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

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Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_maggio2020

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

Dependencies: mbed X_NUCLEO_IHM03A1_for

Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by Francesco Pistone

main.cpp@40:42eae86457dd, 2020-05-04 (annotated)

Committer:: nerit
Date:: Mon May 04 11:19:05 2020 +0000
Revision:: 40:42eae86457dd
Parent:: 39:6814c75dfa5c
Child:: 41:a0d9a71f8cb5

Aumentato velocita del precarico seme sul tamburo e aggiunto nota importante nell'header del main

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	35:3165f4c1c7bf	89	#if defined(runner)
nerit	35:3165f4c1c7bf	90	/* Helper header files. */
nerit	35:3165f4c1c7bf	91	#include "DevSPI.h"
nerit	35:3165f4c1c7bf	92	/* Component specific header files. */
nerit	35:3165f4c1c7bf	93	#include "PowerStep01.h"
nerit	35:3165f4c1c7bf	94	#endif
nerit	3:a469bbd294b5	95	#include "timeandtick.hpp"
nerit	3:a469bbd294b5	96	#include "canbus.hpp"
nerit	3:a469bbd294b5	97	#include "watchdog.h"
nerit	3:a469bbd294b5	98	#include "iodefinition.hpp"
nerit	3:a469bbd294b5	99	#include "parameters.hpp"
nerit	3:a469bbd294b5	100	#include "variables.hpp"
nerit	35:3165f4c1c7bf	101	#if defined(runner)
nerit	35:3165f4c1c7bf	102	#include "powerstep.hpp"
nerit	35:3165f4c1c7bf	103	#endif
nerit	3:a469bbd294b5	104	//********************************************************************************************************************
nerit	3:a469bbd294b5	105	//********************************************************************************************************************
nerit	8:310f9e4eac7b	106	#if defined(runnerTos)
nerit	8:310f9e4eac7b	107	Thread thread;
nerit	8:310f9e4eac7b	108	#endif
nerit	3:a469bbd294b5	109
nerit	3:a469bbd294b5	110	/* Variables -----------------------------------------------------------------*/
nerit	3:a469bbd294b5	111
nerit	3:a469bbd294b5	112	/* Functions -----------------------------------------------------------------*/
nerit	3:a469bbd294b5	113
nerit	3:a469bbd294b5	114	/**
nerit	3:a469bbd294b5	115	* @brief This is an example of user handler for the flag interrupt.
nerit	3:a469bbd294b5	116	* @param None
nerit	3:a469bbd294b5	117	* @retval None
nerit	3:a469bbd294b5	118	* @note If needed, implement it, and then attach and enable it:
nerit	3:a469bbd294b5	119	* + motor->attach_flag_irq(&my_flag_irq_handler);
nerit	3:a469bbd294b5	120	* + motor->enable_flag_irq();
nerit	3:a469bbd294b5	121	* To disable it:
nerit	3:a469bbd294b5	122	* + motor->DisbleFlagIRQ();
nerit	3:a469bbd294b5	123	*/
nerit	35:3165f4c1c7bf	124	#if defined(runner)
nerit	3:a469bbd294b5	125	void my_flag_irq_handler(void)
nerit	3:a469bbd294b5	126	{
nerit	3:a469bbd294b5	127	/* Set ISR flag. */
nerit	3:a469bbd294b5	128	motor->isrFlag = TRUE;
nerit	3:a469bbd294b5	129	/* Get the value of the status register. */
nerit	3:a469bbd294b5	130	unsigned int statusRegister = motor->get_status();
nerit	10:9e70619e97ab	131	#if defined(pcSerial)
nerit	10:9e70619e97ab	132	pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit	10:9e70619e97ab	133	#endif
nerit	3:a469bbd294b5	134	/* Check SW_F flag: if not set, the SW input is opened */
nerit	3:a469bbd294b5	135	if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit	10:9e70619e97ab	136	#if defined(pcSerial)
nerit	8:310f9e4eac7b	137	pc.printf(" SW closed (connected to ground).\r\n");
nerit	10:9e70619e97ab	138	#endif
nerit	3:a469bbd294b5	139	}
nerit	3:a469bbd294b5	140	/* Check SW_EN bit */
nerit	3:a469bbd294b5	141	if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit	10:9e70619e97ab	142	#if defined(pcSerial)
nerit	8:310f9e4eac7b	143	pc.printf(" SW turn_on event.\r\n");
nerit	10:9e70619e97ab	144	#endif
nerit	3:a469bbd294b5	145	}
nerit	3:a469bbd294b5	146	/* Check Command Error flag: if set, the command received by SPI can't be */
nerit	3:a469bbd294b5	147	/* performed. This occurs for instance when a move command is sent to the */
nerit	3:a469bbd294b5	148	/* Powerstep01 while it is already running */
nerit	3:a469bbd294b5	149	if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit	10:9e70619e97ab	150	#if defined(pcSerial)
nerit	8:310f9e4eac7b	151	pc.printf(" Non-performable command detected.\r\n");
nerit	10:9e70619e97ab	152	#endif
nerit	8:310f9e4eac7b	153	}
nerit	3:a469bbd294b5	154	/* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit	3:a469bbd294b5	155	if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit	10:9e70619e97ab	156	#if defined(pcSerial)
nerit	8:310f9e4eac7b	157	pc.printf(" undervoltage lock-out.\r\n");
nerit	10:9e70619e97ab	158	#endif
nerit	8:310f9e4eac7b	159	}
nerit	3:a469bbd294b5	160	/* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit	3:a469bbd294b5	161	if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit	8:310f9e4eac7b	162	//thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit	10:9e70619e97ab	163	#if defined(pcSerial)
nerit	8:310f9e4eac7b	164	pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit	10:9e70619e97ab	165	#endif
nerit	8:310f9e4eac7b	166	}
nerit	3:a469bbd294b5	167	/* Check OCD flag: if not set, there is an overcurrent detection */
nerit	3:a469bbd294b5	168	if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit	10:9e70619e97ab	169	#if defined(pcSerial)
nerit	8:310f9e4eac7b	170	pc.printf(" Overcurrent detection.\r\n");
nerit	10:9e70619e97ab	171	#endif
nerit	3:a469bbd294b5	172	}
nerit	3:a469bbd294b5	173	/* Reset ISR flag. */
nerit	3:a469bbd294b5	174	motor->isrFlag = FALSE;
nerit	3:a469bbd294b5	175	}
nerit	35:3165f4c1c7bf	176	#endif
nerit	3:a469bbd294b5	177	/**
nerit	3:a469bbd294b5	178	* @brief This is an example of error handler.
nerit	3:a469bbd294b5	179	* @param[in] error Number of the error
nerit	3:a469bbd294b5	180	* @retval None
nerit	3:a469bbd294b5	181	* @note If needed, implement it, and then attach it:
nerit	3:a469bbd294b5	182	* + motor->attach_error_handler(&my_error_handler);
nerit	3:a469bbd294b5	183	*/
nerit	3:a469bbd294b5	184	void my_error_handler(uint16_t error)
nerit	3:a469bbd294b5	185	{
nerit	3:a469bbd294b5	186	/* Printing to the console. */
nerit	10:9e70619e97ab	187	#if defined(pcSerial)
nerit	10:9e70619e97ab	188	pc.printf("Error %d detected\r\n\n", error);
nerit	10:9e70619e97ab	189	#endif
nerit	8:310f9e4eac7b	190
nerit	3:a469bbd294b5	191	/* Infinite loop */
nerit	3:a469bbd294b5	192	//while (true) {
nerit	8:310f9e4eac7b	193	//}
nerit	3:a469bbd294b5	194	}
nerit	8:310f9e4eac7b	195	//*******************************************************************************
nerit	8:310f9e4eac7b	196	// FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit	8:310f9e4eac7b	197	//*******************************************************************************
nerit	8:310f9e4eac7b	198	#if defined(runner)
nerit	8:310f9e4eac7b	199	void step_Reading(){
nerit	8:310f9e4eac7b	200	//while(true){
nerit	8:310f9e4eac7b	201	/* Get current position of device and print to the console */
nerit	8:310f9e4eac7b	202	TBpassPosition= (uint32_t) motor->get_position();
nerit	34:eb04f4f41dfd	203	ildato=TBpassPosition;
nerit	8:310f9e4eac7b	204	if (TBpassPosition >= TBoldPosition){
nerit	8:310f9e4eac7b	205	TBactualPosition= ((TBpassPosition-TBoldPosition)TBreductionRatio);//10;
nerit	8:310f9e4eac7b	206	}else{
nerit	36:896cd03314f1	207	TBperiod=5.2f*TBrpm;
nerit	8:310f9e4eac7b	208	}
nerit	8:310f9e4eac7b	209	//wait_us(50); // 50 mS di intervallo lettura
nerit	8:310f9e4eac7b	210	//}
nerit	8:310f9e4eac7b	211	}
nerit	8:310f9e4eac7b	212	#endif
nerit	3:a469bbd294b5	213	//********************************************************************************************************************
nerit	3:a469bbd294b5	214	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	215	// TASK SECTION
nerit	3:a469bbd294b5	216	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	217	//************************************************************************
nerit	8:310f9e4eac7b	218	void aggioVelocita()
nerit	8:310f9e4eac7b	219	{
nerit	8:310f9e4eac7b	220	realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit	17:9629eb019892	221	tempoBecco = realGiroSD44.4444f; //(realGiroSD/360.0f)16000.0f;
nerit	8:310f9e4eac7b	222	frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit	8:310f9e4eac7b	223	semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit	8:310f9e4eac7b	224	seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit	39:6814c75dfa5c	225	TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit	8:310f9e4eac7b	226	#if defined(runner)
nerit	9:7f02256f6e8f	227	#if defined(Zucca)
nerit	9:7f02256f6e8f	228	TBperiod=5.2fTBrpm2.0f; //prova dopo test con contagiri
nerit	9:7f02256f6e8f	229	#else
nerit	17:9629eb019892	230	if (cellsNumber<8.0f){
nerit	34:eb04f4f41dfd	231	TBperiod=6.2fTBrpm;//4.8fTBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	232	}else{
nerit	17:9629eb019892	233	TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	234	}
nerit	9:7f02256f6e8f	235	#endif
nerit	38:79af1c65dd6f	236	#endif
nerit	38:79af1c65dd6f	237	#if defined(oldStepperDriver)
nerit	10:9e70619e97ab	238	TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit	8:310f9e4eac7b	239	TBperiod=1000000.0f/TBfrequency; // 715uS
nerit	8:310f9e4eac7b	240	#endif
nerit	8:310f9e4eac7b	241
nerit	8:310f9e4eac7b	242	}
nerit	3:a469bbd294b5	243	//************************************************************************
nerit	3:a469bbd294b5	244	// rise of seed speed 25 pulse sensor
nerit	10:9e70619e97ab	245	void sd25Fall(){
nerit	3:a469bbd294b5	246	timeHole=metalTimer.read_ms();
nerit	10:9e70619e97ab	247	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	248	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	249	metalTimer.reset();
nerit	8:310f9e4eac7b	250	if (speedFromPick==0) {
nerit	10:9e70619e97ab	251	speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit	3:a469bbd294b5	252	}
nerit	6:e8c18f0f399a	253	#if defined(pcSerial)
nerit	6:e8c18f0f399a	254	#if defined(checkLoop)
nerit	6:e8c18f0f399a	255	pc.printf("1\n");
nerit	6:e8c18f0f399a	256	#endif
nerit	6:e8c18f0f399a	257	#endif
nerit	3:a469bbd294b5	258	}
nerit	10:9e70619e97ab	259	//************************************************************************
nerit	3:a469bbd294b5	260	// rise of seed speed motor encoder
nerit	3:a469bbd294b5	261	void encoRise(){
nerit	3:a469bbd294b5	262	timeHole=metalTimer.read_us();
nerit	10:9e70619e97ab	263	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	264	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	265	metalTimer.reset();
nerit	8:310f9e4eac7b	266	if (encoder==true) {
nerit	13:d1030d4e51a8	267	speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit	3:a469bbd294b5	268	pulseRised2=1;
nerit	13:d1030d4e51a8	269	dcEncoderCnt++;
nerit	13:d1030d4e51a8	270	double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit	13:d1030d4e51a8	271	prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit	13:d1030d4e51a8	272	#if defined(speedMaster)
nerit	13:d1030d4e51a8	273	if (quinconceActive==0) {
nerit	13:d1030d4e51a8	274	posForQuinc=500+(uint32_t)sincronizza;
nerit	13:d1030d4e51a8	275	}
nerit	13:d1030d4e51a8	276	#endif
nerit	3:a469bbd294b5	277	}
nerit	6:e8c18f0f399a	278	#if defined(pcSerial)
nerit	6:e8c18f0f399a	279	#if defined(checkLoop)
nerit	6:e8c18f0f399a	280	pc.printf("2\n");
nerit	6:e8c18f0f399a	281	#endif
nerit	6:e8c18f0f399a	282	#endif
nerit	8:310f9e4eac7b	283	aggioVelocita();
nerit	3:a469bbd294b5	284	}
nerit	6:e8c18f0f399a	285	//**************************************************
nerit	3:a469bbd294b5	286	// rise of seed presence sensor
nerit	3:a469bbd294b5	287	void seedSensorTask(){
nerit	3:a469bbd294b5	288	seedSee=1;
nerit	6:e8c18f0f399a	289	#if defined(pcSerial)
nerit	6:e8c18f0f399a	290	#if defined(checkLoop)
nerit	6:e8c18f0f399a	291	pc.printf("3\n");
nerit	6:e8c18f0f399a	292	#endif
nerit	6:e8c18f0f399a	293	#endif
nerit	3:a469bbd294b5	294	}
nerit	3:a469bbd294b5	295	//**************************************************
nerit	3:a469bbd294b5	296	// generate speed clock when speed is simulated from Tritecnica display
nerit	8:310f9e4eac7b	297	void speedSimulationClock(){
nerit	3:a469bbd294b5	298	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	299	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	300	speedTimer.reset();
nerit	3:a469bbd294b5	301	pulseRised=1;
nerit	3:a469bbd294b5	302	speedFilter.reset();
nerit	6:e8c18f0f399a	303	#if defined(pcSerial)
nerit	6:e8c18f0f399a	304	#if defined(checkLoop)
nerit	6:e8c18f0f399a	305	pc.printf("4\n");
nerit	6:e8c18f0f399a	306	#endif
nerit	6:e8c18f0f399a	307	#endif
nerit	3:a469bbd294b5	308	}
nerit	3:a469bbd294b5	309	//*******************************************************
nerit	3:a469bbd294b5	310	// interrupt task for tractor speed reading
nerit	3:a469bbd294b5	311	//*******************************************************
nerit	3:a469bbd294b5	312	void tractorReadSpeed(){
nerit	8:310f9e4eac7b	313	if ((oldTractorSpeedRead==0)) {
