Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_DICEMBRE2020

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Dependencies:   mbed X_NUCLEO_IHM03A1_for

main.cpp@10:9e70619e97ab, 2019-03-15 (annotated)

Committer:
nerit
Date:
Fri Mar 15 11:09:37 2019 +0000
Revision:
10:9e70619e97ab
Parent:
9:7f02256f6e8f
Child:
12:b0fc1d313813
Modifica alla gestione della velocita trattore sullo slave per evitare blocchi della ruota di semina e ritardato allarme velocita

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 8:310f9e4eac7b 89 /* Helper header files. */
nerit 8:310f9e4eac7b 90 #include "DevSPI.h"
nerit 8:310f9e4eac7b 91 /* Component specific header files. */
nerit 8:310f9e4eac7b 92 #include "PowerStep01.h"
nerit 3:a469bbd294b5 93 #include "timeandtick.hpp"
nerit 3:a469bbd294b5 94 #include "canbus.hpp"
nerit 3:a469bbd294b5 95 #include "watchdog.h"
nerit 3:a469bbd294b5 96 #include "iodefinition.hpp"
nerit 3:a469bbd294b5 97 #include "parameters.hpp"
nerit 3:a469bbd294b5 98 #include "variables.hpp"
nerit 8:310f9e4eac7b 99 #include "powerstep.hpp"
nerit 3:a469bbd294b5 100 //********************************************************************************************************************
nerit 3:a469bbd294b5 101 //********************************************************************************************************************
nerit 8:310f9e4eac7b 102 #if defined(runnerTos)
nerit 8:310f9e4eac7b 103 Thread thread;
nerit 8:310f9e4eac7b 104 #endif
nerit 3:a469bbd294b5 105
nerit 3:a469bbd294b5 106 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 107
nerit 3:a469bbd294b5 108 /* Functions -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 109
nerit 3:a469bbd294b5 110 /**
nerit 3:a469bbd294b5 111 * @brief This is an example of user handler for the flag interrupt.
nerit 3:a469bbd294b5 112 * @param None
nerit 3:a469bbd294b5 113 * @retval None
nerit 3:a469bbd294b5 114 * @note If needed, implement it, and then attach and enable it:
nerit 3:a469bbd294b5 115 * + motor->attach_flag_irq(&my_flag_irq_handler);
nerit 3:a469bbd294b5 116 * + motor->enable_flag_irq();
nerit 3:a469bbd294b5 117 * To disable it:
nerit 3:a469bbd294b5 118 * + motor->DisbleFlagIRQ();
nerit 3:a469bbd294b5 119 */
nerit 3:a469bbd294b5 120 void my_flag_irq_handler(void)
nerit 3:a469bbd294b5 121 {
nerit 3:a469bbd294b5 122 /* Set ISR flag. */
nerit 3:a469bbd294b5 123 motor->isrFlag = TRUE;
nerit 3:a469bbd294b5 124 /* Get the value of the status register. */
nerit 3:a469bbd294b5 125 unsigned int statusRegister = motor->get_status();
nerit 10:9e70619e97ab 126 #if defined(pcSerial)
nerit 10:9e70619e97ab 127 pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit 10:9e70619e97ab 128 #endif
nerit 3:a469bbd294b5 129 /* Check SW_F flag: if not set, the SW input is opened */
nerit 3:a469bbd294b5 130 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit 10:9e70619e97ab 131 #if defined(pcSerial)
nerit 8:310f9e4eac7b 132 pc.printf(" SW closed (connected to ground).\r\n");
nerit 10:9e70619e97ab 133 #endif
nerit 3:a469bbd294b5 134 }
nerit 3:a469bbd294b5 135 /* Check SW_EN bit */
nerit 3:a469bbd294b5 136 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit 10:9e70619e97ab 137 #if defined(pcSerial)
nerit 8:310f9e4eac7b 138 pc.printf(" SW turn_on event.\r\n");
nerit 10:9e70619e97ab 139 #endif
nerit 3:a469bbd294b5 140 }
nerit 3:a469bbd294b5 141 /* Check Command Error flag: if set, the command received by SPI can't be */
nerit 3:a469bbd294b5 142 /* performed. This occurs for instance when a move command is sent to the */
nerit 3:a469bbd294b5 143 /* Powerstep01 while it is already running */
nerit 3:a469bbd294b5 144 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit 10:9e70619e97ab 145 #if defined(pcSerial)
nerit 8:310f9e4eac7b 146 pc.printf(" Non-performable command detected.\r\n");
nerit 10:9e70619e97ab 147 #endif
nerit 8:310f9e4eac7b 148 }
nerit 3:a469bbd294b5 149 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit 3:a469bbd294b5 150 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit 10:9e70619e97ab 151 #if defined(pcSerial)
nerit 8:310f9e4eac7b 152 pc.printf(" undervoltage lock-out.\r\n");
nerit 10:9e70619e97ab 153 #endif
nerit 8:310f9e4eac7b 154 }
nerit 3:a469bbd294b5 155 /* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit 3:a469bbd294b5 156 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit 8:310f9e4eac7b 157 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit 10:9e70619e97ab 158 #if defined(pcSerial)
nerit 8:310f9e4eac7b 159 pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit 10:9e70619e97ab 160 #endif
nerit 8:310f9e4eac7b 161 }
nerit 3:a469bbd294b5 162 /* Check OCD flag: if not set, there is an overcurrent detection */
nerit 3:a469bbd294b5 163 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit 10:9e70619e97ab 164 #if defined(pcSerial)
nerit 8:310f9e4eac7b 165 pc.printf(" Overcurrent detection.\r\n");
nerit 10:9e70619e97ab 166 #endif
nerit 3:a469bbd294b5 167 }
nerit 3:a469bbd294b5 168 /* Reset ISR flag. */
nerit 3:a469bbd294b5 169 motor->isrFlag = FALSE;
nerit 3:a469bbd294b5 170 }
nerit 3:a469bbd294b5 171
nerit 3:a469bbd294b5 172 /**
nerit 3:a469bbd294b5 173 * @brief This is an example of error handler.
nerit 3:a469bbd294b5 174 * @param[in] error Number of the error
nerit 3:a469bbd294b5 175 * @retval None
nerit 3:a469bbd294b5 176 * @note If needed, implement it, and then attach it:
nerit 3:a469bbd294b5 177 * + motor->attach_error_handler(&my_error_handler);
nerit 3:a469bbd294b5 178 */
nerit 3:a469bbd294b5 179 void my_error_handler(uint16_t error)
nerit 3:a469bbd294b5 180 {
nerit 3:a469bbd294b5 181 /* Printing to the console. */
nerit 10:9e70619e97ab 182 #if defined(pcSerial)
nerit 10:9e70619e97ab 183 pc.printf("Error %d detected\r\n\n", error);
nerit 10:9e70619e97ab 184 #endif
nerit 8:310f9e4eac7b 185
nerit 3:a469bbd294b5 186 /* Infinite loop */
nerit 3:a469bbd294b5 187 //while (true) {
nerit 8:310f9e4eac7b 188 //}
nerit 3:a469bbd294b5 189 }
nerit 8:310f9e4eac7b 190 //*******************************************************************************
nerit 8:310f9e4eac7b 191 // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit 8:310f9e4eac7b 192 //*******************************************************************************
nerit 8:310f9e4eac7b 193 #if defined(runner)
nerit 8:310f9e4eac7b 194 void step_Reading(){
nerit 8:310f9e4eac7b 195 //while(true){
nerit 8:310f9e4eac7b 196 /* Get current position of device and print to the console */
nerit 8:310f9e4eac7b 197 TBpassPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 198 if (TBpassPosition >= TBoldPosition){
nerit 8:310f9e4eac7b 199 TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 200 #if defined(pcSerial)
nerit 8:310f9e4eac7b 201 #if defined(rtosData)
nerit 8:310f9e4eac7b 202 printf(" 1 Position: %d TBpass: %d Tbold: %d \r\n", TBactualPosition, TBpassPosition, TBoldPosition);
nerit 8:310f9e4eac7b 203 #endif
nerit 8:310f9e4eac7b 204 #endif
nerit 8:310f9e4eac7b 205 }else{
nerit 8:310f9e4eac7b 206 TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 207 #if defined(pcSerial)
nerit 8:310f9e4eac7b 208 #if defined(rtosData)
nerit 8:310f9e4eac7b 209 printf(" 2 Position: %d TBpass: %d Tbold: %d \r\n", TBactualPosition, TBpassPosition, TBoldPosition);
nerit 8:310f9e4eac7b 210 #endif
nerit 8:310f9e4eac7b 211 #endif
nerit 8:310f9e4eac7b 212 }
nerit 8:310f9e4eac7b 213 //wait_us(50); // 50 mS di intervallo lettura
nerit 8:310f9e4eac7b 214 //}
nerit 8:310f9e4eac7b 215 }
nerit 8:310f9e4eac7b 216 #endif
nerit 3:a469bbd294b5 217 //*******************************************************************************
nerit 3:a469bbd294b5 218 //********************************************************************************************************************
nerit 3:a469bbd294b5 219 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 220 // TASK SECTION
nerit 3:a469bbd294b5 221 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 222 //************************************************************************
nerit 8:310f9e4eac7b 223 void aggioVelocita()
nerit 8:310f9e4eac7b 224 {
nerit 8:310f9e4eac7b 225 realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit 10:9e70619e97ab 226 tempoBecco = realGiroSD*444.444f; //(realGiroSD/360.0f)*16000.0f;
nerit 8:310f9e4eac7b 227 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 8:310f9e4eac7b 228 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 8:310f9e4eac7b 229 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 8:310f9e4eac7b 230 #if defined(runner)
nerit 10:9e70619e97ab 231 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 9:7f02256f6e8f 232 #if defined(Zucca)
nerit 9:7f02256f6e8f 233 TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 234 #else
nerit 9:7f02256f6e8f 235 TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
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 10:9e70619e97ab 267 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/memo_TimeHole)*1000000.0f; //mtS
nerit 3:a469bbd294b5 268 pulseRised2=1;
nerit 3:a469bbd294b5 269 }
nerit 6:e8c18f0f399a 270 #if defined(pcSerial)
nerit 6:e8c18f0f399a 271 #if defined(checkLoop)
nerit 6:e8c18f0f399a 272 pc.printf("2\n");
nerit 6:e8c18f0f399a 273 #endif
nerit 6:e8c18f0f399a 274 #endif
nerit 8:310f9e4eac7b 275 aggioVelocita();
nerit 3:a469bbd294b5 276 }
nerit 6:e8c18f0f399a 277 //**************************************************
nerit 3:a469bbd294b5 278 // rise of seed presence sensor
nerit 3:a469bbd294b5 279 void seedSensorTask(){
nerit 3:a469bbd294b5 280 seedSee=1;
nerit 6:e8c18f0f399a 281 #if defined(pcSerial)
nerit 6:e8c18f0f399a 282 #if defined(checkLoop)
nerit 6:e8c18f0f399a 283 pc.printf("3\n");
nerit 6:e8c18f0f399a 284 #endif
nerit 6:e8c18f0f399a 285 #endif
nerit 3:a469bbd294b5 286 }
nerit 3:a469bbd294b5 287 //**************************************************
nerit 3:a469bbd294b5 288 // generate speed clock when speed is simulated from Tritecnica display
nerit 8:310f9e4eac7b 289 void speedSimulationClock(){
nerit 3:a469bbd294b5 290 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 291 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 292 speedTimer.reset();
nerit 3:a469bbd294b5 293 pulseRised=1;
nerit 3:a469bbd294b5 294 speedFilter.reset();
nerit 6:e8c18f0f399a 295 #if defined(pcSerial)
nerit 6:e8c18f0f399a 296 #if defined(checkLoop)
nerit 6:e8c18f0f399a 297 pc.printf("4\n");
nerit 6:e8c18f0f399a 298 #endif
nerit 6:e8c18f0f399a 299 #endif
nerit 3:a469bbd294b5 300 }
nerit 3:a469bbd294b5 301 //*******************************************************
nerit 3:a469bbd294b5 302 // interrupt task for tractor speed reading
nerit 3:a469bbd294b5 303 //*******************************************************
nerit 3:a469bbd294b5 304 void tractorReadSpeed(){
nerit 8:310f9e4eac7b 305 if ((oldTractorSpeedRead==0)) {
nerit 3:a469bbd294b5 306 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 307 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 308 speedTimer.reset();
nerit 3:a469bbd294b5 309 pulseRised=1;
nerit 3:a469bbd294b5 310 oldTractorSpeedRead=1;
nerit 3:a469bbd294b5 311 }
nerit 8:310f9e4eac7b 312 speedClock=1;
nerit 3:a469bbd294b5 313 speedFilter.reset();
nerit 10:9e70619e97ab 314 cntSpeedError=0;
nerit 6:e8c18f0f399a 315 #if defined(pcSerial)
nerit 6:e8c18f0f399a 316 #if defined(checkLoop)
nerit 6:e8c18f0f399a 317 pc.printf("5\n");
nerit 6:e8c18f0f399a 318 #endif
nerit 6:e8c18f0f399a 319 #endif
nerit 3:a469bbd294b5 320 }
nerit 3:a469bbd294b5 321 //*******************************************************
nerit 8:310f9e4eac7b 322 void speedMediaCalc()
nerit 8:310f9e4eac7b 323 {
nerit 3:a469bbd294b5 324 double lastPd=(double) lastPulseRead/1000.0f;
nerit 3:a469bbd294b5 325 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 8:310f9e4eac7b 326 if (enableSimula==1) {
nerit 3:a469bbd294b5 327 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 328 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 329 }
nerit 3:a469bbd294b5 330 mediaSpeed[0]=lastPd;
nerit 3:a469bbd294b5 331 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 10:9e70619e97ab 332 #if defined(pcSerial)
nerit 10:9e70619e97ab 333 #if defined(checkLoop)
nerit 10:9e70619e97ab 334 pc.printf("6\n");
nerit 10:9e70619e97ab 335 #endif
nerit 10:9e70619e97ab 336 #endif
nerit 8:310f9e4eac7b 337 }
bcostm 0:5701b41769fd 338
nerit 3:a469bbd294b5 339 //*******************************************************
nerit 3:a469bbd294b5 340 // clocked task for manage virtual encoder of seed wheel i/o
nerit 3:a469bbd294b5 341 //*******************************************************
nerit 3:a469bbd294b5 342 //*******************************************************
nerit 8:310f9e4eac7b 343 void step_SDPulseOut()
nerit 8:310f9e4eac7b 344 {
nerit 3:a469bbd294b5 345 SDactualPosition++;
nerit 3:a469bbd294b5 346 prePosSD++;
nerit 10:9e70619e97ab 347 #if defined(speedMaster)
nerit 10:9e70619e97ab 348 posForQuinc++;
nerit 10:9e70619e97ab 349 #endif
nerit 10:9e70619e97ab 350 #if defined(pcSerial)
nerit 10:9e70619e97ab 351 #if defined(checkLoop)
nerit 10:9e70619e97ab 352 pc.printf("7\n");
nerit 10:9e70619e97ab 353 #endif
nerit 10:9e70619e97ab 354 #endif
nerit 3:a469bbd294b5 355 }
nerit 3:a469bbd294b5 356 //*******************************************************
nerit 8:310f9e4eac7b 357 void step_TBPulseOut()
nerit 8:310f9e4eac7b 358 {
nerit 3:a469bbd294b5 359 TBmotorStepOut=!TBmotorStepOut;
nerit 8:310f9e4eac7b 360 if (TBmotorStepOut==0) {
nerit 8:310f9e4eac7b 361 if (TBmotorDirecti==TBforward) {
nerit 3:a469bbd294b5 362 TBactualPosition++;
nerit 3:a469bbd294b5 363 }
nerit 3:a469bbd294b5 364 }
nerit 10:9e70619e97ab 365 #if defined(pcSerial)
nerit 10:9e70619e97ab 366 #if defined(stepTamb)
nerit 10:9e70619e97ab 367 pc.printf("step\n");
nerit 10:9e70619e97ab 368 #endif
nerit 10:9e70619e97ab 369 #endif
nerit 6:e8c18f0f399a 370 /*
nerit 6:e8c18f0f399a 371 #if defined(pcSerial)
nerit 6:e8c18f0f399a 372 #if defined(checkLoop)
nerit 6:e8c18f0f399a 373 pc.printf("8\n");
