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@29:25a875d09817, 2019-05-21 (annotated)

Committer:
nerit
Date:
Tue May 21 05:47:56 2019 +0000
Revision:
29:25a875d09817
Parent:
28:0534c86365ec
Child:
30:32e770e91998
Regolato velocita minima tamburo. Versione testata in Germania con 3 becchi e 5 celle. 20 maggio 2019.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:a469bbd294b5 1
nerit 3:a469bbd294b5 2 //********************************************************************************************************************
nerit 3:a469bbd294b5 3 //********************************************************************************************************************
nerit 3:a469bbd294b5 4 // FIRMWARE SEMINATRICE MODULA
nerit 3:a469bbd294b5 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 3:a469bbd294b5 6 // V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A
nerit 3:a469bbd294b5 7 // IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz
nerit 3:a469bbd294b5 8 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 3:a469bbd294b5 9 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 3:a469bbd294b5 10 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 3:a469bbd294b5 11 // FIRST RELEASE OF BOARD DEC 2017
nerit 3:a469bbd294b5 12 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 3:a469bbd294b5 13 //
nerit 4:de1b296e9757 14 // THIS RELEASE: 10 february 2019
nerit 3:a469bbd294b5 15 //
nerit 8:310f9e4eac7b 16 // APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE
nerit 3:a469bbd294b5 17 //
nerit 3:a469bbd294b5 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 3:a469bbd294b5 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 3:a469bbd294b5 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 3:a469bbd294b5 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 3:a469bbd294b5 22 // ENCODER
nerit 3:a469bbd294b5 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 3:a469bbd294b5 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 3:a469bbd294b5 25 // 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01
nerit 4:de1b296e9757 26 // 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN
nerit 6:e8c18f0f399a 27 // 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE
nerit 3:a469bbd294b5 28 /********************
nerit 3:a469bbd294b5 29 IL FIRMWARE SI COMPONE DI 10 FILES:
nerit 3:a469bbd294b5 30 - main.cpp
nerit 3:a469bbd294b5 31 - main.hpp
nerit 3:a469bbd294b5 32 - iodefinition.hpp
nerit 3:a469bbd294b5 33 - canbus.hpp
nerit 3:a469bbd294b5 34 - parameters.hpp
nerit 4:de1b296e9757 35 - powerstep.hpp
nerit 3:a469bbd294b5 36 - timeandtick.hpp
nerit 3:a469bbd294b5 37 - variables.hpp
nerit 3:a469bbd294b5 38 - powerstep.hpp
nerit 3:a469bbd294b5 39 - watchdog.cpp
nerit 3:a469bbd294b5 40 - watchdog.h
nerit 8:310f9e4eac7b 41 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU'
nerit 3:a469bbd294b5 42 UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 3:a469bbd294b5 43 UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER
nerit 3:a469bbd294b5 44 *********************
nerit 3:a469bbd294b5 45 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 3:a469bbd294b5 46 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 3:a469bbd294b5 47 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 3:a469bbd294b5 48 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 3:a469bbd294b5 49 *********************
nerit 3:a469bbd294b5 50 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 8:310f9e4eac7b 51 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 3:a469bbd294b5 52 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 3:a469bbd294b5 53 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 3:a469bbd294b5 54 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 3:a469bbd294b5 55 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 3:a469bbd294b5 56 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 3:a469bbd294b5 57 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 3:a469bbd294b5 58 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 3:a469bbd294b5 59 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 3:a469bbd294b5 60 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 3:a469bbd294b5 61 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 3:a469bbd294b5 62 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 3:a469bbd294b5 63 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 3:a469bbd294b5 64 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 3:a469bbd294b5 65 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 3:a469bbd294b5 66 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 3:a469bbd294b5 67 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 3:a469bbd294b5 68 **********************
nerit 3:a469bbd294b5 69 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 3:a469bbd294b5 70 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 3:a469bbd294b5 71 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 3:a469bbd294b5 72 **********************
nerit 3:a469bbd294b5 73 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 3:a469bbd294b5 74 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 3:a469bbd294b5 75 LO STEPPER SEGUE IL DC.
nerit 3:a469bbd294b5 76 **********************
nerit 3:a469bbd294b5 77 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 3:a469bbd294b5 78 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 3:a469bbd294b5 79 **********************
nerit 3:a469bbd294b5 80 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 3:a469bbd294b5 81 **********************
nerit 3:a469bbd294b5 82 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 3:a469bbd294b5 83 AZZERAMENTO MANUALE
nerit 3:a469bbd294b5 84 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 3:a469bbd294b5 85 */
nerit 3:a469bbd294b5 86 //********************************************************************************************************************
nerit 3:a469bbd294b5 87 //********************************************************************************************************************
nerit 3:a469bbd294b5 88 #include "main.hpp"
nerit 8:310f9e4eac7b 89 /* Helper header files. */
nerit 8:310f9e4eac7b 90 #include "DevSPI.h"
nerit 8:310f9e4eac7b 91 /* Component specific header files. */
nerit 8:310f9e4eac7b 92 #include "PowerStep01.h"
nerit 3:a469bbd294b5 93 #include "timeandtick.hpp"
nerit 3:a469bbd294b5 94 #include "canbus.hpp"
nerit 3:a469bbd294b5 95 #include "watchdog.h"
nerit 3:a469bbd294b5 96 #include "iodefinition.hpp"
nerit 3:a469bbd294b5 97 #include "parameters.hpp"
nerit 3:a469bbd294b5 98 #include "variables.hpp"
nerit 8:310f9e4eac7b 99 #include "powerstep.hpp"
nerit 3:a469bbd294b5 100 //********************************************************************************************************************
nerit 3:a469bbd294b5 101 //********************************************************************************************************************
nerit 8:310f9e4eac7b 102 #if defined(runnerTos)
nerit 8:310f9e4eac7b 103 Thread thread;
nerit 8:310f9e4eac7b 104 #endif
nerit 3:a469bbd294b5 105
nerit 3:a469bbd294b5 106 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 107
nerit 3:a469bbd294b5 108 /* Functions -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 109
nerit 3:a469bbd294b5 110 /**
nerit 3:a469bbd294b5 111 * @brief This is an example of user handler for the flag interrupt.
nerit 3:a469bbd294b5 112 * @param None
nerit 3:a469bbd294b5 113 * @retval None
nerit 3:a469bbd294b5 114 * @note If needed, implement it, and then attach and enable it:
nerit 3:a469bbd294b5 115 * + motor->attach_flag_irq(&my_flag_irq_handler);
nerit 3:a469bbd294b5 116 * + motor->enable_flag_irq();
nerit 3:a469bbd294b5 117 * To disable it:
nerit 3:a469bbd294b5 118 * + motor->DisbleFlagIRQ();
nerit 3:a469bbd294b5 119 */
nerit 3:a469bbd294b5 120 void my_flag_irq_handler(void)
nerit 3:a469bbd294b5 121 {
nerit 3:a469bbd294b5 122 /* Set ISR flag. */
nerit 3:a469bbd294b5 123 motor->isrFlag = TRUE;
nerit 3:a469bbd294b5 124 /* Get the value of the status register. */
nerit 3:a469bbd294b5 125 unsigned int statusRegister = motor->get_status();
nerit 10:9e70619e97ab 126 #if defined(pcSerial)
nerit 10:9e70619e97ab 127 pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit 10:9e70619e97ab 128 #endif
nerit 3:a469bbd294b5 129 /* Check SW_F flag: if not set, the SW input is opened */
nerit 3:a469bbd294b5 130 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit 10:9e70619e97ab 131 #if defined(pcSerial)
nerit 8:310f9e4eac7b 132 pc.printf(" SW closed (connected to ground).\r\n");
nerit 10:9e70619e97ab 133 #endif
nerit 3:a469bbd294b5 134 }
nerit 3:a469bbd294b5 135 /* Check SW_EN bit */
nerit 3:a469bbd294b5 136 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit 10:9e70619e97ab 137 #if defined(pcSerial)
nerit 8:310f9e4eac7b 138 pc.printf(" SW turn_on event.\r\n");
nerit 10:9e70619e97ab 139 #endif
nerit 3:a469bbd294b5 140 }
nerit 3:a469bbd294b5 141 /* Check Command Error flag: if set, the command received by SPI can't be */
nerit 3:a469bbd294b5 142 /* performed. This occurs for instance when a move command is sent to the */
nerit 3:a469bbd294b5 143 /* Powerstep01 while it is already running */
nerit 3:a469bbd294b5 144 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit 10:9e70619e97ab 145 #if defined(pcSerial)
nerit 8:310f9e4eac7b 146 pc.printf(" Non-performable command detected.\r\n");
nerit 10:9e70619e97ab 147 #endif
nerit 8:310f9e4eac7b 148 }
nerit 3:a469bbd294b5 149 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit 3:a469bbd294b5 150 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit 10:9e70619e97ab 151 #if defined(pcSerial)
nerit 8:310f9e4eac7b 152 pc.printf(" undervoltage lock-out.\r\n");
nerit 10:9e70619e97ab 153 #endif
nerit 8:310f9e4eac7b 154 }
nerit 3:a469bbd294b5 155 /* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit 3:a469bbd294b5 156 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit 8:310f9e4eac7b 157 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit 10:9e70619e97ab 158 #if defined(pcSerial)
nerit 8:310f9e4eac7b 159 pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit 10:9e70619e97ab 160 #endif
nerit 8:310f9e4eac7b 161 }
nerit 3:a469bbd294b5 162 /* Check OCD flag: if not set, there is an overcurrent detection */
nerit 3:a469bbd294b5 163 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit 10:9e70619e97ab 164 #if defined(pcSerial)
nerit 8:310f9e4eac7b 165 pc.printf(" Overcurrent detection.\r\n");
nerit 10:9e70619e97ab 166 #endif
nerit 3:a469bbd294b5 167 }
nerit 3:a469bbd294b5 168 /* Reset ISR flag. */
nerit 3:a469bbd294b5 169 motor->isrFlag = FALSE;
nerit 3:a469bbd294b5 170 }
nerit 3:a469bbd294b5 171
nerit 3:a469bbd294b5 172 /**
nerit 3:a469bbd294b5 173 * @brief This is an example of error handler.
