FORIGO_Modula_V7_3_VdcStep_maggio2020 - Messa in campo 4 file - 26/06/2020 Francia

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Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_maggio2020

Messa in campo 4 file - 26/06/2020 Francia

Dependencies: mbed X_NUCLEO_IHM03A1_for

Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by Francesco Pistone

main.cpp@19:231b8931cabc, 2019-04-23 (annotated)

Committer:: nerit
Date:: Tue Apr 23 16:01:54 2019 +0000
Revision:: 19:231b8931cabc
Parent:: 18:7c978f69cc51
Child:: 20:4a400a4cc419

Release di Alessandria;

Who changed what in which revision?

User	Revision	Line number	New 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	}else{
nerit	8:310f9e4eac7b	201	TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))TBreductionRatio);//10;
nerit	18:7c978f69cc51	202	TBactualPosition= 1;
nerit	18:7c978f69cc51	203	TBoldPosition=0;
nerit	18:7c978f69cc51	204	motor->set_home();
nerit	8:310f9e4eac7b	205	}
nerit	8:310f9e4eac7b	206	//wait_us(50); // 50 mS di intervallo lettura
nerit	8:310f9e4eac7b	207	//}
nerit	8:310f9e4eac7b	208	}
nerit	8:310f9e4eac7b	209	#endif
nerit	3:a469bbd294b5	210	//*******************************************************************************
nerit	3:a469bbd294b5	211	//********************************************************************************************************************
nerit	3:a469bbd294b5	212	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	213	// TASK SECTION
nerit	3:a469bbd294b5	214	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	215	//************************************************************************
nerit	8:310f9e4eac7b	216	void aggioVelocita()
nerit	8:310f9e4eac7b	217	{
nerit	8:310f9e4eac7b	218	realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit	17:9629eb019892	219	tempoBecco = realGiroSD44.4444f; //(realGiroSD/360.0f)16000.0f;
nerit	8:310f9e4eac7b	220	frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit	8:310f9e4eac7b	221	semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit	8:310f9e4eac7b	222	seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit	8:310f9e4eac7b	223	#if defined(runner)
nerit	10:9e70619e97ab	224	TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit	9:7f02256f6e8f	225	#if defined(Zucca)
nerit	9:7f02256f6e8f	226	TBperiod=5.2fTBrpm2.0f; //prova dopo test con contagiri
nerit	9:7f02256f6e8f	227	#else
nerit	17:9629eb019892	228	if (cellsNumber<8.0f){
nerit	17:9629eb019892	229	TBperiod=4.8f*TBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	230	}else{
nerit	17:9629eb019892	231	TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	232	}
nerit	9:7f02256f6e8f	233	#endif
nerit	8:310f9e4eac7b	234	#else
nerit	10:9e70619e97ab	235	TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit	8:310f9e4eac7b	236	TBperiod=1000000.0f/TBfrequency; // 715uS
nerit	8:310f9e4eac7b	237	#endif
nerit	8:310f9e4eac7b	238
nerit	8:310f9e4eac7b	239	}
nerit	3:a469bbd294b5	240	//************************************************************************
nerit	3:a469bbd294b5	241	// rise of seed speed 25 pulse sensor
nerit	10:9e70619e97ab	242	void sd25Fall(){
nerit	3:a469bbd294b5	243	timeHole=metalTimer.read_ms();
nerit	10:9e70619e97ab	244	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	245	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	246	metalTimer.reset();
nerit	8:310f9e4eac7b	247	if (speedFromPick==0) {
nerit	10:9e70619e97ab	248	speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit	3:a469bbd294b5	249	}
nerit	6:e8c18f0f399a	250	#if defined(pcSerial)
nerit	6:e8c18f0f399a	251	#if defined(checkLoop)
nerit	6:e8c18f0f399a	252	pc.printf("1\n");
nerit	6:e8c18f0f399a	253	#endif
nerit	6:e8c18f0f399a	254	#endif
nerit	3:a469bbd294b5	255	}
nerit	10:9e70619e97ab	256	//************************************************************************
nerit	3:a469bbd294b5	257	// rise of seed speed motor encoder
nerit	3:a469bbd294b5	258	void encoRise(){
nerit	3:a469bbd294b5	259	timeHole=metalTimer.read_us();
nerit	10:9e70619e97ab	260	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	261	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	262	metalTimer.reset();
nerit	8:310f9e4eac7b	263	if (encoder==true) {
nerit	13:d1030d4e51a8	264	speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit	3:a469bbd294b5	265	pulseRised2=1;
nerit	13:d1030d4e51a8	266	dcEncoderCnt++;
nerit	13:d1030d4e51a8	267	double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit	13:d1030d4e51a8	268	prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit	13:d1030d4e51a8	269	#if defined(speedMaster)
nerit	13:d1030d4e51a8	270	if (quinconceActive==0) {
nerit	13:d1030d4e51a8	271	posForQuinc=500+(uint32_t)sincronizza;
nerit	13:d1030d4e51a8	272	}
nerit	13:d1030d4e51a8	273	#endif
nerit	3:a469bbd294b5	274	}
nerit	6:e8c18f0f399a	275	#if defined(pcSerial)
nerit	6:e8c18f0f399a	276	#if defined(checkLoop)
nerit	6:e8c18f0f399a	277	pc.printf("2\n");
nerit	6:e8c18f0f399a	278	#endif
nerit	6:e8c18f0f399a	279	#endif
nerit	8:310f9e4eac7b	280	aggioVelocita();
nerit	3:a469bbd294b5	281	}
nerit	6:e8c18f0f399a	282	//**************************************************
nerit	3:a469bbd294b5	283	// rise of seed presence sensor
nerit	3:a469bbd294b5	284	void seedSensorTask(){
nerit	3:a469bbd294b5	285	seedSee=1;
nerit	6:e8c18f0f399a	286	#if defined(pcSerial)
nerit	6:e8c18f0f399a	287	#if defined(checkLoop)
nerit	6:e8c18f0f399a	288	pc.printf("3\n");
nerit	6:e8c18f0f399a	289	#endif
nerit	6:e8c18f0f399a	290	#endif
nerit	3:a469bbd294b5	291	}
nerit	3:a469bbd294b5	292	//**************************************************
nerit	3:a469bbd294b5	293	// generate speed clock when speed is simulated from Tritecnica display
nerit	8:310f9e4eac7b	294	void speedSimulationClock(){
nerit	3:a469bbd294b5	295	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	296	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	297	speedTimer.reset();
nerit	3:a469bbd294b5	298	pulseRised=1;
nerit	3:a469bbd294b5	299	speedFilter.reset();
nerit	6:e8c18f0f399a	300	#if defined(pcSerial)
nerit	6:e8c18f0f399a	301	#if defined(checkLoop)
nerit	6:e8c18f0f399a	302	pc.printf("4\n");
nerit	6:e8c18f0f399a	303	#endif
nerit	6:e8c18f0f399a	304	#endif
nerit	3:a469bbd294b5	305	}
nerit	3:a469bbd294b5	306	//*******************************************************
nerit	3:a469bbd294b5	307	// interrupt task for tractor speed reading
nerit	3:a469bbd294b5	308	//*******************************************************
nerit	3:a469bbd294b5	309	void tractorReadSpeed(){
nerit	8:310f9e4eac7b	310	if ((oldTractorSpeedRead==0)) {
nerit	3:a469bbd294b5	311	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	312	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	313	speedTimer.reset();
nerit	3:a469bbd294b5	314	pulseRised=1;
nerit	3:a469bbd294b5	315	oldTractorSpeedRead=1;
nerit	3:a469bbd294b5	316	}
nerit	8:310f9e4eac7b	317	speedClock=1;
nerit	3:a469bbd294b5	318	speedFilter.reset();
nerit	10:9e70619e97ab	319	cntSpeedError=0;
nerit	6:e8c18f0f399a	320	#if defined(pcSerial)
nerit	6:e8c18f0f399a	321	#if defined(checkLoop)
nerit	6:e8c18f0f399a	322	pc.printf("5\n");
nerit	6:e8c18f0f399a	323	#endif
nerit	6:e8c18f0f399a	324	#endif
nerit	3:a469bbd294b5	325	}
nerit	3:a469bbd294b5	326	//*******************************************************
nerit	8:310f9e4eac7b	327	void speedMediaCalc()
nerit	8:310f9e4eac7b	328	{
nerit	3:a469bbd294b5	329	double lastPd=(double) lastPulseRead/1000.0f;
nerit	3:a469bbd294b5	330	pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit	8:310f9e4eac7b	331	if (enableSimula==1) {
nerit	3:a469bbd294b5	332	double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	333	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	334	}
nerit	3:a469bbd294b5	335	mediaSpeed[0]=lastPd;
nerit	3:a469bbd294b5	336	OLDpulseSpeedInterval=pulseSpeedInterval;
nerit	10:9e70619e97ab	337	#if defined(pcSerial)
nerit	10:9e70619e97ab	338	#if defined(checkLoop)
nerit	10:9e70619e97ab	339	pc.printf("6\n");
nerit	10:9e70619e97ab	340	#endif
nerit	10:9e70619e97ab	341	#endif
nerit	8:310f9e4eac7b	342	}
bcostm	0:5701b41769fd	343
nerit	3:a469bbd294b5	344	//*******************************************************
nerit	3:a469bbd294b5	345	// clocked task for manage virtual encoder of seed wheel i/o
nerit	3:a469bbd294b5	346	//*******************************************************
nerit	3:a469bbd294b5	347	//*******************************************************
nerit	8:310f9e4eac7b	348	void step_SDPulseOut()
nerit	8:310f9e4eac7b	349	{
nerit	3:a469bbd294b5	350	SDactualPosition++;
nerit	3:a469bbd294b5	351	prePosSD++;
nerit	10:9e70619e97ab	352	#if defined(speedMaster)
nerit	10:9e70619e97ab	353	posForQuinc++;
nerit	10:9e70619e97ab	354	#endif
nerit	10:9e70619e97ab	355	#if defined(pcSerial)
nerit	10:9e70619e97ab	356	#if defined(checkLoop)
nerit	10:9e70619e97ab	357	pc.printf("7\n");
nerit	10:9e70619e97ab	358	#endif
nerit	10:9e70619e97ab	359	#endif
nerit	3:a469bbd294b5	360	}
nerit	3:a469bbd294b5	361	//*******************************************************
nerit	18:7c978f69cc51	362	void step_TBPulseOut(){
nerit	3:a469bbd294b5	363	TBmotorStepOut=!TBmotorStepOut;
nerit	8:310f9e4eac7b	364	if (TBmotorStepOut==0) {
nerit	8:310f9e4eac7b	365	if (TBmotorDirecti==TBforward) {
nerit	3:a469bbd294b5	366	TBactualPosition++;
nerit	3:a469bbd294b5	367	}
nerit	3:a469bbd294b5	368	}
nerit	10:9e70619e97ab	369	#if defined(pcSerial)
nerit	10:9e70619e97ab	370	#if defined(stepTamb)
nerit	10:9e70619e97ab	371	pc.printf("step\n");
nerit	10:9e70619e97ab	372	#endif
nerit	10:9e70619e97ab	373	#endif
nerit	6:e8c18f0f399a	374	/*
nerit	6:e8c18f0f399a	375	#if defined(pcSerial)
nerit	6:e8c18f0f399a	376	#if defined(checkLoop)
nerit	6:e8c18f0f399a	377	pc.printf("8\n");
nerit	6:e8c18f0f399a	378	#endif
nerit	6:e8c18f0f399a	379	#endif
nerit	6:e8c18f0f399a	380	*/
nerit	3:a469bbd294b5	381	}
nerit	3:a469bbd294b5	382	//*******************************************************
nerit	8:310f9e4eac7b	383	void invertiLo()
nerit	8:310f9e4eac7b	384	{
nerit	8:310f9e4eac7b	385	if (TBmotorDirecti==TBreverse) {
nerit	3:a469bbd294b5	386	TBmotorDirecti=TBforward;
nerit	8:310f9e4eac7b	387	#if !defined(runner)
nerit	9:7f02256f6e8f	388	#if defined(Zucca)
nerit	9:7f02256f6e8f	389	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	390	#else
nerit	9:7f02256f6e8f	391	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	392	#endif
nerit	8:310f9e4eac7b	393	#endif
nerit	18:7c978f69cc51	394	#if defined(provaStepper)
nerit	18:7c978f69cc51	395	motor->run(StepperMotor::FWD,150.0f);
nerit	18:7c978f69cc51	396	#endif
nerit	8:310f9e4eac7b	397	} else {
nerit	3:a469bbd294b5	398	TBmotorDirecti=TBreverse;
nerit	8:310f9e4eac7b	399	#if !defined(runner)
nerit	9:7f02256f6e8f	400	#if defined(Zucca)
nerit	9:7f02256f6e8f	401	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	402	#else
nerit	9:7f02256f6e8f	403	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	404	#endif
nerit	8:310f9e4eac7b	405	#endif
nerit	18:7c978f69cc51	406	#if defined(provaStepper)
nerit	18:7c978f69cc51	407	motor->run(StepperMotor::BWD,100.0f);
nerit	18:7c978f69cc51	408	#endif
nerit	3:a469bbd294b5	409	}
nerit	3:a469bbd294b5	410	#if defined(pcSerial)
nerit	3:a469bbd294b5	411	#if defined(inversione)
nerit	3:a469bbd294b5	412	pc.printf("cambio M %d\n",cambiaStep);
nerit	3:a469bbd294b5	413	pc.printf("posizione %d \n",TBactualPosition);
nerit	3:a469bbd294b5	414	#endif
nerit	3:a469bbd294b5	415	#endif
nerit	6:e8c18f0f399a	416	#if defined(pcSerial)
nerit	6:e8c18f0f399a	417	#if defined(checkLoop)
nerit	6:e8c18f0f399a	418	pc.printf("9\n");
nerit	6:e8c18f0f399a	419	#endif
nerit	6:e8c18f0f399a	420	#endif
nerit	3:a469bbd294b5	421	}
nerit	3:a469bbd294b5	422	//*******************************************************
nerit	3:a469bbd294b5	423	// aggiornamento parametri di lavoro fissi e da Tritecnica
nerit	8:310f9e4eac7b	424	void aggiornaParametri()
nerit	8:310f9e4eac7b	425	{
nerit	3:a469bbd294b5	426	speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit	3:a469bbd294b5	427	pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit	3:a469bbd294b5	428	seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit	3:a469bbd294b5	429	intraPickDistance = seedPerimeter/pickNumber;
nerit	3:a469bbd294b5	430	K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit	17:9629eb019892	431	//K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit	3:a469bbd294b5	432	rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit	13:d1030d4e51a8	433	SDsectorStep = fixedStepGiroSD / pickNumber;
nerit	3:a469bbd294b5	434	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	13:d1030d4e51a8	435	seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit	13:d1030d4e51a8	436	frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit	8:310f9e4eac7b	437	#if defined(runner)
nerit	9:7f02256f6e8f	438	#if defined(Zucca)
nerit	9:7f02256f6e8f	439	KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit	9:7f02256f6e8f	440	#else
nerit	9:7f02256f6e8f	441	KcorT = (SDsectorStep/TBsectorStep)/2.0f;
nerit	9:7f02256f6e8f	442	#endif
nerit	8:310f9e4eac7b	443	#else
nerit	8:310f9e4eac7b	444	KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit	8:310f9e4eac7b	445	#endif
nerit	3:a469bbd294b5	446	angoloFase=angoloPh;
nerit	3:a469bbd294b5	447	avvioGradi=angoloAv;
nerit	3:a469bbd294b5	448	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	449	TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	450	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	451	TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit	3:a469bbd294b5	452	K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit	3:a469bbd294b5	453	if (speedFromPick==1) {
nerit	3:a469bbd294b5	454	intraPickDistance = seedPerimeter/pickNumber;
nerit	8:310f9e4eac7b	455	} else {
nerit	3:a469bbd294b5	456	intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit	3:a469bbd294b5	457	}
nerit	6:e8c18f0f399a	458	#if defined(pcSerial)
nerit	6:e8c18f0f399a	459	#if defined(checkLoop)
nerit	6:e8c18f0f399a	460	pc.printf("10\n");
nerit	6:e8c18f0f399a	461	#endif
nerit	6:e8c18f0f399a	462	#endif
nerit	3:a469bbd294b5	463	}
nerit	3:a469bbd294b5	464	//*******************************************************
nerit	8:310f9e4eac7b	465	void cambiaTB(double perio)
nerit	8:310f9e4eac7b	466	{
nerit	8:310f9e4eac7b	467	#if defined(runner)
nerit	8:310f9e4eac7b	468	// update TB frequency
nerit	8:310f9e4eac7b	469	double TBper=0.0f;
nerit	8:310f9e4eac7b	470	if (aspettaStart==0){
nerit	8:310f9e4eac7b	471	TBper=perio;
nerit	8:310f9e4eac7b	472	if (oldPeriodoTB!=TBper){
nerit	6:e8c18f0f399a	473	#if defined(pcSerial)
nerit	8:310f9e4eac7b	474	#if defined(TBperSo)
nerit	8:310f9e4eac7b	475	pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit	6:e8c18f0f399a	476	#endif
nerit	6:e8c18f0f399a	477	#endif
nerit	9:7f02256f6e8f	478	#if defined(Zucca)
nerit	9:7f02256f6e8f	479	motor->run(StepperMotor::BWD,TBper);
nerit	9:7f02256f6e8f	480	#else
nerit	9:7f02256f6e8f	481	motor->run(StepperMotor::FWD,TBper);
nerit	9:7f02256f6e8f	482	#endif
nerit	8:310f9e4eac7b	483	oldPeriodoTB=TBper;
nerit	8:310f9e4eac7b	484	}
nerit	8:310f9e4eac7b	485	}
nerit	8:310f9e4eac7b	486	#else
nerit	8:310f9e4eac7b	487	// update TB frequency
nerit	8:310f9e4eac7b	488	double limite=500.0f;
nerit	8:310f9e4eac7b	489	double TBper=0.0f;
nerit	8:310f9e4eac7b	490	double scala =2.0f;
nerit	8:310f9e4eac7b	491	if (aspettaStart==0) {
nerit	8:310f9e4eac7b	492	if (perio<limite) {
nerit	8:310f9e4eac7b	493	perio=limite;
nerit	8:310f9e4eac7b	494	}
nerit	8:310f9e4eac7b	495	TBper=perio/scala;
nerit	8:310f9e4eac7b	496	if (oldPeriodoTB!=TBper) {
nerit	8:310f9e4eac7b	497	if (TBper >= (limite/2.0f)) {
nerit	8:310f9e4eac7b	498	#if defined(pcSerial)
nerit	8:310f9e4eac7b	499	#if defined(checkLoop)
nerit	8:310f9e4eac7b	500	pc.printf("11a\n");
nerit	8:310f9e4eac7b	501	pc.printf("11a TBper: %f \n",TBper);
nerit	8:310f9e4eac7b	502	#endif
nerit	6:e8c18f0f399a	503	#endif
nerit	8:310f9e4eac7b	504	if (TBper != NULL) {
nerit	9:7f02256f6e8f	505	#if defined(Zucca)
nerit	9:7f02256f6e8f	506	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	507	#else
nerit	9:7f02256f6e8f	508	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	509	#endif
nerit	8:310f9e4eac7b	510	TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	511	}
nerit	8:310f9e4eac7b	512	} else {
nerit	8:310f9e4eac7b	513	#if defined(pcSerial)
nerit	8:310f9e4eac7b	514	#if defined(checkLoop)
nerit	8:310f9e4eac7b	515	pc.printf("11b\n");
nerit	8:310f9e4eac7b	516	#endif
nerit	6:e8c18f0f399a	517	#endif
nerit	8:310f9e4eac7b	518	TBticker.detach();
nerit	8:310f9e4eac7b	519	#if defined(pcSerial)
nerit	8:310f9e4eac7b	520	#if defined(loStop)
nerit	8:310f9e4eac7b	521	pc.printf("A1\n");
nerit	8:310f9e4eac7b	522	#endif
nerit	8:310f9e4eac7b	523	#endif
nerit	8:310f9e4eac7b	524	motor->soft_hiz();
nerit	8:310f9e4eac7b	525	}
nerit	8:310f9e4eac7b	526	oldPeriodoTB=TBper;
nerit	3:a469bbd294b5	527	}
nerit	3:a469bbd294b5	528	}
nerit	8:310f9e4eac7b	529	#endif
nerit	3:a469bbd294b5	530	}
nerit	3:a469bbd294b5	531	//*******************************************************
nerit	8:310f9e4eac7b	532	void seedCorrect()
nerit	8:310f9e4eac7b	533	{
nerit	3:a469bbd294b5	534	/*
nerit	3:a469bbd294b5	535	posError determina la posizione relativa di TB rispetto ad SD
nerit	8:310f9e4eac7b	536	la reale posizione di SD viene modificata in funzione della velocità per
nerit	3:a469bbd294b5	537	traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit	3:a469bbd294b5	538	di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit	3:a469bbd294b5	539	La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit	3:a469bbd294b5	540	poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit	3:a469bbd294b5	541	Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit	3:a469bbd294b5	542	angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit	3:a469bbd294b5	543	Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit	3:a469bbd294b5	544	del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit	3:a469bbd294b5	545	Ancora di più se viene eliminata la parte gestita da ciclata.
