Messa in campo 4 file - 26/06/2020 Francia
Dependencies: mbed X_NUCLEO_IHM03A1_for
Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by
main.cpp@24:2b5e749e26b2, 2019-05-08 (annotated)
- Committer:
- nerit
- Date:
- Wed May 08 05:44:20 2019 +0000
- Revision:
- 24:2b5e749e26b2
- Parent:
- 23:ccd253b36733
- Child:
- 25:4461bc76aaab
Implementato flag per la selezione da Opus del tipo di tamburo pneumatico/meccanico che modifica i parametri di inseguimento della fase
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nerit | 3:a469bbd294b5 | 1 | |
nerit | 3:a469bbd294b5 | 2 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 3 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 4 | // FIRMWARE SEMINATRICE MODULA |
nerit | 3:a469bbd294b5 | 5 | // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI |
nerit | 3:a469bbd294b5 | 6 | // V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A |
nerit | 3:a469bbd294b5 | 7 | // IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz |
nerit | 3:a469bbd294b5 | 8 | // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA |
nerit | 3:a469bbd294b5 | 9 | // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA |
nerit | 3:a469bbd294b5 | 10 | // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A |
nerit | 3:a469bbd294b5 | 11 | // FIRST RELEASE OF BOARD DEC 2017 |
nerit | 3:a469bbd294b5 | 12 | // FIRST RELEASE OF FIRMWARE JAN 2018 |
nerit | 3:a469bbd294b5 | 13 | // |
nerit | 4:de1b296e9757 | 14 | // THIS RELEASE: 10 february 2019 |
nerit | 3:a469bbd294b5 | 15 | // |
nerit | 8:310f9e4eac7b | 16 | // APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE |
nerit | 3:a469bbd294b5 | 17 | // |
nerit | 3:a469bbd294b5 | 18 | // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA |
nerit | 3:a469bbd294b5 | 19 | // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE |
nerit | 3:a469bbd294b5 | 20 | // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO |
nerit | 3:a469bbd294b5 | 21 | // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO |
nerit | 3:a469bbd294b5 | 22 | // ENCODER |
nerit | 3:a469bbd294b5 | 23 | // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER |
nerit | 3:a469bbd294b5 | 24 | // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN |
nerit | 3:a469bbd294b5 | 25 | // 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01 |
nerit | 4:de1b296e9757 | 26 | // 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN |
nerit | 6:e8c18f0f399a | 27 | // 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE |
nerit | 3:a469bbd294b5 | 28 | /******************** |
nerit | 3:a469bbd294b5 | 29 | IL FIRMWARE SI COMPONE DI 10 FILES: |
nerit | 3:a469bbd294b5 | 30 | - main.cpp |
nerit | 3:a469bbd294b5 | 31 | - main.hpp |
nerit | 3:a469bbd294b5 | 32 | - iodefinition.hpp |
nerit | 3:a469bbd294b5 | 33 | - canbus.hpp |
nerit | 3:a469bbd294b5 | 34 | - parameters.hpp |
nerit | 4:de1b296e9757 | 35 | - powerstep.hpp |
nerit | 3:a469bbd294b5 | 36 | - timeandtick.hpp |
nerit | 3:a469bbd294b5 | 37 | - variables.hpp |
nerit | 3:a469bbd294b5 | 38 | - powerstep.hpp |
nerit | 3:a469bbd294b5 | 39 | - watchdog.cpp |
nerit | 3:a469bbd294b5 | 40 | - watchdog.h |
nerit | 8:310f9e4eac7b | 41 | ED UTILIZZA LE LIBRERIE STANDARD MBED PIU' |
nerit | 3:a469bbd294b5 | 42 | UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN |
nerit | 3:a469bbd294b5 | 43 | UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER |
nerit | 3:a469bbd294b5 | 44 | ********************* |
nerit | 3:a469bbd294b5 | 45 | LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA. |
nerit | 3:a469bbd294b5 | 46 | GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO |
nerit | 3:a469bbd294b5 | 47 | UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO |
nerit | 3:a469bbd294b5 | 48 | UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA |
nerit | 3:a469bbd294b5 | 49 | ********************* |
nerit | 3:a469bbd294b5 | 50 | LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER |
nerit | 8:310f9e4eac7b | 51 | IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA |
nerit | 3:a469bbd294b5 | 52 | PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA. |
nerit | 3:a469bbd294b5 | 53 | PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE |
nerit | 3:a469bbd294b5 | 54 | IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA |
nerit | 3:a469bbd294b5 | 55 | IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA |
nerit | 3:a469bbd294b5 | 56 | LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO. |
nerit | 3:a469bbd294b5 | 57 | IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE |
nerit | 3:a469bbd294b5 | 58 | SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI. |
nerit | 3:a469bbd294b5 | 59 | PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO |
nerit | 3:a469bbd294b5 | 60 | TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA. |
nerit | 3:a469bbd294b5 | 61 | IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO. |
nerit | 3:a469bbd294b5 | 62 | IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA |
nerit | 3:a469bbd294b5 | 63 | IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI. |
nerit | 3:a469bbd294b5 | 64 | IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO. |
nerit | 3:a469bbd294b5 | 65 | LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE |
nerit | 3:a469bbd294b5 | 66 | DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME. |
nerit | 3:a469bbd294b5 | 67 | IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO. |
nerit | 3:a469bbd294b5 | 68 | ********************** |
nerit | 3:a469bbd294b5 | 69 | TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE |
nerit | 3:a469bbd294b5 | 70 | I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI |
nerit | 3:a469bbd294b5 | 71 | AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE. |
nerit | 3:a469bbd294b5 | 72 | ********************** |
nerit | 3:a469bbd294b5 | 73 | ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC.. |
nerit | 3:a469bbd294b5 | 74 | IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE. |
nerit | 3:a469bbd294b5 | 75 | LO STEPPER SEGUE IL DC. |
nerit | 3:a469bbd294b5 | 76 | ********************** |
nerit | 3:a469bbd294b5 | 77 | IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO |
nerit | 3:a469bbd294b5 | 78 | NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA. |
nerit | 3:a469bbd294b5 | 79 | ********************** |
nerit | 3:a469bbd294b5 | 80 | NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE |
nerit | 3:a469bbd294b5 | 81 | ********************** |
nerit | 3:a469bbd294b5 | 82 | ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO |
nerit | 3:a469bbd294b5 | 83 | AZZERAMENTO MANUALE |
nerit | 3:a469bbd294b5 | 84 | STATISTICA DI SEMINA (CONTA LE CELLE) |
nerit | 3:a469bbd294b5 | 85 | */ |
nerit | 3:a469bbd294b5 | 86 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 87 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 88 | #include "main.hpp" |
nerit | 8:310f9e4eac7b | 89 | /* Helper header files. */ |
nerit | 8:310f9e4eac7b | 90 | #include "DevSPI.h" |
nerit | 8:310f9e4eac7b | 91 | /* Component specific header files. */ |
nerit | 8:310f9e4eac7b | 92 | #include "PowerStep01.h" |
nerit | 3:a469bbd294b5 | 93 | #include "timeandtick.hpp" |
nerit | 3:a469bbd294b5 | 94 | #include "canbus.hpp" |
nerit | 3:a469bbd294b5 | 95 | #include "watchdog.h" |
nerit | 3:a469bbd294b5 | 96 | #include "iodefinition.hpp" |
nerit | 3:a469bbd294b5 | 97 | #include "parameters.hpp" |
nerit | 3:a469bbd294b5 | 98 | #include "variables.hpp" |
nerit | 8:310f9e4eac7b | 99 | #include "powerstep.hpp" |
nerit | 3:a469bbd294b5 | 100 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 101 | //******************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 102 | #if defined(runnerTos) |
nerit | 8:310f9e4eac7b | 103 | Thread thread; |
nerit | 8:310f9e4eac7b | 104 | #endif |
nerit | 3:a469bbd294b5 | 105 | |
nerit | 3:a469bbd294b5 | 106 | /* Variables -----------------------------------------------------------------*/ |
nerit | 3:a469bbd294b5 | 107 | |
nerit | 3:a469bbd294b5 | 108 | /* Functions -----------------------------------------------------------------*/ |
nerit | 3:a469bbd294b5 | 109 | |
nerit | 3:a469bbd294b5 | 110 | /** |
nerit | 3:a469bbd294b5 | 111 | * @brief This is an example of user handler for the flag interrupt. |
nerit | 3:a469bbd294b5 | 112 | * @param None |
nerit | 3:a469bbd294b5 | 113 | * @retval None |
nerit | 3:a469bbd294b5 | 114 | * @note If needed, implement it, and then attach and enable it: |
nerit | 3:a469bbd294b5 | 115 | * + motor->attach_flag_irq(&my_flag_irq_handler); |
nerit | 3:a469bbd294b5 | 116 | * + motor->enable_flag_irq(); |
nerit | 3:a469bbd294b5 | 117 | * To disable it: |
nerit | 3:a469bbd294b5 | 118 | * + motor->DisbleFlagIRQ(); |
nerit | 3:a469bbd294b5 | 119 | */ |
nerit | 3:a469bbd294b5 | 120 | void my_flag_irq_handler(void) |
nerit | 3:a469bbd294b5 | 121 | { |
nerit | 3:a469bbd294b5 | 122 | /* Set ISR flag. */ |
nerit | 3:a469bbd294b5 | 123 | motor->isrFlag = TRUE; |
nerit | 3:a469bbd294b5 | 124 | /* Get the value of the status register. */ |
nerit | 3:a469bbd294b5 | 125 | unsigned int statusRegister = motor->get_status(); |
nerit | 10:9e70619e97ab | 126 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 127 | pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); |
nerit | 10:9e70619e97ab | 128 | #endif |
nerit | 3:a469bbd294b5 | 129 | /* Check SW_F flag: if not set, the SW input is opened */ |
nerit | 3:a469bbd294b5 | 130 | if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) { |
nerit | 10:9e70619e97ab | 131 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 132 | pc.printf(" SW closed (connected to ground).\r\n"); |
nerit | 10:9e70619e97ab | 133 | #endif |
nerit | 3:a469bbd294b5 | 134 | } |
nerit | 3:a469bbd294b5 | 135 | /* Check SW_EN bit */ |
nerit | 3:a469bbd294b5 | 136 | if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) { |
nerit | 10:9e70619e97ab | 137 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 138 | pc.printf(" SW turn_on event.\r\n"); |
nerit | 10:9e70619e97ab | 139 | #endif |
nerit | 3:a469bbd294b5 | 140 | } |
nerit | 3:a469bbd294b5 | 141 | /* Check Command Error flag: if set, the command received by SPI can't be */ |
nerit | 3:a469bbd294b5 | 142 | /* performed. This occurs for instance when a move command is sent to the */ |
nerit | 3:a469bbd294b5 | 143 | /* Powerstep01 while it is already running */ |
nerit | 3:a469bbd294b5 | 144 | if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) { |
nerit | 10:9e70619e97ab | 145 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 146 | pc.printf(" Non-performable command detected.\r\n"); |
nerit | 10:9e70619e97ab | 147 | #endif |
nerit | 8:310f9e4eac7b | 148 | } |
nerit | 3:a469bbd294b5 | 149 | /* Check UVLO flag: if not set, there is an undervoltage lock-out */ |
nerit | 3:a469bbd294b5 | 150 | if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) { |
nerit | 10:9e70619e97ab | 151 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 152 | pc.printf(" undervoltage lock-out.\r\n"); |
nerit | 10:9e70619e97ab | 153 | #endif |
nerit | 8:310f9e4eac7b | 154 | } |
nerit | 3:a469bbd294b5 | 155 | /* Check thermal STATUS flags: if set, the thermal status is not normal */ |
nerit | 3:a469bbd294b5 | 156 | if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) { |
nerit | 8:310f9e4eac7b | 157 | //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown |
nerit | 10:9e70619e97ab | 158 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 159 | pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11); |
nerit | 10:9e70619e97ab | 160 | #endif |
nerit | 8:310f9e4eac7b | 161 | } |
nerit | 3:a469bbd294b5 | 162 | /* Check OCD flag: if not set, there is an overcurrent detection */ |
nerit | 3:a469bbd294b5 | 163 | if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) { |
nerit | 10:9e70619e97ab | 164 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 165 | pc.printf(" Overcurrent detection.\r\n"); |
nerit | 10:9e70619e97ab | 166 | #endif |
nerit | 3:a469bbd294b5 | 167 | } |
nerit | 3:a469bbd294b5 | 168 | /* Reset ISR flag. */ |
nerit | 3:a469bbd294b5 | 169 | motor->isrFlag = FALSE; |
nerit | 3:a469bbd294b5 | 170 | } |
nerit | 3:a469bbd294b5 | 171 | |
nerit | 3:a469bbd294b5 | 172 | /** |
nerit | 3:a469bbd294b5 | 173 | * @brief This is an example of error handler. |
nerit | 3:a469bbd294b5 | 174 | * @param[in] error Number of the error |
nerit | 3:a469bbd294b5 | 175 | * @retval None |
nerit | 3:a469bbd294b5 | 176 | * @note If needed, implement it, and then attach it: |
nerit | 3:a469bbd294b5 | 177 | * + motor->attach_error_handler(&my_error_handler); |
nerit | 3:a469bbd294b5 | 178 | */ |
nerit | 3:a469bbd294b5 | 179 | void my_error_handler(uint16_t error) |
nerit | 3:a469bbd294b5 | 180 | { |
nerit | 3:a469bbd294b5 | 181 | /* Printing to the console. */ |
nerit | 10:9e70619e97ab | 182 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 183 | pc.printf("Error %d detected\r\n\n", error); |
nerit | 10:9e70619e97ab | 184 | #endif |
nerit | 8:310f9e4eac7b | 185 | |
nerit | 3:a469bbd294b5 | 186 | /* Infinite loop */ |
nerit | 3:a469bbd294b5 | 187 | //while (true) { |
nerit | 8:310f9e4eac7b | 188 | //} |
nerit | 3:a469bbd294b5 | 189 | } |
nerit | 8:310f9e4eac7b | 190 | //******************************************************************************* |
nerit | 8:310f9e4eac7b | 191 | // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING |
nerit | 8:310f9e4eac7b | 192 | //******************************************************************************* |
nerit | 8:310f9e4eac7b | 193 | #if defined(runner) |
nerit | 8:310f9e4eac7b | 194 | void step_Reading(){ |
nerit | 8:310f9e4eac7b | 195 | //while(true){ |
nerit | 8:310f9e4eac7b | 196 | /* Get current position of device and print to the console */ |
nerit | 8:310f9e4eac7b | 197 | TBpassPosition= (uint32_t) motor->get_position(); |
nerit | 8:310f9e4eac7b | 198 | if (TBpassPosition >= TBoldPosition){ |
nerit | 8:310f9e4eac7b | 199 | TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10; |
nerit | 8:310f9e4eac7b | 200 | }else{ |
nerit | 8:310f9e4eac7b | 201 | TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))*TBreductionRatio);//*10; |
nerit | 18:7c978f69cc51 | 202 | TBactualPosition= 1; |
nerit | 18:7c978f69cc51 | 203 | TBoldPosition=0; |
nerit | 18:7c978f69cc51 | 204 | motor->set_home(); |
nerit | 8:310f9e4eac7b | 205 | } |
nerit | 8:310f9e4eac7b | 206 | //wait_us(50); // 50 mS di intervallo lettura |
nerit | 8:310f9e4eac7b | 207 | //} |
nerit | 8:310f9e4eac7b | 208 | } |
nerit | 8:310f9e4eac7b | 209 | #endif |
nerit | 3:a469bbd294b5 | 210 | //******************************************************************************* |
nerit | 3:a469bbd294b5 | 211 | //******************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 212 | // ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
nerit | 3:a469bbd294b5 | 213 | // TASK SECTION |
nerit | 3:a469bbd294b5 | 214 | // ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
nerit | 3:a469bbd294b5 | 215 | //************************************************************************ |
nerit | 8:310f9e4eac7b | 216 | void aggioVelocita() |
nerit | 8:310f9e4eac7b | 217 | { |
nerit | 8:310f9e4eac7b | 218 | realGiroSD = seedPerimeter / speedOfSeedWheel; |
nerit | 17:9629eb019892 | 219 | tempoBecco = 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 | 24:2b5e749e26b2 | 577 | lowLim=-50.0f; |
nerit | 24:2b5e749e26b2 | 578 | higLim = 50.0f; |
nerit | 24:2b5e749e26b2 | 579 | divide= 100.0f; |
nerit | 24:2b5e749e26b2 | 580 | }else{ |
nerit | 24:2b5e749e26b2 | 581 | lowLim=-500.0f; //pneumatico Alessandria |
nerit | 24:2b5e749e26b2 | 582 | higLim= 130.0f; //pneumatico Alessandria |
nerit | 24:2b5e749e26b2 | 583 | divide= 25.0f; //pneumatico Alessandria |