nerit	3:a469bbd294b5	314	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	315	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	316	speedTimer.reset();
nerit	3:a469bbd294b5	317	pulseRised=1;
nerit	3:a469bbd294b5	318	oldTractorSpeedRead=1;
nerit	3:a469bbd294b5	319	}
nerit	8:310f9e4eac7b	320	speedClock=1;
nerit	3:a469bbd294b5	321	speedFilter.reset();
nerit	10:9e70619e97ab	322	cntSpeedError=0;
nerit	6:e8c18f0f399a	323	#if defined(pcSerial)
nerit	6:e8c18f0f399a	324	#if defined(checkLoop)
nerit	6:e8c18f0f399a	325	pc.printf("5\n");
nerit	6:e8c18f0f399a	326	#endif
nerit	6:e8c18f0f399a	327	#endif
nerit	3:a469bbd294b5	328	}
nerit	3:a469bbd294b5	329	//*******************************************************
nerit	8:310f9e4eac7b	330	void speedMediaCalc()
nerit	8:310f9e4eac7b	331	{
nerit	3:a469bbd294b5	332	double lastPd=(double) lastPulseRead/1000.0f;
nerit	3:a469bbd294b5	333	pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit	8:310f9e4eac7b	334	if (enableSimula==1) {
nerit	3:a469bbd294b5	335	double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	336	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	337	}
nerit	3:a469bbd294b5	338	mediaSpeed[0]=lastPd;
nerit	3:a469bbd294b5	339	OLDpulseSpeedInterval=pulseSpeedInterval;
nerit	10:9e70619e97ab	340	#if defined(pcSerial)
nerit	10:9e70619e97ab	341	#if defined(checkLoop)
nerit	10:9e70619e97ab	342	pc.printf("6\n");
nerit	10:9e70619e97ab	343	#endif
nerit	10:9e70619e97ab	344	#endif
nerit	8:310f9e4eac7b	345	}
bcostm	0:5701b41769fd	346
nerit	3:a469bbd294b5	347	//*******************************************************
nerit	3:a469bbd294b5	348	// clocked task for manage virtual encoder of seed wheel i/o
nerit	3:a469bbd294b5	349	//*******************************************************
nerit	3:a469bbd294b5	350	//*******************************************************
nerit	8:310f9e4eac7b	351	void step_SDPulseOut()
nerit	8:310f9e4eac7b	352	{
nerit	3:a469bbd294b5	353	SDactualPosition++;
nerit	3:a469bbd294b5	354	prePosSD++;
nerit	10:9e70619e97ab	355	#if defined(speedMaster)
nerit	10:9e70619e97ab	356	posForQuinc++;
nerit	10:9e70619e97ab	357	#endif
nerit	10:9e70619e97ab	358	#if defined(pcSerial)
nerit	10:9e70619e97ab	359	#if defined(checkLoop)
nerit	10:9e70619e97ab	360	pc.printf("7\n");
nerit	10:9e70619e97ab	361	#endif
nerit	10:9e70619e97ab	362	#endif
nerit	3:a469bbd294b5	363	}
nerit	3:a469bbd294b5	364	//*******************************************************
nerit	18:7c978f69cc51	365	void step_TBPulseOut(){
nerit	3:a469bbd294b5	366	TBmotorStepOut=!TBmotorStepOut;
nerit	8:310f9e4eac7b	367	if (TBmotorStepOut==0) {
nerit	8:310f9e4eac7b	368	if (TBmotorDirecti==TBforward) {
nerit	3:a469bbd294b5	369	TBactualPosition++;
nerit	3:a469bbd294b5	370	}
nerit	3:a469bbd294b5	371	}
nerit	10:9e70619e97ab	372	#if defined(pcSerial)
nerit	10:9e70619e97ab	373	#if defined(stepTamb)
nerit	10:9e70619e97ab	374	pc.printf("step\n");
nerit	10:9e70619e97ab	375	#endif
nerit	10:9e70619e97ab	376	#endif
nerit	6:e8c18f0f399a	377	/*
nerit	6:e8c18f0f399a	378	#if defined(pcSerial)
nerit	6:e8c18f0f399a	379	#if defined(checkLoop)
nerit	6:e8c18f0f399a	380	pc.printf("8\n");
nerit	6:e8c18f0f399a	381	#endif
nerit	6:e8c18f0f399a	382	#endif
nerit	6:e8c18f0f399a	383	*/
nerit	3:a469bbd294b5	384	}
nerit	39:6814c75dfa5c	385	//*******************************************************************************
nerit	39:6814c75dfa5c	386	void attivaTb(double velocita){
nerit	39:6814c75dfa5c	387	TBmotorRst=0;
nerit	39:6814c75dfa5c	388	#if defined(pcSerial)
nerit	39:6814c75dfa5c	389	#if defined(velocity)
nerit	39:6814c75dfa5c	390	pc.printf("velocita: %f\n",velocita);
nerit	39:6814c75dfa5c	391	#endif
nerit	39:6814c75dfa5c	392	#endif
nerit	39:6814c75dfa5c	393	TBticker.attach_us(&step_TBPulseOut,velocita); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	394	}
nerit	39:6814c75dfa5c	395	void stopTb(){
nerit	39:6814c75dfa5c	396	TBticker.detach();
nerit	39:6814c75dfa5c	397	TBmotorRst=1;
nerit	39:6814c75dfa5c	398	}
nerit	3:a469bbd294b5	399	//*******************************************************
nerit	8:310f9e4eac7b	400	void invertiLo()
nerit	8:310f9e4eac7b	401	{
nerit	8:310f9e4eac7b	402	if (TBmotorDirecti==TBreverse) {
nerit	3:a469bbd294b5	403	TBmotorDirecti=TBforward;
nerit	35:3165f4c1c7bf	404	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	405	#if !defined(runner)
nerit	35:3165f4c1c7bf	406	#if defined(Zucca)
nerit	35:3165f4c1c7bf	407	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	408	#else
nerit	35:3165f4c1c7bf	409	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	410	#endif
nerit	9:7f02256f6e8f	411	#endif
nerit	35:3165f4c1c7bf	412	#if defined(provaStepper)
nerit	35:3165f4c1c7bf	413	motor->run(StepperMotor::FWD,150.0f);
nerit	35:3165f4c1c7bf	414	#endif
nerit	18:7c978f69cc51	415	#endif
nerit	8:310f9e4eac7b	416	} else {
nerit	3:a469bbd294b5	417	TBmotorDirecti=TBreverse;
nerit	35:3165f4c1c7bf	418	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	419	#if !defined(runner)
nerit	35:3165f4c1c7bf	420	#if defined(Zucca)
nerit	35:3165f4c1c7bf	421	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	422	#else
nerit	35:3165f4c1c7bf	423	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	424	#endif
nerit	9:7f02256f6e8f	425	#endif
nerit	35:3165f4c1c7bf	426	#if defined(provaStepper)
nerit	35:3165f4c1c7bf	427	motor->run(StepperMotor::BWD,100.0f);
nerit	35:3165f4c1c7bf	428	#endif
nerit	18:7c978f69cc51	429	#endif
nerit	3:a469bbd294b5	430	}
nerit	3:a469bbd294b5	431	#if defined(pcSerial)
nerit	3:a469bbd294b5	432	#if defined(inversione)
nerit	3:a469bbd294b5	433	pc.printf("cambio M %d\n",cambiaStep);
nerit	3:a469bbd294b5	434	pc.printf("posizione %d \n",TBactualPosition);
nerit	3:a469bbd294b5	435	#endif
nerit	3:a469bbd294b5	436	#endif
nerit	6:e8c18f0f399a	437	#if defined(pcSerial)
nerit	6:e8c18f0f399a	438	#if defined(checkLoop)
nerit	6:e8c18f0f399a	439	pc.printf("9\n");
nerit	6:e8c18f0f399a	440	#endif
nerit	6:e8c18f0f399a	441	#endif
nerit	3:a469bbd294b5	442	}
nerit	3:a469bbd294b5	443	//*******************************************************
nerit	3:a469bbd294b5	444	// aggiornamento parametri di lavoro fissi e da Tritecnica
nerit	8:310f9e4eac7b	445	void aggiornaParametri()
nerit	8:310f9e4eac7b	446	{
nerit	3:a469bbd294b5	447	speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit	3:a469bbd294b5	448	pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit	3:a469bbd294b5	449	seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit	3:a469bbd294b5	450	intraPickDistance = seedPerimeter/pickNumber;
nerit	3:a469bbd294b5	451	K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit	17:9629eb019892	452	//K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit	3:a469bbd294b5	453	rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit	13:d1030d4e51a8	454	SDsectorStep = fixedStepGiroSD / pickNumber;
nerit	3:a469bbd294b5	455	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	13:d1030d4e51a8	456	seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit	13:d1030d4e51a8	457	frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit	8:310f9e4eac7b	458	#if defined(runner)
nerit	9:7f02256f6e8f	459	#if defined(Zucca)
nerit	9:7f02256f6e8f	460	KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit	9:7f02256f6e8f	461	#else
nerit	30:32e770e91998	462	KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit	9:7f02256f6e8f	463	#endif
nerit	8:310f9e4eac7b	464	#else
nerit	8:310f9e4eac7b	465	KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit	8:310f9e4eac7b	466	#endif
nerit	3:a469bbd294b5	467	angoloFase=angoloPh;
nerit	3:a469bbd294b5	468	avvioGradi=angoloAv;
nerit	3:a469bbd294b5	469	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	470	TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	471	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	472	TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit	3:a469bbd294b5	473	K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit	3:a469bbd294b5	474	if (speedFromPick==1) {
nerit	3:a469bbd294b5	475	intraPickDistance = seedPerimeter/pickNumber;
nerit	8:310f9e4eac7b	476	} else {
nerit	3:a469bbd294b5	477	intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit	3:a469bbd294b5	478	}
nerit	6:e8c18f0f399a	479	#if defined(pcSerial)
nerit	6:e8c18f0f399a	480	#if defined(checkLoop)
nerit	6:e8c18f0f399a	481	pc.printf("10\n");
nerit	6:e8c18f0f399a	482	#endif
nerit	6:e8c18f0f399a	483	#endif
nerit	3:a469bbd294b5	484	}
nerit	3:a469bbd294b5	485	//*******************************************************
nerit	39:6814c75dfa5c	486	void cambiaTB(double perio, int idxc)
nerit	8:310f9e4eac7b	487	{
nerit	8:310f9e4eac7b	488	#if defined(runner)
nerit	8:310f9e4eac7b	489	// update TB frequency
nerit	8:310f9e4eac7b	490	double TBper=0.0f;
nerit	8:310f9e4eac7b	491	if (aspettaStart==0){
nerit	8:310f9e4eac7b	492	TBper=perio;
nerit	8:310f9e4eac7b	493	if (oldPeriodoTB!=TBper){
nerit	6:e8c18f0f399a	494	#if defined(pcSerial)
nerit	8:310f9e4eac7b	495	#if defined(TBperSo)
nerit	8:310f9e4eac7b	496	pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit	6:e8c18f0f399a	497	#endif
nerit	6:e8c18f0f399a	498	#endif
nerit	9:7f02256f6e8f	499	#if defined(Zucca)
nerit	9:7f02256f6e8f	500	motor->run(StepperMotor::BWD,TBper);
nerit	9:7f02256f6e8f	501	#else
nerit	9:7f02256f6e8f	502	motor->run(StepperMotor::FWD,TBper);
nerit	9:7f02256f6e8f	503	#endif
nerit	8:310f9e4eac7b	504	oldPeriodoTB=TBper;
nerit	8:310f9e4eac7b	505	}
nerit	8:310f9e4eac7b	506	}
nerit	8:310f9e4eac7b	507	#else
nerit	8:310f9e4eac7b	508	// update TB frequency
nerit	39:6814c75dfa5c	509	double limite=400.0f;
nerit	8:310f9e4eac7b	510	double TBper=0.0f;
nerit	8:310f9e4eac7b	511	double scala =2.0f;
nerit	8:310f9e4eac7b	512	if (aspettaStart==0) {
nerit	8:310f9e4eac7b	513	if (perio<limite) {
nerit	8:310f9e4eac7b	514	perio=limite;
nerit	8:310f9e4eac7b	515	}
nerit	8:310f9e4eac7b	516	TBper=perio/scala;
nerit	8:310f9e4eac7b	517	if (oldPeriodoTB!=TBper) {
nerit	8:310f9e4eac7b	518	if (TBper >= (limite/2.0f)) {
nerit	8:310f9e4eac7b	519	#if defined(pcSerial)
nerit	39:6814c75dfa5c	520	#if defined(checkLoopc)
nerit	8:310f9e4eac7b	521	pc.printf("11a\n");
nerit	39:6814c75dfa5c	522	pc.printf("11a TBper: %f perio: %f idx: %d\n",TBper,perio,idxc);
nerit	8:310f9e4eac7b	523	#endif
nerit	6:e8c18f0f399a	524	#endif
nerit	8:310f9e4eac7b	525	if (TBper != NULL) {
nerit	35:3165f4c1c7bf	526	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	527	#if defined(runner)
nerit	35:3165f4c1c7bf	528	#if defined(Zucca)
nerit	35:3165f4c1c7bf	529	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	530	#else
nerit	35:3165f4c1c7bf	531	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	532	#endif
nerit	35:3165f4c1c7bf	533	#endif
nerit	9:7f02256f6e8f	534	#endif
nerit	39:6814c75dfa5c	535	//TBmotorRst=0;
nerit	39:6814c75dfa5c	536	//TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	537	attivaTb(TBper);
nerit	8:310f9e4eac7b	538	}
nerit	8:310f9e4eac7b	539	} else {
nerit	8:310f9e4eac7b	540	#if defined(pcSerial)
nerit	8:310f9e4eac7b	541	#if defined(checkLoop)
nerit	8:310f9e4eac7b	542	pc.printf("11b\n");
nerit	8:310f9e4eac7b	543	#endif
nerit	6:e8c18f0f399a	544	#endif
nerit	39:6814c75dfa5c	545	//TBticker.detach();
nerit	39:6814c75dfa5c	546	//TBmotorRst=1;
nerit	39:6814c75dfa5c	547	stopTb();
nerit	8:310f9e4eac7b	548	#if defined(pcSerial)
nerit	8:310f9e4eac7b	549	#if defined(loStop)
nerit	8:310f9e4eac7b	550	pc.printf("A1\n");
nerit	8:310f9e4eac7b	551	#endif
nerit	8:310f9e4eac7b	552	#endif
nerit	35:3165f4c1c7bf	553	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	554	#if defined(runner)
nerit	35:3165f4c1c7bf	555	motor->soft_hiz();
nerit	35:3165f4c1c7bf	556	#endif
nerit	35:3165f4c1c7bf	557	#endif
nerit	8:310f9e4eac7b	558	}
nerit	8:310f9e4eac7b	559	oldPeriodoTB=TBper;
nerit	3:a469bbd294b5	560	}
nerit	3:a469bbd294b5	561	}
nerit	8:310f9e4eac7b	562	#endif
nerit	3:a469bbd294b5	563	}
nerit	3:a469bbd294b5	564	//*******************************************************
nerit	8:310f9e4eac7b	565	void seedCorrect()
nerit	8:310f9e4eac7b	566	{
nerit	3:a469bbd294b5	567	/*
nerit	3:a469bbd294b5	568	posError determina la posizione relativa di TB rispetto ad SD
nerit	8:310f9e4eac7b	569	la reale posizione di SD viene modificata in funzione della velocità per
nerit	3:a469bbd294b5	570	traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit	3:a469bbd294b5	571	di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit	3:a469bbd294b5	572	La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit	3:a469bbd294b5	573	poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit	3:a469bbd294b5	574	Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit	3:a469bbd294b5	575	angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit	3:a469bbd294b5	576	Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit	3:a469bbd294b5	577	del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit	3:a469bbd294b5	578	Ancora di più se viene eliminata la parte gestita da ciclata.
