Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_Modula2021

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Dependencies:   mbed X_NUCLEO_IHM03A1_for

main.cpp@12:b0fc1d313813, 2019-03-25 (annotated)

Committer:
nerit
Date:
Mon Mar 25 11:32:34 2019 +0000
Revision:
12:b0fc1d313813
Parent:
10:9e70619e97ab
Child:
13:d1030d4e51a8
aggiornamento per stabilizzazione 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 12:b0fc1d313813 727 void controllaCorrente(){
nerit 12:b0fc1d313813 728 correggiCorrente=1;
nerit 12:b0fc1d313813 729 }
nerit 12:b0fc1d313813 730 //****************************************
nerit 3:a469bbd294b5 731 void dcSetting(){
nerit 8:310f9e4eac7b 732 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 733 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 734 }
nerit 8:310f9e4eac7b 735 if (encoder==true) {
nerit 8:310f9e4eac7b 736 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 737 }
nerit 6:e8c18f0f399a 738 #if defined(pcSerial)
nerit 6:e8c18f0f399a 739 #if defined(checkLoop)
nerit 6:e8c18f0f399a 740 pc.printf("16\n");
nerit 6:e8c18f0f399a 741 #endif
nerit 6:e8c18f0f399a 742 #endif
nerit 3:a469bbd294b5 743 }
nerit 3:a469bbd294b5 744 //*******************************************************
nerit 8:310f9e4eac7b 745 void allarmi()
nerit 8:310f9e4eac7b 746 {
nerit 8:310f9e4eac7b 747 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 748 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 749 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 750
nerit 8:310f9e4eac7b 751 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 752 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 753 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 754 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 755 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 756 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 757 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 758 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 759 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 760 }
nerit 3:a469bbd294b5 761
nerit 8:310f9e4eac7b 762 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 763 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 764 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 765 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 766 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 767 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 768 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 769 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 770 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 771 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 772 }
nerit 3:a469bbd294b5 773
nerit 10:9e70619e97ab 774 #if defined(pcSerial)
nerit 10:9e70619e97ab 775 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 776 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 777 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 778 }
nerit 10:9e70619e97ab 779 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 780 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 781 }
nerit 10:9e70619e97ab 782 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 783 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 784 }
nerit 10:9e70619e97ab 785 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 786 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 787 }
nerit 10:9e70619e97ab 788 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 789 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 790 }
nerit 10:9e70619e97ab 791 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 792 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 793 }
nerit 10:9e70619e97ab 794 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 795 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 796 }
nerit 10:9e70619e97ab 797 if (all_speedError==1) {
nerit 10:9e70619e97ab 798 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 799 }
nerit 10:9e70619e97ab 800 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 801 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 802 }
nerit 10:9e70619e97ab 803 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 804 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 805 }
nerit 10:9e70619e97ab 806 if (all_genericals==1) {
nerit 10:9e70619e97ab 807 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 808 }
nerit 10:9e70619e97ab 809 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 810 #endif
nerit 10:9e70619e97ab 811 #endif
nerit 8:310f9e4eac7b 812 all_semiFiniti=0;
nerit 8:310f9e4eac7b 813 all_pickSignal=0;
nerit 8:310f9e4eac7b 814 all_cellSignal=0;
nerit 8:310f9e4eac7b 815 all_lowBattery=0;
nerit 8:310f9e4eac7b 816 all_overCurrDC=0;
nerit 8:310f9e4eac7b 817 all_stopSistem=0;
nerit 8:310f9e4eac7b 818 all_upElements=0;
nerit 8:310f9e4eac7b 819 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 820 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 821 all_noDcRotati=0;
nerit 8:310f9e4eac7b 822 all_noStepRota=0;
nerit 8:310f9e4eac7b 823 all_speedError=0;
nerit 8:310f9e4eac7b 824 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 825 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 826 all_genericals=0;
nerit 10:9e70619e97ab 827 #if defined(pcSerial)
nerit 10:9e70619e97ab 828 #if defined(checkLoop)
nerit 10:9e70619e97ab 829 pc.printf("17\n");
nerit 10:9e70619e97ab 830 #endif
nerit 10:9e70619e97ab 831 #endif
nerit 3:a469bbd294b5 832 }
nerit 3:a469bbd294b5 833 //*******************************************************
nerit 3:a469bbd294b5 834 #if defined(speedMaster)
nerit 3:a469bbd294b5 835 void upDateSincro(){
nerit 8:310f9e4eac7b 836 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 837 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 838 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 839 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 840 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 841 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 842 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 843 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 844 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 845 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 846 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 847 #if defined(canbusActive)
nerit 3:a469bbd294b5 848 #if defined(speedMaster)
nerit 8:310f9e4eac7b 849 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 850 checkState=0;
nerit 3:a469bbd294b5 851 }
nerit 3:a469bbd294b5 852 #endif
nerit 3:a469bbd294b5 853 #endif
nerit 6:e8c18f0f399a 854 #if defined(pcSerial)
nerit 6:e8c18f0f399a 855 #if defined(checkLoop)
nerit 6:e8c18f0f399a 856 pc.printf("18\n");
nerit 6:e8c18f0f399a 857 #endif
nerit 6:e8c18f0f399a 858 #endif
nerit 3:a469bbd294b5 859 }
nerit 3:a469bbd294b5 860 #endif
nerit 3:a469bbd294b5 861 //*******************************************************
nerit 8:310f9e4eac7b 862 void upDateSpeed()
nerit 8:310f9e4eac7b 863 {
nerit 3:a469bbd294b5 864 /*
nerit 3:a469bbd294b5 865 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 866 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 867 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 868 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 869 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 870 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 871 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 872 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 873 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 874 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 875 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 876 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 877 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 878 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 879 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 880 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 881 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 882 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 883 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 884 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 885 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 886 bit 1= sensore celle
nerit 3:a469bbd294b5 887 bit 2= sensore posizione
nerit 3:a469bbd294b5 888 bit 3= sensore becchi
nerit 3:a469bbd294b5 889 bit 4= motore DC
nerit 3:a469bbd294b5 890 bit 5= controller
nerit 3:a469bbd294b5 891 bit 6= motore stepper
nerit 3:a469bbd294b5 892 */
nerit 8:310f9e4eac7b 893 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 894
nerit 8:310f9e4eac7b 895 val1[3]=0;
nerit 8:310f9e4eac7b 896 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 897 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 898 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 899 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 900 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 901 if (buttonUser==0) {
nerit 10:9e70619e97ab 902 val1[1]=0x02;
nerit 10:9e70619e97ab 903 } else {
nerit 10:9e70619e97ab 904 val1[1]=0x00;
nerit 10:9e70619e97ab 905 }
nerit 10:9e70619e97ab 906 val1[3]=valore;
nerit 10:9e70619e97ab 907 valore+=1;
nerit 10:9e70619e97ab 908 if(valore>50) {
nerit 10:9e70619e97ab 909 valore=0;
nerit 10:9e70619e97ab 910 }
nerit 10:9e70619e97ab 911 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 912 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 913 #endif
nerit 3:a469bbd294b5 914 allarmi();
nerit 3:a469bbd294b5 915 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 916 val1[0]=valore;
nerit 3:a469bbd294b5 917 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 918 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 919 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 920 val1[4]=resetComandi;
nerit 3:a469bbd294b5 921 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 922 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 923 #if defined(canbusActive)