nerit | 24:2b5e749e26b2 | 584 | } |
nerit | 8:310f9e4eac7b | 585 | if (pickNumber <= 5) { |
nerit | 4:de1b296e9757 | 586 | lowLim=-500.0f; |
nerit | 4:de1b296e9757 | 587 | higLim= 500.0f; |
nerit | 4:de1b296e9757 | 588 | divide= 25.0f; |
nerit | 8:310f9e4eac7b | 589 | } else { |
nerit | 8:310f9e4eac7b | 590 | lowLim=-10.0f; |
nerit | 8:310f9e4eac7b | 591 | higLim= 130.0f; |
nerit | 24:2b5e749e26b2 | 592 | if (drumSelect==false){ |
nerit | 24:2b5e749e26b2 | 593 | divide= 100.0f; |
nerit | 24:2b5e749e26b2 | 594 | }else{ |
nerit | 24:2b5e749e26b2 | 595 | divide= 20.0f; //pneumatico Alessandria |
nerit | 24:2b5e749e26b2 | 596 | } |
nerit | 4:de1b296e9757 | 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 | 8:310f9e4eac7b | 602 | } |
nerit | 8:310f9e4eac7b | 603 | if (posError<lowLim) { |
nerit | 8:310f9e4eac7b | 604 | posError=lowLim; |
nerit | 8:310f9e4eac7b | 605 | } |
nerit | 8:310f9e4eac7b | 606 | if ((posError >=1.0f)||(posError<=-1.0f)) { |
nerit | 8:310f9e4eac7b | 607 | #if defined(runner) |
nerit | 8:310f9e4eac7b | 608 | ePpos = periodo *(1.0f+ ((posError/divide))); |
nerit | 8:310f9e4eac7b | 609 | #else |
nerit | 8:310f9e4eac7b | 610 | ePpos = periodo /(1.0f+ ((posError/divide))); |
nerit | 8:310f9e4eac7b | 611 | #endif |
nerit | 3:a469bbd294b5 | 612 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 613 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 614 | pc.printf("12a ePpos:%f\n",ePpos); |
nerit | 3:a469bbd294b5 | 615 | #endif |
nerit | 3:a469bbd294b5 | 616 | #endif |
nerit | 8:310f9e4eac7b | 617 | if (ePpos>0.0f) { |
nerit | 6:e8c18f0f399a | 618 | cambiaTB(ePpos); |
nerit | 8:310f9e4eac7b | 619 | } else { |
nerit | 6:e8c18f0f399a | 620 | cambiaTB(periodo);///2.0f); |
nerit | 6:e8c18f0f399a | 621 | } |
nerit | 6:e8c18f0f399a | 622 | } |
nerit | 6:e8c18f0f399a | 623 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 624 | #if defined(TBperS) |
nerit | 8:310f9e4eac7b | 625 | 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 | 626 | #endif |
nerit | 6:e8c18f0f399a | 627 | #endif |
nerit | 3:a469bbd294b5 | 628 | } |
nerit | 3:a469bbd294b5 | 629 | } |
nerit | 3:a469bbd294b5 | 630 | } |
nerit | 10:9e70619e97ab | 631 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 632 | #if defined(checkLoopa) |
nerit | 10:9e70619e97ab | 633 | pc.printf("12\n"); |
nerit | 10:9e70619e97ab | 634 | #endif |
nerit | 10:9e70619e97ab | 635 | #endif |
nerit | 3:a469bbd294b5 | 636 | } |
nerit | 3:a469bbd294b5 | 637 | //******************************************************* |
nerit | 8:310f9e4eac7b | 638 | void videoUpdate() |
nerit | 8:310f9e4eac7b | 639 | { |
nerit | 8:310f9e4eac7b | 640 | for(int aa=0; aa<4; aa++) { |
nerit | 8:310f9e4eac7b | 641 | speedForDisplay[aa]=speedForDisplay[aa+1]; |
nerit | 8:310f9e4eac7b | 642 | } |
nerit | 3:a469bbd294b5 | 643 | speedForDisplay[4]=tractorSpeed_MtS_timed; |
nerit | 3:a469bbd294b5 | 644 | totalSpeed=0.0f; |
nerit | 8:310f9e4eac7b | 645 | for (int aa=0; aa<5; aa++) { |
nerit | 8:310f9e4eac7b | 646 | totalSpeed += speedForDisplay[aa]; |
nerit | 8:310f9e4eac7b | 647 | } |
nerit | 3:a469bbd294b5 | 648 | totalSpeed = totalSpeed / 5.0f; |
nerit | 10:9e70619e97ab | 649 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 650 | #if defined(SDreset) |
nerit | 10:9e70619e97ab | 651 | pc.printf("Fase: %d",fase); |
nerit | 10:9e70619e97ab | 652 | pc.printf(" PrePosSD: %d",prePosSD); |
nerit | 10:9e70619e97ab | 653 | pc.printf(" PosSD: %d",SDactualPosition); |
nerit | 10:9e70619e97ab | 654 | pc.printf(" speed: %f",tractorSpeed_MtS_timed); |
nerit | 10:9e70619e97ab | 655 | pc.printf(" Trigger: %d \n", trigRepos); |
nerit | 10:9e70619e97ab | 656 | #endif |
nerit | 10:9e70619e97ab | 657 | #endif |
nerit | 10:9e70619e97ab | 658 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 659 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 660 | pc.printf("13\n"); |
nerit | 10:9e70619e97ab | 661 | #endif |
nerit | 10:9e70619e97ab | 662 | #endif |
nerit | 3:a469bbd294b5 | 663 | } |
nerit | 3:a469bbd294b5 | 664 | //******************************************************* |
nerit | 8:310f9e4eac7b | 665 | void ciclaTB() |
nerit | 8:310f9e4eac7b | 666 | { |
nerit | 8:310f9e4eac7b | 667 | if ((startCicloTB==1)&&(cicloTbinCorso==0)) { |
nerit | 6:e8c18f0f399a | 668 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 669 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 670 | pc.printf("14a TBperiod: %f\n",TBperiod); |
nerit | 6:e8c18f0f399a | 671 | #endif |
nerit | 6:e8c18f0f399a | 672 | #endif |
nerit | 8:310f9e4eac7b | 673 | #if defined(runner) |
nerit | 9:7f02256f6e8f | 674 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 675 | motor->run(StepperMotor::BWD,TBperiod); |
nerit | 9:7f02256f6e8f | 676 | #else |
nerit | 9:7f02256f6e8f | 677 | motor->run(StepperMotor::FWD,TBperiod); |
nerit | 9:7f02256f6e8f | 678 | #endif |
nerit | 8:310f9e4eac7b | 679 | #else |
nerit | 8:310f9e4eac7b | 680 | if (TBperiod >= (250.0f*2.0f)) { |
nerit | 8:310f9e4eac7b | 681 | if (TBperiod != NULL) { |
nerit | 9:7f02256f6e8f | 682 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 683 | motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 9:7f02256f6e8f | 684 | #else |
nerit | 9:7f02256f6e8f | 685 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 9:7f02256f6e8f | 686 | #endif |
nerit | 8:310f9e4eac7b | 687 | TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls |
nerit | 8:310f9e4eac7b | 688 | } |
nerit | 6:e8c18f0f399a | 689 | } |
nerit | 8:310f9e4eac7b | 690 | #endif |
nerit | 8:310f9e4eac7b | 691 | cicloTbinCorso = 1; |
nerit | 8:310f9e4eac7b | 692 | startCicloTB=0; |
nerit | 3:a469bbd294b5 | 693 | } |
nerit | 8:310f9e4eac7b | 694 | if ((loadDaCan==1)&&(loadDaCanInCorso==0)) { |
nerit | 6:e8c18f0f399a | 695 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 696 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 697 | pc.printf("14b\n"); |
nerit | 6:e8c18f0f399a | 698 | #endif |
nerit | 6:e8c18f0f399a | 699 | #endif |
nerit | 8:310f9e4eac7b | 700 | #if defined(runner) |
nerit | 9:7f02256f6e8f | 701 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 702 | motor->run(StepperMotor::BWD,50.0f); |
nerit | 9:7f02256f6e8f | 703 | #else |
nerit | 9:7f02256f6e8f | 704 | motor->run(StepperMotor::FWD,50.0f); |
nerit | 9:7f02256f6e8f | 705 | #endif |
nerit | 8:310f9e4eac7b | 706 | #else |
nerit | 9:7f02256f6e8f | 707 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 708 | motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 9:7f02256f6e8f | 709 | #else |
nerit | 9:7f02256f6e8f | 710 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 9:7f02256f6e8f | 711 | #endif |
nerit | 8:310f9e4eac7b | 712 | TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls |
nerit | 8:310f9e4eac7b | 713 | #endif |
nerit | 3:a469bbd294b5 | 714 | loadDaCanInCorso=1; |
nerit | 3:a469bbd294b5 | 715 | stopCicloTB=0; |
nerit | 3:a469bbd294b5 | 716 | } |
nerit | 8:310f9e4eac7b | 717 | if ((stopCicloTB==1)&&(TBactualPosition>5)) { |
nerit | 6:e8c18f0f399a | 718 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 719 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 720 | pc.printf("14c\n"); |
nerit | 6:e8c18f0f399a | 721 | #endif |
nerit | 6:e8c18f0f399a | 722 | #endif |
nerit | 8:310f9e4eac7b | 723 | #if !defined(runner) |
nerit | 8:310f9e4eac7b | 724 | TBticker.detach(); |
nerit | 8:310f9e4eac7b | 725 | #endif |
nerit | 6:e8c18f0f399a | 726 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 727 | #if defined(loStop) |
nerit | 6:e8c18f0f399a | 728 | pc.printf("A2\n"); |
nerit | 6:e8c18f0f399a | 729 | #endif |
nerit | 6:e8c18f0f399a | 730 | #endif |
nerit | 3:a469bbd294b5 | 731 | motor->soft_hiz(); |
nerit | 3:a469bbd294b5 | 732 | cicloTbinCorso = 0; |
nerit | 3:a469bbd294b5 | 733 | stopCicloTB=0; |
nerit | 3:a469bbd294b5 | 734 | loadDaCanInCorso=0; |
nerit | 3:a469bbd294b5 | 735 | loadDaCan=0; |
nerit | 3:a469bbd294b5 | 736 | } |
nerit | 3:a469bbd294b5 | 737 | } |
nerit | 3:a469bbd294b5 | 738 | // ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
nerit | 8:310f9e4eac7b | 739 | void stepSetting() |
nerit | 8:310f9e4eac7b | 740 | { |
nerit | 3:a469bbd294b5 | 741 | // Stepper driver init and set |
nerit | 3:a469bbd294b5 | 742 | TBmotorRst=0; // reset stepper driver |
nerit | 3:a469bbd294b5 | 743 | TBmotorDirecti=TBforward; // reset stepper direction |
nerit | 6:e8c18f0f399a | 744 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 745 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 746 | pc.printf("15\n"); |
nerit | 6:e8c18f0f399a | 747 | #endif |
nerit | 6:e8c18f0f399a | 748 | #endif |
nerit | 8:310f9e4eac7b | 749 | TBmotorRst=1; |
nerit | 3:a469bbd294b5 | 750 | } |
nerit | 3:a469bbd294b5 | 751 | //**************************************** |
nerit | 12:b0fc1d313813 | 752 | void controllaCorrente(){ |
nerit | 12:b0fc1d313813 | 753 | correggiCorrente=1; |
nerit | 12:b0fc1d313813 | 754 | } |
nerit | 12:b0fc1d313813 | 755 | //**************************************** |
nerit | 3:a469bbd294b5 | 756 | void dcSetting(){ |
nerit | 8:310f9e4eac7b | 757 | if ((speedFromPick==0)&&(encoder==false)) { |
nerit | 8:310f9e4eac7b | 758 | DcEncoder.rise(&sd25Fall); |
nerit | 8:310f9e4eac7b | 759 | } |
nerit | 8:310f9e4eac7b | 760 | if (encoder==true) { |
nerit | 8:310f9e4eac7b | 761 | DcEncoder.rise(&encoRise); |
nerit | 8:310f9e4eac7b | 762 | } |
nerit | 6:e8c18f0f399a | 763 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 764 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 765 | pc.printf("16\n"); |
nerit | 6:e8c18f0f399a | 766 | #endif |
nerit | 6:e8c18f0f399a | 767 | #endif |
nerit | 3:a469bbd294b5 | 768 | } |
nerit | 3:a469bbd294b5 | 769 | //******************************************************* |
nerit | 8:310f9e4eac7b | 770 | void allarmi() |
nerit | 8:310f9e4eac7b | 771 | { |
nerit | 8:310f9e4eac7b | 772 | uint8_t alarmLowRegister1=0x00; |
nerit | 8:310f9e4eac7b | 773 | alarmLowRegister=0x00; |
nerit | 8:310f9e4eac7b | 774 | alarmHighRegister=0x80; |
nerit | 3:a469bbd294b5 | 775 | |
nerit | 8:310f9e4eac7b | 776 | //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore |
nerit | 8:310f9e4eac7b | 777 | alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto |
nerit | 8:310f9e4eac7b | 778 | alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto |
nerit | 8:310f9e4eac7b | 779 | alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto |
nerit | 8:310f9e4eac7b | 780 | alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto |
nerit | 8:310f9e4eac7b | 781 | alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità |
nerit | 8:310f9e4eac7b | 782 | //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore |
nerit | 8:310f9e4eac7b | 783 | if (seedSensorEnable==true) { |
nerit | 8:310f9e4eac7b | 784 | alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore |
nerit | 8:310f9e4eac7b | 785 | } |
nerit | 3:a469bbd294b5 | 786 | |
nerit | 8:310f9e4eac7b | 787 | //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere |
nerit | 8:310f9e4eac7b | 788 | alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto |
nerit | 8:310f9e4eac7b | 789 | alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto |
nerit | 8:310f9e4eac7b | 790 | alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto |
nerit | 8:310f9e4eac7b | 791 | alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto |
nerit | 8:310f9e4eac7b | 792 | alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto |
nerit | 8:310f9e4eac7b | 793 | alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40); |
nerit | 8:310f9e4eac7b | 794 | if (alarmLowRegister1 > 0) { |
nerit | 8:310f9e4eac7b | 795 | alarmHighRegister = 0x81; |
nerit | 8:310f9e4eac7b | 796 | alarmLowRegister = alarmLowRegister1; |
nerit | 8:310f9e4eac7b | 797 | } |
nerit | 3:a469bbd294b5 | 798 | |
nerit | 10:9e70619e97ab | 799 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 800 | #if defined(VediAllarmi) |
nerit | 10:9e70619e97ab | 801 | if (all_pickSignal==1) { |
nerit | 10:9e70619e97ab | 802 | pc.printf("AllarmeBecchi\n"); |
nerit | 10:9e70619e97ab | 803 | } |
nerit | 10:9e70619e97ab | 804 | if (all_cellSignal==1) { |
nerit | 10:9e70619e97ab | 805 | pc.printf("AllarmeCelle\n"); |
nerit | 10:9e70619e97ab | 806 | } |
nerit | 10:9e70619e97ab | 807 | if (all_lowBattery==1) { |
nerit | 10:9e70619e97ab | 808 | pc.printf("AllarmeBassaCorrente\n"); |
nerit | 10:9e70619e97ab | 809 | } |
nerit | 10:9e70619e97ab | 810 | if (all_overCurrDC==1) { |
nerit | 10:9e70619e97ab | 811 | pc.printf("AllarmeAltaCorrente\n"); |
nerit | 10:9e70619e97ab | 812 | } |
nerit | 10:9e70619e97ab | 813 | if (all_stopSistem==1) { |
nerit | 10:9e70619e97ab | 814 | pc.printf("AllarmeStop\n"); |
nerit | 10:9e70619e97ab | 815 | } |
nerit | 10:9e70619e97ab | 816 | if (all_noDcRotati==1) { |
nerit | 10:9e70619e97ab | 817 | pc.printf("AllarmeDCnoRotation\n"); |
nerit | 10:9e70619e97ab | 818 | } |
nerit | 10:9e70619e97ab | 819 | if (all_noStepRota==1) { |
nerit | 10:9e70619e97ab | 820 | pc.printf("AllarmeNoStepRotation\n"); |
nerit | 10:9e70619e97ab | 821 | } |
nerit | 10:9e70619e97ab | 822 | if (all_speedError==1) { |
nerit | 10:9e70619e97ab | 823 | pc.printf("AllarmeSpeedError\n"); |
nerit | 10:9e70619e97ab | 824 | } |
nerit | 10:9e70619e97ab | 825 | if (all_noSpeedSen==1) { |
nerit | 10:9e70619e97ab | 826 | pc.printf("AllarmeNoSpeedSensor\n"); |
nerit | 10:9e70619e97ab | 827 | } |
nerit | 10:9e70619e97ab | 828 | if (all_no_Zeroing==1) { |
nerit | 10:9e70619e97ab | 829 | pc.printf("AllarmeNoZero\n"); |
nerit | 10:9e70619e97ab | 830 | } |
nerit | 10:9e70619e97ab | 831 | if (all_genericals==1) { |
nerit | 10:9e70619e97ab | 832 | pc.printf("AllarmeGenerico\n"); |
nerit | 10:9e70619e97ab | 833 | } |
nerit | 10:9e70619e97ab | 834 | pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister); |
nerit | 10:9e70619e97ab | 835 | #endif |
nerit | 10:9e70619e97ab | 836 | #endif |
nerit | 8:310f9e4eac7b | 837 | all_semiFiniti=0; |
nerit | 8:310f9e4eac7b | 838 | all_pickSignal=0; |
nerit | 8:310f9e4eac7b | 839 | all_cellSignal=0; |
nerit | 8:310f9e4eac7b | 840 | all_lowBattery=0; |
nerit | 8:310f9e4eac7b | 841 | all_overCurrDC=0; |
nerit | 8:310f9e4eac7b | 842 | all_stopSistem=0; |
nerit | 8:310f9e4eac7b | 843 | all_upElements=0; |
nerit | 8:310f9e4eac7b | 844 | all_noSeedOnCe=0; |
nerit | 8:310f9e4eac7b | 845 | all_cfgnErrors=0; |
nerit | 8:310f9e4eac7b | 846 | all_noDcRotati=0; |
nerit | 8:310f9e4eac7b | 847 | all_noStepRota=0; |
nerit | 8:310f9e4eac7b | 848 | all_speedError=0; |
nerit | 8:310f9e4eac7b | 849 | all_noSpeedSen=0; |
nerit | 8:310f9e4eac7b | 850 | all_no_Zeroing=0; |
nerit | 8:310f9e4eac7b | 851 | all_genericals=0; |
nerit | 10:9e70619e97ab | 852 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 853 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 854 | pc.printf("17\n"); |
nerit | 10:9e70619e97ab | 855 | #endif |
nerit | 10:9e70619e97ab | 856 | #endif |
nerit | 3:a469bbd294b5 | 857 | } |
nerit | 3:a469bbd294b5 | 858 | //******************************************************* |
nerit | 3:a469bbd294b5 | 859 | #if defined(speedMaster) |
nerit | 3:a469bbd294b5 | 860 | void upDateSincro(){ |
nerit | 8:310f9e4eac7b | 861 | char val1[8]= {0,0,0,0,0,0,0,0}; |
nerit | 8:310f9e4eac7b | 862 | val1[3]=(posForQuinc /0x01000000)&0x000000FF; |
nerit | 8:310f9e4eac7b | 863 | val1[2]=(posForQuinc /0x00010000)&0x000000FF; |
nerit | 8:310f9e4eac7b | 864 | val1[1]=(posForQuinc /0x00000100)&0x000000FF; |
nerit | 3:a469bbd294b5 | 865 | val1[0]=posForQuinc & 0x000000FF; |
nerit | 3:a469bbd294b5 | 866 | //double pass = tractorSpeed_MtS_timed*100.0f; |
nerit | 3:a469bbd294b5 | 867 | double pass = speedOfSeedWheel*100.0f; |
nerit | 3:a469bbd294b5 | 868 | val1[4]=(uint8_t)(pass)&0x000000FF; |