nerit	3:a469bbd294b5	546	In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit	3:a469bbd294b5	547	dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit	3:a469bbd294b5	548	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	549	Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit	3:a469bbd294b5	550	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	551	il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit	8:310f9e4eac7b	552
nerit	3:a469bbd294b5	553	// La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit	3:a469bbd294b5	554	// di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit	8:310f9e4eac7b	555	*/
nerit	3:a469bbd294b5	556	/*
nerit	3:a469bbd294b5	557	SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit	3:a469bbd294b5	558	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	3:a469bbd294b5	559	KcorT = (SDsectorStep/TBsectorStep);
nerit	3:a469bbd294b5	560	angoloFase=angoloPh;
nerit	3:a469bbd294b5	561	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	562	avvioGradi = costante da terminale tritecnica
nerit	3:a469bbd294b5	563	TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	564	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	565	*/
nerit	8:310f9e4eac7b	566	if ((tractorSpeed_MtS_timed>0.01f)) {
nerit	8:310f9e4eac7b	567	if (inhibit==0) {
nerit	3:a469bbd294b5	568	double posError =0.0f;
nerit	3:a469bbd294b5	569	double posSD=((double)SDactualPosition)/KcorT;
nerit	8:310f9e4eac7b	570	posError = posSD - (double)TBactualPosition;
nerit	3:a469bbd294b5	571	// interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit	8:310f9e4eac7b	572	if((lowSpeed==0)&&(aspettaStart==0)) {
nerit	19:231b8931cabc	573	double lowLim=-500.0f;
nerit	19:231b8931cabc	574	double higLim= 130.0f;
nerit	19:231b8931cabc	575	double divide= 25.0f;
nerit	8:310f9e4eac7b	576	if (pickNumber <= 5) {
nerit	4:de1b296e9757	577	lowLim=-500.0f;
nerit	4:de1b296e9757	578	higLim= 500.0f;
nerit	4:de1b296e9757	579	divide= 25.0f;
nerit	8:310f9e4eac7b	580	} else {
nerit	8:310f9e4eac7b	581	lowLim=-10.0f;
nerit	8:310f9e4eac7b	582	higLim= 130.0f;
nerit	19:231b8931cabc	583	divide= 20.0f;
nerit	4:de1b296e9757	584	}
nerit	8:310f9e4eac7b	585	if (posError>higLim) {
nerit	17:9629eb019892	586	posError=higLim;
nerit	17:9629eb019892	587	//posError=0.0f;
nerit	17:9629eb019892	588	//motor->soft_hiz();
nerit	8:310f9e4eac7b	589	}
nerit	8:310f9e4eac7b	590	if (posError<lowLim) {
nerit	8:310f9e4eac7b	591	posError=lowLim;
nerit	8:310f9e4eac7b	592	}
nerit	8:310f9e4eac7b	593	if ((posError >=1.0f)\|\|(posError<=-1.0f)) {
nerit	8:310f9e4eac7b	594	#if defined(runner)
nerit	8:310f9e4eac7b	595	ePpos = periodo *(1.0f+ ((posError/divide)));
nerit	8:310f9e4eac7b	596	#else
nerit	8:310f9e4eac7b	597	ePpos = periodo /(1.0f+ ((posError/divide)));
nerit	8:310f9e4eac7b	598	#endif
nerit	3:a469bbd294b5	599	#if defined(pcSerial)
nerit	6:e8c18f0f399a	600	#if defined(checkLoop)
nerit	6:e8c18f0f399a	601	pc.printf("12a ePpos:%f\n",ePpos);
nerit	3:a469bbd294b5	602	#endif
nerit	3:a469bbd294b5	603	#endif
nerit	8:310f9e4eac7b	604	if (ePpos>0.0f) {
nerit	6:e8c18f0f399a	605	cambiaTB(ePpos);
nerit	8:310f9e4eac7b	606	} else {
nerit	6:e8c18f0f399a	607	cambiaTB(periodo);///2.0f);
nerit	6:e8c18f0f399a	608	}
nerit	6:e8c18f0f399a	609	}
nerit	6:e8c18f0f399a	610	#if defined(pcSerial)
nerit	6:e8c18f0f399a	611	#if defined(TBperS)
nerit	8:310f9e4eac7b	612	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	613	#endif
nerit	6:e8c18f0f399a	614	#endif
nerit	3:a469bbd294b5	615	}
nerit	3:a469bbd294b5	616	}
nerit	3:a469bbd294b5	617	}
nerit	10:9e70619e97ab	618	#if defined(pcSerial)
nerit	10:9e70619e97ab	619	#if defined(checkLoopa)
nerit	10:9e70619e97ab	620	pc.printf("12\n");
nerit	10:9e70619e97ab	621	#endif
nerit	10:9e70619e97ab	622	#endif
nerit	3:a469bbd294b5	623	}
nerit	3:a469bbd294b5	624	//*******************************************************
nerit	8:310f9e4eac7b	625	void videoUpdate()
nerit	8:310f9e4eac7b	626	{
nerit	8:310f9e4eac7b	627	for(int aa=0; aa<4; aa++) {
nerit	8:310f9e4eac7b	628	speedForDisplay[aa]=speedForDisplay[aa+1];
nerit	8:310f9e4eac7b	629	}
nerit	3:a469bbd294b5	630	speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	631	totalSpeed=0.0f;
nerit	8:310f9e4eac7b	632	for (int aa=0; aa<5; aa++) {
nerit	8:310f9e4eac7b	633	totalSpeed += speedForDisplay[aa];
nerit	8:310f9e4eac7b	634	}
nerit	3:a469bbd294b5	635	totalSpeed = totalSpeed / 5.0f;
nerit	10:9e70619e97ab	636	#if defined(pcSerial)
nerit	10:9e70619e97ab	637	#if defined(SDreset)
nerit	10:9e70619e97ab	638	pc.printf("Fase: %d",fase);
nerit	10:9e70619e97ab	639	pc.printf(" PrePosSD: %d",prePosSD);
nerit	10:9e70619e97ab	640	pc.printf(" PosSD: %d",SDactualPosition);
nerit	10:9e70619e97ab	641	pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit	10:9e70619e97ab	642	pc.printf(" Trigger: %d \n", trigRepos);
nerit	10:9e70619e97ab	643	#endif
nerit	10:9e70619e97ab	644	#endif
nerit	10:9e70619e97ab	645	#if defined(pcSerial)
nerit	10:9e70619e97ab	646	#if defined(checkLoop)
nerit	10:9e70619e97ab	647	pc.printf("13\n");
nerit	10:9e70619e97ab	648	#endif
nerit	10:9e70619e97ab	649	#endif
nerit	3:a469bbd294b5	650	}
nerit	3:a469bbd294b5	651	//*******************************************************
nerit	8:310f9e4eac7b	652	void ciclaTB()
nerit	8:310f9e4eac7b	653	{
nerit	8:310f9e4eac7b	654	if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit	6:e8c18f0f399a	655	#if defined(pcSerial)
nerit	6:e8c18f0f399a	656	#if defined(checkLoop)
nerit	6:e8c18f0f399a	657	pc.printf("14a TBperiod: %f\n",TBperiod);
nerit	6:e8c18f0f399a	658	#endif
nerit	6:e8c18f0f399a	659	#endif
nerit	8:310f9e4eac7b	660	#if defined(runner)
nerit	9:7f02256f6e8f	661	#if defined(Zucca)
nerit	9:7f02256f6e8f	662	motor->run(StepperMotor::BWD,TBperiod);
nerit	9:7f02256f6e8f	663	#else
nerit	9:7f02256f6e8f	664	motor->run(StepperMotor::FWD,TBperiod);
nerit	9:7f02256f6e8f	665	#endif
nerit	8:310f9e4eac7b	666	#else
nerit	8:310f9e4eac7b	667	if (TBperiod >= (250.0f*2.0f)) {
nerit	8:310f9e4eac7b	668	if (TBperiod != NULL) {
nerit	9:7f02256f6e8f	669	#if defined(Zucca)
nerit	9:7f02256f6e8f	670	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	671	#else
nerit	9:7f02256f6e8f	672	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	673	#endif
nerit	8:310f9e4eac7b	674	TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	675	}
nerit	6:e8c18f0f399a	676	}
nerit	8:310f9e4eac7b	677	#endif
nerit	8:310f9e4eac7b	678	cicloTbinCorso = 1;
nerit	8:310f9e4eac7b	679	startCicloTB=0;
nerit	3:a469bbd294b5	680	}
nerit	8:310f9e4eac7b	681	if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit	6:e8c18f0f399a	682	#if defined(pcSerial)
nerit	6:e8c18f0f399a	683	#if defined(checkLoop)
nerit	6:e8c18f0f399a	684	pc.printf("14b\n");
nerit	6:e8c18f0f399a	685	#endif
nerit	6:e8c18f0f399a	686	#endif
nerit	8:310f9e4eac7b	687	#if defined(runner)
nerit	9:7f02256f6e8f	688	#if defined(Zucca)
nerit	9:7f02256f6e8f	689	motor->run(StepperMotor::BWD,50.0f);
nerit	9:7f02256f6e8f	690	#else
nerit	9:7f02256f6e8f	691	motor->run(StepperMotor::FWD,50.0f);
nerit	9:7f02256f6e8f	692	#endif
nerit	8:310f9e4eac7b	693	#else
nerit	9:7f02256f6e8f	694	#if defined(Zucca)
nerit	9:7f02256f6e8f	695	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	696	#else
nerit	9:7f02256f6e8f	697	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	698	#endif
nerit	8:310f9e4eac7b	699	TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	700	#endif
nerit	3:a469bbd294b5	701	loadDaCanInCorso=1;
nerit	3:a469bbd294b5	702	stopCicloTB=0;
nerit	3:a469bbd294b5	703	}
nerit	8:310f9e4eac7b	704	if ((stopCicloTB==1)&&(TBactualPosition>5)) {
nerit	6:e8c18f0f399a	705	#if defined(pcSerial)
nerit	6:e8c18f0f399a	706	#if defined(checkLoop)
nerit	6:e8c18f0f399a	707	pc.printf("14c\n");
nerit	6:e8c18f0f399a	708	#endif
nerit	6:e8c18f0f399a	709	#endif
nerit	8:310f9e4eac7b	710	#if !defined(runner)
nerit	8:310f9e4eac7b	711	TBticker.detach();
nerit	8:310f9e4eac7b	712	#endif
nerit	6:e8c18f0f399a	713	#if defined(pcSerial)
nerit	6:e8c18f0f399a	714	#if defined(loStop)
nerit	6:e8c18f0f399a	715	pc.printf("A2\n");
nerit	6:e8c18f0f399a	716	#endif
nerit	6:e8c18f0f399a	717	#endif
nerit	3:a469bbd294b5	718	motor->soft_hiz();
nerit	3:a469bbd294b5	719	cicloTbinCorso = 0;
nerit	3:a469bbd294b5	720	stopCicloTB=0;
nerit	3:a469bbd294b5	721	loadDaCanInCorso=0;
nerit	3:a469bbd294b5	722	loadDaCan=0;
nerit	3:a469bbd294b5	723	}
nerit	3:a469bbd294b5	724	}
nerit	3:a469bbd294b5	725	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	8:310f9e4eac7b	726	void stepSetting()
nerit	8:310f9e4eac7b	727	{
nerit	3:a469bbd294b5	728	// Stepper driver init and set
nerit	3:a469bbd294b5	729	TBmotorRst=0; // reset stepper driver
nerit	3:a469bbd294b5	730	TBmotorDirecti=TBforward; // reset stepper direction
nerit	6:e8c18f0f399a	731	#if defined(pcSerial)
nerit	6:e8c18f0f399a	732	#if defined(checkLoop)
nerit	6:e8c18f0f399a	733	pc.printf("15\n");
nerit	6:e8c18f0f399a	734	#endif
nerit	6:e8c18f0f399a	735	#endif
nerit	8:310f9e4eac7b	736	TBmotorRst=1;
nerit	3:a469bbd294b5	737	}
nerit	3:a469bbd294b5	738	//****************************************
nerit	12:b0fc1d313813	739	void controllaCorrente(){
nerit	12:b0fc1d313813	740	correggiCorrente=1;
nerit	12:b0fc1d313813	741	}
nerit	12:b0fc1d313813	742	//****************************************
nerit	3:a469bbd294b5	743	void dcSetting(){
nerit	8:310f9e4eac7b	744	if ((speedFromPick==0)&&(encoder==false)) {
nerit	8:310f9e4eac7b	745	DcEncoder.rise(&sd25Fall);
nerit	8:310f9e4eac7b	746	}
nerit	8:310f9e4eac7b	747	if (encoder==true) {
nerit	8:310f9e4eac7b	748	DcEncoder.rise(&encoRise);
nerit	8:310f9e4eac7b	749	}
nerit	6:e8c18f0f399a	750	#if defined(pcSerial)
nerit	6:e8c18f0f399a	751	#if defined(checkLoop)
nerit	6:e8c18f0f399a	752	pc.printf("16\n");
nerit	6:e8c18f0f399a	753	#endif
nerit	6:e8c18f0f399a	754	#endif
nerit	3:a469bbd294b5	755	}
nerit	3:a469bbd294b5	756	//*******************************************************
nerit	8:310f9e4eac7b	757	void allarmi()
nerit	8:310f9e4eac7b	758	{
nerit	8:310f9e4eac7b	759	uint8_t alarmLowRegister1=0x00;
nerit	8:310f9e4eac7b	760	alarmLowRegister=0x00;
nerit	8:310f9e4eac7b	761	alarmHighRegister=0x80;
nerit	3:a469bbd294b5	762
nerit	8:310f9e4eac7b	763	//alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit	8:310f9e4eac7b	764	alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit	8:310f9e4eac7b	765	alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit	8:310f9e4eac7b	766	alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit	8:310f9e4eac7b	767	alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit	8:310f9e4eac7b	768	alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit	8:310f9e4eac7b	769	//alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit	8:310f9e4eac7b	770	if (seedSensorEnable==true) {
nerit	8:310f9e4eac7b	771	alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit	8:310f9e4eac7b	772	}
nerit	3:a469bbd294b5	773
nerit	8:310f9e4eac7b	774	//alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit	8:310f9e4eac7b	775	alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit	8:310f9e4eac7b	776	alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit	8:310f9e4eac7b	777	alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit	8:310f9e4eac7b	778	alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit	8:310f9e4eac7b	779	alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit	8:310f9e4eac7b	780	alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit	8:310f9e4eac7b	781	if (alarmLowRegister1 > 0) {
nerit	8:310f9e4eac7b	782	alarmHighRegister = 0x81;
nerit	8:310f9e4eac7b	783	alarmLowRegister = alarmLowRegister1;
nerit	8:310f9e4eac7b	784	}
nerit	3:a469bbd294b5	785
nerit	10:9e70619e97ab	786	#if defined(pcSerial)
nerit	10:9e70619e97ab	787	#if defined(VediAllarmi)
nerit	10:9e70619e97ab	788	if (all_pickSignal==1) {
nerit	10:9e70619e97ab	789	pc.printf("AllarmeBecchi\n");
nerit	10:9e70619e97ab	790	}
nerit	10:9e70619e97ab	791	if (all_cellSignal==1) {
nerit	10:9e70619e97ab	792	pc.printf("AllarmeCelle\n");
nerit	10:9e70619e97ab	793	}
nerit	10:9e70619e97ab	794	if (all_lowBattery==1) {
nerit	10:9e70619e97ab	795	pc.printf("AllarmeBassaCorrente\n");
nerit	10:9e70619e97ab	796	}
nerit	10:9e70619e97ab	797	if (all_overCurrDC==1) {
nerit	10:9e70619e97ab	798	pc.printf("AllarmeAltaCorrente\n");
nerit	10:9e70619e97ab	799	}
nerit	10:9e70619e97ab	800	if (all_stopSistem==1) {
nerit	10:9e70619e97ab	801	pc.printf("AllarmeStop\n");
nerit	10:9e70619e97ab	802	}
nerit	10:9e70619e97ab	803	if (all_noDcRotati==1) {
nerit	10:9e70619e97ab	804	pc.printf("AllarmeDCnoRotation\n");
nerit	10:9e70619e97ab	805	}
nerit	10:9e70619e97ab	806	if (all_noStepRota==1) {
nerit	10:9e70619e97ab	807	pc.printf("AllarmeNoStepRotation\n");
nerit	10:9e70619e97ab	808	}
nerit	10:9e70619e97ab	809	if (all_speedError==1) {
nerit	10:9e70619e97ab	810	pc.printf("AllarmeSpeedError\n");
nerit	10:9e70619e97ab	811	}
nerit	10:9e70619e97ab	812	if (all_noSpeedSen==1) {
nerit	10:9e70619e97ab	813	pc.printf("AllarmeNoSpeedSensor\n");
nerit	10:9e70619e97ab	814	}
nerit	10:9e70619e97ab	815	if (all_no_Zeroing==1) {
nerit	10:9e70619e97ab	816	pc.printf("AllarmeNoZero\n");
nerit	10:9e70619e97ab	817	}
nerit	10:9e70619e97ab	818	if (all_genericals==1) {
nerit	10:9e70619e97ab	819	pc.printf("AllarmeGenerico\n");
nerit	10:9e70619e97ab	820	}
nerit	10:9e70619e97ab	821	pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit	10:9e70619e97ab	822	#endif
nerit	10:9e70619e97ab	823	#endif
nerit	8:310f9e4eac7b	824	all_semiFiniti=0;
