il tempo reale ( >0 se sto andando più piano del previsto)
nerit 3:a469bbd294b5 2327 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2328 #if defined(Qnce)
nerit 8:310f9e4eac7b 2329 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2330 #endif
nerit 3:a469bbd294b5 2331 #endif
nerit 3:a469bbd294b5 2332 }
nerit 8:310f9e4eac7b 2333 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2334 double k3=0.0f;
nerit 8:310f9e4eac7b 2335 double k4=0.0f;
nerit 8:310f9e4eac7b 2336 double k5=0.0f;
nerit 8:310f9e4eac7b 2337 double k6=0.0f;
nerit 8:310f9e4eac7b 2338 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2339 k3=0.010f;
nerit 8:310f9e4eac7b 2340 #else
nerit 8:310f9e4eac7b 2341 k3=0.050f;
nerit 8:310f9e4eac7b 2342 #endif
nerit 8:310f9e4eac7b 2343 k4=1.103f;
nerit 8:310f9e4eac7b 2344 k5=10.00f;
nerit 8:310f9e4eac7b 2345 k6=20.50f;
nerit 8:310f9e4eac7b 2346 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2347 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2348 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2349 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2350 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2351 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2352 double k1=0.0f;
nerit 8:310f9e4eac7b 2353 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2354 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2355 }
nerit 8:310f9e4eac7b 2356 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2357 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2358 }
nerit 8:310f9e4eac7b 2359 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2360 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2361 }
nerit 8:310f9e4eac7b 2362 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2363 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2364 }
nerit 8:310f9e4eac7b 2365 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2366 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2367 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2368 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2369 correzione = (1.0f - dutyTeorico);
nerit 34:eb04f4f41dfd 2370 //#if defined(pcSerial)
nerit 34:eb04f4f41dfd 2371 // pc.printf("limite\n");
nerit 34:eb04f4f41dfd 2372 //#endif
nerit 3:a469bbd294b5 2373 }
nerit 8:310f9e4eac7b 2374 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2375 correzione = -1.0f*dutyTeorico;
nerit 34:eb04f4f41dfd 2376 //#if defined(pcSerial)
nerit 34:eb04f4f41dfd 2377 // pc.printf("limite\n");
nerit 34:eb04f4f41dfd 2378 //#endif
nerit 3:a469bbd294b5 2379 }
nerit 3:a469bbd294b5 2380 }
nerit 8:310f9e4eac7b 2381 pulseRised1=0;
nerit 8:310f9e4eac7b 2382 pulseRised2=0;
nerit 8:310f9e4eac7b 2383 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2384 #if defined(Qnca)
nerit 8:310f9e4eac7b 2385 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2386 pc.printf("TsP: %f SpW: %f InPic: %f TBec: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, tempoTraBecchi_mS,errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2387 #endif
nerit 8:310f9e4eac7b 2388 #endif
nerit 8:310f9e4eac7b 2389 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2390 #if defined(Qncb)
nerit 8:310f9e4eac7b 2391 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2392 #endif
nerit 8:310f9e4eac7b 2393 #endif
nerit 12:b0fc1d313813 2394 #if defined(pcSerial)
nerit 12:b0fc1d313813 2395 #if defined(boost)
nerit 12:b0fc1d313813 2396 pc.printf("boost: %f teory: %f real: %f curr: %f cc:%d check: %d\n",boostDcOut,dutyTeorico, dcActualDuty,SD_CurrentScaled,correggiCorrente,currentCheckEnable);
nerit 12:b0fc1d313813 2397 #endif
nerit 12:b0fc1d313813 2398 #endif
nerit 8:310f9e4eac7b 2399 }
nerit 12:b0fc1d313813 2400 // introduce il controllo di corrente
nerit 14:e2b5efa06c41 2401 double variazione=0.0f;
nerit 12:b0fc1d313813 2402 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2403 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2404 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2405 }
nerit 12:b0fc1d313813 2406 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2407 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2408 }
nerit 12:b0fc1d313813 2409 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2410 boostDcOut=0.2f;
nerit 14:e2b5efa06c41 2411 //all_genericals=1;
nerit 12:b0fc1d313813 2412 }
nerit 12:b0fc1d313813 2413 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2414 boostDcOut=-0.2f;
nerit 14:e2b5efa06c41 2415 //all_genericals=1;
nerit 12:b0fc1d313813 2416 }
nerit 14:e2b5efa06c41 2417 variazione=boostDcOut;
nerit 12:b0fc1d313813 2418 correggiCorrente=0;
nerit 8:310f9e4eac7b 2419 }
nerit 12:b0fc1d313813 2420 if (currentCheckEnable==true){
nerit 14:e2b5efa06c41 2421 correzione += variazione;
nerit 14:e2b5efa06c41 2422 variazione=0.0f;
nerit 8:310f9e4eac7b 2423 }
nerit 8:310f9e4eac7b 2424 DC_brake=0;