nerit 3:a469bbd294b5 174 * @param[in] error Number of the error
nerit 3:a469bbd294b5 175 * @retval None
nerit 3:a469bbd294b5 176 * @note If needed, implement it, and then attach it:
nerit 3:a469bbd294b5 177 * + motor->attach_error_handler(&my_error_handler);
nerit 3:a469bbd294b5 178 */
nerit 3:a469bbd294b5 179 void my_error_handler(uint16_t error)
nerit 3:a469bbd294b5 180 {
nerit 3:a469bbd294b5 181 /* Printing to the console. */
nerit 10:9e70619e97ab 182 #if defined(pcSerial)
nerit 10:9e70619e97ab 183 pc.printf("Error %d detected\r\n\n", error);
nerit 10:9e70619e97ab 184 #endif
nerit 8:310f9e4eac7b 185
nerit 3:a469bbd294b5 186 /* Infinite loop */
nerit 3:a469bbd294b5 187 //while (true) {
nerit 8:310f9e4eac7b 188 //}
nerit 3:a469bbd294b5 189 }
nerit 8:310f9e4eac7b 190 //*******************************************************************************
nerit 8:310f9e4eac7b 191 // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit 8:310f9e4eac7b 192 //*******************************************************************************
nerit 8:310f9e4eac7b 193 #if defined(runner)
nerit 8:310f9e4eac7b 194 void step_Reading(){
nerit 8:310f9e4eac7b 195 //while(true){
nerit 8:310f9e4eac7b 196 /* Get current position of device and print to the console */
nerit 8:310f9e4eac7b 197 TBpassPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 198 if (TBpassPosition >= TBoldPosition){
nerit 8:310f9e4eac7b 199 TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 200 }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 = realGiroSD*44.4444f; //(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=5.2f*TBrpm*2.0f; //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 23:ccd253b36733 573 double lowLim=-50.0f;
nerit 23:ccd253b36733 574 double higLim = 50.0f;
nerit 23:ccd253b36733 575 double divide= 100.0f;
nerit 24:2b5e749e26b2 576 if (drumSelect==false){
nerit 25:4461bc76aaab 577 if (pickNumber <= 5) {
nerit 25:4461bc76aaab 578 lowLim=-500.0f;
nerit 25:4461bc76aaab 579 higLim= 500.0f;
nerit 25:4461bc76aaab 580 divide= 25.0f;
nerit 25:4461bc76aaab 581 } else {
nerit 25:4461bc76aaab 582 lowLim=-10.0f;
nerit 25:4461bc76aaab 583 higLim= 130.0f;
nerit 25:4461bc76aaab 584 divide= 100.0f;
nerit 25:4461bc76aaab 585 }
nerit 24:2b5e749e26b2 586 }else{
nerit 25:4461bc76aaab 587 if (pickNumber <= 5) {
nerit 25:4461bc76aaab 588 lowLim=-500.0f;
nerit 25:4461bc76aaab 589 higLim= 500.0f;
nerit 25:4461bc76aaab 590 divide= 25.0f;
nerit 24:2b5e749e26b2 591 }else{
nerit 25:4461bc76aaab 592 lowLim=-500.0f; //pneumatico Alessandria
nerit 25:4461bc76aaab 593 higLim= 130.0f; //pneumatico Alessandria
nerit 25:4461bc76aaab 594 divide= 20.0f; //pneumatico Alessandria
nerit 24:2b5e749e26b2 595 }
nerit 4:de1b296e9757 596 }
nerit 25:4461bc76aaab 597
nerit 8:310f9e4eac7b 598 if (posError>higLim) {
nerit 17:9629eb019892 599 posError=higLim;
nerit 17:9629eb019892 600 //posError=0.0f;
nerit 17:9629eb019892 601 //motor->soft_hiz();
nerit 28:0534c86365ec 602 //aspettareSincro=1;
nerit 28:0534c86365ec 603 //stopCicloTB=1;
nerit 8:310f9e4eac7b 604 }
nerit 8:310f9e4eac7b 605 if (posError<lowLim) {
nerit 8:310f9e4eac7b 606 posError=lowLim;
nerit 28:0534c86365ec 607 //aspettareSincro=1;
nerit 28:0534c86365ec 608 //stopCicloTB=1;
nerit 8:310f9e4eac7b 609 }
nerit 28:0534c86365ec 610 if (((posError >=1.0f)||(posError<=-1.0f))) {
nerit 8:310f9e4eac7b 611 #if defined(runner)
nerit 28:0534c86365ec 612 double variante = posError/divide;
nerit 29:25a875d09817 613 if (variante < -0.399f){variante=-0.3999;}
nerit 28:0534c86365ec 614 ePpos = periodo *(1.0f+ variante);
nerit 8:310f9e4eac7b 615 #else
nerit 8:310f9e4eac7b 616 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 617 #endif
nerit 8:310f9e4eac7b 618 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 619 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 620 } else {
nerit 6:e8c18f0f399a 621 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 622 }
nerit 6:e8c18f0f399a 623 }
nerit 6:e8c18f0f399a 624 #if defined(pcSerial)
nerit 6:e8c18f0f399a 625 #if defined(TBperS)
nerit 8:310f9e4eac7b 626 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 627 #endif
nerit 6:e8c18f0f399a 628 #endif
nerit 3:a469bbd294b5 629 }
nerit 3:a469bbd294b5 630 }
nerit 3:a469bbd294b5 631 }
nerit 10:9e70619e97ab 632 #if defined(pcSerial)
nerit 10:9e70619e97ab 633 #if defined(checkLoopa)
nerit 10:9e70619e97ab 634 pc.printf("12\n");
nerit 10:9e70619e97ab 635 #endif
nerit 10:9e70619e97ab 636 #endif
nerit 3:a469bbd294b5 637 }
nerit 3:a469bbd294b5 638 //*******************************************************
nerit 8:310f9e4eac7b 639 void videoUpdate()
nerit 8:310f9e4eac7b 640 {
nerit 8:310f9e4eac7b 641 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 642 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 643 }
nerit 3:a469bbd294b5 644 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 645 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 646 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 647 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 648 }
nerit 3:a469bbd294b5 649 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 650 #if defined(pcSerial)
nerit 10:9e70619e97ab 651 #if defined(SDreset)
nerit 10:9e70619e97ab 652 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 653 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 654 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 655 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 656 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 657 #endif
nerit 10:9e70619e97ab 658 #endif
nerit 10:9e70619e97ab 659 #if defined(pcSerial)
nerit 10:9e70619e97ab 660 #if defined(checkLoop)
nerit 10:9e70619e97ab 661 pc.printf("13\n");
nerit 10:9e70619e97ab 662 #endif
nerit 10:9e70619e97ab 663 #endif
nerit 3:a469bbd294b5 664 }
nerit 3:a469bbd294b5 665 //*******************************************************
nerit 8:310f9e4eac7b 666 void ciclaTB()
nerit 8:310f9e4eac7b 667 {
nerit 8:310f9e4eac7b 668 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 669 #if defined(pcSerial)
nerit 6:e8c18f0f399a 670 #if defined(checkLoop)
nerit 6:e8c18f0f399a 671 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 672 #endif
nerit 6:e8c18f0f399a 673 #endif
nerit 8:310f9e4eac7b 674 #if defined(runner)
nerit 9:7f02256f6e8f 675 #if defined(Zucca)
nerit 9:7f02256f6e8f 676 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 677 #else
nerit 9:7f02256f6e8f 678 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 679 #endif
nerit 8:310f9e4eac7b 680 #else
nerit 8:310f9e4eac7b 681 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 682 if (TBperiod != NULL) {
nerit 9:7f02256f6e8f 683 #if defined(Zucca)
nerit 9:7f02256f6e8f 684 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 685 #else
nerit 9:7f02256f6e8f 686 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 687 #endif
nerit 8:310f9e4eac7b 688 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 689 }
nerit 6:e8c18f0f399a 690 }
nerit 8:310f9e4eac7b 691 #endif
nerit 8:310f9e4eac7b 692 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 693 startCicloTB=0;
nerit 3:a469bbd294b5 694 }
nerit 8:310f9e4eac7b 695 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 696 #if defined(pcSerial)
nerit 6:e8c18f0f399a 697 #if defined(checkLoop)
nerit 6:e8c18f0f399a 698 pc.printf("14b\n");
nerit 6:e8c18f0f399a 699 #endif
nerit 6:e8c18f0f399a 700 #endif
nerit 8:310f9e4eac7b 701 #if defined(runner)
nerit 9:7f02256f6e8f 702 #if defined(Zucca)
nerit 9:7f02256f6e8f 703 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 704 #else
nerit 9:7f02256f6e8f 705 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 706 #endif
nerit 8:310f9e4eac7b 707 #else
nerit 9:7f02256f6e8f 708 #if defined(Zucca)
nerit 9:7f02256f6e8f 709 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 710 #else
nerit 9:7f02256f6e8f 711 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 712 #endif
nerit 8:310f9e4eac7b 713 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 714 #endif
nerit 3:a469bbd294b5 715 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 716 stopCicloTB=0;
nerit 3:a469bbd294b5 717 }
nerit 28:0534c86365ec 718 if ((stopCicloTB==1)&&(TBactualPosition>5)&&(TBactualPosition<50)) {
nerit 6:e8c18f0f399a 719 #if defined(pcSerial)
nerit 6:e8c18f0f399a 720 #if defined(checkLoop)
nerit 6:e8c18f0f399a 721 pc.printf("14c\n");
nerit 6:e8c18f0f399a 722 #endif
nerit 6:e8c18f0f399a 723 #endif
nerit 8:310f9e4eac7b 724 #if !defined(runner)
nerit 8:310f9e4eac7b 725 TBticker.detach();
nerit 8:310f9e4eac7b 726 #endif
nerit 6:e8c18f0f399a 727 #if defined(pcSerial)
nerit 6:e8c18f0f399a 728 #if defined(loStop)
nerit 6:e8c18f0f399a 729 pc.printf("A2\n");
nerit 6:e8c18f0f399a 730 #endif
nerit 6:e8c18f0f399a 731 #endif
nerit 3:a469bbd294b5 732 motor->soft_hiz();
nerit 3:a469bbd294b5 733 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 734 stopCicloTB=0;
nerit 3:a469bbd294b5 735 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 736 loadDaCan=0;
nerit 3:a469bbd294b5 737 }
nerit 3:a469bbd294b5 738 }
nerit 3:a469bbd294b5 739 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 740 void stepSetting()
nerit 8:310f9e4eac7b 741 {
nerit 3:a469bbd294b5 742 // Stepper driver init and set
nerit 3:a469bbd294b5 743 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 744 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 745 #if defined(pcSerial)
nerit 6:e8c18f0f399a 746 #if defined(checkLoop)
nerit 6:e8c18f0f399a 747 pc.printf("15\n");
nerit 6:e8c18f0f399a 748 #endif
nerit 6:e8c18f0f399a 749 #endif
nerit 8:310f9e4eac7b 750 TBmotorRst=1;
nerit 3:a469bbd294b5 751 }
nerit 3:a469bbd294b5 752 //****************************************
nerit 12:b0fc1d313813 753 void controllaCorrente(){
nerit 12:b0fc1d313813 754 correggiCorrente=1;
nerit 12:b0fc1d313813 755 }
nerit 12:b0fc1d313813 756 //****************************************
nerit 3:a469bbd294b5 757 void dcSetting(){
nerit 8:310f9e4eac7b 758 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 759 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 760 }
nerit 8:310f9e4eac7b 761 if (encoder==true) {
nerit 8:310f9e4eac7b 762 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 763 }
nerit 6:e8c18f0f399a 764 #if defined(pcSerial)
nerit 6:e8c18f0f399a 765 #if defined(checkLoop)
nerit 6:e8c18f0f399a 766 pc.printf("16\n");
nerit 6:e8c18f0f399a 767 #endif
nerit 6:e8c18f0f399a 768 #endif
nerit 3:a469bbd294b5 769 }
nerit 3:a469bbd294b5 770 //*******************************************************
nerit 8:310f9e4eac7b 771 void allarmi()
nerit 8:310f9e4eac7b 772 {
nerit 8:310f9e4eac7b 773 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 774 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 775 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 776
nerit 8:310f9e4eac7b 777 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 778 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 779 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 780 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 781 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 782 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 783 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 784 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 785 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 786 }
nerit 3:a469bbd294b5 787
nerit 8:310f9e4eac7b 788 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 789 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 790 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 791 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 792 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 793 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 794 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 795 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 796 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 797 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 798 }
nerit 3:a469bbd294b5 799
nerit 10:9e70619e97ab 800 #if defined(pcSerial)
nerit 10:9e70619e97ab 801 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 802 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 803 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 804 }
nerit 10:9e70619e97ab 805 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 806 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 807 }
nerit 10:9e70619e97ab 808 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 809 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 810 }
nerit 10:9e70619e97ab 811 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 812 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 813 }
nerit 10:9e70619e97ab 814 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 815 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 816 }
nerit 10:9e70619e97ab 817 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 818 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 819 }
nerit 10:9e70619e97ab 820 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 821 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 822 }
nerit 10:9e70619e97ab 823 if (all_speedError==1) {
nerit 10:9e70619e97ab 824 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 825 }
nerit 10:9e70619e97ab 826 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 827 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 828 }