nerit 6:e8c18f0f399a 374 #endif
nerit 6:e8c18f0f399a 375 #endif
nerit 6:e8c18f0f399a 376 */
nerit 3:a469bbd294b5 377 }
nerit 3:a469bbd294b5 378 //*******************************************************
nerit 8:310f9e4eac7b 379 void invertiLo()
nerit 8:310f9e4eac7b 380 {
nerit 8:310f9e4eac7b 381 if (TBmotorDirecti==TBreverse) {
nerit 3:a469bbd294b5 382 TBmotorDirecti=TBforward;
nerit 8:310f9e4eac7b 383 #if !defined(runner)
nerit 9:7f02256f6e8f 384 #if defined(Zucca)
nerit 9:7f02256f6e8f 385 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 386 #else
nerit 9:7f02256f6e8f 387 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 388 #endif
nerit 8:310f9e4eac7b 389 #endif
nerit 8:310f9e4eac7b 390 } else {
nerit 3:a469bbd294b5 391 TBmotorDirecti=TBreverse;
nerit 8:310f9e4eac7b 392 #if !defined(runner)
nerit 9:7f02256f6e8f 393 #if defined(Zucca)
nerit 9:7f02256f6e8f 394 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 395 #else
nerit 9:7f02256f6e8f 396 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 397 #endif
nerit 8:310f9e4eac7b 398 #endif
nerit 3:a469bbd294b5 399 }
nerit 3:a469bbd294b5 400 #if defined(pcSerial)
nerit 3:a469bbd294b5 401 #if defined(inversione)
nerit 3:a469bbd294b5 402 pc.printf("cambio M %d\n",cambiaStep);
nerit 3:a469bbd294b5 403 pc.printf("posizione %d \n",TBactualPosition);
nerit 3:a469bbd294b5 404 #endif
nerit 3:a469bbd294b5 405 #endif
nerit 6:e8c18f0f399a 406 #if defined(pcSerial)
nerit 6:e8c18f0f399a 407 #if defined(checkLoop)
nerit 6:e8c18f0f399a 408 pc.printf("9\n");
nerit 6:e8c18f0f399a 409 #endif
nerit 6:e8c18f0f399a 410 #endif
nerit 3:a469bbd294b5 411 }
nerit 3:a469bbd294b5 412 //*******************************************************
nerit 3:a469bbd294b5 413 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 8:310f9e4eac7b 414 void aggiornaParametri()
nerit 8:310f9e4eac7b 415 {
nerit 3:a469bbd294b5 416 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 3:a469bbd294b5 417 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 3:a469bbd294b5 418 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 3:a469bbd294b5 419 intraPickDistance = seedPerimeter/pickNumber;
nerit 3:a469bbd294b5 420 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 3:a469bbd294b5 421 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 3:a469bbd294b5 422 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 3:a469bbd294b5 423 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 424 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 8:310f9e4eac7b 425 #if defined(runner)
nerit 9:7f02256f6e8f 426 #if defined(Zucca)
nerit 9:7f02256f6e8f 427 KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit 9:7f02256f6e8f 428 #else
nerit 9:7f02256f6e8f 429 KcorT = (SDsectorStep/TBsectorStep)/2.0f;
nerit 9:7f02256f6e8f 430 #endif
nerit 8:310f9e4eac7b 431 #else
nerit 8:310f9e4eac7b 432 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 8:310f9e4eac7b 433 #endif
nerit 3:a469bbd294b5 434 angoloFase=angoloPh;
nerit 3:a469bbd294b5 435 avvioGradi=angoloAv;
nerit 3:a469bbd294b5 436 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 437 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 438 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 439 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 3:a469bbd294b5 440 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 3:a469bbd294b5 441 if (speedFromPick==1) {
nerit 3:a469bbd294b5 442 intraPickDistance = seedPerimeter/pickNumber;
nerit 8:310f9e4eac7b 443 } else {
nerit 3:a469bbd294b5 444 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 3:a469bbd294b5 445 }
nerit 6:e8c18f0f399a 446 #if defined(pcSerial)
nerit 6:e8c18f0f399a 447 #if defined(checkLoop)
nerit 6:e8c18f0f399a 448 pc.printf("10\n");
nerit 6:e8c18f0f399a 449 #endif
nerit 6:e8c18f0f399a 450 #endif
nerit 3:a469bbd294b5 451 }
nerit 3:a469bbd294b5 452 //*******************************************************
nerit 8:310f9e4eac7b 453 void cambiaTB(double perio)
nerit 8:310f9e4eac7b 454 {
nerit 8:310f9e4eac7b 455 #if defined(runner)
nerit 8:310f9e4eac7b 456 // update TB frequency
nerit 8:310f9e4eac7b 457 double TBper=0.0f;
nerit 8:310f9e4eac7b 458 if (aspettaStart==0){
nerit 8:310f9e4eac7b 459 TBper=perio;
nerit 8:310f9e4eac7b 460 if (oldPeriodoTB!=TBper){
nerit 6:e8c18f0f399a 461 #if defined(pcSerial)
nerit 8:310f9e4eac7b 462 #if defined(TBperSo)
nerit 8:310f9e4eac7b 463 pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit 6:e8c18f0f399a 464 #endif
nerit 6:e8c18f0f399a 465 #endif
nerit 9:7f02256f6e8f 466 #if defined(Zucca)
nerit 9:7f02256f6e8f 467 motor->run(StepperMotor::BWD,TBper);
nerit 9:7f02256f6e8f 468 #else
nerit 9:7f02256f6e8f 469 motor->run(StepperMotor::FWD,TBper);
nerit 9:7f02256f6e8f 470 #endif
nerit 8:310f9e4eac7b 471 oldPeriodoTB=TBper;
nerit 8:310f9e4eac7b 472 }
nerit 8:310f9e4eac7b 473 }
nerit 8:310f9e4eac7b 474 #else
nerit 8:310f9e4eac7b 475 // update TB frequency
nerit 8:310f9e4eac7b 476 double limite=500.0f;
nerit 8:310f9e4eac7b 477 double TBper=0.0f;
nerit 8:310f9e4eac7b 478 double scala =2.0f;
nerit 8:310f9e4eac7b 479 if (aspettaStart==0) {
nerit 8:310f9e4eac7b 480 if (perio<limite) {
nerit 8:310f9e4eac7b 481 perio=limite;
nerit 8:310f9e4eac7b 482 }
nerit 8:310f9e4eac7b 483 TBper=perio/scala;
nerit 8:310f9e4eac7b 484 if (oldPeriodoTB!=TBper) {
nerit 8:310f9e4eac7b 485 if (TBper >= (limite/2.0f)) {
nerit 8:310f9e4eac7b 486 #if defined(pcSerial)
nerit 8:310f9e4eac7b 487 #if defined(checkLoop)
nerit 8:310f9e4eac7b 488 pc.printf("11a\n");
nerit 8:310f9e4eac7b 489 pc.printf("11a TBper: %f \n",TBper);
nerit 8:310f9e4eac7b 490 #endif
nerit 6:e8c18f0f399a 491 #endif
nerit 8:310f9e4eac7b 492 if (TBper != NULL) {
nerit 9:7f02256f6e8f 493 #if defined(Zucca)
nerit 9:7f02256f6e8f 494 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 495 #else
nerit 9:7f02256f6e8f 496 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 497 #endif
nerit 8:310f9e4eac7b 498 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 499 }
nerit 8:310f9e4eac7b 500 } else {
nerit 8:310f9e4eac7b 501 #if defined(pcSerial)
nerit 8:310f9e4eac7b 502 #if defined(checkLoop)
nerit 8:310f9e4eac7b 503 pc.printf("11b\n");
nerit 8:310f9e4eac7b 504 #endif
nerit 6:e8c18f0f399a 505 #endif
nerit 8:310f9e4eac7b 506 TBticker.detach();
nerit 8:310f9e4eac7b 507 #if defined(pcSerial)
nerit 8:310f9e4eac7b 508 #if defined(loStop)
nerit 8:310f9e4eac7b 509 pc.printf("A1\n");
nerit 8:310f9e4eac7b 510 #endif
nerit 8:310f9e4eac7b 511 #endif
nerit 8:310f9e4eac7b 512 motor->soft_hiz();
nerit 8:310f9e4eac7b 513 }
nerit 8:310f9e4eac7b 514 oldPeriodoTB=TBper;
nerit 3:a469bbd294b5 515 }
nerit 3:a469bbd294b5 516 }
nerit 8:310f9e4eac7b 517 #endif
nerit 3:a469bbd294b5 518 }
nerit 3:a469bbd294b5 519 //*******************************************************
nerit 8:310f9e4eac7b 520 void seedCorrect()
nerit 8:310f9e4eac7b 521 {
nerit 3:a469bbd294b5 522 /*
nerit 3:a469bbd294b5 523 posError determina la posizione relativa di TB rispetto ad SD
nerit 8:310f9e4eac7b 524 la reale posizione di SD viene modificata in funzione della velocità per
nerit 3:a469bbd294b5 525 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 3:a469bbd294b5 526 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 3:a469bbd294b5 527 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 3:a469bbd294b5 528 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 3:a469bbd294b5 529 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 3:a469bbd294b5 530 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 3:a469bbd294b5 531 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 3:a469bbd294b5 532 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 3:a469bbd294b5 533 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 3:a469bbd294b5 534 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 3:a469bbd294b5 535 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 3:a469bbd294b5 536 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 537 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 3:a469bbd294b5 538 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 539 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 8:310f9e4eac7b 540
nerit 3:a469bbd294b5 541 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 3:a469bbd294b5 542 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 8:310f9e4eac7b 543 */
nerit 3:a469bbd294b5 544 /*
nerit 3:a469bbd294b5 545 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 546 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 3:a469bbd294b5 547 KcorT = (SDsectorStep/TBsectorStep);
nerit 3:a469bbd294b5 548 angoloFase=angoloPh;
nerit 3:a469bbd294b5 549 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 550 avvioGradi = costante da terminale tritecnica
nerit 3:a469bbd294b5 551 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 552 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 553 */
nerit 8:310f9e4eac7b 554 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 555 if (inhibit==0) {
nerit 3:a469bbd294b5 556 double posError =0.0f;
nerit 3:a469bbd294b5 557 double posSD=((double)SDactualPosition)/KcorT;
nerit 8:310f9e4eac7b 558 posError = posSD - (double)TBactualPosition;
nerit 3:a469bbd294b5 559 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 8:310f9e4eac7b 560 if((lowSpeed==0)&&(aspettaStart==0)) {
nerit 4:de1b296e9757 561 double lowLim=-50.0f;
nerit 4:de1b296e9757 562 double higLim= 50.0f;
nerit 4:de1b296e9757 563 double divide= 100.0f;
nerit 8:310f9e4eac7b 564 if (pickNumber <= 5) {
nerit 4:de1b296e9757 565 lowLim=-500.0f;
nerit 4:de1b296e9757 566 higLim= 500.0f;
nerit 4:de1b296e9757 567 divide= 25.0f;
nerit 8:310f9e4eac7b 568 } else {
nerit 8:310f9e4eac7b 569 lowLim=-10.0f;
nerit 8:310f9e4eac7b 570 higLim= 130.0f;
nerit 4:de1b296e9757 571 divide= 100.0f;
nerit 4:de1b296e9757 572 }
nerit 8:310f9e4eac7b 573 if (posError>higLim) {
nerit 8:310f9e4eac7b 574 //posError=higLim;
nerit 8:310f9e4eac7b 575 posError=0.0f;
nerit 8:310f9e4eac7b 576 motor->soft_hiz();
nerit 8:310f9e4eac7b 577 }
nerit 8:310f9e4eac7b 578 if (posError<lowLim) {
nerit 8:310f9e4eac7b 579 posError=lowLim;
nerit 8:310f9e4eac7b 580 }
nerit 8:310f9e4eac7b 581 if ((posError >=1.0f)||(posError<=-1.0f)) {
nerit 8:310f9e4eac7b 582 #if defined(runner)
nerit 8:310f9e4eac7b 583 ePpos = periodo *(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 584 #else
nerit 8:310f9e4eac7b 585 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 586 #endif
nerit 3:a469bbd294b5 587 #if defined(pcSerial)
nerit 6:e8c18f0f399a 588 #if defined(checkLoop)
nerit 6:e8c18f0f399a 589 pc.printf("12a ePpos:%f\n",ePpos);
nerit 3:a469bbd294b5 590 #endif
nerit 3:a469bbd294b5 591 #endif
nerit 8:310f9e4eac7b 592 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 593 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 594 } else {
nerit 6:e8c18f0f399a 595 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 596 }
nerit 6:e8c18f0f399a 597 }
nerit 6:e8c18f0f399a 598 #if defined(pcSerial)
nerit 6:e8c18f0f399a 599 #if defined(TBperS)
nerit 8:310f9e4eac7b 600 pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo);
nerit 6:e8c18f0f399a 601 #endif
nerit 6:e8c18f0f399a 602 #endif
nerit 3:a469bbd294b5 603 }
nerit 3:a469bbd294b5 604 }
nerit 3:a469bbd294b5 605 }
nerit 10:9e70619e97ab 606 #if defined(pcSerial)
nerit 10:9e70619e97ab 607 #if defined(checkLoopa)
nerit 10:9e70619e97ab 608 pc.printf("12\n");
nerit 10:9e70619e97ab 609 #endif
nerit 10:9e70619e97ab 610 #endif
nerit 3:a469bbd294b5 611 }
nerit 3:a469bbd294b5 612 //*******************************************************
nerit 8:310f9e4eac7b 613 void videoUpdate()
nerit 8:310f9e4eac7b 614 {
nerit 8:310f9e4eac7b 615 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 616 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 617 }
nerit 3:a469bbd294b5 618 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 619 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 620 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 621 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 622 }
nerit 3:a469bbd294b5 623 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 624 #if defined(pcSerial)
nerit 10:9e70619e97ab 625 #if defined(SDreset)
nerit 10:9e70619e97ab 626 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 627 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 628 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 629 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 630 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 631 #endif
nerit 10:9e70619e97ab 632 #endif
nerit 10:9e70619e97ab 633 #if defined(pcSerial)
nerit 10:9e70619e97ab 634 #if defined(checkLoop)
nerit 10:9e70619e97ab 635 pc.printf("13\n");
nerit 10:9e70619e97ab 636 #endif
nerit 10:9e70619e97ab 637 #endif
nerit 3:a469bbd294b5 638 }
nerit 3:a469bbd294b5 639 //*******************************************************
nerit 8:310f9e4eac7b 640 void ciclaTB()
nerit 8:310f9e4eac7b 641 {
nerit 8:310f9e4eac7b 642 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 643 #if defined(pcSerial)
nerit 6:e8c18f0f399a 644 #if defined(checkLoop)
nerit 6:e8c18f0f399a 645 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 646 #endif
nerit 6:e8c18f0f399a 647 #endif
nerit 8:310f9e4eac7b 648 #if defined(runner)
nerit 9:7f02256f6e8f 649 #if defined(Zucca)
nerit 9:7f02256f6e8f 650 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 651 #else
nerit 9:7f02256f6e8f 652 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 653 #endif
nerit 8:310f9e4eac7b 654 #else
nerit 8:310f9e4eac7b 655 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 656 if (TBperiod != NULL) {
nerit 9:7f02256f6e8f 657 #if defined(Zucca)
nerit 9:7f02256f6e8f 658 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 659 #else
nerit 9:7f02256f6e8f 660 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 661 #endif
nerit 8:310f9e4eac7b 662 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 663 }
nerit 6:e8c18f0f399a 664 }
nerit 8:310f9e4eac7b 665 #endif