nerit 8:310f9e4eac7b 2425 DC_forward=1;
nerit 8:310f9e4eac7b 2426 DC_prepare();
bcostm 2:35f13b7f3659 2427
nerit 8:310f9e4eac7b 2428 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2429 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2430 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2431 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2432 }
nerit 8:310f9e4eac7b 2433 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2434 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2435 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2436 }
nerit 3:a469bbd294b5 2437
nerit 8:310f9e4eac7b 2438 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2439 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2440 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2441 } else {
nerit 3:a469bbd294b5 2442 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2443 }
nerit 8:310f9e4eac7b 2444 } else {
nerit 8:310f9e4eac7b 2445 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2446 }
nerit 8:310f9e4eac7b 2447 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2448 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2449 }
nerit 8:310f9e4eac7b 2450 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2451 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2452 }
nerit 17:9629eb019892 2453 if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;}
nerit 14:e2b5efa06c41 2454 if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;}
nerit 8:310f9e4eac7b 2455 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2456 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2457 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2458 }
nerit 8:310f9e4eac7b 2459 // allarme
nerit 31:92a9e183be8e 2460 if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit 17:9629eb019892 2461 if (SDwheelTimer.read_ms()>4000) {
nerit 17:9629eb019892 2462 if (firstStart==0) {
nerit 17:9629eb019892 2463 all_noDcRotati=1;
nerit 17:9629eb019892 2464 }
nerit 17:9629eb019892 2465 #if defined(pcSerial)
nerit 17:9629eb019892 2466 #if defined(VediAllarmi)
nerit 17:9629eb019892 2467 pc.printf("allarme no DC rotation");
nerit 17:9629eb019892 2468 #endif
nerit 17:9629eb019892 2469 #endif
nerit 3:a469bbd294b5 2470 }
nerit 8:310f9e4eac7b 2471 }
nerit 3:a469bbd294b5 2472
nerit 8:310f9e4eac7b 2473 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2474 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2475 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2476 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2477 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2478 syncroCheck=0;
nerit 8:310f9e4eac7b 2479 lockStart=1;
nerit 8:310f9e4eac7b 2480 periodo = TBperiod;
nerit 35:3165f4c1c7bf 2481 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 2482 #if !defined(runner)
nerit 35:3165f4c1c7bf 2483 #if defined(Zucca)
nerit 35:3165f4c1c7bf 2484 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 35:3165f4c1c7bf 2485 #else
nerit 35:3165f4c1c7bf 2486 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 35:3165f4c1c7bf 2487 #endif
nerit 9:7f02256f6e8f 2488 #endif
nerit 8:310f9e4eac7b 2489 #endif
nerit 8:310f9e4eac7b 2490 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2491 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2492 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2493 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2494 #endif
nerit 6:e8c18f0f399a 2495 #endif
nerit 8:310f9e4eac7b 2496 cambiaTB(periodo);
nerit 3:a469bbd294b5 2497 }
nerit 8:310f9e4eac7b 2498 }
nerit 8:310f9e4eac7b 2499 // controllo di stop
nerit 8:310f9e4eac7b 2500 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2501 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2502 syncroCheck=0;
nerit 8:310f9e4eac7b 2503 aspettaStart=1;
nerit 8:310f9e4eac7b 2504 countCicli=0;
nerit 6:e8c18f0f399a 2505 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2506 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2507 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2508 #endif
nerit 6:e8c18f0f399a 2509 #endif
nerit 8:310f9e4eac7b 2510 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2511 #if !defined(runner)
nerit 8:310f9e4eac7b 2512 TBticker.detach();
nerit 8:310f9e4eac7b 2513 #endif
nerit 35:3165f4c1c7bf 2514 #if !defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 2515 #if defined(runner)
nerit 35:3165f4c1c7bf 2516 motor->soft_hiz();
nerit 35:3165f4c1c7bf 2517 #endif
nerit 35:3165f4c1c7bf 2518 #endif
nerit 8:310f9e4eac7b 2519 }
nerit 8:310f9e4eac7b 2520 }
nerit 8:310f9e4eac7b 2521 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2522 syncroCheck=0;
nerit 8:310f9e4eac7b 2523 lockStart=0;
nerit 8:310f9e4eac7b 2524 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2525 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2526 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2527 if (encoder==false) {