nerit	3:a469bbd294b5	579	In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit	3:a469bbd294b5	580	dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit	3:a469bbd294b5	581	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	582	Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit	3:a469bbd294b5	583	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	584	il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit	8:310f9e4eac7b	585
nerit	3:a469bbd294b5	586	// La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit	3:a469bbd294b5	587	// di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit	8:310f9e4eac7b	588	*/
nerit	3:a469bbd294b5	589	/*
nerit	3:a469bbd294b5	590	SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit	3:a469bbd294b5	591	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	3:a469bbd294b5	592	KcorT = (SDsectorStep/TBsectorStep);
nerit	3:a469bbd294b5	593	angoloFase=angoloPh;
nerit	3:a469bbd294b5	594	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	595	avvioGradi = costante da terminale tritecnica
nerit	3:a469bbd294b5	596	TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	597	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	598	*/
nerit	8:310f9e4eac7b	599	if ((tractorSpeed_MtS_timed>0.01f)) {
nerit	8:310f9e4eac7b	600	if (inhibit==0) {
nerit	3:a469bbd294b5	601	double posError =0.0f;
nerit	3:a469bbd294b5	602	double posSD=((double)SDactualPosition)/KcorT;
nerit	8:310f9e4eac7b	603	posError = posSD - (double)TBactualPosition;
nerit	39:6814c75dfa5c	604	#if defined(pcSerial)
nerit	39:6814c75dfa5c	605	#if defined(calcoli)
nerit	39:6814c75dfa5c	606	pc.printf("posSD: %f SDactual: %d TBactual: %d posErr: %f \n",posSD,SDactualPosition,TBactualPosition,posError);
nerit	39:6814c75dfa5c	607	#endif
nerit	39:6814c75dfa5c	608	#endif
nerit	39:6814c75dfa5c	609
nerit	3:a469bbd294b5	610	// interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit	8:310f9e4eac7b	611	if((lowSpeed==0)&&(aspettaStart==0)) {
nerit	23:ccd253b36733	612	double lowLim=-50.0f;
nerit	23:ccd253b36733	613	double higLim = 50.0f;
nerit	23:ccd253b36733	614	double divide= 100.0f;
nerit	24:2b5e749e26b2	615	if (drumSelect==false){
nerit	25:4461bc76aaab	616	if (pickNumber <= 5) {
nerit	25:4461bc76aaab	617	lowLim=-500.0f;
nerit	25:4461bc76aaab	618	higLim= 500.0f;
nerit	25:4461bc76aaab	619	divide= 25.0f;
nerit	25:4461bc76aaab	620	} else {
nerit	25:4461bc76aaab	621	lowLim=-10.0f;
nerit	25:4461bc76aaab	622	higLim= 130.0f;
nerit	25:4461bc76aaab	623	divide= 100.0f;
nerit	25:4461bc76aaab	624	}
nerit	24:2b5e749e26b2	625	}else{
nerit	25:4461bc76aaab	626	if (pickNumber <= 5) {
nerit	30:32e770e91998	627	lowLim=-100.0f;
nerit	30:32e770e91998	628	higLim= 100.0f;
nerit	30:32e770e91998	629	divide= 75.0f;
nerit	24:2b5e749e26b2	630	}else{
nerit	25:4461bc76aaab	631	lowLim=-500.0f; //pneumatico Alessandria
nerit	25:4461bc76aaab	632	higLim= 130.0f; //pneumatico Alessandria
nerit	25:4461bc76aaab	633	divide= 20.0f; //pneumatico Alessandria
nerit	24:2b5e749e26b2	634	}
nerit	4:de1b296e9757	635	}
nerit	25:4461bc76aaab	636
nerit	8:310f9e4eac7b	637	if (posError>higLim) {
nerit	17:9629eb019892	638	posError=higLim;
nerit	17:9629eb019892	639	//posError=0.0f;
nerit	17:9629eb019892	640	//motor->soft_hiz();
nerit	28:0534c86365ec	641	//aspettareSincro=1;
nerit	28:0534c86365ec	642	//stopCicloTB=1;
nerit	8:310f9e4eac7b	643	}
nerit	8:310f9e4eac7b	644	if (posError<lowLim) {
nerit	8:310f9e4eac7b	645	posError=lowLim;
nerit	28:0534c86365ec	646	//aspettareSincro=1;
nerit	28:0534c86365ec	647	//stopCicloTB=1;
nerit	8:310f9e4eac7b	648	}
nerit	28:0534c86365ec	649	if (((posError >=1.0f)\|\|(posError<=-1.0f))) {
nerit	8:310f9e4eac7b	650	#if defined(runner)
nerit	28:0534c86365ec	651	double variante = posError/divide;
nerit	29:25a875d09817	652	if (variante < -0.399f){variante=-0.3999;}
nerit	30:32e770e91998	653	/*if ((posError<=15.0f)&&(posError>=-15.0f)){
nerit	30:32e770e91998	654	ePpos = periodo;// *(1.0f+ variante);
nerit	30:32e770e91998	655	}else{*/
nerit	30:32e770e91998	656	ePpos = periodo *(1.0f+ variante);
nerit	30:32e770e91998	657	//}
nerit	30:32e770e91998	658	#if defined(pcSerial)
nerit	30:32e770e91998	659	#if defined(TBperS)
nerit	30:32e770e91998	660	pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f KcorT: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo, KcorT);
nerit	30:32e770e91998	661	#endif
nerit	30:32e770e91998	662	#endif
nerit	8:310f9e4eac7b	663	#else
nerit	39:6814c75dfa5c	664	double variante = posError/100.0f;
nerit	39:6814c75dfa5c	665	//if (variante < -0.399f){variante=-0.3999;}
nerit	39:6814c75dfa5c	666	ePpos = periodo /(1.0f+ variante);
nerit	39:6814c75dfa5c	667	#if defined(pcSerial)
nerit	39:6814c75dfa5c	668	#if defined(calcoli)
nerit	39:6814c75dfa5c	669	pc.printf("variante: %f poserror: %f periodo: %f eppos: %f \n",variante,posError,periodo,ePpos);
nerit	39:6814c75dfa5c	670	#endif
nerit	39:6814c75dfa5c	671	#endif
nerit	8:310f9e4eac7b	672	#endif
nerit	39:6814c75dfa5c	673	if ((ePpos>0.0f)&&(ePpos!=NULL)) {
nerit	39:6814c75dfa5c	674	cambiaTB(ePpos,1);
nerit	8:310f9e4eac7b	675	} else {
nerit	39:6814c75dfa5c	676	cambiaTB(periodo,2);///2.0f);
nerit	6:e8c18f0f399a	677	}
nerit	6:e8c18f0f399a	678	}
nerit	3:a469bbd294b5	679	}
nerit	3:a469bbd294b5	680	}
nerit	3:a469bbd294b5	681	}
nerit	10:9e70619e97ab	682	#if defined(pcSerial)
nerit	10:9e70619e97ab	683	#if defined(checkLoopa)
nerit	10:9e70619e97ab	684	pc.printf("12\n");
nerit	10:9e70619e97ab	685	#endif
nerit	10:9e70619e97ab	686	#endif
nerit	3:a469bbd294b5	687	}
nerit	3:a469bbd294b5	688	//*******************************************************
nerit	8:310f9e4eac7b	689	void videoUpdate()
nerit	8:310f9e4eac7b	690	{
nerit	8:310f9e4eac7b	691	for(int aa=0; aa<4; aa++) {
nerit	8:310f9e4eac7b	692	speedForDisplay[aa]=speedForDisplay[aa+1];
nerit	8:310f9e4eac7b	693	}
nerit	3:a469bbd294b5	694	speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	695	totalSpeed=0.0f;
nerit	8:310f9e4eac7b	696	for (int aa=0; aa<5; aa++) {
nerit	8:310f9e4eac7b	697	totalSpeed += speedForDisplay[aa];
nerit	8:310f9e4eac7b	698	}
nerit	3:a469bbd294b5	699	totalSpeed = totalSpeed / 5.0f;
nerit	10:9e70619e97ab	700	#if defined(pcSerial)
nerit	10:9e70619e97ab	701	#if defined(SDreset)
nerit	10:9e70619e97ab	702	pc.printf("Fase: %d",fase);
nerit	10:9e70619e97ab	703	pc.printf(" PrePosSD: %d",prePosSD);
nerit	10:9e70619e97ab	704	pc.printf(" PosSD: %d",SDactualPosition);
nerit	10:9e70619e97ab	705	pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit	10:9e70619e97ab	706	pc.printf(" Trigger: %d \n", trigRepos);
nerit	10:9e70619e97ab	707	#endif
nerit	10:9e70619e97ab	708	#endif
nerit	10:9e70619e97ab	709	#if defined(pcSerial)
nerit	10:9e70619e97ab	710	#if defined(checkLoop)
nerit	10:9e70619e97ab	711	pc.printf("13\n");
nerit	10:9e70619e97ab	712	#endif
nerit	10:9e70619e97ab	713	#endif
nerit	3:a469bbd294b5	714	}
nerit	3:a469bbd294b5	715	//*******************************************************
nerit	8:310f9e4eac7b	716	void ciclaTB()
nerit	8:310f9e4eac7b	717	{
nerit	8:310f9e4eac7b	718	if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit	6:e8c18f0f399a	719	#if defined(pcSerial)
nerit	6:e8c18f0f399a	720	#if defined(checkLoop)
nerit	6:e8c18f0f399a	721	pc.printf("14a TBperiod: %f\n",TBperiod);
nerit	6:e8c18f0f399a	722	#endif
nerit	6:e8c18f0f399a	723	#endif
nerit	8:310f9e4eac7b	724	#if defined(runner)
nerit	9:7f02256f6e8f	725	#if defined(Zucca)
nerit	9:7f02256f6e8f	726	motor->run(StepperMotor::BWD,TBperiod);
nerit	9:7f02256f6e8f	727	#else
nerit	9:7f02256f6e8f	728	motor->run(StepperMotor::FWD,TBperiod);
nerit	9:7f02256f6e8f	729	#endif
nerit	8:310f9e4eac7b	730	#else
nerit	8:310f9e4eac7b	731	if (TBperiod >= (250.0f*2.0f)) {
nerit	8:310f9e4eac7b	732	if (TBperiod != NULL) {
nerit	35:3165f4c1c7bf	733	#if !defined(oldstepperDriver)
nerit	35:3165f4c1c7bf	734	#if defined(runner)
nerit	35:3165f4c1c7bf	735	#if defined(Zucca)
nerit	35:3165f4c1c7bf	736	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	737	#else
nerit	35:3165f4c1c7bf	738	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	739	#endif
nerit	35:3165f4c1c7bf	740	#endif
nerit	9:7f02256f6e8f	741	#endif
nerit	39:6814c75dfa5c	742	//TBmotorRst=0;
nerit	39:6814c75dfa5c	743	//TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	744	attivaTb(TBperiod/2.0f);
nerit	8:310f9e4eac7b	745	}
nerit	6:e8c18f0f399a	746	}
nerit	8:310f9e4eac7b	747	#endif
nerit	8:310f9e4eac7b	748	cicloTbinCorso = 1;
nerit	8:310f9e4eac7b	749	startCicloTB=0;
nerit	3:a469bbd294b5	750	}
nerit	8:310f9e4eac7b	751	if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit	6:e8c18f0f399a	752	#if defined(pcSerial)
nerit	6:e8c18f0f399a	753	#if defined(checkLoop)
nerit	6:e8c18f0f399a	754	pc.printf("14b\n");
nerit	6:e8c18f0f399a	755	#endif
nerit	6:e8c18f0f399a	756	#endif
nerit	8:310f9e4eac7b	757	#if defined(runner)
nerit	9:7f02256f6e8f	758	#if defined(Zucca)
nerit	9:7f02256f6e8f	759	motor->run(StepperMotor::BWD,50.0f);
nerit	9:7f02256f6e8f	760	#else
nerit	9:7f02256f6e8f	761	motor->run(StepperMotor::FWD,50.0f);
nerit	9:7f02256f6e8f	762	#endif
nerit	8:310f9e4eac7b	763	#else
nerit	35:3165f4c1c7bf	764	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	765	#if defined(Zucca)
nerit	35:3165f4c1c7bf	766	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	767	#else
nerit	35:3165f4c1c7bf	768	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	769	#endif
nerit	9:7f02256f6e8f	770	#endif
nerit	39:6814c75dfa5c	771	//TBmotorRst=0;
nerit	39:6814c75dfa5c	772	//TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	40:42eae86457dd	773	attivaTb(700.0f);
nerit	8:310f9e4eac7b	774	#endif
nerit	3:a469bbd294b5	775	loadDaCanInCorso=1;
nerit	3:a469bbd294b5	776	stopCicloTB=0;
nerit	3:a469bbd294b5	777	}
nerit	28:0534c86365ec	778	if ((stopCicloTB==1)&&(TBactualPosition>5)&&(TBactualPosition<50)) {
nerit	6:e8c18f0f399a	779	#if defined(pcSerial)
nerit	6:e8c18f0f399a	780	#if defined(checkLoop)
nerit	6:e8c18f0f399a	781	pc.printf("14c\n");
nerit	6:e8c18f0f399a	782	#endif
nerit	6:e8c18f0f399a	783	#endif
nerit	8:310f9e4eac7b	784	#if !defined(runner)
nerit	39:6814c75dfa5c	785	//TBticker.detach();
nerit	39:6814c75dfa5c	786	//TBmotorRst=1;
nerit	39:6814c75dfa5c	787	stopTb();
nerit	8:310f9e4eac7b	788	#endif
nerit	6:e8c18f0f399a	789	#if defined(pcSerial)
nerit	6:e8c18f0f399a	790	#if defined(loStop)
nerit	6:e8c18f0f399a	791	pc.printf("A2\n");