nerit | 8:310f9e4eac7b | 869 | val1[5]=(prePosSD /0x00010000)&0x000000FF; |
nerit | 8:310f9e4eac7b | 870 | val1[6]=(prePosSD /0x00000100)&0x000000FF; |
nerit | 3:a469bbd294b5 | 871 | val1[7]=prePosSD & 0x000000FF; |
nerit | 3:a469bbd294b5 | 872 | #if defined(canbusActive) |
nerit | 3:a469bbd294b5 | 873 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 874 | if(can1.write(CANMessage(TX_SI, *&val1,8))) { |
nerit | 3:a469bbd294b5 | 875 | checkState=0; |
nerit | 3:a469bbd294b5 | 876 | } |
nerit | 3:a469bbd294b5 | 877 | #endif |
nerit | 3:a469bbd294b5 | 878 | #endif |
nerit | 6:e8c18f0f399a | 879 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 880 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 881 | pc.printf("18\n"); |
nerit | 6:e8c18f0f399a | 882 | #endif |
nerit | 6:e8c18f0f399a | 883 | #endif |
nerit | 3:a469bbd294b5 | 884 | } |
nerit | 3:a469bbd294b5 | 885 | #endif |
nerit | 3:a469bbd294b5 | 886 | //******************************************************* |
nerit | 8:310f9e4eac7b | 887 | void upDateSpeed() |
nerit | 8:310f9e4eac7b | 888 | { |
nerit | 3:a469bbd294b5 | 889 | /* |
nerit | 3:a469bbd294b5 | 890 | aggiorna dati OPUSA3 |
nerit | 3:a469bbd294b5 | 891 | val1[0] contiene il dato di velocità |
nerit | 3:a469bbd294b5 | 892 | val1[1] contiene il byte basso della tabella allarmi |
nerit | 3:a469bbd294b5 | 893 | uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore) |
nerit | 3:a469bbd294b5 | 894 | uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo) |
nerit | 3:a469bbd294b5 | 895 | uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo ) |
nerit | 3:a469bbd294b5 | 896 | uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica) |
nerit | 3:a469bbd294b5 | 897 | uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente) |
nerit | 3:a469bbd294b5 | 898 | uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma) |
nerit | 3:a469bbd294b5 | 899 | uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore) |
nerit | 3:a469bbd294b5 | 900 | uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella) |
nerit | 3:a469bbd294b5 | 901 | uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati) |
nerit | 3:a469bbd294b5 | 902 | uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi) |
nerit | 3:a469bbd294b5 | 903 | uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore) |
nerit | 3:a469bbd294b5 | 904 | uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante) |
nerit | 3:a469bbd294b5 | 905 | uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita) |
nerit | 3:a469bbd294b5 | 906 | uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC) |
nerit | 3:a469bbd294b5 | 907 | uint8_t all_genericals = 0; // allarme generico |
nerit | 3:a469bbd294b5 | 908 | val1[2] contiene il byte alto della tabella di allarmi |
nerit | 3:a469bbd294b5 | 909 | val1[3] contiene i segnali per la diagnostica |
nerit | 3:a469bbd294b5 | 910 | bit 0= sensore ruota fonica |
nerit | 3:a469bbd294b5 | 911 | bit 1= sensore celle |
nerit | 3:a469bbd294b5 | 912 | bit 2= sensore posizione |
nerit | 3:a469bbd294b5 | 913 | bit 3= sensore becchi |
nerit | 3:a469bbd294b5 | 914 | bit 4= motore DC |
nerit | 3:a469bbd294b5 | 915 | bit 5= controller |
nerit | 3:a469bbd294b5 | 916 | bit 6= motore stepper |
nerit | 3:a469bbd294b5 | 917 | */ |
nerit | 8:310f9e4eac7b | 918 | char val1[8]= {0,0,0,0,0,0,0,0}; |
nerit | 3:a469bbd294b5 | 919 | |
nerit | 8:310f9e4eac7b | 920 | val1[3]=0; |
nerit | 8:310f9e4eac7b | 921 | val1[3]=val1[3]+(tractorSpeedRead*0x01); |
nerit | 8:310f9e4eac7b | 922 | val1[3]=val1[3]+(TBzeroPinInput*0x02); |
nerit | 8:310f9e4eac7b | 923 | val1[3]=val1[3]+(DcEncoder*0x04); |
nerit | 8:310f9e4eac7b | 924 | val1[3]=val1[3]+(seedWheelZeroPinInput*0x08); |
nerit | 10:9e70619e97ab | 925 | #if defined(simulaPerCan) |
nerit | 10:9e70619e97ab | 926 | if (buttonUser==0) { |
nerit | 10:9e70619e97ab | 927 | val1[1]=0x02; |
nerit | 10:9e70619e97ab | 928 | } else { |
nerit | 10:9e70619e97ab | 929 | val1[1]=0x00; |
nerit | 10:9e70619e97ab | 930 | } |
nerit | 10:9e70619e97ab | 931 | val1[3]=valore; |
nerit | 10:9e70619e97ab | 932 | valore+=1; |
nerit | 10:9e70619e97ab | 933 | if(valore>50) { |
nerit | 10:9e70619e97ab | 934 | valore=0; |
nerit | 10:9e70619e97ab | 935 | } |
nerit | 10:9e70619e97ab | 936 | tractorSpeed_MtS_timed=valore; |
nerit | 10:9e70619e97ab | 937 | oldLocalTractorSpeed=valore; |
nerit | 10:9e70619e97ab | 938 | #endif |
nerit | 3:a469bbd294b5 | 939 | allarmi(); |
nerit | 3:a469bbd294b5 | 940 | valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f; |
nerit | 3:a469bbd294b5 | 941 | val1[0]=valore; |
nerit | 3:a469bbd294b5 | 942 | val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80 |
nerit | 3:a469bbd294b5 | 943 | val1[2]=alarmLowRegister; // registro basso allarmi |
nerit | 3:a469bbd294b5 | 944 | //val1[3]=val1[3];// registro di stato degli ingressi |
nerit | 3:a469bbd294b5 | 945 | val1[4]=resetComandi; |
nerit | 3:a469bbd294b5 | 946 | val1[5]=cellsCounterLow; |
nerit | 3:a469bbd294b5 | 947 | val1[6]=cellsCounterHig; |
nerit | 10:9e70619e97ab | 948 | #if defined(canbusActive) |
nerit | 10:9e70619e97ab | 949 | if(can1.write(CANMessage(TX_ID, *&val1,8))) { |
nerit | 10:9e70619e97ab | 950 | checkState=0; |
nerit | 10:9e70619e97ab | 951 | } |
nerit | 10:9e70619e97ab | 952 | #endif |
nerit | 10:9e70619e97ab | 953 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 954 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 955 | pc.printf("19\n"); |
nerit | 10:9e70619e97ab | 956 | #endif |
nerit | 10:9e70619e97ab | 957 | #endif |
nerit | 3:a469bbd294b5 | 958 | } |
nerit | 3:a469bbd294b5 | 959 | //******************************************************* |
nerit | 8:310f9e4eac7b | 960 | void leggiCAN() |
nerit | 8:310f9e4eac7b | 961 | { |
nerit | 8:310f9e4eac7b | 962 | #if defined(canbusActive) |
nerit | 8:310f9e4eac7b | 963 | if(can1.read(rxMsg)) { |
nerit | 8:310f9e4eac7b | 964 | if (firstStart==1) { |
nerit | 8:310f9e4eac7b | 965 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 966 | sincUpdate.attach(&upDateSincro,0.012f);//0.009f |
nerit | 8:310f9e4eac7b | 967 | canUpdate.attach(&upDateSpeed,0.21f); |
nerit | 8:310f9e4eac7b | 968 | #else |
nerit | 8:310f9e4eac7b | 969 | canUpdate.attach(&upDateSpeed,0.407f); |
nerit | 8:310f9e4eac7b | 970 | #endif |
nerit | 8:310f9e4eac7b | 971 | firstStart=0; |
nerit | 8:310f9e4eac7b | 972 | } |
nerit | 8:310f9e4eac7b | 973 | if (rxMsg.id==RX_ID) { |
nerit | 8:310f9e4eac7b | 974 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 975 | #if defined(canDataReceiveda) |
nerit | 8:310f9e4eac7b | 976 | pc.printf("Messaggio ricevuto\n"); |
nerit | 3:a469bbd294b5 | 977 | #endif |
nerit | 8:310f9e4eac7b | 978 | #endif |
nerit | 8:310f9e4eac7b | 979 | } |
nerit | 8:310f9e4eac7b | 980 | if (rxMsg.id==RX_Broadcast) { |
nerit | 8:310f9e4eac7b | 981 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 982 | #if defined(canDataReceivedb) |
nerit | 3:a469bbd294b5 | 983 | pc.printf("BroadCast ricevuto\n"); |
nerit | 3:a469bbd294b5 | 984 | #endif |
nerit | 8:310f9e4eac7b | 985 | #endif |
nerit | 8:310f9e4eac7b | 986 | enableSimula= rxMsg.data[0]; |
nerit | 8:310f9e4eac7b | 987 | speedSimula = rxMsg.data[1]; |
nerit | 8:310f9e4eac7b | 988 | avviaSimula = rxMsg.data[2]; |
nerit | 8:310f9e4eac7b | 989 | selezionato = rxMsg.data[3]; |
nerit | 8:310f9e4eac7b | 990 | comandiDaCan = rxMsg.data[4]; |
nerit | 20:4a400a4cc419 | 991 | speedStepp = rxMsg.data[5]; |
nerit | 20:4a400a4cc419 | 992 | if (speedStepp==0){ |
nerit | 20:4a400a4cc419 | 993 | simStepper=0; |
nerit | 20:4a400a4cc419 | 994 | }else{ |
nerit | 20:4a400a4cc419 | 995 | simStepper=1; |
nerit | 20:4a400a4cc419 | 996 | } |
nerit | 8:310f9e4eac7b | 997 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 998 | #if defined(canDataReceived) |
nerit | 3:a469bbd294b5 | 999 | pc.printf("Speed simula %d \n",speedSimula); |
nerit | 3:a469bbd294b5 | 1000 | #endif |
nerit | 8:310f9e4eac7b | 1001 | #endif |
nerit | 8:310f9e4eac7b | 1002 | switch (comandiDaCan) { |
nerit | 8:310f9e4eac7b | 1003 | case 1: |
nerit | 8:310f9e4eac7b | 1004 | case 3: |
nerit | 8:310f9e4eac7b | 1005 | azzeraDaCan=1; |
nerit | 8:310f9e4eac7b | 1006 | resetComandi=0x01; |
nerit | 8:310f9e4eac7b | 1007 | comandiDaCan=0; |
nerit | 8:310f9e4eac7b | 1008 | break; |
nerit | 8:310f9e4eac7b | 1009 | case 2: |
nerit | 8:310f9e4eac7b | 1010 | loadDaCan=1; |
nerit | 8:310f9e4eac7b | 1011 | resetComandi=0x02; |
nerit | 8:310f9e4eac7b | 1012 | comandiDaCan=0; |
nerit | 8:310f9e4eac7b | 1013 | break; |
nerit | 8:310f9e4eac7b | 1014 | default: |
nerit | 8:310f9e4eac7b | 1015 | comandiDaCan=0; |
nerit | 8:310f9e4eac7b | 1016 | resetComandi=0xFF; |
nerit | 8:310f9e4eac7b | 1017 | break; |
nerit | 8:310f9e4eac7b | 1018 | } |
nerit | 8:310f9e4eac7b | 1019 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 1020 | #if defined(canDataReceivedR) |
nerit | 8:310f9e4eac7b | 1021 | pc.printf("Comandi: %x\n",resetComandi); |
nerit | 8:310f9e4eac7b | 1022 | #endif |
nerit | 8:310f9e4eac7b | 1023 | #endif |
nerit | 8:310f9e4eac7b | 1024 | if (speedSimula>45) { |
nerit | 8:310f9e4eac7b | 1025 | speedSimula=45; |
nerit | 8:310f9e4eac7b | 1026 | } |
nerit | 8:310f9e4eac7b | 1027 | // modulo 1 |
nerit | 8:310f9e4eac7b | 1028 | if (RX_ID==0x100) { |
nerit | 8:310f9e4eac7b | 1029 | if ((selezionato&0x01)==0x01) { |
nerit | 8:310f9e4eac7b | 1030 | simOk=1; |
nerit | 8:310f9e4eac7b | 1031 | } else { |
nerit | 8:310f9e4eac7b | 1032 | simOk=0; |
nerit | 3:a469bbd294b5 | 1033 | } |
nerit | 8:310f9e4eac7b | 1034 | } |
nerit | 8:310f9e4eac7b | 1035 | // modulo 2 |
nerit | 8:310f9e4eac7b | 1036 | if (RX_ID==0x102) { |
nerit | 8:310f9e4eac7b | 1037 | if ((selezionato&0x02)==0x02) { |
nerit | 8:310f9e4eac7b | 1038 | simOk=1; |
nerit | 8:310f9e4eac7b | 1039 | } else { |
nerit | 8:310f9e4eac7b | 1040 | simOk=0; |
nerit | 3:a469bbd294b5 | 1041 | } |
nerit | 8:310f9e4eac7b | 1042 | } |
nerit | 8:310f9e4eac7b | 1043 | // modulo 3 |
nerit | 8:310f9e4eac7b | 1044 | if (RX_ID==0x104) { |
nerit | 8:310f9e4eac7b | 1045 | if ((selezionato&0x04)==0x04) { |
nerit | 8:310f9e4eac7b | 1046 | simOk=1; |
nerit | 8:310f9e4eac7b | 1047 | } else { |
nerit | 8:310f9e4eac7b | 1048 | simOk=0; |
nerit | 3:a469bbd294b5 | 1049 | } |
nerit | 8:310f9e4eac7b | 1050 | } |
nerit | 8:310f9e4eac7b | 1051 | // modulo 4 |
nerit | 8:310f9e4eac7b | 1052 | if (RX_ID==0x106) { |
nerit | 8:310f9e4eac7b | 1053 | if ((selezionato&0x08)==0x08) { |
nerit | 8:310f9e4eac7b | 1054 | simOk=1; |
nerit | 8:310f9e4eac7b | 1055 | } else { |
nerit | 8:310f9e4eac7b | 1056 | simOk=0; |
nerit | 3:a469bbd294b5 | 1057 | } |
nerit | 8:310f9e4eac7b | 1058 | } |
nerit | 8:310f9e4eac7b | 1059 | // modulo 5 |
nerit | 8:310f9e4eac7b | 1060 | if (RX_ID==0x108) { |
nerit | 8:310f9e4eac7b | 1061 | if ((selezionato&0x10)==0x10) { |
nerit | 8:310f9e4eac7b | 1062 | simOk=1; |
nerit | 8:310f9e4eac7b | 1063 | } else { |
nerit | 8:310f9e4eac7b | 1064 | simOk=0; |
nerit | 3:a469bbd294b5 | 1065 | } |
nerit | 3:a469bbd294b5 | 1066 | } |
nerit | 8:310f9e4eac7b | 1067 | |
nerit | 8:310f9e4eac7b | 1068 | } |
nerit | 14:e2b5efa06c41 | 1069 | //if (tractorSpeed_MtS_timed <= 0.01f){ |
nerit | 8:310f9e4eac7b | 1070 | if (rxMsg.id==RX_Settings) { |
nerit | 14:e2b5efa06c41 | 1071 | //if (tractorSpeed_MtS_timed==0.0f) { |
nerit | 3:a469bbd294b5 | 1072 | pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina |
nerit | 3:a469bbd294b5 | 1073 | cellsNumber = rxMsg.data[1]; // numero di celle del tamburo |
nerit | 17:9629eb019892 | 1074 | deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding |
nerit | 5:2a3a64b52f54 | 1075 | seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting |
nerit | 5:2a3a64b52f54 | 1076 | 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 | 1077 | 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 | 1078 | aggiornaParametri(); |
nerit | 14:e2b5efa06c41 | 1079 | //} |
nerit | 3:a469bbd294b5 | 1080 | } |
nerit | 14:e2b5efa06c41 | 1081 | if (tractorSpeed_MtS_timed <= 0.01f){ |
nerit | 8:310f9e4eac7b | 1082 | if (rxMsg.id==RX_AngoloPh) { |
nerit | 8:310f9e4eac7b | 1083 | if (tractorSpeed_MtS_timed==0.0f) { |
nerit | 3:a469bbd294b5 | 1084 | #if defined(M1) |
nerit | 3:a469bbd294b5 | 1085 | angoloPh = (double) rxMsg.data[0] ; |
nerit | 3:a469bbd294b5 | 1086 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1087 | #endif |
nerit | 3:a469bbd294b5 | 1088 | #if defined(M2) |
nerit | 3:a469bbd294b5 | 1089 | angoloPh = (double) rxMsg.data[1] ; |
nerit | 3:a469bbd294b5 | 1090 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1091 | #endif |
nerit | 3:a469bbd294b5 | 1092 | #if defined(M3) |
nerit | 3:a469bbd294b5 | 1093 | angoloPh = (double) rxMsg.data[2] ; |
nerit | 3:a469bbd294b5 | 1094 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1095 | #endif |
nerit | 3:a469bbd294b5 | 1096 | #if defined(M4) |
nerit | 3:a469bbd294b5 | 1097 | angoloPh = (double) rxMsg.data[3] ; |
nerit | 3:a469bbd294b5 | 1098 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1099 | #endif |
nerit | 3:a469bbd294b5 | 1100 | #if defined(M5) |
nerit | 3:a469bbd294b5 | 1101 | angoloPh = (double) rxMsg.data[4] ; |
nerit | 3:a469bbd294b5 | 1102 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1103 | #endif |
nerit | 3:a469bbd294b5 | 1104 | #if defined(M6) |
nerit | 3:a469bbd294b5 | 1105 | angoloPh = (double) rxMsg.data[5] ; |
nerit | 3:a469bbd294b5 | 1106 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1107 | #endif |
nerit | 3:a469bbd294b5 | 1108 | } |
nerit | 3:a469bbd294b5 | 1109 | } |
nerit | 8:310f9e4eac7b | 1110 | if (rxMsg.id==RX_AngoloAv) { |
nerit | 8:310f9e4eac7b | 1111 | if (tractorSpeed_MtS_timed==0.0f) { |
nerit | 3:a469bbd294b5 | 1112 | #if defined(M1) |
nerit | 3:a469bbd294b5 | 1113 | angoloAv = (double) rxMsg.data[0] ; |
nerit | 3:a469bbd294b5 | 1114 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1115 | #endif |
nerit | 3:a469bbd294b5 | 1116 | #if defined(M2) |
nerit | 3:a469bbd294b5 | 1117 | angoloAv = (double) rxMsg.data[1] ; |
nerit | 3:a469bbd294b5 | 1118 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1119 | #endif |
nerit | 3:a469bbd294b5 | 1120 | #if defined(M3) |
nerit | 3:a469bbd294b5 | 1121 | angoloAv = (double) rxMsg.data[2] ; |
nerit | 3:a469bbd294b5 | 1122 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1123 | #endif |
nerit | 3:a469bbd294b5 | 1124 | #if defined(M4) |
nerit | 3:a469bbd294b5 | 1125 | angoloAv = (double) rxMsg.data[3] ; |
nerit | 3:a469bbd294b5 | 1126 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1127 | #endif |
nerit | 3:a469bbd294b5 | 1128 | #if defined(M5) |
nerit | 3:a469bbd294b5 | 1129 | angoloAv = (double) rxMsg.data[4] ; |
nerit | 3:a469bbd294b5 | 1130 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1131 | #endif |
nerit | 3:a469bbd294b5 | 1132 | #if defined(M6) |
nerit | 3:a469bbd294b5 | 1133 | angoloAv = (double) rxMsg.data[5] ; |
nerit | 3:a469bbd294b5 | 1134 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1135 | #endif |
nerit | 3:a469bbd294b5 | 1136 | } |
nerit | 3:a469bbd294b5 | 1137 | } |
nerit | 8:310f9e4eac7b | 1138 | if (rxMsg.id==RX_Quinconce) { |
nerit | 8:310f9e4eac7b | 1139 | if (tractorSpeed_MtS_timed==0.0f) { |
nerit | 8:310f9e4eac7b | 1140 | quinconceActive = (uint8_t) rxMsg.data[0]; |
nerit | 8:310f9e4eac7b | 1141 | quincPIDminus = (uint8_t) rxMsg.data[1]; |
nerit | 8:310f9e4eac7b | 1142 | quincPIDplus = (uint8_t) rxMsg.data[2]; |
nerit | 8:310f9e4eac7b | 1143 | quincLIMminus = (uint8_t) rxMsg.data[3]; |
nerit | 8:310f9e4eac7b | 1144 | quincLIMplus = (uint8_t) rxMsg.data[4]; |
nerit | 3:a469bbd294b5 | 1145 | quincSector = (uint8_t) rxMsg.data[5]; |
nerit | 3:a469bbd294b5 | 1146 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1147 | } |
nerit | 3:a469bbd294b5 | 1148 | } |
nerit | 8:310f9e4eac7b | 1149 | } |