nerit 10:9e70619e97ab 829 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 830 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 831 }
nerit 10:9e70619e97ab 832 if (all_genericals==1) {
nerit 10:9e70619e97ab 833 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 834 }
nerit 10:9e70619e97ab 835 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 836 #endif
nerit 10:9e70619e97ab 837 #endif
nerit 8:310f9e4eac7b 838 all_semiFiniti=0;
nerit 8:310f9e4eac7b 839 all_pickSignal=0;
nerit 8:310f9e4eac7b 840 all_cellSignal=0;
nerit 8:310f9e4eac7b 841 all_lowBattery=0;
nerit 8:310f9e4eac7b 842 all_overCurrDC=0;
nerit 8:310f9e4eac7b 843 all_stopSistem=0;
nerit 8:310f9e4eac7b 844 all_upElements=0;
nerit 8:310f9e4eac7b 845 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 846 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 847 all_noDcRotati=0;
nerit 8:310f9e4eac7b 848 all_noStepRota=0;
nerit 8:310f9e4eac7b 849 all_speedError=0;
nerit 8:310f9e4eac7b 850 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 851 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 852 all_genericals=0;
nerit 10:9e70619e97ab 853 #if defined(pcSerial)
nerit 10:9e70619e97ab 854 #if defined(checkLoop)
nerit 10:9e70619e97ab 855 pc.printf("17\n");
nerit 10:9e70619e97ab 856 #endif
nerit 10:9e70619e97ab 857 #endif
nerit 3:a469bbd294b5 858 }
nerit 3:a469bbd294b5 859 //*******************************************************
nerit 3:a469bbd294b5 860 #if defined(speedMaster)
nerit 3:a469bbd294b5 861 void upDateSincro(){
nerit 8:310f9e4eac7b 862 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 863 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 864 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 865 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 866 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 867 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 868 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 869 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 870 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 871 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 872 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 873 #if defined(canbusActive)
nerit 3:a469bbd294b5 874 #if defined(speedMaster)
nerit 8:310f9e4eac7b 875 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 876 checkState=0;
nerit 3:a469bbd294b5 877 }
nerit 3:a469bbd294b5 878 #endif
nerit 3:a469bbd294b5 879 #endif
nerit 6:e8c18f0f399a 880 #if defined(pcSerial)
nerit 6:e8c18f0f399a 881 #if defined(checkLoop)
nerit 6:e8c18f0f399a 882 pc.printf("18\n");
nerit 6:e8c18f0f399a 883 #endif
nerit 6:e8c18f0f399a 884 #endif
nerit 3:a469bbd294b5 885 }
nerit 3:a469bbd294b5 886 #endif
nerit 3:a469bbd294b5 887 //*******************************************************
nerit 8:310f9e4eac7b 888 void upDateSpeed()
nerit 8:310f9e4eac7b 889 {
nerit 3:a469bbd294b5 890 /*
nerit 3:a469bbd294b5 891 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 892 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 893 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 894 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 895 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 896 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 897 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 898 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 899 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 900 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 901 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 902 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 903 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 904 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 905 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 906 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 907 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 908 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 909 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 910 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 911 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 912 bit 1= sensore celle
nerit 3:a469bbd294b5 913 bit 2= sensore posizione
nerit 3:a469bbd294b5 914 bit 3= sensore becchi
nerit 3:a469bbd294b5 915 bit 4= motore DC
nerit 3:a469bbd294b5 916 bit 5= controller
nerit 3:a469bbd294b5 917 bit 6= motore stepper
nerit 3:a469bbd294b5 918 */
nerit 8:310f9e4eac7b 919 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 920
nerit 8:310f9e4eac7b 921 val1[3]=0;
nerit 8:310f9e4eac7b 922 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 923 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 924 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 925 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 926 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 927 if (buttonUser==0) {
nerit 10:9e70619e97ab 928 val1[1]=0x02;
nerit 10:9e70619e97ab 929 } else {
nerit 10:9e70619e97ab 930 val1[1]=0x00;
nerit 10:9e70619e97ab 931 }
nerit 10:9e70619e97ab 932 val1[3]=valore;
nerit 10:9e70619e97ab 933 valore+=1;
nerit 10:9e70619e97ab 934 if(valore>50) {
nerit 10:9e70619e97ab 935 valore=0;
nerit 10:9e70619e97ab 936 }
nerit 10:9e70619e97ab 937 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 938 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 939 #endif
nerit 3:a469bbd294b5 940 allarmi();
nerit 3:a469bbd294b5 941 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 942 val1[0]=valore;
nerit 3:a469bbd294b5 943 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 944 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 945 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 946 val1[4]=resetComandi;
nerit 3:a469bbd294b5 947 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 948 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 949 #if defined(canbusActive)
nerit 10:9e70619e97ab 950 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 951 checkState=0;
nerit 10:9e70619e97ab 952 }
nerit 10:9e70619e97ab 953 #endif
nerit 10:9e70619e97ab 954 #if defined(pcSerial)
nerit 10:9e70619e97ab 955 #if defined(checkLoop)
nerit 10:9e70619e97ab 956 pc.printf("19\n");
nerit 10:9e70619e97ab 957 #endif
nerit 10:9e70619e97ab 958 #endif
nerit 3:a469bbd294b5 959 }
nerit 3:a469bbd294b5 960 //*******************************************************
nerit 8:310f9e4eac7b 961 void leggiCAN()
nerit 8:310f9e4eac7b 962 {
nerit 8:310f9e4eac7b 963 #if defined(canbusActive)
nerit 8:310f9e4eac7b 964 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 965 if (firstStart==1) {
nerit 8:310f9e4eac7b 966 #if defined(speedMaster)
nerit 8:310f9e4eac7b 967 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 968 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 969 #else
nerit 8:310f9e4eac7b 970 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 971 #endif
nerit 8:310f9e4eac7b 972 firstStart=0;
nerit 8:310f9e4eac7b 973 }
nerit 8:310f9e4eac7b 974 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 975 #if defined(pcSerial)
nerit 8:310f9e4eac7b 976 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 977 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 978 #endif
nerit 8:310f9e4eac7b 979 #endif
nerit 8:310f9e4eac7b 980 }
nerit 8:310f9e4eac7b 981 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 982 #if defined(pcSerial)
nerit 8:310f9e4eac7b 983 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 984 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 985 #endif
nerit 8:310f9e4eac7b 986 #endif
nerit 8:310f9e4eac7b 987 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 988 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 989 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 990 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 991 comandiDaCan = rxMsg.data[4];
nerit 20:4a400a4cc419 992 speedStepp = rxMsg.data[5];
nerit 20:4a400a4cc419 993 if (speedStepp==0){
nerit 20:4a400a4cc419 994 simStepper=0;
nerit 20:4a400a4cc419 995 }else{
nerit 20:4a400a4cc419 996 simStepper=1;
nerit 20:4a400a4cc419 997 }
nerit 8:310f9e4eac7b 998 #if defined(pcSerial)
nerit 8:310f9e4eac7b 999 #if defined(canDataReceived)
nerit 3:a469bbd294b5 1000 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 1001 #endif
nerit 8:310f9e4eac7b 1002 #endif
nerit 8:310f9e4eac7b 1003 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 1004 case 1:
nerit 8:310f9e4eac7b 1005 case 3:
nerit 8:310f9e4eac7b 1006 azzeraDaCan=1;
nerit 8:310f9e4eac7b 1007 resetComandi=0x01;
nerit 8:310f9e4eac7b 1008 comandiDaCan=0;
nerit 8:310f9e4eac7b 1009 break;
nerit 8:310f9e4eac7b 1010 case 2:
nerit 8:310f9e4eac7b 1011 loadDaCan=1;
nerit 8:310f9e4eac7b 1012 resetComandi=0x02;
nerit 8:310f9e4eac7b 1013 comandiDaCan=0;
nerit 8:310f9e4eac7b 1014 break;
nerit 8:310f9e4eac7b 1015 default:
nerit 8:310f9e4eac7b 1016 comandiDaCan=0;
nerit 8:310f9e4eac7b 1017 resetComandi=0xFF;
nerit 8:310f9e4eac7b 1018 break;
nerit 8:310f9e4eac7b 1019 }
nerit 8:310f9e4eac7b 1020 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1021 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 1022 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 1023 #endif
nerit 8:310f9e4eac7b 1024 #endif
nerit 8:310f9e4eac7b 1025 if (speedSimula>45) {
nerit 8:310f9e4eac7b 1026 speedSimula=45;
nerit 8:310f9e4eac7b 1027 }
nerit 8:310f9e4eac7b 1028 // modulo 1
nerit 8:310f9e4eac7b 1029 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 1030 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 1031 simOk=1;
nerit 8:310f9e4eac7b 1032 } else {
nerit 8:310f9e4eac7b 1033 simOk=0;
nerit 3:a469bbd294b5 1034 }
nerit 8:310f9e4eac7b 1035 }
nerit 8:310f9e4eac7b 1036 // modulo 2
nerit 8:310f9e4eac7b 1037 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1038 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1039 simOk=1;
nerit 8:310f9e4eac7b 1040 } else {
nerit 8:310f9e4eac7b 1041 simOk=0;
nerit 3:a469bbd294b5 1042 }
nerit 8:310f9e4eac7b 1043 }
nerit 8:310f9e4eac7b 1044 // modulo 3
nerit 8:310f9e4eac7b 1045 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1046 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1047 simOk=1;
nerit 8:310f9e4eac7b 1048 } else {
nerit 8:310f9e4eac7b 1049 simOk=0;
nerit 3:a469bbd294b5 1050 }
nerit 8:310f9e4eac7b 1051 }
nerit 8:310f9e4eac7b 1052 // modulo 4
nerit 8:310f9e4eac7b 1053 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1054 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1055 simOk=1;
nerit 8:310f9e4eac7b 1056 } else {
nerit 8:310f9e4eac7b 1057 simOk=0;
nerit 3:a469bbd294b5 1058 }
nerit 8:310f9e4eac7b 1059 }
nerit 8:310f9e4eac7b 1060 // modulo 5
nerit 8:310f9e4eac7b 1061 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1062 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1063 simOk=1;
nerit 8:310f9e4eac7b 1064 } else {
nerit 8:310f9e4eac7b 1065 simOk=0;
nerit 3:a469bbd294b5 1066 }
nerit 3:a469bbd294b5 1067 }
nerit 8:310f9e4eac7b 1068
nerit 8:310f9e4eac7b 1069 }
nerit 14:e2b5efa06c41 1070 //if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1071 if (rxMsg.id==RX_Settings) {
nerit 14:e2b5efa06c41 1072 //if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1073 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1074 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 17:9629eb019892 1075 deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1076 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1077 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 1078 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 1079 aggiornaParametri();
nerit 14:e2b5efa06c41 1080 //}
nerit 3:a469bbd294b5 1081 }
nerit 14:e2b5efa06c41 1082 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1083 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1084 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1085 #if defined(M1)
nerit 3:a469bbd294b5 1086 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1087 aggiornaParametri();
nerit 3:a469bbd294b5 1088 #endif
nerit 3:a469bbd294b5 1089 #if defined(M2)
nerit 3:a469bbd294b5 1090 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1091 aggiornaParametri();
nerit 3:a469bbd294b5 1092 #endif
nerit 3:a469bbd294b5 1093 #if defined(M3)
nerit 3:a469bbd294b5 1094 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1095 aggiornaParametri();
nerit 3:a469bbd294b5 1096 #endif
nerit 3:a469bbd294b5 1097 #if defined(M4)
nerit 3:a469bbd294b5 1098 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1099 aggiornaParametri();
nerit 3:a469bbd294b5 1100 #endif
nerit 3:a469bbd294b5 1101 #if defined(M5)
nerit 3:a469bbd294b5 1102 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1103 aggiornaParametri();
nerit 3:a469bbd294b5 1104 #endif
nerit 3:a469bbd294b5 1105 #if defined(M6)
nerit 3:a469bbd294b5 1106 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1107 aggiornaParametri();
nerit 3:a469bbd294b5 1108 #endif
nerit 3:a469bbd294b5 1109 }
nerit 3:a469bbd294b5 1110 }
nerit 8:310f9e4eac7b 1111 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1112 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1113 #if defined(M1)
nerit 3:a469bbd294b5 1114 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1115 aggiornaParametri();
nerit 3:a469bbd294b5 1116 #endif
nerit 3:a469bbd294b5 1117 #if defined(M2)
nerit 3:a469bbd294b5 1118 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1119 aggiornaParametri();
nerit 3:a469bbd294b5 1120 #endif