nerit 10:9e70619e97ab 924 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 925 checkState=0;
nerit 10:9e70619e97ab 926 }
nerit 10:9e70619e97ab 927 #endif
nerit 10:9e70619e97ab 928 #if defined(pcSerial)
nerit 10:9e70619e97ab 929 #if defined(checkLoop)
nerit 10:9e70619e97ab 930 pc.printf("19\n");
nerit 10:9e70619e97ab 931 #endif
nerit 10:9e70619e97ab 932 #endif
nerit 3:a469bbd294b5 933 }
nerit 3:a469bbd294b5 934 //*******************************************************
nerit 8:310f9e4eac7b 935 void leggiCAN()
nerit 8:310f9e4eac7b 936 {
nerit 8:310f9e4eac7b 937 #if defined(canbusActive)
nerit 8:310f9e4eac7b 938 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 939 if (firstStart==1) {
nerit 8:310f9e4eac7b 940 #if defined(speedMaster)
nerit 8:310f9e4eac7b 941 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 942 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 943 #else
nerit 8:310f9e4eac7b 944 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 945 #endif
nerit 8:310f9e4eac7b 946 firstStart=0;
nerit 8:310f9e4eac7b 947 }
nerit 8:310f9e4eac7b 948 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 949 #if defined(pcSerial)
nerit 8:310f9e4eac7b 950 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 951 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 952 #endif
nerit 8:310f9e4eac7b 953 #endif
nerit 8:310f9e4eac7b 954 }
nerit 8:310f9e4eac7b 955 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 956 #if defined(pcSerial)
nerit 8:310f9e4eac7b 957 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 958 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 959 #endif
nerit 8:310f9e4eac7b 960 #endif
nerit 8:310f9e4eac7b 961 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 962 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 963 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 964 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 965 comandiDaCan = rxMsg.data[4];
nerit 8:310f9e4eac7b 966 #if defined(pcSerial)
nerit 8:310f9e4eac7b 967 #if defined(canDataReceived)
nerit 3:a469bbd294b5 968 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 969 #endif
nerit 8:310f9e4eac7b 970 #endif
nerit 8:310f9e4eac7b 971 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 972 case 1:
nerit 8:310f9e4eac7b 973 case 3:
nerit 8:310f9e4eac7b 974 azzeraDaCan=1;
nerit 8:310f9e4eac7b 975 resetComandi=0x01;
nerit 8:310f9e4eac7b 976 comandiDaCan=0;
nerit 8:310f9e4eac7b 977 break;
nerit 8:310f9e4eac7b 978 case 2:
nerit 8:310f9e4eac7b 979 loadDaCan=1;
nerit 8:310f9e4eac7b 980 resetComandi=0x02;
nerit 8:310f9e4eac7b 981 comandiDaCan=0;
nerit 8:310f9e4eac7b 982 break;
nerit 8:310f9e4eac7b 983 default:
nerit 8:310f9e4eac7b 984 comandiDaCan=0;
nerit 8:310f9e4eac7b 985 resetComandi=0xFF;
nerit 8:310f9e4eac7b 986 break;
nerit 8:310f9e4eac7b 987 }
nerit 8:310f9e4eac7b 988 #if defined(pcSerial)
nerit 8:310f9e4eac7b 989 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 990 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 991 #endif
nerit 8:310f9e4eac7b 992 #endif
nerit 8:310f9e4eac7b 993 if (speedSimula>45) {
nerit 8:310f9e4eac7b 994 speedSimula=45;
nerit 8:310f9e4eac7b 995 }
nerit 8:310f9e4eac7b 996 // modulo 1
nerit 8:310f9e4eac7b 997 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 998 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 999 simOk=1;
nerit 8:310f9e4eac7b 1000 } else {
nerit 8:310f9e4eac7b 1001 simOk=0;
nerit 3:a469bbd294b5 1002 }
nerit 8:310f9e4eac7b 1003 }
nerit 8:310f9e4eac7b 1004 // modulo 2
nerit 8:310f9e4eac7b 1005 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1006 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1007 simOk=1;
nerit 8:310f9e4eac7b 1008 } else {
nerit 8:310f9e4eac7b 1009 simOk=0;
nerit 3:a469bbd294b5 1010 }
nerit 8:310f9e4eac7b 1011 }
nerit 8:310f9e4eac7b 1012 // modulo 3
nerit 8:310f9e4eac7b 1013 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1014 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1015 simOk=1;
nerit 8:310f9e4eac7b 1016 } else {
nerit 8:310f9e4eac7b 1017 simOk=0;
nerit 3:a469bbd294b5 1018 }
nerit 8:310f9e4eac7b 1019 }
nerit 8:310f9e4eac7b 1020 // modulo 4
nerit 8:310f9e4eac7b 1021 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1022 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1023 simOk=1;
nerit 8:310f9e4eac7b 1024 } else {
nerit 8:310f9e4eac7b 1025 simOk=0;
nerit 3:a469bbd294b5 1026 }
nerit 8:310f9e4eac7b 1027 }
nerit 8:310f9e4eac7b 1028 // modulo 5
nerit 8:310f9e4eac7b 1029 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1030 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1031 simOk=1;
nerit 8:310f9e4eac7b 1032 } else {
nerit 8:310f9e4eac7b 1033 simOk=0;
nerit 3:a469bbd294b5 1034 }
nerit 3:a469bbd294b5 1035 }
nerit 8:310f9e4eac7b 1036
nerit 8:310f9e4eac7b 1037 }
nerit 8:310f9e4eac7b 1038 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1039 if (rxMsg.id==RX_Settings) {
nerit 8:310f9e4eac7b 1040 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1041 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1042 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 8:310f9e4eac7b 1043 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1044 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1045 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 1046 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 1047 aggiornaParametri();
nerit 3:a469bbd294b5 1048 }
nerit 3:a469bbd294b5 1049 }
nerit 8:310f9e4eac7b 1050 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1051 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1052 #if defined(M1)
nerit 3:a469bbd294b5 1053 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1054 aggiornaParametri();
nerit 3:a469bbd294b5 1055 #endif
nerit 3:a469bbd294b5 1056 #if defined(M2)
nerit 3:a469bbd294b5 1057 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1058 aggiornaParametri();
nerit 3:a469bbd294b5 1059 #endif
nerit 3:a469bbd294b5 1060 #if defined(M3)
nerit 3:a469bbd294b5 1061 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1062 aggiornaParametri();
nerit 3:a469bbd294b5 1063 #endif
nerit 3:a469bbd294b5 1064 #if defined(M4)
nerit 3:a469bbd294b5 1065 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1066 aggiornaParametri();
nerit 3:a469bbd294b5 1067 #endif
nerit 3:a469bbd294b5 1068 #if defined(M5)
nerit 3:a469bbd294b5 1069 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1070 aggiornaParametri();
nerit 3:a469bbd294b5 1071 #endif
nerit 3:a469bbd294b5 1072 #if defined(M6)
nerit 3:a469bbd294b5 1073 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1074 aggiornaParametri();
nerit 3:a469bbd294b5 1075 #endif
nerit 3:a469bbd294b5 1076 }
nerit 3:a469bbd294b5 1077 }
nerit 8:310f9e4eac7b 1078 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1079 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1080 #if defined(M1)
nerit 3:a469bbd294b5 1081 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1082 aggiornaParametri();
nerit 3:a469bbd294b5 1083 #endif
nerit 3:a469bbd294b5 1084 #if defined(M2)
nerit 3:a469bbd294b5 1085 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1086 aggiornaParametri();
nerit 3:a469bbd294b5 1087 #endif
nerit 3:a469bbd294b5 1088 #if defined(M3)
nerit 3:a469bbd294b5 1089 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1090 aggiornaParametri();
nerit 3:a469bbd294b5 1091 #endif
nerit 3:a469bbd294b5 1092 #if defined(M4)
nerit 3:a469bbd294b5 1093 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1094 aggiornaParametri();
nerit 3:a469bbd294b5 1095 #endif
nerit 3:a469bbd294b5 1096 #if defined(M5)
nerit 3:a469bbd294b5 1097 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1098 aggiornaParametri();
nerit 3:a469bbd294b5 1099 #endif
nerit 3:a469bbd294b5 1100 #if defined(M6)
nerit 3:a469bbd294b5 1101 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1102 aggiornaParametri();
nerit 3:a469bbd294b5 1103 #endif
nerit 3:a469bbd294b5 1104 }
nerit 3:a469bbd294b5 1105 }
nerit 8:310f9e4eac7b 1106 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1107 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1108 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1109 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1110 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1111 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1112 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1113 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1114 aggiornaParametri();
nerit 3:a469bbd294b5 1115 }
nerit 3:a469bbd294b5 1116 }
nerit 8:310f9e4eac7b 1117 }
nerit 8:310f9e4eac7b 1118 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1119 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1120 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1121 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1122 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1123 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1124 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1125 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1126 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1127 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1128 canDataCheck=1;
nerit 3:a469bbd294b5 1129 }
nerit 8:310f9e4eac7b 1130 }
nerit 8:310f9e4eac7b 1131 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1132 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1133 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1134 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1135 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1136 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1137 //stepSetting();
nerit 3:a469bbd294b5 1138 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1139 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1140 if (encoder==false) {
nerit 3:a469bbd294b5 1141 encoder=true;
nerit 3:a469bbd294b5 1142 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1143 dcSetting();
nerit 3:a469bbd294b5 1144 }
nerit 8:310f9e4eac7b 1145 } else {
nerit 8:310f9e4eac7b 1146 if (encoder==true) {