nerit	8:310f9e4eac7b	825	all_pickSignal=0;
nerit	8:310f9e4eac7b	826	all_cellSignal=0;
nerit	8:310f9e4eac7b	827	all_lowBattery=0;
nerit	8:310f9e4eac7b	828	all_overCurrDC=0;
nerit	8:310f9e4eac7b	829	all_stopSistem=0;
nerit	8:310f9e4eac7b	830	all_upElements=0;
nerit	8:310f9e4eac7b	831	all_noSeedOnCe=0;
nerit	8:310f9e4eac7b	832	all_cfgnErrors=0;
nerit	8:310f9e4eac7b	833	all_noDcRotati=0;
nerit	8:310f9e4eac7b	834	all_noStepRota=0;
nerit	8:310f9e4eac7b	835	all_speedError=0;
nerit	8:310f9e4eac7b	836	all_noSpeedSen=0;
nerit	8:310f9e4eac7b	837	all_no_Zeroing=0;
nerit	8:310f9e4eac7b	838	all_genericals=0;
nerit	10:9e70619e97ab	839	#if defined(pcSerial)
nerit	10:9e70619e97ab	840	#if defined(checkLoop)
nerit	10:9e70619e97ab	841	pc.printf("17\n");
nerit	10:9e70619e97ab	842	#endif
nerit	10:9e70619e97ab	843	#endif
nerit	3:a469bbd294b5	844	}
nerit	3:a469bbd294b5	845	//*******************************************************
nerit	3:a469bbd294b5	846	#if defined(speedMaster)
nerit	3:a469bbd294b5	847	void upDateSincro(){
nerit	8:310f9e4eac7b	848	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	8:310f9e4eac7b	849	val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit	8:310f9e4eac7b	850	val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	851	val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	852	val1[0]=posForQuinc & 0x000000FF;
nerit	3:a469bbd294b5	853	//double pass = tractorSpeed_MtS_timed*100.0f;
nerit	3:a469bbd294b5	854	double pass = speedOfSeedWheel*100.0f;
nerit	3:a469bbd294b5	855	val1[4]=(uint8_t)(pass)&0x000000FF;
nerit	8:310f9e4eac7b	856	val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	857	val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	858	val1[7]=prePosSD & 0x000000FF;
nerit	3:a469bbd294b5	859	#if defined(canbusActive)
nerit	3:a469bbd294b5	860	#if defined(speedMaster)
nerit	8:310f9e4eac7b	861	if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit	3:a469bbd294b5	862	checkState=0;
nerit	3:a469bbd294b5	863	}
nerit	3:a469bbd294b5	864	#endif
nerit	3:a469bbd294b5	865	#endif
nerit	6:e8c18f0f399a	866	#if defined(pcSerial)
nerit	6:e8c18f0f399a	867	#if defined(checkLoop)
nerit	6:e8c18f0f399a	868	pc.printf("18\n");
nerit	6:e8c18f0f399a	869	#endif
nerit	6:e8c18f0f399a	870	#endif
nerit	3:a469bbd294b5	871	}
nerit	3:a469bbd294b5	872	#endif
nerit	3:a469bbd294b5	873	//*******************************************************
nerit	8:310f9e4eac7b	874	void upDateSpeed()
nerit	8:310f9e4eac7b	875	{
nerit	3:a469bbd294b5	876	/*
nerit	3:a469bbd294b5	877	aggiorna dati OPUSA3
nerit	3:a469bbd294b5	878	val1[0] contiene il dato di velocità
nerit	3:a469bbd294b5	879	val1[1] contiene il byte basso della tabella allarmi
nerit	3:a469bbd294b5	880	uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit	3:a469bbd294b5	881	uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit	3:a469bbd294b5	882	uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit	3:a469bbd294b5	883	uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit	3:a469bbd294b5	884	uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit	3:a469bbd294b5	885	uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit	3:a469bbd294b5	886	uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit	3:a469bbd294b5	887	uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit	3:a469bbd294b5	888	uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit	3:a469bbd294b5	889	uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit	3:a469bbd294b5	890	uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit	3:a469bbd294b5	891	uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit	3:a469bbd294b5	892	uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit	3:a469bbd294b5	893	uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit	3:a469bbd294b5	894	uint8_t all_genericals = 0; // allarme generico
nerit	3:a469bbd294b5	895	val1[2] contiene il byte alto della tabella di allarmi
nerit	3:a469bbd294b5	896	val1[3] contiene i segnali per la diagnostica
nerit	3:a469bbd294b5	897	bit 0= sensore ruota fonica
nerit	3:a469bbd294b5	898	bit 1= sensore celle
nerit	3:a469bbd294b5	899	bit 2= sensore posizione
nerit	3:a469bbd294b5	900	bit 3= sensore becchi
nerit	3:a469bbd294b5	901	bit 4= motore DC
nerit	3:a469bbd294b5	902	bit 5= controller
nerit	3:a469bbd294b5	903	bit 6= motore stepper
nerit	3:a469bbd294b5	904	*/
nerit	8:310f9e4eac7b	905	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	906
nerit	8:310f9e4eac7b	907	val1[3]=0;
nerit	8:310f9e4eac7b	908	val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit	8:310f9e4eac7b	909	val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit	8:310f9e4eac7b	910	val1[3]=val1[3]+(DcEncoder*0x04);
nerit	8:310f9e4eac7b	911	val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit	10:9e70619e97ab	912	#if defined(simulaPerCan)
nerit	10:9e70619e97ab	913	if (buttonUser==0) {
nerit	10:9e70619e97ab	914	val1[1]=0x02;
nerit	10:9e70619e97ab	915	} else {
nerit	10:9e70619e97ab	916	val1[1]=0x00;
nerit	10:9e70619e97ab	917	}
nerit	10:9e70619e97ab	918	val1[3]=valore;
nerit	10:9e70619e97ab	919	valore+=1;
nerit	10:9e70619e97ab	920	if(valore>50) {
nerit	10:9e70619e97ab	921	valore=0;
nerit	10:9e70619e97ab	922	}
nerit	10:9e70619e97ab	923	tractorSpeed_MtS_timed=valore;
nerit	10:9e70619e97ab	924	oldLocalTractorSpeed=valore;
nerit	10:9e70619e97ab	925	#endif
nerit	3:a469bbd294b5	926	allarmi();
nerit	3:a469bbd294b5	927	valore = totalSpeed36.0f; // tractorSpeed_MtS_timed36.0f;
nerit	3:a469bbd294b5	928	val1[0]=valore;
nerit	3:a469bbd294b5	929	val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit	3:a469bbd294b5	930	val1[2]=alarmLowRegister; // registro basso allarmi
nerit	3:a469bbd294b5	931	//val1[3]=val1[3];// registro di stato degli ingressi
nerit	3:a469bbd294b5	932	val1[4]=resetComandi;
nerit	3:a469bbd294b5	933	val1[5]=cellsCounterLow;
nerit	3:a469bbd294b5	934	val1[6]=cellsCounterHig;
nerit	10:9e70619e97ab	935	#if defined(canbusActive)
nerit	10:9e70619e97ab	936	if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit	10:9e70619e97ab	937	checkState=0;
nerit	10:9e70619e97ab	938	}
nerit	10:9e70619e97ab	939	#endif
nerit	10:9e70619e97ab	940	#if defined(pcSerial)
nerit	10:9e70619e97ab	941	#if defined(checkLoop)
nerit	10:9e70619e97ab	942	pc.printf("19\n");
nerit	10:9e70619e97ab	943	#endif
nerit	10:9e70619e97ab	944	#endif
nerit	3:a469bbd294b5	945	}
nerit	3:a469bbd294b5	946	//*******************************************************
nerit	8:310f9e4eac7b	947	void leggiCAN()
nerit	8:310f9e4eac7b	948	{
nerit	8:310f9e4eac7b	949	#if defined(canbusActive)
nerit	8:310f9e4eac7b	950	if(can1.read(rxMsg)) {
nerit	8:310f9e4eac7b	951	if (firstStart==1) {
nerit	8:310f9e4eac7b	952	#if defined(speedMaster)
nerit	8:310f9e4eac7b	953	sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit	8:310f9e4eac7b	954	canUpdate.attach(&upDateSpeed,0.21f);
nerit	8:310f9e4eac7b	955	#else
nerit	8:310f9e4eac7b	956	canUpdate.attach(&upDateSpeed,0.407f);
nerit	8:310f9e4eac7b	957	#endif
nerit	8:310f9e4eac7b	958	firstStart=0;
nerit	8:310f9e4eac7b	959	}
nerit	8:310f9e4eac7b	960	if (rxMsg.id==RX_ID) {
nerit	8:310f9e4eac7b	961	#if defined(pcSerial)
nerit	8:310f9e4eac7b	962	#if defined(canDataReceiveda)
nerit	8:310f9e4eac7b	963	pc.printf("Messaggio ricevuto\n");
nerit	3:a469bbd294b5	964	#endif
nerit	8:310f9e4eac7b	965	#endif
nerit	8:310f9e4eac7b	966	}
nerit	8:310f9e4eac7b	967	if (rxMsg.id==RX_Broadcast) {
nerit	8:310f9e4eac7b	968	#if defined(pcSerial)
nerit	8:310f9e4eac7b	969	#if defined(canDataReceivedb)
nerit	3:a469bbd294b5	970	pc.printf("BroadCast ricevuto\n");
nerit	3:a469bbd294b5	971	#endif
nerit	8:310f9e4eac7b	972	#endif
nerit	8:310f9e4eac7b	973	enableSimula= rxMsg.data[0];
nerit	8:310f9e4eac7b	974	speedSimula = rxMsg.data[1];
nerit	8:310f9e4eac7b	975	avviaSimula = rxMsg.data[2];
nerit	8:310f9e4eac7b	976	selezionato = rxMsg.data[3];
nerit	8:310f9e4eac7b	977	comandiDaCan = rxMsg.data[4];
nerit	8:310f9e4eac7b	978	#if defined(pcSerial)
nerit	8:310f9e4eac7b	979	#if defined(canDataReceived)
nerit	3:a469bbd294b5	980	pc.printf("Speed simula %d \n",speedSimula);
nerit	3:a469bbd294b5	981	#endif
nerit	8:310f9e4eac7b	982	#endif
nerit	8:310f9e4eac7b	983	switch (comandiDaCan) {
nerit	8:310f9e4eac7b	984	case 1:
nerit	8:310f9e4eac7b	985	case 3:
nerit	8:310f9e4eac7b	986	azzeraDaCan=1;
nerit	8:310f9e4eac7b	987	resetComandi=0x01;
nerit	8:310f9e4eac7b	988	comandiDaCan=0;
nerit	8:310f9e4eac7b	989	break;
nerit	8:310f9e4eac7b	990	case 2:
nerit	8:310f9e4eac7b	991	loadDaCan=1;
nerit	8:310f9e4eac7b	992	resetComandi=0x02;
nerit	8:310f9e4eac7b	993	comandiDaCan=0;
nerit	8:310f9e4eac7b	994	break;
nerit	8:310f9e4eac7b	995	default:
nerit	8:310f9e4eac7b	996	comandiDaCan=0;
nerit	8:310f9e4eac7b	997	resetComandi=0xFF;
nerit	8:310f9e4eac7b	998	break;
nerit	8:310f9e4eac7b	999	}
nerit	8:310f9e4eac7b	1000	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1001	#if defined(canDataReceivedR)
nerit	8:310f9e4eac7b	1002	pc.printf("Comandi: %x\n",resetComandi);
nerit	8:310f9e4eac7b	1003	#endif
nerit	8:310f9e4eac7b	1004	#endif
nerit	8:310f9e4eac7b	1005	if (speedSimula>45) {
nerit	8:310f9e4eac7b	1006	speedSimula=45;
nerit	8:310f9e4eac7b	1007	}
nerit	8:310f9e4eac7b	1008	// modulo 1
nerit	8:310f9e4eac7b	1009	if (RX_ID==0x100) {
nerit	8:310f9e4eac7b	1010	if ((selezionato&0x01)==0x01) {
nerit	8:310f9e4eac7b	1011	simOk=1;
nerit	8:310f9e4eac7b	1012	} else {
nerit	8:310f9e4eac7b	1013	simOk=0;
nerit	3:a469bbd294b5	1014	}
nerit	8:310f9e4eac7b	1015	}
nerit	8:310f9e4eac7b	1016	// modulo 2
nerit	8:310f9e4eac7b	1017	if (RX_ID==0x102) {
nerit	8:310f9e4eac7b	1018	if ((selezionato&0x02)==0x02) {
nerit	8:310f9e4eac7b	1019	simOk=1;
nerit	8:310f9e4eac7b	1020	} else {
nerit	8:310f9e4eac7b	1021	simOk=0;
nerit	3:a469bbd294b5	1022	}
nerit	8:310f9e4eac7b	1023	}
nerit	8:310f9e4eac7b	1024	// modulo 3
nerit	8:310f9e4eac7b	1025	if (RX_ID==0x104) {
nerit	8:310f9e4eac7b	1026	if ((selezionato&0x04)==0x04) {
nerit	8:310f9e4eac7b	1027	simOk=1;
nerit	8:310f9e4eac7b	1028	} else {
nerit	8:310f9e4eac7b	1029	simOk=0;
nerit	3:a469bbd294b5	1030	}
nerit	8:310f9e4eac7b	1031	}
nerit	8:310f9e4eac7b	1032	// modulo 4
nerit	8:310f9e4eac7b	1033	if (RX_ID==0x106) {
nerit	8:310f9e4eac7b	1034	if ((selezionato&0x08)==0x08) {
nerit	8:310f9e4eac7b	1035	simOk=1;
nerit	8:310f9e4eac7b	1036	} else {
nerit	8:310f9e4eac7b	1037	simOk=0;
nerit	3:a469bbd294b5	1038	}
nerit	8:310f9e4eac7b	1039	}
nerit	8:310f9e4eac7b	1040	// modulo 5
nerit	8:310f9e4eac7b	1041	if (RX_ID==0x108) {
nerit	8:310f9e4eac7b	1042	if ((selezionato&0x10)==0x10) {
nerit	8:310f9e4eac7b	1043	simOk=1;
nerit	8:310f9e4eac7b	1044	} else {
nerit	8:310f9e4eac7b	1045	simOk=0;
nerit	3:a469bbd294b5	1046	}
nerit	3:a469bbd294b5	1047	}
nerit	8:310f9e4eac7b	1048
nerit	8:310f9e4eac7b	1049	}
nerit	14:e2b5efa06c41	1050	//if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1051	if (rxMsg.id==RX_Settings) {
nerit	14:e2b5efa06c41	1052	//if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1053	pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit	3:a469bbd294b5	1054	cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit	17:9629eb019892	1055	deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit	5:2a3a64b52f54	1056	seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit	5:2a3a64b52f54	1057	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	1058	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	1059	aggiornaParametri();
nerit	14:e2b5efa06c41	1060	//}
nerit	3:a469bbd294b5	1061	}
nerit	14:e2b5efa06c41	1062	if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1063	if (rxMsg.id==RX_AngoloPh) {
nerit	8:310f9e4eac7b	1064	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1065	#if defined(M1)
nerit	3:a469bbd294b5	1066	angoloPh = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1067	aggiornaParametri();
nerit	3:a469bbd294b5	1068	#endif
nerit	3:a469bbd294b5	1069	#if defined(M2)
nerit	3:a469bbd294b5	1070	angoloPh = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1071	aggiornaParametri();
nerit	3:a469bbd294b5	1072	#endif
nerit	3:a469bbd294b5	1073	#if defined(M3)
nerit	3:a469bbd294b5	1074	angoloPh = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1075	aggiornaParametri();
nerit	3:a469bbd294b5	1076	#endif
nerit	3:a469bbd294b5	1077	#if defined(M4)
nerit	3:a469bbd294b5	1078	angoloPh = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1079	aggiornaParametri();
nerit	3:a469bbd294b5	1080	#endif
nerit	3:a469bbd294b5	1081	#if defined(M5)
nerit	3:a469bbd294b5	1082	angoloPh = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1083	aggiornaParametri();
nerit	3:a469bbd294b5	1084	#endif
nerit	3:a469bbd294b5	1085	#if defined(M6)
nerit	3:a469bbd294b5	1086	angoloPh = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1087	aggiornaParametri();
nerit	3:a469bbd294b5	1088	#endif
nerit	3:a469bbd294b5	1089	}
nerit	3:a469bbd294b5	1090	}
nerit	8:310f9e4eac7b	1091	if (rxMsg.id==RX_AngoloAv) {
nerit	8:310f9e4eac7b	1092	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1093	#if defined(M1)
nerit	3:a469bbd294b5	1094	angoloAv = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1095	aggiornaParametri();
nerit	3:a469bbd294b5	1096	#endif
nerit	3:a469bbd294b5	1097	#if defined(M2)
nerit	3:a469bbd294b5	1098	angoloAv = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1099	aggiornaParametri();
nerit	3:a469bbd294b5	1100	#endif
nerit	3:a469bbd294b5	1101	#if defined(M3)
nerit	3:a469bbd294b5	1102	angoloAv = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1103	aggiornaParametri();