nerit 8:310f9e4eac7b 666 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 667 startCicloTB=0;
nerit 3:a469bbd294b5 668 }
nerit 8:310f9e4eac7b 669 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 670 #if defined(pcSerial)
nerit 6:e8c18f0f399a 671 #if defined(checkLoop)
nerit 6:e8c18f0f399a 672 pc.printf("14b\n");
nerit 6:e8c18f0f399a 673 #endif
nerit 6:e8c18f0f399a 674 #endif
nerit 8:310f9e4eac7b 675 #if defined(runner)
nerit 9:7f02256f6e8f 676 #if defined(Zucca)
nerit 9:7f02256f6e8f 677 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 678 #else
nerit 9:7f02256f6e8f 679 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 680 #endif
nerit 8:310f9e4eac7b 681 #else
nerit 9:7f02256f6e8f 682 #if defined(Zucca)
nerit 9:7f02256f6e8f 683 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 684 #else
nerit 9:7f02256f6e8f 685 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 686 #endif
nerit 8:310f9e4eac7b 687 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 688 #endif
nerit 3:a469bbd294b5 689 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 690 stopCicloTB=0;
nerit 3:a469bbd294b5 691 }
nerit 8:310f9e4eac7b 692 if ((stopCicloTB==1)&&(TBactualPosition>5)) {
nerit 6:e8c18f0f399a 693 #if defined(pcSerial)
nerit 6:e8c18f0f399a 694 #if defined(checkLoop)
nerit 6:e8c18f0f399a 695 pc.printf("14c\n");
nerit 6:e8c18f0f399a 696 #endif
nerit 6:e8c18f0f399a 697 #endif
nerit 8:310f9e4eac7b 698 #if !defined(runner)
nerit 8:310f9e4eac7b 699 TBticker.detach();
nerit 8:310f9e4eac7b 700 #endif
nerit 6:e8c18f0f399a 701 #if defined(pcSerial)
nerit 6:e8c18f0f399a 702 #if defined(loStop)
nerit 6:e8c18f0f399a 703 pc.printf("A2\n");
nerit 6:e8c18f0f399a 704 #endif
nerit 6:e8c18f0f399a 705 #endif
nerit 3:a469bbd294b5 706 motor->soft_hiz();
nerit 3:a469bbd294b5 707 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 708 stopCicloTB=0;
nerit 3:a469bbd294b5 709 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 710 loadDaCan=0;
nerit 3:a469bbd294b5 711 }
nerit 3:a469bbd294b5 712 }
nerit 3:a469bbd294b5 713 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 714 void stepSetting()
nerit 8:310f9e4eac7b 715 {
nerit 3:a469bbd294b5 716 // Stepper driver init and set
nerit 3:a469bbd294b5 717 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 718 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 719 #if defined(pcSerial)
nerit 6:e8c18f0f399a 720 #if defined(checkLoop)
nerit 6:e8c18f0f399a 721 pc.printf("15\n");
nerit 6:e8c18f0f399a 722 #endif
nerit 6:e8c18f0f399a 723 #endif
nerit 8:310f9e4eac7b 724 TBmotorRst=1;
nerit 3:a469bbd294b5 725 }
nerit 3:a469bbd294b5 726 //****************************************
nerit 3:a469bbd294b5 727 void dcSetting(){
nerit 8:310f9e4eac7b 728 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 729 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 730 }
nerit 8:310f9e4eac7b 731 if (encoder==true) {
nerit 8:310f9e4eac7b 732 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 733 }
nerit 6:e8c18f0f399a 734 #if defined(pcSerial)
nerit 6:e8c18f0f399a 735 #if defined(checkLoop)
nerit 6:e8c18f0f399a 736 pc.printf("16\n");
nerit 6:e8c18f0f399a 737 #endif
nerit 6:e8c18f0f399a 738 #endif
nerit 3:a469bbd294b5 739 }
nerit 3:a469bbd294b5 740 //*******************************************************
nerit 8:310f9e4eac7b 741 void allarmi()
nerit 8:310f9e4eac7b 742 {
nerit 8:310f9e4eac7b 743 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 744 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 745 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 746
nerit 8:310f9e4eac7b 747 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 748 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 749 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 750 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 751 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 752 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 753 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 754 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 755 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 756 }
nerit 3:a469bbd294b5 757
nerit 8:310f9e4eac7b 758 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 759 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 760 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 761 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 762 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 763 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 764 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 765 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 766 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 767 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 768 }
nerit 3:a469bbd294b5 769
nerit 10:9e70619e97ab 770 #if defined(pcSerial)
nerit 10:9e70619e97ab 771 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 772 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 773 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 774 }
nerit 10:9e70619e97ab 775 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 776 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 777 }
nerit 10:9e70619e97ab 778 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 779 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 780 }
nerit 10:9e70619e97ab 781 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 782 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 783 }
nerit 10:9e70619e97ab 784 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 785 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 786 }
nerit 10:9e70619e97ab 787 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 788 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 789 }
nerit 10:9e70619e97ab 790 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 791 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 792 }
nerit 10:9e70619e97ab 793 if (all_speedError==1) {
nerit 10:9e70619e97ab 794 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 795 }
nerit 10:9e70619e97ab 796 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 797 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 798 }
nerit 10:9e70619e97ab 799 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 800 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 801 }
nerit 10:9e70619e97ab 802 if (all_genericals==1) {
nerit 10:9e70619e97ab 803 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 804 }
nerit 10:9e70619e97ab 805 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 806 #endif
nerit 10:9e70619e97ab 807 #endif
nerit 8:310f9e4eac7b 808 all_semiFiniti=0;
nerit 8:310f9e4eac7b 809 all_pickSignal=0;
nerit 8:310f9e4eac7b 810 all_cellSignal=0;
nerit 8:310f9e4eac7b 811 all_lowBattery=0;
nerit 8:310f9e4eac7b 812 all_overCurrDC=0;
nerit 8:310f9e4eac7b 813 all_stopSistem=0;
nerit 8:310f9e4eac7b 814 all_upElements=0;
nerit 8:310f9e4eac7b 815 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 816 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 817 all_noDcRotati=0;
nerit 8:310f9e4eac7b 818 all_noStepRota=0;
nerit 8:310f9e4eac7b 819 all_speedError=0;
nerit 8:310f9e4eac7b 820 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 821 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 822 all_genericals=0;
nerit 10:9e70619e97ab 823 #if defined(pcSerial)
nerit 10:9e70619e97ab 824 #if defined(checkLoop)
nerit 10:9e70619e97ab 825 pc.printf("17\n");
nerit 10:9e70619e97ab 826 #endif
nerit 10:9e70619e97ab 827 #endif
nerit 3:a469bbd294b5 828 }
nerit 3:a469bbd294b5 829 //*******************************************************
nerit 3:a469bbd294b5 830 #if defined(speedMaster)
nerit 3:a469bbd294b5 831 void upDateSincro(){
nerit 8:310f9e4eac7b 832 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 833 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 834 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 835 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 836 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 837 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 838 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 839 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 840 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 841 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 842 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 843 #if defined(canbusActive)
nerit 3:a469bbd294b5 844 #if defined(speedMaster)
nerit 8:310f9e4eac7b 845 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 846 checkState=0;
nerit 3:a469bbd294b5 847 }
nerit 3:a469bbd294b5 848 #endif
nerit 3:a469bbd294b5 849 #endif
nerit 6:e8c18f0f399a 850 #if defined(pcSerial)
nerit 6:e8c18f0f399a 851 #if defined(checkLoop)
nerit 6:e8c18f0f399a 852 pc.printf("18\n");
nerit 6:e8c18f0f399a 853 #endif
nerit 6:e8c18f0f399a 854 #endif
nerit 3:a469bbd294b5 855 }
nerit 3:a469bbd294b5 856 #endif
nerit 3:a469bbd294b5 857 //*******************************************************
nerit 8:310f9e4eac7b 858 void upDateSpeed()
nerit 8:310f9e4eac7b 859 {
nerit 3:a469bbd294b5 860 /*
nerit 3:a469bbd294b5 861 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 862 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 863 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 864 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 865 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 866 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 867 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 868 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 869 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 870 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 871 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 872 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 873 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 874 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 875 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 876 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 877 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 878 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 879 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 880 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 881 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 882 bit 1= sensore celle
nerit 3:a469bbd294b5 883 bit 2= sensore posizione
nerit 3:a469bbd294b5 884 bit 3= sensore becchi
nerit 3:a469bbd294b5 885 bit 4= motore DC
nerit 3:a469bbd294b5 886 bit 5= controller
nerit 3:a469bbd294b5 887 bit 6= motore stepper
nerit 3:a469bbd294b5 888 */
nerit 8:310f9e4eac7b 889 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 890
nerit 8:310f9e4eac7b 891 val1[3]=0;
nerit 8:310f9e4eac7b 892 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 893 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 894 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 895 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 896 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 897 if (buttonUser==0) {
nerit 10:9e70619e97ab 898 val1[1]=0x02;
nerit 10:9e70619e97ab 899 } else {
nerit 10:9e70619e97ab 900 val1[1]=0x00;
nerit 10:9e70619e97ab 901 }
nerit 10:9e70619e97ab 902 val1[3]=valore;
nerit 10:9e70619e97ab 903 valore+=1;
nerit 10:9e70619e97ab 904 if(valore>50) {
nerit 10:9e70619e97ab 905 valore=0;
nerit 10:9e70619e97ab 906 }
nerit 10:9e70619e97ab 907 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 908 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 909 #endif
nerit 3:a469bbd294b5 910 allarmi();
nerit 3:a469bbd294b5 911 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 912 val1[0]=valore;
nerit 3:a469bbd294b5 913 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 914 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 915 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 916 val1[4]=resetComandi;
nerit 3:a469bbd294b5 917 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 918 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 919 #if defined(canbusActive)
nerit 10:9e70619e97ab 920 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 921 checkState=0;
nerit 10:9e70619e97ab 922 }
nerit 10:9e70619e97ab 923 #endif
nerit 10:9e70619e97ab 924 #if defined(pcSerial)
nerit 10:9e70619e97ab 925 #if defined(checkLoop)
nerit 10:9e70619e97ab 926 pc.printf("19\n");
nerit 10:9e70619e97ab 927 #endif
nerit 10:9e70619e97ab 928 #endif
nerit 3:a469bbd294b5 929 }
nerit 3:a469bbd294b5 930 //*******************************************************
nerit 8:310f9e4eac7b 931 void leggiCAN()
nerit 8:310f9e4eac7b 932 {
nerit 8:310f9e4eac7b 933 #if defined(canbusActive)
nerit 8:310f9e4eac7b 934 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 935 if (firstStart==1) {
nerit 8:310f9e4eac7b 936 #if defined(speedMaster)
nerit 8:310f9e4eac7b 937 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 938 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 939 #else
nerit 8:310f9e4eac7b 940 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 941 #endif
nerit 8:310f9e4eac7b 942 firstStart=0;
nerit 8:310f9e4eac7b 943 }
nerit 8:310f9e4eac7b 944 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 945 #if defined(pcSerial)
nerit 8:310f9e4eac7b 946 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 947 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 948 #endif
nerit 8:310f9e4eac7b 949 #endif
nerit 8:310f9e4eac7b 950 }
nerit 8:310f9e4eac7b 951 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 952 #if defined(pcSerial)
nerit 8:310f9e4eac7b 953 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 954 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 955 #endif
nerit 8:310f9e4eac7b 956 #endif
nerit 8:310f9e4eac7b 957 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 958 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 959 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 960 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 961 comandiDaCan = rxMsg.data[4];