nerit	6:e8c18f0f399a	792	#endif
nerit	6:e8c18f0f399a	793	#endif
nerit	35:3165f4c1c7bf	794	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	795	motor->soft_hiz();
nerit	35:3165f4c1c7bf	796	#endif
nerit	3:a469bbd294b5	797	cicloTbinCorso = 0;
nerit	3:a469bbd294b5	798	stopCicloTB=0;
nerit	3:a469bbd294b5	799	loadDaCanInCorso=0;
nerit	3:a469bbd294b5	800	loadDaCan=0;
nerit	3:a469bbd294b5	801	}
nerit	3:a469bbd294b5	802	}
nerit	3:a469bbd294b5	803	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	8:310f9e4eac7b	804	void stepSetting()
nerit	8:310f9e4eac7b	805	{
nerit	3:a469bbd294b5	806	// Stepper driver init and set
nerit	37:0a225902cf48	807	TBmotorRst=1; // reset stepper driver
nerit	37:0a225902cf48	808	// M1 M2 M3 RESOLUTION
nerit	37:0a225902cf48	809	// 0 0 0 1/2
nerit	37:0a225902cf48	810	// 1 0 0 1/8
nerit	37:0a225902cf48	811	// 0 1 0 1/16
nerit	37:0a225902cf48	812	// 1 1 0 1/32
nerit	37:0a225902cf48	813	// 0 0 1 1/64
nerit	37:0a225902cf48	814	// 1 0 1 1/128
nerit	37:0a225902cf48	815	// 0 1 1 1/10
nerit	37:0a225902cf48	816	// 1 1 1 1/20
nerit	37:0a225902cf48	817	if (TBmotorSteps==400.0f){
nerit	37:0a225902cf48	818	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	819	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	820	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	821	#if defined(pcSerial)
nerit	37:0a225902cf48	822	pc.printf("Steps 400\n");
nerit	37:0a225902cf48	823	#endif
nerit	37:0a225902cf48	824	}else if (TBmotorSteps==1600.0f){
nerit	37:0a225902cf48	825	TBmotor_M1=0;//0;
nerit	37:0a225902cf48	826	TBmotor_M2=1;//1;
nerit	37:0a225902cf48	827	TBmotor_M3=1;//1;
nerit	37:0a225902cf48	828	#if defined(pcSerial)
nerit	37:0a225902cf48	829	pc.printf("Steps 1600\n");
nerit	37:0a225902cf48	830	#endif
nerit	37:0a225902cf48	831	}else if (TBmotorSteps==3200.0f){
nerit	37:0a225902cf48	832	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	833	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	834	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	835	#if defined(pcSerial)
nerit	37:0a225902cf48	836	pc.printf("Steps 3200\n");
nerit	37:0a225902cf48	837	#endif
nerit	37:0a225902cf48	838	}else if (TBmotorSteps==6400.0f){
nerit	37:0a225902cf48	839	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	840	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	841	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	842	#if defined(pcSerial)
nerit	37:0a225902cf48	843	pc.printf("Steps 6400\n");
nerit	37:0a225902cf48	844	#endif
nerit	37:0a225902cf48	845	}else if (TBmotorSteps==12800.0f){
nerit	37:0a225902cf48	846	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	847	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	848	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	849	#if defined(pcSerial)
nerit	37:0a225902cf48	850	pc.printf("Steps 12800\n");
nerit	37:0a225902cf48	851	#endif
nerit	37:0a225902cf48	852	}else if (TBmotorSteps==25600.0f){
nerit	37:0a225902cf48	853	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	854	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	855	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	856	#if defined(pcSerial)
nerit	37:0a225902cf48	857	pc.printf("Steps 25600\n");
nerit	37:0a225902cf48	858	#endif
nerit	37:0a225902cf48	859	}else if (TBmotorSteps==2000.0f){
nerit	37:0a225902cf48	860	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	861	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	862	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	863	#if defined(pcSerial)
nerit	37:0a225902cf48	864	pc.printf("Steps 2000\n");
nerit	37:0a225902cf48	865	#endif
nerit	37:0a225902cf48	866	}else if (TBmotorSteps==4000.0f){
nerit	37:0a225902cf48	867	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	868	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	869	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	870	#if defined(pcSerial)
nerit	37:0a225902cf48	871	pc.printf("Steps 4000\n");
nerit	37:0a225902cf48	872	#endif
nerit	37:0a225902cf48	873	}else{
nerit	37:0a225902cf48	874	// set dei 1600 passi
nerit	37:0a225902cf48	875	TBmotor_M1=0;
nerit	37:0a225902cf48	876	TBmotor_M2=1;
nerit	37:0a225902cf48	877	TBmotor_M3=1;
nerit	37:0a225902cf48	878	#if defined(pcSerial)
nerit	37:0a225902cf48	879	pc.printf("Step standard\n");
nerit	37:0a225902cf48	880	#endif
nerit	37:0a225902cf48	881	}
nerit	3:a469bbd294b5	882	TBmotorRst=0; // reset stepper driver
nerit	3:a469bbd294b5	883	TBmotorDirecti=TBforward; // reset stepper direction
nerit	6:e8c18f0f399a	884	#if defined(pcSerial)
nerit	6:e8c18f0f399a	885	#if defined(checkLoop)
nerit	6:e8c18f0f399a	886	pc.printf("15\n");
nerit	6:e8c18f0f399a	887	#endif
nerit	6:e8c18f0f399a	888	#endif
nerit	3:a469bbd294b5	889	}
nerit	3:a469bbd294b5	890	//****************************************
nerit	12:b0fc1d313813	891	void controllaCorrente(){
nerit	12:b0fc1d313813	892	correggiCorrente=1;
nerit	12:b0fc1d313813	893	}
nerit	12:b0fc1d313813	894	//****************************************
nerit	3:a469bbd294b5	895	void dcSetting(){
nerit	8:310f9e4eac7b	896	if ((speedFromPick==0)&&(encoder==false)) {
nerit	8:310f9e4eac7b	897	DcEncoder.rise(&sd25Fall);
nerit	8:310f9e4eac7b	898	}
nerit	8:310f9e4eac7b	899	if (encoder==true) {
nerit	8:310f9e4eac7b	900	DcEncoder.rise(&encoRise);
nerit	8:310f9e4eac7b	901	}
nerit	6:e8c18f0f399a	902	#if defined(pcSerial)
nerit	6:e8c18f0f399a	903	#if defined(checkLoop)
nerit	6:e8c18f0f399a	904	pc.printf("16\n");
nerit	6:e8c18f0f399a	905	#endif
nerit	6:e8c18f0f399a	906	#endif
nerit	3:a469bbd294b5	907	}
nerit	3:a469bbd294b5	908	//*******************************************************
nerit	8:310f9e4eac7b	909	void allarmi()
nerit	8:310f9e4eac7b	910	{
nerit	8:310f9e4eac7b	911	uint8_t alarmLowRegister1=0x00;
nerit	8:310f9e4eac7b	912	alarmLowRegister=0x00;
nerit	8:310f9e4eac7b	913	alarmHighRegister=0x80;
nerit	3:a469bbd294b5	914
nerit	8:310f9e4eac7b	915	//alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit	8:310f9e4eac7b	916	alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit	8:310f9e4eac7b	917	alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit	8:310f9e4eac7b	918	alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit	8:310f9e4eac7b	919	alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit	8:310f9e4eac7b	920	alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit	8:310f9e4eac7b	921	//alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit	8:310f9e4eac7b	922	if (seedSensorEnable==true) {
nerit	8:310f9e4eac7b	923	alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit	8:310f9e4eac7b	924	}
nerit	3:a469bbd294b5	925
nerit	8:310f9e4eac7b	926	//alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit	8:310f9e4eac7b	927	alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit	8:310f9e4eac7b	928	alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit	8:310f9e4eac7b	929	alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit	8:310f9e4eac7b	930	alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit	8:310f9e4eac7b	931	alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit	8:310f9e4eac7b	932	alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit	8:310f9e4eac7b	933	if (alarmLowRegister1 > 0) {
nerit	8:310f9e4eac7b	934	alarmHighRegister = 0x81;
nerit	8:310f9e4eac7b	935	alarmLowRegister = alarmLowRegister1;
nerit	8:310f9e4eac7b	936	}
nerit	3:a469bbd294b5	937
nerit	10:9e70619e97ab	938	#if defined(pcSerial)
nerit	10:9e70619e97ab	939	#if defined(VediAllarmi)
nerit	10:9e70619e97ab	940	if (all_pickSignal==1) {
nerit	10:9e70619e97ab	941	pc.printf("AllarmeBecchi\n");
nerit	10:9e70619e97ab	942	}
nerit	10:9e70619e97ab	943	if (all_cellSignal==1) {
nerit	10:9e70619e97ab	944	pc.printf("AllarmeCelle\n");
nerit	10:9e70619e97ab	945	}
nerit	10:9e70619e97ab	946	if (all_lowBattery==1) {
nerit	10:9e70619e97ab	947	pc.printf("AllarmeBassaCorrente\n");
nerit	10:9e70619e97ab	948	}
nerit	10:9e70619e97ab	949	if (all_overCurrDC==1) {
nerit	10:9e70619e97ab	950	pc.printf("AllarmeAltaCorrente\n");
nerit	10:9e70619e97ab	951	}
nerit	10:9e70619e97ab	952	if (all_stopSistem==1) {
nerit	10:9e70619e97ab	953	pc.printf("AllarmeStop\n");
nerit	10:9e70619e97ab	954	}
nerit	10:9e70619e97ab	955	if (all_noDcRotati==1) {
nerit	10:9e70619e97ab	956	pc.printf("AllarmeDCnoRotation\n");
nerit	10:9e70619e97ab	957	}
nerit	10:9e70619e97ab	958	if (all_noStepRota==1) {
nerit	10:9e70619e97ab	959	pc.printf("AllarmeNoStepRotation\n");
nerit	10:9e70619e97ab	960	}
nerit	10:9e70619e97ab	961	if (all_speedError==1) {
nerit	10:9e70619e97ab	962	pc.printf("AllarmeSpeedError\n");
nerit	10:9e70619e97ab	963	}
nerit	10:9e70619e97ab	964	if (all_noSpeedSen==1) {
nerit	10:9e70619e97ab	965	pc.printf("AllarmeNoSpeedSensor\n");
nerit	10:9e70619e97ab	966	}
nerit	10:9e70619e97ab	967	if (all_no_Zeroing==1) {
nerit	10:9e70619e97ab	968	pc.printf("AllarmeNoZero\n");
nerit	10:9e70619e97ab	969	}
nerit	10:9e70619e97ab	970	if (all_genericals==1) {
nerit	10:9e70619e97ab	971	pc.printf("AllarmeGenerico\n");
nerit	10:9e70619e97ab	972	}
nerit	10:9e70619e97ab	973	pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit	10:9e70619e97ab	974	#endif
nerit	10:9e70619e97ab	975	#endif
nerit	8:310f9e4eac7b	976	all_semiFiniti=0;
nerit	8:310f9e4eac7b	977	all_pickSignal=0;
nerit	8:310f9e4eac7b	978	all_cellSignal=0;
nerit	8:310f9e4eac7b	979	all_lowBattery=0;
nerit	8:310f9e4eac7b	980	all_overCurrDC=0;
nerit	8:310f9e4eac7b	981	all_stopSistem=0;
nerit	8:310f9e4eac7b	982	all_upElements=0;
nerit	8:310f9e4eac7b	983	all_noSeedOnCe=0;
nerit	8:310f9e4eac7b	984	all_cfgnErrors=0;
nerit	8:310f9e4eac7b	985	all_noDcRotati=0;
nerit	8:310f9e4eac7b	986	all_noStepRota=0;
nerit	8:310f9e4eac7b	987	all_speedError=0;
nerit	8:310f9e4eac7b	988	all_noSpeedSen=0;
nerit	8:310f9e4eac7b	989	all_no_Zeroing=0;
nerit	8:310f9e4eac7b	990	all_genericals=0;
nerit	10:9e70619e97ab	991	#if defined(pcSerial)
nerit	10:9e70619e97ab	992	#if defined(checkLoop)
nerit	10:9e70619e97ab	993	pc.printf("17\n");
nerit	10:9e70619e97ab	994	#endif
nerit	10:9e70619e97ab	995	#endif
nerit	3:a469bbd294b5	996	}
nerit	3:a469bbd294b5	997	//*******************************************************
nerit	3:a469bbd294b5	998	#if defined(speedMaster)
nerit	3:a469bbd294b5	999	void upDateSincro(){