nerit	3:a469bbd294b5	1104	#endif
nerit	3:a469bbd294b5	1105	#if defined(M4)
nerit	3:a469bbd294b5	1106	angoloAv = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1107	aggiornaParametri();
nerit	3:a469bbd294b5	1108	#endif
nerit	3:a469bbd294b5	1109	#if defined(M5)
nerit	3:a469bbd294b5	1110	angoloAv = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1111	aggiornaParametri();
nerit	3:a469bbd294b5	1112	#endif
nerit	3:a469bbd294b5	1113	#if defined(M6)
nerit	3:a469bbd294b5	1114	angoloAv = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1115	aggiornaParametri();
nerit	3:a469bbd294b5	1116	#endif
nerit	3:a469bbd294b5	1117	}
nerit	3:a469bbd294b5	1118	}
nerit	8:310f9e4eac7b	1119	if (rxMsg.id==RX_Quinconce) {
nerit	8:310f9e4eac7b	1120	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	1121	quinconceActive = (uint8_t) rxMsg.data[0];
nerit	8:310f9e4eac7b	1122	quincPIDminus = (uint8_t) rxMsg.data[1];
nerit	8:310f9e4eac7b	1123	quincPIDplus = (uint8_t) rxMsg.data[2];
nerit	8:310f9e4eac7b	1124	quincLIMminus = (uint8_t) rxMsg.data[3];
nerit	8:310f9e4eac7b	1125	quincLIMplus = (uint8_t) rxMsg.data[4];
nerit	3:a469bbd294b5	1126	quincSector = (uint8_t) rxMsg.data[5];
nerit	3:a469bbd294b5	1127	aggiornaParametri();
nerit	3:a469bbd294b5	1128	}
nerit	3:a469bbd294b5	1129	}
nerit	8:310f9e4eac7b	1130	}
nerit	8:310f9e4eac7b	1131	if (tractorSpeed_MtS_timed > 0.0f){
nerit	8:310f9e4eac7b	1132	if (rxMsg.id==RX_QuincSinc) {
nerit	8:310f9e4eac7b	1133	masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit	8:310f9e4eac7b	1134	masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit	8:310f9e4eac7b	1135	masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit	3:a469bbd294b5	1136	masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit	3:a469bbd294b5	1137	speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit	8:310f9e4eac7b	1138	mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit	8:310f9e4eac7b	1139	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit	3:a469bbd294b5	1140	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit	3:a469bbd294b5	1141	canDataCheck=1;
nerit	3:a469bbd294b5	1142	}
nerit	8:310f9e4eac7b	1143	}
nerit	8:310f9e4eac7b	1144	if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1145	if (rxMsg.id==RX_Configure) {
nerit	3:a469bbd294b5	1146	uint8_t flags = rxMsg.data[0];
nerit	3:a469bbd294b5	1147	uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit	3:a469bbd294b5	1148	steps = steps + ((uint32_t)rxMsg.data[1]);
nerit	3:a469bbd294b5	1149	TBmotorSteps =steps;
nerit	8:310f9e4eac7b	1150	//stepSetting();
nerit	3:a469bbd294b5	1151	cellsCountSet = rxMsg.data[3];
nerit	8:310f9e4eac7b	1152	if ((flags&0x01)==0x01) {
nerit	8:310f9e4eac7b	1153	if (encoder==false) {
nerit	3:a469bbd294b5	1154	encoder=true;
nerit	3:a469bbd294b5	1155	DcEncoder.rise(NULL);
nerit	3:a469bbd294b5	1156	dcSetting();
nerit	3:a469bbd294b5	1157	}
nerit	8:310f9e4eac7b	1158	} else {
nerit	8:310f9e4eac7b	1159	if (encoder==true) {
nerit	3:a469bbd294b5	1160	encoder=false;
nerit	3:a469bbd294b5	1161	DcEncoder.rise(NULL);
nerit	3:a469bbd294b5	1162	dcSetting();
nerit	3:a469bbd294b5	1163	}
nerit	3:a469bbd294b5	1164	}
nerit	8:310f9e4eac7b	1165	if ((flags&0x02)==0x02) {
nerit	3:a469bbd294b5	1166	tankLevelEnable=true;
nerit	8:310f9e4eac7b	1167	} else {
nerit	3:a469bbd294b5	1168	tankLevelEnable=false;
nerit	3:a469bbd294b5	1169	}
nerit	8:310f9e4eac7b	1170	if ((flags&0x04)==0x04) {
nerit	3:a469bbd294b5	1171	seedSensorEnable=true;
nerit	8:310f9e4eac7b	1172	} else {
nerit	3:a469bbd294b5	1173	seedSensorEnable=false;
nerit	3:a469bbd294b5	1174	}
nerit	8:310f9e4eac7b	1175	if ((flags&0x08)==0x08) {
nerit	3:a469bbd294b5	1176	stendiNylonEnable=true;
nerit	8:310f9e4eac7b	1177	} else {
nerit	3:a469bbd294b5	1178	stendiNylonEnable=false;
nerit	3:a469bbd294b5	1179	}
nerit	8:310f9e4eac7b	1180	if ((flags&0x10)==0x10) {
nerit	3:a469bbd294b5	1181	canDataCheckEnable=true;
nerit	8:310f9e4eac7b	1182	} else {
nerit	3:a469bbd294b5	1183	canDataCheckEnable=false;
nerit	3:a469bbd294b5	1184	}
nerit	8:310f9e4eac7b	1185	if ((flags&0x20)==0x20) {
nerit	3:a469bbd294b5	1186	tamburoStandard=1;
nerit	8:310f9e4eac7b	1187	} else {
nerit	3:a469bbd294b5	1188	tamburoStandard=0;
nerit	3:a469bbd294b5	1189	}
nerit	8:310f9e4eac7b	1190	if ((flags&0x40)==0x40) {
nerit	3:a469bbd294b5	1191	currentCheckEnable=true;
nerit	8:310f9e4eac7b	1192	} else {
nerit	3:a469bbd294b5	1193	currentCheckEnable=false;
nerit	3:a469bbd294b5	1194	}
nerit	3:a469bbd294b5	1195	}
nerit	8:310f9e4eac7b	1196	}
nerit	8:310f9e4eac7b	1197	}
nerit	10:9e70619e97ab	1198	#endif
nerit	10:9e70619e97ab	1199	#if defined(overWriteCanSimulation)
nerit	10:9e70619e97ab	1200	enableSimula=1;
nerit	10:9e70619e97ab	1201	speedSimula=25;
nerit	10:9e70619e97ab	1202	avviaSimula=1;
nerit	10:9e70619e97ab	1203	simOk=1;
nerit	10:9e70619e97ab	1204	#endif
nerit	10:9e70619e97ab	1205	#if defined(pcSerial)
nerit	10:9e70619e97ab	1206	#if defined(checkLoop)
nerit	10:9e70619e97ab	1207	pc.printf("20\n");
nerit	10:9e70619e97ab	1208	#endif
nerit	10:9e70619e97ab	1209	#endif
bcostm	0:5701b41769fd	1210	}
bcostm	0:5701b41769fd	1211
nerit	3:a469bbd294b5	1212	//*******************************************************
nerit	8:310f9e4eac7b	1213	void DC_CheckCurrent()
nerit	8:310f9e4eac7b	1214	{
nerit	8:310f9e4eac7b	1215
nerit	3:a469bbd294b5	1216	// TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit	3:a469bbd294b5	1217	// gli allarmi e le correzioni di velocità
nerit	8:310f9e4eac7b	1218
nerit	3:a469bbd294b5	1219	//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	1220	//int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	1221	// Analog reading
nerit	3:a469bbd294b5	1222	//number = floor(number * 100) / 100;
nerit	8:310f9e4eac7b	1223	timeout.detach();
nerit	8:310f9e4eac7b	1224	SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1225	SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)3.3f) / (SD_CurrentFactor/1000.0f)10)/10;
nerit	3:a469bbd294b5	1226	}
nerit	3:a469bbd294b5	1227	//*******************************************************
nerit	8:310f9e4eac7b	1228	void DC_prepare()
nerit	8:310f9e4eac7b	1229	{
nerit	3:a469bbd294b5	1230	// direction or brake preparation
nerit	8:310f9e4eac7b	1231	if (DC_brake==1) {
nerit	3:a469bbd294b5	1232	SDmotorInA=1;
nerit	3:a469bbd294b5	1233	SDmotorInB=1;
nerit	8:310f9e4eac7b	1234	} else {
nerit	8:310f9e4eac7b	1235	if (DC_forward==0) {
nerit	3:a469bbd294b5	1236	SDmotorInA=1;
nerit	3:a469bbd294b5	1237	SDmotorInB=0;
nerit	8:310f9e4eac7b	1238	} else {
nerit	3:a469bbd294b5	1239	SDmotorInA=0;
nerit	3:a469bbd294b5	1240	SDmotorInB=1;
nerit	3:a469bbd294b5	1241	}
nerit	3:a469bbd294b5	1242	}
nerit	3:a469bbd294b5	1243	// fault reading
nerit	8:310f9e4eac7b	1244	if (SDmotorInA==1) {
nerit	8:310f9e4eac7b	1245	SD_faultA=1;
nerit	8:310f9e4eac7b	1246	} else {
nerit	8:310f9e4eac7b	1247	SD_faultA=0;
nerit	8:310f9e4eac7b	1248	}
nerit	8:310f9e4eac7b	1249	if (SDmotorInB==1) {
nerit	8:310f9e4eac7b	1250	SD_faultB=1;
nerit	8:310f9e4eac7b	1251	} else {
nerit	8:310f9e4eac7b	1252	SD_faultB=0;
nerit	8:310f9e4eac7b	1253	}
nerit	10:9e70619e97ab	1254	#if defined(pcSerial)
nerit	10:9e70619e97ab	1255	#if defined(checkLoopa)
nerit	10:9e70619e97ab	1256	pc.printf("22\n");
nerit	10:9e70619e97ab	1257	#endif
nerit	10:9e70619e97ab	1258	#endif
nerit	3:a469bbd294b5	1259	}
nerit	3:a469bbd294b5	1260	//*******************************************************
nerit	12:b0fc1d313813	1261	void startDelay(){
nerit	12:b0fc1d313813	1262	SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1263	int ritardo =0;
nerit	12:b0fc1d313813	1264	ritardo = (int)((float)(dcActualDuty*800.0f));
nerit	12:b0fc1d313813	1265	timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit	3:a469bbd294b5	1266	}
nerit	3:a469bbd294b5	1267	//*******************************************************
nerit	10:9e70619e97ab	1268	void quincTrigon(){
nerit	3:a469bbd294b5	1269	quincClock=true;
nerit	10:9e70619e97ab	1270	#if defined(pcSerial)
nerit	10:9e70619e97ab	1271	#if defined(checkLoop)
nerit	10:9e70619e97ab	1272	pc.printf("24\n");
nerit	10:9e70619e97ab	1273	#endif
nerit	10:9e70619e97ab	1274	#endif
nerit	3:a469bbd294b5	1275	}
nerit	10:9e70619e97ab	1276	void quincTrigof(){
nerit	3:a469bbd294b5	1277	quincClock=false;
nerit	10:9e70619e97ab	1278	#if defined(pcSerial)
nerit	10:9e70619e97ab	1279	#if defined(checkLoop)
nerit	10:9e70619e97ab	1280	pc.printf("25\n");
nerit	10:9e70619e97ab	1281	#endif
nerit	10:9e70619e97ab	1282	#endif
nerit	3:a469bbd294b5	1283	}
nerit	3:a469bbd294b5	1284	//*******************************************************
nerit	8:310f9e4eac7b	1285	void quinCalc()
nerit	8:310f9e4eac7b	1286	{
nerit	3:a469bbd294b5	1287	// riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit	10:9e70619e97ab	1288	#if !defined(mezzo)
nerit	10:9e70619e97ab	1289	if ((quincClock==true)&&(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	quincTimeSD.reset();
nerit	10:9e70619e97ab	1295	quincStart=1;
nerit	10:9e70619e97ab	1296	}
nerit	3:a469bbd294b5	1297	}
nerit	10:9e70619e97ab	1298	if(quincClock==false) {
nerit	3:a469bbd294b5	1299	oldQuincIn=0;
nerit	3:a469bbd294b5	1300	}
nerit	10:9e70619e97ab	1301	#else
nerit	10:9e70619e97ab	1302	if ((((quinconceActive==0)&&(quincClock==true))\|\|((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit	10:9e70619e97ab	1303	oldQuincIn=1;
nerit	10:9e70619e97ab	1304	if (quincStart==0) {
nerit	10:9e70619e97ab	1305	oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit	10:9e70619e97ab	1306	quincTime.reset();
nerit	10:9e70619e97ab	1307	quincStart=1;
nerit	10:9e70619e97ab	1308	}
nerit	3:a469bbd294b5	1309	}
nerit	10:9e70619e97ab	1310	if (quinconceActive==0) {
nerit	10:9e70619e97ab	1311	if (quincClock==false) {
nerit	10:9e70619e97ab	1312	oldQuincIn=0;
nerit	10:9e70619e97ab	1313	}
nerit	10:9e70619e97ab	1314	} else {
nerit	10:9e70619e97ab	1315	if (quincClock==true) {
nerit	10:9e70619e97ab	1316	oldQuincIn=0;
nerit	10:9e70619e97ab	1317	}
nerit	10:9e70619e97ab	1318	}
nerit	10:9e70619e97ab	1319	#endif
nerit	3:a469bbd294b5	1320	//****************************************************************************************
nerit	8:310f9e4eac7b	1321	if (quincCnt>=4) {
nerit	8:310f9e4eac7b	1322	if (countPicks==0) {
nerit	8:310f9e4eac7b	1323	if ((sincroQui==1)&&(quincStart==0)) {
nerit	3:a469bbd294b5	1324	// decelera
nerit	3:a469bbd294b5	1325	countPicks=1;
nerit	3:a469bbd294b5	1326	}
nerit	8:310f9e4eac7b	1327	if ((sincroQui==0)&&(quincStart==1)) {
nerit	3:a469bbd294b5	1328	// accelera
nerit	3:a469bbd294b5	1329	countPicks=2;
nerit	3:a469bbd294b5	1330	}
nerit	3:a469bbd294b5	1331	}
nerit	8:310f9e4eac7b	1332	if ((sincroQui==1)&&(quincStart==1)) {
nerit	8:310f9e4eac7b	1333	if (countPicks==1) { //decelera
nerit	3:a469bbd294b5	1334	scostamento = oldQuincTimeSD;
nerit	17:9629eb019892	1335	if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit	3:a469bbd294b5	1336	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1337	percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1338	#if defined(pcSerial)
nerit	3:a469bbd294b5	1339	#if defined(laq)
nerit	3:a469bbd294b5	1340	pc.printf("RALL scos2: %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	8:310f9e4eac7b	1346	if (countPicks==2) { //accelera
nerit	3:a469bbd294b5	1347	scostamento = (double)quincTime.read_ms();
nerit	17:9629eb019892	1348	if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit	3:a469bbd294b5	1349	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1350	percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1351	#if defined(pcSerial)
nerit	3:a469bbd294b5	1352	#if defined(laq)
nerit	8:310f9e4eac7b	1353	pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit	3:a469bbd294b5	1354	#endif
nerit	3:a469bbd294b5	1355	#endif
nerit	3:a469bbd294b5	1356	}
nerit	3:a469bbd294b5	1357	//if (scostamento <15.0f){percento=0.0f;}
nerit	3:a469bbd294b5	1358	}
nerit	3:a469bbd294b5	1359	sincroQui=0;
nerit	3:a469bbd294b5	1360	quincStart=0;
nerit	3:a469bbd294b5	1361	countPicks=0;
nerit	5:2a3a64b52f54	1362	// questo e il primo
nerit	3:a469bbd294b5	1363	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1364	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1365	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1366	if (enableSimula==0) {
nerit	8:310f9e4eac7b	1367	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1368	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1369	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1370	}
nerit	13:d1030d4e51a8	1371	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1372	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1373	}*/
nerit	3:a469bbd294b5	1374	}
nerit	8:310f9e4eac7b	1375	}
nerit	3:a469bbd294b5	1376	}
nerit	3:a469bbd294b5	1377	#endif
nerit	3:a469bbd294b5	1378	}
nerit	8:310f9e4eac7b	1379
nerit	3:a469bbd294b5	1380	//*******************************************************************
nerit	8:310f9e4eac7b	1381	if (canDataCheckEnable==true) {
nerit	8:310f9e4eac7b	1382	if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit	3:a469bbd294b5	1383	canDataCheck=0;
nerit	17:9629eb019892	1384	double parametro = SDsectorStep/(double)quincSector;
nerit	3:a469bbd294b5	1385	double differenza=0.0f;
nerit	3:a469bbd294b5	1386	#if defined(mezzo)
nerit	8:310f9e4eac7b	1387	if (quinconceActive==1) {
nerit	3:a469bbd294b5	1388	differenza = (double)masterSinc - (double)prePosSD;
nerit	8:310f9e4eac7b	1389	} else {
nerit	3:a469bbd294b5	1390	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1391	}
nerit	3:a469bbd294b5	1392	#else