nerit 8:310f9e4eac7b 962 #if defined(pcSerial)
nerit 8:310f9e4eac7b 963 #if defined(canDataReceived)
nerit 3:a469bbd294b5 964 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 965 #endif
nerit 8:310f9e4eac7b 966 #endif
nerit 8:310f9e4eac7b 967 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 968 case 1:
nerit 8:310f9e4eac7b 969 case 3:
nerit 8:310f9e4eac7b 970 azzeraDaCan=1;
nerit 8:310f9e4eac7b 971 resetComandi=0x01;
nerit 8:310f9e4eac7b 972 comandiDaCan=0;
nerit 8:310f9e4eac7b 973 break;
nerit 8:310f9e4eac7b 974 case 2:
nerit 8:310f9e4eac7b 975 loadDaCan=1;
nerit 8:310f9e4eac7b 976 resetComandi=0x02;
nerit 8:310f9e4eac7b 977 comandiDaCan=0;
nerit 8:310f9e4eac7b 978 break;
nerit 8:310f9e4eac7b 979 default:
nerit 8:310f9e4eac7b 980 comandiDaCan=0;
nerit 8:310f9e4eac7b 981 resetComandi=0xFF;
nerit 8:310f9e4eac7b 982 break;
nerit 8:310f9e4eac7b 983 }
nerit 8:310f9e4eac7b 984 #if defined(pcSerial)
nerit 8:310f9e4eac7b 985 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 986 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 987 #endif
nerit 8:310f9e4eac7b 988 #endif
nerit 8:310f9e4eac7b 989 if (speedSimula>45) {
nerit 8:310f9e4eac7b 990 speedSimula=45;
nerit 8:310f9e4eac7b 991 }
nerit 8:310f9e4eac7b 992 // modulo 1
nerit 8:310f9e4eac7b 993 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 994 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 995 simOk=1;
nerit 8:310f9e4eac7b 996 } else {
nerit 8:310f9e4eac7b 997 simOk=0;
nerit 3:a469bbd294b5 998 }
nerit 8:310f9e4eac7b 999 }
nerit 8:310f9e4eac7b 1000 // modulo 2
nerit 8:310f9e4eac7b 1001 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1002 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1003 simOk=1;
nerit 8:310f9e4eac7b 1004 } else {
nerit 8:310f9e4eac7b 1005 simOk=0;
nerit 3:a469bbd294b5 1006 }
nerit 8:310f9e4eac7b 1007 }
nerit 8:310f9e4eac7b 1008 // modulo 3
nerit 8:310f9e4eac7b 1009 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1010 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1011 simOk=1;
nerit 8:310f9e4eac7b 1012 } else {
nerit 8:310f9e4eac7b 1013 simOk=0;
nerit 3:a469bbd294b5 1014 }
nerit 8:310f9e4eac7b 1015 }
nerit 8:310f9e4eac7b 1016 // modulo 4
nerit 8:310f9e4eac7b 1017 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1018 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1019 simOk=1;
nerit 8:310f9e4eac7b 1020 } else {
nerit 8:310f9e4eac7b 1021 simOk=0;
nerit 3:a469bbd294b5 1022 }
nerit 8:310f9e4eac7b 1023 }
nerit 8:310f9e4eac7b 1024 // modulo 5
nerit 8:310f9e4eac7b 1025 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1026 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1027 simOk=1;
nerit 8:310f9e4eac7b 1028 } else {
nerit 8:310f9e4eac7b 1029 simOk=0;
nerit 3:a469bbd294b5 1030 }
nerit 3:a469bbd294b5 1031 }
nerit 8:310f9e4eac7b 1032
nerit 8:310f9e4eac7b 1033 }
nerit 8:310f9e4eac7b 1034 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1035 if (rxMsg.id==RX_Settings) {
nerit 8:310f9e4eac7b 1036 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1037 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1038 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 8:310f9e4eac7b 1039 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1040 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1041 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 1042 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 1043 aggiornaParametri();
nerit 3:a469bbd294b5 1044 }
nerit 3:a469bbd294b5 1045 }
nerit 8:310f9e4eac7b 1046 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1047 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1048 #if defined(M1)
nerit 3:a469bbd294b5 1049 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1050 aggiornaParametri();
nerit 3:a469bbd294b5 1051 #endif
nerit 3:a469bbd294b5 1052 #if defined(M2)
nerit 3:a469bbd294b5 1053 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1054 aggiornaParametri();
nerit 3:a469bbd294b5 1055 #endif
nerit 3:a469bbd294b5 1056 #if defined(M3)
nerit 3:a469bbd294b5 1057 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1058 aggiornaParametri();
nerit 3:a469bbd294b5 1059 #endif
nerit 3:a469bbd294b5 1060 #if defined(M4)
nerit 3:a469bbd294b5 1061 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1062 aggiornaParametri();
nerit 3:a469bbd294b5 1063 #endif
nerit 3:a469bbd294b5 1064 #if defined(M5)
nerit 3:a469bbd294b5 1065 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1066 aggiornaParametri();
nerit 3:a469bbd294b5 1067 #endif
nerit 3:a469bbd294b5 1068 #if defined(M6)
nerit 3:a469bbd294b5 1069 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1070 aggiornaParametri();
nerit 3:a469bbd294b5 1071 #endif
nerit 3:a469bbd294b5 1072 }
nerit 3:a469bbd294b5 1073 }
nerit 8:310f9e4eac7b 1074 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1075 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1076 #if defined(M1)
nerit 3:a469bbd294b5 1077 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1078 aggiornaParametri();
nerit 3:a469bbd294b5 1079 #endif
nerit 3:a469bbd294b5 1080 #if defined(M2)
nerit 3:a469bbd294b5 1081 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1082 aggiornaParametri();
nerit 3:a469bbd294b5 1083 #endif
nerit 3:a469bbd294b5 1084 #if defined(M3)
nerit 3:a469bbd294b5 1085 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1086 aggiornaParametri();
nerit 3:a469bbd294b5 1087 #endif
nerit 3:a469bbd294b5 1088 #if defined(M4)
nerit 3:a469bbd294b5 1089 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1090 aggiornaParametri();
nerit 3:a469bbd294b5 1091 #endif
nerit 3:a469bbd294b5 1092 #if defined(M5)
nerit 3:a469bbd294b5 1093 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1094 aggiornaParametri();
nerit 3:a469bbd294b5 1095 #endif
nerit 3:a469bbd294b5 1096 #if defined(M6)
nerit 3:a469bbd294b5 1097 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1098 aggiornaParametri();
nerit 3:a469bbd294b5 1099 #endif
nerit 3:a469bbd294b5 1100 }
nerit 3:a469bbd294b5 1101 }
nerit 8:310f9e4eac7b 1102 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1103 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1104 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1105 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1106 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1107 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1108 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1109 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1110 aggiornaParametri();
nerit 3:a469bbd294b5 1111 }
nerit 3:a469bbd294b5 1112 }
nerit 8:310f9e4eac7b 1113 }
nerit 8:310f9e4eac7b 1114 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1115 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1116 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1117 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1118 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1119 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1120 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1121 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1122 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1123 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1124 canDataCheck=1;
nerit 3:a469bbd294b5 1125 }
nerit 8:310f9e4eac7b 1126 }
nerit 8:310f9e4eac7b 1127 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1128 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1129 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1130 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1131 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1132 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1133 //stepSetting();
nerit 3:a469bbd294b5 1134 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1135 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1136 if (encoder==false) {
nerit 3:a469bbd294b5 1137 encoder=true;
nerit 3:a469bbd294b5 1138 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1139 dcSetting();
nerit 3:a469bbd294b5 1140 }
nerit 8:310f9e4eac7b 1141 } else {
nerit 8:310f9e4eac7b 1142 if (encoder==true) {
nerit 3:a469bbd294b5 1143 encoder=false;
nerit 3:a469bbd294b5 1144 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1145 dcSetting();
nerit 3:a469bbd294b5 1146 }
nerit 3:a469bbd294b5 1147 }
nerit 8:310f9e4eac7b 1148 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1149 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1150 } else {
nerit 3:a469bbd294b5 1151 tankLevelEnable=false;
nerit 3:a469bbd294b5 1152 }
nerit 8:310f9e4eac7b 1153 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1154 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1155 } else {
nerit 3:a469bbd294b5 1156 seedSensorEnable=false;
nerit 3:a469bbd294b5 1157 }
nerit 8:310f9e4eac7b 1158 if ((flags&0x08)==0x08) {
nerit 3:a469bbd294b5 1159 stendiNylonEnable=true;
nerit 8:310f9e4eac7b 1160 } else {
nerit 3:a469bbd294b5 1161 stendiNylonEnable=false;
nerit 3:a469bbd294b5 1162 }
nerit 8:310f9e4eac7b 1163 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1164 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1165 } else {
nerit 3:a469bbd294b5 1166 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1167 }
nerit 8:310f9e4eac7b 1168 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1169 tamburoStandard=1;
nerit 8:310f9e4eac7b 1170 } else {
nerit 3:a469bbd294b5 1171 tamburoStandard=0;
nerit 3:a469bbd294b5 1172 }
nerit 8:310f9e4eac7b 1173 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1174 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1175 } else {
nerit 3:a469bbd294b5 1176 currentCheckEnable=false;
nerit 3:a469bbd294b5 1177 }
nerit 3:a469bbd294b5 1178 }
nerit 8:310f9e4eac7b 1179 }
nerit 8:310f9e4eac7b 1180 }
nerit 10:9e70619e97ab 1181 #endif
nerit 10:9e70619e97ab 1182 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1183 enableSimula=1;
nerit 10:9e70619e97ab 1184 speedSimula=25;
nerit 10:9e70619e97ab 1185 avviaSimula=1;
nerit 10:9e70619e97ab 1186 simOk=1;
nerit 10:9e70619e97ab 1187 #endif
nerit 10:9e70619e97ab 1188 #if defined(pcSerial)
nerit 10:9e70619e97ab 1189 #if defined(checkLoop)
nerit 10:9e70619e97ab 1190 pc.printf("20\n");
nerit 10:9e70619e97ab 1191 #endif
nerit 10:9e70619e97ab 1192 #endif
bcostm 0:5701b41769fd 1193 }
bcostm 0:5701b41769fd 1194
nerit 3:a469bbd294b5 1195 //*******************************************************
nerit 8:310f9e4eac7b 1196 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1197 {
nerit 8:310f9e4eac7b 1198
nerit 3:a469bbd294b5 1199 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1200 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1201
nerit 3:a469bbd294b5 1202 //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 1203 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1204 // Analog reading
nerit 3:a469bbd294b5 1205 //number = floor(number * 100) / 100;
nerit 3:a469bbd294b5 1206 //if (pwmCheck==1){
nerit 8:310f9e4eac7b 1207 timeout.detach();
nerit 8:310f9e4eac7b 1208 for (int ii=1; ii<20; ii++) {
nerit 8:310f9e4eac7b 1209 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 8:310f9e4eac7b 1210 }
nerit 8:310f9e4eac7b 1211 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 8:310f9e4eac7b 1212 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 8:310f9e4eac7b 1213 if (SDmotorPWM==0.0f) {
nerit 8:310f9e4eac7b 1214 SD_CurrentStart=SD_CurrentAnalog;
nerit 8:310f9e4eac7b 1215 }
nerit 8:310f9e4eac7b 1216 float sommaTutto=0.0f;
nerit 8:310f9e4eac7b 1217 for (int ii=1; ii<21; ii++) {
nerit 8:310f9e4eac7b 1218 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 8:310f9e4eac7b 1219 }
nerit 8:310f9e4eac7b 1220 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 8:310f9e4eac7b 1221 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 10:9e70619e97ab 1222 #if defined(pcSerial)
nerit 10:9e70619e97ab 1223 #if defined(correnteAssorbita)
nerit 10:9e70619e97ab 1224 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 10:9e70619e97ab 1225 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 10:9e70619e97ab 1226 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 10:9e70619e97ab 1227 #endif
nerit 10:9e70619e97ab 1228 #endif
nerit 8:310f9e4eac7b 1229 reduceCurrent=false;
nerit 8:310f9e4eac7b 1230 incrementCurrent=false;
nerit 8:310f9e4eac7b 1231 /*
nerit 8:310f9e4eac7b 1232 if (SD_CurrentScaled < 3.0f){
nerit 8:310f9e4eac7b 1233 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1234 all_lowBattery=1;
nerit 8:310f9e4eac7b 1235 #endif
nerit 8:310f9e4eac7b 1236 incrementCurrent=true;
nerit 8:310f9e4eac7b 1237 }
nerit 8:310f9e4eac7b 1238 */
nerit 8:310f9e4eac7b 1239 if (SD_CurrentScaled > 10.0f) {
nerit 8:310f9e4eac7b 1240 timeCurr.start();
nerit 8:310f9e4eac7b 1241 if (timeCurr.read() > 5.0f) {
nerit 10:9e70619e97ab 1242 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1243 all_overCurrDC=1;
nerit 10:9e70619e97ab 1244 #endif
nerit 8:310f9e4eac7b 1245 reduceCurrent=true;
nerit 8:310f9e4eac7b 1246 timeCurr.reset();
nerit 3:a469bbd294b5 1247 }
nerit 8:310f9e4eac7b 1248 } else {
nerit 8:310f9e4eac7b 1249 timeCurr.stop();
nerit 8:310f9e4eac7b 1250 }
nerit 3:a469bbd294b5 1251 //}
nerit 10:9e70619e97ab 1252 #if defined(pcSerial)
nerit 10:9e70619e97ab 1253 #if defined(checkLoop)
nerit 10:9e70619e97ab 1254 pc.printf("21\n");
nerit 10:9e70619e97ab 1255 #endif
nerit 10:9e70619e97ab 1256 #endif
nerit 3:a469bbd294b5 1257 }
nerit 3:a469bbd294b5 1258 //*******************************************************
nerit 8:310f9e4eac7b 1259 void DC_prepare()
nerit 8:310f9e4eac7b 1260 {
nerit 3:a469bbd294b5 1261 // direction or brake preparation
nerit 8:310f9e4eac7b 1262 if (DC_brake==1) {
nerit 3:a469bbd294b5 1263 SDmotorInA=1;
nerit 3:a469bbd294b5 1264 SDmotorInB=1;
nerit 8:310f9e4eac7b 1265 } else {
nerit 8:310f9e4eac7b 1266 if (DC_forward==0) {
nerit 3:a469bbd294b5 1267 SDmotorInA=1;
nerit 3:a469bbd294b5 1268 SDmotorInB=0;
nerit 8:310f9e4eac7b 1269 } else {
nerit 3:a469bbd294b5 1270 SDmotorInA=0;
nerit 3:a469bbd294b5 1271 SDmotorInB=1;