nerit 3:a469bbd294b5 1147 encoder=false;
nerit 3:a469bbd294b5 1148 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1149 dcSetting();
nerit 3:a469bbd294b5 1150 }
nerit 3:a469bbd294b5 1151 }
nerit 8:310f9e4eac7b 1152 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1153 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1154 } else {
nerit 3:a469bbd294b5 1155 tankLevelEnable=false;
nerit 3:a469bbd294b5 1156 }
nerit 8:310f9e4eac7b 1157 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1158 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1159 } else {
nerit 3:a469bbd294b5 1160 seedSensorEnable=false;
nerit 3:a469bbd294b5 1161 }
nerit 8:310f9e4eac7b 1162 if ((flags&0x08)==0x08) {
nerit 3:a469bbd294b5 1163 stendiNylonEnable=true;
nerit 8:310f9e4eac7b 1164 } else {
nerit 3:a469bbd294b5 1165 stendiNylonEnable=false;
nerit 3:a469bbd294b5 1166 }
nerit 8:310f9e4eac7b 1167 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1168 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1169 } else {
nerit 3:a469bbd294b5 1170 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1171 }
nerit 8:310f9e4eac7b 1172 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1173 tamburoStandard=1;
nerit 8:310f9e4eac7b 1174 } else {
nerit 3:a469bbd294b5 1175 tamburoStandard=0;
nerit 3:a469bbd294b5 1176 }
nerit 8:310f9e4eac7b 1177 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1178 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1179 } else {
nerit 3:a469bbd294b5 1180 currentCheckEnable=false;
nerit 3:a469bbd294b5 1181 }
nerit 3:a469bbd294b5 1182 }
nerit 8:310f9e4eac7b 1183 }
nerit 8:310f9e4eac7b 1184 }
nerit 10:9e70619e97ab 1185 #endif
nerit 10:9e70619e97ab 1186 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1187 enableSimula=1;
nerit 10:9e70619e97ab 1188 speedSimula=25;
nerit 10:9e70619e97ab 1189 avviaSimula=1;
nerit 10:9e70619e97ab 1190 simOk=1;
nerit 10:9e70619e97ab 1191 #endif
nerit 10:9e70619e97ab 1192 #if defined(pcSerial)
nerit 10:9e70619e97ab 1193 #if defined(checkLoop)
nerit 10:9e70619e97ab 1194 pc.printf("20\n");
nerit 10:9e70619e97ab 1195 #endif
nerit 10:9e70619e97ab 1196 #endif
bcostm 0:5701b41769fd 1197 }
bcostm 0:5701b41769fd 1198
nerit 3:a469bbd294b5 1199 //*******************************************************
nerit 8:310f9e4eac7b 1200 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1201 {
nerit 8:310f9e4eac7b 1202
nerit 3:a469bbd294b5 1203 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1204 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1205
nerit 3:a469bbd294b5 1206 //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 1207 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1208 // Analog reading
nerit 3:a469bbd294b5 1209 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1210 timeout.detach();
nerit 8:310f9e4eac7b 1211 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1212 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1213 }
nerit 3:a469bbd294b5 1214 //*******************************************************
nerit 8:310f9e4eac7b 1215 void DC_prepare()
nerit 8:310f9e4eac7b 1216 {
nerit 3:a469bbd294b5 1217 // direction or brake preparation
nerit 8:310f9e4eac7b 1218 if (DC_brake==1) {
nerit 3:a469bbd294b5 1219 SDmotorInA=1;
nerit 3:a469bbd294b5 1220 SDmotorInB=1;
nerit 8:310f9e4eac7b 1221 } else {
nerit 8:310f9e4eac7b 1222 if (DC_forward==0) {
nerit 3:a469bbd294b5 1223 SDmotorInA=1;
nerit 3:a469bbd294b5 1224 SDmotorInB=0;
nerit 8:310f9e4eac7b 1225 } else {
nerit 3:a469bbd294b5 1226 SDmotorInA=0;
nerit 3:a469bbd294b5 1227 SDmotorInB=1;
nerit 3:a469bbd294b5 1228 }
nerit 3:a469bbd294b5 1229 }
nerit 3:a469bbd294b5 1230 // fault reading
nerit 8:310f9e4eac7b 1231 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1232 SD_faultA=1;
nerit 8:310f9e4eac7b 1233 } else {
nerit 8:310f9e4eac7b 1234 SD_faultA=0;
nerit 8:310f9e4eac7b 1235 }
nerit 8:310f9e4eac7b 1236 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1237 SD_faultB=1;
nerit 8:310f9e4eac7b 1238 } else {
nerit 8:310f9e4eac7b 1239 SD_faultB=0;
nerit 8:310f9e4eac7b 1240 }
nerit 10:9e70619e97ab 1241 #if defined(pcSerial)
nerit 10:9e70619e97ab 1242 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1243 pc.printf("22\n");
nerit 10:9e70619e97ab 1244 #endif
nerit 10:9e70619e97ab 1245 #endif
nerit 3:a469bbd294b5 1246 }
nerit 3:a469bbd294b5 1247 //*******************************************************
nerit 12:b0fc1d313813 1248 void startDelay(){
nerit 12:b0fc1d313813 1249 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1250 int ritardo =0;
nerit 12:b0fc1d313813 1251 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1252 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1253 }
nerit 3:a469bbd294b5 1254 //*******************************************************
nerit 10:9e70619e97ab 1255 void quincTrigon(){
nerit 3:a469bbd294b5 1256 quincClock=true;
nerit 10:9e70619e97ab 1257 #if defined(pcSerial)
nerit 10:9e70619e97ab 1258 #if defined(checkLoop)
nerit 10:9e70619e97ab 1259 pc.printf("24\n");
nerit 10:9e70619e97ab 1260 #endif
nerit 10:9e70619e97ab 1261 #endif
nerit 3:a469bbd294b5 1262 }
nerit 10:9e70619e97ab 1263 void quincTrigof(){
nerit 3:a469bbd294b5 1264 quincClock=false;
nerit 10:9e70619e97ab 1265 #if defined(pcSerial)
nerit 10:9e70619e97ab 1266 #if defined(checkLoop)
nerit 10:9e70619e97ab 1267 pc.printf("25\n");
nerit 10:9e70619e97ab 1268 #endif
nerit 10:9e70619e97ab 1269 #endif
nerit 3:a469bbd294b5 1270 }
nerit 3:a469bbd294b5 1271 //*******************************************************
nerit 8:310f9e4eac7b 1272 void quinCalc()
nerit 8:310f9e4eac7b 1273 {
nerit 3:a469bbd294b5 1274 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1275 #if !defined(mezzo)
nerit 10:9e70619e97ab 1276 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1277 oldQuincIn=1;
nerit 10:9e70619e97ab 1278 if (quincStart==0) {
nerit 10:9e70619e97ab 1279 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1280 quincTime.reset();
nerit 10:9e70619e97ab 1281 quincTimeSD.reset();
nerit 10:9e70619e97ab 1282 quincStart=1;
nerit 10:9e70619e97ab 1283 }
nerit 3:a469bbd294b5 1284 }
nerit 10:9e70619e97ab 1285 if(quincClock==false) {
nerit 3:a469bbd294b5 1286 oldQuincIn=0;
nerit 3:a469bbd294b5 1287 }
nerit 10:9e70619e97ab 1288 #else
nerit 10:9e70619e97ab 1289 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1290 oldQuincIn=1;
nerit 10:9e70619e97ab 1291 if (quincStart==0) {
nerit 10:9e70619e97ab 1292 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1293 quincTime.reset();
nerit 10:9e70619e97ab 1294 quincStart=1;
nerit 10:9e70619e97ab 1295 }
nerit 3:a469bbd294b5 1296 }
nerit 10:9e70619e97ab 1297 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1298 if (quincClock==false) {
nerit 10:9e70619e97ab 1299 oldQuincIn=0;
nerit 10:9e70619e97ab 1300 }
nerit 10:9e70619e97ab 1301 } else {
nerit 10:9e70619e97ab 1302 if (quincClock==true) {
nerit 10:9e70619e97ab 1303 oldQuincIn=0;
nerit 10:9e70619e97ab 1304 }
nerit 10:9e70619e97ab 1305 }
nerit 10:9e70619e97ab 1306 #endif
nerit 3:a469bbd294b5 1307 //****************************************************************************************
nerit 8:310f9e4eac7b 1308 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1309 if (countPicks==0) {
nerit 8:310f9e4eac7b 1310 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1311 // decelera
nerit 3:a469bbd294b5 1312 countPicks=1;
nerit 3:a469bbd294b5 1313 }
nerit 8:310f9e4eac7b 1314 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1315 // accelera
nerit 3:a469bbd294b5 1316 countPicks=2;
nerit 3:a469bbd294b5 1317 }
nerit 3:a469bbd294b5 1318 }
nerit 8:310f9e4eac7b 1319 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1320 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1321 scostamento = oldQuincTimeSD;
nerit 8:310f9e4eac7b 1322 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1323 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1324 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1325 #if defined(pcSerial)
nerit 3:a469bbd294b5 1326 #if defined(laq)
nerit 3:a469bbd294b5 1327 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1328 #endif
nerit 3:a469bbd294b5 1329 #endif
nerit 3:a469bbd294b5 1330 }
nerit 3:a469bbd294b5 1331 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1332 }
nerit 8:310f9e4eac7b 1333 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1334 scostamento = (double)quincTime.read_ms();
nerit 8:310f9e4eac7b 1335 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1336 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1337 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1338 #if defined(pcSerial)
nerit 3:a469bbd294b5 1339 #if defined(laq)
nerit 8:310f9e4eac7b 1340 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1341 #endif
nerit 3:a469bbd294b5 1342 #endif
nerit 3:a469bbd294b5 1343 }
nerit 3:a469bbd294b5 1344 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1345 }
nerit 3:a469bbd294b5 1346 sincroQui=0;
nerit 3:a469bbd294b5 1347 quincStart=0;
nerit 3:a469bbd294b5 1348 countPicks=0;
nerit 5:2a3a64b52f54 1349 // questo e il primo
nerit 3:a469bbd294b5 1350 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1351 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1352 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1353 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1354 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 10:9e70619e97ab 1355 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f){
nerit 10:9e70619e97ab 1356 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1357 }
nerit 10:9e70619e97ab 1358 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f){
nerit 10:9e70619e97ab 1359 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1360 }
nerit 3:a469bbd294b5 1361 }
nerit 8:310f9e4eac7b 1362 }
nerit 3:a469bbd294b5 1363 }
nerit 3:a469bbd294b5 1364 #endif
nerit 3:a469bbd294b5 1365 }
nerit 8:310f9e4eac7b 1366
nerit 3:a469bbd294b5 1367 //*******************************************************************