nerit 3:a469bbd294b5 1121 #if defined(M3)
nerit 3:a469bbd294b5 1122 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1123 aggiornaParametri();
nerit 3:a469bbd294b5 1124 #endif
nerit 3:a469bbd294b5 1125 #if defined(M4)
nerit 3:a469bbd294b5 1126 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1127 aggiornaParametri();
nerit 3:a469bbd294b5 1128 #endif
nerit 3:a469bbd294b5 1129 #if defined(M5)
nerit 3:a469bbd294b5 1130 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1131 aggiornaParametri();
nerit 3:a469bbd294b5 1132 #endif
nerit 3:a469bbd294b5 1133 #if defined(M6)
nerit 3:a469bbd294b5 1134 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1135 aggiornaParametri();
nerit 3:a469bbd294b5 1136 #endif
nerit 3:a469bbd294b5 1137 }
nerit 3:a469bbd294b5 1138 }
nerit 8:310f9e4eac7b 1139 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1140 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1141 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1142 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1143 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1144 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1145 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1146 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1147 aggiornaParametri();
nerit 3:a469bbd294b5 1148 }
nerit 3:a469bbd294b5 1149 }
nerit 8:310f9e4eac7b 1150 }
nerit 8:310f9e4eac7b 1151 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1152 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1153 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1154 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1155 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1156 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1157 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1158 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1159 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1160 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1161 canDataCheck=1;
nerit 3:a469bbd294b5 1162 }
nerit 8:310f9e4eac7b 1163 }
nerit 8:310f9e4eac7b 1164 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1165 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1166 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1167 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1168 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1169 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1170 //stepSetting();
nerit 3:a469bbd294b5 1171 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1172 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1173 if (encoder==false) {
nerit 3:a469bbd294b5 1174 encoder=true;
nerit 22:2136dcad1dbc 1175 speedFromPick=0;
nerit 3:a469bbd294b5 1176 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1177 dcSetting();
nerit 3:a469bbd294b5 1178 }
nerit 8:310f9e4eac7b 1179 } else {
nerit 8:310f9e4eac7b 1180 if (encoder==true) {
nerit 3:a469bbd294b5 1181 encoder=false;
nerit 22:2136dcad1dbc 1182 speedFromPick=1;
nerit 3:a469bbd294b5 1183 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1184 dcSetting();
nerit 3:a469bbd294b5 1185 }
nerit 3:a469bbd294b5 1186 }
nerit 8:310f9e4eac7b 1187 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1188 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1189 } else {
nerit 3:a469bbd294b5 1190 tankLevelEnable=false;
nerit 3:a469bbd294b5 1191 }
nerit 8:310f9e4eac7b 1192 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1193 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1194 } else {
nerit 3:a469bbd294b5 1195 seedSensorEnable=false;
nerit 3:a469bbd294b5 1196 }
nerit 8:310f9e4eac7b 1197 if ((flags&0x08)==0x08) {
nerit 24:2b5e749e26b2 1198 drumSelect=true; // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO
nerit 8:310f9e4eac7b 1199 } else {
nerit 29:25a875d09817 1200 drumSelect=false; // forzato a true per Germania
nerit 3:a469bbd294b5 1201 }
nerit 8:310f9e4eac7b 1202 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1203 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1204 } else {
nerit 3:a469bbd294b5 1205 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1206 }
nerit 8:310f9e4eac7b 1207 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1208 tamburoStandard=1;
nerit 8:310f9e4eac7b 1209 } else {
nerit 3:a469bbd294b5 1210 tamburoStandard=0;
nerit 3:a469bbd294b5 1211 }
nerit 8:310f9e4eac7b 1212 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1213 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1214 } else {
nerit 3:a469bbd294b5 1215 currentCheckEnable=false;
nerit 3:a469bbd294b5 1216 }
nerit 3:a469bbd294b5 1217 }
nerit 8:310f9e4eac7b 1218 }
nerit 8:310f9e4eac7b 1219 }
nerit 10:9e70619e97ab 1220 #endif
nerit 10:9e70619e97ab 1221 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1222 enableSimula=1;
nerit 10:9e70619e97ab 1223 speedSimula=25;
nerit 10:9e70619e97ab 1224 avviaSimula=1;
nerit 10:9e70619e97ab 1225 simOk=1;
nerit 10:9e70619e97ab 1226 #endif
nerit 10:9e70619e97ab 1227 #if defined(pcSerial)
nerit 10:9e70619e97ab 1228 #if defined(checkLoop)
nerit 10:9e70619e97ab 1229 pc.printf("20\n");
nerit 10:9e70619e97ab 1230 #endif
nerit 10:9e70619e97ab 1231 #endif
bcostm 0:5701b41769fd 1232 }
bcostm 0:5701b41769fd 1233
nerit 3:a469bbd294b5 1234 //*******************************************************
nerit 8:310f9e4eac7b 1235 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1236 {
nerit 8:310f9e4eac7b 1237
nerit 3:a469bbd294b5 1238 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1239 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1240
nerit 3:a469bbd294b5 1241 //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 1242 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1243 // Analog reading
nerit 3:a469bbd294b5 1244 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1245 timeout.detach();
nerit 8:310f9e4eac7b 1246 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1247 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1248 }
nerit 3:a469bbd294b5 1249 //*******************************************************
nerit 8:310f9e4eac7b 1250 void DC_prepare()
nerit 8:310f9e4eac7b 1251 {
nerit 3:a469bbd294b5 1252 // direction or brake preparation
nerit 8:310f9e4eac7b 1253 if (DC_brake==1) {
nerit 3:a469bbd294b5 1254 SDmotorInA=1;
nerit 3:a469bbd294b5 1255 SDmotorInB=1;
nerit 8:310f9e4eac7b 1256 } else {
nerit 8:310f9e4eac7b 1257 if (DC_forward==0) {
nerit 3:a469bbd294b5 1258 SDmotorInA=1;
nerit 3:a469bbd294b5 1259 SDmotorInB=0;
nerit 8:310f9e4eac7b 1260 } else {
nerit 3:a469bbd294b5 1261 SDmotorInA=0;
nerit 3:a469bbd294b5 1262 SDmotorInB=1;
nerit 3:a469bbd294b5 1263 }
nerit 3:a469bbd294b5 1264 }
nerit 3:a469bbd294b5 1265 // fault reading
nerit 8:310f9e4eac7b 1266 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1267 SD_faultA=1;
nerit 8:310f9e4eac7b 1268 } else {
nerit 8:310f9e4eac7b 1269 SD_faultA=0;
nerit 8:310f9e4eac7b 1270 }
nerit 8:310f9e4eac7b 1271 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1272 SD_faultB=1;
nerit 8:310f9e4eac7b 1273 } else {
nerit 8:310f9e4eac7b 1274 SD_faultB=0;
nerit 8:310f9e4eac7b 1275 }
nerit 10:9e70619e97ab 1276 #if defined(pcSerial)
nerit 10:9e70619e97ab 1277 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1278 pc.printf("22\n");
nerit 10:9e70619e97ab 1279 #endif
nerit 10:9e70619e97ab 1280 #endif
nerit 3:a469bbd294b5 1281 }
nerit 3:a469bbd294b5 1282 //*******************************************************
nerit 12:b0fc1d313813 1283 void startDelay(){
nerit 12:b0fc1d313813 1284 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1285 int ritardo =0;
nerit 12:b0fc1d313813 1286 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1287 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1288 }
nerit 3:a469bbd294b5 1289 //*******************************************************
nerit 10:9e70619e97ab 1290 void quincTrigon(){
nerit 3:a469bbd294b5 1291 quincClock=true;
nerit 10:9e70619e97ab 1292 #if defined(pcSerial)
nerit 10:9e70619e97ab 1293 #if defined(checkLoop)
nerit 10:9e70619e97ab 1294 pc.printf("24\n");
nerit 10:9e70619e97ab 1295 #endif
nerit 10:9e70619e97ab 1296 #endif
nerit 3:a469bbd294b5 1297 }
nerit 10:9e70619e97ab 1298 void quincTrigof(){
nerit 3:a469bbd294b5 1299 quincClock=false;
nerit 10:9e70619e97ab 1300 #if defined(pcSerial)
nerit 10:9e70619e97ab 1301 #if defined(checkLoop)
nerit 10:9e70619e97ab 1302 pc.printf("25\n");
nerit 10:9e70619e97ab 1303 #endif
nerit 10:9e70619e97ab 1304 #endif
nerit 3:a469bbd294b5 1305 }
nerit 3:a469bbd294b5 1306 //*******************************************************
nerit 8:310f9e4eac7b 1307 void quinCalc()
nerit 8:310f9e4eac7b 1308 {
nerit 3:a469bbd294b5 1309 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1310 #if !defined(mezzo)
nerit 10:9e70619e97ab 1311 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1312 oldQuincIn=1;
nerit 10:9e70619e97ab 1313 if (quincStart==0) {
nerit 10:9e70619e97ab 1314 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1315 quincTime.reset();
nerit 10:9e70619e97ab 1316 quincTimeSD.reset();
nerit 10:9e70619e97ab 1317 quincStart=1;
nerit 10:9e70619e97ab 1318 }
nerit 3:a469bbd294b5 1319 }
nerit 10:9e70619e97ab 1320 if(quincClock==false) {
nerit 3:a469bbd294b5 1321 oldQuincIn=0;
nerit 3:a469bbd294b5 1322 }
nerit 10:9e70619e97ab 1323 #else
nerit 10:9e70619e97ab 1324 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1325 oldQuincIn=1;
nerit 10:9e70619e97ab 1326 if (quincStart==0) {
nerit 10:9e70619e97ab 1327 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1328 quincTime.reset();
nerit 10:9e70619e97ab 1329 quincStart=1;
nerit 10:9e70619e97ab 1330 }
nerit 3:a469bbd294b5 1331 }
nerit 10:9e70619e97ab 1332 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1333 if (quincClock==false) {
nerit 10:9e70619e97ab 1334 oldQuincIn=0;
nerit 10:9e70619e97ab 1335 }
nerit 10:9e70619e97ab 1336 } else {
nerit 10:9e70619e97ab 1337 if (quincClock==true) {
nerit 10:9e70619e97ab 1338 oldQuincIn=0;
nerit 10:9e70619e97ab 1339 }
nerit 10:9e70619e97ab 1340 }
nerit 10:9e70619e97ab 1341 #endif
nerit 3:a469bbd294b5 1342 //****************************************************************************************
nerit 8:310f9e4eac7b 1343 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1344 if (countPicks==0) {
nerit 8:310f9e4eac7b 1345 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1346 // decelera
nerit 3:a469bbd294b5 1347 countPicks=1;
nerit 3:a469bbd294b5 1348 }
nerit 8:310f9e4eac7b 1349 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1350 // accelera
nerit 3:a469bbd294b5 1351 countPicks=2;
nerit 3:a469bbd294b5 1352 }
nerit 3:a469bbd294b5 1353 }
nerit 8:310f9e4eac7b 1354 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1355 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1356 scostamento = oldQuincTimeSD;
nerit 17:9629eb019892 1357 if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit 3:a469bbd294b5 1358 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1359 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1360 #if defined(pcSerial)
nerit 3:a469bbd294b5 1361 #if defined(laq)
nerit 3:a469bbd294b5 1362 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1363 #endif
nerit 3:a469bbd294b5 1364 #endif
nerit 3:a469bbd294b5 1365 }
nerit 3:a469bbd294b5 1366 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1367 }
nerit 8:310f9e4eac7b 1368 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1369 scostamento = (double)quincTime.read_ms();
nerit 17:9629eb019892 1370 if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit 3:a469bbd294b5 1371 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1372 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1373 #if defined(pcSerial)
nerit 3:a469bbd294b5 1374 #if defined(laq)
nerit 8:310f9e4eac7b 1375 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1376 #endif
nerit 3:a469bbd294b5 1377 #endif
nerit 3:a469bbd294b5 1378 }
nerit 3:a469bbd294b5 1379 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1380 }
nerit 3:a469bbd294b5 1381 sincroQui=0;
nerit 3:a469bbd294b5 1382 quincStart=0;
nerit 3:a469bbd294b5 1383 countPicks=0;
nerit 5:2a3a64b52f54 1384 // questo e il primo
nerit 3:a469bbd294b5 1385 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1386 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1387 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1388 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1389 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1390 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1391 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1392 }
nerit 13:d1030d4e51a8 1393 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1394 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1395 }*/
nerit 3:a469bbd294b5 1396 }
nerit 8:310f9e4eac7b 1397 }
nerit 3:a469bbd294b5 1398 }
nerit 3:a469bbd294b5 1399 #endif
nerit 3:a469bbd294b5 1400 }
nerit 8:310f9e4eac7b 1401
nerit 3:a469bbd294b5 1402 //*******************************************************************
nerit 8:310f9e4eac7b 1403 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1404 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1405 canDataCheck=0;
nerit 17:9629eb019892 1406 double parametro = SDsectorStep/(double)quincSector;
nerit 3:a469bbd294b5 1407 double differenza=0.0f;
nerit 3:a469bbd294b5 1408 #if defined(mezzo)
nerit 8:310f9e4eac7b 1409 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1410 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1411 } else {