nerit 3:a469bbd294b5 1272 }
nerit 3:a469bbd294b5 1273 }
nerit 3:a469bbd294b5 1274 // fault reading
nerit 8:310f9e4eac7b 1275 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1276 SD_faultA=1;
nerit 8:310f9e4eac7b 1277 } else {
nerit 8:310f9e4eac7b 1278 SD_faultA=0;
nerit 8:310f9e4eac7b 1279 }
nerit 8:310f9e4eac7b 1280 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1281 SD_faultB=1;
nerit 8:310f9e4eac7b 1282 } else {
nerit 8:310f9e4eac7b 1283 SD_faultB=0;
nerit 8:310f9e4eac7b 1284 }
nerit 10:9e70619e97ab 1285 #if defined(pcSerial)
nerit 10:9e70619e97ab 1286 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1287 pc.printf("22\n");
nerit 10:9e70619e97ab 1288 #endif
nerit 10:9e70619e97ab 1289 #endif
nerit 3:a469bbd294b5 1290 }
nerit 3:a469bbd294b5 1291 //*******************************************************
nerit 8:310f9e4eac7b 1292 void startDelay()
nerit 8:310f9e4eac7b 1293 {
nerit 8:310f9e4eac7b 1294 if (currentCheckEnable==true) {
nerit 6:e8c18f0f399a 1295 int ritardo =0;
nerit 6:e8c18f0f399a 1296 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 8:310f9e4eac7b 1297 if (ritardo>250.0f) {
nerit 6:e8c18f0f399a 1298 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 6:e8c18f0f399a 1299 }
nerit 6:e8c18f0f399a 1300 }
nerit 10:9e70619e97ab 1301 #if defined(pcSerial)
nerit 10:9e70619e97ab 1302 #if defined(checkLoop)
nerit 10:9e70619e97ab 1303 pc.printf("23\n");
nerit 10:9e70619e97ab 1304 #endif
nerit 10:9e70619e97ab 1305 #endif
nerit 3:a469bbd294b5 1306 }
nerit 3:a469bbd294b5 1307 //*******************************************************
nerit 10:9e70619e97ab 1308 void quincTrigon(){
nerit 3:a469bbd294b5 1309 quincClock=true;
nerit 10:9e70619e97ab 1310 #if defined(pcSerial)
nerit 10:9e70619e97ab 1311 #if defined(checkLoop)
nerit 10:9e70619e97ab 1312 pc.printf("24\n");
nerit 10:9e70619e97ab 1313 #endif
nerit 10:9e70619e97ab 1314 #endif
nerit 3:a469bbd294b5 1315 }
nerit 10:9e70619e97ab 1316 void quincTrigof(){
nerit 3:a469bbd294b5 1317 quincClock=false;
nerit 10:9e70619e97ab 1318 #if defined(pcSerial)
nerit 10:9e70619e97ab 1319 #if defined(checkLoop)
nerit 10:9e70619e97ab 1320 pc.printf("25\n");
nerit 10:9e70619e97ab 1321 #endif
nerit 10:9e70619e97ab 1322 #endif
nerit 3:a469bbd294b5 1323 }
nerit 3:a469bbd294b5 1324 //*******************************************************
nerit 8:310f9e4eac7b 1325 void quinCalc()
nerit 8:310f9e4eac7b 1326 {
nerit 3:a469bbd294b5 1327 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1328 #if !defined(mezzo)
nerit 10:9e70619e97ab 1329 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1330 oldQuincIn=1;
nerit 10:9e70619e97ab 1331 if (quincStart==0) {
nerit 10:9e70619e97ab 1332 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1333 quincTime.reset();
nerit 10:9e70619e97ab 1334 quincTimeSD.reset();
nerit 10:9e70619e97ab 1335 quincStart=1;
nerit 10:9e70619e97ab 1336 }
nerit 3:a469bbd294b5 1337 }
nerit 10:9e70619e97ab 1338 if(quincClock==false) {
nerit 3:a469bbd294b5 1339 oldQuincIn=0;
nerit 3:a469bbd294b5 1340 }
nerit 10:9e70619e97ab 1341 #else
nerit 10:9e70619e97ab 1342 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1343 oldQuincIn=1;
nerit 10:9e70619e97ab 1344 if (quincStart==0) {
nerit 10:9e70619e97ab 1345 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1346 quincTime.reset();
nerit 10:9e70619e97ab 1347 quincStart=1;
nerit 10:9e70619e97ab 1348 }
nerit 3:a469bbd294b5 1349 }
nerit 10:9e70619e97ab 1350 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1351 if (quincClock==false) {
nerit 10:9e70619e97ab 1352 oldQuincIn=0;
nerit 10:9e70619e97ab 1353 }
nerit 10:9e70619e97ab 1354 } else {
nerit 10:9e70619e97ab 1355 if (quincClock==true) {
nerit 10:9e70619e97ab 1356 oldQuincIn=0;
nerit 10:9e70619e97ab 1357 }
nerit 10:9e70619e97ab 1358 }
nerit 10:9e70619e97ab 1359 #endif
nerit 3:a469bbd294b5 1360 //****************************************************************************************
nerit 8:310f9e4eac7b 1361 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1362 if (countPicks==0) {
nerit 8:310f9e4eac7b 1363 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1364 // decelera
nerit 3:a469bbd294b5 1365 countPicks=1;
nerit 3:a469bbd294b5 1366 }
nerit 8:310f9e4eac7b 1367 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1368 // accelera
nerit 3:a469bbd294b5 1369 countPicks=2;
nerit 3:a469bbd294b5 1370 }
nerit 3:a469bbd294b5 1371 }
nerit 8:310f9e4eac7b 1372 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1373 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1374 scostamento = oldQuincTimeSD;
nerit 8:310f9e4eac7b 1375 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1376 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1377 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1378 #if defined(pcSerial)
nerit 3:a469bbd294b5 1379 #if defined(laq)
nerit 3:a469bbd294b5 1380 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1381 #endif
nerit 3:a469bbd294b5 1382 #endif
nerit 3:a469bbd294b5 1383 }
nerit 3:a469bbd294b5 1384 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1385 }
nerit 8:310f9e4eac7b 1386 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1387 scostamento = (double)quincTime.read_ms();
nerit 8:310f9e4eac7b 1388 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1389 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1390 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1391 #if defined(pcSerial)
nerit 3:a469bbd294b5 1392 #if defined(laq)
nerit 8:310f9e4eac7b 1393 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1394 #endif
nerit 3:a469bbd294b5 1395 #endif
nerit 3:a469bbd294b5 1396 }
nerit 3:a469bbd294b5 1397 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1398 }
nerit 3:a469bbd294b5 1399 sincroQui=0;
nerit 3:a469bbd294b5 1400 quincStart=0;
nerit 3:a469bbd294b5 1401 countPicks=0;
nerit 5:2a3a64b52f54 1402 // questo e il primo
nerit 3:a469bbd294b5 1403 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1404 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1405 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1406 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1407 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 10:9e70619e97ab 1408 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f){
nerit 10:9e70619e97ab 1409 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1410 }
nerit 10:9e70619e97ab 1411 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f){
nerit 10:9e70619e97ab 1412 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1413 }
nerit 3:a469bbd294b5 1414 }
nerit 8:310f9e4eac7b 1415 }
nerit 3:a469bbd294b5 1416 }
nerit 3:a469bbd294b5 1417 #endif
nerit 3:a469bbd294b5 1418 }
nerit 8:310f9e4eac7b 1419
nerit 3:a469bbd294b5 1420 //*******************************************************************
nerit 8:310f9e4eac7b 1421 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1422 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1423 canDataCheck=0;
nerit 10:9e70619e97ab 1424 double parametro = SDsectorStep/2.0f;
nerit 3:a469bbd294b5 1425 double differenza=0.0f;
nerit 3:a469bbd294b5 1426 #if defined(mezzo)
nerit 8:310f9e4eac7b 1427 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1428 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1429 } else {
nerit 3:a469bbd294b5 1430 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1431 }
nerit 3:a469bbd294b5 1432 #else
nerit 3:a469bbd294b5 1433 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1434 #endif
nerit 8:310f9e4eac7b 1435 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1436 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1437 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1438 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1439 #if defined(quinca)
nerit 3:a469bbd294b5 1440 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 3:a469bbd294b5 1441 #endif
nerit 3:a469bbd294b5 1442 #endif
nerit 3:a469bbd294b5 1443 }
nerit 8:310f9e4eac7b 1444 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1445 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1446 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1447 #if defined(pcSerial)
nerit 3:a469bbd294b5 1448 #if defined(quinca)
nerit 3:a469bbd294b5 1449 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 3:a469bbd294b5 1450 #endif
nerit 3:a469bbd294b5 1451 #endif
nerit 3:a469bbd294b5 1452 }
nerit 5:2a3a64b52f54 1453 // questo e il secondo
nerit 3:a469bbd294b5 1454 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1455 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1456 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1457 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1458 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 10:9e70619e97ab 1459 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f){
nerit 10:9e70619e97ab 1460 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1461 }
nerit 10:9e70619e97ab 1462 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f){
nerit 10:9e70619e97ab 1463 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1464 }
nerit 3:a469bbd294b5 1465 }
nerit 5:2a3a64b52f54 1466 }
nerit 3:a469bbd294b5 1467 }
nerit 3:a469bbd294b5 1468 #endif
nerit 3:a469bbd294b5 1469 }
nerit 3:a469bbd294b5 1470 }
nerit 8:310f9e4eac7b 1471
nerit 3:a469bbd294b5 1472 }
nerit 8:310f9e4eac7b 1473 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1474 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1475 }
nerit 8:310f9e4eac7b 1476 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1477 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1478 }
nerit 6:e8c18f0f399a 1479 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1480 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1481 pc.printf("26\n");
nerit 6:e8c18f0f399a 1482 #endif
nerit 6:e8c18f0f399a 1483 #endif
bcostm 0:5701b41769fd 1484 }
nerit 8:310f9e4eac7b 1485 // ----------------------------------------
nerit 3:a469bbd294b5 1486 #if defined(seedSensor)
nerit 3:a469bbd294b5 1487 void resetDelay(){
nerit 3:a469bbd294b5 1488 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1489 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1490 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1491 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1492 pc.printf("27\n");
nerit 8:310f9e4eac7b 1493 #endif
nerit 6:e8c18f0f399a 1494 #endif
nerit 3:a469bbd294b5 1495 }
nerit 3:a469bbd294b5 1496 #endif
nerit 8:310f9e4eac7b 1497
nerit 3:a469bbd294b5 1498 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1499 // MAIN SECTION
nerit 3:a469bbd294b5 1500 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1501
nerit 3:a469bbd294b5 1502 //*******************************************************************************
nerit 8:310f9e4eac7b 1503 int main()
nerit 8:310f9e4eac7b 1504 {
nerit 6:e8c18f0f399a 1505 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1506 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1507 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1508 #endif
nerit 6:e8c18f0f399a 1509 #endif
nerit 8:310f9e4eac7b 1510
nerit 8:310f9e4eac7b 1511 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1512 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1513 #endif
nerit 8:310f9e4eac7b 1514
nerit 8:310f9e4eac7b 1515 wait(1.0f);
nerit 8:310f9e4eac7b 1516 wait(1.0f);
nerit 8:310f9e4eac7b 1517 wait(1.0f);
nerit 8:310f9e4eac7b 1518
nerit 8:310f9e4eac7b 1519 //stepSetting();
nerit 8:310f9e4eac7b 1520
nerit 6:e8c18f0f399a 1521 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1522 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1523 //----- Initialization
nerit 8:310f9e4eac7b 1524 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1525 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1526 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1527 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1528 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1529
nerit 8:310f9e4eac7b 1530 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1531 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1532 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1533 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1534 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1535 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1536 }
nerit 6:e8c18f0f399a 1537
nerit 8:310f9e4eac7b 1538 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1539 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1540 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1541 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1542
nerit 8:310f9e4eac7b 1543 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1544 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1545 wait(1.0f);
nerit 8:310f9e4eac7b 1546 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1547 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1548 }
nerit 8:310f9e4eac7b 1549
nerit 3:a469bbd294b5 1550 // DC reset ad set
nerit 3:a469bbd294b5 1551 int decima = 100;
nerit 3:a469bbd294b5 1552 wait_ms(200);
nerit 3:a469bbd294b5 1553 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1554 wait_ms(2);
nerit 3:a469bbd294b5 1555 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1556 wait_ms(1);
nerit 3:a469bbd294b5 1557 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1558 wait_ms(3);
nerit 3:a469bbd294b5 1559 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1560 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1561 wait_ms(100);
nerit 3:a469bbd294b5 1562 DC_prepare();
nerit 8:310f9e4eac7b 1563
nerit 8:310f9e4eac7b 1564 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1565 intraPickTimer.start();
nerit 8:310f9e4eac7b 1566 speedTimeOut.start();
nerit 3:a469bbd294b5 1567 speedFilter.start();
nerit 3:a469bbd294b5 1568 seedFilter.start();
nerit 3:a469bbd294b5 1569 TBfilter.start();
nerit 3:a469bbd294b5 1570 sincroTimer.start();
nerit 3:a469bbd294b5 1571 rotationTimeOut.start();
nerit 3:a469bbd294b5 1572 metalTimer.start();