nerit 8:310f9e4eac7b 1368 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1369 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1370 canDataCheck=0;
nerit 10:9e70619e97ab 1371 double parametro = SDsectorStep/2.0f;
nerit 3:a469bbd294b5 1372 double differenza=0.0f;
nerit 3:a469bbd294b5 1373 #if defined(mezzo)
nerit 8:310f9e4eac7b 1374 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1375 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1376 } else {
nerit 3:a469bbd294b5 1377 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1378 }
nerit 3:a469bbd294b5 1379 #else
nerit 3:a469bbd294b5 1380 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1381 #endif
nerit 8:310f9e4eac7b 1382 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1383 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1384 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1385 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1386 #if defined(quinca)
nerit 3:a469bbd294b5 1387 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 1388 #endif
nerit 3:a469bbd294b5 1389 #endif
nerit 3:a469bbd294b5 1390 }
nerit 8:310f9e4eac7b 1391 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1392 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1393 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1394 #if defined(pcSerial)
nerit 3:a469bbd294b5 1395 #if defined(quinca)
nerit 3:a469bbd294b5 1396 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 1397 #endif
nerit 3:a469bbd294b5 1398 #endif
nerit 3:a469bbd294b5 1399 }
nerit 5:2a3a64b52f54 1400 // questo e il secondo
nerit 3:a469bbd294b5 1401 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1402 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1403 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1404 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1405 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 10:9e70619e97ab 1406 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f){
nerit 10:9e70619e97ab 1407 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1408 }
nerit 10:9e70619e97ab 1409 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f){
nerit 10:9e70619e97ab 1410 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1411 }
nerit 3:a469bbd294b5 1412 }
nerit 5:2a3a64b52f54 1413 }
nerit 3:a469bbd294b5 1414 }
nerit 3:a469bbd294b5 1415 #endif
nerit 3:a469bbd294b5 1416 }
nerit 3:a469bbd294b5 1417 }
nerit 8:310f9e4eac7b 1418
nerit 3:a469bbd294b5 1419 }
nerit 8:310f9e4eac7b 1420 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1421 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1422 }
nerit 8:310f9e4eac7b 1423 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1424 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1425 }
nerit 6:e8c18f0f399a 1426 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1427 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1428 pc.printf("26\n");
nerit 6:e8c18f0f399a 1429 #endif
nerit 6:e8c18f0f399a 1430 #endif
bcostm 0:5701b41769fd 1431 }
nerit 8:310f9e4eac7b 1432 // ----------------------------------------
nerit 3:a469bbd294b5 1433 #if defined(seedSensor)
nerit 3:a469bbd294b5 1434 void resetDelay(){
nerit 3:a469bbd294b5 1435 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1436 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1437 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1438 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1439 pc.printf("27\n");
nerit 8:310f9e4eac7b 1440 #endif
nerit 6:e8c18f0f399a 1441 #endif
nerit 3:a469bbd294b5 1442 }
nerit 3:a469bbd294b5 1443 #endif
nerit 8:310f9e4eac7b 1444
nerit 3:a469bbd294b5 1445 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1446 // MAIN SECTION
nerit 3:a469bbd294b5 1447 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1448
nerit 3:a469bbd294b5 1449 //*******************************************************************************
nerit 8:310f9e4eac7b 1450 int main()
nerit 8:310f9e4eac7b 1451 {
nerit 6:e8c18f0f399a 1452 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1453 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1454 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1455 #endif
nerit 6:e8c18f0f399a 1456 #endif
nerit 8:310f9e4eac7b 1457
nerit 8:310f9e4eac7b 1458 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1459 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1460 #endif
nerit 8:310f9e4eac7b 1461
nerit 8:310f9e4eac7b 1462 wait(1.0f);
nerit 8:310f9e4eac7b 1463 wait(1.0f);
nerit 8:310f9e4eac7b 1464 wait(1.0f);
nerit 8:310f9e4eac7b 1465
nerit 8:310f9e4eac7b 1466 //stepSetting();
nerit 8:310f9e4eac7b 1467
nerit 6:e8c18f0f399a 1468 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1469 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1470 //----- Initialization
nerit 8:310f9e4eac7b 1471 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1472 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1473 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1474 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1475 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1476
nerit 8:310f9e4eac7b 1477 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1478 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1479 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1480 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1481 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1482 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1483 }
nerit 6:e8c18f0f399a 1484
nerit 8:310f9e4eac7b 1485 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1486 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1487 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1488 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1489
nerit 8:310f9e4eac7b 1490 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1491 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1492 wait(1.0f);
nerit 8:310f9e4eac7b 1493 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1494 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1495 }
nerit 8:310f9e4eac7b 1496
nerit 3:a469bbd294b5 1497 // DC reset ad set
nerit 3:a469bbd294b5 1498 int decima = 100;
nerit 3:a469bbd294b5 1499 wait_ms(200);
nerit 3:a469bbd294b5 1500 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1501 wait_ms(2);
nerit 3:a469bbd294b5 1502 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1503 wait_ms(1);
nerit 3:a469bbd294b5 1504 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1505 wait_ms(3);
nerit 3:a469bbd294b5 1506 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1507 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1508 wait_ms(100);
nerit 3:a469bbd294b5 1509 DC_prepare();
nerit 8:310f9e4eac7b 1510
nerit 8:310f9e4eac7b 1511 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1512 intraPickTimer.start();
nerit 8:310f9e4eac7b 1513 speedTimeOut.start();
nerit 3:a469bbd294b5 1514 speedFilter.start();
nerit 3:a469bbd294b5 1515 seedFilter.start();
nerit 3:a469bbd294b5 1516 TBfilter.start();
nerit 3:a469bbd294b5 1517 sincroTimer.start();
nerit 3:a469bbd294b5 1518 rotationTimeOut.start();
nerit 3:a469bbd294b5 1519 metalTimer.start();
nerit 3:a469bbd294b5 1520 quincTime.start();
nerit 3:a469bbd294b5 1521 quincTimeSD.start();
nerit 8:310f9e4eac7b 1522 #if defined(runner)
nerit 8:310f9e4eac7b 1523 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1524 #endif
nerit 8:310f9e4eac7b 1525
nerit 3:a469bbd294b5 1526 //*******************************************************
nerit 3:a469bbd294b5 1527 // controls for check DC motor current
nerit 8:310f9e4eac7b 1528 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1529 wait_ms(500);
nerit 8:310f9e4eac7b 1530
nerit 12:b0fc1d313813 1531 dcVeri.attach(&controllaCorrente,2.0f);
nerit 12:b0fc1d313813 1532
nerit 8:310f9e4eac7b 1533 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1534 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1535 #endif
nerit 3:a469bbd294b5 1536
nerit 8:310f9e4eac7b 1537 if (inProva==0) {
nerit 3:a469bbd294b5 1538 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1539 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1540 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1541 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1542 #endif
nerit 3:a469bbd294b5 1543 #if defined(speedMaster)
nerit 3:a469bbd294b5 1544 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1545 #endif
nerit 3:a469bbd294b5 1546 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 1547 dcSetting();
nerit 3:a469bbd294b5 1548 #if defined(seedSensor)
nerit 3:a469bbd294b5 1549 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1550 #endif
nerit 8:310f9e4eac7b 1551 } else {
nerit 8:310f9e4eac7b 1552 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1553 }
nerit 8:310f9e4eac7b 1554
nerit 3:a469bbd294b5 1555 aggiornaParametri();
nerit 3:a469bbd294b5 1556
nerit 3:a469bbd294b5 1557 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1558 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1559 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1560
nerit 3:a469bbd294b5 1561 #if defined(provaStepper)
nerit 3:a469bbd294b5 1562 TBmotorRst=1;
nerit 3:a469bbd294b5 1563 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1564 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1565 #if defined(Zucca)
nerit 10:9e70619e97ab 1566 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1567 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1568 #else
nerit 10:9e70619e97ab 1569 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1570 #endif
nerit 3:a469bbd294b5 1571 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1572 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1573 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1574 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1575 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1576 #endif
nerit 6:e8c18f0f399a 1577 #endif
nerit 10:9e70619e97ab 1578 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 10:9e70619e97ab 1579 //TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1580 #else