nerit 8:310f9e4eac7b 2528 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2529 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2530 } else {
nerit 8:310f9e4eac7b 2531 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2532 }
nerit 8:310f9e4eac7b 2533 } else {
nerit 8:310f9e4eac7b 2534 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2535 }
nerit 8:310f9e4eac7b 2536 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2537 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2538 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2539 }
nerit 8:310f9e4eac7b 2540 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2541 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2542 startCicloTB=1;
nerit 8:310f9e4eac7b 2543 }
nerit 8:310f9e4eac7b 2544 beccoPronto=0;
nerit 8:310f9e4eac7b 2545 }
nerit 8:310f9e4eac7b 2546 } else {
nerit 8:310f9e4eac7b 2547 // tamburo per zucca
nerit 8:310f9e4eac7b 2548 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2549 startCicloTB=1;
nerit 8:310f9e4eac7b 2550 }
nerit 8:310f9e4eac7b 2551 beccoPronto=0;
nerit 8:310f9e4eac7b 2552 }
nerit 8:310f9e4eac7b 2553 }
nerit 8:310f9e4eac7b 2554 ciclaTB();
nerit 8:310f9e4eac7b 2555 }
nerit 8:310f9e4eac7b 2556 //*************************************************************
nerit 8:310f9e4eac7b 2557 } else { // fine ciclo con velocita maggiore di 0
nerit 13:d1030d4e51a8 2558 delaySpeedCheck.reset();
nerit 8:310f9e4eac7b 2559 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2560 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2561 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2562 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2563 resetDelay();
nerit 8:310f9e4eac7b 2564 #endif
nerit 8:310f9e4eac7b 2565 checkSDrotation=0;
nerit 8:310f9e4eac7b 2566 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2567 aspettaStart=1;
nerit 8:310f9e4eac7b 2568 countCicli=0;
nerit 8:310f9e4eac7b 2569 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2570 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2571 correzione=0.0f;
nerit 8:310f9e4eac7b 2572 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2573 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2574 cntTbError=0;
nerit 8:310f9e4eac7b 2575 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2576 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2577 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2578 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2579 #endif
nerit 8:310f9e4eac7b 2580 #endif
nerit 8:310f9e4eac7b 2581 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2582 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2583 DC_brake=1;
nerit 8:310f9e4eac7b 2584 DC_prepare();
nerit 8:310f9e4eac7b 2585 metalTimer.reset();
nerit 8:310f9e4eac7b 2586 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2587 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2588 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2589 #endif
nerit 8:310f9e4eac7b 2590 #endif
nerit 8:310f9e4eac7b 2591 #if !defined(runner)
nerit 6:e8c18f0f399a 2592 TBticker.detach();
nerit 8:310f9e4eac7b 2593 #endif
nerit 8:310f9e4eac7b 2594 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2595 #if defined(loStop)
nerit 8:310f9e4eac7b 2596 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2597 #endif
nerit 8:310f9e4eac7b 2598 #endif
nerit 20:4a400a4cc419 2599 if(simStepper==0){
nerit 35:3165f4c1c7bf 2600 #if defined(runner)
nerit 35:3165f4c1c7bf 2601 motor->soft_hiz();
nerit 35:3165f4c1c7bf 2602 motor->set_home();
nerit 35:3165f4c1c7bf 2603 #endif
nerit 35:3165f4c1c7bf 2604 #if defined(oldStepperDriver)
nerit 35:3165f4c1c7bf 2605 TBticker.detach();
nerit 35:3165f4c1c7bf 2606 #endif
nerit 20:4a400a4cc419 2607 }
nerit 18:7c978f69cc51 2608 cntSpeedError=0;
nerit 18:7c978f69cc51 2609 timeIntraPick=0.0f;
nerit 19:231b8931cabc 2610 memoIntraPick=0.001f;
nerit 19:231b8931cabc 2611 intraPickTimer.reset();
nerit 8:310f9e4eac7b 2612 pntMedia=0;
nerit 8:310f9e4eac7b 2613 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2614 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2615 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2616 #endif
nerit 8:310f9e4eac7b 2617 #endif
nerit 3:a469bbd294b5 2618 }
nerit 8:310f9e4eac7b 2619 }
nerit 8:310f9e4eac7b 2620
nerit 8:310f9e4eac7b 2621 //*************************************************************************************************
nerit 3:a469bbd294b5 2622 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2623 //*************************************************************************************************
nerit 6:e8c18f0f399a 2624 } //end inProva==0
nerit 3:a469bbd294b5 2625 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2626 } // end while
nerit 3:a469bbd294b5 2627 } // end main