nerit | 8:310f9e4eac7b | 1150 | if (tractorSpeed_MtS_timed > 0.0f){ |
nerit | 8:310f9e4eac7b | 1151 | if (rxMsg.id==RX_QuincSinc) { |
nerit | 8:310f9e4eac7b | 1152 | masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000; |
nerit | 8:310f9e4eac7b | 1153 | masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000); |
nerit | 8:310f9e4eac7b | 1154 | masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100); |
nerit | 3:a469bbd294b5 | 1155 | masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]); |
nerit | 3:a469bbd294b5 | 1156 | speedFromMaster = (double)rxMsg.data[4]/100.0f; |
nerit | 8:310f9e4eac7b | 1157 | mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000); |
nerit | 8:310f9e4eac7b | 1158 | mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100); |
nerit | 3:a469bbd294b5 | 1159 | mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]); |
nerit | 3:a469bbd294b5 | 1160 | canDataCheck=1; |
nerit | 3:a469bbd294b5 | 1161 | } |
nerit | 8:310f9e4eac7b | 1162 | } |
nerit | 8:310f9e4eac7b | 1163 | if (tractorSpeed_MtS_timed <= 0.01f){ |
nerit | 8:310f9e4eac7b | 1164 | if (rxMsg.id==RX_Configure) { |
nerit | 3:a469bbd294b5 | 1165 | uint8_t flags = rxMsg.data[0]; |
nerit | 3:a469bbd294b5 | 1166 | uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100; |
nerit | 3:a469bbd294b5 | 1167 | steps = steps + ((uint32_t)rxMsg.data[1]); |
nerit | 3:a469bbd294b5 | 1168 | TBmotorSteps =steps; |
nerit | 8:310f9e4eac7b | 1169 | //stepSetting(); |
nerit | 3:a469bbd294b5 | 1170 | cellsCountSet = rxMsg.data[3]; |
nerit | 8:310f9e4eac7b | 1171 | if ((flags&0x01)==0x01) { |
nerit | 8:310f9e4eac7b | 1172 | if (encoder==false) { |
nerit | 3:a469bbd294b5 | 1173 | encoder=true; |
nerit | 22:2136dcad1dbc | 1174 | speedFromPick=0; |
nerit | 3:a469bbd294b5 | 1175 | DcEncoder.rise(NULL); |
nerit | 3:a469bbd294b5 | 1176 | dcSetting(); |
nerit | 3:a469bbd294b5 | 1177 | } |
nerit | 8:310f9e4eac7b | 1178 | } else { |
nerit | 8:310f9e4eac7b | 1179 | if (encoder==true) { |
nerit | 3:a469bbd294b5 | 1180 | encoder=false; |
nerit | 22:2136dcad1dbc | 1181 | speedFromPick=1; |
nerit | 3:a469bbd294b5 | 1182 | DcEncoder.rise(NULL); |
nerit | 3:a469bbd294b5 | 1183 | dcSetting(); |
nerit | 3:a469bbd294b5 | 1184 | } |
nerit | 3:a469bbd294b5 | 1185 | } |
nerit | 8:310f9e4eac7b | 1186 | if ((flags&0x02)==0x02) { |
nerit | 3:a469bbd294b5 | 1187 | tankLevelEnable=true; |
nerit | 8:310f9e4eac7b | 1188 | } else { |
nerit | 3:a469bbd294b5 | 1189 | tankLevelEnable=false; |
nerit | 3:a469bbd294b5 | 1190 | } |
nerit | 8:310f9e4eac7b | 1191 | if ((flags&0x04)==0x04) { |
nerit | 3:a469bbd294b5 | 1192 | seedSensorEnable=true; |
nerit | 8:310f9e4eac7b | 1193 | } else { |
nerit | 3:a469bbd294b5 | 1194 | seedSensorEnable=false; |
nerit | 3:a469bbd294b5 | 1195 | } |
nerit | 8:310f9e4eac7b | 1196 | if ((flags&0x08)==0x08) { |
nerit | 24:2b5e749e26b2 | 1197 | drumSelect=true; // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO |
nerit | 8:310f9e4eac7b | 1198 | } else { |
nerit | 24:2b5e749e26b2 | 1199 | drumSelect=false; |
nerit | 3:a469bbd294b5 | 1200 | } |
nerit | 8:310f9e4eac7b | 1201 | if ((flags&0x10)==0x10) { |
nerit | 3:a469bbd294b5 | 1202 | canDataCheckEnable=true; |
nerit | 8:310f9e4eac7b | 1203 | } else { |
nerit | 3:a469bbd294b5 | 1204 | canDataCheckEnable=false; |
nerit | 3:a469bbd294b5 | 1205 | } |
nerit | 8:310f9e4eac7b | 1206 | if ((flags&0x20)==0x20) { |
nerit | 3:a469bbd294b5 | 1207 | tamburoStandard=1; |
nerit | 8:310f9e4eac7b | 1208 | } else { |
nerit | 3:a469bbd294b5 | 1209 | tamburoStandard=0; |
nerit | 3:a469bbd294b5 | 1210 | } |
nerit | 8:310f9e4eac7b | 1211 | if ((flags&0x40)==0x40) { |
nerit | 3:a469bbd294b5 | 1212 | currentCheckEnable=true; |
nerit | 8:310f9e4eac7b | 1213 | } else { |
nerit | 3:a469bbd294b5 | 1214 | currentCheckEnable=false; |
nerit | 3:a469bbd294b5 | 1215 | } |
nerit | 3:a469bbd294b5 | 1216 | } |
nerit | 8:310f9e4eac7b | 1217 | } |
nerit | 8:310f9e4eac7b | 1218 | } |
nerit | 10:9e70619e97ab | 1219 | #endif |
nerit | 10:9e70619e97ab | 1220 | #if defined(overWriteCanSimulation) |
nerit | 10:9e70619e97ab | 1221 | enableSimula=1; |
nerit | 10:9e70619e97ab | 1222 | speedSimula=25; |
nerit | 10:9e70619e97ab | 1223 | avviaSimula=1; |
nerit | 10:9e70619e97ab | 1224 | simOk=1; |
nerit | 10:9e70619e97ab | 1225 | #endif |
nerit | 10:9e70619e97ab | 1226 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1227 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 1228 | pc.printf("20\n"); |
nerit | 10:9e70619e97ab | 1229 | #endif |
nerit | 10:9e70619e97ab | 1230 | #endif |
bcostm | 0:5701b41769fd | 1231 | } |
bcostm | 0:5701b41769fd | 1232 | |
nerit | 3:a469bbd294b5 | 1233 | //******************************************************* |
nerit | 8:310f9e4eac7b | 1234 | void DC_CheckCurrent() |
nerit | 8:310f9e4eac7b | 1235 | { |
nerit | 8:310f9e4eac7b | 1236 | |
nerit | 3:a469bbd294b5 | 1237 | // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire |
nerit | 3:a469bbd294b5 | 1238 | // gli allarmi e le correzioni di velocità |
nerit | 8:310f9e4eac7b | 1239 | |
nerit | 3:a469bbd294b5 | 1240 | //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 | 1241 | //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0}; |
nerit | 3:a469bbd294b5 | 1242 | // Analog reading |
nerit | 3:a469bbd294b5 | 1243 | //number = floor(number * 100) / 100; |
nerit | 8:310f9e4eac7b | 1244 | timeout.detach(); |
nerit | 8:310f9e4eac7b | 1245 | SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00 |
nerit | 12:b0fc1d313813 | 1246 | SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10; |
nerit | 3:a469bbd294b5 | 1247 | } |
nerit | 3:a469bbd294b5 | 1248 | //******************************************************* |
nerit | 8:310f9e4eac7b | 1249 | void DC_prepare() |
nerit | 8:310f9e4eac7b | 1250 | { |
nerit | 3:a469bbd294b5 | 1251 | // direction or brake preparation |
nerit | 8:310f9e4eac7b | 1252 | if (DC_brake==1) { |
nerit | 3:a469bbd294b5 | 1253 | SDmotorInA=1; |
nerit | 3:a469bbd294b5 | 1254 | SDmotorInB=1; |
nerit | 8:310f9e4eac7b | 1255 | } else { |
nerit | 8:310f9e4eac7b | 1256 | if (DC_forward==0) { |
nerit | 3:a469bbd294b5 | 1257 | SDmotorInA=1; |
nerit | 3:a469bbd294b5 | 1258 | SDmotorInB=0; |
nerit | 8:310f9e4eac7b | 1259 | } else { |
nerit | 3:a469bbd294b5 | 1260 | SDmotorInA=0; |
nerit | 3:a469bbd294b5 | 1261 | SDmotorInB=1; |
nerit | 3:a469bbd294b5 | 1262 | } |
nerit | 3:a469bbd294b5 | 1263 | } |
nerit | 3:a469bbd294b5 | 1264 | // fault reading |
nerit | 8:310f9e4eac7b | 1265 | if (SDmotorInA==1) { |
nerit | 8:310f9e4eac7b | 1266 | SD_faultA=1; |
nerit | 8:310f9e4eac7b | 1267 | } else { |
nerit | 8:310f9e4eac7b | 1268 | SD_faultA=0; |
nerit | 8:310f9e4eac7b | 1269 | } |
nerit | 8:310f9e4eac7b | 1270 | if (SDmotorInB==1) { |
nerit | 8:310f9e4eac7b | 1271 | SD_faultB=1; |
nerit | 8:310f9e4eac7b | 1272 | } else { |
nerit | 8:310f9e4eac7b | 1273 | SD_faultB=0; |
nerit | 8:310f9e4eac7b | 1274 | } |
nerit | 10:9e70619e97ab | 1275 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1276 | #if defined(checkLoopa) |
nerit | 10:9e70619e97ab | 1277 | pc.printf("22\n"); |
nerit | 10:9e70619e97ab | 1278 | #endif |
nerit | 10:9e70619e97ab | 1279 | #endif |
nerit | 3:a469bbd294b5 | 1280 | } |
nerit | 3:a469bbd294b5 | 1281 | //******************************************************* |
nerit | 12:b0fc1d313813 | 1282 | void startDelay(){ |
nerit | 12:b0fc1d313813 | 1283 | SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00 |
nerit | 12:b0fc1d313813 | 1284 | int ritardo =0; |
nerit | 12:b0fc1d313813 | 1285 | ritardo = (int)((float)(dcActualDuty*800.0f)); |
nerit | 12:b0fc1d313813 | 1286 | timeout.attach_us(&DC_CheckCurrent,ritardo); |
nerit | 3:a469bbd294b5 | 1287 | } |
nerit | 3:a469bbd294b5 | 1288 | //******************************************************* |
nerit | 10:9e70619e97ab | 1289 | void quincTrigon(){ |
nerit | 3:a469bbd294b5 | 1290 | quincClock=true; |
nerit | 10:9e70619e97ab | 1291 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1292 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 1293 | pc.printf("24\n"); |
nerit | 10:9e70619e97ab | 1294 | #endif |
nerit | 10:9e70619e97ab | 1295 | #endif |
nerit | 3:a469bbd294b5 | 1296 | } |
nerit | 10:9e70619e97ab | 1297 | void quincTrigof(){ |
nerit | 3:a469bbd294b5 | 1298 | quincClock=false; |
nerit | 10:9e70619e97ab | 1299 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1300 | #if defined(checkLoop) |
nerit | 10:9e70619e97ab | 1301 | pc.printf("25\n"); |
nerit | 10:9e70619e97ab | 1302 | #endif |
nerit | 10:9e70619e97ab | 1303 | #endif |
nerit | 3:a469bbd294b5 | 1304 | } |
nerit | 3:a469bbd294b5 | 1305 | //******************************************************* |
nerit | 8:310f9e4eac7b | 1306 | void quinCalc() |
nerit | 8:310f9e4eac7b | 1307 | { |
nerit | 3:a469bbd294b5 | 1308 | // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore |
nerit | 10:9e70619e97ab | 1309 | #if !defined(mezzo) |
nerit | 10:9e70619e97ab | 1310 | if ((quincClock==true)&&(oldQuincIn==0)) { |
nerit | 10:9e70619e97ab | 1311 | oldQuincIn=1; |
nerit | 10:9e70619e97ab | 1312 | if (quincStart==0) { |
nerit | 10:9e70619e97ab | 1313 | oldQuincTimeSD = (double) quincTimeSD.read_ms(); |
nerit | 10:9e70619e97ab | 1314 | quincTime.reset(); |
nerit | 10:9e70619e97ab | 1315 | quincTimeSD.reset(); |
nerit | 10:9e70619e97ab | 1316 | quincStart=1; |
nerit | 10:9e70619e97ab | 1317 | } |
nerit | 3:a469bbd294b5 | 1318 | } |
nerit | 10:9e70619e97ab | 1319 | if(quincClock==false) { |
nerit | 3:a469bbd294b5 | 1320 | oldQuincIn=0; |
nerit | 3:a469bbd294b5 | 1321 | } |
nerit | 10:9e70619e97ab | 1322 | #else |
nerit | 10:9e70619e97ab | 1323 | if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) { |
nerit | 10:9e70619e97ab | 1324 | oldQuincIn=1; |
nerit | 10:9e70619e97ab | 1325 | if (quincStart==0) { |
nerit | 10:9e70619e97ab | 1326 | oldQuincTimeSD = (double) quincTimeSD.read_ms(); |
nerit | 10:9e70619e97ab | 1327 | quincTime.reset(); |
nerit | 10:9e70619e97ab | 1328 | quincStart=1; |
nerit | 10:9e70619e97ab | 1329 | } |
nerit | 3:a469bbd294b5 | 1330 | } |
nerit | 10:9e70619e97ab | 1331 | if (quinconceActive==0) { |
nerit | 10:9e70619e97ab | 1332 | if (quincClock==false) { |
nerit | 10:9e70619e97ab | 1333 | oldQuincIn=0; |
nerit | 10:9e70619e97ab | 1334 | } |
nerit | 10:9e70619e97ab | 1335 | } else { |
nerit | 10:9e70619e97ab | 1336 | if (quincClock==true) { |
nerit | 10:9e70619e97ab | 1337 | oldQuincIn=0; |
nerit | 10:9e70619e97ab | 1338 | } |
nerit | 10:9e70619e97ab | 1339 | } |
nerit | 10:9e70619e97ab | 1340 | #endif |
nerit | 3:a469bbd294b5 | 1341 | //**************************************************************************************** |
nerit | 8:310f9e4eac7b | 1342 | if (quincCnt>=4) { |
nerit | 8:310f9e4eac7b | 1343 | if (countPicks==0) { |
nerit | 8:310f9e4eac7b | 1344 | if ((sincroQui==1)&&(quincStart==0)) { |
nerit | 3:a469bbd294b5 | 1345 | // decelera |
nerit | 3:a469bbd294b5 | 1346 | countPicks=1; |
nerit | 3:a469bbd294b5 | 1347 | } |
nerit | 8:310f9e4eac7b | 1348 | if ((sincroQui==0)&&(quincStart==1)) { |
nerit | 3:a469bbd294b5 | 1349 | // accelera |
nerit | 3:a469bbd294b5 | 1350 | countPicks=2; |
nerit | 3:a469bbd294b5 | 1351 | } |
nerit | 3:a469bbd294b5 | 1352 | } |
nerit | 8:310f9e4eac7b | 1353 | if ((sincroQui==1)&&(quincStart==1)) { |
nerit | 8:310f9e4eac7b | 1354 | if (countPicks==1) { //decelera |
nerit | 3:a469bbd294b5 | 1355 | scostamento = oldQuincTimeSD; |
nerit | 17:9629eb019892 | 1356 | if ((scostamento < (tempoBecchiPerQuinc*0.85f))) { |
nerit | 3:a469bbd294b5 | 1357 | double scostPerc = (scostamento/tempoBecchiPerQuinc); |
nerit | 3:a469bbd294b5 | 1358 | percento -= ((double)quincPIDminus/100.0f)*(scostPerc); |
nerit | 3:a469bbd294b5 | 1359 | #if defined(pcSerial) |
nerit | 3:a469bbd294b5 | 1360 | #if defined(laq) |
nerit | 3:a469bbd294b5 | 1361 | pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento); |
nerit | 3:a469bbd294b5 | 1362 | #endif |
nerit | 3:a469bbd294b5 | 1363 | #endif |
nerit | 3:a469bbd294b5 | 1364 | } |
nerit | 3:a469bbd294b5 | 1365 | //if (scostamento <15.0f){percento=0.0f;} |
nerit | 3:a469bbd294b5 | 1366 | } |
nerit | 8:310f9e4eac7b | 1367 | if (countPicks==2) { //accelera |
nerit | 3:a469bbd294b5 | 1368 | scostamento = (double)quincTime.read_ms(); |
nerit | 17:9629eb019892 | 1369 | if (scostamento < (tempoBecchiPerQuinc*0.85f)) { |
nerit | 3:a469bbd294b5 | 1370 | double scostPerc = (scostamento/tempoBecchiPerQuinc); |
nerit | 3:a469bbd294b5 | 1371 | percento += ((double)quincPIDplus/100.0f)*(scostPerc); |
nerit | 3:a469bbd294b5 | 1372 | #if defined(pcSerial) |
nerit | 3:a469bbd294b5 | 1373 | #if defined(laq) |
nerit | 8:310f9e4eac7b | 1374 | pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento); |
nerit | 3:a469bbd294b5 | 1375 | #endif |
nerit | 3:a469bbd294b5 | 1376 | #endif |
nerit | 3:a469bbd294b5 | 1377 | } |
nerit | 3:a469bbd294b5 | 1378 | //if (scostamento <15.0f){percento=0.0f;} |
nerit | 3:a469bbd294b5 | 1379 | } |
nerit | 3:a469bbd294b5 | 1380 | sincroQui=0; |
nerit | 3:a469bbd294b5 | 1381 | quincStart=0; |
nerit | 3:a469bbd294b5 | 1382 | countPicks=0; |
nerit | 5:2a3a64b52f54 | 1383 | // questo e il primo |
nerit | 3:a469bbd294b5 | 1384 | #if !defined(speedMaster) |
nerit | 8:310f9e4eac7b | 1385 | if (quincCnt>=3) { |
nerit | 8:310f9e4eac7b | 1386 | if (speedFromMaster>0.0f) { |
nerit | 8:310f9e4eac7b | 1387 | if (enableSimula==0) { |
nerit | 8:310f9e4eac7b | 1388 | tractorSpeed_MtS_timed = speedFromMaster + percento; |
nerit | 14:e2b5efa06c41 | 1389 | /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){ |
nerit | 10:9e70619e97ab | 1390 | tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f; |
nerit | 10:9e70619e97ab | 1391 | } |
nerit | 13:d1030d4e51a8 | 1392 | if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){ |
nerit | 10:9e70619e97ab | 1393 | tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f; |
nerit | 14:e2b5efa06c41 | 1394 | }*/ |
nerit | 3:a469bbd294b5 | 1395 | } |
nerit | 8:310f9e4eac7b | 1396 | } |
nerit | 3:a469bbd294b5 | 1397 | } |
nerit | 3:a469bbd294b5 | 1398 | #endif |
nerit | 3:a469bbd294b5 | 1399 | } |
nerit | 8:310f9e4eac7b | 1400 | |
nerit | 3:a469bbd294b5 | 1401 | //******************************************************************* |
nerit | 8:310f9e4eac7b | 1402 | if (canDataCheckEnable==true) { |
nerit | 8:310f9e4eac7b | 1403 | if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master |
nerit | 3:a469bbd294b5 | 1404 | canDataCheck=0; |
nerit | 17:9629eb019892 | 1405 | double parametro = SDsectorStep/(double)quincSector; |
nerit | 3:a469bbd294b5 | 1406 | double differenza=0.0f; |
nerit | 3:a469bbd294b5 | 1407 | #if defined(mezzo) |
nerit | 8:310f9e4eac7b | 1408 | if (quinconceActive==1) { |
nerit | 3:a469bbd294b5 | 1409 | differenza = (double)masterSinc - (double)prePosSD; |
nerit | 8:310f9e4eac7b | 1410 | } else { |
nerit | 3:a469bbd294b5 | 1411 | differenza = (double)mast2_Sinc - (double)prePosSD; |
nerit | 3:a469bbd294b5 | 1412 | } |
nerit | 3:a469bbd294b5 | 1413 | #else |
nerit | 3:a469bbd294b5 | 1414 | differenza = (double)mast2_Sinc - (double)prePosSD; |
nerit | 3:a469bbd294b5 | 1415 | #endif |
nerit | 17:9629eb019892 | 1416 | if (abs(differenza)<=50.0f){differenza=0.0f;} |
nerit | 8:310f9e4eac7b | 1417 | if ((differenza > 0.0f)&&(differenza < parametro)) { |
nerit | 8:310f9e4eac7b | 1418 | double diffPerc = differenza / parametro; |
nerit | 3:a469bbd294b5 | 1419 | percento += ((double)quincPIDplus/100.0f)*abs(diffPerc); |
nerit | 3:a469bbd294b5 | 1420 | } |
nerit | 8:310f9e4eac7b | 1421 | if ((differenza < 0.0f)&&(abs(differenza) < parametro)) { |
nerit | 8:310f9e4eac7b | 1422 | double diffPerc = (double)differenza / parametro; |
nerit | 3:a469bbd294b5 | 1423 | percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc); |
nerit | 3:a469bbd294b5 | 1424 | } |