nerit 3:a469bbd294b5 1581 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1582 motor->set_home();
nerit 8:310f9e4eac7b 1583 motor->go_to(50);
nerit 8:310f9e4eac7b 1584 motor->wait_while_active();
nerit 8:310f9e4eac7b 1585 #if !defined(runner)
nerit 9:7f02256f6e8f 1586 #if defined(Zucca)
nerit 9:7f02256f6e8f 1587 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1588 #else
nerit 9:7f02256f6e8f 1589 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1590 #endif
nerit 8:310f9e4eac7b 1591 #endif
nerit 6:e8c18f0f399a 1592 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1593 #if defined(loStop)
nerit 6:e8c18f0f399a 1594 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1595 #endif
nerit 6:e8c18f0f399a 1596 #endif
nerit 6:e8c18f0f399a 1597 motor->soft_hiz();
nerit 3:a469bbd294b5 1598 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1599 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1600 #endif // end prova stepper
nerit 8:310f9e4eac7b 1601
nerit 8:310f9e4eac7b 1602 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1603
nerit 8:310f9e4eac7b 1604
nerit 3:a469bbd294b5 1605 //**************************************************************************************************************
nerit 3:a469bbd294b5 1606 // MAIN LOOP
nerit 3:a469bbd294b5 1607 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1608 while (true) {
nerit 6:e8c18f0f399a 1609 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1610 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1611 speedClock=0;
nerit 8:310f9e4eac7b 1612 }
nerit 8:310f9e4eac7b 1613
nerit 3:a469bbd294b5 1614 // inversione segnali ingressi
nerit 3:a469bbd294b5 1615 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1616 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1617 #else
nerit 8:310f9e4eac7b 1618 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1619 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1620 }
nerit 8:310f9e4eac7b 1621 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1622 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1623 }
nerit 8:310f9e4eac7b 1624 #endif
nerit 3:a469bbd294b5 1625 TBzeroPinInput = !TBzeroPinInputRev;
nerit 8:310f9e4eac7b 1626
nerit 3:a469bbd294b5 1627 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1628 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1629 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1630 quinconceOut=0;
nerit 3:a469bbd294b5 1631 }
nerit 8:310f9e4eac7b 1632 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1633 quinconceOut=1;
nerit 3:a469bbd294b5 1634 }
nerit 8:310f9e4eac7b 1635 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1636 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1637 posForQuinc=500;
nerit 3:a469bbd294b5 1638 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1639 }
nerit 8:310f9e4eac7b 1640 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1641 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1642 }
nerit 8:310f9e4eac7b 1643 }
nerit 3:a469bbd294b5 1644 #endif
nerit 3:a469bbd294b5 1645
nerit 3:a469bbd294b5 1646 // simulazione velocita
nerit 8:310f9e4eac7b 1647 if (enableSimula==1) {
nerit 3:a469bbd294b5 1648 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1649 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1650 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1651 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1652 } else {
nerit 3:a469bbd294b5 1653 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1654 }
nerit 8:310f9e4eac7b 1655 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1656 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1657 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1658 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1659 }
nerit 8:310f9e4eac7b 1660 } else {
nerit 3:a469bbd294b5 1661 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1662 spedSimclock.detach();
nerit 3:a469bbd294b5 1663 }
nerit 8:310f9e4eac7b 1664 } else {
nerit 3:a469bbd294b5 1665 spedSimclock.detach();
nerit 3:a469bbd294b5 1666 }
nerit 8:310f9e4eac7b 1667
nerit 3:a469bbd294b5 1668 //*******************************************************
nerit 3:a469bbd294b5 1669 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1670 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1671 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1672 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1673 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1674 }
nerit 3:a469bbd294b5 1675 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1676 } else {
nerit 8:310f9e4eac7b 1677 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1678 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1679 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1680 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1681 }
nerit 3:a469bbd294b5 1682 }
nerit 3:a469bbd294b5 1683
nerit 8:310f9e4eac7b 1684 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1685 lowSpeed=1;
nerit 8:310f9e4eac7b 1686 } else {
nerit 3:a469bbd294b5 1687 lowSpeed=0;
nerit 3:a469bbd294b5 1688 }
bcostm 2:35f13b7f3659 1689
nerit 3:a469bbd294b5 1690 //**************************************************************************************************************
nerit 3:a469bbd294b5 1691 //**************************************************************************************************************
nerit 3:a469bbd294b5 1692 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1693 //**************************************************************************************************************
nerit 3:a469bbd294b5 1694 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1695
nerit 8:310f9e4eac7b 1696 if (inProva==0) {
nerit 8:310f9e4eac7b 1697 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1698 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1699 } else {
nerit 6:e8c18f0f399a 1700 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1701 }
nerit 8:310f9e4eac7b 1702 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1703 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1704 }
nerit 3:a469bbd294b5 1705 // ----------------------------------------
nerit 3:a469bbd294b5 1706 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1707 // ----------------------------------------
nerit 8:310f9e4eac7b 1708 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1709 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1710 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1711 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1712 }
nerit 3:a469bbd294b5 1713 }
nerit 8:310f9e4eac7b 1714 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1715 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1716 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1717 intraPickTimer.reset();
nerit 3:a469bbd294b5 1718 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1719 seedFilter.reset();
nerit 3:a469bbd294b5 1720 sincroTimer.reset();
nerit 3:a469bbd294b5 1721 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1722 quincTime.reset();
nerit 3:a469bbd294b5 1723 quincTimeSD.reset();
nerit 3:a469bbd294b5 1724 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1725 sincroQui=1;
nerit 3:a469bbd294b5 1726 SDwheelTimer.reset();
nerit 3:a469bbd294b5 1727 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1728 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1729 posForQuinc=500;
nerit 3:a469bbd294b5 1730 }
nerit 3:a469bbd294b5 1731 #endif
nerit 8:310f9e4eac7b 1732 if (quincCnt<10) {
nerit 3:a469bbd294b5 1733 quincCnt++;
nerit 3:a469bbd294b5 1734 }
nerit 8:310f9e4eac7b 1735 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1736 beccoPronto=1;
nerit 3:a469bbd294b5 1737 }
nerit 3:a469bbd294b5 1738 lockStart=0;
nerit 3:a469bbd294b5 1739 double fase1=0.0f;
nerit 3:a469bbd294b5 1740 forzaFase=0;
nerit 3:a469bbd294b5 1741 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1742 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1743 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1744 } else {
nerit 8:310f9e4eac7b 1745 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1746 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1747 } else {
nerit 3:a469bbd294b5 1748 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1749 }
nerit 8:310f9e4eac7b 1750 if (fase1 > limite) {
nerit 3:a469bbd294b5 1751 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 1752 }
nerit 8:310f9e4eac7b 1753 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1754 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1755 forzaFase=1;
nerit 3:a469bbd294b5 1756 }
nerit 3:a469bbd294b5 1757 trigRepos=1;
nerit 3:a469bbd294b5 1758 }
nerit 3:a469bbd294b5 1759 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1760 #if defined(pcSerial)
nerit 3:a469bbd294b5 1761 #if defined(inCorre)
nerit 3:a469bbd294b5 1762 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1763 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1764 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1765 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1766 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1767 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1768 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1769 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1770 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1771 #endif
nerit 3:a469bbd294b5 1772 #endif
nerit 8:310f9e4eac7b 1773 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 8:310f9e4eac7b 1774 if ((aspettaStart==0)) {
nerit 8:310f9e4eac7b 1775 if (firstStart==0) {
nerit 3:a469bbd294b5 1776 all_pickSignal=1;
nerit 3:a469bbd294b5 1777 }
nerit 3:a469bbd294b5 1778 }
nerit 3:a469bbd294b5 1779 }
nerit 3:a469bbd294b5 1780 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1781 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1782 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1783 #if defined(pcSerial)
nerit 10:9e70619e97ab 1784 #if defined(Qnca)
nerit 10:9e70619e97ab 1785 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1786 #endif