nerit 3:a469bbd294b5 1412 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1413 }
nerit 3:a469bbd294b5 1414 #else
nerit 3:a469bbd294b5 1415 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1416 #endif
nerit 17:9629eb019892 1417 if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit 8:310f9e4eac7b 1418 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1419 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1420 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1421 }
nerit 8:310f9e4eac7b 1422 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1423 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1424 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1425 }
nerit 5:2a3a64b52f54 1426 // questo e il secondo
nerit 3:a469bbd294b5 1427 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1428 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1429 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1430 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1431 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1432 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1433 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1434 }
nerit 13:d1030d4e51a8 1435 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1436 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1437 }*/
nerit 3:a469bbd294b5 1438 }
nerit 5:2a3a64b52f54 1439 }
nerit 3:a469bbd294b5 1440 }
nerit 3:a469bbd294b5 1441 #endif
nerit 3:a469bbd294b5 1442 }
nerit 3:a469bbd294b5 1443 }
nerit 8:310f9e4eac7b 1444
nerit 3:a469bbd294b5 1445 }
nerit 8:310f9e4eac7b 1446 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1447 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1448 }
nerit 8:310f9e4eac7b 1449 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1450 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1451 }
nerit 6:e8c18f0f399a 1452 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1453 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1454 pc.printf("26\n");
nerit 6:e8c18f0f399a 1455 #endif
nerit 6:e8c18f0f399a 1456 #endif
bcostm 0:5701b41769fd 1457 }
nerit 8:310f9e4eac7b 1458 // ----------------------------------------
nerit 3:a469bbd294b5 1459 #if defined(seedSensor)
nerit 3:a469bbd294b5 1460 void resetDelay(){
nerit 3:a469bbd294b5 1461 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1462 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1463 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1464 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1465 pc.printf("27\n");
nerit 8:310f9e4eac7b 1466 #endif
nerit 6:e8c18f0f399a 1467 #endif
nerit 3:a469bbd294b5 1468 }
nerit 3:a469bbd294b5 1469 #endif
nerit 18:7c978f69cc51 1470 // ----------------------------------------
nerit 17:9629eb019892 1471 void aggiornati(){
nerit 17:9629eb019892 1472 #if defined(runner)
nerit 17:9629eb019892 1473 legPos.detach();
nerit 17:9629eb019892 1474 TBoldPosition= (uint32_t) motor->get_position();
nerit 17:9629eb019892 1475 legPos.attach(&step_Reading,0.002f);
nerit 17:9629eb019892 1476 #if defined(pcSerial)
nerit 17:9629eb019892 1477 #if defined(TBperS)
nerit 17:9629eb019892 1478 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 17:9629eb019892 1479 #endif
nerit 17:9629eb019892 1480 #endif
nerit 17:9629eb019892 1481
nerit 17:9629eb019892 1482 #else
nerit 17:9629eb019892 1483 TBactualPosition=0;
nerit 17:9629eb019892 1484 #endif
nerit 17:9629eb019892 1485 }
nerit 17:9629eb019892 1486
nerit 3:a469bbd294b5 1487 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1488 // MAIN SECTION
nerit 3:a469bbd294b5 1489 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1490
nerit 3:a469bbd294b5 1491 //*******************************************************************************
nerit 8:310f9e4eac7b 1492 int main()
nerit 8:310f9e4eac7b 1493 {
nerit 6:e8c18f0f399a 1494 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1495 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1496 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1497 #endif
nerit 6:e8c18f0f399a 1498 #endif
nerit 8:310f9e4eac7b 1499
nerit 8:310f9e4eac7b 1500 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1501 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1502 #endif
nerit 8:310f9e4eac7b 1503
nerit 8:310f9e4eac7b 1504 wait(1.0f);
nerit 8:310f9e4eac7b 1505 wait(1.0f);
nerit 19:231b8931cabc 1506 wait(ritAvv);
nerit 8:310f9e4eac7b 1507
nerit 8:310f9e4eac7b 1508 //stepSetting();
nerit 8:310f9e4eac7b 1509
nerit 6:e8c18f0f399a 1510 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1511 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1512 //----- Initialization
nerit 8:310f9e4eac7b 1513 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1514 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1515 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1516 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1517 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1518
nerit 8:310f9e4eac7b 1519 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1520 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1521 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1522 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1523 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1524 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1525 }
nerit 6:e8c18f0f399a 1526
nerit 8:310f9e4eac7b 1527 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1528 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1529 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1530 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1531
nerit 8:310f9e4eac7b 1532 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1533 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1534 wait(1.0f);
nerit 8:310f9e4eac7b 1535 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1536 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1537 }
nerit 8:310f9e4eac7b 1538
nerit 3:a469bbd294b5 1539 // DC reset ad set
nerit 3:a469bbd294b5 1540 int decima = 100;
nerit 3:a469bbd294b5 1541 wait_ms(200);
nerit 3:a469bbd294b5 1542 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1543 wait_ms(2);
nerit 3:a469bbd294b5 1544 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1545 wait_ms(1);
nerit 3:a469bbd294b5 1546 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1547 wait_ms(3);
nerit 3:a469bbd294b5 1548 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1549 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1550 wait_ms(100);
nerit 3:a469bbd294b5 1551 DC_prepare();
nerit 8:310f9e4eac7b 1552
nerit 8:310f9e4eac7b 1553 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1554 intraPickTimer.start();
nerit 8:310f9e4eac7b 1555 speedTimeOut.start();
nerit 3:a469bbd294b5 1556 speedFilter.start();
nerit 3:a469bbd294b5 1557 seedFilter.start();
nerit 3:a469bbd294b5 1558 TBfilter.start();
nerit 3:a469bbd294b5 1559 sincroTimer.start();
nerit 3:a469bbd294b5 1560 rotationTimeOut.start();
nerit 3:a469bbd294b5 1561 metalTimer.start();
nerit 3:a469bbd294b5 1562 quincTime.start();
nerit 3:a469bbd294b5 1563 quincTimeSD.start();
nerit 8:310f9e4eac7b 1564 #if defined(runner)
nerit 8:310f9e4eac7b 1565 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1566 #endif
nerit 8:310f9e4eac7b 1567
nerit 3:a469bbd294b5 1568 //*******************************************************
nerit 3:a469bbd294b5 1569 // controls for check DC motor current
nerit 8:310f9e4eac7b 1570 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1571 wait_ms(500);
nerit 8:310f9e4eac7b 1572
nerit 12:b0fc1d313813 1573 dcVeri.attach(&controllaCorrente,2.0f);
nerit 13:d1030d4e51a8 1574 delaySpeedCheck.start();
nerit 12:b0fc1d313813 1575
nerit 8:310f9e4eac7b 1576 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1577 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1578 #endif
nerit 3:a469bbd294b5 1579
nerit 8:310f9e4eac7b 1580 if (inProva==0) {
nerit 3:a469bbd294b5 1581 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1582 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1583 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1584 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1585 #endif
nerit 3:a469bbd294b5 1586 #if defined(speedMaster)
nerit 3:a469bbd294b5 1587 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1588 #endif
nerit 3:a469bbd294b5 1589 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 1590 dcSetting();
nerit 3:a469bbd294b5 1591 #if defined(seedSensor)
nerit 3:a469bbd294b5 1592 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1593 #endif
nerit 8:310f9e4eac7b 1594 } else {
nerit 8:310f9e4eac7b 1595 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1596 }
nerit 8:310f9e4eac7b 1597
nerit 3:a469bbd294b5 1598 aggiornaParametri();
nerit 3:a469bbd294b5 1599
nerit 3:a469bbd294b5 1600 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1601 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1602 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1603
nerit 3:a469bbd294b5 1604 #if defined(provaStepper)
nerit 3:a469bbd294b5 1605 TBmotorRst=1;
nerit 3:a469bbd294b5 1606 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1607 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1608 #if defined(Zucca)
nerit 17:9629eb019892 1609 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1610 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1611 #else
nerit 18:7c978f69cc51 1612 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1613 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1614 #endif
nerit 3:a469bbd294b5 1615 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1616 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1617 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1618 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1619 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1620 #endif
nerit 6:e8c18f0f399a 1621 #endif
nerit 10:9e70619e97ab 1622 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 18:7c978f69cc51 1623 TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1624 #else
nerit 3:a469bbd294b5 1625 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1626 motor->set_home();
nerit 8:310f9e4eac7b 1627 motor->go_to(50);
nerit 8:310f9e4eac7b 1628 motor->wait_while_active();
nerit 8:310f9e4eac7b 1629 #if !defined(runner)
nerit 9:7f02256f6e8f 1630 #if defined(Zucca)
nerit 9:7f02256f6e8f 1631 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1632 #else
nerit 9:7f02256f6e8f 1633 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1634 #endif
nerit 8:310f9e4eac7b 1635 #endif
nerit 6:e8c18f0f399a 1636 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1637 #if defined(loStop)
nerit 6:e8c18f0f399a 1638 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1639 #endif
nerit 6:e8c18f0f399a 1640 #endif
nerit 6:e8c18f0f399a 1641 motor->soft_hiz();
nerit 3:a469bbd294b5 1642 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1643 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1644 #endif // end prova stepper
nerit 8:310f9e4eac7b 1645
nerit 8:310f9e4eac7b 1646 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1647
nerit 8:310f9e4eac7b 1648
nerit 3:a469bbd294b5 1649 //**************************************************************************************************************
nerit 3:a469bbd294b5 1650 // MAIN LOOP
nerit 3:a469bbd294b5 1651 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1652 while (true) {
nerit 6:e8c18f0f399a 1653 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1654 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1655 speedClock=0;
nerit 8:310f9e4eac7b 1656 }
nerit 8:310f9e4eac7b 1657
nerit 3:a469bbd294b5 1658 // inversione segnali ingressi
nerit 3:a469bbd294b5 1659 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1660 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1661 #else
nerit 8:310f9e4eac7b 1662 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1663 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1664 }
nerit 8:310f9e4eac7b 1665 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1666 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1667 }
nerit 8:310f9e4eac7b 1668 #endif
nerit 25:4461bc76aaab 1669 if (drumSelect==true){
nerit 25:4461bc76aaab 1670 TBzeroPinInput = TBzeroPinInputRev;
nerit 25:4461bc76aaab 1671 }else{
nerit 25:4461bc76aaab 1672 TBzeroPinInput = !TBzeroPinInputRev;
nerit 25:4461bc76aaab 1673 }
nerit 3:a469bbd294b5 1674 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1675 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1676 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1677 quinconceOut=0;
nerit 3:a469bbd294b5 1678 }
nerit 8:310f9e4eac7b 1679 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1680 quinconceOut=1;
nerit 3:a469bbd294b5 1681 }
nerit 8:310f9e4eac7b 1682 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1683 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1684 posForQuinc=500;
nerit 3:a469bbd294b5 1685 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1686 }
nerit 8:310f9e4eac7b 1687 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1688 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1689 }
nerit 8:310f9e4eac7b 1690 }
nerit 3:a469bbd294b5 1691 #endif
nerit 3:a469bbd294b5 1692
nerit 3:a469bbd294b5 1693 // simulazione velocita
nerit 8:310f9e4eac7b 1694 if (enableSimula==1) {