nerit | 5:2a3a64b52f54 | 1425 | // questo e il secondo |
nerit | 3:a469bbd294b5 | 1426 | #if !defined(speedMaster) |
nerit | 8:310f9e4eac7b | 1427 | if (quincCnt>=3) { |
nerit | 8:310f9e4eac7b | 1428 | if (speedFromMaster>0.0f) { |
nerit | 8:310f9e4eac7b | 1429 | if (enableSimula==0) { |
nerit | 5:2a3a64b52f54 | 1430 | tractorSpeed_MtS_timed = speedFromMaster + percento; |
nerit | 14:e2b5efa06c41 | 1431 | /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){ |
nerit | 10:9e70619e97ab | 1432 | tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f; |
nerit | 10:9e70619e97ab | 1433 | } |
nerit | 13:d1030d4e51a8 | 1434 | if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){ |
nerit | 10:9e70619e97ab | 1435 | tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f; |
nerit | 14:e2b5efa06c41 | 1436 | }*/ |
nerit | 3:a469bbd294b5 | 1437 | } |
nerit | 5:2a3a64b52f54 | 1438 | } |
nerit | 3:a469bbd294b5 | 1439 | } |
nerit | 3:a469bbd294b5 | 1440 | #endif |
nerit | 3:a469bbd294b5 | 1441 | } |
nerit | 3:a469bbd294b5 | 1442 | } |
nerit | 8:310f9e4eac7b | 1443 | |
nerit | 3:a469bbd294b5 | 1444 | } |
nerit | 8:310f9e4eac7b | 1445 | if ((percento) > ((double) quincLIMplus/100.0f)) { |
nerit | 3:a469bbd294b5 | 1446 | percento= (double)quincLIMplus/100.0f; |
nerit | 3:a469bbd294b5 | 1447 | } |
nerit | 8:310f9e4eac7b | 1448 | if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) { |
nerit | 3:a469bbd294b5 | 1449 | percento=((double)quincLIMminus*-1.0f)/100.0f; |
bcostm | 0:5701b41769fd | 1450 | } |
nerit | 6:e8c18f0f399a | 1451 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 1452 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 1453 | pc.printf("26\n"); |
nerit | 6:e8c18f0f399a | 1454 | #endif |
nerit | 6:e8c18f0f399a | 1455 | #endif |
bcostm | 0:5701b41769fd | 1456 | } |
nerit | 8:310f9e4eac7b | 1457 | // ---------------------------------------- |
nerit | 3:a469bbd294b5 | 1458 | #if defined(seedSensor) |
nerit | 3:a469bbd294b5 | 1459 | void resetDelay(){ |
nerit | 3:a469bbd294b5 | 1460 | delaySeedCheck.reset(); |
nerit | 3:a469bbd294b5 | 1461 | delaySeedCheck.stop(); |
nerit | 8:310f9e4eac7b | 1462 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 1463 | #if defined(checkLoop) |
nerit | 8:310f9e4eac7b | 1464 | pc.printf("27\n"); |
nerit | 8:310f9e4eac7b | 1465 | #endif |
nerit | 6:e8c18f0f399a | 1466 | #endif |
nerit | 3:a469bbd294b5 | 1467 | } |
nerit | 3:a469bbd294b5 | 1468 | #endif |
nerit | 18:7c978f69cc51 | 1469 | // ---------------------------------------- |
nerit | 17:9629eb019892 | 1470 | void aggiornati(){ |
nerit | 17:9629eb019892 | 1471 | #if defined(runner) |
nerit | 17:9629eb019892 | 1472 | legPos.detach(); |
nerit | 17:9629eb019892 | 1473 | TBoldPosition= (uint32_t) motor->get_position(); |
nerit | 17:9629eb019892 | 1474 | legPos.attach(&step_Reading,0.002f); |
nerit | 17:9629eb019892 | 1475 | #if defined(pcSerial) |
nerit | 17:9629eb019892 | 1476 | #if defined(TBperS) |
nerit | 17:9629eb019892 | 1477 | pc.printf("TBoldPos: %d\n",TBoldPosition); |
nerit | 17:9629eb019892 | 1478 | #endif |
nerit | 17:9629eb019892 | 1479 | #endif |
nerit | 17:9629eb019892 | 1480 | |
nerit | 17:9629eb019892 | 1481 | #else |
nerit | 17:9629eb019892 | 1482 | TBactualPosition=0; |
nerit | 17:9629eb019892 | 1483 | #endif |
nerit | 17:9629eb019892 | 1484 | } |
nerit | 17:9629eb019892 | 1485 | |
nerit | 3:a469bbd294b5 | 1486 | // ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
nerit | 3:a469bbd294b5 | 1487 | // MAIN SECTION |
nerit | 3:a469bbd294b5 | 1488 | // --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
bcostm | 0:5701b41769fd | 1489 | |
nerit | 3:a469bbd294b5 | 1490 | //******************************************************************************* |
nerit | 8:310f9e4eac7b | 1491 | int main() |
nerit | 8:310f9e4eac7b | 1492 | { |
nerit | 6:e8c18f0f399a | 1493 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 1494 | #if defined(resetCpu) |
nerit | 6:e8c18f0f399a | 1495 | pc.printf("RESET\n"); |
nerit | 6:e8c18f0f399a | 1496 | #endif |
nerit | 6:e8c18f0f399a | 1497 | #endif |
nerit | 8:310f9e4eac7b | 1498 | |
nerit | 8:310f9e4eac7b | 1499 | #if defined(canbusActive) |
nerit | 8:310f9e4eac7b | 1500 | can1.attach(&leggiCAN, CAN::RxIrq); |
nerit | 8:310f9e4eac7b | 1501 | #endif |
nerit | 8:310f9e4eac7b | 1502 | |
nerit | 8:310f9e4eac7b | 1503 | wait(1.0f); |
nerit | 8:310f9e4eac7b | 1504 | wait(1.0f); |
nerit | 19:231b8931cabc | 1505 | wait(ritAvv); |
nerit | 8:310f9e4eac7b | 1506 | |
nerit | 8:310f9e4eac7b | 1507 | //stepSetting(); |
nerit | 8:310f9e4eac7b | 1508 | |
nerit | 6:e8c18f0f399a | 1509 | TBmotor_SW=1; |
nerit | 8:310f9e4eac7b | 1510 | TBmotorDirecti=TBforward; // reset stepper direction |
nerit | 8:310f9e4eac7b | 1511 | //----- Initialization |
nerit | 8:310f9e4eac7b | 1512 | /* Initializing SPI bus. */ |
nerit | 8:310f9e4eac7b | 1513 | // dev_spi(mosi,miso,sclk) |
nerit | 8:310f9e4eac7b | 1514 | // D11= PA7; D12= PA6; D13= PA5 |
nerit | 8:310f9e4eac7b | 1515 | DevSPI dev_spi(D11, D12, D13); |
nerit | 10:9e70619e97ab | 1516 | dev_spi.frequency(5000000); |
nerit | 10:9e70619e97ab | 1517 | |
nerit | 8:310f9e4eac7b | 1518 | /* Initializing Motor Control Component. */ |
nerit | 8:310f9e4eac7b | 1519 | // powerstep01( flag, busy,stby, stck, cs, dev_spi) |
nerit | 8:310f9e4eac7b | 1520 | // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1 |
nerit | 8:310f9e4eac7b | 1521 | motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7 |
nerit | 8:310f9e4eac7b | 1522 | if (motor->init(&init) != COMPONENT_OK) { |
nerit | 6:e8c18f0f399a | 1523 | exit(EXIT_FAILURE); |
nerit | 8:310f9e4eac7b | 1524 | } |
nerit | 6:e8c18f0f399a | 1525 | |
nerit | 8:310f9e4eac7b | 1526 | /* Attaching and enabling an interrupt handler. */ |
nerit | 8:310f9e4eac7b | 1527 | motor->attach_flag_irq(&my_flag_irq_handler); |
nerit | 8:310f9e4eac7b | 1528 | motor->enable_flag_irq(); |
nerit | 8:310f9e4eac7b | 1529 | //motor->disable_flag_irq(); |
nerit | 8:310f9e4eac7b | 1530 | |
nerit | 8:310f9e4eac7b | 1531 | /* Attaching an error handler */ |
nerit | 8:310f9e4eac7b | 1532 | //motor->attach_error_handler(&my_error_handler); |
nerit | 8:310f9e4eac7b | 1533 | wait(1.0f); |
nerit | 8:310f9e4eac7b | 1534 | for (int a=0; a<5; a++) { |
nerit | 3:a469bbd294b5 | 1535 | mediaSpeed[a]=0; |
nerit | 3:a469bbd294b5 | 1536 | } |
nerit | 8:310f9e4eac7b | 1537 | |
nerit | 3:a469bbd294b5 | 1538 | // DC reset ad set |
nerit | 3:a469bbd294b5 | 1539 | int decima = 100; |
nerit | 3:a469bbd294b5 | 1540 | wait_ms(200); |
nerit | 3:a469bbd294b5 | 1541 | SD_CurrentStart=floor(SDcurrent.read()*decima)/decima; |
nerit | 3:a469bbd294b5 | 1542 | wait_ms(2); |
nerit | 3:a469bbd294b5 | 1543 | SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima; |
nerit | 3:a469bbd294b5 | 1544 | wait_ms(1); |
nerit | 3:a469bbd294b5 | 1545 | SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima; |
nerit | 3:a469bbd294b5 | 1546 | wait_ms(3); |
nerit | 3:a469bbd294b5 | 1547 | SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima; |
nerit | 8:310f9e4eac7b | 1548 | SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f; |
nerit | 3:a469bbd294b5 | 1549 | wait_ms(100); |
nerit | 3:a469bbd294b5 | 1550 | DC_prepare(); |
nerit | 8:310f9e4eac7b | 1551 | |
nerit | 8:310f9e4eac7b | 1552 | speedTimer.start(); // speed pulse timer |
nerit | 3:a469bbd294b5 | 1553 | intraPickTimer.start(); |
nerit | 8:310f9e4eac7b | 1554 | speedTimeOut.start(); |
nerit | 3:a469bbd294b5 | 1555 | speedFilter.start(); |
nerit | 3:a469bbd294b5 | 1556 | seedFilter.start(); |
nerit | 3:a469bbd294b5 | 1557 | TBfilter.start(); |
nerit | 3:a469bbd294b5 | 1558 | sincroTimer.start(); |
nerit | 3:a469bbd294b5 | 1559 | rotationTimeOut.start(); |
nerit | 3:a469bbd294b5 | 1560 | metalTimer.start(); |
nerit | 3:a469bbd294b5 | 1561 | quincTime.start(); |
nerit | 3:a469bbd294b5 | 1562 | quincTimeSD.start(); |
nerit | 8:310f9e4eac7b | 1563 | #if defined(runner) |
nerit | 8:310f9e4eac7b | 1564 | legPos.attach(&step_Reading,0.002f); |
nerit | 8:310f9e4eac7b | 1565 | #endif |
nerit | 8:310f9e4eac7b | 1566 | |
nerit | 3:a469bbd294b5 | 1567 | //******************************************************* |
nerit | 3:a469bbd294b5 | 1568 | // controls for check DC motor current |
nerit | 8:310f9e4eac7b | 1569 | pwmCheck.rise(&startDelay); |
nerit | 3:a469bbd294b5 | 1570 | wait_ms(500); |
nerit | 8:310f9e4eac7b | 1571 | |
nerit | 12:b0fc1d313813 | 1572 | dcVeri.attach(&controllaCorrente,2.0f); |
nerit | 13:d1030d4e51a8 | 1573 | delaySpeedCheck.start(); |
nerit | 12:b0fc1d313813 | 1574 | |
nerit | 8:310f9e4eac7b | 1575 | #if defined(runnerTos) |
nerit | 8:310f9e4eac7b | 1576 | thread.start(step_Reading); |
nerit | 8:310f9e4eac7b | 1577 | #endif |
nerit | 3:a469bbd294b5 | 1578 | |
nerit | 8:310f9e4eac7b | 1579 | if (inProva==0) { |
nerit | 3:a469bbd294b5 | 1580 | tractorSpeedRead.rise(&tractorReadSpeed); |
nerit | 3:a469bbd294b5 | 1581 | #if !defined(speedMaster) |
nerit | 3:a469bbd294b5 | 1582 | quinconceIn.rise(&quincTrigon); |
nerit | 3:a469bbd294b5 | 1583 | quinconceIn.fall(&quincTrigof); |
nerit | 3:a469bbd294b5 | 1584 | #endif |
nerit | 3:a469bbd294b5 | 1585 | #if defined(speedMaster) |
nerit | 3:a469bbd294b5 | 1586 | tftUpdate.attach(&videoUpdate,0.50f); |
nerit | 3:a469bbd294b5 | 1587 | #endif |
nerit | 3:a469bbd294b5 | 1588 | 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 | 1589 | dcSetting(); |
nerit | 3:a469bbd294b5 | 1590 | #if defined(seedSensor) |
nerit | 3:a469bbd294b5 | 1591 | seedCheck.fall(&seedSensorTask); |
nerit | 3:a469bbd294b5 | 1592 | #endif |
nerit | 8:310f9e4eac7b | 1593 | } else { |
nerit | 8:310f9e4eac7b | 1594 | tftUpdate.attach(&videoUpdate,0.125f); |
nerit | 8:310f9e4eac7b | 1595 | } |
nerit | 8:310f9e4eac7b | 1596 | |
nerit | 3:a469bbd294b5 | 1597 | aggiornaParametri(); |
nerit | 3:a469bbd294b5 | 1598 | |
nerit | 3:a469bbd294b5 | 1599 | SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC |
nerit | 3:a469bbd294b5 | 1600 | SDmotorPWM.write(1.0f); // duty cycle = stop |
nerit | 3:a469bbd294b5 | 1601 | TBmotorDirecti=TBforward; // tb motor direction set |
nerit | 3:a469bbd294b5 | 1602 | |
nerit | 3:a469bbd294b5 | 1603 | #if defined(provaStepper) |
nerit | 3:a469bbd294b5 | 1604 | TBmotorRst=1; |
nerit | 3:a469bbd294b5 | 1605 | TBmotorDirecti=TBforward; |
nerit | 3:a469bbd294b5 | 1606 | // definire il pin di clock che è PB_3 |
nerit | 9:7f02256f6e8f | 1607 | #if defined(Zucca) |
nerit | 17:9629eb019892 | 1608 | motor->run(StepperMotor::BWD,100.0f); |
nerit | 10:9e70619e97ab | 1609 | //motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 9:7f02256f6e8f | 1610 | #else |
nerit | 18:7c978f69cc51 | 1611 | motor->run(StepperMotor::BWD,100.0f); |
nerit | 10:9e70619e97ab | 1612 | //motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 9:7f02256f6e8f | 1613 | #endif |
nerit | 3:a469bbd294b5 | 1614 | // attiva l'out per il controllo dello stepper in stepClockMode |
nerit | 10:9e70619e97ab | 1615 | //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input |
nerit | 6:e8c18f0f399a | 1616 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 1617 | #if defined(checkLoop) |
nerit | 6:e8c18f0f399a | 1618 | pc.printf("11f\n"); |
nerit | 6:e8c18f0f399a | 1619 | #endif |
nerit | 6:e8c18f0f399a | 1620 | #endif |
nerit | 10:9e70619e97ab | 1621 | //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls |
nerit | 18:7c978f69cc51 | 1622 | TATicker.attach(&invertiLo,3.0f); |
nerit | 3:a469bbd294b5 | 1623 | #else |
nerit | 3:a469bbd294b5 | 1624 | // definire il pin di clock che è PB_3 |
nerit | 8:310f9e4eac7b | 1625 | motor->set_home(); |
nerit | 8:310f9e4eac7b | 1626 | motor->go_to(50); |
nerit | 8:310f9e4eac7b | 1627 | motor->wait_while_active(); |
nerit | 8:310f9e4eac7b | 1628 | #if !defined(runner) |
nerit | 9:7f02256f6e8f | 1629 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 1630 | motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 9:7f02256f6e8f | 1631 | #else |
nerit | 9:7f02256f6e8f | 1632 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 9:7f02256f6e8f | 1633 | #endif |
nerit | 8:310f9e4eac7b | 1634 | #endif |
nerit | 6:e8c18f0f399a | 1635 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 1636 | #if defined(loStop) |
nerit | 6:e8c18f0f399a | 1637 | pc.printf("A3\n"); |
nerit | 6:e8c18f0f399a | 1638 | #endif |
nerit | 6:e8c18f0f399a | 1639 | #endif |
nerit | 6:e8c18f0f399a | 1640 | motor->soft_hiz(); |
nerit | 3:a469bbd294b5 | 1641 | // attiva l'out per il controllo dello stepper in stepClockMode |
nerit | 3:a469bbd294b5 | 1642 | DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input |
nerit | 3:a469bbd294b5 | 1643 | #endif // end prova stepper |
nerit | 8:310f9e4eac7b | 1644 | |
nerit | 8:310f9e4eac7b | 1645 | wd.Configure(2.0); //watchdog set at xx seconds |
nerit | 8:310f9e4eac7b | 1646 | |
nerit | 8:310f9e4eac7b | 1647 | |
nerit | 3:a469bbd294b5 | 1648 | //************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 1649 | // MAIN LOOP |
nerit | 3:a469bbd294b5 | 1650 | //************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 1651 | while (true) { |
nerit | 6:e8c18f0f399a | 1652 | // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt |
nerit | 8:310f9e4eac7b | 1653 | if (tractorSpeedRead==0) { |
nerit | 8:310f9e4eac7b | 1654 | speedClock=0; |
nerit | 8:310f9e4eac7b | 1655 | } |
nerit | 8:310f9e4eac7b | 1656 | |
nerit | 3:a469bbd294b5 | 1657 | // inversione segnali ingressi |
nerit | 3:a469bbd294b5 | 1658 | #if !defined(simulaBanco) |
nerit | 3:a469bbd294b5 | 1659 | seedWheelZeroPinInput = !seedWheelZeroPinInputRev; |
nerit | 3:a469bbd294b5 | 1660 | #else |
nerit | 8:310f9e4eac7b | 1661 | if ((prePosSD-500) >= SDsectorStep) { |
nerit | 3:a469bbd294b5 | 1662 | seedWheelZeroPinInput=1; |
nerit | 3:a469bbd294b5 | 1663 | } |
nerit | 8:310f9e4eac7b | 1664 | if ((prePosSD > 500)&&(prePosSD<580)) { |
nerit | 3:a469bbd294b5 | 1665 | seedWheelZeroPinInput=0; |
nerit | 3:a469bbd294b5 | 1666 | } |
nerit | 8:310f9e4eac7b | 1667 | #endif |
nerit | 3:a469bbd294b5 | 1668 | TBzeroPinInput = !TBzeroPinInputRev; |
nerit | 8:310f9e4eac7b | 1669 | |
nerit | 3:a469bbd294b5 | 1670 | // se quinconce attivo ed unita' master invia segnale di sincro |
nerit | 3:a469bbd294b5 | 1671 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 1672 | if (seedWheelZeroPinInput==1) { |
nerit | 3:a469bbd294b5 | 1673 | quinconceOut=0; |
nerit | 3:a469bbd294b5 | 1674 | } |
nerit | 8:310f9e4eac7b | 1675 | if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) { |
nerit | 3:a469bbd294b5 | 1676 | quinconceOut=1; |
nerit | 3:a469bbd294b5 | 1677 | } |
nerit | 8:310f9e4eac7b | 1678 | if (quinconceActive==1) { |
nerit | 8:310f9e4eac7b | 1679 | if ((quinconceOut==1)&&(oldQuinconceOut==1)) { |
nerit | 3:a469bbd294b5 | 1680 | posForQuinc=500; |
nerit | 3:a469bbd294b5 | 1681 | oldQuinconceOut=0; |
nerit | 3:a469bbd294b5 | 1682 | } |
nerit | 8:310f9e4eac7b | 1683 | if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) { |
nerit | 3:a469bbd294b5 | 1684 | oldQuinconceOut=1; |
nerit | 3:a469bbd294b5 | 1685 | } |
nerit | 8:310f9e4eac7b | 1686 | } |
nerit | 3:a469bbd294b5 | 1687 | #endif |
nerit | 3:a469bbd294b5 | 1688 | |
nerit | 3:a469bbd294b5 | 1689 | // simulazione velocita |
nerit | 8:310f9e4eac7b | 1690 | if (enableSimula==1) { |
nerit | 3:a469bbd294b5 | 1691 | double TMT = 0.0f; |
nerit | 8:310f9e4eac7b | 1692 | if (speedSimula > 0) { |
nerit | 3:a469bbd294b5 | 1693 | TMT = (double)(speedSimula) * 100.0f /3600.0f; |
nerit | 3:a469bbd294b5 | 1694 | pulseSpeedInterval = pulseDistance / TMT; |
nerit | 8:310f9e4eac7b | 1695 | } else { |
nerit | 3:a469bbd294b5 | 1696 | pulseSpeedInterval = 10000.0f; |
nerit | 8:310f9e4eac7b | 1697 | } |
nerit | 8:310f9e4eac7b | 1698 | if (avviaSimula==1) { |