nerit 3:a469bbd294b5 1787 #endif
nerit 3:a469bbd294b5 1788 }
nerit 8:310f9e4eac7b 1789 if (encoder==false) {
nerit 3:a469bbd294b5 1790 pulseRised2=1;
nerit 3:a469bbd294b5 1791 }
nerit 3:a469bbd294b5 1792 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1793 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1794 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1795 cntSpeedError++;
nerit 10:9e70619e97ab 1796 if (cntSpeedError >= 3){
nerit 10:9e70619e97ab 1797 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1798 }
nerit 3:a469bbd294b5 1799 }
nerit 3:a469bbd294b5 1800 }
nerit 10:9e70619e97ab 1801 double oldLastPr = (double)oldLastPulseRead*1.8f;
nerit 8:310f9e4eac7b 1802 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 8:310f9e4eac7b 1803 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 3:a469bbd294b5 1804 all_speedError =1;
nerit 3:a469bbd294b5 1805 }
nerit 3:a469bbd294b5 1806 }
nerit 3:a469bbd294b5 1807 #endif
nerit 3:a469bbd294b5 1808 //*******************************************
nerit 3:a469bbd294b5 1809 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1810 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1811 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1812 #if defined(pcSerial)
nerit 10:9e70619e97ab 1813 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1814 pc.printf("forza\n");
nerit 10:9e70619e97ab 1815 #endif
nerit 8:310f9e4eac7b 1816 #endif
nerit 6:e8c18f0f399a 1817 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1818 }
nerit 8:310f9e4eac7b 1819 aggioVelocita();
nerit 3:a469bbd294b5 1820 }
nerit 3:a469bbd294b5 1821 // ----------------------------------------
nerit 8:310f9e4eac7b 1822 // check SD fase
nerit 8:310f9e4eac7b 1823 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1824 forzaFase=0;
nerit 8:310f9e4eac7b 1825 if (trigRepos==1) {
nerit 3:a469bbd294b5 1826 SDactualPosition=0;
nerit 8:310f9e4eac7b 1827 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1828 countCicli++;
nerit 6:e8c18f0f399a 1829 trigCicli=1;
nerit 6:e8c18f0f399a 1830 }
nerit 8:310f9e4eac7b 1831 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1832 aspettaStart=0;
nerit 10:9e70619e97ab 1833 #if defined(pcSerial)
nerit 10:9e70619e97ab 1834 #if defined(checkLoop)
nerit 10:9e70619e97ab 1835 pc.printf("NoAspetta\n");
nerit 10:9e70619e97ab 1836 #endif
nerit 10:9e70619e97ab 1837 #endif
nerit 6:e8c18f0f399a 1838 }
nerit 8:310f9e4eac7b 1839 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1840 syncroCheck=1;
nerit 6:e8c18f0f399a 1841 beccoPronto=0;
nerit 10:9e70619e97ab 1842 #if defined(pcSerial)
nerit 10:9e70619e97ab 1843 #if defined(checkLoop)
nerit 10:9e70619e97ab 1844 pc.printf("BeccoNo\n");
nerit 10:9e70619e97ab 1845 #endif
nerit 10:9e70619e97ab 1846 #endif
nerit 6:e8c18f0f399a 1847 }
nerit 8:310f9e4eac7b 1848 if (trigTB==0) {
nerit 3:a469bbd294b5 1849 inhibit=1;
nerit 3:a469bbd294b5 1850 trigSD=1;
nerit 8:310f9e4eac7b 1851 } else {
nerit 3:a469bbd294b5 1852 inhibit=0;
nerit 3:a469bbd294b5 1853 trigTB=0;
nerit 3:a469bbd294b5 1854 trigSD=0;
nerit 3:a469bbd294b5 1855 }
nerit 3:a469bbd294b5 1856 trigRepos=0;
nerit 3:a469bbd294b5 1857 }
nerit 8:310f9e4eac7b 1858 } else {
nerit 3:a469bbd294b5 1859 trigCicli=0;
nerit 3:a469bbd294b5 1860 }
nerit 8:310f9e4eac7b 1861 // ----------------------------------------
nerit 3:a469bbd294b5 1862 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1863 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1864 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1865 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1866 }
nerit 8:310f9e4eac7b 1867 }
nerit 8:310f9e4eac7b 1868 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)) {
nerit 3:a469bbd294b5 1869 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1870 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1871 stopCicloTB=1;
nerit 3:a469bbd294b5 1872 startCicloTB=0;
nerit 3:a469bbd294b5 1873 }
nerit 3:a469bbd294b5 1874 TBfilter.reset();
nerit 3:a469bbd294b5 1875 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1876 #if defined(runner)
nerit 8:310f9e4eac7b 1877 legPos.detach();
nerit 8:310f9e4eac7b 1878 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1879 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1880 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1881 #if defined(TBperS)
nerit 8:310f9e4eac7b 1882 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1883 #endif
nerit 8:310f9e4eac7b 1884 #endif
nerit 8:310f9e4eac7b 1885
nerit 8:310f9e4eac7b 1886 #else
nerit 8:310f9e4eac7b 1887 TBactualPosition=0;
nerit 8:310f9e4eac7b 1888 #endif
nerit 8:310f9e4eac7b 1889 if (cntTbError>0) {
nerit 3:a469bbd294b5 1890 cntCellsCorrect++;
nerit 3:a469bbd294b5 1891 }
nerit 8:310f9e4eac7b 1892 if (cntCellsCorrect>3) {
nerit 3:a469bbd294b5 1893 cntTbError=0;
nerit 3:a469bbd294b5 1894 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1895 }
nerit 3:a469bbd294b5 1896 // conteggio celle erogate
nerit 8:310f9e4eac7b 1897 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1898 cellsCounterLow++;
nerit 8:310f9e4eac7b 1899 } else {
nerit 3:a469bbd294b5 1900 cellsCounterHig++;
nerit 3:a469bbd294b5 1901 cellsCounterLow=0;
nerit 3:a469bbd294b5 1902 }
nerit 3:a469bbd294b5 1903 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1904 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1905 cntCellsForLoad++;
nerit 8:310f9e4eac7b 1906 if (cntCellsForLoad >= 5) {
nerit 8:310f9e4eac7b 1907 stopCicloTB=1;
nerit 3:a469bbd294b5 1908 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1909 }
nerit 8:310f9e4eac7b 1910 } else {
nerit 3:a469bbd294b5 1911 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1912 }
nerit 3:a469bbd294b5 1913 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1914 if (trigSD==0) {
nerit 3:a469bbd294b5 1915 inhibit=1;
nerit 3:a469bbd294b5 1916 trigTB=1;
nerit 8:310f9e4eac7b 1917 } else {
nerit 3:a469bbd294b5 1918 inhibit=0;
nerit 3:a469bbd294b5 1919 trigTB=0;
nerit 3:a469bbd294b5 1920 trigSD=0;
nerit 3:a469bbd294b5 1921 }
nerit 3:a469bbd294b5 1922 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1923 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1924 cntCellsForReload++;
nerit 8:310f9e4eac7b 1925 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1926 TBmotorDirecti=TBforward; // rotazione normale
nerit 8:310f9e4eac7b 1927 #if defined(runner)
nerit 9:7f02256f6e8f 1928 #if defined(Zucca)
nerit 9:7f02256f6e8f 1929 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1930 #else
nerit 9:7f02256f6e8f 1931 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1932 #endif
nerit 8:310f9e4eac7b 1933 #else
nerit 9:7f02256f6e8f 1934 #if defined(Zucca)
nerit 9:7f02256f6e8f 1935 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1936 #else
nerit 9:7f02256f6e8f 1937 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1938 #endif
nerit 8:310f9e4eac7b 1939 #endif
nerit 3:a469bbd294b5 1940 erroreTamburo=0;
nerit 3:a469bbd294b5 1941 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 1942 }
nerit 3:a469bbd294b5 1943 }
nerit 3:a469bbd294b5 1944 #if defined(seedSensor)
nerit 3:a469bbd294b5 1945 resetDelay();
nerit 3:a469bbd294b5 1946 delaySeedCheck.start();
nerit 3:a469bbd294b5 1947 #endif
nerit 3:a469bbd294b5 1948 }
nerit 8:310f9e4eac7b 1949 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
nerit 8:310f9e4eac7b 1950 if (firstStart==0) {
nerit 8:310f9e4eac7b 1951 if (cntTbError>2) {
nerit 3:a469bbd294b5 1952 all_cellSignal=1;
nerit 3:a469bbd294b5 1953 #if defined(seedSensor)
nerit 3:a469bbd294b5 1954 resetDelay();
nerit 3:a469bbd294b5 1955 #endif
nerit 3:a469bbd294b5 1956 }
nerit 3:a469bbd294b5 1957 }
nerit 8:310f9e4eac7b 1958 if (erroreTamburo==0) {
nerit 3:a469bbd294b5 1959 erroreTamburo=1;
nerit 3:a469bbd294b5 1960 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 8:310f9e4eac7b 1961 #if defined(runner)
nerit 9:7f02256f6e8f 1962 #if defined(Zucca)
nerit 9:7f02256f6e8f 1963 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1964 #else
nerit 9:7f02256f6e8f 1965 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1966 #endif
nerit 8:310f9e4eac7b 1967 #else
nerit 9:7f02256f6e8f 1968 #if defined(Zucca)
nerit 9:7f02256f6e8f 1969 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1970 #else
nerit 9:7f02256f6e8f 1971 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1972 #endif
nerit 8:310f9e4eac7b 1973 #endif
nerit 3:a469bbd294b5 1974 cntCellsForReload=0;
nerit 3:a469bbd294b5 1975 cntTbError++;
nerit 3:a469bbd294b5 1976 #if defined(seedSensor)
nerit 3:a469bbd294b5 1977 resetDelay();
nerit 3:a469bbd294b5 1978 #endif
nerit 3:a469bbd294b5 1979 }
nerit 3:a469bbd294b5 1980 }
nerit 8:310f9e4eac7b 1981 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)) {
nerit 8:310f9e4eac7b 1982 if (firstStart==0) {
nerit 3:a469bbd294b5 1983 all_noStepRota=1;
nerit 3:a469bbd294b5 1984 #if defined(seedSensor)
nerit 3:a469bbd294b5 1985 resetDelay();
nerit 3:a469bbd294b5 1986 #endif
nerit 3:a469bbd294b5 1987 }
nerit 3:a469bbd294b5 1988 cntTbError=0;
nerit 3:a469bbd294b5 1989 }
nerit 8:310f9e4eac7b 1990 // ----------------------------------------
nerit 3:a469bbd294b5 1991 // read and manage joystick
nerit 8:310f9e4eac7b 1992 if (loadDaCan==1) {
nerit 8:310f9e4eac7b 1993 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1994 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1995 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1996 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 1997 #endif
nerit 8:310f9e4eac7b 1998 #endif
nerit 6:e8c18f0f399a 1999 ciclaTB();
nerit 8:310f9e4eac7b 2000 }
nerit 3:a469bbd294b5 2001 }
nerit 8:310f9e4eac7b 2002
nerit 8:310f9e4eac7b 2003 //***************************************************************************************************
nerit 8:310f9e4eac7b 2004 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2005 //
nerit 3:a469bbd294b5 2006 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2007 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2008 if (pulseRised==1) {