nerit	3:a469bbd294b5	1393	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1394	#endif
nerit	17:9629eb019892	1395	if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit	8:310f9e4eac7b	1396	if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit	8:310f9e4eac7b	1397	double diffPerc = differenza / parametro;
nerit	3:a469bbd294b5	1398	percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1399	}
nerit	8:310f9e4eac7b	1400	if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit	8:310f9e4eac7b	1401	double diffPerc = (double)differenza / parametro;
nerit	3:a469bbd294b5	1402	percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1403	}
nerit	5:2a3a64b52f54	1404	// questo e il secondo
nerit	3:a469bbd294b5	1405	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1406	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1407	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1408	if (enableSimula==0) {
nerit	5:2a3a64b52f54	1409	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1410	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1411	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1412	}
nerit	13:d1030d4e51a8	1413	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1414	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1415	}*/
nerit	3:a469bbd294b5	1416	}
nerit	5:2a3a64b52f54	1417	}
nerit	3:a469bbd294b5	1418	}
nerit	3:a469bbd294b5	1419	#endif
nerit	3:a469bbd294b5	1420	}
nerit	3:a469bbd294b5	1421	}
nerit	8:310f9e4eac7b	1422
nerit	3:a469bbd294b5	1423	}
nerit	8:310f9e4eac7b	1424	if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit	3:a469bbd294b5	1425	percento= (double)quincLIMplus/100.0f;
nerit	3:a469bbd294b5	1426	}
nerit	8:310f9e4eac7b	1427	if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit	3:a469bbd294b5	1428	percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm	0:5701b41769fd	1429	}
nerit	6:e8c18f0f399a	1430	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1431	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1432	pc.printf("26\n");
nerit	6:e8c18f0f399a	1433	#endif
nerit	6:e8c18f0f399a	1434	#endif
bcostm	0:5701b41769fd	1435	}
nerit	8:310f9e4eac7b	1436	// ----------------------------------------
nerit	3:a469bbd294b5	1437	#if defined(seedSensor)
nerit	3:a469bbd294b5	1438	void resetDelay(){
nerit	3:a469bbd294b5	1439	delaySeedCheck.reset();
nerit	3:a469bbd294b5	1440	delaySeedCheck.stop();
nerit	8:310f9e4eac7b	1441	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1442	#if defined(checkLoop)
nerit	8:310f9e4eac7b	1443	pc.printf("27\n");
nerit	8:310f9e4eac7b	1444	#endif
nerit	6:e8c18f0f399a	1445	#endif
nerit	3:a469bbd294b5	1446	}
nerit	3:a469bbd294b5	1447	#endif
nerit	18:7c978f69cc51	1448	// ----------------------------------------
nerit	17:9629eb019892	1449	void aggiornati(){
nerit	17:9629eb019892	1450	#if defined(runner)
nerit	17:9629eb019892	1451	legPos.detach();
nerit	17:9629eb019892	1452	TBoldPosition= (uint32_t) motor->get_position();
nerit	17:9629eb019892	1453	legPos.attach(&step_Reading,0.002f);
nerit	17:9629eb019892	1454	#if defined(pcSerial)
nerit	17:9629eb019892	1455	#if defined(TBperS)
nerit	17:9629eb019892	1456	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	17:9629eb019892	1457	#endif
nerit	17:9629eb019892	1458	#endif
nerit	17:9629eb019892	1459
nerit	17:9629eb019892	1460	#else
nerit	17:9629eb019892	1461	TBactualPosition=0;
nerit	17:9629eb019892	1462	#endif
nerit	17:9629eb019892	1463	}
nerit	17:9629eb019892	1464
nerit	3:a469bbd294b5	1465	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	1466	// MAIN SECTION
nerit	3:a469bbd294b5	1467	// ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm	0:5701b41769fd	1468
nerit	3:a469bbd294b5	1469	//*******************************************************************************
nerit	8:310f9e4eac7b	1470	int main()
nerit	8:310f9e4eac7b	1471	{
nerit	6:e8c18f0f399a	1472	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1473	#if defined(resetCpu)
nerit	6:e8c18f0f399a	1474	pc.printf("RESET\n");
nerit	6:e8c18f0f399a	1475	#endif
nerit	6:e8c18f0f399a	1476	#endif
nerit	8:310f9e4eac7b	1477
nerit	8:310f9e4eac7b	1478	#if defined(canbusActive)
nerit	8:310f9e4eac7b	1479	can1.attach(&leggiCAN, CAN::RxIrq);
nerit	8:310f9e4eac7b	1480	#endif
nerit	8:310f9e4eac7b	1481
nerit	8:310f9e4eac7b	1482	wait(1.0f);
nerit	8:310f9e4eac7b	1483	wait(1.0f);
nerit	19:231b8931cabc	1484	wait(ritAvv);
nerit	8:310f9e4eac7b	1485
nerit	8:310f9e4eac7b	1486	//stepSetting();
nerit	8:310f9e4eac7b	1487
nerit	6:e8c18f0f399a	1488	TBmotor_SW=1;
nerit	8:310f9e4eac7b	1489	TBmotorDirecti=TBforward; // reset stepper direction
nerit	8:310f9e4eac7b	1490	//----- Initialization
nerit	8:310f9e4eac7b	1491	/* Initializing SPI bus. */
nerit	8:310f9e4eac7b	1492	// dev_spi(mosi,miso,sclk)
nerit	8:310f9e4eac7b	1493	// D11= PA7; D12= PA6; D13= PA5
nerit	8:310f9e4eac7b	1494	DevSPI dev_spi(D11, D12, D13);
nerit	10:9e70619e97ab	1495	dev_spi.frequency(5000000);
nerit	10:9e70619e97ab	1496
nerit	8:310f9e4eac7b	1497	/* Initializing Motor Control Component. */
nerit	8:310f9e4eac7b	1498	// powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit	8:310f9e4eac7b	1499	// motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit	8:310f9e4eac7b	1500	motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit	8:310f9e4eac7b	1501	if (motor->init(&init) != COMPONENT_OK) {
nerit	6:e8c18f0f399a	1502	exit(EXIT_FAILURE);
nerit	8:310f9e4eac7b	1503	}
nerit	6:e8c18f0f399a	1504
nerit	8:310f9e4eac7b	1505	/* Attaching and enabling an interrupt handler. */
nerit	8:310f9e4eac7b	1506	motor->attach_flag_irq(&my_flag_irq_handler);
nerit	8:310f9e4eac7b	1507	motor->enable_flag_irq();
nerit	8:310f9e4eac7b	1508	//motor->disable_flag_irq();
nerit	8:310f9e4eac7b	1509
nerit	8:310f9e4eac7b	1510	/* Attaching an error handler */
nerit	8:310f9e4eac7b	1511	//motor->attach_error_handler(&my_error_handler);
nerit	8:310f9e4eac7b	1512	wait(1.0f);
nerit	8:310f9e4eac7b	1513	for (int a=0; a<5; a++) {
nerit	3:a469bbd294b5	1514	mediaSpeed[a]=0;
nerit	3:a469bbd294b5	1515	}
nerit	8:310f9e4eac7b	1516
nerit	3:a469bbd294b5	1517	// DC reset ad set
nerit	3:a469bbd294b5	1518	int decima = 100;
nerit	3:a469bbd294b5	1519	wait_ms(200);
nerit	3:a469bbd294b5	1520	SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1521	wait_ms(2);
nerit	3:a469bbd294b5	1522	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1523	wait_ms(1);
nerit	3:a469bbd294b5	1524	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1525	wait_ms(3);
nerit	3:a469bbd294b5	1526	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	8:310f9e4eac7b	1527	SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit	3:a469bbd294b5	1528	wait_ms(100);
nerit	3:a469bbd294b5	1529	DC_prepare();
nerit	8:310f9e4eac7b	1530
nerit	8:310f9e4eac7b	1531	speedTimer.start(); // speed pulse timer
nerit	3:a469bbd294b5	1532	intraPickTimer.start();
nerit	8:310f9e4eac7b	1533	speedTimeOut.start();
nerit	3:a469bbd294b5	1534	speedFilter.start();
nerit	3:a469bbd294b5	1535	seedFilter.start();
nerit	3:a469bbd294b5	1536	TBfilter.start();
nerit	3:a469bbd294b5	1537	sincroTimer.start();
nerit	3:a469bbd294b5	1538	rotationTimeOut.start();
nerit	3:a469bbd294b5	1539	metalTimer.start();
nerit	3:a469bbd294b5	1540	quincTime.start();
nerit	3:a469bbd294b5	1541	quincTimeSD.start();
nerit	8:310f9e4eac7b	1542	#if defined(runner)
nerit	8:310f9e4eac7b	1543	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	1544	#endif
nerit	8:310f9e4eac7b	1545
nerit	3:a469bbd294b5	1546	//*******************************************************
nerit	3:a469bbd294b5	1547	// controls for check DC motor current
nerit	8:310f9e4eac7b	1548	pwmCheck.rise(&startDelay);
nerit	3:a469bbd294b5	1549	wait_ms(500);
nerit	8:310f9e4eac7b	1550
nerit	12:b0fc1d313813	1551	dcVeri.attach(&controllaCorrente,2.0f);
nerit	13:d1030d4e51a8	1552	delaySpeedCheck.start();
nerit	12:b0fc1d313813	1553
nerit	8:310f9e4eac7b	1554	#if defined(runnerTos)
nerit	8:310f9e4eac7b	1555	thread.start(step_Reading);
nerit	8:310f9e4eac7b	1556	#endif
nerit	3:a469bbd294b5	1557
nerit	8:310f9e4eac7b	1558	if (inProva==0) {
nerit	3:a469bbd294b5	1559	tractorSpeedRead.rise(&tractorReadSpeed);
nerit	3:a469bbd294b5	1560	#if !defined(speedMaster)
nerit	3:a469bbd294b5	1561	quinconceIn.rise(&quincTrigon);
nerit	3:a469bbd294b5	1562	quinconceIn.fall(&quincTrigof);
nerit	3:a469bbd294b5	1563	#endif
nerit	3:a469bbd294b5	1564	#if defined(speedMaster)
nerit	3:a469bbd294b5	1565	tftUpdate.attach(&videoUpdate,0.50f);
nerit	3:a469bbd294b5	1566	#endif
nerit	3:a469bbd294b5	1567	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	1568	dcSetting();
nerit	3:a469bbd294b5	1569	#if defined(seedSensor)
nerit	3:a469bbd294b5	1570	seedCheck.fall(&seedSensorTask);
nerit	3:a469bbd294b5	1571	#endif
nerit	8:310f9e4eac7b	1572	} else {
nerit	8:310f9e4eac7b	1573	tftUpdate.attach(&videoUpdate,0.125f);
nerit	8:310f9e4eac7b	1574	}
nerit	8:310f9e4eac7b	1575
nerit	3:a469bbd294b5	1576	aggiornaParametri();
nerit	3:a469bbd294b5	1577
nerit	3:a469bbd294b5	1578	SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit	3:a469bbd294b5	1579	SDmotorPWM.write(1.0f); // duty cycle = stop
nerit	3:a469bbd294b5	1580	TBmotorDirecti=TBforward; // tb motor direction set
nerit	3:a469bbd294b5	1581
nerit	3:a469bbd294b5	1582	#if defined(provaStepper)
nerit	3:a469bbd294b5	1583	TBmotorRst=1;
nerit	3:a469bbd294b5	1584	TBmotorDirecti=TBforward;
nerit	3:a469bbd294b5	1585	// definire il pin di clock che è PB_3
nerit	9:7f02256f6e8f	1586	#if defined(Zucca)
nerit	17:9629eb019892	1587	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1588	//motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1589	#else
nerit	18:7c978f69cc51	1590	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1591	//motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	1592	#endif
nerit	3:a469bbd294b5	1593	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	10:9e70619e97ab	1594	//DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	6:e8c18f0f399a	1595	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1596	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1597	pc.printf("11f\n");
nerit	6:e8c18f0f399a	1598	#endif
nerit	6:e8c18f0f399a	1599	#endif
nerit	10:9e70619e97ab	1600	//TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit	18:7c978f69cc51	1601	TATicker.attach(&invertiLo,3.0f);
nerit	3:a469bbd294b5	1602	#else
nerit	3:a469bbd294b5	1603	// definire il pin di clock che è PB_3
nerit	8:310f9e4eac7b	1604	motor->set_home();
nerit	8:310f9e4eac7b	1605	motor->go_to(50);
nerit	8:310f9e4eac7b	1606	motor->wait_while_active();
nerit	8:310f9e4eac7b	1607	#if !defined(runner)
nerit	9:7f02256f6e8f	1608	#if defined(Zucca)
nerit	9:7f02256f6e8f	1609	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	1610	#else
nerit	9:7f02256f6e8f	1611	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1612	#endif
nerit	8:310f9e4eac7b	1613	#endif
nerit	6:e8c18f0f399a	1614	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1615	#if defined(loStop)
nerit	6:e8c18f0f399a	1616	pc.printf("A3\n");
nerit	6:e8c18f0f399a	1617	#endif
nerit	6:e8c18f0f399a	1618	#endif
nerit	6:e8c18f0f399a	1619	motor->soft_hiz();
nerit	3:a469bbd294b5	1620	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	3:a469bbd294b5	1621	DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	3:a469bbd294b5	1622	#endif // end prova stepper
nerit	8:310f9e4eac7b	1623
nerit	8:310f9e4eac7b	1624	wd.Configure(2.0); //watchdog set at xx seconds
nerit	8:310f9e4eac7b	1625
nerit	8:310f9e4eac7b	1626
nerit	3:a469bbd294b5	1627	//**************************************************************************************************************
nerit	3:a469bbd294b5	1628	// MAIN LOOP
nerit	3:a469bbd294b5	1629	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1630	while (true) {
nerit	6:e8c18f0f399a	1631	// ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit	8:310f9e4eac7b	1632	if (tractorSpeedRead==0) {
nerit	8:310f9e4eac7b	1633	speedClock=0;
nerit	8:310f9e4eac7b	1634	}
nerit	8:310f9e4eac7b	1635
nerit	3:a469bbd294b5	1636	// inversione segnali ingressi
nerit	3:a469bbd294b5	1637	#if !defined(simulaBanco)
nerit	3:a469bbd294b5	1638	seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit	3:a469bbd294b5	1639	#else
nerit	8:310f9e4eac7b	1640	if ((prePosSD-500) >= SDsectorStep) {
nerit	3:a469bbd294b5	1641	seedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1642	}
nerit	8:310f9e4eac7b	1643	if ((prePosSD > 500)&&(prePosSD<580)) {
nerit	3:a469bbd294b5	1644	seedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1645	}
nerit	8:310f9e4eac7b	1646	#endif
nerit	3:a469bbd294b5	1647	TBzeroPinInput = !TBzeroPinInputRev;
nerit	8:310f9e4eac7b	1648
nerit	3:a469bbd294b5	1649	// se quinconce attivo ed unita' master invia segnale di sincro
nerit	3:a469bbd294b5	1650	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1651	if (seedWheelZeroPinInput==1) {
nerit	3:a469bbd294b5	1652	quinconceOut=0;
nerit	3:a469bbd294b5	1653	}
nerit	8:310f9e4eac7b	1654	if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit	3:a469bbd294b5	1655	quinconceOut=1;
nerit	3:a469bbd294b5	1656	}
nerit	8:310f9e4eac7b	1657	if (quinconceActive==1) {
nerit	8:310f9e4eac7b	1658	if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit	3:a469bbd294b5	1659	posForQuinc=500;
nerit	3:a469bbd294b5	1660	oldQuinconceOut=0;
nerit	3:a469bbd294b5	1661	}
nerit	8:310f9e4eac7b	1662	if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit	3:a469bbd294b5	1663	oldQuinconceOut=1;
nerit	3:a469bbd294b5	1664	}
nerit	8:310f9e4eac7b	1665	}