nerit 3:a469bbd294b5 1695 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1696 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1697 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1698 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1699 } else {
nerit 3:a469bbd294b5 1700 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1701 }
nerit 8:310f9e4eac7b 1702 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1703 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1704 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1705 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1706 }
nerit 8:310f9e4eac7b 1707 } else {
nerit 3:a469bbd294b5 1708 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1709 spedSimclock.detach();
nerit 3:a469bbd294b5 1710 }
nerit 8:310f9e4eac7b 1711 } else {
nerit 3:a469bbd294b5 1712 spedSimclock.detach();
nerit 3:a469bbd294b5 1713 }
nerit 8:310f9e4eac7b 1714
nerit 3:a469bbd294b5 1715 //*******************************************************
nerit 3:a469bbd294b5 1716 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1717 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1718 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1719 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1720 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1721 }
nerit 3:a469bbd294b5 1722 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1723 } else {
nerit 8:310f9e4eac7b 1724 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1725 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1726 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1727 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1728 }
nerit 3:a469bbd294b5 1729 }
nerit 3:a469bbd294b5 1730
nerit 8:310f9e4eac7b 1731 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1732 lowSpeed=1;
nerit 8:310f9e4eac7b 1733 } else {
nerit 3:a469bbd294b5 1734 lowSpeed=0;
nerit 3:a469bbd294b5 1735 }
bcostm 2:35f13b7f3659 1736
nerit 3:a469bbd294b5 1737 //**************************************************************************************************************
nerit 3:a469bbd294b5 1738 //**************************************************************************************************************
nerit 3:a469bbd294b5 1739 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1740 //**************************************************************************************************************
nerit 3:a469bbd294b5 1741 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1742
nerit 8:310f9e4eac7b 1743 if (inProva==0) {
nerit 20:4a400a4cc419 1744 // simulazione stepper
nerit 23:ccd253b36733 1745 if (simOk==1){
nerit 23:ccd253b36733 1746 if (simStepper==1){
nerit 23:ccd253b36733 1747 oldSimStepper=true;
nerit 23:ccd253b36733 1748 simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit 23:ccd253b36733 1749 if (oldSimStepSpeed!=simStepSpeed){
nerit 23:ccd253b36733 1750 motor->run(StepperMotor::FWD,simStepSpeed);
nerit 23:ccd253b36733 1751 oldSimStepSpeed=simStepSpeed;
nerit 23:ccd253b36733 1752 }
nerit 23:ccd253b36733 1753 }else{
nerit 23:ccd253b36733 1754 if (oldSimStepper==true){
nerit 23:ccd253b36733 1755 oldSimStepper=false;
nerit 23:ccd253b36733 1756 motor->soft_hiz();
nerit 23:ccd253b36733 1757 oldSimStepSpeed=0.0f;
nerit 23:ccd253b36733 1758 }
nerit 23:ccd253b36733 1759 }
nerit 20:4a400a4cc419 1760 }else{
nerit 20:4a400a4cc419 1761 if (oldSimStepper==true){
nerit 20:4a400a4cc419 1762 oldSimStepper=false;
nerit 20:4a400a4cc419 1763 motor->soft_hiz();
nerit 20:4a400a4cc419 1764 oldSimStepSpeed=0.0f;
nerit 20:4a400a4cc419 1765 }
nerit 20:4a400a4cc419 1766 }
nerit 8:310f9e4eac7b 1767 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1768 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1769 } else {
nerit 6:e8c18f0f399a 1770 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1771 }
nerit 8:310f9e4eac7b 1772 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1773 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1774 }
nerit 3:a469bbd294b5 1775 // ----------------------------------------
nerit 3:a469bbd294b5 1776 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1777 // ----------------------------------------
nerit 8:310f9e4eac7b 1778 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1779 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1780 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1781 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1782 }
nerit 3:a469bbd294b5 1783 }
nerit 8:310f9e4eac7b 1784 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1785 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1786 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1787 intraPickTimer.reset();
nerit 3:a469bbd294b5 1788 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1789 seedFilter.reset();
nerit 3:a469bbd294b5 1790 sincroTimer.reset();
nerit 3:a469bbd294b5 1791 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1792 quincTime.reset();
nerit 3:a469bbd294b5 1793 quincTimeSD.reset();
nerit 3:a469bbd294b5 1794 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1795 sincroQui=1;
nerit 3:a469bbd294b5 1796 SDwheelTimer.reset();
nerit 13:d1030d4e51a8 1797 dcEncoderCnt=0;
nerit 3:a469bbd294b5 1798 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1799 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1800 posForQuinc=500;
nerit 3:a469bbd294b5 1801 }
nerit 17:9629eb019892 1802 if (checkSDrotation==0) {
nerit 17:9629eb019892 1803 checkSDrotation=1;
nerit 17:9629eb019892 1804 SDwheelTimer.start();
nerit 17:9629eb019892 1805 }
nerit 3:a469bbd294b5 1806 #endif
nerit 8:310f9e4eac7b 1807 if (quincCnt<10) {
nerit 3:a469bbd294b5 1808 quincCnt++;
nerit 3:a469bbd294b5 1809 }
nerit 8:310f9e4eac7b 1810 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1811 beccoPronto=1;
nerit 3:a469bbd294b5 1812 }
nerit 3:a469bbd294b5 1813 lockStart=0;
nerit 3:a469bbd294b5 1814 double fase1=0.0f;
nerit 3:a469bbd294b5 1815 forzaFase=0;
nerit 3:a469bbd294b5 1816 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1817 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1818 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1819 } else {
nerit 8:310f9e4eac7b 1820 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1821 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1822 } else {
nerit 3:a469bbd294b5 1823 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1824 }
nerit 8:310f9e4eac7b 1825 if (fase1 > limite) {
nerit 3:a469bbd294b5 1826 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 1827 }
nerit 8:310f9e4eac7b 1828 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1829 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1830 forzaFase=1;
nerit 3:a469bbd294b5 1831 }
nerit 3:a469bbd294b5 1832 trigRepos=1;
nerit 3:a469bbd294b5 1833 }
nerit 3:a469bbd294b5 1834 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1835 #if defined(pcSerial)
nerit 3:a469bbd294b5 1836 #if defined(inCorre)
nerit 3:a469bbd294b5 1837 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1838 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1839 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1840 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1841 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1842 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1843 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1844 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1845 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1846 #endif
nerit 3:a469bbd294b5 1847 #endif
nerit 19:231b8931cabc 1848 if (tractorSpeed_MtS_timed>0.2f){
nerit 17:9629eb019892 1849 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 17:9629eb019892 1850 if ((aspettaStart==0)) {
nerit 17:9629eb019892 1851 if (firstStart==0) {
nerit 17:9629eb019892 1852 all_pickSignal=1;
nerit 17:9629eb019892 1853 }
nerit 3:a469bbd294b5 1854 }
nerit 3:a469bbd294b5 1855 }
nerit 3:a469bbd294b5 1856 }
nerit 3:a469bbd294b5 1857 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1858 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1859 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1860 #if defined(pcSerial)
nerit 10:9e70619e97ab 1861 #if defined(Qnca)
nerit 10:9e70619e97ab 1862 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1863 #endif
nerit 3:a469bbd294b5 1864 #endif
nerit 3:a469bbd294b5 1865 }
nerit 8:310f9e4eac7b 1866 if (encoder==false) {
nerit 3:a469bbd294b5 1867 pulseRised2=1;
nerit 3:a469bbd294b5 1868 }
nerit 3:a469bbd294b5 1869 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1870 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1871 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1872 cntSpeedError++;
nerit 18:7c978f69cc51 1873 if (cntSpeedError >= 5){
nerit 10:9e70619e97ab 1874 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1875 }
nerit 3:a469bbd294b5 1876 }
nerit 3:a469bbd294b5 1877 }
nerit 17:9629eb019892 1878 if (tractorSpeed_MtS_timed>0.2f){
nerit 18:7c978f69cc51 1879 double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit 17:9629eb019892 1880 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 17:9629eb019892 1881 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 17:9629eb019892 1882 all_speedError =1;
nerit 17:9629eb019892 1883 }
nerit 3:a469bbd294b5 1884 }
nerit 3:a469bbd294b5 1885 }
nerit 3:a469bbd294b5 1886 #endif
nerit 3:a469bbd294b5 1887 //*******************************************
nerit 3:a469bbd294b5 1888 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1889 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1890 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1891 #if defined(pcSerial)
nerit 10:9e70619e97ab 1892 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1893 pc.printf("forza\n");
nerit 10:9e70619e97ab 1894 #endif
nerit 8:310f9e4eac7b 1895 #endif
nerit 6:e8c18f0f399a 1896 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1897 }
nerit 8:310f9e4eac7b 1898 aggioVelocita();
nerit 3:a469bbd294b5 1899 }
nerit 3:a469bbd294b5 1900 // ----------------------------------------
nerit 8:310f9e4eac7b 1901 // check SD fase
nerit 8:310f9e4eac7b 1902 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1903 forzaFase=0;
nerit 8:310f9e4eac7b 1904 if (trigRepos==1) {
nerit 3:a469bbd294b5 1905 SDactualPosition=0;
nerit 8:310f9e4eac7b 1906 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1907 countCicli++;
nerit 6:e8c18f0f399a 1908 trigCicli=1;
nerit 6:e8c18f0f399a 1909 }
nerit 8:310f9e4eac7b 1910 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1911 aspettaStart=0;
nerit 6:e8c18f0f399a 1912 }
nerit 8:310f9e4eac7b 1913 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1914 syncroCheck=1;
nerit 6:e8c18f0f399a 1915 beccoPronto=0;
nerit 6:e8c18f0f399a 1916 }
nerit 8:310f9e4eac7b 1917 if (trigTB==0) {
nerit 3:a469bbd294b5 1918 inhibit=1;
nerit 3:a469bbd294b5 1919 trigSD=1;
nerit 8:310f9e4eac7b 1920 } else {
nerit 3:a469bbd294b5 1921 inhibit=0;
nerit 3:a469bbd294b5 1922 trigTB=0;
nerit 3:a469bbd294b5 1923 trigSD=0;
nerit 3:a469bbd294b5 1924 }
nerit 3:a469bbd294b5 1925 trigRepos=0;
nerit 3:a469bbd294b5 1926 }
nerit 8:310f9e4eac7b 1927 } else {
nerit 3:a469bbd294b5 1928 trigCicli=0;
nerit 3:a469bbd294b5 1929 }
nerit 8:310f9e4eac7b 1930 // ----------------------------------------
nerit 3:a469bbd294b5 1931 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1932 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1933 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1934 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1935 }
nerit 8:310f9e4eac7b 1936 }
nerit 20:4a400a4cc419 1937 if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit 3:a469bbd294b5 1938 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1939 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1940 stopCicloTB=1;
nerit 3:a469bbd294b5 1941 startCicloTB=0;
nerit 3:a469bbd294b5 1942 }
nerit 3:a469bbd294b5 1943 TBfilter.reset();
nerit 3:a469bbd294b5 1944 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1945 #if defined(runner)
nerit 8:310f9e4eac7b 1946 legPos.detach();
nerit 8:310f9e4eac7b 1947 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1948 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1949 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1950 #if defined(TBperS)
nerit 8:310f9e4eac7b 1951 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1952 #endif
nerit 8:310f9e4eac7b 1953 #endif
nerit 8:310f9e4eac7b 1954
nerit 8:310f9e4eac7b 1955 #else
nerit 8:310f9e4eac7b 1956 TBactualPosition=0;
nerit 8:310f9e4eac7b 1957 #endif
nerit 8:310f9e4eac7b 1958 if (cntTbError>0) {
nerit 3:a469bbd294b5 1959 cntCellsCorrect++;
nerit 3:a469bbd294b5 1960 }
nerit 19:231b8931cabc 1961 if (cntCellsCorrect>0) {
nerit 3:a469bbd294b5 1962 cntTbError=0;
nerit 3:a469bbd294b5 1963 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1964 }
nerit 3:a469bbd294b5 1965 // conteggio celle erogate
nerit 8:310f9e4eac7b 1966 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1967 cellsCounterLow++;
nerit 8:310f9e4eac7b 1968 } else {
nerit 3:a469bbd294b5 1969 cellsCounterHig++;
nerit 3:a469bbd294b5 1970 cellsCounterLow=0;
nerit 3:a469bbd294b5 1971 }
nerit 3:a469bbd294b5 1972 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1973 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1974 cntCellsForLoad++;
nerit 27:3d382b6e60ba 1975 double cellsToCount = ceil(((cellsNumber/360.0)*180.0f)+1.0f);