nerit | 8:310f9e4eac7b | 1699 | if(oldSimulaSpeed!=pulseSpeedInterval) { |
nerit | 3:a469bbd294b5 | 1700 | spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval); |
nerit | 3:a469bbd294b5 | 1701 | oldSimulaSpeed=pulseSpeedInterval; |
nerit | 3:a469bbd294b5 | 1702 | } |
nerit | 8:310f9e4eac7b | 1703 | } else { |
nerit | 3:a469bbd294b5 | 1704 | oldSimulaSpeed=10000.0f; |
nerit | 3:a469bbd294b5 | 1705 | spedSimclock.detach(); |
nerit | 3:a469bbd294b5 | 1706 | } |
nerit | 8:310f9e4eac7b | 1707 | } else { |
nerit | 3:a469bbd294b5 | 1708 | spedSimclock.detach(); |
nerit | 3:a469bbd294b5 | 1709 | } |
nerit | 8:310f9e4eac7b | 1710 | |
nerit | 3:a469bbd294b5 | 1711 | //******************************************************* |
nerit | 3:a469bbd294b5 | 1712 | // determina se sono in bassa velocità per il controllo di TB |
nerit | 8:310f9e4eac7b | 1713 | if (speedOfSeedWheel<=minSeedSpeed) { |
nerit | 8:310f9e4eac7b | 1714 | if (lowSpeedRequired==0) { |
nerit | 3:a469bbd294b5 | 1715 | ritardaLowSpeed.reset(); |
nerit | 3:a469bbd294b5 | 1716 | ritardaLowSpeed.start(); |
nerit | 3:a469bbd294b5 | 1717 | } |
nerit | 3:a469bbd294b5 | 1718 | lowSpeedRequired=1; |
nerit | 8:310f9e4eac7b | 1719 | } else { |
nerit | 8:310f9e4eac7b | 1720 | if (lowSpeedRequired==1) { |
nerit | 3:a469bbd294b5 | 1721 | lowSpeedRequired=0; |
nerit | 3:a469bbd294b5 | 1722 | ritardaLowSpeed.reset(); |
nerit | 3:a469bbd294b5 | 1723 | ritardaLowSpeed.stop(); |
nerit | 3:a469bbd294b5 | 1724 | } |
nerit | 3:a469bbd294b5 | 1725 | } |
nerit | 3:a469bbd294b5 | 1726 | |
nerit | 8:310f9e4eac7b | 1727 | if (ritardaLowSpeed.read_ms()> 2000) { |
nerit | 3:a469bbd294b5 | 1728 | lowSpeed=1; |
nerit | 8:310f9e4eac7b | 1729 | } else { |
nerit | 3:a469bbd294b5 | 1730 | lowSpeed=0; |
nerit | 3:a469bbd294b5 | 1731 | } |
bcostm | 2:35f13b7f3659 | 1732 | |
nerit | 3:a469bbd294b5 | 1733 | //************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 1734 | //************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 1735 | // LOGICAL CONTROLS |
nerit | 3:a469bbd294b5 | 1736 | //************************************************************************************************************** |
nerit | 3:a469bbd294b5 | 1737 | //************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 1738 | |
nerit | 8:310f9e4eac7b | 1739 | if (inProva==0) { |
nerit | 20:4a400a4cc419 | 1740 | // simulazione stepper |
nerit | 23:ccd253b36733 | 1741 | if (simOk==1){ |
nerit | 23:ccd253b36733 | 1742 | if (simStepper==1){ |
nerit | 23:ccd253b36733 | 1743 | oldSimStepper=true; |
nerit | 23:ccd253b36733 | 1744 | simStepSpeed= ((double)speedStepp*180.45f)/50.0f; |
nerit | 23:ccd253b36733 | 1745 | if (oldSimStepSpeed!=simStepSpeed){ |
nerit | 23:ccd253b36733 | 1746 | motor->run(StepperMotor::FWD,simStepSpeed); |
nerit | 23:ccd253b36733 | 1747 | oldSimStepSpeed=simStepSpeed; |
nerit | 23:ccd253b36733 | 1748 | } |
nerit | 23:ccd253b36733 | 1749 | }else{ |
nerit | 23:ccd253b36733 | 1750 | if (oldSimStepper==true){ |
nerit | 23:ccd253b36733 | 1751 | oldSimStepper=false; |
nerit | 23:ccd253b36733 | 1752 | motor->soft_hiz(); |
nerit | 23:ccd253b36733 | 1753 | oldSimStepSpeed=0.0f; |
nerit | 23:ccd253b36733 | 1754 | } |
nerit | 23:ccd253b36733 | 1755 | } |
nerit | 20:4a400a4cc419 | 1756 | }else{ |
nerit | 20:4a400a4cc419 | 1757 | if (oldSimStepper==true){ |
nerit | 20:4a400a4cc419 | 1758 | oldSimStepper=false; |
nerit | 20:4a400a4cc419 | 1759 | motor->soft_hiz(); |
nerit | 20:4a400a4cc419 | 1760 | oldSimStepSpeed=0.0f; |
nerit | 20:4a400a4cc419 | 1761 | } |
nerit | 20:4a400a4cc419 | 1762 | } |
nerit | 8:310f9e4eac7b | 1763 | if ((startCycleSimulation==0)&&(enableSimula==0)) { |
nerit | 6:e8c18f0f399a | 1764 | runRequestBuf=1;//0; |
nerit | 8:310f9e4eac7b | 1765 | } else { |
nerit | 6:e8c18f0f399a | 1766 | runRequestBuf=1;//0; |
nerit | 6:e8c18f0f399a | 1767 | } |
nerit | 8:310f9e4eac7b | 1768 | if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) { |
nerit | 6:e8c18f0f399a | 1769 | oldTractorSpeedRead=0; |
nerit | 3:a469bbd294b5 | 1770 | } |
nerit | 3:a469bbd294b5 | 1771 | // ---------------------------------------- |
nerit | 3:a469bbd294b5 | 1772 | // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro |
nerit | 3:a469bbd294b5 | 1773 | // ---------------------------------------- |
nerit | 8:310f9e4eac7b | 1774 | if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) { |
nerit | 8:310f9e4eac7b | 1775 | if(seedFilter.read_ms()>=4) { |
nerit | 3:a469bbd294b5 | 1776 | oldSeedWheelZeroPinInput=0; |
nerit | 3:a469bbd294b5 | 1777 | SDzeroDebounced=0; |
nerit | 3:a469bbd294b5 | 1778 | } |
nerit | 3:a469bbd294b5 | 1779 | } |
nerit | 8:310f9e4eac7b | 1780 | if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) { |
nerit | 3:a469bbd294b5 | 1781 | timeIntraPick = (double)intraPickTimer.read_ms(); |
nerit | 3:a469bbd294b5 | 1782 | prePosSD=500; // preposizionamento SD |
nerit | 3:a469bbd294b5 | 1783 | intraPickTimer.reset(); |
nerit | 3:a469bbd294b5 | 1784 | rotationTimeOut.reset(); |
nerit | 8:310f9e4eac7b | 1785 | seedFilter.reset(); |
nerit | 3:a469bbd294b5 | 1786 | sincroTimer.reset(); |
nerit | 3:a469bbd294b5 | 1787 | oldSeedWheelZeroPinInput=1; |
nerit | 3:a469bbd294b5 | 1788 | quincTime.reset(); |
nerit | 3:a469bbd294b5 | 1789 | quincTimeSD.reset(); |
nerit | 3:a469bbd294b5 | 1790 | SDzeroDebounced=1; |
nerit | 3:a469bbd294b5 | 1791 | sincroQui=1; |
nerit | 3:a469bbd294b5 | 1792 | SDwheelTimer.reset(); |
nerit | 13:d1030d4e51a8 | 1793 | dcEncoderCnt=0; |
nerit | 3:a469bbd294b5 | 1794 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 1795 | if (quinconceActive==0) { |
nerit | 3:a469bbd294b5 | 1796 | posForQuinc=500; |
nerit | 3:a469bbd294b5 | 1797 | } |
nerit | 17:9629eb019892 | 1798 | if (checkSDrotation==0) { |
nerit | 17:9629eb019892 | 1799 | checkSDrotation=1; |
nerit | 17:9629eb019892 | 1800 | SDwheelTimer.start(); |
nerit | 17:9629eb019892 | 1801 | } |
nerit | 3:a469bbd294b5 | 1802 | #endif |
nerit | 8:310f9e4eac7b | 1803 | if (quincCnt<10) { |
nerit | 3:a469bbd294b5 | 1804 | quincCnt++; |
nerit | 3:a469bbd294b5 | 1805 | } |
nerit | 8:310f9e4eac7b | 1806 | if ((aspettaStart==0)&&(lowSpeed==1)) { |
nerit | 3:a469bbd294b5 | 1807 | beccoPronto=1; |
nerit | 3:a469bbd294b5 | 1808 | } |
nerit | 3:a469bbd294b5 | 1809 | lockStart=0; |
nerit | 3:a469bbd294b5 | 1810 | double fase1=0.0f; |
nerit | 3:a469bbd294b5 | 1811 | forzaFase=0; |
nerit | 3:a469bbd294b5 | 1812 | double limite=fixedStepGiroSD/pickNumber; |
nerit | 8:310f9e4eac7b | 1813 | if (tamburoStandard==0) { |
nerit | 8:310f9e4eac7b | 1814 | fase1=TBdeltaStep; |
nerit | 8:310f9e4eac7b | 1815 | } else { |
nerit | 8:310f9e4eac7b | 1816 | if(speedForCorrection >= speedOfSeedWheel) { |
nerit | 3:a469bbd294b5 | 1817 | fase1=TBdeltaStep; |
nerit | 8:310f9e4eac7b | 1818 | } else { |
nerit | 3:a469bbd294b5 | 1819 | fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep)); |
nerit | 3:a469bbd294b5 | 1820 | } |
nerit | 8:310f9e4eac7b | 1821 | if (fase1 > limite) { |
nerit | 3:a469bbd294b5 | 1822 | 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 | 1823 | } |
nerit | 8:310f9e4eac7b | 1824 | if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) { |
nerit | 3:a469bbd294b5 | 1825 | fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo |
nerit | 3:a469bbd294b5 | 1826 | forzaFase=1; |
nerit | 3:a469bbd294b5 | 1827 | } |
nerit | 3:a469bbd294b5 | 1828 | trigRepos=1; |
nerit | 3:a469bbd294b5 | 1829 | } |
nerit | 3:a469bbd294b5 | 1830 | fase = (uint32_t)fase1+500; |
nerit | 3:a469bbd294b5 | 1831 | #if defined(pcSerial) |
nerit | 3:a469bbd294b5 | 1832 | #if defined(inCorre) |
nerit | 3:a469bbd294b5 | 1833 | pc.printf(" limite %f", limite); |
nerit | 3:a469bbd294b5 | 1834 | pc.printf(" delta %f", TBdeltaStep); |
nerit | 3:a469bbd294b5 | 1835 | pc.printf(" faseStep %f", TBfaseStep); |
nerit | 3:a469bbd294b5 | 1836 | pc.printf(" fase %d",fase); |
nerit | 3:a469bbd294b5 | 1837 | pc.printf(" forzaFase %d",forzaFase); |
nerit | 3:a469bbd294b5 | 1838 | pc.printf(" trigRepos %d", trigRepos); |
nerit | 3:a469bbd294b5 | 1839 | pc.printf(" ActualSD: %d",SDactualPosition); |
nerit | 3:a469bbd294b5 | 1840 | pc.printf(" SpeedWheel: %f",speedOfSeedWheel); |
nerit | 3:a469bbd294b5 | 1841 | pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed); |
nerit | 3:a469bbd294b5 | 1842 | #endif |
nerit | 3:a469bbd294b5 | 1843 | #endif |
nerit | 19:231b8931cabc | 1844 | if (tractorSpeed_MtS_timed>0.2f){ |
nerit | 17:9629eb019892 | 1845 | if (timeIntraPick >= (memoIntraPick*2)) { |
nerit | 17:9629eb019892 | 1846 | if ((aspettaStart==0)) { |
nerit | 17:9629eb019892 | 1847 | if (firstStart==0) { |
nerit | 17:9629eb019892 | 1848 | all_pickSignal=1; |
nerit | 17:9629eb019892 | 1849 | } |
nerit | 3:a469bbd294b5 | 1850 | } |
nerit | 3:a469bbd294b5 | 1851 | } |
nerit | 3:a469bbd294b5 | 1852 | } |
nerit | 3:a469bbd294b5 | 1853 | memoIntraPick = timeIntraPick; |
nerit | 8:310f9e4eac7b | 1854 | if ((speedFromPick==1)&&(encoder==false)) { |
nerit | 3:a469bbd294b5 | 1855 | speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f; |
nerit | 10:9e70619e97ab | 1856 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1857 | #if defined(Qnca) |
nerit | 10:9e70619e97ab | 1858 | pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel); |
nerit | 10:9e70619e97ab | 1859 | #endif |
nerit | 3:a469bbd294b5 | 1860 | #endif |
nerit | 3:a469bbd294b5 | 1861 | } |
nerit | 8:310f9e4eac7b | 1862 | if (encoder==false) { |
nerit | 3:a469bbd294b5 | 1863 | pulseRised2=1; |
nerit | 3:a469bbd294b5 | 1864 | } |
nerit | 3:a469bbd294b5 | 1865 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 1866 | if ((tractorSpeed_MtS_timed==0.0f)) { |
nerit | 8:310f9e4eac7b | 1867 | if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) { |
nerit | 10:9e70619e97ab | 1868 | cntSpeedError++; |
nerit | 18:7c978f69cc51 | 1869 | if (cntSpeedError >= 5){ |
nerit | 10:9e70619e97ab | 1870 | all_noSpeedSen=1; |
nerit | 10:9e70619e97ab | 1871 | } |
nerit | 3:a469bbd294b5 | 1872 | } |
nerit | 3:a469bbd294b5 | 1873 | } |
nerit | 17:9629eb019892 | 1874 | if (tractorSpeed_MtS_timed>0.2f){ |
nerit | 18:7c978f69cc51 | 1875 | double oldLastPr = (double)oldLastPulseRead*2.8f; |
nerit | 17:9629eb019892 | 1876 | if((double)speedTimeOut.read_us()> (oldLastPr)) { |
nerit | 17:9629eb019892 | 1877 | if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) { |
nerit | 17:9629eb019892 | 1878 | all_speedError =1; |
nerit | 17:9629eb019892 | 1879 | } |
nerit | 3:a469bbd294b5 | 1880 | } |
nerit | 3:a469bbd294b5 | 1881 | } |
nerit | 3:a469bbd294b5 | 1882 | #endif |
nerit | 3:a469bbd294b5 | 1883 | //******************************************* |
nerit | 3:a469bbd294b5 | 1884 | // esegue calcolo clock per la generazione della posizione teorica |
nerit | 3:a469bbd294b5 | 1885 | // la realtà in base al segnale di presenza del becco |
nerit | 8:310f9e4eac7b | 1886 | if (speedOfSeedWheel < 0.002f) { |
nerit | 10:9e70619e97ab | 1887 | #if defined(pcSerial) |
nerit | 10:9e70619e97ab | 1888 | #if defined(checkLoopb) |
nerit | 10:9e70619e97ab | 1889 | pc.printf("forza\n"); |
nerit | 10:9e70619e97ab | 1890 | #endif |
nerit | 8:310f9e4eac7b | 1891 | #endif |
nerit | 6:e8c18f0f399a | 1892 | speedOfSeedWheel=0.001f; |
nerit | 6:e8c18f0f399a | 1893 | } |
nerit | 8:310f9e4eac7b | 1894 | aggioVelocita(); |
nerit | 3:a469bbd294b5 | 1895 | } |
nerit | 3:a469bbd294b5 | 1896 | // ---------------------------------------- |
nerit | 8:310f9e4eac7b | 1897 | // check SD fase |
nerit | 8:310f9e4eac7b | 1898 | if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){ |
nerit | 3:a469bbd294b5 | 1899 | forzaFase=0; |
nerit | 8:310f9e4eac7b | 1900 | if (trigRepos==1) { |
nerit | 3:a469bbd294b5 | 1901 | SDactualPosition=0; |
nerit | 8:310f9e4eac7b | 1902 | if ((countCicli<30)&&(trigCicli==0)) { |
nerit | 6:e8c18f0f399a | 1903 | countCicli++; |
nerit | 6:e8c18f0f399a | 1904 | trigCicli=1; |
nerit | 6:e8c18f0f399a | 1905 | } |
nerit | 8:310f9e4eac7b | 1906 | if(countCicli>=cicliAspettaStart) { |
nerit | 6:e8c18f0f399a | 1907 | aspettaStart=0; |
nerit | 6:e8c18f0f399a | 1908 | } |
nerit | 8:310f9e4eac7b | 1909 | if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) { |
nerit | 6:e8c18f0f399a | 1910 | syncroCheck=1; |
nerit | 6:e8c18f0f399a | 1911 | beccoPronto=0; |
nerit | 6:e8c18f0f399a | 1912 | } |
nerit | 8:310f9e4eac7b | 1913 | if (trigTB==0) { |
nerit | 3:a469bbd294b5 | 1914 | inhibit=1; |
nerit | 3:a469bbd294b5 | 1915 | trigSD=1; |
nerit | 8:310f9e4eac7b | 1916 | } else { |
nerit | 3:a469bbd294b5 | 1917 | inhibit=0; |
nerit | 3:a469bbd294b5 | 1918 | trigTB=0; |
nerit | 3:a469bbd294b5 | 1919 | trigSD=0; |
nerit | 3:a469bbd294b5 | 1920 | } |
nerit | 3:a469bbd294b5 | 1921 | trigRepos=0; |
nerit | 3:a469bbd294b5 | 1922 | } |
nerit | 8:310f9e4eac7b | 1923 | } else { |
nerit | 3:a469bbd294b5 | 1924 | trigCicli=0; |
nerit | 3:a469bbd294b5 | 1925 | } |
nerit | 8:310f9e4eac7b | 1926 | // ---------------------------------------- |
nerit | 3:a469bbd294b5 | 1927 | // filtra il segnale del tamburo per lo stop in fase del tamburo stesso |
nerit | 8:310f9e4eac7b | 1928 | if (TBzeroPinInput==0) { |
nerit | 8:310f9e4eac7b | 1929 | if (TBfilter.read_ms()>=2) { |
nerit | 8:310f9e4eac7b | 1930 | oldTBzeroPinInput=0; |
nerit | 8:310f9e4eac7b | 1931 | } |
nerit | 8:310f9e4eac7b | 1932 | } |
nerit | 20:4a400a4cc419 | 1933 | if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) { |
nerit | 3:a469bbd294b5 | 1934 | oldTBzeroPinInput=1; |
nerit | 8:310f9e4eac7b | 1935 | if (loadDaCanInCorso==0) { |
nerit | 3:a469bbd294b5 | 1936 | stopCicloTB=1; |
nerit | 3:a469bbd294b5 | 1937 | startCicloTB=0; |
nerit | 3:a469bbd294b5 | 1938 | } |
nerit | 3:a469bbd294b5 | 1939 | TBfilter.reset(); |
nerit | 3:a469bbd294b5 | 1940 | TBzeroCyclePulse=1; |
nerit | 8:310f9e4eac7b | 1941 | #if defined(runner) |
nerit | 8:310f9e4eac7b | 1942 | legPos.detach(); |
nerit | 8:310f9e4eac7b | 1943 | TBoldPosition= (uint32_t) motor->get_position(); |
nerit | 8:310f9e4eac7b | 1944 | legPos.attach(&step_Reading,0.002f); |
nerit | 8:310f9e4eac7b | 1945 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 1946 | #if defined(TBperS) |
nerit | 8:310f9e4eac7b | 1947 | pc.printf("TBoldPos: %d\n",TBoldPosition); |
nerit | 8:310f9e4eac7b | 1948 | #endif |
nerit | 8:310f9e4eac7b | 1949 | #endif |
nerit | 8:310f9e4eac7b | 1950 | |
nerit | 8:310f9e4eac7b | 1951 | #else |
nerit | 8:310f9e4eac7b | 1952 | TBactualPosition=0; |
nerit | 8:310f9e4eac7b | 1953 | #endif |
nerit | 8:310f9e4eac7b | 1954 | if (cntTbError>0) { |
nerit | 3:a469bbd294b5 | 1955 | cntCellsCorrect++; |
nerit | 3:a469bbd294b5 | 1956 | } |
nerit | 19:231b8931cabc | 1957 | if (cntCellsCorrect>0) { |
nerit | 3:a469bbd294b5 | 1958 | cntTbError=0; |
nerit | 3:a469bbd294b5 | 1959 | cntCellsCorrect=0; |
nerit | 3:a469bbd294b5 | 1960 | } |
nerit | 3:a469bbd294b5 | 1961 | // conteggio celle erogate |
nerit | 8:310f9e4eac7b | 1962 | if (cellsCounterLow < 0xFF) { |
nerit | 3:a469bbd294b5 | 1963 | cellsCounterLow++; |
nerit | 8:310f9e4eac7b | 1964 | } else { |
nerit | 3:a469bbd294b5 | 1965 | cellsCounterHig++; |
nerit | 3:a469bbd294b5 | 1966 | cellsCounterLow=0; |
nerit | 3:a469bbd294b5 | 1967 | } |
nerit | 3:a469bbd294b5 | 1968 | // ciclo conteggio celle per carico manuale |
nerit | 8:310f9e4eac7b | 1969 | if (loadDaCanInCorso==1) { |
nerit | 3:a469bbd294b5 | 1970 | cntCellsForLoad++; |
nerit | 14:e2b5efa06c41 | 1971 | if (cntCellsForLoad >= 10) { |
nerit | 8:310f9e4eac7b | 1972 | stopCicloTB=1; |
nerit | 3:a469bbd294b5 | 1973 | cntCellsForLoad=0; |
nerit | 3:a469bbd294b5 | 1974 | } |
nerit | 8:310f9e4eac7b | 1975 | } else { |
nerit | 3:a469bbd294b5 | 1976 | cntCellsForLoad=0; |
nerit | 3:a469bbd294b5 | 1977 | } |
nerit | 3:a469bbd294b5 | 1978 | // inibizione controllo di sincro per fuori fase |