nerit 3:a469bbd294b5 1573 quincTime.start();
nerit 3:a469bbd294b5 1574 quincTimeSD.start();
nerit 8:310f9e4eac7b 1575 #if defined(runner)
nerit 8:310f9e4eac7b 1576 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1577 #endif
nerit 8:310f9e4eac7b 1578
nerit 3:a469bbd294b5 1579 //*******************************************************
nerit 3:a469bbd294b5 1580 // controls for check DC motor current
nerit 8:310f9e4eac7b 1581 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1582 wait_ms(500);
nerit 8:310f9e4eac7b 1583
nerit 8:310f9e4eac7b 1584 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1585 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1586 #endif
nerit 3:a469bbd294b5 1587
nerit 8:310f9e4eac7b 1588 if (inProva==0) {
nerit 3:a469bbd294b5 1589 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1590 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1591 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1592 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1593 #endif
nerit 3:a469bbd294b5 1594 #if defined(speedMaster)
nerit 3:a469bbd294b5 1595 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1596 #endif
nerit 3:a469bbd294b5 1597 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 1598 dcSetting();
nerit 3:a469bbd294b5 1599 #if defined(seedSensor)
nerit 3:a469bbd294b5 1600 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1601 #endif
nerit 8:310f9e4eac7b 1602 } else {
nerit 8:310f9e4eac7b 1603 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1604 }
nerit 8:310f9e4eac7b 1605
nerit 3:a469bbd294b5 1606 aggiornaParametri();
nerit 3:a469bbd294b5 1607
nerit 3:a469bbd294b5 1608 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1609 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1610 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1611
nerit 3:a469bbd294b5 1612 #if defined(provaStepper)
nerit 3:a469bbd294b5 1613 TBmotorRst=1;
nerit 3:a469bbd294b5 1614 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1615 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1616 #if defined(Zucca)
nerit 10:9e70619e97ab 1617 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1618 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1619 #else
nerit 10:9e70619e97ab 1620 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1621 #endif
nerit 3:a469bbd294b5 1622 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1623 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1624 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1625 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1626 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1627 #endif
nerit 6:e8c18f0f399a 1628 #endif
nerit 10:9e70619e97ab 1629 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 10:9e70619e97ab 1630 //TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1631 #else
nerit 3:a469bbd294b5 1632 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1633 motor->set_home();
nerit 8:310f9e4eac7b 1634 motor->go_to(50);
nerit 8:310f9e4eac7b 1635 motor->wait_while_active();
nerit 8:310f9e4eac7b 1636 #if !defined(runner)
nerit 9:7f02256f6e8f 1637 #if defined(Zucca)
nerit 9:7f02256f6e8f 1638 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1639 #else
nerit 9:7f02256f6e8f 1640 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1641 #endif
nerit 8:310f9e4eac7b 1642 #endif
nerit 6:e8c18f0f399a 1643 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1644 #if defined(loStop)
nerit 6:e8c18f0f399a 1645 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1646 #endif
nerit 6:e8c18f0f399a 1647 #endif
nerit 6:e8c18f0f399a 1648 motor->soft_hiz();
nerit 3:a469bbd294b5 1649 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1650 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1651 #endif // end prova stepper
nerit 8:310f9e4eac7b 1652
nerit 8:310f9e4eac7b 1653 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1654
nerit 8:310f9e4eac7b 1655
nerit 3:a469bbd294b5 1656 //**************************************************************************************************************
nerit 3:a469bbd294b5 1657 // MAIN LOOP
nerit 3:a469bbd294b5 1658 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1659 while (true) {
nerit 6:e8c18f0f399a 1660 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1661 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1662 speedClock=0;
nerit 8:310f9e4eac7b 1663 }
nerit 8:310f9e4eac7b 1664
nerit 3:a469bbd294b5 1665 // inversione segnali ingressi
nerit 3:a469bbd294b5 1666 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1667 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1668 #else
nerit 8:310f9e4eac7b 1669 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1670 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1671 }
nerit 8:310f9e4eac7b 1672 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1673 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1674 }
nerit 8:310f9e4eac7b 1675 #endif
nerit 3:a469bbd294b5 1676 TBzeroPinInput = !TBzeroPinInputRev;
nerit 8:310f9e4eac7b 1677
nerit 3:a469bbd294b5 1678 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1679 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1680 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1681 quinconceOut=0;
nerit 3:a469bbd294b5 1682 }
nerit 8:310f9e4eac7b 1683 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1684 quinconceOut=1;
nerit 3:a469bbd294b5 1685 }
nerit 8:310f9e4eac7b 1686 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1687 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1688 posForQuinc=500;
nerit 3:a469bbd294b5 1689 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1690 }
nerit 8:310f9e4eac7b 1691 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1692 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1693 }
nerit 8:310f9e4eac7b 1694 }
nerit 3:a469bbd294b5 1695 #endif
nerit 3:a469bbd294b5 1696
nerit 3:a469bbd294b5 1697 // simulazione velocita
nerit 8:310f9e4eac7b 1698 if (enableSimula==1) {
nerit 3:a469bbd294b5 1699 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1700 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1701 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1702 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1703 } else {
nerit 3:a469bbd294b5 1704 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1705 }
nerit 8:310f9e4eac7b 1706 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1707 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1708 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1709 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1710 }
nerit 8:310f9e4eac7b 1711 } else {
nerit 3:a469bbd294b5 1712 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1713 spedSimclock.detach();
nerit 3:a469bbd294b5 1714 }
nerit 8:310f9e4eac7b 1715 } else {
nerit 3:a469bbd294b5 1716 spedSimclock.detach();
nerit 3:a469bbd294b5 1717 }
nerit 8:310f9e4eac7b 1718
nerit 3:a469bbd294b5 1719 //*******************************************************
nerit 3:a469bbd294b5 1720 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1721 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1722 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1723 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1724 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1725 }
nerit 3:a469bbd294b5 1726 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1727 } else {
nerit 8:310f9e4eac7b 1728 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1729 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1730 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1731 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1732 }
nerit 3:a469bbd294b5 1733 }
nerit 3:a469bbd294b5 1734
nerit 8:310f9e4eac7b 1735 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1736 lowSpeed=1;
nerit 8:310f9e4eac7b 1737 } else {
nerit 3:a469bbd294b5 1738 lowSpeed=0;
nerit 3:a469bbd294b5 1739 }
bcostm 2:35f13b7f3659 1740
nerit 3:a469bbd294b5 1741 //**************************************************************************************************************
nerit 3:a469bbd294b5 1742 //**************************************************************************************************************
nerit 3:a469bbd294b5 1743 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1744 //**************************************************************************************************************
nerit 3:a469bbd294b5 1745 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1746
nerit 8:310f9e4eac7b 1747 if (inProva==0) {
nerit 8:310f9e4eac7b 1748 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1749 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1750 } else {
nerit 6:e8c18f0f399a 1751 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1752 }
nerit 8:310f9e4eac7b 1753 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1754 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1755 }
nerit 3:a469bbd294b5 1756 // ----------------------------------------
nerit 3:a469bbd294b5 1757 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1758 // ----------------------------------------
nerit 8:310f9e4eac7b 1759 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1760 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1761 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1762 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1763 }
nerit 3:a469bbd294b5 1764 }
nerit 8:310f9e4eac7b 1765 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1766 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1767 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1768 intraPickTimer.reset();
nerit 3:a469bbd294b5 1769 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1770 seedFilter.reset();
nerit 3:a469bbd294b5 1771 sincroTimer.reset();
nerit 3:a469bbd294b5 1772 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1773 quincTime.reset();
nerit 3:a469bbd294b5 1774 quincTimeSD.reset();
nerit 3:a469bbd294b5 1775 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1776 sincroQui=1;
nerit 3:a469bbd294b5 1777 SDwheelTimer.reset();
nerit 3:a469bbd294b5 1778 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1779 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1780 posForQuinc=500;
nerit 3:a469bbd294b5 1781 }
nerit 3:a469bbd294b5 1782 #endif
nerit 8:310f9e4eac7b 1783 if (quincCnt<10) {
nerit 3:a469bbd294b5 1784 quincCnt++;
nerit 3:a469bbd294b5 1785 }
nerit 8:310f9e4eac7b 1786 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1787 beccoPronto=1;
nerit 3:a469bbd294b5 1788 }
nerit 3:a469bbd294b5 1789 lockStart=0;
nerit 3:a469bbd294b5 1790 double fase1=0.0f;
nerit 3:a469bbd294b5 1791 forzaFase=0;
nerit 3:a469bbd294b5 1792 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1793 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1794 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1795 } else {
nerit 8:310f9e4eac7b 1796 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1797 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1798 } else {
nerit 3:a469bbd294b5 1799 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1800 }
nerit 8:310f9e4eac7b 1801 if (fase1 > limite) {
nerit 3:a469bbd294b5 1802 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 1803 }
nerit 8:310f9e4eac7b 1804 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1805 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1806 forzaFase=1;
nerit 3:a469bbd294b5 1807 }
nerit 3:a469bbd294b5 1808 trigRepos=1;
nerit 3:a469bbd294b5 1809 }
nerit 3:a469bbd294b5 1810 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1811 #if defined(pcSerial)
nerit 3:a469bbd294b5 1812 #if defined(inCorre)
nerit 3:a469bbd294b5 1813 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1814 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1815 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1816 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1817 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1818 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1819 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1820 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1821 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1822 #endif
nerit 3:a469bbd294b5 1823 #endif
nerit 8:310f9e4eac7b 1824 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 8:310f9e4eac7b 1825 if ((aspettaStart==0)) {
nerit 8:310f9e4eac7b 1826 if (firstStart==0) {
nerit 3:a469bbd294b5 1827 all_pickSignal=1;
nerit 3:a469bbd294b5 1828 }
nerit 3:a469bbd294b5 1829 }
nerit 3:a469bbd294b5 1830 }
nerit 3:a469bbd294b5 1831 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1832 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1833 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1834 #if defined(pcSerial)
nerit 10:9e70619e97ab 1835 #if defined(Qnca)
nerit 10:9e70619e97ab 1836 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1837 #endif
nerit 3:a469bbd294b5 1838 #endif
nerit 3:a469bbd294b5 1839 }
nerit 8:310f9e4eac7b 1840 if (encoder==false) {
nerit 3:a469bbd294b5 1841 pulseRised2=1;
nerit 3:a469bbd294b5 1842 }
nerit 3:a469bbd294b5 1843 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1844 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1845 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1846 cntSpeedError++;
nerit 10:9e70619e97ab 1847 if (cntSpeedError >= 3){
nerit 10:9e70619e97ab 1848 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1849 }
nerit 3:a469bbd294b5 1850 }
nerit 3:a469bbd294b5 1851 }
nerit 10:9e70619e97ab 1852 double oldLastPr = (double)oldLastPulseRead*1.8f;
nerit 8:310f9e4eac7b 1853 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 8:310f9e4eac7b 1854 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 3:a469bbd294b5 1855 all_speedError =1;
nerit 3:a469bbd294b5 1856 }
nerit 3:a469bbd294b5 1857 }
nerit 3:a469bbd294b5 1858 #endif
nerit 3:a469bbd294b5 1859 //*******************************************