nerit 26:77955c5d16a3 1976 if (cntCellsForLoad >= cellsToCount) {
nerit 8:310f9e4eac7b 1977 stopCicloTB=1;
nerit 3:a469bbd294b5 1978 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1979 }
nerit 8:310f9e4eac7b 1980 } else {
nerit 3:a469bbd294b5 1981 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1982 }
nerit 3:a469bbd294b5 1983 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1984 if (trigSD==0) {
nerit 3:a469bbd294b5 1985 inhibit=1;
nerit 3:a469bbd294b5 1986 trigTB=1;
nerit 8:310f9e4eac7b 1987 } else {
nerit 3:a469bbd294b5 1988 inhibit=0;
nerit 3:a469bbd294b5 1989 trigTB=0;
nerit 3:a469bbd294b5 1990 trigSD=0;
nerit 3:a469bbd294b5 1991 }
nerit 3:a469bbd294b5 1992 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1993 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1994 cntCellsForReload++;
nerit 8:310f9e4eac7b 1995 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1996 TBmotorDirecti=TBforward; // rotazione normale
nerit 21:3e6576c2e126 1997 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 1998 #if defined(runner)
nerit 21:3e6576c2e126 1999 #if defined(Zucca)
nerit 21:3e6576c2e126 2000 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 2001 #else
nerit 21:3e6576c2e126 2002 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 2003 #endif
nerit 9:7f02256f6e8f 2004 #else
nerit 21:3e6576c2e126 2005 #if defined(Zucca)
nerit 21:3e6576c2e126 2006 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 2007 #else
nerit 21:3e6576c2e126 2008 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 2009 #endif
nerit 9:7f02256f6e8f 2010 #endif
nerit 21:3e6576c2e126 2011 }
nerit 3:a469bbd294b5 2012 erroreTamburo=0;
nerit 3:a469bbd294b5 2013 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 2014 }
nerit 3:a469bbd294b5 2015 }
nerit 3:a469bbd294b5 2016 #if defined(seedSensor)
nerit 3:a469bbd294b5 2017 resetDelay();
nerit 3:a469bbd294b5 2018 delaySeedCheck.start();
nerit 3:a469bbd294b5 2019 #endif
nerit 3:a469bbd294b5 2020 }
nerit 20:4a400a4cc419 2021 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2022 if (firstStart==0) {
nerit 18:7c978f69cc51 2023 if (tractorSpeed_MtS_timed>0.4f){
nerit 17:9629eb019892 2024 if (cntTbError>5) {
nerit 17:9629eb019892 2025 all_cellSignal=1;
nerit 17:9629eb019892 2026 #if defined(seedSensor)
nerit 17:9629eb019892 2027 resetDelay();
nerit 17:9629eb019892 2028 #endif
nerit 17:9629eb019892 2029 }
nerit 3:a469bbd294b5 2030 }
nerit 3:a469bbd294b5 2031 }
nerit 8:310f9e4eac7b 2032 if (erroreTamburo==0) {
nerit 17:9629eb019892 2033 if (cellsCountSet>1){
nerit 17:9629eb019892 2034 erroreTamburo=1;
nerit 17:9629eb019892 2035 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 21:3e6576c2e126 2036 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 2037 #if defined(runner)
nerit 21:3e6576c2e126 2038 #if defined(Zucca)
nerit 21:3e6576c2e126 2039 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 2040 #else
nerit 21:3e6576c2e126 2041 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 2042 #endif
nerit 17:9629eb019892 2043 #else
nerit 21:3e6576c2e126 2044 #if defined(Zucca)
nerit 21:3e6576c2e126 2045 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 2046 #else
nerit 21:3e6576c2e126 2047 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 21:3e6576c2e126 2048 #endif
nerit 17:9629eb019892 2049 #endif
nerit 21:3e6576c2e126 2050 }
nerit 17:9629eb019892 2051 }
nerit 3:a469bbd294b5 2052 cntCellsForReload=0;
nerit 17:9629eb019892 2053 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2054 cntTbError++;
nerit 17:9629eb019892 2055 aggiornati();
nerit 17:9629eb019892 2056 }else{
nerit 17:9629eb019892 2057 cntTbError=0;
nerit 17:9629eb019892 2058 }
nerit 3:a469bbd294b5 2059 #if defined(seedSensor)
nerit 3:a469bbd294b5 2060 resetDelay();
nerit 3:a469bbd294b5 2061 #endif
nerit 3:a469bbd294b5 2062 }
nerit 3:a469bbd294b5 2063 }
nerit 17:9629eb019892 2064 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2065 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
nerit 17:9629eb019892 2066 if (firstStart==0) {
nerit 17:9629eb019892 2067 all_noStepRota=1;
nerit 17:9629eb019892 2068 #if defined(seedSensor)
nerit 17:9629eb019892 2069 resetDelay();
nerit 17:9629eb019892 2070 #endif
nerit 17:9629eb019892 2071 }
nerit 17:9629eb019892 2072 cntTbError=0;
nerit 3:a469bbd294b5 2073 }
nerit 3:a469bbd294b5 2074 }
nerit 8:310f9e4eac7b 2075 // ----------------------------------------
nerit 3:a469bbd294b5 2076 // read and manage joystick
nerit 20:4a400a4cc419 2077 if ((loadDaCan==1)&(simStepper==0)) {
nerit 8:310f9e4eac7b 2078 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2079 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2080 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2081 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2082 #endif
nerit 8:310f9e4eac7b 2083 #endif
nerit 6:e8c18f0f399a 2084 ciclaTB();
nerit 8:310f9e4eac7b 2085 }
nerit 3:a469bbd294b5 2086 }
nerit 8:310f9e4eac7b 2087
nerit 8:310f9e4eac7b 2088 //***************************************************************************************************
nerit 8:310f9e4eac7b 2089 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2090 //
nerit 3:a469bbd294b5 2091 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2092 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2093 if (pulseRised==1) {
nerit 12:b0fc1d313813 2094 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2095 pulseRised=0;
nerit 3:a469bbd294b5 2096 pulseRised1=1;
nerit 3:a469bbd294b5 2097 speedMediaCalc();
nerit 3:a469bbd294b5 2098 // calcola velocità trattore
nerit 8:310f9e4eac7b 2099 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2100 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2101 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 13:d1030d4e51a8 2102 //TODO: limite inferiore e superiore per non modificare la velocità selezionata
nerit 13:d1030d4e51a8 2103 // serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo
nerit 3:a469bbd294b5 2104 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 13:d1030d4e51a8 2105 if (delaySpeedCheck.read()>=5.0f){
nerit 13:d1030d4e51a8 2106 if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit 13:d1030d4e51a8 2107 tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit 13:d1030d4e51a8 2108 }
nerit 13:d1030d4e51a8 2109 }
nerit 10:9e70619e97ab 2110 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2111 }
nerit 17:9629eb019892 2112 /*if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2113 checkSDrotation=1;
nerit 3:a469bbd294b5 2114 SDwheelTimer.start();
nerit 17:9629eb019892 2115 }*/
nerit 3:a469bbd294b5 2116 }
nerit 3:a469bbd294b5 2117 }
nerit 3:a469bbd294b5 2118 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2119 } else {
nerit 3:a469bbd294b5 2120 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2121 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2122 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2123 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2124 #if defined(seedSensor)
nerit 10:9e70619e97ab 2125 resetDelay();
nerit 10:9e70619e97ab 2126 #endif
nerit 3:a469bbd294b5 2127 pntMedia=0;
nerit 3:a469bbd294b5 2128 speedTimeOut.reset();
nerit 3:a469bbd294b5 2129 enableSpeed=0;
nerit 3:a469bbd294b5 2130 quincCnt=0;
nerit 3:a469bbd294b5 2131 }
nerit 3:a469bbd294b5 2132 }
nerit 8:310f9e4eac7b 2133
nerit 10:9e70619e97ab 2134 #if defined(seedSensor)
nerit 10:9e70619e97ab 2135 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2136 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2137 if (seedSee==0) {
nerit 10:9e70619e97ab 2138 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2139 }
nerit 10:9e70619e97ab 2140 resetDelay();
nerit 3:a469bbd294b5 2141 }
nerit 3:a469bbd294b5 2142 }
nerit 10:9e70619e97ab 2143 #endif
nerit 3:a469bbd294b5 2144 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2145 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2146 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2147 enableSpeed=0;
nerit 3:a469bbd294b5 2148 }*/
nerit 3:a469bbd294b5 2149 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2150 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2151 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2152 }*/
nerit 8:310f9e4eac7b 2153 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2154 // cycle logic control section
nerit 8:310f9e4eac7b 2155 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2156 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2157 if(simOk==0) {
nerit 8:310f9e4eac7b 2158 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2159 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2160 }
nerit 8:310f9e4eac7b 2161 }
nerit 20:4a400a4cc419 2162 if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2163 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2164 #if defined(Qncc)
nerit 8:310f9e4eac7b 2165 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2166
nerit 8:310f9e4eac7b 2167 #endif
nerit 8:310f9e4eac7b 2168 #endif
nerit 8:310f9e4eac7b 2169 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2170 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2171 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 2172 if (encoder==false) {
nerit 8:310f9e4eac7b 2173 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2174 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2175 } else {
nerit 8:310f9e4eac7b 2176 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2177 }
nerit 8:310f9e4eac7b 2178 } else {
nerit 17:9629eb019892 2179 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2180 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2181 #if defined(Qnce)
nerit 8:310f9e4eac7b 2182 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2183 #endif
nerit 5:2a3a64b52f54 2184 #endif
nerit 8:310f9e4eac7b 2185 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2186 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2187 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2188 #endif
nerit 8:310f9e4eac7b 2189 }
nerit 8:310f9e4eac7b 2190 //*******************************************
nerit 8:310f9e4eac7b 2191 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2192 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2193 double deltaV=0.0f;
nerit 12:b0fc1d313813 2194 double deltaD=0.0f;
nerit 12:b0fc1d313813 2195 double setV=0.0f;
nerit 12:b0fc1d313813 2196 double teoriaC=0.0f;
nerit 14:e2b5efa06c41 2197 double speedCorrectionMachine=0.0f;
nerit 17:9629eb019892 2198 //#if defined(speedMaster)
nerit 14:e2b5efa06c41 2199 speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2200 //#else
nerit 17:9629eb019892 2201 // speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2202 //#endif
nerit 14:e2b5efa06c41 2203 //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 17:9629eb019892 2204 if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2205 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2206 }
nerit 17:9629eb019892 2207 for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit 14:e2b5efa06c41 2208 if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2209 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2210 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2211 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 14:e2b5efa06c41 2212 //setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 14:e2b5efa06c41 2213 setV = speedCorrectionMachine-tabSpeed[ii];
nerit 12:b0fc1d313813 2214 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2215 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 14:e2b5efa06c41 2216 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2217 #if defined(boost1)
nerit 14:e2b5efa06c41 2218 pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit 14:e2b5efa06c41 2219 pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit 14:e2b5efa06c41 2220 #endif
nerit 14:e2b5efa06c41 2221 #endif
nerit 3:a469bbd294b5 2222 }
nerit 8:310f9e4eac7b 2223 }
nerit 14:e2b5efa06c41 2224 //if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 14:e2b5efa06c41 2225 // dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 14:e2b5efa06c41 2226 //}
nerit 17:9629eb019892 2227 if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit 14:e2b5efa06c41 2228 dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit 8:310f9e4eac7b 2229 }
nerit 8:310f9e4eac7b 2230 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2231 quinCalc();
nerit 8:310f9e4eac7b 2232 #endif
nerit 8:310f9e4eac7b 2233 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2234 #if defined(Qncd)
nerit 8:310f9e4eac7b 2235 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2236 #endif
nerit 8:310f9e4eac7b 2237 #endif
nerit 8:310f9e4eac7b 2238 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2239 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2240 if(encoder==false) {
nerit 8:310f9e4eac7b 2241 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2242 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2243 } else {
nerit 8:310f9e4eac7b 2244 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 2245 }
nerit 8:310f9e4eac7b 2246 } else {
nerit 8:310f9e4eac7b 2247 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 2248 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2249 #if defined(Qnce)
nerit 8:310f9e4eac7b 2250 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2251 #endif
nerit 3:a469bbd294b5 2252 #endif
nerit 3:a469bbd294b5 2253 }