nerit	3:a469bbd294b5	1666	#endif
nerit	3:a469bbd294b5	1667
nerit	3:a469bbd294b5	1668	// simulazione velocita
nerit	8:310f9e4eac7b	1669	if (enableSimula==1) {
nerit	3:a469bbd294b5	1670	double TMT = 0.0f;
nerit	8:310f9e4eac7b	1671	if (speedSimula > 0) {
nerit	3:a469bbd294b5	1672	TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	1673	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	1674	} else {
nerit	3:a469bbd294b5	1675	pulseSpeedInterval = 10000.0f;
nerit	8:310f9e4eac7b	1676	}
nerit	8:310f9e4eac7b	1677	if (avviaSimula==1) {
nerit	8:310f9e4eac7b	1678	if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit	3:a469bbd294b5	1679	spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit	3:a469bbd294b5	1680	oldSimulaSpeed=pulseSpeedInterval;
nerit	3:a469bbd294b5	1681	}
nerit	8:310f9e4eac7b	1682	} else {
nerit	3:a469bbd294b5	1683	oldSimulaSpeed=10000.0f;
nerit	3:a469bbd294b5	1684	spedSimclock.detach();
nerit	3:a469bbd294b5	1685	}
nerit	8:310f9e4eac7b	1686	} else {
nerit	3:a469bbd294b5	1687	spedSimclock.detach();
nerit	3:a469bbd294b5	1688	}
nerit	8:310f9e4eac7b	1689
nerit	3:a469bbd294b5	1690	//*******************************************************
nerit	3:a469bbd294b5	1691	// determina se sono in bassa velocità per il controllo di TB
nerit	8:310f9e4eac7b	1692	if (speedOfSeedWheel<=minSeedSpeed) {
nerit	8:310f9e4eac7b	1693	if (lowSpeedRequired==0) {
nerit	3:a469bbd294b5	1694	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1695	ritardaLowSpeed.start();
nerit	3:a469bbd294b5	1696	}
nerit	3:a469bbd294b5	1697	lowSpeedRequired=1;
nerit	8:310f9e4eac7b	1698	} else {
nerit	8:310f9e4eac7b	1699	if (lowSpeedRequired==1) {
nerit	3:a469bbd294b5	1700	lowSpeedRequired=0;
nerit	3:a469bbd294b5	1701	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1702	ritardaLowSpeed.stop();
nerit	3:a469bbd294b5	1703	}
nerit	3:a469bbd294b5	1704	}
nerit	3:a469bbd294b5	1705
nerit	8:310f9e4eac7b	1706	if (ritardaLowSpeed.read_ms()> 2000) {
nerit	3:a469bbd294b5	1707	lowSpeed=1;
nerit	8:310f9e4eac7b	1708	} else {
nerit	3:a469bbd294b5	1709	lowSpeed=0;
nerit	3:a469bbd294b5	1710	}
bcostm	2:35f13b7f3659	1711
nerit	3:a469bbd294b5	1712	//**************************************************************************************************************
nerit	3:a469bbd294b5	1713	//**************************************************************************************************************
nerit	3:a469bbd294b5	1714	// LOGICAL CONTROLS
nerit	3:a469bbd294b5	1715	//**************************************************************************************************************
nerit	3:a469bbd294b5	1716	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1717
nerit	8:310f9e4eac7b	1718	if (inProva==0) {
nerit	8:310f9e4eac7b	1719	if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit	6:e8c18f0f399a	1720	runRequestBuf=1;//0;
nerit	8:310f9e4eac7b	1721	} else {
nerit	6:e8c18f0f399a	1722	runRequestBuf=1;//0;
nerit	6:e8c18f0f399a	1723	}
nerit	8:310f9e4eac7b	1724	if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit	6:e8c18f0f399a	1725	oldTractorSpeedRead=0;
nerit	3:a469bbd294b5	1726	}
nerit	3:a469bbd294b5	1727	// ----------------------------------------
nerit	3:a469bbd294b5	1728	// filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit	3:a469bbd294b5	1729	// ----------------------------------------
nerit	8:310f9e4eac7b	1730	if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit	8:310f9e4eac7b	1731	if(seedFilter.read_ms()>=4) {
nerit	3:a469bbd294b5	1732	oldSeedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1733	SDzeroDebounced=0;
nerit	3:a469bbd294b5	1734	}
nerit	3:a469bbd294b5	1735	}
nerit	8:310f9e4eac7b	1736	if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit	3:a469bbd294b5	1737	timeIntraPick = (double)intraPickTimer.read_ms();
nerit	3:a469bbd294b5	1738	prePosSD=500; // preposizionamento SD
nerit	3:a469bbd294b5	1739	intraPickTimer.reset();
nerit	3:a469bbd294b5	1740	rotationTimeOut.reset();
nerit	8:310f9e4eac7b	1741	seedFilter.reset();
nerit	3:a469bbd294b5	1742	sincroTimer.reset();
nerit	3:a469bbd294b5	1743	oldSeedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1744	quincTime.reset();
nerit	3:a469bbd294b5	1745	quincTimeSD.reset();
nerit	3:a469bbd294b5	1746	SDzeroDebounced=1;
nerit	3:a469bbd294b5	1747	sincroQui=1;
nerit	3:a469bbd294b5	1748	SDwheelTimer.reset();
nerit	13:d1030d4e51a8	1749	dcEncoderCnt=0;
nerit	3:a469bbd294b5	1750	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1751	if (quinconceActive==0) {
nerit	3:a469bbd294b5	1752	posForQuinc=500;
nerit	3:a469bbd294b5	1753	}
nerit	17:9629eb019892	1754	if (checkSDrotation==0) {
nerit	17:9629eb019892	1755	checkSDrotation=1;
nerit	17:9629eb019892	1756	SDwheelTimer.start();
nerit	17:9629eb019892	1757	}
nerit	3:a469bbd294b5	1758	#endif
nerit	8:310f9e4eac7b	1759	if (quincCnt<10) {
nerit	3:a469bbd294b5	1760	quincCnt++;
nerit	3:a469bbd294b5	1761	}
nerit	8:310f9e4eac7b	1762	if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit	3:a469bbd294b5	1763	beccoPronto=1;
nerit	3:a469bbd294b5	1764	}
nerit	3:a469bbd294b5	1765	lockStart=0;
nerit	3:a469bbd294b5	1766	double fase1=0.0f;
nerit	3:a469bbd294b5	1767	forzaFase=0;
nerit	3:a469bbd294b5	1768	double limite=fixedStepGiroSD/pickNumber;
nerit	8:310f9e4eac7b	1769	if (tamburoStandard==0) {
nerit	8:310f9e4eac7b	1770	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	1771	} else {
nerit	8:310f9e4eac7b	1772	if(speedForCorrection >= speedOfSeedWheel) {
nerit	3:a469bbd294b5	1773	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	1774	} else {
nerit	3:a469bbd294b5	1775	fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit	3:a469bbd294b5	1776	}
nerit	8:310f9e4eac7b	1777	if (fase1 > limite) {
nerit	3:a469bbd294b5	1778	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	1779	}
nerit	8:310f9e4eac7b	1780	if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit	3:a469bbd294b5	1781	fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit	3:a469bbd294b5	1782	forzaFase=1;
nerit	3:a469bbd294b5	1783	}
nerit	3:a469bbd294b5	1784	trigRepos=1;
nerit	3:a469bbd294b5	1785	}
nerit	3:a469bbd294b5	1786	fase = (uint32_t)fase1+500;
nerit	3:a469bbd294b5	1787	#if defined(pcSerial)
nerit	3:a469bbd294b5	1788	#if defined(inCorre)
nerit	3:a469bbd294b5	1789	pc.printf(" limite %f", limite);
nerit	3:a469bbd294b5	1790	pc.printf(" delta %f", TBdeltaStep);
nerit	3:a469bbd294b5	1791	pc.printf(" faseStep %f", TBfaseStep);
nerit	3:a469bbd294b5	1792	pc.printf(" fase %d",fase);
nerit	3:a469bbd294b5	1793	pc.printf(" forzaFase %d",forzaFase);
nerit	3:a469bbd294b5	1794	pc.printf(" trigRepos %d", trigRepos);
nerit	3:a469bbd294b5	1795	pc.printf(" ActualSD: %d",SDactualPosition);
nerit	3:a469bbd294b5	1796	pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit	3:a469bbd294b5	1797	pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit	3:a469bbd294b5	1798	#endif
nerit	3:a469bbd294b5	1799	#endif
nerit	19:231b8931cabc	1800	if (tractorSpeed_MtS_timed>0.2f){
nerit	17:9629eb019892	1801	if (timeIntraPick >= (memoIntraPick*2)) {
nerit	17:9629eb019892	1802	if ((aspettaStart==0)) {
nerit	17:9629eb019892	1803	if (firstStart==0) {
nerit	17:9629eb019892	1804	all_pickSignal=1;
nerit	17:9629eb019892	1805	}
nerit	3:a469bbd294b5	1806	}
nerit	3:a469bbd294b5	1807	}
nerit	3:a469bbd294b5	1808	}
nerit	3:a469bbd294b5	1809	memoIntraPick = timeIntraPick;
nerit	8:310f9e4eac7b	1810	if ((speedFromPick==1)&&(encoder==false)) {
nerit	3:a469bbd294b5	1811	speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit	10:9e70619e97ab	1812	#if defined(pcSerial)
nerit	10:9e70619e97ab	1813	#if defined(Qnca)
nerit	10:9e70619e97ab	1814	pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit	10:9e70619e97ab	1815	#endif
nerit	3:a469bbd294b5	1816	#endif
nerit	3:a469bbd294b5	1817	}
nerit	8:310f9e4eac7b	1818	if (encoder==false) {
nerit	3:a469bbd294b5	1819	pulseRised2=1;
nerit	3:a469bbd294b5	1820	}
nerit	3:a469bbd294b5	1821	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1822	if ((tractorSpeed_MtS_timed==0.0f)) {
nerit	8:310f9e4eac7b	1823	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	10:9e70619e97ab	1824	cntSpeedError++;
nerit	18:7c978f69cc51	1825	if (cntSpeedError >= 5){
nerit	10:9e70619e97ab	1826	all_noSpeedSen=1;
nerit	10:9e70619e97ab	1827	}
nerit	3:a469bbd294b5	1828	}
nerit	3:a469bbd294b5	1829	}
nerit	17:9629eb019892	1830	if (tractorSpeed_MtS_timed>0.2f){
nerit	18:7c978f69cc51	1831	double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit	17:9629eb019892	1832	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	17:9629eb019892	1833	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	17:9629eb019892	1834	all_speedError =1;
nerit	17:9629eb019892	1835	}
nerit	3:a469bbd294b5	1836	}
nerit	3:a469bbd294b5	1837	}
nerit	3:a469bbd294b5	1838	#endif
nerit	3:a469bbd294b5	1839	//*******************************************
nerit	3:a469bbd294b5	1840	// esegue calcolo clock per la generazione della posizione teorica
nerit	3:a469bbd294b5	1841	// la realtà in base al segnale di presenza del becco
nerit	8:310f9e4eac7b	1842	if (speedOfSeedWheel < 0.002f) {
nerit	10:9e70619e97ab	1843	#if defined(pcSerial)
nerit	10:9e70619e97ab	1844	#if defined(checkLoopb)
nerit	10:9e70619e97ab	1845	pc.printf("forza\n");
nerit	10:9e70619e97ab	1846	#endif
nerit	8:310f9e4eac7b	1847	#endif
nerit	6:e8c18f0f399a	1848	speedOfSeedWheel=0.001f;
nerit	6:e8c18f0f399a	1849	}
nerit	8:310f9e4eac7b	1850	aggioVelocita();
nerit	3:a469bbd294b5	1851	}
nerit	3:a469bbd294b5	1852	// ----------------------------------------
nerit	8:310f9e4eac7b	1853	// check SD fase
nerit	8:310f9e4eac7b	1854	if ((prePosSD >= fase)\|\|(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit	3:a469bbd294b5	1855	forzaFase=0;
nerit	8:310f9e4eac7b	1856	if (trigRepos==1) {
nerit	3:a469bbd294b5	1857	SDactualPosition=0;
nerit	8:310f9e4eac7b	1858	if ((countCicli<30)&&(trigCicli==0)) {
nerit	6:e8c18f0f399a	1859	countCicli++;
nerit	6:e8c18f0f399a	1860	trigCicli=1;
nerit	6:e8c18f0f399a	1861	}
nerit	8:310f9e4eac7b	1862	if(countCicli>=cicliAspettaStart) {
nerit	6:e8c18f0f399a	1863	aspettaStart=0;
nerit	6:e8c18f0f399a	1864	}
nerit	8:310f9e4eac7b	1865	if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit	6:e8c18f0f399a	1866	syncroCheck=1;
nerit	6:e8c18f0f399a	1867	beccoPronto=0;
nerit	6:e8c18f0f399a	1868	}
nerit	8:310f9e4eac7b	1869	if (trigTB==0) {
nerit	3:a469bbd294b5	1870	inhibit=1;
nerit	3:a469bbd294b5	1871	trigSD=1;
nerit	8:310f9e4eac7b	1872	} else {
nerit	3:a469bbd294b5	1873	inhibit=0;
nerit	3:a469bbd294b5	1874	trigTB=0;
nerit	3:a469bbd294b5	1875	trigSD=0;
nerit	3:a469bbd294b5	1876	}
nerit	3:a469bbd294b5	1877	trigRepos=0;
nerit	3:a469bbd294b5	1878	}
nerit	8:310f9e4eac7b	1879	} else {
nerit	3:a469bbd294b5	1880	trigCicli=0;
nerit	3:a469bbd294b5	1881	}
nerit	8:310f9e4eac7b	1882	// ----------------------------------------
nerit	3:a469bbd294b5	1883	// filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit	8:310f9e4eac7b	1884	if (TBzeroPinInput==0) {
nerit	8:310f9e4eac7b	1885	if (TBfilter.read_ms()>=2) {
nerit	8:310f9e4eac7b	1886	oldTBzeroPinInput=0;
nerit	8:310f9e4eac7b	1887	}
nerit	8:310f9e4eac7b	1888	}
nerit	8:310f9e4eac7b	1889	if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)) {
nerit	3:a469bbd294b5	1890	oldTBzeroPinInput=1;
nerit	8:310f9e4eac7b	1891	if (loadDaCanInCorso==0) {
nerit	3:a469bbd294b5	1892	stopCicloTB=1;
nerit	3:a469bbd294b5	1893	startCicloTB=0;
nerit	3:a469bbd294b5	1894	}
nerit	3:a469bbd294b5	1895	TBfilter.reset();
nerit	3:a469bbd294b5	1896	TBzeroCyclePulse=1;
nerit	8:310f9e4eac7b	1897	#if defined(runner)
nerit	8:310f9e4eac7b	1898	legPos.detach();
nerit	8:310f9e4eac7b	1899	TBoldPosition= (uint32_t) motor->get_position();
nerit	8:310f9e4eac7b	1900	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	1901	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1902	#if defined(TBperS)
nerit	8:310f9e4eac7b	1903	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	8:310f9e4eac7b	1904	#endif
nerit	8:310f9e4eac7b	1905	#endif
nerit	8:310f9e4eac7b	1906
nerit	8:310f9e4eac7b	1907	#else
nerit	8:310f9e4eac7b	1908	TBactualPosition=0;
nerit	8:310f9e4eac7b	1909	#endif
nerit	8:310f9e4eac7b	1910	if (cntTbError>0) {
nerit	3:a469bbd294b5	1911	cntCellsCorrect++;
nerit	3:a469bbd294b5	1912	}
nerit	19:231b8931cabc	1913	if (cntCellsCorrect>0) {
nerit	3:a469bbd294b5	1914	cntTbError=0;
nerit	3:a469bbd294b5	1915	cntCellsCorrect=0;
nerit	3:a469bbd294b5	1916	}
nerit	3:a469bbd294b5	1917	// conteggio celle erogate
nerit	8:310f9e4eac7b	1918	if (cellsCounterLow < 0xFF) {
nerit	3:a469bbd294b5	1919	cellsCounterLow++;
nerit	8:310f9e4eac7b	1920	} else {
nerit	3:a469bbd294b5	1921	cellsCounterHig++;
nerit	3:a469bbd294b5	1922	cellsCounterLow=0;
nerit	3:a469bbd294b5	1923	}
nerit	3:a469bbd294b5	1924	// ciclo conteggio celle per carico manuale
nerit	8:310f9e4eac7b	1925	if (loadDaCanInCorso==1) {
nerit	3:a469bbd294b5	1926	cntCellsForLoad++;
nerit	14:e2b5efa06c41	1927	if (cntCellsForLoad >= 10) {
nerit	8:310f9e4eac7b	1928	stopCicloTB=1;
nerit	3:a469bbd294b5	1929	cntCellsForLoad=0;
nerit	3:a469bbd294b5	1930	}
nerit	8:310f9e4eac7b	1931	} else {
nerit	3:a469bbd294b5	1932	cntCellsForLoad=0;
nerit	3:a469bbd294b5	1933	}
nerit	3:a469bbd294b5	1934	// inibizione controllo di sincro per fuori fase
nerit	8:310f9e4eac7b	1935	if (trigSD==0) {
nerit	3:a469bbd294b5	1936	inhibit=1;
nerit	3:a469bbd294b5	1937	trigTB=1;
nerit	8:310f9e4eac7b	1938	} else {
nerit	3:a469bbd294b5	1939	inhibit=0;
nerit	3:a469bbd294b5	1940	trigTB=0;