nerit | 8:310f9e4eac7b | 1979 | if (trigSD==0) { |
nerit | 3:a469bbd294b5 | 1980 | inhibit=1; |
nerit | 3:a469bbd294b5 | 1981 | trigTB=1; |
nerit | 8:310f9e4eac7b | 1982 | } else { |
nerit | 3:a469bbd294b5 | 1983 | inhibit=0; |
nerit | 3:a469bbd294b5 | 1984 | trigTB=0; |
nerit | 3:a469bbd294b5 | 1985 | trigSD=0; |
nerit | 3:a469bbd294b5 | 1986 | } |
nerit | 3:a469bbd294b5 | 1987 | // conta le celle indietro per sbloccare il tamburo |
nerit | 8:310f9e4eac7b | 1988 | if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) { |
nerit | 3:a469bbd294b5 | 1989 | cntCellsForReload++; |
nerit | 8:310f9e4eac7b | 1990 | if (cntCellsForReload >= cellsCountSet) { |
nerit | 3:a469bbd294b5 | 1991 | TBmotorDirecti=TBforward; // rotazione normale |
nerit | 21:3e6576c2e126 | 1992 | if (tractorSpeed_MtS_timed>0.0f){ |
nerit | 21:3e6576c2e126 | 1993 | #if defined(runner) |
nerit | 21:3e6576c2e126 | 1994 | #if defined(Zucca) |
nerit | 21:3e6576c2e126 | 1995 | motor->run(StepperMotor::BWD); |
nerit | 21:3e6576c2e126 | 1996 | #else |
nerit | 21:3e6576c2e126 | 1997 | motor->run(StepperMotor::FWD); |
nerit | 21:3e6576c2e126 | 1998 | #endif |
nerit | 9:7f02256f6e8f | 1999 | #else |
nerit | 21:3e6576c2e126 | 2000 | #if defined(Zucca) |
nerit | 21:3e6576c2e126 | 2001 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 21:3e6576c2e126 | 2002 | #else |
nerit | 21:3e6576c2e126 | 2003 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 21:3e6576c2e126 | 2004 | #endif |
nerit | 9:7f02256f6e8f | 2005 | #endif |
nerit | 21:3e6576c2e126 | 2006 | } |
nerit | 3:a469bbd294b5 | 2007 | erroreTamburo=0; |
nerit | 3:a469bbd294b5 | 2008 | cntCellsCorrect=0; |
nerit | 8:310f9e4eac7b | 2009 | } |
nerit | 3:a469bbd294b5 | 2010 | } |
nerit | 3:a469bbd294b5 | 2011 | #if defined(seedSensor) |
nerit | 3:a469bbd294b5 | 2012 | resetDelay(); |
nerit | 3:a469bbd294b5 | 2013 | delaySeedCheck.start(); |
nerit | 3:a469bbd294b5 | 2014 | #endif |
nerit | 3:a469bbd294b5 | 2015 | } |
nerit | 20:4a400a4cc419 | 2016 | if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) { |
nerit | 8:310f9e4eac7b | 2017 | if (firstStart==0) { |
nerit | 18:7c978f69cc51 | 2018 | if (tractorSpeed_MtS_timed>0.4f){ |
nerit | 17:9629eb019892 | 2019 | if (cntTbError>5) { |
nerit | 17:9629eb019892 | 2020 | all_cellSignal=1; |
nerit | 17:9629eb019892 | 2021 | #if defined(seedSensor) |
nerit | 17:9629eb019892 | 2022 | resetDelay(); |
nerit | 17:9629eb019892 | 2023 | #endif |
nerit | 17:9629eb019892 | 2024 | } |
nerit | 3:a469bbd294b5 | 2025 | } |
nerit | 3:a469bbd294b5 | 2026 | } |
nerit | 8:310f9e4eac7b | 2027 | if (erroreTamburo==0) { |
nerit | 17:9629eb019892 | 2028 | if (cellsCountSet>1){ |
nerit | 17:9629eb019892 | 2029 | erroreTamburo=1; |
nerit | 17:9629eb019892 | 2030 | TBmotorDirecti=TBreverse; // rotazione inversa |
nerit | 21:3e6576c2e126 | 2031 | if (tractorSpeed_MtS_timed>0.0f){ |
nerit | 21:3e6576c2e126 | 2032 | #if defined(runner) |
nerit | 21:3e6576c2e126 | 2033 | #if defined(Zucca) |
nerit | 21:3e6576c2e126 | 2034 | motor->run(StepperMotor::FWD); |
nerit | 21:3e6576c2e126 | 2035 | #else |
nerit | 21:3e6576c2e126 | 2036 | motor->run(StepperMotor::BWD); |
nerit | 21:3e6576c2e126 | 2037 | #endif |
nerit | 17:9629eb019892 | 2038 | #else |
nerit | 21:3e6576c2e126 | 2039 | #if defined(Zucca) |
nerit | 21:3e6576c2e126 | 2040 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 21:3e6576c2e126 | 2041 | #else |
nerit | 21:3e6576c2e126 | 2042 | motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 21:3e6576c2e126 | 2043 | #endif |
nerit | 17:9629eb019892 | 2044 | #endif |
nerit | 21:3e6576c2e126 | 2045 | } |
nerit | 17:9629eb019892 | 2046 | } |
nerit | 3:a469bbd294b5 | 2047 | cntCellsForReload=0; |
nerit | 17:9629eb019892 | 2048 | if (tractorSpeed_MtS_timed>0.0f){ |
nerit | 17:9629eb019892 | 2049 | cntTbError++; |
nerit | 17:9629eb019892 | 2050 | aggiornati(); |
nerit | 17:9629eb019892 | 2051 | }else{ |
nerit | 17:9629eb019892 | 2052 | cntTbError=0; |
nerit | 17:9629eb019892 | 2053 | } |
nerit | 3:a469bbd294b5 | 2054 | #if defined(seedSensor) |
nerit | 3:a469bbd294b5 | 2055 | resetDelay(); |
nerit | 3:a469bbd294b5 | 2056 | #endif |
nerit | 3:a469bbd294b5 | 2057 | } |
nerit | 3:a469bbd294b5 | 2058 | } |
nerit | 17:9629eb019892 | 2059 | if (tractorSpeed_MtS_timed>0.0f){ |
nerit | 17:9629eb019892 | 2060 | if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) { |
nerit | 17:9629eb019892 | 2061 | if (firstStart==0) { |
nerit | 17:9629eb019892 | 2062 | all_noStepRota=1; |
nerit | 17:9629eb019892 | 2063 | #if defined(seedSensor) |
nerit | 17:9629eb019892 | 2064 | resetDelay(); |
nerit | 17:9629eb019892 | 2065 | #endif |
nerit | 17:9629eb019892 | 2066 | } |
nerit | 17:9629eb019892 | 2067 | cntTbError=0; |
nerit | 3:a469bbd294b5 | 2068 | } |
nerit | 3:a469bbd294b5 | 2069 | } |
nerit | 8:310f9e4eac7b | 2070 | // ---------------------------------------- |
nerit | 3:a469bbd294b5 | 2071 | // read and manage joystick |
nerit | 20:4a400a4cc419 | 2072 | if ((loadDaCan==1)&(simStepper==0)) { |
nerit | 8:310f9e4eac7b | 2073 | if (tractorSpeed_MtS_timed==0.0f) { |
nerit | 8:310f9e4eac7b | 2074 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2075 | #if defined(checkLoop) |
nerit | 8:310f9e4eac7b | 2076 | pc.printf("daCAN\n"); |
nerit | 6:e8c18f0f399a | 2077 | #endif |
nerit | 8:310f9e4eac7b | 2078 | #endif |
nerit | 6:e8c18f0f399a | 2079 | ciclaTB(); |
nerit | 8:310f9e4eac7b | 2080 | } |
nerit | 3:a469bbd294b5 | 2081 | } |
nerit | 8:310f9e4eac7b | 2082 | |
nerit | 8:310f9e4eac7b | 2083 | //*************************************************************************************************** |
nerit | 8:310f9e4eac7b | 2084 | // pulseRised define the event of speed wheel pulse occurs |
nerit | 8:310f9e4eac7b | 2085 | // |
nerit | 3:a469bbd294b5 | 2086 | //double maxInterval = pulseDistance/minWorkSpeed; |
nerit | 3:a469bbd294b5 | 2087 | //double minIntervalPulse = pulseDistance/maxWorkSpeed; |
nerit | 8:310f9e4eac7b | 2088 | if (pulseRised==1) { |
nerit | 12:b0fc1d313813 | 2089 | if (enableSpeed<10) {enableSpeed++;} |
nerit | 3:a469bbd294b5 | 2090 | pulseRised=0; |
nerit | 3:a469bbd294b5 | 2091 | pulseRised1=1; |
nerit | 3:a469bbd294b5 | 2092 | speedMediaCalc(); |
nerit | 3:a469bbd294b5 | 2093 | // calcola velocità trattore |
nerit | 8:310f9e4eac7b | 2094 | if(enableSpeed>=2) { |
nerit | 8:310f9e4eac7b | 2095 | if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){ |
nerit | 8:310f9e4eac7b | 2096 | if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) { |
nerit | 13:d1030d4e51a8 | 2097 | //TODO: limite inferiore e superiore per non modificare la velocità selezionata |
nerit | 13:d1030d4e51a8 | 2098 | // serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo |
nerit | 3:a469bbd294b5 | 2099 | tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval |
nerit | 13:d1030d4e51a8 | 2100 | if (delaySpeedCheck.read()>=5.0f){ |
nerit | 13:d1030d4e51a8 | 2101 | if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){ |
nerit | 13:d1030d4e51a8 | 2102 | tractorSpeed_MtS_timed=oldLocalTractorSpeed; |
nerit | 13:d1030d4e51a8 | 2103 | } |
nerit | 13:d1030d4e51a8 | 2104 | } |
nerit | 10:9e70619e97ab | 2105 | oldLocalTractorSpeed = tractorSpeed_MtS_timed; |
nerit | 3:a469bbd294b5 | 2106 | } |
nerit | 17:9629eb019892 | 2107 | /*if (checkSDrotation==0) { |
nerit | 3:a469bbd294b5 | 2108 | checkSDrotation=1; |
nerit | 3:a469bbd294b5 | 2109 | SDwheelTimer.start(); |
nerit | 17:9629eb019892 | 2110 | }*/ |
nerit | 3:a469bbd294b5 | 2111 | } |
nerit | 3:a469bbd294b5 | 2112 | } |
nerit | 3:a469bbd294b5 | 2113 | speedTimeOut.reset(); |
nerit | 8:310f9e4eac7b | 2114 | } else { |
nerit | 3:a469bbd294b5 | 2115 | double oldLastPr = (double)oldLastPulseRead*1.7f; |
nerit | 8:310f9e4eac7b | 2116 | if((double)speedTimeOut.read_us()> (oldLastPr)) { |
nerit | 3:a469bbd294b5 | 2117 | tractorSpeed_MtS_timed = 0.0f; |
nerit | 10:9e70619e97ab | 2118 | oldLocalTractorSpeed=0.0f; |
nerit | 10:9e70619e97ab | 2119 | #if defined(seedSensor) |
nerit | 10:9e70619e97ab | 2120 | resetDelay(); |
nerit | 10:9e70619e97ab | 2121 | #endif |
nerit | 3:a469bbd294b5 | 2122 | pntMedia=0; |
nerit | 3:a469bbd294b5 | 2123 | speedTimeOut.reset(); |
nerit | 3:a469bbd294b5 | 2124 | enableSpeed=0; |
nerit | 3:a469bbd294b5 | 2125 | quincCnt=0; |
nerit | 3:a469bbd294b5 | 2126 | } |
nerit | 3:a469bbd294b5 | 2127 | } |
nerit | 8:310f9e4eac7b | 2128 | |
nerit | 10:9e70619e97ab | 2129 | #if defined(seedSensor) |
nerit | 10:9e70619e97ab | 2130 | if (seedSensorEnable==true) { |
nerit | 10:9e70619e97ab | 2131 | if (delaySeedCheck.read_ms()>100) { |
nerit | 10:9e70619e97ab | 2132 | if (seedSee==0) { |
nerit | 10:9e70619e97ab | 2133 | all_noSeedOnCe=1; |
nerit | 10:9e70619e97ab | 2134 | } |
nerit | 10:9e70619e97ab | 2135 | resetDelay(); |
nerit | 3:a469bbd294b5 | 2136 | } |
nerit | 3:a469bbd294b5 | 2137 | } |
nerit | 10:9e70619e97ab | 2138 | #endif |
nerit | 3:a469bbd294b5 | 2139 | // esegue il controllo di velocità minima |
nerit | 3:a469bbd294b5 | 2140 | /*if ((double)speedTimer.read_ms()>=maxInterval){ |
nerit | 3:a469bbd294b5 | 2141 | tractorSpeed_MtS_timed = 0.0f; |
nerit | 3:a469bbd294b5 | 2142 | enableSpeed=0; |
nerit | 3:a469bbd294b5 | 2143 | }*/ |
nerit | 3:a469bbd294b5 | 2144 | // esegue il controllo di velocità massima |
nerit | 3:a469bbd294b5 | 2145 | /*if ((double)speedTimer.read_ms()<=minIntervalPulse){ |
nerit | 3:a469bbd294b5 | 2146 | tractorSpeed_MtS_timed = 4.5f; |
nerit | 3:a469bbd294b5 | 2147 | }*/ |
nerit | 8:310f9e4eac7b | 2148 | //*************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 2149 | // cycle logic control section |
nerit | 8:310f9e4eac7b | 2150 | //*************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 2151 | if (enableSimula==1) { |
nerit | 8:310f9e4eac7b | 2152 | if(simOk==0) { |
nerit | 8:310f9e4eac7b | 2153 | tractorSpeed_MtS_timed=0.0f; |
nerit | 10:9e70619e97ab | 2154 | oldLocalTractorSpeed=0.0f; |
nerit | 8:310f9e4eac7b | 2155 | } |
nerit | 8:310f9e4eac7b | 2156 | } |
nerit | 20:4a400a4cc419 | 2157 | if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) { |
nerit | 8:310f9e4eac7b | 2158 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2159 | #if defined(Qncc) |
nerit | 8:310f9e4eac7b | 2160 | pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty); |
nerit | 8:310f9e4eac7b | 2161 | |
nerit | 8:310f9e4eac7b | 2162 | #endif |
nerit | 8:310f9e4eac7b | 2163 | #endif |
nerit | 8:310f9e4eac7b | 2164 | cycleStopRequest=1; |
nerit | 8:310f9e4eac7b | 2165 | // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore |
nerit | 8:310f9e4eac7b | 2166 | 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 | 2167 | if (encoder==false) { |
nerit | 8:310f9e4eac7b | 2168 | if (speedFromPick==1) { |
nerit | 8:310f9e4eac7b | 2169 | tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h) |
nerit | 8:310f9e4eac7b | 2170 | } else { |
nerit | 8:310f9e4eac7b | 2171 | tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h) |
nerit | 8:310f9e4eac7b | 2172 | } |
nerit | 8:310f9e4eac7b | 2173 | } else { |
nerit | 17:9629eb019892 | 2174 | tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h) |
nerit | 5:2a3a64b52f54 | 2175 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2176 | #if defined(Qnce) |
nerit | 8:310f9e4eac7b | 2177 | pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS); |
nerit | 5:2a3a64b52f54 | 2178 | #endif |
nerit | 5:2a3a64b52f54 | 2179 | #endif |
nerit | 8:310f9e4eac7b | 2180 | #if !defined(speedMaster) |
nerit | 10:9e70619e97ab | 2181 | double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster; |
nerit | 10:9e70619e97ab | 2182 | tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f; |
nerit | 8:310f9e4eac7b | 2183 | #endif |
nerit | 8:310f9e4eac7b | 2184 | } |
nerit | 8:310f9e4eac7b | 2185 | //******************************************* |
nerit | 8:310f9e4eac7b | 2186 | // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore |
nerit | 8:310f9e4eac7b | 2187 | double dutyTeorico = 0.00; |
nerit | 12:b0fc1d313813 | 2188 | double deltaV=0.0f; |
nerit | 12:b0fc1d313813 | 2189 | double deltaD=0.0f; |
nerit | 12:b0fc1d313813 | 2190 | double setV=0.0f; |
nerit | 12:b0fc1d313813 | 2191 | double teoriaC=0.0f; |
nerit | 14:e2b5efa06c41 | 2192 | double speedCorrectionMachine=0.0f; |
nerit | 17:9629eb019892 | 2193 | //#if defined(speedMaster) |
nerit | 14:e2b5efa06c41 | 2194 | speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed; |
nerit | 17:9629eb019892 | 2195 | //#else |
nerit | 17:9629eb019892 | 2196 | // speedCorrectionMachine=tractorSpeed_MtS_timed; |
nerit | 17:9629eb019892 | 2197 | //#endif |
nerit | 14:e2b5efa06c41 | 2198 | //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) { |
nerit | 17:9629eb019892 | 2199 | if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) { |
nerit | 8:310f9e4eac7b | 2200 | dutyTeorico = tabComan[0]; |
nerit | 8:310f9e4eac7b | 2201 | } |
nerit | 17:9629eb019892 | 2202 | for (int ii = 0; ii<tabeling; ii++) { // era ii<16 |
nerit | 14:e2b5efa06c41 | 2203 | if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) { |
nerit | 12:b0fc1d313813 | 2204 | // esegue l'interpolazione dei valori stimati di duty in base alla velocità |
nerit | 12:b0fc1d313813 | 2205 | deltaV=tabSpeed[ii+1]-tabSpeed[ii]; |
nerit | 12:b0fc1d313813 | 2206 | deltaD=tabComan[ii+1]-tabComan[ii]; |
nerit | 14:e2b5efa06c41 | 2207 | //setV = tractorSpeed_MtS_timed-tabSpeed[ii]; |
nerit | 14:e2b5efa06c41 | 2208 | setV = speedCorrectionMachine-tabSpeed[ii]; |
nerit | 12:b0fc1d313813 | 2209 | teoriaC=(setV/deltaV)*deltaD; |
nerit | 12:b0fc1d313813 | 2210 | dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19 |
nerit | 14:e2b5efa06c41 | 2211 | #if defined(pcSerial) |
nerit | 14:e2b5efa06c41 | 2212 | #if defined(boost1) |
nerit | 14:e2b5efa06c41 | 2213 | pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]); |
nerit | 14:e2b5efa06c41 | 2214 | pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC); |
nerit | 14:e2b5efa06c41 | 2215 | #endif |
nerit | 14:e2b5efa06c41 | 2216 | #endif |
nerit | 3:a469bbd294b5 | 2217 | } |
nerit | 8:310f9e4eac7b | 2218 | } |
nerit | 14:e2b5efa06c41 | 2219 | //if (tractorSpeed_MtS_timed > tabSpeed[16]) { |
nerit | 14:e2b5efa06c41 | 2220 | // dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed; |
nerit | 14:e2b5efa06c41 | 2221 | //} |
nerit | 17:9629eb019892 | 2222 | if (speedCorrectionMachine > tabSpeed[tabeling]) { |
nerit | 14:e2b5efa06c41 | 2223 | dutyTeorico=speedCorrectionMachine/maxWorkSpeed; |
nerit | 8:310f9e4eac7b | 2224 | } |
nerit | 8:310f9e4eac7b | 2225 | #if !defined(speedMaster) |
nerit | 8:310f9e4eac7b | 2226 | quinCalc(); |
nerit | 8:310f9e4eac7b | 2227 | #endif |
nerit | 8:310f9e4eac7b | 2228 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2229 | #if defined(Qncd) |
nerit | 8:310f9e4eac7b | 2230 | pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt); |
nerit | 3:a469bbd294b5 | 2231 | #endif |
nerit | 8:310f9e4eac7b | 2232 | #endif |
nerit | 8:310f9e4eac7b | 2233 | if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) { |
nerit | 8:310f9e4eac7b | 2234 | double erroreTempo = 0.0f; |
nerit | 8:310f9e4eac7b | 2235 | if(encoder==false) { |
nerit | 8:310f9e4eac7b | 2236 | if(speedFromPick==1) { |
nerit | 8:310f9e4eac7b | 2237 | erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS; |
nerit | 8:310f9e4eac7b | 2238 | } else { |
nerit | 8:310f9e4eac7b | 2239 | 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 | 2240 | } |
nerit | 8:310f9e4eac7b | 2241 | } else { |
nerit | 8:310f9e4eac7b | 2242 | 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 | 2243 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2244 | #if defined(Qnce) |
nerit | 8:310f9e4eac7b | 2245 | pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo); |
nerit | 3:a469bbd294b5 | 2246 | #endif |