nerit 12:b0fc1d313813 2009 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2010 pulseRised=0;
nerit 3:a469bbd294b5 2011 pulseRised1=1;
nerit 3:a469bbd294b5 2012 speedMediaCalc();
nerit 3:a469bbd294b5 2013 // calcola velocità trattore
nerit 8:310f9e4eac7b 2014 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2015 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2016 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 3:a469bbd294b5 2017 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 10:9e70619e97ab 2018 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2019 }
nerit 8:310f9e4eac7b 2020 if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2021 checkSDrotation=1;
nerit 3:a469bbd294b5 2022 SDwheelTimer.start();
nerit 3:a469bbd294b5 2023 }
nerit 3:a469bbd294b5 2024 }
nerit 3:a469bbd294b5 2025 }
nerit 3:a469bbd294b5 2026 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2027 } else {
nerit 3:a469bbd294b5 2028 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2029 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2030 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2031 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2032 #if defined(seedSensor)
nerit 10:9e70619e97ab 2033 resetDelay();
nerit 10:9e70619e97ab 2034 #endif
nerit 3:a469bbd294b5 2035 pntMedia=0;
nerit 3:a469bbd294b5 2036 speedTimeOut.reset();
nerit 3:a469bbd294b5 2037 enableSpeed=0;
nerit 3:a469bbd294b5 2038 quincCnt=0;
nerit 3:a469bbd294b5 2039 }
nerit 3:a469bbd294b5 2040 }
nerit 8:310f9e4eac7b 2041
nerit 10:9e70619e97ab 2042 #if defined(seedSensor)
nerit 10:9e70619e97ab 2043 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2044 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2045 if (seedSee==0) {
nerit 10:9e70619e97ab 2046 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2047 }
nerit 10:9e70619e97ab 2048 resetDelay();
nerit 3:a469bbd294b5 2049 }
nerit 3:a469bbd294b5 2050 }
nerit 10:9e70619e97ab 2051 #endif
nerit 3:a469bbd294b5 2052 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2053 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2054 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2055 enableSpeed=0;
nerit 3:a469bbd294b5 2056 }*/
nerit 3:a469bbd294b5 2057 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2058 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2059 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2060 }*/
nerit 8:310f9e4eac7b 2061 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2062 // cycle logic control section
nerit 8:310f9e4eac7b 2063 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2064 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2065 if(simOk==0) {
nerit 8:310f9e4eac7b 2066 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2067 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2068 }
nerit 8:310f9e4eac7b 2069 }
nerit 8:310f9e4eac7b 2070 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 2071 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2072 #if defined(Qncc)
nerit 8:310f9e4eac7b 2073 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2074
nerit 8:310f9e4eac7b 2075 #endif
nerit 8:310f9e4eac7b 2076 #endif
nerit 8:310f9e4eac7b 2077 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2078 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2079 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 2080 if (encoder==false) {
nerit 8:310f9e4eac7b 2081 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2082 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2083 } else {
nerit 8:310f9e4eac7b 2084 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2085 }
nerit 8:310f9e4eac7b 2086 } else {
nerit 8:310f9e4eac7b 2087 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 2088 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2089 #if defined(Qnce)
nerit 8:310f9e4eac7b 2090 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2091 #endif
nerit 5:2a3a64b52f54 2092 #endif
nerit 8:310f9e4eac7b 2093 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2094 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2095 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2096 #endif
nerit 8:310f9e4eac7b 2097 }
nerit 8:310f9e4eac7b 2098 //*******************************************
nerit 8:310f9e4eac7b 2099 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2100 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2101 double deltaV=0.0f;
nerit 12:b0fc1d313813 2102 double deltaD=0.0f;
nerit 12:b0fc1d313813 2103 double setV=0.0f;
nerit 12:b0fc1d313813 2104 double teoriaC=0.0f;
nerit 12:b0fc1d313813 2105
nerit 8:310f9e4eac7b 2106 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2107 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2108 }
nerit 8:310f9e4eac7b 2109 for (int ii = 0; ii<16; ii++) {
nerit 8:310f9e4eac7b 2110 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2111 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2112 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2113 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 12:b0fc1d313813 2114 setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 12:b0fc1d313813 2115 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2116 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 3:a469bbd294b5 2117 }
nerit 8:310f9e4eac7b 2118 }
nerit 8:310f9e4eac7b 2119 if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 8:310f9e4eac7b 2120 dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 8:310f9e4eac7b 2121 }
nerit 8:310f9e4eac7b 2122 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2123 quinCalc();
nerit 8:310f9e4eac7b 2124 #endif
nerit 8:310f9e4eac7b 2125 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2126 #if defined(Qncd)
nerit 8:310f9e4eac7b 2127 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2128 #endif
nerit 8:310f9e4eac7b 2129 #endif
nerit 8:310f9e4eac7b 2130 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2131 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2132 if(encoder==false) {
nerit 8:310f9e4eac7b 2133 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2134 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2135 } else {
nerit 8:310f9e4eac7b 2136 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 2137 }
nerit 8:310f9e4eac7b 2138 } else {
nerit 8:310f9e4eac7b 2139 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 2140 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2141 #if defined(Qnce)
nerit 8:310f9e4eac7b 2142 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2143 #endif
nerit 3:a469bbd294b5 2144 #endif
nerit 3:a469bbd294b5 2145 }
nerit 8:310f9e4eac7b 2146 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2147 double k3=0.0f;
nerit 8:310f9e4eac7b 2148 double k4=0.0f;
nerit 8:310f9e4eac7b 2149 double k5=0.0f;
nerit 8:310f9e4eac7b 2150 double k6=0.0f;
nerit 8:310f9e4eac7b 2151 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2152 k3=0.010f;
nerit 8:310f9e4eac7b 2153 #else
nerit 8:310f9e4eac7b 2154 k3=0.050f;
nerit 8:310f9e4eac7b 2155 #endif
nerit 8:310f9e4eac7b 2156 k4=1.103f;
nerit 8:310f9e4eac7b 2157 k5=10.00f;
nerit 8:310f9e4eac7b 2158 k6=20.50f;
nerit 8:310f9e4eac7b 2159 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2160 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2161 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2162 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2163 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2164 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2165 double k1=0.0f;
nerit 8:310f9e4eac7b 2166 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2167 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2168 }
nerit 8:310f9e4eac7b 2169 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2170 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2171 }
nerit 8:310f9e4eac7b 2172 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2173 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2174 }
nerit 8:310f9e4eac7b 2175 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2176 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2177 }
nerit 8:310f9e4eac7b 2178 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2179 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2180 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2181 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2182 correzione = (1.0f - dutyTeorico);
nerit 3:a469bbd294b5 2183 }
nerit 8:310f9e4eac7b 2184 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2185 correzione = -1.0f*dutyTeorico;
nerit 3:a469bbd294b5 2186 }
nerit 3:a469bbd294b5 2187 }
nerit 8:310f9e4eac7b 2188 pulseRised1=0;
nerit 8:310f9e4eac7b 2189 pulseRised2=0;
nerit 8:310f9e4eac7b 2190 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2191 #if defined(Qnca)
nerit 8:310f9e4eac7b 2192 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2193 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 2194 #endif
nerit 8:310f9e4eac7b 2195 #endif
nerit 8:310f9e4eac7b 2196 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2197 #if defined(Qncb)
nerit 8:310f9e4eac7b 2198 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2199 #endif
nerit 8:310f9e4eac7b 2200 #endif
nerit 12:b0fc1d313813 2201 #if defined(pcSerial)
nerit 12:b0fc1d313813 2202 #if defined(boost)
nerit 12:b0fc1d313813 2203 pc.printf("boost: %f teory: %f real: %f curr: %f cc:%d check: %d\n",boostDcOut,dutyTeorico, dcActualDuty,SD_CurrentScaled,correggiCorrente,currentCheckEnable);
nerit 12:b0fc1d313813 2204 #endif
nerit 12:b0fc1d313813 2205 #endif
nerit 8:310f9e4eac7b 2206 }
nerit 12:b0fc1d313813 2207 // introduce il controllo di corrente
nerit 12:b0fc1d313813 2208 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2209 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2210 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2211 }
nerit 12:b0fc1d313813 2212 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2213 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2214 }