nerit	8:310f9e4eac7b	1000	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	8:310f9e4eac7b	1001	val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit	8:310f9e4eac7b	1002	val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	1003	val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	1004	val1[0]=posForQuinc & 0x000000FF;
nerit	3:a469bbd294b5	1005	//double pass = tractorSpeed_MtS_timed*100.0f;
nerit	3:a469bbd294b5	1006	double pass = speedOfSeedWheel*100.0f;
nerit	3:a469bbd294b5	1007	val1[4]=(uint8_t)(pass)&0x000000FF;
nerit	8:310f9e4eac7b	1008	val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	1009	val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	1010	val1[7]=prePosSD & 0x000000FF;
nerit	3:a469bbd294b5	1011	#if defined(canbusActive)
nerit	3:a469bbd294b5	1012	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1013	if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit	3:a469bbd294b5	1014	checkState=0;
nerit	3:a469bbd294b5	1015	}
nerit	3:a469bbd294b5	1016	#endif
nerit	3:a469bbd294b5	1017	#endif
nerit	6:e8c18f0f399a	1018	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1019	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1020	pc.printf("18\n");
nerit	6:e8c18f0f399a	1021	#endif
nerit	6:e8c18f0f399a	1022	#endif
nerit	3:a469bbd294b5	1023	}
nerit	3:a469bbd294b5	1024	#endif
nerit	3:a469bbd294b5	1025	//*******************************************************
nerit	8:310f9e4eac7b	1026	void upDateSpeed()
nerit	8:310f9e4eac7b	1027	{
nerit	3:a469bbd294b5	1028	/*
nerit	3:a469bbd294b5	1029	aggiorna dati OPUSA3
nerit	3:a469bbd294b5	1030	val1[0] contiene il dato di velocità
nerit	3:a469bbd294b5	1031	val1[1] contiene il byte basso della tabella allarmi
nerit	3:a469bbd294b5	1032	uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit	3:a469bbd294b5	1033	uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit	3:a469bbd294b5	1034	uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit	3:a469bbd294b5	1035	uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit	3:a469bbd294b5	1036	uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit	3:a469bbd294b5	1037	uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit	3:a469bbd294b5	1038	uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit	3:a469bbd294b5	1039	uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit	3:a469bbd294b5	1040	uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit	3:a469bbd294b5	1041	uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit	3:a469bbd294b5	1042	uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit	3:a469bbd294b5	1043	uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit	3:a469bbd294b5	1044	uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit	3:a469bbd294b5	1045	uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit	3:a469bbd294b5	1046	uint8_t all_genericals = 0; // allarme generico
nerit	3:a469bbd294b5	1047	val1[2] contiene il byte alto della tabella di allarmi
nerit	3:a469bbd294b5	1048	val1[3] contiene i segnali per la diagnostica
nerit	3:a469bbd294b5	1049	bit 0= sensore ruota fonica
nerit	3:a469bbd294b5	1050	bit 1= sensore celle
nerit	3:a469bbd294b5	1051	bit 2= sensore posizione
nerit	3:a469bbd294b5	1052	bit 3= sensore becchi
nerit	3:a469bbd294b5	1053	bit 4= motore DC
nerit	3:a469bbd294b5	1054	bit 5= controller
nerit	3:a469bbd294b5	1055	bit 6= motore stepper
nerit	3:a469bbd294b5	1056	*/
nerit	8:310f9e4eac7b	1057	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	1058
nerit	8:310f9e4eac7b	1059	val1[3]=0;
nerit	8:310f9e4eac7b	1060	val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit	8:310f9e4eac7b	1061	val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit	8:310f9e4eac7b	1062	val1[3]=val1[3]+(DcEncoder*0x04);
nerit	8:310f9e4eac7b	1063	val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit	10:9e70619e97ab	1064	#if defined(simulaPerCan)
nerit	10:9e70619e97ab	1065	if (buttonUser==0) {
nerit	10:9e70619e97ab	1066	val1[1]=0x02;
nerit	10:9e70619e97ab	1067	} else {
nerit	10:9e70619e97ab	1068	val1[1]=0x00;
nerit	10:9e70619e97ab	1069	}
nerit	10:9e70619e97ab	1070	val1[3]=valore;
nerit	10:9e70619e97ab	1071	valore+=1;
nerit	10:9e70619e97ab	1072	if(valore>50) {
nerit	10:9e70619e97ab	1073	valore=0;
nerit	10:9e70619e97ab	1074	}
nerit	10:9e70619e97ab	1075	tractorSpeed_MtS_timed=valore;
nerit	10:9e70619e97ab	1076	oldLocalTractorSpeed=valore;
nerit	10:9e70619e97ab	1077	#endif
nerit	3:a469bbd294b5	1078	allarmi();
nerit	3:a469bbd294b5	1079	valore = totalSpeed36.0f; // tractorSpeed_MtS_timed36.0f;
nerit	3:a469bbd294b5	1080	val1[0]=valore;
nerit	3:a469bbd294b5	1081	val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit	3:a469bbd294b5	1082	val1[2]=alarmLowRegister; // registro basso allarmi
nerit	3:a469bbd294b5	1083	//val1[3]=val1[3];// registro di stato degli ingressi
nerit	3:a469bbd294b5	1084	val1[4]=resetComandi;
nerit	3:a469bbd294b5	1085	val1[5]=cellsCounterLow;
nerit	3:a469bbd294b5	1086	val1[6]=cellsCounterHig;
nerit	10:9e70619e97ab	1087	#if defined(canbusActive)
nerit	10:9e70619e97ab	1088	if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit	10:9e70619e97ab	1089	checkState=0;
nerit	10:9e70619e97ab	1090	}
nerit	10:9e70619e97ab	1091	#endif
nerit	10:9e70619e97ab	1092	#if defined(pcSerial)
nerit	10:9e70619e97ab	1093	#if defined(checkLoop)
nerit	10:9e70619e97ab	1094	pc.printf("19\n");
nerit	10:9e70619e97ab	1095	#endif
nerit	10:9e70619e97ab	1096	#endif
nerit	3:a469bbd294b5	1097	}
nerit	3:a469bbd294b5	1098	//*******************************************************
nerit	8:310f9e4eac7b	1099	void leggiCAN()
nerit	8:310f9e4eac7b	1100	{
nerit	8:310f9e4eac7b	1101	#if defined(canbusActive)
nerit	8:310f9e4eac7b	1102	if(can1.read(rxMsg)) {
nerit	8:310f9e4eac7b	1103	if (firstStart==1) {
nerit	8:310f9e4eac7b	1104	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1105	sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit	8:310f9e4eac7b	1106	canUpdate.attach(&upDateSpeed,0.21f);
nerit	8:310f9e4eac7b	1107	#else
nerit	8:310f9e4eac7b	1108	canUpdate.attach(&upDateSpeed,0.407f);
nerit	8:310f9e4eac7b	1109	#endif
nerit	8:310f9e4eac7b	1110	firstStart=0;
nerit	8:310f9e4eac7b	1111	}
nerit	8:310f9e4eac7b	1112	if (rxMsg.id==RX_ID) {
nerit	8:310f9e4eac7b	1113	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1114	#if defined(canDataReceiveda)
nerit	8:310f9e4eac7b	1115	pc.printf("Messaggio ricevuto\n");
nerit	3:a469bbd294b5	1116	#endif
nerit	8:310f9e4eac7b	1117	#endif
nerit	8:310f9e4eac7b	1118	}
nerit	8:310f9e4eac7b	1119	if (rxMsg.id==RX_Broadcast) {
nerit	8:310f9e4eac7b	1120	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1121	#if defined(canDataReceivedb)
nerit	3:a469bbd294b5	1122	pc.printf("BroadCast ricevuto\n");
nerit	3:a469bbd294b5	1123	#endif
nerit	8:310f9e4eac7b	1124	#endif
nerit	8:310f9e4eac7b	1125	enableSimula= rxMsg.data[0];
nerit	8:310f9e4eac7b	1126	speedSimula = rxMsg.data[1];
nerit	8:310f9e4eac7b	1127	avviaSimula = rxMsg.data[2];
nerit	8:310f9e4eac7b	1128	selezionato = rxMsg.data[3];
nerit	8:310f9e4eac7b	1129	comandiDaCan = rxMsg.data[4];
nerit	20:4a400a4cc419	1130	speedStepp = rxMsg.data[5];
nerit	20:4a400a4cc419	1131	if (speedStepp==0){
nerit	20:4a400a4cc419	1132	simStepper=0;
nerit	20:4a400a4cc419	1133	}else{
nerit	20:4a400a4cc419	1134	simStepper=1;
nerit	20:4a400a4cc419	1135	}
nerit	8:310f9e4eac7b	1136	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1137	#if defined(canDataReceived)
nerit	3:a469bbd294b5	1138	pc.printf("Speed simula %d \n",speedSimula);
nerit	3:a469bbd294b5	1139	#endif
nerit	8:310f9e4eac7b	1140	#endif
nerit	8:310f9e4eac7b	1141	switch (comandiDaCan) {
nerit	8:310f9e4eac7b	1142	case 1:
nerit	8:310f9e4eac7b	1143	case 3:
nerit	8:310f9e4eac7b	1144	azzeraDaCan=1;
nerit	8:310f9e4eac7b	1145	resetComandi=0x01;
nerit	8:310f9e4eac7b	1146	comandiDaCan=0;
nerit	8:310f9e4eac7b	1147	break;
nerit	8:310f9e4eac7b	1148	case 2:
nerit	8:310f9e4eac7b	1149	loadDaCan=1;
nerit	8:310f9e4eac7b	1150	resetComandi=0x02;
nerit	8:310f9e4eac7b	1151	comandiDaCan=0;
nerit	8:310f9e4eac7b	1152	break;
nerit	8:310f9e4eac7b	1153	default:
nerit	8:310f9e4eac7b	1154	comandiDaCan=0;
nerit	8:310f9e4eac7b	1155	resetComandi=0xFF;
nerit	8:310f9e4eac7b	1156	break;
nerit	8:310f9e4eac7b	1157	}
nerit	8:310f9e4eac7b	1158	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1159	#if defined(canDataReceivedR)
nerit	8:310f9e4eac7b	1160	pc.printf("Comandi: %x\n",resetComandi);
nerit	8:310f9e4eac7b	1161	#endif
nerit	8:310f9e4eac7b	1162	#endif
nerit	8:310f9e4eac7b	1163	if (speedSimula>45) {
nerit	8:310f9e4eac7b	1164	speedSimula=45;
nerit	8:310f9e4eac7b	1165	}
nerit	8:310f9e4eac7b	1166	// modulo 1
nerit	8:310f9e4eac7b	1167	if (RX_ID==0x100) {
nerit	8:310f9e4eac7b	1168	if ((selezionato&0x01)==0x01) {
nerit	8:310f9e4eac7b	1169	simOk=1;
nerit	8:310f9e4eac7b	1170	} else {
nerit	8:310f9e4eac7b	1171	simOk=0;
nerit	3:a469bbd294b5	1172	}
nerit	8:310f9e4eac7b	1173	}
nerit	8:310f9e4eac7b	1174	// modulo 2
nerit	8:310f9e4eac7b	1175	if (RX_ID==0x102) {
nerit	8:310f9e4eac7b	1176	if ((selezionato&0x02)==0x02) {
nerit	8:310f9e4eac7b	1177	simOk=1;
nerit	8:310f9e4eac7b	1178	} else {
nerit	8:310f9e4eac7b	1179	simOk=0;
nerit	3:a469bbd294b5	1180	}
nerit	8:310f9e4eac7b	1181	}
nerit	8:310f9e4eac7b	1182	// modulo 3
nerit	8:310f9e4eac7b	1183	if (RX_ID==0x104) {
nerit	8:310f9e4eac7b	1184	if ((selezionato&0x04)==0x04) {
nerit	8:310f9e4eac7b	1185	simOk=1;
nerit	8:310f9e4eac7b	1186	} else {
nerit	8:310f9e4eac7b	1187	simOk=0;
nerit	3:a469bbd294b5	1188	}
nerit	8:310f9e4eac7b	1189	}
nerit	8:310f9e4eac7b	1190	// modulo 4
nerit	8:310f9e4eac7b	1191	if (RX_ID==0x106) {
nerit	8:310f9e4eac7b	1192	if ((selezionato&0x08)==0x08) {
nerit	8:310f9e4eac7b	1193	simOk=1;
nerit	8:310f9e4eac7b	1194	} else {
nerit	8:310f9e4eac7b	1195	simOk=0;
nerit	3:a469bbd294b5	1196	}
nerit	8:310f9e4eac7b	1197	}
nerit	8:310f9e4eac7b	1198	// modulo 5
nerit	8:310f9e4eac7b	1199	if (RX_ID==0x108) {
nerit	8:310f9e4eac7b	1200	if ((selezionato&0x10)==0x10) {
nerit	8:310f9e4eac7b	1201	simOk=1;
nerit	8:310f9e4eac7b	1202	} else {
nerit	8:310f9e4eac7b	1203	simOk=0;
nerit	3:a469bbd294b5	1204	}
nerit	3:a469bbd294b5	1205	}
nerit	8:310f9e4eac7b	1206
nerit	8:310f9e4eac7b	1207	}
nerit	14:e2b5efa06c41	1208	//if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1209	if (rxMsg.id==RX_Settings) {