nerit 3:a469bbd294b5 1860 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1861 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1862 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1863 #if defined(pcSerial)
nerit 10:9e70619e97ab 1864 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1865 pc.printf("forza\n");
nerit 10:9e70619e97ab 1866 #endif
nerit 8:310f9e4eac7b 1867 #endif
nerit 6:e8c18f0f399a 1868 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1869 }
nerit 8:310f9e4eac7b 1870 aggioVelocita();
nerit 3:a469bbd294b5 1871 }
nerit 3:a469bbd294b5 1872 // ----------------------------------------
nerit 8:310f9e4eac7b 1873 // check SD fase
nerit 8:310f9e4eac7b 1874 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1875 forzaFase=0;
nerit 8:310f9e4eac7b 1876 if (trigRepos==1) {
nerit 3:a469bbd294b5 1877 SDactualPosition=0;
nerit 8:310f9e4eac7b 1878 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1879 countCicli++;
nerit 6:e8c18f0f399a 1880 trigCicli=1;
nerit 6:e8c18f0f399a 1881 }
nerit 8:310f9e4eac7b 1882 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1883 aspettaStart=0;
nerit 10:9e70619e97ab 1884 #if defined(pcSerial)
nerit 10:9e70619e97ab 1885 #if defined(checkLoop)
nerit 10:9e70619e97ab 1886 pc.printf("NoAspetta\n");
nerit 10:9e70619e97ab 1887 #endif
nerit 10:9e70619e97ab 1888 #endif
nerit 6:e8c18f0f399a 1889 }
nerit 8:310f9e4eac7b 1890 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1891 syncroCheck=1;
nerit 6:e8c18f0f399a 1892 beccoPronto=0;
nerit 10:9e70619e97ab 1893 #if defined(pcSerial)
nerit 10:9e70619e97ab 1894 #if defined(checkLoop)
nerit 10:9e70619e97ab 1895 pc.printf("BeccoNo\n");
nerit 10:9e70619e97ab 1896 #endif
nerit 10:9e70619e97ab 1897 #endif
nerit 6:e8c18f0f399a 1898 }
nerit 8:310f9e4eac7b 1899 if (trigTB==0) {
nerit 3:a469bbd294b5 1900 inhibit=1;
nerit 3:a469bbd294b5 1901 trigSD=1;
nerit 8:310f9e4eac7b 1902 } else {
nerit 3:a469bbd294b5 1903 inhibit=0;
nerit 3:a469bbd294b5 1904 trigTB=0;
nerit 3:a469bbd294b5 1905 trigSD=0;
nerit 3:a469bbd294b5 1906 }
nerit 3:a469bbd294b5 1907 trigRepos=0;
nerit 3:a469bbd294b5 1908 }
nerit 8:310f9e4eac7b 1909 } else {
nerit 3:a469bbd294b5 1910 trigCicli=0;
nerit 3:a469bbd294b5 1911 }
nerit 8:310f9e4eac7b 1912 // ----------------------------------------
nerit 3:a469bbd294b5 1913 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1914 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1915 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1916 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1917 }
nerit 8:310f9e4eac7b 1918 }
nerit 8:310f9e4eac7b 1919 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)) {
nerit 3:a469bbd294b5 1920 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1921 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1922 stopCicloTB=1;
nerit 3:a469bbd294b5 1923 startCicloTB=0;
nerit 3:a469bbd294b5 1924 }
nerit 3:a469bbd294b5 1925 TBfilter.reset();
nerit 3:a469bbd294b5 1926 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1927 #if defined(runner)
nerit 8:310f9e4eac7b 1928 legPos.detach();
nerit 8:310f9e4eac7b 1929 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1930 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1931 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1932 #if defined(TBperS)
nerit 8:310f9e4eac7b 1933 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1934 #endif
nerit 8:310f9e4eac7b 1935 #endif
nerit 8:310f9e4eac7b 1936
nerit 8:310f9e4eac7b 1937 #else
nerit 8:310f9e4eac7b 1938 TBactualPosition=0;
nerit 8:310f9e4eac7b 1939 #endif
nerit 8:310f9e4eac7b 1940 if (cntTbError>0) {
nerit 3:a469bbd294b5 1941 cntCellsCorrect++;
nerit 3:a469bbd294b5 1942 }
nerit 8:310f9e4eac7b 1943 if (cntCellsCorrect>3) {
nerit 3:a469bbd294b5 1944 cntTbError=0;
nerit 3:a469bbd294b5 1945 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1946 }
nerit 3:a469bbd294b5 1947 // conteggio celle erogate
nerit 8:310f9e4eac7b 1948 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1949 cellsCounterLow++;
nerit 8:310f9e4eac7b 1950 } else {
nerit 3:a469bbd294b5 1951 cellsCounterHig++;
nerit 3:a469bbd294b5 1952 cellsCounterLow=0;
nerit 3:a469bbd294b5 1953 }
nerit 3:a469bbd294b5 1954 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1955 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1956 cntCellsForLoad++;
nerit 8:310f9e4eac7b 1957 if (cntCellsForLoad >= 5) {
nerit 8:310f9e4eac7b 1958 stopCicloTB=1;
nerit 3:a469bbd294b5 1959 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1960 }
nerit 8:310f9e4eac7b 1961 } else {
nerit 3:a469bbd294b5 1962 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1963 }
nerit 3:a469bbd294b5 1964 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1965 if (trigSD==0) {
nerit 3:a469bbd294b5 1966 inhibit=1;
nerit 3:a469bbd294b5 1967 trigTB=1;
nerit 8:310f9e4eac7b 1968 } else {
nerit 3:a469bbd294b5 1969 inhibit=0;
nerit 3:a469bbd294b5 1970 trigTB=0;
nerit 3:a469bbd294b5 1971 trigSD=0;
nerit 3:a469bbd294b5 1972 }
nerit 3:a469bbd294b5 1973 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1974 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1975 cntCellsForReload++;
nerit 8:310f9e4eac7b 1976 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1977 TBmotorDirecti=TBforward; // rotazione normale
nerit 8:310f9e4eac7b 1978 #if defined(runner)
nerit 9:7f02256f6e8f 1979 #if defined(Zucca)
nerit 9:7f02256f6e8f 1980 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1981 #else
nerit 9:7f02256f6e8f 1982 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1983 #endif
nerit 8:310f9e4eac7b 1984 #else
nerit 9:7f02256f6e8f 1985 #if defined(Zucca)
nerit 9:7f02256f6e8f 1986 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1987 #else
nerit 9:7f02256f6e8f 1988 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1989 #endif
nerit 8:310f9e4eac7b 1990 #endif
nerit 3:a469bbd294b5 1991 erroreTamburo=0;
nerit 3:a469bbd294b5 1992 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 1993 }
nerit 3:a469bbd294b5 1994 }
nerit 3:a469bbd294b5 1995 #if defined(seedSensor)
nerit 3:a469bbd294b5 1996 resetDelay();
nerit 3:a469bbd294b5 1997 delaySeedCheck.start();
nerit 3:a469bbd294b5 1998 #endif
nerit 3:a469bbd294b5 1999 }
nerit 8:310f9e4eac7b 2000 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
nerit 8:310f9e4eac7b 2001 if (firstStart==0) {
nerit 8:310f9e4eac7b 2002 if (cntTbError>2) {
nerit 3:a469bbd294b5 2003 all_cellSignal=1;
nerit 3:a469bbd294b5 2004 #if defined(seedSensor)
nerit 3:a469bbd294b5 2005 resetDelay();
nerit 3:a469bbd294b5 2006 #endif
nerit 3:a469bbd294b5 2007 }
nerit 3:a469bbd294b5 2008 }
nerit 8:310f9e4eac7b 2009 if (erroreTamburo==0) {
nerit 3:a469bbd294b5 2010 erroreTamburo=1;
nerit 3:a469bbd294b5 2011 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 8:310f9e4eac7b 2012 #if defined(runner)
nerit 9:7f02256f6e8f 2013 #if defined(Zucca)
nerit 9:7f02256f6e8f 2014 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2015 #else
nerit 9:7f02256f6e8f 2016 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2017 #endif
nerit 8:310f9e4eac7b 2018 #else
nerit 9:7f02256f6e8f 2019 #if defined(Zucca)
nerit 9:7f02256f6e8f 2020 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2021 #else
nerit 9:7f02256f6e8f 2022 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2023 #endif
nerit 8:310f9e4eac7b 2024 #endif
nerit 3:a469bbd294b5 2025 cntCellsForReload=0;
nerit 3:a469bbd294b5 2026 cntTbError++;
nerit 3:a469bbd294b5 2027 #if defined(seedSensor)
nerit 3:a469bbd294b5 2028 resetDelay();
nerit 3:a469bbd294b5 2029 #endif
nerit 3:a469bbd294b5 2030 }
nerit 3:a469bbd294b5 2031 }
nerit 8:310f9e4eac7b 2032 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)) {
nerit 8:310f9e4eac7b 2033 if (firstStart==0) {
nerit 3:a469bbd294b5 2034 all_noStepRota=1;
nerit 3:a469bbd294b5 2035 #if defined(seedSensor)
nerit 3:a469bbd294b5 2036 resetDelay();
nerit 3:a469bbd294b5 2037 #endif
nerit 3:a469bbd294b5 2038 }
nerit 3:a469bbd294b5 2039 cntTbError=0;
nerit 3:a469bbd294b5 2040 }
nerit 8:310f9e4eac7b 2041 // ----------------------------------------
nerit 3:a469bbd294b5 2042 // read and manage joystick
nerit 8:310f9e4eac7b 2043 if (loadDaCan==1) {
nerit 8:310f9e4eac7b 2044 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2045 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2046 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2047 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2048 #endif
nerit 8:310f9e4eac7b 2049 #endif
nerit 6:e8c18f0f399a 2050 ciclaTB();
nerit 8:310f9e4eac7b 2051 }
nerit 3:a469bbd294b5 2052 }
nerit 8:310f9e4eac7b 2053
nerit 8:310f9e4eac7b 2054 //***************************************************************************************************
nerit 8:310f9e4eac7b 2055 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2056 //
nerit 3:a469bbd294b5 2057 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2058 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2059 if (pulseRised==1) {
nerit 8:310f9e4eac7b 2060 if (enableSpeed<10) {
nerit 8:310f9e4eac7b 2061 enableSpeed++;
nerit 8:310f9e4eac7b 2062 }
nerit 3:a469bbd294b5 2063 pulseRised=0;
nerit 3:a469bbd294b5 2064 pulseRised1=1;
nerit 3:a469bbd294b5 2065 speedMediaCalc();
nerit 3:a469bbd294b5 2066 // calcola velocità trattore
nerit 8:310f9e4eac7b 2067 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2068 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2069 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 3:a469bbd294b5 2070 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 10:9e70619e97ab 2071 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2072 }
nerit 8:310f9e4eac7b 2073 if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2074 checkSDrotation=1;
nerit 3:a469bbd294b5 2075 SDwheelTimer.start();
nerit 3:a469bbd294b5 2076 }
nerit 3:a469bbd294b5 2077 }
nerit 3:a469bbd294b5 2078 }
nerit 3:a469bbd294b5 2079 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2080 } else {
nerit 3:a469bbd294b5 2081 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2082 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2083 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2084 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2085 #if defined(seedSensor)
nerit 10:9e70619e97ab 2086 resetDelay();
nerit 10:9e70619e97ab 2087 #endif
nerit 3:a469bbd294b5 2088 pntMedia=0;
nerit 3:a469bbd294b5 2089 speedTimeOut.reset();
nerit 3:a469bbd294b5 2090 enableSpeed=0;
nerit 3:a469bbd294b5 2091 quincCnt=0;
nerit 3:a469bbd294b5 2092 }
nerit 3:a469bbd294b5 2093 }
nerit 8:310f9e4eac7b 2094
nerit 10:9e70619e97ab 2095 #if defined(seedSensor)
nerit 10:9e70619e97ab 2096 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2097 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2098 if (seedSee==0) {
nerit 10:9e70619e97ab 2099 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2100 }
nerit 10:9e70619e97ab 2101 resetDelay();
nerit 3:a469bbd294b5 2102 }
nerit 3:a469bbd294b5 2103 }
nerit 10:9e70619e97ab 2104 #endif
nerit 3:a469bbd294b5 2105 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2106 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2107 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2108 enableSpeed=0;
nerit 3:a469bbd294b5 2109 }*/
nerit 3:a469bbd294b5 2110 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2111 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2112 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2113 }*/
nerit 8:310f9e4eac7b 2114 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2115 // cycle logic control section
nerit 8:310f9e4eac7b 2116 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2117 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2118 if(simOk==0) {
nerit 8:310f9e4eac7b 2119 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2120 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2121 }
nerit 8:310f9e4eac7b 2122 }
nerit 8:310f9e4eac7b 2123 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 2124 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2125 #if defined(Qncc)
nerit 8:310f9e4eac7b 2126 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2127
nerit 8:310f9e4eac7b 2128 #endif
nerit 8:310f9e4eac7b 2129 #endif
nerit 8:310f9e4eac7b 2130 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2131 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2132 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 2133 if (encoder==false) {
nerit 8:310f9e4eac7b 2134 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2135 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2136 } else {
nerit 8:310f9e4eac7b 2137 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2138 }
nerit 8:310f9e4eac7b 2139 } else {
nerit 8:310f9e4eac7b 2140 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*25.5f))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2141 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2142 #if defined(Qnce)
nerit 8:310f9e4eac7b 2143 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2144 #endif
nerit 5:2a3a64b52f54 2145 #endif
nerit 8:310f9e4eac7b 2146 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2147 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2148 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2149 #endif
nerit 8:310f9e4eac7b 2150 }
nerit 8:310f9e4eac7b 2151 //*******************************************
nerit 8:310f9e4eac7b 2152 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2153 double dutyTeorico = 0.00;
nerit 8:310f9e4eac7b 2154 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2155 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2156 }
nerit 8:310f9e4eac7b 2157 for (int ii = 0; ii<16; ii++) {
nerit 8:310f9e4eac7b 2158 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])) {
nerit 8:310f9e4eac7b 2159 dutyTeorico = tabComan[ii+1];
nerit 3:a469bbd294b5 2160 }
nerit 8:310f9e4eac7b 2161 }
nerit 8:310f9e4eac7b 2162 if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 8:310f9e4eac7b 2163 dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 8:310f9e4eac7b 2164 }