nerit 12:b0fc1d313813 2215 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2216 boostDcOut=0.2f;
nerit 12:b0fc1d313813 2217 all_genericals=1;
nerit 12:b0fc1d313813 2218 }
nerit 12:b0fc1d313813 2219 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2220 boostDcOut=-0.2f;
nerit 12:b0fc1d313813 2221 all_genericals=1;
nerit 12:b0fc1d313813 2222 }
nerit 12:b0fc1d313813 2223 correggiCorrente=0;
nerit 8:310f9e4eac7b 2224 }
nerit 12:b0fc1d313813 2225 if (currentCheckEnable==true){
nerit 12:b0fc1d313813 2226 correzione += boostDcOut;
nerit 12:b0fc1d313813 2227 boostDcOut=0.0f;
nerit 8:310f9e4eac7b 2228 }
nerit 8:310f9e4eac7b 2229 DC_brake=0;
nerit 8:310f9e4eac7b 2230 DC_forward=1;
nerit 8:310f9e4eac7b 2231 DC_prepare();
bcostm 2:35f13b7f3659 2232
nerit 8:310f9e4eac7b 2233 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2234 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2235 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2236 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2237 }
nerit 8:310f9e4eac7b 2238 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2239 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2240 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2241 }
nerit 3:a469bbd294b5 2242
nerit 8:310f9e4eac7b 2243 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2244 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2245 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2246 } else {
nerit 3:a469bbd294b5 2247 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2248 }
nerit 8:310f9e4eac7b 2249 } else {
nerit 8:310f9e4eac7b 2250 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2251 }
nerit 8:310f9e4eac7b 2252 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2253 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2254 }
nerit 8:310f9e4eac7b 2255 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2256 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2257 }
nerit 8:310f9e4eac7b 2258 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2259 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2260 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2261 }
nerit 8:310f9e4eac7b 2262 // allarme
nerit 8:310f9e4eac7b 2263 if (SDwheelTimer.read_ms()>4000) {
nerit 8:310f9e4eac7b 2264 if (firstStart==0) {
nerit 8:310f9e4eac7b 2265 all_noDcRotati=1;
nerit 3:a469bbd294b5 2266 }
nerit 8:310f9e4eac7b 2267 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2268 #if defined(VediAllarmi)
nerit 8:310f9e4eac7b 2269 pc.printf("allarme no DC rotation");
nerit 3:a469bbd294b5 2270 #endif
nerit 8:310f9e4eac7b 2271 #endif
nerit 8:310f9e4eac7b 2272 }
nerit 3:a469bbd294b5 2273
nerit 8:310f9e4eac7b 2274 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2275 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2276 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2277 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2278 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2279 syncroCheck=0;
nerit 8:310f9e4eac7b 2280 lockStart=1;
nerit 8:310f9e4eac7b 2281 periodo = TBperiod;
nerit 8:310f9e4eac7b 2282 #if !defined(runner)
nerit 9:7f02256f6e8f 2283 #if defined(Zucca)
nerit 9:7f02256f6e8f 2284 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2285 #else
nerit 9:7f02256f6e8f 2286 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2287 #endif
nerit 8:310f9e4eac7b 2288 #endif
nerit 8:310f9e4eac7b 2289 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2290 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2291 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2292 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2293 #endif
nerit 6:e8c18f0f399a 2294 #endif
nerit 8:310f9e4eac7b 2295 cambiaTB(periodo);
nerit 3:a469bbd294b5 2296 }
nerit 8:310f9e4eac7b 2297 }
nerit 8:310f9e4eac7b 2298 // controllo di stop
nerit 8:310f9e4eac7b 2299 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2300 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2301 syncroCheck=0;
nerit 8:310f9e4eac7b 2302 aspettaStart=1;
nerit 8:310f9e4eac7b 2303 countCicli=0;
nerit 6:e8c18f0f399a 2304 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2305 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2306 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2307 #endif
nerit 6:e8c18f0f399a 2308 #endif
nerit 8:310f9e4eac7b 2309 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2310 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2311 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2312 pc.printf("15f\n");
nerit 8:310f9e4eac7b 2313 #endif
nerit 8:310f9e4eac7b 2314 #endif
nerit 8:310f9e4eac7b 2315 #if !defined(runner)
nerit 8:310f9e4eac7b 2316 TBticker.detach();
nerit 8:310f9e4eac7b 2317 #endif
nerit 8:310f9e4eac7b 2318 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2319 #if defined(loStop)
nerit 8:310f9e4eac7b 2320 pc.printf("A4\n");
nerit 8:310f9e4eac7b 2321 #endif
nerit 6:e8c18f0f399a 2322 #endif
nerit 8:310f9e4eac7b 2323 motor->soft_hiz();
nerit 8:310f9e4eac7b 2324 }
nerit 8:310f9e4eac7b 2325 }
nerit 8:310f9e4eac7b 2326 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2327 syncroCheck=0;
nerit 8:310f9e4eac7b 2328 lockStart=0;
nerit 8:310f9e4eac7b 2329 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2330 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2331 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2332 if (encoder==false) {
nerit 8:310f9e4eac7b 2333 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2334 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2335 } else {
nerit 8:310f9e4eac7b 2336 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2337 }
nerit 8:310f9e4eac7b 2338 } else {
nerit 8:310f9e4eac7b 2339 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2340 }
nerit 8:310f9e4eac7b 2341 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2342 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2343 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2344 }
nerit 8:310f9e4eac7b 2345 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2346 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2347 startCicloTB=1;
nerit 8:310f9e4eac7b 2348 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2349 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2350 pc.printf("startTB\n");
nerit 8:310f9e4eac7b 2351 #endif
nerit 8:310f9e4eac7b 2352 #endif
nerit 8:310f9e4eac7b 2353 }
nerit 8:310f9e4eac7b 2354 beccoPronto=0;
nerit 8:310f9e4eac7b 2355 }
nerit 8:310f9e4eac7b 2356 } else {
nerit 8:310f9e4eac7b 2357 // tamburo per zucca
nerit 8:310f9e4eac7b 2358 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2359 startCicloTB=1;
nerit 8:310f9e4eac7b 2360 }
nerit 8:310f9e4eac7b 2361 beccoPronto=0;
nerit 8:310f9e4eac7b 2362 }
nerit 8:310f9e4eac7b 2363 }
nerit 8:310f9e4eac7b 2364 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2365 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2366 pc.printf("lowSpeed\n");
nerit 6:e8c18f0f399a 2367 #endif
nerit 8:310f9e4eac7b 2368 #endif
nerit 8:310f9e4eac7b 2369 ciclaTB();
nerit 8:310f9e4eac7b 2370 }
nerit 8:310f9e4eac7b 2371 //*************************************************************
nerit 8:310f9e4eac7b 2372 } else { // fine ciclo con velocita maggiore di 0
nerit 8:310f9e4eac7b 2373 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2374 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2375 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2376 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2377 resetDelay();
nerit 8:310f9e4eac7b 2378 #endif
nerit 8:310f9e4eac7b 2379 checkSDrotation=0;
nerit 8:310f9e4eac7b 2380 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2381 aspettaStart=1;
nerit 8:310f9e4eac7b 2382 countCicli=0;
nerit 8:310f9e4eac7b 2383 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2384 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2385 correzione=0.0f;
nerit 8:310f9e4eac7b 2386 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2387 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2388 cntTbError=0;
nerit 8:310f9e4eac7b 2389 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2390 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2391 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2392 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2393 #endif
nerit 8:310f9e4eac7b 2394 #endif
nerit 8:310f9e4eac7b 2395 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2396 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2397 DC_brake=1;
nerit 8:310f9e4eac7b 2398 DC_prepare();
nerit 8:310f9e4eac7b 2399 metalTimer.reset();
nerit 8:310f9e4eac7b 2400 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2401 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2402 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2403 #endif
nerit 8:310f9e4eac7b 2404 #endif
nerit 8:310f9e4eac7b 2405 #if !defined(runner)
nerit 6:e8c18f0f399a 2406 TBticker.detach();
nerit 8:310f9e4eac7b 2407 #endif
nerit 8:310f9e4eac7b 2408 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2409 #if defined(loStop)
nerit 8:310f9e4eac7b 2410 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2411 #endif
nerit 8:310f9e4eac7b 2412 #endif
nerit 8:310f9e4eac7b 2413 motor->soft_hiz();
nerit 8:310f9e4eac7b 2414 pntMedia=0;
nerit 8:310f9e4eac7b 2415 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2416 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2417 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2418 #endif
nerit 8:310f9e4eac7b 2419 #endif
nerit 3:a469bbd294b5 2420 }
nerit 8:310f9e4eac7b 2421 }
nerit 8:310f9e4eac7b 2422
nerit 8:310f9e4eac7b 2423 //*************************************************************************************************
nerit 3:a469bbd294b5 2424 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2425 //*************************************************************************************************
nerit 6:e8c18f0f399a 2426 } //end inProva==0
nerit 3:a469bbd294b5 2427 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2428 } // end while
nerit 3:a469bbd294b5 2429 } // end main