nerit	14:e2b5efa06c41	1210	//if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1211	pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit	3:a469bbd294b5	1212	cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit	17:9629eb019892	1213	deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit	5:2a3a64b52f54	1214	seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit	5:2a3a64b52f54	1215	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	1216	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	1217	aggiornaParametri();
nerit	14:e2b5efa06c41	1218	//}
nerit	3:a469bbd294b5	1219	}
nerit	14:e2b5efa06c41	1220	if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1221	if (rxMsg.id==RX_AngoloPh) {
nerit	8:310f9e4eac7b	1222	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1223	#if defined(M1)
nerit	3:a469bbd294b5	1224	angoloPh = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1225	aggiornaParametri();
nerit	3:a469bbd294b5	1226	#endif
nerit	3:a469bbd294b5	1227	#if defined(M2)
nerit	3:a469bbd294b5	1228	angoloPh = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1229	aggiornaParametri();
nerit	3:a469bbd294b5	1230	#endif
nerit	3:a469bbd294b5	1231	#if defined(M3)
nerit	3:a469bbd294b5	1232	angoloPh = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1233	aggiornaParametri();
nerit	3:a469bbd294b5	1234	#endif
nerit	3:a469bbd294b5	1235	#if defined(M4)
nerit	3:a469bbd294b5	1236	angoloPh = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1237	aggiornaParametri();
nerit	3:a469bbd294b5	1238	#endif
nerit	3:a469bbd294b5	1239	#if defined(M5)
nerit	3:a469bbd294b5	1240	angoloPh = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1241	aggiornaParametri();
nerit	3:a469bbd294b5	1242	#endif
nerit	3:a469bbd294b5	1243	#if defined(M6)
nerit	3:a469bbd294b5	1244	angoloPh = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1245	aggiornaParametri();
nerit	3:a469bbd294b5	1246	#endif
nerit	3:a469bbd294b5	1247	}
nerit	3:a469bbd294b5	1248	}
nerit	8:310f9e4eac7b	1249	if (rxMsg.id==RX_AngoloAv) {
nerit	8:310f9e4eac7b	1250	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1251	#if defined(M1)
nerit	3:a469bbd294b5	1252	angoloAv = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1253	aggiornaParametri();
nerit	3:a469bbd294b5	1254	#endif
nerit	3:a469bbd294b5	1255	#if defined(M2)
nerit	3:a469bbd294b5	1256	angoloAv = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1257	aggiornaParametri();
nerit	3:a469bbd294b5	1258	#endif
nerit	3:a469bbd294b5	1259	#if defined(M3)
nerit	3:a469bbd294b5	1260	angoloAv = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1261	aggiornaParametri();
nerit	3:a469bbd294b5	1262	#endif
nerit	3:a469bbd294b5	1263	#if defined(M4)
nerit	3:a469bbd294b5	1264	angoloAv = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1265	aggiornaParametri();
nerit	3:a469bbd294b5	1266	#endif
nerit	3:a469bbd294b5	1267	#if defined(M5)
nerit	3:a469bbd294b5	1268	angoloAv = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1269	aggiornaParametri();
nerit	3:a469bbd294b5	1270	#endif
nerit	3:a469bbd294b5	1271	#if defined(M6)
nerit	3:a469bbd294b5	1272	angoloAv = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1273	aggiornaParametri();
nerit	3:a469bbd294b5	1274	#endif
nerit	3:a469bbd294b5	1275	}
nerit	3:a469bbd294b5	1276	}
nerit	8:310f9e4eac7b	1277	if (rxMsg.id==RX_Quinconce) {
nerit	8:310f9e4eac7b	1278	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	1279	quinconceActive = (uint8_t) rxMsg.data[0];
nerit	8:310f9e4eac7b	1280	quincPIDminus = (uint8_t) rxMsg.data[1];
nerit	8:310f9e4eac7b	1281	quincPIDplus = (uint8_t) rxMsg.data[2];
nerit	8:310f9e4eac7b	1282	quincLIMminus = (uint8_t) rxMsg.data[3];
nerit	8:310f9e4eac7b	1283	quincLIMplus = (uint8_t) rxMsg.data[4];
nerit	3:a469bbd294b5	1284	quincSector = (uint8_t) rxMsg.data[5];
nerit	3:a469bbd294b5	1285	aggiornaParametri();
nerit	3:a469bbd294b5	1286	}
nerit	3:a469bbd294b5	1287	}
nerit	8:310f9e4eac7b	1288	}
nerit	8:310f9e4eac7b	1289	if (tractorSpeed_MtS_timed > 0.0f){
nerit	8:310f9e4eac7b	1290	if (rxMsg.id==RX_QuincSinc) {
nerit	8:310f9e4eac7b	1291	masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit	8:310f9e4eac7b	1292	masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit	8:310f9e4eac7b	1293	masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit	3:a469bbd294b5	1294	masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit	3:a469bbd294b5	1295	speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit	8:310f9e4eac7b	1296	mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit	8:310f9e4eac7b	1297	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit	3:a469bbd294b5	1298	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit	3:a469bbd294b5	1299	canDataCheck=1;
nerit	3:a469bbd294b5	1300	}
nerit	8:310f9e4eac7b	1301	}
nerit	33:81b406a911b6	1302	//if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1303	if (rxMsg.id==RX_Configure) {
nerit	3:a469bbd294b5	1304	uint8_t flags = rxMsg.data[0];
nerit	32:cfc3d7420fa5	1305	if ((flags&0x80)==0x80) { // comando taglianylon
nerit	33:81b406a911b6	1306	if (oldTagliaNylon==false){
nerit	33:81b406a911b6	1307	tagliaNylonAttivo=true;
nerit	33:81b406a911b6	1308	oldTagliaNylon=true;
nerit	33:81b406a911b6	1309	}
nerit	32:cfc3d7420fa5	1310	} else {
nerit	33:81b406a911b6	1311	if (oldTagliaNylon==true){
nerit	33:81b406a911b6	1312	tagliaNylonAttivo=false;
nerit	33:81b406a911b6	1313	oldTagliaNylon=false;
nerit	3:a469bbd294b5	1314	}
nerit	33:81b406a911b6	1315	if ((tagliaNylonAttivo==false)&&(tractorSpeed_MtS_timed<=0.01f)){
nerit	33:81b406a911b6	1316	uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit	33:81b406a911b6	1317	steps = steps + ((uint32_t)rxMsg.data[1]);
nerit	33:81b406a911b6	1318	TBmotorSteps =steps;
nerit	37:0a225902cf48	1319	#if defined(oldStepperDriver)
nerit	37:0a225902cf48	1320	stepSetting();
nerit	37:0a225902cf48	1321	#endif
nerit	33:81b406a911b6	1322	cellsCountSet = rxMsg.data[3];
nerit	33:81b406a911b6	1323	if ((flags&0x01)==0x01) {
nerit	33:81b406a911b6	1324	if (encoder==false) {
nerit	33:81b406a911b6	1325	encoder=true;
nerit	33:81b406a911b6	1326	speedFromPick=0;
nerit	33:81b406a911b6	1327	DcEncoder.rise(NULL);
nerit	33:81b406a911b6	1328	dcSetting();
nerit	33:81b406a911b6	1329	}
nerit	33:81b406a911b6	1330	} else {
nerit	33:81b406a911b6	1331	if (encoder==true) {
nerit	33:81b406a911b6	1332	encoder=false;
nerit	33:81b406a911b6	1333	speedFromPick=1;
nerit	33:81b406a911b6	1334	DcEncoder.rise(NULL);
nerit	33:81b406a911b6	1335	dcSetting();
nerit	33:81b406a911b6	1336	}
nerit	33:81b406a911b6	1337	}
nerit	33:81b406a911b6	1338	if ((flags&0x02)==0x02) {
nerit	33:81b406a911b6	1339	tankLevelEnable=true;
nerit	33:81b406a911b6	1340	} else {
nerit	33:81b406a911b6	1341	tankLevelEnable=false;
nerit	33:81b406a911b6	1342	}
nerit	39:6814c75dfa5c	1343	#if !defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1344	if ((flags&0x04)==0x04) {
nerit	39:6814c75dfa5c	1345	seedSensorEnable=true;
nerit	39:6814c75dfa5c	1346	} else {
nerit	39:6814c75dfa5c	1347	seedSensorEnable=false;
nerit	39:6814c75dfa5c	1348	}
nerit	39:6814c75dfa5c	1349	#else
nerit	33:81b406a911b6	1350	seedSensorEnable=false;
nerit	39:6814c75dfa5c	1351	#endif
nerit	33:81b406a911b6	1352	if ((flags&0x08)==0x08) {
nerit	33:81b406a911b6	1353	drumSelect=true; // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO
nerit	33:81b406a911b6	1354	} else {
nerit	33:81b406a911b6	1355	drumSelect=false; // forzato a true per Germania
nerit	33:81b406a911b6	1356	}
nerit	33:81b406a911b6	1357	if ((flags&0x10)==0x10) {
nerit	33:81b406a911b6	1358	canDataCheckEnable=true;
nerit	33:81b406a911b6	1359	} else {
nerit	33:81b406a911b6	1360	canDataCheckEnable=false;
nerit	33:81b406a911b6	1361	}
nerit	33:81b406a911b6	1362	if ((flags&0x20)==0x20) {
nerit	33:81b406a911b6	1363	tamburoStandard=1;
nerit	33:81b406a911b6	1364	} else {
nerit	33:81b406a911b6	1365	tamburoStandard=0;
nerit	33:81b406a911b6	1366	}
nerit	33:81b406a911b6	1367	if ((flags&0x40)==0x40) {
nerit	33:81b406a911b6	1368	currentCheckEnable=true;
nerit	33:81b406a911b6	1369	} else {
nerit	33:81b406a911b6	1370	currentCheckEnable=false;
nerit	33:81b406a911b6	1371	}
nerit	33:81b406a911b6	1372	aggiornaParametri();
nerit	3:a469bbd294b5	1373	}
nerit	3:a469bbd294b5	1374	}
nerit	3:a469bbd294b5	1375	}
nerit	33:81b406a911b6	1376	//}
nerit	8:310f9e4eac7b	1377	}
nerit	10:9e70619e97ab	1378	#endif
nerit	10:9e70619e97ab	1379	#if defined(overWriteCanSimulation)
nerit	10:9e70619e97ab	1380	enableSimula=1;
nerit	10:9e70619e97ab	1381	speedSimula=25;
nerit	10:9e70619e97ab	1382	avviaSimula=1;
nerit	10:9e70619e97ab	1383	simOk=1;
nerit	10:9e70619e97ab	1384	#endif
nerit	10:9e70619e97ab	1385	#if defined(pcSerial)
nerit	10:9e70619e97ab	1386	#if defined(checkLoop)
nerit	10:9e70619e97ab	1387	pc.printf("20\n");
nerit	10:9e70619e97ab	1388	#endif
nerit	10:9e70619e97ab	1389	#endif
bcostm	0:5701b41769fd	1390	}
bcostm	0:5701b41769fd	1391
nerit	3:a469bbd294b5	1392	//*******************************************************
nerit	8:310f9e4eac7b	1393	void DC_CheckCurrent()
nerit	8:310f9e4eac7b	1394	{
nerit	8:310f9e4eac7b	1395
nerit	3:a469bbd294b5	1396	// TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit	3:a469bbd294b5	1397	// gli allarmi e le correzioni di velocità
nerit	8:310f9e4eac7b	1398
nerit	3:a469bbd294b5	1399	//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	1400	//int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	1401	// Analog reading
nerit	3:a469bbd294b5	1402	//number = floor(number * 100) / 100;
nerit	8:310f9e4eac7b	1403	timeout.detach();
nerit	8:310f9e4eac7b	1404	SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1405	SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)3.3f) / (SD_CurrentFactor/1000.0f)10)/10;
nerit	3:a469bbd294b5	1406	}
nerit	3:a469bbd294b5	1407	//*******************************************************
nerit	8:310f9e4eac7b	1408	void DC_prepare()
nerit	8:310f9e4eac7b	1409	{
nerit	3:a469bbd294b5	1410	// direction or brake preparation
nerit	8:310f9e4eac7b	1411	if (DC_brake==1) {
nerit	3:a469bbd294b5	1412	SDmotorInA=1;
nerit	3:a469bbd294b5	1413	SDmotorInB=1;
nerit	8:310f9e4eac7b	1414	} else {
nerit	8:310f9e4eac7b	1415	if (DC_forward==0) {
nerit	3:a469bbd294b5	1416	SDmotorInA=1;
nerit	3:a469bbd294b5	1417	SDmotorInB=0;
nerit	8:310f9e4eac7b	1418	} else {
nerit	3:a469bbd294b5	1419	SDmotorInA=0;
nerit	3:a469bbd294b5	1420	SDmotorInB=1;
nerit	3:a469bbd294b5	1421	}
nerit	3:a469bbd294b5	1422	}
nerit	3:a469bbd294b5	1423	// fault reading
nerit	8:310f9e4eac7b	1424	if (SDmotorInA==1) {
nerit	8:310f9e4eac7b	1425	SD_faultA=1;