nerit	3:a469bbd294b5	1941	trigSD=0;
nerit	3:a469bbd294b5	1942	}
nerit	3:a469bbd294b5	1943	// conta le celle indietro per sbloccare il tamburo
nerit	8:310f9e4eac7b	1944	if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit	3:a469bbd294b5	1945	cntCellsForReload++;
nerit	8:310f9e4eac7b	1946	if (cntCellsForReload >= cellsCountSet) {
nerit	3:a469bbd294b5	1947	TBmotorDirecti=TBforward; // rotazione normale
nerit	8:310f9e4eac7b	1948	#if defined(runner)
nerit	9:7f02256f6e8f	1949	#if defined(Zucca)
nerit	9:7f02256f6e8f	1950	motor->run(StepperMotor::BWD);
nerit	9:7f02256f6e8f	1951	#else
nerit	9:7f02256f6e8f	1952	motor->run(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1953	#endif
nerit	8:310f9e4eac7b	1954	#else
nerit	9:7f02256f6e8f	1955	#if defined(Zucca)
nerit	9:7f02256f6e8f	1956	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1957	#else
nerit	9:7f02256f6e8f	1958	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1959	#endif
nerit	8:310f9e4eac7b	1960	#endif
nerit	3:a469bbd294b5	1961	erroreTamburo=0;
nerit	3:a469bbd294b5	1962	cntCellsCorrect=0;
nerit	8:310f9e4eac7b	1963	}
nerit	3:a469bbd294b5	1964	}
nerit	3:a469bbd294b5	1965	#if defined(seedSensor)
nerit	3:a469bbd294b5	1966	resetDelay();
nerit	3:a469bbd294b5	1967	delaySeedCheck.start();
nerit	3:a469bbd294b5	1968	#endif
nerit	3:a469bbd294b5	1969	}
nerit	8:310f9e4eac7b	1970	if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
nerit	8:310f9e4eac7b	1971	if (firstStart==0) {
nerit	18:7c978f69cc51	1972	if (tractorSpeed_MtS_timed>0.4f){
nerit	17:9629eb019892	1973	if (cntTbError>5) {
nerit	17:9629eb019892	1974	all_cellSignal=1;
nerit	17:9629eb019892	1975	#if defined(seedSensor)
nerit	17:9629eb019892	1976	resetDelay();
nerit	17:9629eb019892	1977	#endif
nerit	17:9629eb019892	1978	}
nerit	3:a469bbd294b5	1979	}
nerit	3:a469bbd294b5	1980	}
nerit	8:310f9e4eac7b	1981	if (erroreTamburo==0) {
nerit	17:9629eb019892	1982	if (cellsCountSet>1){
nerit	17:9629eb019892	1983	erroreTamburo=1;
nerit	17:9629eb019892	1984	TBmotorDirecti=TBreverse; // rotazione inversa
nerit	17:9629eb019892	1985	#if defined(runner)
nerit	17:9629eb019892	1986	#if defined(Zucca)
nerit	17:9629eb019892	1987	motor->run(StepperMotor::FWD);
nerit	17:9629eb019892	1988	#else
nerit	17:9629eb019892	1989	motor->run(StepperMotor::BWD);
nerit	17:9629eb019892	1990	#endif
nerit	9:7f02256f6e8f	1991	#else
nerit	17:9629eb019892	1992	#if defined(Zucca)
nerit	17:9629eb019892	1993	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	17:9629eb019892	1994	#else
nerit	17:9629eb019892	1995	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	17:9629eb019892	1996	#endif
nerit	9:7f02256f6e8f	1997	#endif
nerit	17:9629eb019892	1998	}
nerit	3:a469bbd294b5	1999	cntCellsForReload=0;
nerit	17:9629eb019892	2000	if (tractorSpeed_MtS_timed>0.0f){
nerit	17:9629eb019892	2001	cntTbError++;
nerit	17:9629eb019892	2002	aggiornati();
nerit	17:9629eb019892	2003	}else{
nerit	17:9629eb019892	2004	cntTbError=0;
nerit	17:9629eb019892	2005	}
nerit	3:a469bbd294b5	2006	#if defined(seedSensor)
nerit	3:a469bbd294b5	2007	resetDelay();
nerit	3:a469bbd294b5	2008	#endif
nerit	3:a469bbd294b5	2009	}
nerit	3:a469bbd294b5	2010	}
nerit	17:9629eb019892	2011	if (tractorSpeed_MtS_timed>0.0f){
nerit	17:9629eb019892	2012	if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))\|\|(cntTbError>5)) {
nerit	17:9629eb019892	2013	if (firstStart==0) {
nerit	17:9629eb019892	2014	all_noStepRota=1;
nerit	17:9629eb019892	2015	#if defined(seedSensor)
nerit	17:9629eb019892	2016	resetDelay();
nerit	17:9629eb019892	2017	#endif
nerit	17:9629eb019892	2018	}
nerit	17:9629eb019892	2019	cntTbError=0;
nerit	3:a469bbd294b5	2020	}
nerit	3:a469bbd294b5	2021	}
nerit	8:310f9e4eac7b	2022	// ----------------------------------------
nerit	3:a469bbd294b5	2023	// read and manage joystick
nerit	8:310f9e4eac7b	2024	if (loadDaCan==1) {
nerit	8:310f9e4eac7b	2025	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	2026	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2027	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2028	pc.printf("daCAN\n");
nerit	6:e8c18f0f399a	2029	#endif
nerit	8:310f9e4eac7b	2030	#endif
nerit	6:e8c18f0f399a	2031	ciclaTB();
nerit	8:310f9e4eac7b	2032	}
nerit	3:a469bbd294b5	2033	}
nerit	8:310f9e4eac7b	2034
nerit	8:310f9e4eac7b	2035	//***************************************************************************************************
nerit	8:310f9e4eac7b	2036	// pulseRised define the event of speed wheel pulse occurs
nerit	8:310f9e4eac7b	2037	//
nerit	3:a469bbd294b5	2038	//double maxInterval = pulseDistance/minWorkSpeed;
nerit	3:a469bbd294b5	2039	//double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit	8:310f9e4eac7b	2040	if (pulseRised==1) {
nerit	12:b0fc1d313813	2041	if (enableSpeed<10) {enableSpeed++;}
nerit	3:a469bbd294b5	2042	pulseRised=0;
nerit	3:a469bbd294b5	2043	pulseRised1=1;
nerit	3:a469bbd294b5	2044	speedMediaCalc();
nerit	3:a469bbd294b5	2045	// calcola velocità trattore
nerit	8:310f9e4eac7b	2046	if(enableSpeed>=2) {
nerit	8:310f9e4eac7b	2047	if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit	8:310f9e4eac7b	2048	if((quincCnt<3)\|\|(speedFromMaster==0.0f)\|\|(enableSimula==1)) {
nerit	13:d1030d4e51a8	2049	//TODO: limite inferiore e superiore per non modificare la velocità selezionata
nerit	13:d1030d4e51a8	2050	// serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo
nerit	3:a469bbd294b5	2051	tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit	13:d1030d4e51a8	2052	if (delaySpeedCheck.read()>=5.0f){
nerit	13:d1030d4e51a8	2053	if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit	13:d1030d4e51a8	2054	tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit	13:d1030d4e51a8	2055	}
nerit	13:d1030d4e51a8	2056	}
nerit	10:9e70619e97ab	2057	oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	2058	}
nerit	17:9629eb019892	2059	/*if (checkSDrotation==0) {
nerit	3:a469bbd294b5	2060	checkSDrotation=1;
nerit	3:a469bbd294b5	2061	SDwheelTimer.start();
nerit	17:9629eb019892	2062	}*/
nerit	3:a469bbd294b5	2063	}
nerit	3:a469bbd294b5	2064	}
nerit	3:a469bbd294b5	2065	speedTimeOut.reset();
nerit	8:310f9e4eac7b	2066	} else {
nerit	3:a469bbd294b5	2067	double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit	8:310f9e4eac7b	2068	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	3:a469bbd294b5	2069	tractorSpeed_MtS_timed = 0.0f;
nerit	10:9e70619e97ab	2070	oldLocalTractorSpeed=0.0f;
nerit	10:9e70619e97ab	2071	#if defined(seedSensor)
nerit	10:9e70619e97ab	2072	resetDelay();
nerit	10:9e70619e97ab	2073	#endif
nerit	3:a469bbd294b5	2074	pntMedia=0;
nerit	3:a469bbd294b5	2075	speedTimeOut.reset();
nerit	3:a469bbd294b5	2076	enableSpeed=0;
nerit	3:a469bbd294b5	2077	quincCnt=0;
nerit	3:a469bbd294b5	2078	}
nerit	3:a469bbd294b5	2079	}
nerit	8:310f9e4eac7b	2080
nerit	10:9e70619e97ab	2081	#if defined(seedSensor)
nerit	10:9e70619e97ab	2082	if (seedSensorEnable==true) {
nerit	10:9e70619e97ab	2083	if (delaySeedCheck.read_ms()>100) {
nerit	10:9e70619e97ab	2084	if (seedSee==0) {
nerit	10:9e70619e97ab	2085	all_noSeedOnCe=1;
nerit	10:9e70619e97ab	2086	}
nerit	10:9e70619e97ab	2087	resetDelay();
nerit	3:a469bbd294b5	2088	}
nerit	3:a469bbd294b5	2089	}
nerit	10:9e70619e97ab	2090	#endif
nerit	3:a469bbd294b5	2091	// esegue il controllo di velocità minima
nerit	3:a469bbd294b5	2092	/*if ((double)speedTimer.read_ms()>=maxInterval){
nerit	3:a469bbd294b5	2093	tractorSpeed_MtS_timed = 0.0f;
nerit	3:a469bbd294b5	2094	enableSpeed=0;
nerit	3:a469bbd294b5	2095	}*/
nerit	3:a469bbd294b5	2096	// esegue il controllo di velocità massima
nerit	3:a469bbd294b5	2097	/*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit	3:a469bbd294b5	2098	tractorSpeed_MtS_timed = 4.5f;
nerit	3:a469bbd294b5	2099	}*/
nerit	8:310f9e4eac7b	2100	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2101	// cycle logic control section
nerit	8:310f9e4eac7b	2102	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2103	if (enableSimula==1) {
nerit	8:310f9e4eac7b	2104	if(simOk==0) {
nerit	8:310f9e4eac7b	2105	tractorSpeed_MtS_timed=0.0f;
nerit	10:9e70619e97ab	2106	oldLocalTractorSpeed=0.0f;
nerit	8:310f9e4eac7b	2107	}
nerit	8:310f9e4eac7b	2108	}
nerit	8:310f9e4eac7b	2109	if ((tractorSpeed_MtS_timed>0.01f)) {
nerit	8:310f9e4eac7b	2110	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2111	#if defined(Qncc)
nerit	8:310f9e4eac7b	2112	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2113
nerit	8:310f9e4eac7b	2114	#endif
nerit	8:310f9e4eac7b	2115	#endif
nerit	8:310f9e4eac7b	2116	cycleStopRequest=1;
nerit	8:310f9e4eac7b	2117	// calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit	8:310f9e4eac7b	2118	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	2119	if (encoder==false) {
nerit	8:310f9e4eac7b	2120	if (speedFromPick==1) {
nerit	8:310f9e4eac7b	2121	tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2122	} else {
nerit	8:310f9e4eac7b	2123	tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2124	}
nerit	8:310f9e4eac7b	2125	} else {
nerit	17:9629eb019892	2126	tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatiodcPulseTurn))1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	5:2a3a64b52f54	2127	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2128	#if defined(Qnce)
nerit	8:310f9e4eac7b	2129	pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit	5:2a3a64b52f54	2130	#endif
nerit	5:2a3a64b52f54	2131	#endif
nerit	8:310f9e4eac7b	2132	#if !defined(speedMaster)
nerit	10:9e70619e97ab	2133	double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit	10:9e70619e97ab	2134	tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit	8:310f9e4eac7b	2135	#endif
nerit	8:310f9e4eac7b	2136	}
nerit	8:310f9e4eac7b	2137	//*******************************************
nerit	8:310f9e4eac7b	2138	// segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit	8:310f9e4eac7b	2139	double dutyTeorico = 0.00;
nerit	12:b0fc1d313813	2140	double deltaV=0.0f;
nerit	12:b0fc1d313813	2141	double deltaD=0.0f;
nerit	12:b0fc1d313813	2142	double setV=0.0f;
nerit	12:b0fc1d313813	2143	double teoriaC=0.0f;
nerit	14:e2b5efa06c41	2144	double speedCorrectionMachine=0.0f;
nerit	17:9629eb019892	2145	//#if defined(speedMaster)
nerit	14:e2b5efa06c41	2146	speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed2.0f)))tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2147	//#else
nerit	17:9629eb019892	2148	// speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2149	//#endif
nerit	14:e2b5efa06c41	2150	//if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit	17:9629eb019892	2151	if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit	8:310f9e4eac7b	2152	dutyTeorico = tabComan[0];
nerit	8:310f9e4eac7b	2153	}
nerit	17:9629eb019892	2154	for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit	14:e2b5efa06c41	2155	if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit	12:b0fc1d313813	2156	// esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit	12:b0fc1d313813	2157	deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit	12:b0fc1d313813	2158	deltaD=tabComan[ii+1]-tabComan[ii];
nerit	14:e2b5efa06c41	2159	//setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit	14:e2b5efa06c41	2160	setV = speedCorrectionMachine-tabSpeed[ii];
nerit	12:b0fc1d313813	2161	teoriaC=(setV/deltaV)*deltaD;
nerit	12:b0fc1d313813	2162	dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit	14:e2b5efa06c41	2163	#if defined(pcSerial)
nerit	14:e2b5efa06c41	2164	#if defined(boost1)
nerit	14:e2b5efa06c41	2165	pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit	14:e2b5efa06c41	2166	pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit	14:e2b5efa06c41	2167	#endif
nerit	14:e2b5efa06c41	2168	#endif
nerit	3:a469bbd294b5	2169	}
nerit	8:310f9e4eac7b	2170	}
nerit	14:e2b5efa06c41	2171	//if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit	14:e2b5efa06c41	2172	// dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit	14:e2b5efa06c41	2173	//}
nerit	17:9629eb019892	2174	if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit	14:e2b5efa06c41	2175	dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit	8:310f9e4eac7b	2176	}
nerit	8:310f9e4eac7b	2177	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	2178	quinCalc();
nerit	8:310f9e4eac7b	2179	#endif
nerit	8:310f9e4eac7b	2180	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2181	#if defined(Qncd)
nerit	8:310f9e4eac7b	2182	pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit	3:a469bbd294b5	2183	#endif
nerit	8:310f9e4eac7b	2184	#endif
nerit	8:310f9e4eac7b	2185	if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit	8:310f9e4eac7b	2186	double erroreTempo = 0.0f;
nerit	8:310f9e4eac7b	2187	if(encoder==false) {
nerit	8:310f9e4eac7b	2188	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2189	erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2190	} else {
nerit	8:310f9e4eac7b	2191	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	2192	}
nerit	8:310f9e4eac7b	2193	} else {
nerit	8:310f9e4eac7b	2194	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	2195	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2196	#if defined(Qnce)
nerit	8:310f9e4eac7b	2197	pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit	3:a469bbd294b5	2198	#endif
nerit	3:a469bbd294b5	2199	#endif
nerit	3:a469bbd294b5	2200	}
nerit	8:310f9e4eac7b	2201	double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2202	double k3=0.0f;
nerit	8:310f9e4eac7b	2203	double k4=0.0f;
nerit	8:310f9e4eac7b	2204	double k5=0.0f;