nerit 8:310f9e4eac7b 2254 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2255 double k3=0.0f;
nerit 8:310f9e4eac7b 2256 double k4=0.0f;
nerit 8:310f9e4eac7b 2257 double k5=0.0f;
nerit 8:310f9e4eac7b 2258 double k6=0.0f;
nerit 8:310f9e4eac7b 2259 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2260 k3=0.010f;
nerit 8:310f9e4eac7b 2261 #else
nerit 8:310f9e4eac7b 2262 k3=0.050f;
nerit 8:310f9e4eac7b 2263 #endif
nerit 8:310f9e4eac7b 2264 k4=1.103f;
nerit 8:310f9e4eac7b 2265 k5=10.00f;
nerit 8:310f9e4eac7b 2266 k6=20.50f;
nerit 8:310f9e4eac7b 2267 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2268 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2269 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2270 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2271 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2272 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2273 double k1=0.0f;
nerit 8:310f9e4eac7b 2274 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2275 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2276 }
nerit 8:310f9e4eac7b 2277 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2278 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2279 }
nerit 8:310f9e4eac7b 2280 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2281 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2282 }
nerit 8:310f9e4eac7b 2283 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2284 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2285 }
nerit 8:310f9e4eac7b 2286 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2287 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2288 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2289 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2290 correzione = (1.0f - dutyTeorico);
nerit 14:e2b5efa06c41 2291 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2292 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2293 #endif
nerit 3:a469bbd294b5 2294 }
nerit 8:310f9e4eac7b 2295 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2296 correzione = -1.0f*dutyTeorico;
nerit 14:e2b5efa06c41 2297 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2298 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2299 #endif
nerit 3:a469bbd294b5 2300 }
nerit 3:a469bbd294b5 2301 }
nerit 8:310f9e4eac7b 2302 pulseRised1=0;
nerit 8:310f9e4eac7b 2303 pulseRised2=0;
nerit 8:310f9e4eac7b 2304 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2305 #if defined(Qnca)
nerit 8:310f9e4eac7b 2306 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2307 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 2308 #endif
nerit 8:310f9e4eac7b 2309 #endif
nerit 8:310f9e4eac7b 2310 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2311 #if defined(Qncb)
nerit 8:310f9e4eac7b 2312 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2313 #endif
nerit 8:310f9e4eac7b 2314 #endif
nerit 12:b0fc1d313813 2315 #if defined(pcSerial)
nerit 12:b0fc1d313813 2316 #if defined(boost)
nerit 12:b0fc1d313813 2317 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 2318 #endif
nerit 12:b0fc1d313813 2319 #endif
nerit 8:310f9e4eac7b 2320 }
nerit 12:b0fc1d313813 2321 // introduce il controllo di corrente
nerit 14:e2b5efa06c41 2322 double variazione=0.0f;
nerit 12:b0fc1d313813 2323 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2324 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2325 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2326 }
nerit 12:b0fc1d313813 2327 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2328 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2329 }
nerit 12:b0fc1d313813 2330 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2331 boostDcOut=0.2f;
nerit 14:e2b5efa06c41 2332 //all_genericals=1;
nerit 12:b0fc1d313813 2333 }
nerit 12:b0fc1d313813 2334 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2335 boostDcOut=-0.2f;
nerit 14:e2b5efa06c41 2336 //all_genericals=1;
nerit 12:b0fc1d313813 2337 }
nerit 14:e2b5efa06c41 2338 variazione=boostDcOut;
nerit 12:b0fc1d313813 2339 correggiCorrente=0;
nerit 8:310f9e4eac7b 2340 }
nerit 12:b0fc1d313813 2341 if (currentCheckEnable==true){
nerit 14:e2b5efa06c41 2342 correzione += variazione;
nerit 14:e2b5efa06c41 2343 variazione=0.0f;
nerit 8:310f9e4eac7b 2344 }
nerit 8:310f9e4eac7b 2345 DC_brake=0;
nerit 8:310f9e4eac7b 2346 DC_forward=1;
nerit 8:310f9e4eac7b 2347 DC_prepare();
bcostm 2:35f13b7f3659 2348
nerit 8:310f9e4eac7b 2349 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2350 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2351 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2352 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2353 }
nerit 8:310f9e4eac7b 2354 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2355 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2356 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2357 }
nerit 3:a469bbd294b5 2358
nerit 8:310f9e4eac7b 2359 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2360 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2361 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2362 } else {
nerit 3:a469bbd294b5 2363 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2364 }
nerit 8:310f9e4eac7b 2365 } else {
nerit 8:310f9e4eac7b 2366 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2367 }
nerit 8:310f9e4eac7b 2368 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2369 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2370 }
nerit 8:310f9e4eac7b 2371 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2372 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2373 }
nerit 17:9629eb019892 2374 if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;}
nerit 14:e2b5efa06c41 2375 if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;}
nerit 8:310f9e4eac7b 2376 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2377 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2378 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2379 }
nerit 8:310f9e4eac7b 2380 // allarme
nerit 17:9629eb019892 2381 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2382 if (SDwheelTimer.read_ms()>4000) {
nerit 17:9629eb019892 2383 if (firstStart==0) {
nerit 17:9629eb019892 2384 all_noDcRotati=1;
nerit 17:9629eb019892 2385 }
nerit 17:9629eb019892 2386 #if defined(pcSerial)
nerit 17:9629eb019892 2387 #if defined(VediAllarmi)
nerit 17:9629eb019892 2388 pc.printf("allarme no DC rotation");
nerit 17:9629eb019892 2389 #endif
nerit 17:9629eb019892 2390 #endif
nerit 3:a469bbd294b5 2391 }
nerit 8:310f9e4eac7b 2392 }
nerit 3:a469bbd294b5 2393
nerit 8:310f9e4eac7b 2394 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2395 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2396 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2397 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2398 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2399 syncroCheck=0;
nerit 8:310f9e4eac7b 2400 lockStart=1;
nerit 8:310f9e4eac7b 2401 periodo = TBperiod;
nerit 8:310f9e4eac7b 2402 #if !defined(runner)
nerit 9:7f02256f6e8f 2403 #if defined(Zucca)
nerit 9:7f02256f6e8f 2404 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2405 #else
nerit 9:7f02256f6e8f 2406 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2407 #endif
nerit 8:310f9e4eac7b 2408 #endif
nerit 8:310f9e4eac7b 2409 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2410 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2411 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2412 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2413 #endif
nerit 6:e8c18f0f399a 2414 #endif
nerit 8:310f9e4eac7b 2415 cambiaTB(periodo);
nerit 3:a469bbd294b5 2416 }
nerit 8:310f9e4eac7b 2417 }
nerit 8:310f9e4eac7b 2418 // controllo di stop
nerit 8:310f9e4eac7b 2419 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2420 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2421 syncroCheck=0;
nerit 8:310f9e4eac7b 2422 aspettaStart=1;
nerit 8:310f9e4eac7b 2423 countCicli=0;
nerit 6:e8c18f0f399a 2424 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2425 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2426 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2427 #endif
nerit 6:e8c18f0f399a 2428 #endif
nerit 8:310f9e4eac7b 2429 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2430 #if !defined(runner)
nerit 8:310f9e4eac7b 2431 TBticker.detach();
nerit 8:310f9e4eac7b 2432 #endif
nerit 8:310f9e4eac7b 2433 motor->soft_hiz();
nerit 8:310f9e4eac7b 2434 }
nerit 8:310f9e4eac7b 2435 }
nerit 8:310f9e4eac7b 2436 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2437 syncroCheck=0;
nerit 8:310f9e4eac7b 2438 lockStart=0;
nerit 8:310f9e4eac7b 2439 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2440 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2441 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2442 if (encoder==false) {
nerit 8:310f9e4eac7b 2443 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2444 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2445 } else {
nerit 8:310f9e4eac7b 2446 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2447 }
nerit 8:310f9e4eac7b 2448 } else {
nerit 8:310f9e4eac7b 2449 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2450 }
nerit 8:310f9e4eac7b 2451 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2452 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2453 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2454 }
nerit 8:310f9e4eac7b 2455 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2456 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2457 startCicloTB=1;
nerit 8:310f9e4eac7b 2458 }
nerit 8:310f9e4eac7b 2459 beccoPronto=0;
nerit 8:310f9e4eac7b 2460 }
nerit 8:310f9e4eac7b 2461 } else {
nerit 8:310f9e4eac7b 2462 // tamburo per zucca
nerit 8:310f9e4eac7b 2463 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2464 startCicloTB=1;
nerit 8:310f9e4eac7b 2465 }
nerit 8:310f9e4eac7b 2466 beccoPronto=0;
nerit 8:310f9e4eac7b 2467 }
nerit 8:310f9e4eac7b 2468 }
nerit 8:310f9e4eac7b 2469 ciclaTB();
nerit 8:310f9e4eac7b 2470 }
nerit 8:310f9e4eac7b 2471 //*************************************************************
nerit 8:310f9e4eac7b 2472 } else { // fine ciclo con velocita maggiore di 0
nerit 13:d1030d4e51a8 2473 delaySpeedCheck.reset();
nerit 8:310f9e4eac7b 2474 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2475 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2476 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2477 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2478 resetDelay();
nerit 8:310f9e4eac7b 2479 #endif
nerit 8:310f9e4eac7b 2480 checkSDrotation=0;
nerit 8:310f9e4eac7b 2481 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2482 aspettaStart=1;
nerit 8:310f9e4eac7b 2483 countCicli=0;
nerit 8:310f9e4eac7b 2484 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2485 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2486 correzione=0.0f;
nerit 8:310f9e4eac7b 2487 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2488 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2489 cntTbError=0;
nerit 8:310f9e4eac7b 2490 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2491 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2492 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2493 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2494 #endif
nerit 8:310f9e4eac7b 2495 #endif
nerit 8:310f9e4eac7b 2496 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2497 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2498 DC_brake=1;
nerit 8:310f9e4eac7b 2499 DC_prepare();
nerit 8:310f9e4eac7b 2500 metalTimer.reset();
nerit 8:310f9e4eac7b 2501 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2502 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2503 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2504 #endif
nerit 8:310f9e4eac7b 2505 #endif
nerit 8:310f9e4eac7b 2506 #if !defined(runner)
nerit 6:e8c18f0f399a 2507 TBticker.detach();
nerit 8:310f9e4eac7b 2508 #endif
nerit 8:310f9e4eac7b 2509 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2510 #if defined(loStop)
nerit 8:310f9e4eac7b 2511 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2512 #endif
nerit 8:310f9e4eac7b 2513 #endif
nerit 20:4a400a4cc419 2514 if(simStepper==0){
nerit 20:4a400a4cc419 2515 motor->soft_hiz();
nerit 20:4a400a4cc419 2516 motor->set_home();
nerit 20:4a400a4cc419 2517 }
nerit 18:7c978f69cc51 2518 cntSpeedError=0;
nerit 18:7c978f69cc51 2519 timeIntraPick=0.0f;
nerit 19:231b8931cabc 2520 memoIntraPick=0.001f;
nerit 19:231b8931cabc 2521 intraPickTimer.reset();
nerit 8:310f9e4eac7b 2522 pntMedia=0;
nerit 8:310f9e4eac7b 2523 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2524 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2525 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2526 #endif
nerit 8:310f9e4eac7b 2527 #endif
nerit 3:a469bbd294b5 2528 }
nerit 8:310f9e4eac7b 2529 }
nerit 8:310f9e4eac7b 2530
nerit 8:310f9e4eac7b 2531 //*************************************************************************************************
nerit 3:a469bbd294b5 2532 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2533 //*************************************************************************************************
nerit 6:e8c18f0f399a 2534 } //end inProva==0
nerit 3:a469bbd294b5 2535 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2536 } // end while
nerit 3:a469bbd294b5 2537 } // end main