nerit	8:310f9e4eac7b	1426	} else {
nerit	8:310f9e4eac7b	1427	SD_faultA=0;
nerit	8:310f9e4eac7b	1428	}
nerit	8:310f9e4eac7b	1429	if (SDmotorInB==1) {
nerit	8:310f9e4eac7b	1430	SD_faultB=1;
nerit	8:310f9e4eac7b	1431	} else {
nerit	8:310f9e4eac7b	1432	SD_faultB=0;
nerit	8:310f9e4eac7b	1433	}
nerit	10:9e70619e97ab	1434	#if defined(pcSerial)
nerit	10:9e70619e97ab	1435	#if defined(checkLoopa)
nerit	10:9e70619e97ab	1436	pc.printf("22\n");
nerit	10:9e70619e97ab	1437	#endif
nerit	10:9e70619e97ab	1438	#endif
nerit	3:a469bbd294b5	1439	}
nerit	3:a469bbd294b5	1440	//*******************************************************
nerit	12:b0fc1d313813	1441	void startDelay(){
nerit	12:b0fc1d313813	1442	SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1443	int ritardo =0;
nerit	12:b0fc1d313813	1444	ritardo = (int)((float)(dcActualDuty*800.0f));
nerit	12:b0fc1d313813	1445	timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit	3:a469bbd294b5	1446	}
nerit	3:a469bbd294b5	1447	//*******************************************************
nerit	10:9e70619e97ab	1448	void quincTrigon(){
nerit	3:a469bbd294b5	1449	quincClock=true;
nerit	10:9e70619e97ab	1450	#if defined(pcSerial)
nerit	10:9e70619e97ab	1451	#if defined(checkLoop)
nerit	10:9e70619e97ab	1452	pc.printf("24\n");
nerit	10:9e70619e97ab	1453	#endif
nerit	10:9e70619e97ab	1454	#endif
nerit	3:a469bbd294b5	1455	}
nerit	10:9e70619e97ab	1456	void quincTrigof(){
nerit	3:a469bbd294b5	1457	quincClock=false;
nerit	10:9e70619e97ab	1458	#if defined(pcSerial)
nerit	10:9e70619e97ab	1459	#if defined(checkLoop)
nerit	10:9e70619e97ab	1460	pc.printf("25\n");
nerit	10:9e70619e97ab	1461	#endif
nerit	10:9e70619e97ab	1462	#endif
nerit	3:a469bbd294b5	1463	}
nerit	3:a469bbd294b5	1464	//*******************************************************
nerit	8:310f9e4eac7b	1465	void quinCalc()
nerit	8:310f9e4eac7b	1466	{
nerit	3:a469bbd294b5	1467	// riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit	10:9e70619e97ab	1468	#if !defined(mezzo)
nerit	10:9e70619e97ab	1469	if ((quincClock==true)&&(oldQuincIn==0)) {
nerit	10:9e70619e97ab	1470	oldQuincIn=1;
nerit	10:9e70619e97ab	1471	if (quincStart==0) {
nerit	10:9e70619e97ab	1472	oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit	10:9e70619e97ab	1473	quincTime.reset();
nerit	10:9e70619e97ab	1474	quincTimeSD.reset();
nerit	10:9e70619e97ab	1475	quincStart=1;
nerit	10:9e70619e97ab	1476	}
nerit	3:a469bbd294b5	1477	}
nerit	10:9e70619e97ab	1478	if(quincClock==false) {
nerit	3:a469bbd294b5	1479	oldQuincIn=0;
nerit	3:a469bbd294b5	1480	}
nerit	10:9e70619e97ab	1481	#else
nerit	10:9e70619e97ab	1482	if ((((quinconceActive==0)&&(quincClock==true))\|\|((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit	10:9e70619e97ab	1483	oldQuincIn=1;
nerit	10:9e70619e97ab	1484	if (quincStart==0) {
nerit	10:9e70619e97ab	1485	oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit	10:9e70619e97ab	1486	quincTime.reset();
nerit	10:9e70619e97ab	1487	quincStart=1;
nerit	10:9e70619e97ab	1488	}
nerit	3:a469bbd294b5	1489	}
nerit	10:9e70619e97ab	1490	if (quinconceActive==0) {
nerit	10:9e70619e97ab	1491	if (quincClock==false) {
nerit	10:9e70619e97ab	1492	oldQuincIn=0;
nerit	10:9e70619e97ab	1493	}
nerit	10:9e70619e97ab	1494	} else {
nerit	10:9e70619e97ab	1495	if (quincClock==true) {
nerit	10:9e70619e97ab	1496	oldQuincIn=0;
nerit	10:9e70619e97ab	1497	}
nerit	10:9e70619e97ab	1498	}
nerit	10:9e70619e97ab	1499	#endif
nerit	3:a469bbd294b5	1500	//****************************************************************************************
nerit	8:310f9e4eac7b	1501	if (quincCnt>=4) {
nerit	8:310f9e4eac7b	1502	if (countPicks==0) {
nerit	8:310f9e4eac7b	1503	if ((sincroQui==1)&&(quincStart==0)) {
nerit	3:a469bbd294b5	1504	// decelera
nerit	3:a469bbd294b5	1505	countPicks=1;
nerit	3:a469bbd294b5	1506	}
nerit	8:310f9e4eac7b	1507	if ((sincroQui==0)&&(quincStart==1)) {
nerit	3:a469bbd294b5	1508	// accelera
nerit	3:a469bbd294b5	1509	countPicks=2;
nerit	3:a469bbd294b5	1510	}
nerit	3:a469bbd294b5	1511	}
nerit	8:310f9e4eac7b	1512	if ((sincroQui==1)&&(quincStart==1)) {
nerit	8:310f9e4eac7b	1513	if (countPicks==1) { //decelera
nerit	3:a469bbd294b5	1514	scostamento = oldQuincTimeSD;
nerit	17:9629eb019892	1515	if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit	3:a469bbd294b5	1516	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1517	percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1518	#if defined(pcSerial)
nerit	3:a469bbd294b5	1519	#if defined(laq)
nerit	3:a469bbd294b5	1520	pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit	3:a469bbd294b5	1521	#endif
nerit	3:a469bbd294b5	1522	#endif
nerit	3:a469bbd294b5	1523	}
nerit	3:a469bbd294b5	1524	//if (scostamento <15.0f){percento=0.0f;}
nerit	3:a469bbd294b5	1525	}
nerit	8:310f9e4eac7b	1526	if (countPicks==2) { //accelera
nerit	3:a469bbd294b5	1527	scostamento = (double)quincTime.read_ms();
nerit	17:9629eb019892	1528	if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit	3:a469bbd294b5	1529	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1530	percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1531	#if defined(pcSerial)
nerit	3:a469bbd294b5	1532	#if defined(laq)
nerit	8:310f9e4eac7b	1533	pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit	3:a469bbd294b5	1534	#endif
nerit	3:a469bbd294b5	1535	#endif
nerit	3:a469bbd294b5	1536	}
nerit	3:a469bbd294b5	1537	//if (scostamento <15.0f){percento=0.0f;}
nerit	3:a469bbd294b5	1538	}
nerit	3:a469bbd294b5	1539	sincroQui=0;
nerit	3:a469bbd294b5	1540	quincStart=0;
nerit	3:a469bbd294b5	1541	countPicks=0;
nerit	5:2a3a64b52f54	1542	// questo e il primo
nerit	3:a469bbd294b5	1543	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1544	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1545	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1546	if (enableSimula==0) {
nerit	8:310f9e4eac7b	1547	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1548	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1549	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1550	}
nerit	13:d1030d4e51a8	1551	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1552	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1553	}*/
nerit	3:a469bbd294b5	1554	}
nerit	8:310f9e4eac7b	1555	}
nerit	3:a469bbd294b5	1556	}
nerit	3:a469bbd294b5	1557	#endif
nerit	3:a469bbd294b5	1558	}
nerit	8:310f9e4eac7b	1559
nerit	3:a469bbd294b5	1560	//*******************************************************************
nerit	8:310f9e4eac7b	1561	if (canDataCheckEnable==true) {
nerit	8:310f9e4eac7b	1562	if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit	3:a469bbd294b5	1563	canDataCheck=0;
nerit	17:9629eb019892	1564	double parametro = SDsectorStep/(double)quincSector;
nerit	3:a469bbd294b5	1565	double differenza=0.0f;
nerit	3:a469bbd294b5	1566	#if defined(mezzo)
nerit	8:310f9e4eac7b	1567	if (quinconceActive==1) {
nerit	3:a469bbd294b5	1568	differenza = (double)masterSinc - (double)prePosSD;
nerit	8:310f9e4eac7b	1569	} else {
nerit	3:a469bbd294b5	1570	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1571	}
nerit	3:a469bbd294b5	1572	#else
nerit	3:a469bbd294b5	1573	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1574	#endif
nerit	17:9629eb019892	1575	if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit	8:310f9e4eac7b	1576	if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit	8:310f9e4eac7b	1577	double diffPerc = differenza / parametro;
nerit	3:a469bbd294b5	1578	percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1579	}
nerit	8:310f9e4eac7b	1580	if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit	8:310f9e4eac7b	1581	double diffPerc = (double)differenza / parametro;
nerit	3:a469bbd294b5	1582	percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1583	}
nerit	5:2a3a64b52f54	1584	// questo e il secondo
nerit	3:a469bbd294b5	1585	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1586	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1587	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1588	if (enableSimula==0) {
nerit	5:2a3a64b52f54	1589	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1590	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1591	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1592	}
nerit	13:d1030d4e51a8	1593	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1594	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1595	}*/
nerit	3:a469bbd294b5	1596	}
nerit	5:2a3a64b52f54	1597	}
nerit	3:a469bbd294b5	1598	}
nerit	3:a469bbd294b5	1599	#endif
nerit	3:a469bbd294b5	1600	}
nerit	3:a469bbd294b5	1601	}
nerit	8:310f9e4eac7b	1602
nerit	3:a469bbd294b5	1603	}
nerit	8:310f9e4eac7b	1604	if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit	3:a469bbd294b5	1605	percento= (double)quincLIMplus/100.0f;
nerit	3:a469bbd294b5	1606	}
nerit	8:310f9e4eac7b	1607	if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit	3:a469bbd294b5	1608	percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm	0:5701b41769fd	1609	}
nerit	6:e8c18f0f399a	1610	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1611	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1612	pc.printf("26\n");
nerit	6:e8c18f0f399a	1613	#endif
nerit	6:e8c18f0f399a	1614	#endif
bcostm	0:5701b41769fd	1615	}
nerit	8:310f9e4eac7b	1616	// ----------------------------------------
nerit	3:a469bbd294b5	1617	#if defined(seedSensor)
nerit	3:a469bbd294b5	1618	void resetDelay(){
nerit	3:a469bbd294b5	1619	delaySeedCheck.reset();
nerit	3:a469bbd294b5	1620	delaySeedCheck.stop();
nerit	8:310f9e4eac7b	1621	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1622	#if defined(checkLoop)
nerit	8:310f9e4eac7b	1623	pc.printf("27\n");
nerit	8:310f9e4eac7b	1624	#endif
nerit	6:e8c18f0f399a	1625	#endif
nerit	3:a469bbd294b5	1626	}
nerit	3:a469bbd294b5	1627	#endif
nerit	18:7c978f69cc51	1628	// ----------------------------------------
nerit	17:9629eb019892	1629	void aggiornati(){
nerit	17:9629eb019892	1630	#if defined(runner)
nerit	17:9629eb019892	1631	legPos.detach();
nerit	17:9629eb019892	1632	TBoldPosition= (uint32_t) motor->get_position();
nerit	17:9629eb019892	1633	legPos.attach(&step_Reading,0.002f);
nerit	17:9629eb019892	1634	#if defined(pcSerial)
nerit	17:9629eb019892	1635	#if defined(TBperS)
nerit	17:9629eb019892	1636	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	17:9629eb019892	1637	#endif
nerit	17:9629eb019892	1638	#endif