nerit | 3:a469bbd294b5 | 2247 | #endif |
nerit | 3:a469bbd294b5 | 2248 | } |
nerit | 8:310f9e4eac7b | 2249 | double errorePercentuale = erroreTempo / tempoTraBecchi_mS; |
nerit | 8:310f9e4eac7b | 2250 | double k3=0.0f; |
nerit | 8:310f9e4eac7b | 2251 | double k4=0.0f; |
nerit | 8:310f9e4eac7b | 2252 | double k5=0.0f; |
nerit | 8:310f9e4eac7b | 2253 | double k6=0.0f; |
nerit | 8:310f9e4eac7b | 2254 | #if defined(speedMaster) |
nerit | 8:310f9e4eac7b | 2255 | k3=0.010f; |
nerit | 8:310f9e4eac7b | 2256 | #else |
nerit | 8:310f9e4eac7b | 2257 | k3=0.050f; |
nerit | 8:310f9e4eac7b | 2258 | #endif |
nerit | 8:310f9e4eac7b | 2259 | k4=1.103f; |
nerit | 8:310f9e4eac7b | 2260 | k5=10.00f; |
nerit | 8:310f9e4eac7b | 2261 | k6=20.50f; |
nerit | 8:310f9e4eac7b | 2262 | double L1 = 0.045f; |
nerit | 8:310f9e4eac7b | 2263 | double L_1=-0.045f; |
nerit | 8:310f9e4eac7b | 2264 | double L2 = 0.150f; |
nerit | 8:310f9e4eac7b | 2265 | double L_2=-0.150f; |
nerit | 8:310f9e4eac7b | 2266 | double L3 = 0.301f; |
nerit | 8:310f9e4eac7b | 2267 | double L_3=-0.301f; |
nerit | 8:310f9e4eac7b | 2268 | double k1=0.0f; |
nerit | 8:310f9e4eac7b | 2269 | if ((errorePercentuale > L3)||(errorePercentuale < L_3)) { |
nerit | 8:310f9e4eac7b | 2270 | k1=errorePercentuale*k6; |
nerit | 8:310f9e4eac7b | 2271 | } |
nerit | 8:310f9e4eac7b | 2272 | if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) { |
nerit | 8:310f9e4eac7b | 2273 | k1=errorePercentuale*k5; |
nerit | 8:310f9e4eac7b | 2274 | } |
nerit | 8:310f9e4eac7b | 2275 | if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) { |
nerit | 8:310f9e4eac7b | 2276 | k1=errorePercentuale*k4; |
nerit | 8:310f9e4eac7b | 2277 | } |
nerit | 8:310f9e4eac7b | 2278 | if ((errorePercentuale < L1)||(errorePercentuale > L_1)) { |
nerit | 8:310f9e4eac7b | 2279 | k1=errorePercentuale*k3; |
nerit | 8:310f9e4eac7b | 2280 | } |
nerit | 8:310f9e4eac7b | 2281 | double memoCorrezione = k1; |
nerit | 8:310f9e4eac7b | 2282 | if (quincCnt >= 2) { |
nerit | 8:310f9e4eac7b | 2283 | correzione = correzione + memoCorrezione; |
nerit | 8:310f9e4eac7b | 2284 | if (correzione > (1.0f - dutyTeorico)) { |
nerit | 8:310f9e4eac7b | 2285 | correzione = (1.0f - dutyTeorico); |
nerit | 14:e2b5efa06c41 | 2286 | #if defined(pcSerial) |
nerit | 14:e2b5efa06c41 | 2287 | pc.printf("limite\n"); |
nerit | 14:e2b5efa06c41 | 2288 | #endif |
nerit | 3:a469bbd294b5 | 2289 | } |
nerit | 8:310f9e4eac7b | 2290 | if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) { |
nerit | 8:310f9e4eac7b | 2291 | correzione = -1.0f*dutyTeorico; |
nerit | 14:e2b5efa06c41 | 2292 | #if defined(pcSerial) |
nerit | 14:e2b5efa06c41 | 2293 | pc.printf("limite\n"); |
nerit | 14:e2b5efa06c41 | 2294 | #endif |
nerit | 3:a469bbd294b5 | 2295 | } |
nerit | 3:a469bbd294b5 | 2296 | } |
nerit | 8:310f9e4eac7b | 2297 | pulseRised1=0; |
nerit | 8:310f9e4eac7b | 2298 | pulseRised2=0; |
nerit | 8:310f9e4eac7b | 2299 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2300 | #if defined(Qnca) |
nerit | 8:310f9e4eac7b | 2301 | pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico); |
nerit | 8:310f9e4eac7b | 2302 | 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 | 2303 | #endif |
nerit | 8:310f9e4eac7b | 2304 | #endif |
nerit | 8:310f9e4eac7b | 2305 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2306 | #if defined(Qncb) |
nerit | 8:310f9e4eac7b | 2307 | pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty); |
nerit | 8:310f9e4eac7b | 2308 | #endif |
nerit | 8:310f9e4eac7b | 2309 | #endif |
nerit | 12:b0fc1d313813 | 2310 | #if defined(pcSerial) |
nerit | 12:b0fc1d313813 | 2311 | #if defined(boost) |
nerit | 12:b0fc1d313813 | 2312 | 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 | 2313 | #endif |
nerit | 12:b0fc1d313813 | 2314 | #endif |
nerit | 8:310f9e4eac7b | 2315 | } |
nerit | 12:b0fc1d313813 | 2316 | // introduce il controllo di corrente |
nerit | 14:e2b5efa06c41 | 2317 | double variazione=0.0f; |
nerit | 12:b0fc1d313813 | 2318 | if (correggiCorrente==1){ |
nerit | 12:b0fc1d313813 | 2319 | if (SD_CurrentScaled < 1.6f){ |
nerit | 12:b0fc1d313813 | 2320 | boostDcOut +=0.01f; |
nerit | 12:b0fc1d313813 | 2321 | } |
nerit | 12:b0fc1d313813 | 2322 | if (SD_CurrentScaled > 2.6f){ |
nerit | 12:b0fc1d313813 | 2323 | boostDcOut -=0.01f; |
nerit | 12:b0fc1d313813 | 2324 | } |
nerit | 12:b0fc1d313813 | 2325 | if (boostDcOut >= 0.2f){ |
nerit | 12:b0fc1d313813 | 2326 | boostDcOut=0.2f; |
nerit | 14:e2b5efa06c41 | 2327 | //all_genericals=1; |
nerit | 12:b0fc1d313813 | 2328 | } |
nerit | 12:b0fc1d313813 | 2329 | if (boostDcOut <=-0.2f){ |
nerit | 12:b0fc1d313813 | 2330 | boostDcOut=-0.2f; |
nerit | 14:e2b5efa06c41 | 2331 | //all_genericals=1; |
nerit | 12:b0fc1d313813 | 2332 | } |
nerit | 14:e2b5efa06c41 | 2333 | variazione=boostDcOut; |
nerit | 12:b0fc1d313813 | 2334 | correggiCorrente=0; |
nerit | 8:310f9e4eac7b | 2335 | } |
nerit | 12:b0fc1d313813 | 2336 | if (currentCheckEnable==true){ |
nerit | 14:e2b5efa06c41 | 2337 | correzione += variazione; |
nerit | 14:e2b5efa06c41 | 2338 | variazione=0.0f; |
nerit | 8:310f9e4eac7b | 2339 | } |
nerit | 8:310f9e4eac7b | 2340 | DC_brake=0; |
nerit | 8:310f9e4eac7b | 2341 | DC_forward=1; |
nerit | 8:310f9e4eac7b | 2342 | DC_prepare(); |
bcostm | 2:35f13b7f3659 | 2343 | |
nerit | 8:310f9e4eac7b | 2344 | // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale |
nerit | 8:310f9e4eac7b | 2345 | seedWheelPeriod = semiPeriodoReale; |
nerit | 8:310f9e4eac7b | 2346 | if (seedWheelPeriod < 180.0f) { |
nerit | 8:310f9e4eac7b | 2347 | seedWheelPeriod = 180.0f; |
nerit | 8:310f9e4eac7b | 2348 | } |
nerit | 8:310f9e4eac7b | 2349 | if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) { |
nerit | 8:310f9e4eac7b | 2350 | SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls |
nerit | 8:310f9e4eac7b | 2351 | oldSeedWheelPeriod=seedWheelPeriod; |
nerit | 8:310f9e4eac7b | 2352 | } |
nerit | 3:a469bbd294b5 | 2353 | |
nerit | 8:310f9e4eac7b | 2354 | if((quincCnt>=3)) { |
nerit | 8:310f9e4eac7b | 2355 | if (correzioneAttiva==1) { |
nerit | 8:310f9e4eac7b | 2356 | dcActualDuty = dutyTeorico + correzione; |
nerit | 8:310f9e4eac7b | 2357 | } else { |
nerit | 3:a469bbd294b5 | 2358 | dcActualDuty = dutyTeorico; |
nerit | 3:a469bbd294b5 | 2359 | } |
nerit | 8:310f9e4eac7b | 2360 | } else { |
nerit | 8:310f9e4eac7b | 2361 | dcActualDuty = dutyTeorico; |
nerit | 8:310f9e4eac7b | 2362 | } |
nerit | 8:310f9e4eac7b | 2363 | if (dcActualDuty <=0.0f) { |
nerit | 8:310f9e4eac7b | 2364 | dcActualDuty=0.05f; |
nerit | 8:310f9e4eac7b | 2365 | } |
nerit | 8:310f9e4eac7b | 2366 | if (dcActualDuty > 0.95f) { |
nerit | 8:310f9e4eac7b | 2367 | dcActualDuty = 0.95f; |
nerit | 8:310f9e4eac7b | 2368 | } |
nerit | 17:9629eb019892 | 2369 | if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;} |
nerit | 14:e2b5efa06c41 | 2370 | if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;} |
nerit | 8:310f9e4eac7b | 2371 | if (olddcActualDuty!=dcActualDuty) { |
nerit | 8:310f9e4eac7b | 2372 | SDmotorPWM.write(1.0f-dcActualDuty); |
nerit | 8:310f9e4eac7b | 2373 | olddcActualDuty=dcActualDuty; |
nerit | 8:310f9e4eac7b | 2374 | } |
nerit | 8:310f9e4eac7b | 2375 | // allarme |
nerit | 17:9629eb019892 | 2376 | if (tractorSpeed_MtS_timed>0.0f){ |
nerit | 17:9629eb019892 | 2377 | if (SDwheelTimer.read_ms()>4000) { |
nerit | 17:9629eb019892 | 2378 | if (firstStart==0) { |
nerit | 17:9629eb019892 | 2379 | all_noDcRotati=1; |
nerit | 17:9629eb019892 | 2380 | } |
nerit | 17:9629eb019892 | 2381 | #if defined(pcSerial) |
nerit | 17:9629eb019892 | 2382 | #if defined(VediAllarmi) |
nerit | 17:9629eb019892 | 2383 | pc.printf("allarme no DC rotation"); |
nerit | 17:9629eb019892 | 2384 | #endif |
nerit | 17:9629eb019892 | 2385 | #endif |
nerit | 3:a469bbd294b5 | 2386 | } |
nerit | 8:310f9e4eac7b | 2387 | } |
nerit | 3:a469bbd294b5 | 2388 | |
nerit | 8:310f9e4eac7b | 2389 | //*************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 2390 | // CONTROLLA TAMBURO |
nerit | 8:310f9e4eac7b | 2391 | //*************************************************************************************************************** |
nerit | 8:310f9e4eac7b | 2392 | if(lowSpeed==0) { |
nerit | 8:310f9e4eac7b | 2393 | if (syncroCheck==1) { |
nerit | 8:310f9e4eac7b | 2394 | syncroCheck=0; |
nerit | 8:310f9e4eac7b | 2395 | lockStart=1; |
nerit | 8:310f9e4eac7b | 2396 | periodo = TBperiod; |
nerit | 8:310f9e4eac7b | 2397 | #if !defined(runner) |
nerit | 9:7f02256f6e8f | 2398 | #if defined(Zucca) |
nerit | 9:7f02256f6e8f | 2399 | motor->step_clock_mode_enable(StepperMotor::BWD); |
nerit | 9:7f02256f6e8f | 2400 | #else |
nerit | 9:7f02256f6e8f | 2401 | motor->step_clock_mode_enable(StepperMotor::FWD); |
nerit | 9:7f02256f6e8f | 2402 | #endif |
nerit | 8:310f9e4eac7b | 2403 | #endif |
nerit | 8:310f9e4eac7b | 2404 | if (aspettaStart==0) { |
nerit | 6:e8c18f0f399a | 2405 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 2406 | #if defined(checkLoop) |
nerit | 8:310f9e4eac7b | 2407 | pc.printf("da sincro\n"); |
nerit | 6:e8c18f0f399a | 2408 | #endif |
nerit | 6:e8c18f0f399a | 2409 | #endif |
nerit | 8:310f9e4eac7b | 2410 | cambiaTB(periodo); |
nerit | 3:a469bbd294b5 | 2411 | } |
nerit | 8:310f9e4eac7b | 2412 | } |
nerit | 8:310f9e4eac7b | 2413 | // controllo di stop |
nerit | 8:310f9e4eac7b | 2414 | double memoIntraP = (double)memoIntraPick*1.8f; |
nerit | 8:310f9e4eac7b | 2415 | if ((double)rotationTimeOut.read_ms()> (memoIntraP)) { |
nerit | 3:a469bbd294b5 | 2416 | syncroCheck=0; |
nerit | 8:310f9e4eac7b | 2417 | aspettaStart=1; |
nerit | 8:310f9e4eac7b | 2418 | countCicli=0; |
nerit | 6:e8c18f0f399a | 2419 | #if defined(pcSerial) |
nerit | 6:e8c18f0f399a | 2420 | #if defined(checkLoop) |
nerit | 8:310f9e4eac7b | 2421 | pc.printf("AspettaSI\n"); |
nerit | 6:e8c18f0f399a | 2422 | #endif |
nerit | 6:e8c18f0f399a | 2423 | #endif |
nerit | 8:310f9e4eac7b | 2424 | if (TBzeroCyclePulse==1) { |
nerit | 8:310f9e4eac7b | 2425 | #if !defined(runner) |
nerit | 8:310f9e4eac7b | 2426 | TBticker.detach(); |
nerit | 8:310f9e4eac7b | 2427 | #endif |
nerit | 8:310f9e4eac7b | 2428 | motor->soft_hiz(); |
nerit | 8:310f9e4eac7b | 2429 | } |
nerit | 8:310f9e4eac7b | 2430 | } |
nerit | 8:310f9e4eac7b | 2431 | } else { // fine ciclo fuori da low speed |
nerit | 8:310f9e4eac7b | 2432 | syncroCheck=0; |
nerit | 8:310f9e4eac7b | 2433 | lockStart=0; |
nerit | 8:310f9e4eac7b | 2434 | if (beccoPronto==1) { |
nerit | 8:310f9e4eac7b | 2435 | if (tamburoStandard==1) { |
nerit | 8:310f9e4eac7b | 2436 | double ritardoMassimo = 0.0f; |
nerit | 8:310f9e4eac7b | 2437 | if (encoder==false) { |
nerit | 8:310f9e4eac7b | 2438 | if(speedFromPick==1) { |
nerit | 8:310f9e4eac7b | 2439 | ritardoMassimo = (double)timeIntraPick; |
nerit | 8:310f9e4eac7b | 2440 | } else { |
nerit | 8:310f9e4eac7b | 2441 | ritardoMassimo = (double)memoTimeHole; |
nerit | 8:310f9e4eac7b | 2442 | } |
nerit | 8:310f9e4eac7b | 2443 | } else { |
nerit | 8:310f9e4eac7b | 2444 | ritardoMassimo = (double)timeIntraPick; |
nerit | 8:310f9e4eac7b | 2445 | } |
nerit | 8:310f9e4eac7b | 2446 | int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); // |
nerit | 8:310f9e4eac7b | 2447 | if (tempoDiSincro <= 1) { |
nerit | 8:310f9e4eac7b | 2448 | tempoDiSincro=1; |
nerit | 8:310f9e4eac7b | 2449 | } |
nerit | 8:310f9e4eac7b | 2450 | if ((sincroTimer.read_ms()>= tempoDiSincro)) { |
nerit | 8:310f9e4eac7b | 2451 | if (tractorSpeed_MtS_timed >= minWorkSpeed) { |
nerit | 8:310f9e4eac7b | 2452 | startCicloTB=1; |
nerit | 8:310f9e4eac7b | 2453 | } |
nerit | 8:310f9e4eac7b | 2454 | beccoPronto=0; |
nerit | 8:310f9e4eac7b | 2455 | } |
nerit | 8:310f9e4eac7b | 2456 | } else { |
nerit | 8:310f9e4eac7b | 2457 | // tamburo per zucca |
nerit | 8:310f9e4eac7b | 2458 | if (speedOfSeedWheel >= minWorkSpeed) { |
nerit | 8:310f9e4eac7b | 2459 | startCicloTB=1; |
nerit | 8:310f9e4eac7b | 2460 | } |
nerit | 8:310f9e4eac7b | 2461 | beccoPronto=0; |
nerit | 8:310f9e4eac7b | 2462 | } |
nerit | 8:310f9e4eac7b | 2463 | } |
nerit | 8:310f9e4eac7b | 2464 | ciclaTB(); |
nerit | 8:310f9e4eac7b | 2465 | } |
nerit | 8:310f9e4eac7b | 2466 | //************************************************************* |
nerit | 8:310f9e4eac7b | 2467 | } else { // fine ciclo con velocita maggiore di 0 |
nerit | 13:d1030d4e51a8 | 2468 | delaySpeedCheck.reset(); |
nerit | 8:310f9e4eac7b | 2469 | if (cycleStopRequest==1) { |
nerit | 8:310f9e4eac7b | 2470 | SDwheelTimer.stop(); |
nerit | 8:310f9e4eac7b | 2471 | SDwheelTimer.reset(); |
nerit | 8:310f9e4eac7b | 2472 | #if defined(seedSensor) |
nerit | 8:310f9e4eac7b | 2473 | resetDelay(); |
nerit | 8:310f9e4eac7b | 2474 | #endif |
nerit | 8:310f9e4eac7b | 2475 | checkSDrotation=0; |
nerit | 8:310f9e4eac7b | 2476 | oldFaseLavoro=0; |
nerit | 8:310f9e4eac7b | 2477 | aspettaStart=1; |
nerit | 8:310f9e4eac7b | 2478 | countCicli=0; |
nerit | 8:310f9e4eac7b | 2479 | oldSeedWheelPeriod=0.0f; |
nerit | 8:310f9e4eac7b | 2480 | oldPeriodoTB=0.0f; |
nerit | 8:310f9e4eac7b | 2481 | correzione=0.0f; |
nerit | 8:310f9e4eac7b | 2482 | OLDpulseSpeedInterval=1000.01f; |
nerit | 8:310f9e4eac7b | 2483 | cicloTbinCorso=0; |
nerit | 8:310f9e4eac7b | 2484 | cntTbError=0; |
nerit | 8:310f9e4eac7b | 2485 | olddcActualDuty=0.0f; |
nerit | 8:310f9e4eac7b | 2486 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2487 | #if defined(checkLoopb) |
nerit | 8:310f9e4eac7b | 2488 | pc.printf("forza\n"); |
nerit | 8:310f9e4eac7b | 2489 | #endif |
nerit | 8:310f9e4eac7b | 2490 | #endif |
nerit | 8:310f9e4eac7b | 2491 | speedOfSeedWheel=0.0f; |
nerit | 8:310f9e4eac7b | 2492 | cycleStopRequest=0; |
nerit | 8:310f9e4eac7b | 2493 | DC_brake=1; |
nerit | 8:310f9e4eac7b | 2494 | DC_prepare(); |
nerit | 8:310f9e4eac7b | 2495 | metalTimer.reset(); |
nerit | 8:310f9e4eac7b | 2496 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2497 | #if defined(checkLoop) |
nerit | 8:310f9e4eac7b | 2498 | pc.printf("17h\n"); |
nerit | 8:310f9e4eac7b | 2499 | #endif |
nerit | 8:310f9e4eac7b | 2500 | #endif |
nerit | 8:310f9e4eac7b | 2501 | #if !defined(runner) |
nerit | 6:e8c18f0f399a | 2502 | TBticker.detach(); |
nerit | 8:310f9e4eac7b | 2503 | #endif |
nerit | 8:310f9e4eac7b | 2504 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2505 | #if defined(loStop) |
nerit | 8:310f9e4eac7b | 2506 | pc.printf("A5\n"); |
nerit | 6:e8c18f0f399a | 2507 | #endif |
nerit | 8:310f9e4eac7b | 2508 | #endif |
nerit | 20:4a400a4cc419 | 2509 | if(simStepper==0){ |
nerit | 20:4a400a4cc419 | 2510 | motor->soft_hiz(); |
nerit | 20:4a400a4cc419 | 2511 | motor->set_home(); |
nerit | 20:4a400a4cc419 | 2512 | } |
nerit | 18:7c978f69cc51 | 2513 | cntSpeedError=0; |
nerit | 18:7c978f69cc51 | 2514 | timeIntraPick=0.0f; |
nerit | 19:231b8931cabc | 2515 | memoIntraPick=0.001f; |
nerit | 19:231b8931cabc | 2516 | intraPickTimer.reset(); |
nerit | 8:310f9e4eac7b | 2517 | pntMedia=0; |
nerit | 8:310f9e4eac7b | 2518 | #if defined(pcSerial) |
nerit | 8:310f9e4eac7b | 2519 | #if defined(stopSignal) |
nerit | 8:310f9e4eac7b | 2520 | pc.printf("stop\n"); |
nerit | 6:e8c18f0f399a | 2521 | #endif |
nerit | 8:310f9e4eac7b | 2522 | #endif |
nerit | 3:a469bbd294b5 | 2523 | } |
nerit | 8:310f9e4eac7b | 2524 | } |
nerit | 8:310f9e4eac7b | 2525 | |
nerit | 8:310f9e4eac7b | 2526 | //************************************************************************************************* |
nerit | 3:a469bbd294b5 | 2527 | TBzeroCyclePulse=0; |
nerit | 8:310f9e4eac7b | 2528 | //************************************************************************************************* |
nerit | 6:e8c18f0f399a | 2529 | } //end inProva==0 |
nerit | 3:a469bbd294b5 | 2530 | wd.Service(); // kick the dog before the timeout |
nerit | 3:a469bbd294b5 | 2531 | } // end while |
nerit | 3:a469bbd294b5 | 2532 | } // end main |