nerit 8:310f9e4eac7b 2165 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2166 quinCalc();
nerit 8:310f9e4eac7b 2167 #endif
nerit 8:310f9e4eac7b 2168 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2169 #if defined(Qncd)
nerit 8:310f9e4eac7b 2170 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2171 #endif
nerit 8:310f9e4eac7b 2172 #endif
nerit 8:310f9e4eac7b 2173 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2174 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2175 if(encoder==false) {
nerit 8:310f9e4eac7b 2176 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2177 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2178 } else {
nerit 8:310f9e4eac7b 2179 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 2180 }
nerit 8:310f9e4eac7b 2181 } else {
nerit 8:310f9e4eac7b 2182 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 2183 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2184 #if defined(Qnce)
nerit 8:310f9e4eac7b 2185 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2186 #endif
nerit 3:a469bbd294b5 2187 #endif
nerit 3:a469bbd294b5 2188 }
nerit 8:310f9e4eac7b 2189 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2190 double k3=0.0f;
nerit 8:310f9e4eac7b 2191 double k4=0.0f;
nerit 8:310f9e4eac7b 2192 double k5=0.0f;
nerit 8:310f9e4eac7b 2193 double k6=0.0f;
nerit 8:310f9e4eac7b 2194 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2195 k3=0.010f;
nerit 8:310f9e4eac7b 2196 #else
nerit 8:310f9e4eac7b 2197 k3=0.050f;
nerit 8:310f9e4eac7b 2198 #endif
nerit 8:310f9e4eac7b 2199 k4=1.103f;
nerit 8:310f9e4eac7b 2200 k5=10.00f;
nerit 8:310f9e4eac7b 2201 k6=20.50f;
nerit 8:310f9e4eac7b 2202 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2203 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2204 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2205 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2206 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2207 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2208 double k1=0.0f;
nerit 8:310f9e4eac7b 2209 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2210 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2211 }
nerit 8:310f9e4eac7b 2212 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2213 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2214 }
nerit 8:310f9e4eac7b 2215 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2216 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2217 }
nerit 8:310f9e4eac7b 2218 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2219 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2220 }
nerit 8:310f9e4eac7b 2221 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2222 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2223 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2224 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2225 correzione = (1.0f - dutyTeorico);
nerit 3:a469bbd294b5 2226 }
nerit 8:310f9e4eac7b 2227 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2228 correzione = -1.0f*dutyTeorico;
nerit 3:a469bbd294b5 2229 }
nerit 3:a469bbd294b5 2230 }
nerit 8:310f9e4eac7b 2231 pulseRised1=0;
nerit 8:310f9e4eac7b 2232 pulseRised2=0;
nerit 8:310f9e4eac7b 2233 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2234 #if defined(Qnca)
nerit 8:310f9e4eac7b 2235 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2236 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 2237 #endif
nerit 8:310f9e4eac7b 2238 #endif
nerit 8:310f9e4eac7b 2239 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2240 #if defined(Qncb)
nerit 8:310f9e4eac7b 2241 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2242 #endif
nerit 8:310f9e4eac7b 2243 #endif
nerit 8:310f9e4eac7b 2244 }
nerit 8:310f9e4eac7b 2245 // introduce il controllo di corrente
nerit 8:310f9e4eac7b 2246 if (currentCheckEnable==true) {
nerit 8:310f9e4eac7b 2247 if (incrementCurrent) {
nerit 8:310f9e4eac7b 2248 boostDcOut +=0.005f;
nerit 8:310f9e4eac7b 2249 }
nerit 8:310f9e4eac7b 2250 if (reduceCurrent) {
nerit 8:310f9e4eac7b 2251 boostDcOut -=0.005f;
nerit 8:310f9e4eac7b 2252 }
nerit 8:310f9e4eac7b 2253 if (boostDcOut >= 0.2f) {
nerit 8:310f9e4eac7b 2254 boostDcOut=0.2f;
nerit 8:310f9e4eac7b 2255 all_genericals=1;
nerit 8:310f9e4eac7b 2256 }
nerit 8:310f9e4eac7b 2257 if (boostDcOut <=-0.2f) {
nerit 8:310f9e4eac7b 2258 boostDcOut=-0.2f;
nerit 8:310f9e4eac7b 2259 all_genericals=1;
nerit 8:310f9e4eac7b 2260 }
nerit 8:310f9e4eac7b 2261 correzione += boostDcOut;
nerit 8:310f9e4eac7b 2262 }
nerit 8:310f9e4eac7b 2263 DC_brake=0;
nerit 8:310f9e4eac7b 2264 DC_forward=1;
nerit 8:310f9e4eac7b 2265 DC_prepare();
bcostm 2:35f13b7f3659 2266
nerit 8:310f9e4eac7b 2267 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2268 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2269 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2270 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2271 }
nerit 8:310f9e4eac7b 2272 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2273 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2274 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2275 }
nerit 3:a469bbd294b5 2276
nerit 8:310f9e4eac7b 2277 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2278 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2279 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2280 } else {
nerit 3:a469bbd294b5 2281 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2282 }
nerit 8:310f9e4eac7b 2283 } else {
nerit 8:310f9e4eac7b 2284 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2285 }
nerit 8:310f9e4eac7b 2286 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2287 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2288 }
nerit 8:310f9e4eac7b 2289 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2290 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2291 }
nerit 8:310f9e4eac7b 2292 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2293 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2294 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2295 }
nerit 8:310f9e4eac7b 2296 // allarme
nerit 8:310f9e4eac7b 2297 if (SDwheelTimer.read_ms()>4000) {
nerit 8:310f9e4eac7b 2298 if (firstStart==0) {
nerit 8:310f9e4eac7b 2299 all_noDcRotati=1;
nerit 3:a469bbd294b5 2300 }
nerit 8:310f9e4eac7b 2301 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2302 #if defined(VediAllarmi)
nerit 8:310f9e4eac7b 2303 pc.printf("allarme no DC rotation");
nerit 3:a469bbd294b5 2304 #endif
nerit 8:310f9e4eac7b 2305 #endif
nerit 8:310f9e4eac7b 2306 }
nerit 3:a469bbd294b5 2307
nerit 8:310f9e4eac7b 2308 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2309 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2310 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2311 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2312 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2313 syncroCheck=0;
nerit 8:310f9e4eac7b 2314 lockStart=1;
nerit 8:310f9e4eac7b 2315 periodo = TBperiod;
nerit 8:310f9e4eac7b 2316 #if !defined(runner)
nerit 9:7f02256f6e8f 2317 #if defined(Zucca)
nerit 9:7f02256f6e8f 2318 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2319 #else
nerit 9:7f02256f6e8f 2320 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2321 #endif
nerit 8:310f9e4eac7b 2322 #endif
nerit 8:310f9e4eac7b 2323 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2324 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2325 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2326 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2327 #endif
nerit 6:e8c18f0f399a 2328 #endif
nerit 8:310f9e4eac7b 2329 cambiaTB(periodo);
nerit 3:a469bbd294b5 2330 }
nerit 8:310f9e4eac7b 2331 }
nerit 8:310f9e4eac7b 2332 // controllo di stop
nerit 8:310f9e4eac7b 2333 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2334 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2335 syncroCheck=0;
nerit 8:310f9e4eac7b 2336 aspettaStart=1;
nerit 8:310f9e4eac7b 2337 countCicli=0;
nerit 6:e8c18f0f399a 2338 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2339 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2340 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2341 #endif
nerit 6:e8c18f0f399a 2342 #endif
nerit 8:310f9e4eac7b 2343 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2344 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2345 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2346 pc.printf("15f\n");
nerit 8:310f9e4eac7b 2347 #endif
nerit 8:310f9e4eac7b 2348 #endif
nerit 8:310f9e4eac7b 2349 #if !defined(runner)
nerit 8:310f9e4eac7b 2350 TBticker.detach();
nerit 8:310f9e4eac7b 2351 #endif
nerit 8:310f9e4eac7b 2352 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2353 #if defined(loStop)
nerit 8:310f9e4eac7b 2354 pc.printf("A4\n");
nerit 8:310f9e4eac7b 2355 #endif
nerit 6:e8c18f0f399a 2356 #endif
nerit 8:310f9e4eac7b 2357 motor->soft_hiz();
nerit 8:310f9e4eac7b 2358 }
nerit 8:310f9e4eac7b 2359 }
nerit 8:310f9e4eac7b 2360 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2361 syncroCheck=0;
nerit 8:310f9e4eac7b 2362 lockStart=0;
nerit 8:310f9e4eac7b 2363 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2364 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2365 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2366 if (encoder==false) {
nerit 8:310f9e4eac7b 2367 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2368 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2369 } else {
nerit 8:310f9e4eac7b 2370 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2371 }
nerit 8:310f9e4eac7b 2372 } else {
nerit 8:310f9e4eac7b 2373 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2374 }
nerit 8:310f9e4eac7b 2375 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2376 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2377 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2378 }
nerit 8:310f9e4eac7b 2379 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2380 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2381 startCicloTB=1;
nerit 8:310f9e4eac7b 2382 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2383 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2384 pc.printf("startTB\n");
nerit 8:310f9e4eac7b 2385 #endif
nerit 8:310f9e4eac7b 2386 #endif
nerit 8:310f9e4eac7b 2387 }
nerit 8:310f9e4eac7b 2388 beccoPronto=0;
nerit 8:310f9e4eac7b 2389 }
nerit 8:310f9e4eac7b 2390 } else {
nerit 8:310f9e4eac7b 2391 // tamburo per zucca
nerit 8:310f9e4eac7b 2392 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2393 startCicloTB=1;
nerit 8:310f9e4eac7b 2394 }
nerit 8:310f9e4eac7b 2395 beccoPronto=0;
nerit 8:310f9e4eac7b 2396 }
nerit 8:310f9e4eac7b 2397 }
nerit 8:310f9e4eac7b 2398 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2399 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2400 pc.printf("lowSpeed\n");
nerit 6:e8c18f0f399a 2401 #endif
nerit 8:310f9e4eac7b 2402 #endif
nerit 8:310f9e4eac7b 2403 ciclaTB();
nerit 8:310f9e4eac7b 2404 }
nerit 8:310f9e4eac7b 2405 //*************************************************************
nerit 8:310f9e4eac7b 2406 } else { // fine ciclo con velocita maggiore di 0
nerit 8:310f9e4eac7b 2407 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2408 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2409 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2410 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2411 resetDelay();
nerit 8:310f9e4eac7b 2412 #endif
nerit 8:310f9e4eac7b 2413 checkSDrotation=0;
nerit 8:310f9e4eac7b 2414 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2415 aspettaStart=1;
nerit 8:310f9e4eac7b 2416 countCicli=0;
nerit 8:310f9e4eac7b 2417 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2418 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2419 correzione=0.0f;
nerit 8:310f9e4eac7b 2420 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2421 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2422 cntTbError=0;
nerit 8:310f9e4eac7b 2423 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2424 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2425 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2426 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2427 #endif
nerit 8:310f9e4eac7b 2428 #endif
nerit 8:310f9e4eac7b 2429 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2430 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2431 DC_brake=1;
nerit 8:310f9e4eac7b 2432 DC_prepare();
nerit 8:310f9e4eac7b 2433 metalTimer.reset();
nerit 8:310f9e4eac7b 2434 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2435 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2436 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2437 #endif
nerit 8:310f9e4eac7b 2438 #endif
nerit 8:310f9e4eac7b 2439 #if !defined(runner)
nerit 6:e8c18f0f399a 2440 TBticker.detach();
nerit 8:310f9e4eac7b 2441 #endif
nerit 8:310f9e4eac7b 2442 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2443 #if defined(loStop)
nerit 8:310f9e4eac7b 2444 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2445 #endif
nerit 8:310f9e4eac7b 2446 #endif
nerit 8:310f9e4eac7b 2447 motor->soft_hiz();
nerit 8:310f9e4eac7b 2448 pntMedia=0;
nerit 8:310f9e4eac7b 2449 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2450 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2451 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2452 #endif
nerit 8:310f9e4eac7b 2453 #endif
nerit 3:a469bbd294b5 2454 }
nerit 8:310f9e4eac7b 2455 }
nerit 8:310f9e4eac7b 2456
nerit 8:310f9e4eac7b 2457 //*************************************************************************************************
nerit 3:a469bbd294b5 2458 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2459 //*************************************************************************************************
nerit 6:e8c18f0f399a 2460 } //end inProva==0
nerit 3:a469bbd294b5 2461 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2462 } // end while
nerit 3:a469bbd294b5 2463 } // end main