nerit	8:310f9e4eac7b	2205	double k6=0.0f;
nerit	8:310f9e4eac7b	2206	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2207	k3=0.010f;
nerit	8:310f9e4eac7b	2208	#else
nerit	8:310f9e4eac7b	2209	k3=0.050f;
nerit	8:310f9e4eac7b	2210	#endif
nerit	8:310f9e4eac7b	2211	k4=1.103f;
nerit	8:310f9e4eac7b	2212	k5=10.00f;
nerit	8:310f9e4eac7b	2213	k6=20.50f;
nerit	8:310f9e4eac7b	2214	double L1 = 0.045f;
nerit	8:310f9e4eac7b	2215	double L_1=-0.045f;
nerit	8:310f9e4eac7b	2216	double L2 = 0.150f;
nerit	8:310f9e4eac7b	2217	double L_2=-0.150f;
nerit	8:310f9e4eac7b	2218	double L3 = 0.301f;
nerit	8:310f9e4eac7b	2219	double L_3=-0.301f;
nerit	8:310f9e4eac7b	2220	double k1=0.0f;
nerit	8:310f9e4eac7b	2221	if ((errorePercentuale > L3)\|\|(errorePercentuale < L_3)) {
nerit	8:310f9e4eac7b	2222	k1=errorePercentuale*k6;
nerit	8:310f9e4eac7b	2223	}
nerit	8:310f9e4eac7b	2224	if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))\|\|((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit	8:310f9e4eac7b	2225	k1=errorePercentuale*k5;
nerit	8:310f9e4eac7b	2226	}
nerit	8:310f9e4eac7b	2227	if (((errorePercentuale < L2)&&(errorePercentuale>L1))\|\|((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit	8:310f9e4eac7b	2228	k1=errorePercentuale*k4;
nerit	8:310f9e4eac7b	2229	}
nerit	8:310f9e4eac7b	2230	if ((errorePercentuale < L1)\|\|(errorePercentuale > L_1)) {
nerit	8:310f9e4eac7b	2231	k1=errorePercentuale*k3;
nerit	8:310f9e4eac7b	2232	}
nerit	8:310f9e4eac7b	2233	double memoCorrezione = k1;
nerit	8:310f9e4eac7b	2234	if (quincCnt >= 2) {
nerit	8:310f9e4eac7b	2235	correzione = correzione + memoCorrezione;
nerit	8:310f9e4eac7b	2236	if (correzione > (1.0f - dutyTeorico)) {
nerit	8:310f9e4eac7b	2237	correzione = (1.0f - dutyTeorico);
nerit	14:e2b5efa06c41	2238	#if defined(pcSerial)
nerit	14:e2b5efa06c41	2239	pc.printf("limite\n");
nerit	14:e2b5efa06c41	2240	#endif
nerit	3:a469bbd294b5	2241	}
nerit	8:310f9e4eac7b	2242	if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit	8:310f9e4eac7b	2243	correzione = -1.0f*dutyTeorico;
nerit	14:e2b5efa06c41	2244	#if defined(pcSerial)
nerit	14:e2b5efa06c41	2245	pc.printf("limite\n");
nerit	14:e2b5efa06c41	2246	#endif
nerit	3:a469bbd294b5	2247	}
nerit	3:a469bbd294b5	2248	}
nerit	8:310f9e4eac7b	2249	pulseRised1=0;
nerit	8:310f9e4eac7b	2250	pulseRised2=0;
nerit	8:310f9e4eac7b	2251	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2252	#if defined(Qnca)
nerit	8:310f9e4eac7b	2253	pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit	8:310f9e4eac7b	2254	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	2255	#endif
nerit	8:310f9e4eac7b	2256	#endif
nerit	8:310f9e4eac7b	2257	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2258	#if defined(Qncb)
nerit	8:310f9e4eac7b	2259	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2260	#endif
nerit	8:310f9e4eac7b	2261	#endif
nerit	12:b0fc1d313813	2262	#if defined(pcSerial)
nerit	12:b0fc1d313813	2263	#if defined(boost)
nerit	12:b0fc1d313813	2264	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	2265	#endif
nerit	12:b0fc1d313813	2266	#endif
nerit	8:310f9e4eac7b	2267	}
nerit	12:b0fc1d313813	2268	// introduce il controllo di corrente
nerit	14:e2b5efa06c41	2269	double variazione=0.0f;
nerit	12:b0fc1d313813	2270	if (correggiCorrente==1){
nerit	12:b0fc1d313813	2271	if (SD_CurrentScaled < 1.6f){
nerit	12:b0fc1d313813	2272	boostDcOut +=0.01f;
nerit	12:b0fc1d313813	2273	}
nerit	12:b0fc1d313813	2274	if (SD_CurrentScaled > 2.6f){
nerit	12:b0fc1d313813	2275	boostDcOut -=0.01f;
nerit	12:b0fc1d313813	2276	}
nerit	12:b0fc1d313813	2277	if (boostDcOut >= 0.2f){
nerit	12:b0fc1d313813	2278	boostDcOut=0.2f;
nerit	14:e2b5efa06c41	2279	//all_genericals=1;
nerit	12:b0fc1d313813	2280	}
nerit	12:b0fc1d313813	2281	if (boostDcOut <=-0.2f){
nerit	12:b0fc1d313813	2282	boostDcOut=-0.2f;
nerit	14:e2b5efa06c41	2283	//all_genericals=1;
nerit	12:b0fc1d313813	2284	}
nerit	14:e2b5efa06c41	2285	variazione=boostDcOut;
nerit	12:b0fc1d313813	2286	correggiCorrente=0;
nerit	8:310f9e4eac7b	2287	}
nerit	12:b0fc1d313813	2288	if (currentCheckEnable==true){
nerit	14:e2b5efa06c41	2289	correzione += variazione;
nerit	14:e2b5efa06c41	2290	variazione=0.0f;
nerit	8:310f9e4eac7b	2291	}
nerit	8:310f9e4eac7b	2292	DC_brake=0;
nerit	8:310f9e4eac7b	2293	DC_forward=1;
nerit	8:310f9e4eac7b	2294	DC_prepare();
bcostm	2:35f13b7f3659	2295
nerit	8:310f9e4eac7b	2296	// il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit	8:310f9e4eac7b	2297	seedWheelPeriod = semiPeriodoReale;
nerit	8:310f9e4eac7b	2298	if (seedWheelPeriod < 180.0f) {
nerit	8:310f9e4eac7b	2299	seedWheelPeriod = 180.0f;
nerit	8:310f9e4eac7b	2300	}
nerit	8:310f9e4eac7b	2301	if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit	8:310f9e4eac7b	2302	SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	2303	oldSeedWheelPeriod=seedWheelPeriod;
nerit	8:310f9e4eac7b	2304	}
nerit	3:a469bbd294b5	2305
nerit	8:310f9e4eac7b	2306	if((quincCnt>=3)) {
nerit	8:310f9e4eac7b	2307	if (correzioneAttiva==1) {
nerit	8:310f9e4eac7b	2308	dcActualDuty = dutyTeorico + correzione;
nerit	8:310f9e4eac7b	2309	} else {
nerit	3:a469bbd294b5	2310	dcActualDuty = dutyTeorico;
nerit	3:a469bbd294b5	2311	}
nerit	8:310f9e4eac7b	2312	} else {
nerit	8:310f9e4eac7b	2313	dcActualDuty = dutyTeorico;
nerit	8:310f9e4eac7b	2314	}
nerit	8:310f9e4eac7b	2315	if (dcActualDuty <=0.0f) {
nerit	8:310f9e4eac7b	2316	dcActualDuty=0.05f;
nerit	8:310f9e4eac7b	2317	}
nerit	8:310f9e4eac7b	2318	if (dcActualDuty > 0.95f) {
nerit	8:310f9e4eac7b	2319	dcActualDuty = 0.95f;
nerit	8:310f9e4eac7b	2320	}
nerit	17:9629eb019892	2321	if (dcActualDuty > (dutyTeorico 1.15f)){dcActualDuty=dutyTeorico1.15f;}
nerit	14:e2b5efa06c41	2322	if (dcActualDuty < (dutyTeorico 0.85f)){dcActualDuty=dutyTeorico0.85f;}
nerit	8:310f9e4eac7b	2323	if (olddcActualDuty!=dcActualDuty) {
nerit	8:310f9e4eac7b	2324	SDmotorPWM.write(1.0f-dcActualDuty);
nerit	8:310f9e4eac7b	2325	olddcActualDuty=dcActualDuty;
nerit	8:310f9e4eac7b	2326	}
nerit	8:310f9e4eac7b	2327	// allarme
nerit	17:9629eb019892	2328	if (tractorSpeed_MtS_timed>0.0f){
nerit	17:9629eb019892	2329	if (SDwheelTimer.read_ms()>4000) {
nerit	17:9629eb019892	2330	if (firstStart==0) {
nerit	17:9629eb019892	2331	all_noDcRotati=1;
nerit	17:9629eb019892	2332	}
nerit	17:9629eb019892	2333	#if defined(pcSerial)
nerit	17:9629eb019892	2334	#if defined(VediAllarmi)
nerit	17:9629eb019892	2335	pc.printf("allarme no DC rotation");
nerit	17:9629eb019892	2336	#endif
nerit	17:9629eb019892	2337	#endif
nerit	3:a469bbd294b5	2338	}
nerit	8:310f9e4eac7b	2339	}
nerit	3:a469bbd294b5	2340
nerit	8:310f9e4eac7b	2341	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2342	// CONTROLLA TAMBURO
nerit	8:310f9e4eac7b	2343	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2344	if(lowSpeed==0) {
nerit	8:310f9e4eac7b	2345	if (syncroCheck==1) {
nerit	8:310f9e4eac7b	2346	syncroCheck=0;
nerit	8:310f9e4eac7b	2347	lockStart=1;
nerit	8:310f9e4eac7b	2348	periodo = TBperiod;
nerit	8:310f9e4eac7b	2349	#if !defined(runner)
nerit	9:7f02256f6e8f	2350	#if defined(Zucca)
nerit	9:7f02256f6e8f	2351	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	2352	#else
nerit	9:7f02256f6e8f	2353	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	2354	#endif
nerit	8:310f9e4eac7b	2355	#endif
nerit	8:310f9e4eac7b	2356	if (aspettaStart==0) {
nerit	6:e8c18f0f399a	2357	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2358	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2359	pc.printf("da sincro\n");
nerit	6:e8c18f0f399a	2360	#endif
nerit	6:e8c18f0f399a	2361	#endif
nerit	8:310f9e4eac7b	2362	cambiaTB(periodo);
nerit	3:a469bbd294b5	2363	}
nerit	8:310f9e4eac7b	2364	}
nerit	8:310f9e4eac7b	2365	// controllo di stop
nerit	8:310f9e4eac7b	2366	double memoIntraP = (double)memoIntraPick*1.8f;
nerit	8:310f9e4eac7b	2367	if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit	3:a469bbd294b5	2368	syncroCheck=0;
nerit	8:310f9e4eac7b	2369	aspettaStart=1;
nerit	8:310f9e4eac7b	2370	countCicli=0;
nerit	6:e8c18f0f399a	2371	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2372	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2373	pc.printf("AspettaSI\n");
nerit	6:e8c18f0f399a	2374	#endif
nerit	6:e8c18f0f399a	2375	#endif
nerit	8:310f9e4eac7b	2376	if (TBzeroCyclePulse==1) {
nerit	8:310f9e4eac7b	2377	#if !defined(runner)
nerit	8:310f9e4eac7b	2378	TBticker.detach();
nerit	8:310f9e4eac7b	2379	#endif
nerit	8:310f9e4eac7b	2380	motor->soft_hiz();
nerit	8:310f9e4eac7b	2381	}
nerit	8:310f9e4eac7b	2382	}
nerit	8:310f9e4eac7b	2383	} else { // fine ciclo fuori da low speed
nerit	8:310f9e4eac7b	2384	syncroCheck=0;
nerit	8:310f9e4eac7b	2385	lockStart=0;
nerit	8:310f9e4eac7b	2386	if (beccoPronto==1) {
nerit	8:310f9e4eac7b	2387	if (tamburoStandard==1) {
nerit	8:310f9e4eac7b	2388	double ritardoMassimo = 0.0f;
nerit	8:310f9e4eac7b	2389	if (encoder==false) {
nerit	8:310f9e4eac7b	2390	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2391	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2392	} else {
nerit	8:310f9e4eac7b	2393	ritardoMassimo = (double)memoTimeHole;
nerit	8:310f9e4eac7b	2394	}
nerit	8:310f9e4eac7b	2395	} else {
nerit	8:310f9e4eac7b	2396	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2397	}
nerit	8:310f9e4eac7b	2398	int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit	8:310f9e4eac7b	2399	if (tempoDiSincro <= 1) {
nerit	8:310f9e4eac7b	2400	tempoDiSincro=1;
nerit	8:310f9e4eac7b	2401	}
nerit	8:310f9e4eac7b	2402	if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit	8:310f9e4eac7b	2403	if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2404	startCicloTB=1;
nerit	8:310f9e4eac7b	2405	}
nerit	8:310f9e4eac7b	2406	beccoPronto=0;
nerit	8:310f9e4eac7b	2407	}
nerit	8:310f9e4eac7b	2408	} else {
nerit	8:310f9e4eac7b	2409	// tamburo per zucca
nerit	8:310f9e4eac7b	2410	if (speedOfSeedWheel >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2411	startCicloTB=1;
nerit	8:310f9e4eac7b	2412	}
nerit	8:310f9e4eac7b	2413	beccoPronto=0;
nerit	8:310f9e4eac7b	2414	}
nerit	8:310f9e4eac7b	2415	}
nerit	8:310f9e4eac7b	2416	ciclaTB();
nerit	8:310f9e4eac7b	2417	}
nerit	8:310f9e4eac7b	2418	//*************************************************************
nerit	8:310f9e4eac7b	2419	} else { // fine ciclo con velocita maggiore di 0
nerit	13:d1030d4e51a8	2420	delaySpeedCheck.reset();
nerit	8:310f9e4eac7b	2421	if (cycleStopRequest==1) {
nerit	8:310f9e4eac7b	2422	SDwheelTimer.stop();
nerit	8:310f9e4eac7b	2423	SDwheelTimer.reset();
nerit	8:310f9e4eac7b	2424	#if defined(seedSensor)
nerit	8:310f9e4eac7b	2425	resetDelay();
nerit	8:310f9e4eac7b	2426	#endif
nerit	8:310f9e4eac7b	2427	checkSDrotation=0;
nerit	8:310f9e4eac7b	2428	oldFaseLavoro=0;
nerit	8:310f9e4eac7b	2429	aspettaStart=1;
nerit	8:310f9e4eac7b	2430	countCicli=0;
nerit	8:310f9e4eac7b	2431	oldSeedWheelPeriod=0.0f;
nerit	8:310f9e4eac7b	2432	oldPeriodoTB=0.0f;
nerit	8:310f9e4eac7b	2433	correzione=0.0f;
nerit	8:310f9e4eac7b	2434	OLDpulseSpeedInterval=1000.01f;
nerit	8:310f9e4eac7b	2435	cicloTbinCorso=0;
nerit	8:310f9e4eac7b	2436	cntTbError=0;
nerit	8:310f9e4eac7b	2437	olddcActualDuty=0.0f;
nerit	8:310f9e4eac7b	2438	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2439	#if defined(checkLoopb)
nerit	8:310f9e4eac7b	2440	pc.printf("forza\n");
nerit	8:310f9e4eac7b	2441	#endif
nerit	8:310f9e4eac7b	2442	#endif
nerit	8:310f9e4eac7b	2443	speedOfSeedWheel=0.0f;
nerit	8:310f9e4eac7b	2444	cycleStopRequest=0;
nerit	8:310f9e4eac7b	2445	DC_brake=1;
nerit	8:310f9e4eac7b	2446	DC_prepare();
nerit	8:310f9e4eac7b	2447	metalTimer.reset();
nerit	8:310f9e4eac7b	2448	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2449	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2450	pc.printf("17h\n");
nerit	8:310f9e4eac7b	2451	#endif
nerit	8:310f9e4eac7b	2452	#endif
nerit	8:310f9e4eac7b	2453	#if !defined(runner)
nerit	6:e8c18f0f399a	2454	TBticker.detach();
nerit	8:310f9e4eac7b	2455	#endif
nerit	8:310f9e4eac7b	2456	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2457	#if defined(loStop)
nerit	8:310f9e4eac7b	2458	pc.printf("A5\n");
nerit	6:e8c18f0f399a	2459	#endif
nerit	8:310f9e4eac7b	2460	#endif
nerit	8:310f9e4eac7b	2461	motor->soft_hiz();
nerit	18:7c978f69cc51	2462	motor->set_home();
nerit	18:7c978f69cc51	2463	cntSpeedError=0;
nerit	18:7c978f69cc51	2464	timeIntraPick=0.0f;
nerit	19:231b8931cabc	2465	memoIntraPick=0.001f;
nerit	19:231b8931cabc	2466	intraPickTimer.reset();
nerit	8:310f9e4eac7b	2467	pntMedia=0;
nerit	8:310f9e4eac7b	2468	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2469	#if defined(stopSignal)
nerit	8:310f9e4eac7b	2470	pc.printf("stop\n");
nerit	6:e8c18f0f399a	2471	#endif
nerit	8:310f9e4eac7b	2472	#endif
nerit	3:a469bbd294b5	2473	}
nerit	8:310f9e4eac7b	2474	}
nerit	8:310f9e4eac7b	2475
nerit	8:310f9e4eac7b	2476	//*************************************************************************************************
nerit	3:a469bbd294b5	2477	TBzeroCyclePulse=0;
nerit	8:310f9e4eac7b	2478	//*************************************************************************************************
nerit	6:e8c18f0f399a	2479	} //end inProva==0
nerit	3:a469bbd294b5	2480	wd.Service(); // kick the dog before the timeout
nerit	3:a469bbd294b5	2481	} // end while
nerit	3:a469bbd294b5	2482	} // end main

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	26 Jun 2020
Imports:	4
Forks:	0
Commits:	46
Dependents:	0
Dependencies:	2
Followers:	3

main.cpp@19:231b8931cabc, 2019-04-23 (annotated)

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