nerit	17:9629eb019892	1639
nerit	17:9629eb019892	1640	#else
nerit	17:9629eb019892	1641	TBactualPosition=0;
nerit	17:9629eb019892	1642	#endif
nerit	17:9629eb019892	1643	}
nerit	17:9629eb019892	1644
nerit	3:a469bbd294b5	1645	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	1646	// MAIN SECTION
nerit	3:a469bbd294b5	1647	// ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm	0:5701b41769fd	1648
nerit	3:a469bbd294b5	1649	//*******************************************************************************
nerit	8:310f9e4eac7b	1650	int main()
nerit	8:310f9e4eac7b	1651	{
nerit	6:e8c18f0f399a	1652	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1653	#if defined(resetCpu)
nerit	6:e8c18f0f399a	1654	pc.printf("RESET\n");
nerit	6:e8c18f0f399a	1655	#endif
nerit	6:e8c18f0f399a	1656	#endif
nerit	8:310f9e4eac7b	1657
nerit	8:310f9e4eac7b	1658	#if defined(canbusActive)
nerit	8:310f9e4eac7b	1659	can1.attach(&leggiCAN, CAN::RxIrq);
nerit	8:310f9e4eac7b	1660	#endif
nerit	8:310f9e4eac7b	1661
nerit	8:310f9e4eac7b	1662	wait(1.0f);
nerit	8:310f9e4eac7b	1663	wait(1.0f);
nerit	19:231b8931cabc	1664	wait(ritAvv);
nerit	8:310f9e4eac7b	1665
nerit	37:0a225902cf48	1666	#if defined(oldStepperDriver)
nerit	37:0a225902cf48	1667	stepSetting();
nerit	37:0a225902cf48	1668	#endif
nerit	37:0a225902cf48	1669
nerit	37:0a225902cf48	1670	#if defined(runner)
nerit	37:0a225902cf48	1671	TBmotor_SW=1;
nerit	37:0a225902cf48	1672	#endif
nerit	8:310f9e4eac7b	1673	TBmotorDirecti=TBforward; // reset stepper direction
nerit	8:310f9e4eac7b	1674	//----- Initialization
nerit	8:310f9e4eac7b	1675	/* Initializing SPI bus. */
nerit	8:310f9e4eac7b	1676	// dev_spi(mosi,miso,sclk)
nerit	8:310f9e4eac7b	1677	// D11= PA7; D12= PA6; D13= PA5
nerit	35:3165f4c1c7bf	1678	#if defined(runner)
nerit	35:3165f4c1c7bf	1679	DevSPI dev_spi(D11, D12, D13);
nerit	35:3165f4c1c7bf	1680	dev_spi.frequency(5000000);
nerit	10:9e70619e97ab	1681
nerit	35:3165f4c1c7bf	1682	/* Initializing Motor Control Component. */
nerit	35:3165f4c1c7bf	1683	// powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit	35:3165f4c1c7bf	1684	// motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit	35:3165f4c1c7bf	1685	motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit	35:3165f4c1c7bf	1686	if (motor->init(&init) != COMPONENT_OK) {
nerit	35:3165f4c1c7bf	1687	exit(EXIT_FAILURE);
nerit	35:3165f4c1c7bf	1688	}
nerit	35:3165f4c1c7bf	1689
nerit	35:3165f4c1c7bf	1690	/* Attaching and enabling an interrupt handler. */
nerit	35:3165f4c1c7bf	1691	motor->attach_flag_irq(&my_flag_irq_handler);
nerit	35:3165f4c1c7bf	1692	motor->enable_flag_irq();
nerit	35:3165f4c1c7bf	1693	//motor->disable_flag_irq();
nerit	35:3165f4c1c7bf	1694
nerit	35:3165f4c1c7bf	1695	/* Attaching an error handler */
nerit	35:3165f4c1c7bf	1696	//motor->attach_error_handler(&my_error_handler);
nerit	35:3165f4c1c7bf	1697	#endif
nerit	8:310f9e4eac7b	1698	wait(1.0f);
nerit	8:310f9e4eac7b	1699	for (int a=0; a<5; a++) {
nerit	3:a469bbd294b5	1700	mediaSpeed[a]=0;
nerit	3:a469bbd294b5	1701	}
nerit	8:310f9e4eac7b	1702
nerit	3:a469bbd294b5	1703	// DC reset ad set
nerit	3:a469bbd294b5	1704	int decima = 100;
nerit	3:a469bbd294b5	1705	wait_ms(200);
nerit	3:a469bbd294b5	1706	SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1707	wait_ms(2);
nerit	3:a469bbd294b5	1708	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1709	wait_ms(1);
nerit	3:a469bbd294b5	1710	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1711	wait_ms(3);
nerit	3:a469bbd294b5	1712	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	8:310f9e4eac7b	1713	SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit	3:a469bbd294b5	1714	wait_ms(100);
nerit	3:a469bbd294b5	1715	DC_prepare();
nerit	8:310f9e4eac7b	1716
nerit	8:310f9e4eac7b	1717	speedTimer.start(); // speed pulse timer
nerit	3:a469bbd294b5	1718	intraPickTimer.start();
nerit	8:310f9e4eac7b	1719	speedTimeOut.start();
nerit	3:a469bbd294b5	1720	speedFilter.start();
nerit	3:a469bbd294b5	1721	seedFilter.start();
nerit	3:a469bbd294b5	1722	TBfilter.start();
nerit	3:a469bbd294b5	1723	sincroTimer.start();
nerit	3:a469bbd294b5	1724	rotationTimeOut.start();
nerit	3:a469bbd294b5	1725	metalTimer.start();
nerit	3:a469bbd294b5	1726	quincTime.start();
nerit	3:a469bbd294b5	1727	quincTimeSD.start();
nerit	8:310f9e4eac7b	1728	#if defined(runner)
nerit	8:310f9e4eac7b	1729	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	1730	#endif
nerit	8:310f9e4eac7b	1731
nerit	3:a469bbd294b5	1732	//*******************************************************
nerit	3:a469bbd294b5	1733	// controls for check DC motor current
nerit	8:310f9e4eac7b	1734	pwmCheck.rise(&startDelay);
nerit	3:a469bbd294b5	1735	wait_ms(500);
nerit	8:310f9e4eac7b	1736
nerit	12:b0fc1d313813	1737	dcVeri.attach(&controllaCorrente,2.0f);
nerit	13:d1030d4e51a8	1738	delaySpeedCheck.start();
nerit	12:b0fc1d313813	1739
nerit	8:310f9e4eac7b	1740	#if defined(runnerTos)
nerit	8:310f9e4eac7b	1741	thread.start(step_Reading);
nerit	8:310f9e4eac7b	1742	#endif
nerit	3:a469bbd294b5	1743
nerit	8:310f9e4eac7b	1744	if (inProva==0) {
nerit	3:a469bbd294b5	1745	tractorSpeedRead.rise(&tractorReadSpeed);
nerit	3:a469bbd294b5	1746	#if !defined(speedMaster)
nerit	3:a469bbd294b5	1747	quinconceIn.rise(&quincTrigon);
nerit	3:a469bbd294b5	1748	quinconceIn.fall(&quincTrigof);
nerit	3:a469bbd294b5	1749	#endif
nerit	3:a469bbd294b5	1750	#if defined(speedMaster)
nerit	3:a469bbd294b5	1751	tftUpdate.attach(&videoUpdate,0.50f);
nerit	3:a469bbd294b5	1752	#endif
nerit	3:a469bbd294b5	1753	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	1754	dcSetting();
nerit	3:a469bbd294b5	1755	#if defined(seedSensor)
nerit	3:a469bbd294b5	1756	seedCheck.fall(&seedSensorTask);
nerit	3:a469bbd294b5	1757	#endif
nerit	8:310f9e4eac7b	1758	} else {
nerit	8:310f9e4eac7b	1759	tftUpdate.attach(&videoUpdate,0.125f);
nerit	8:310f9e4eac7b	1760	}
nerit	8:310f9e4eac7b	1761
nerit	3:a469bbd294b5	1762	aggiornaParametri();
nerit	3:a469bbd294b5	1763
nerit	3:a469bbd294b5	1764	SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit	3:a469bbd294b5	1765	SDmotorPWM.write(1.0f); // duty cycle = stop
nerit	3:a469bbd294b5	1766	TBmotorDirecti=TBforward; // tb motor direction set
nerit	3:a469bbd294b5	1767
nerit	3:a469bbd294b5	1768	#if defined(provaStepper)
nerit	3:a469bbd294b5	1769	TBmotorRst=1;
nerit	3:a469bbd294b5	1770	TBmotorDirecti=TBforward;
nerit	3:a469bbd294b5	1771	// definire il pin di clock che è PB_3
nerit	9:7f02256f6e8f	1772	#if defined(Zucca)
nerit	17:9629eb019892	1773	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1774	//motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1775	#else
nerit	18:7c978f69cc51	1776	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1777	//motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	1778	#endif
nerit	3:a469bbd294b5	1779	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	10:9e70619e97ab	1780	//DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	6:e8c18f0f399a	1781	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1782	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1783	pc.printf("11f\n");
nerit	6:e8c18f0f399a	1784	#endif
nerit	6:e8c18f0f399a	1785	#endif
nerit	10:9e70619e97ab	1786	//TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit	18:7c978f69cc51	1787	TATicker.attach(&invertiLo,3.0f);
nerit	3:a469bbd294b5	1788	#else
nerit	35:3165f4c1c7bf	1789	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	1790	// definire il pin di clock che è PB_3
nerit	35:3165f4c1c7bf	1791	motor->set_home();
nerit	35:3165f4c1c7bf	1792	motor->go_to(50);
nerit	35:3165f4c1c7bf	1793	motor->wait_while_active();
nerit	35:3165f4c1c7bf	1794	#if !defined(runner)
nerit	35:3165f4c1c7bf	1795	#if defined(Zucca)
nerit	35:3165f4c1c7bf	1796	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	1797	#else
nerit	35:3165f4c1c7bf	1798	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	1799	#endif
nerit	9:7f02256f6e8f	1800	#endif
nerit	35:3165f4c1c7bf	1801	#if defined(pcSerial)
nerit	35:3165f4c1c7bf	1802	#if defined(loStop)
nerit	35:3165f4c1c7bf	1803	pc.printf("A3\n");
nerit	35:3165f4c1c7bf	1804	#endif
nerit	6:e8c18f0f399a	1805	#endif
nerit	35:3165f4c1c7bf	1806	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1807	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	35:3165f4c1c7bf	1808	DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	6:e8c18f0f399a	1809	#endif
nerit	3:a469bbd294b5	1810	#endif // end prova stepper
nerit	8:310f9e4eac7b	1811
nerit	8:310f9e4eac7b	1812	wd.Configure(2.0); //watchdog set at xx seconds
nerit	8:310f9e4eac7b	1813
nerit	8:310f9e4eac7b	1814
nerit	3:a469bbd294b5	1815	//**************************************************************************************************************
nerit	3:a469bbd294b5	1816	// MAIN LOOP
nerit	3:a469bbd294b5	1817	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1818	while (true) {
nerit	6:e8c18f0f399a	1819	// ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit	8:310f9e4eac7b	1820	if (tractorSpeedRead==0) {
nerit	8:310f9e4eac7b	1821	speedClock=0;
nerit	8:310f9e4eac7b	1822	}
nerit	31:92a9e183be8e	1823	if ((tractorSpeed_MtS_timed>0.0f)&&(oldTractStop==1)){
nerit	31:92a9e183be8e	1824	alarmDelay.start();
nerit	31:92a9e183be8e	1825	oldTractStop=0;
nerit	31:92a9e183be8e	1826	}
nerit	31:92a9e183be8e	1827	if (alarmDelay.read()>5){
nerit	31:92a9e183be8e	1828	alarmEnable=true;
nerit	31:92a9e183be8e	1829	}
nerit	31:92a9e183be8e	1830	if ((tractorSpeed_MtS_timed<=0.05f)){
nerit	31:92a9e183be8e	1831	oldTractStop=1;
nerit	31:92a9e183be8e	1832	alarmDelay.stop();
nerit	31:92a9e183be8e	1833	alarmDelay.reset();
nerit	31:92a9e183be8e	1834	alarmEnable=false;
nerit	31:92a9e183be8e	1835	}
nerit	8:310f9e4eac7b	1836
nerit	3:a469bbd294b5	1837	// inversione segnali ingressi
nerit	3:a469bbd294b5	1838	#if !defined(simulaBanco)
nerit	3:a469bbd294b5	1839	seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit	3:a469bbd294b5	1840	#else
nerit	8:310f9e4eac7b	1841	if ((prePosSD-500) >= SDsectorStep) {
nerit	3:a469bbd294b5	1842	seedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1843	}
nerit	8:310f9e4eac7b	1844	if ((prePosSD > 500)&&(prePosSD<580)) {
nerit	3:a469bbd294b5	1845	seedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1846	}
nerit	8:310f9e4eac7b	1847	#endif
nerit	25:4461bc76aaab	1848	if (drumSelect==true){
nerit	25:4461bc76aaab	1849	TBzeroPinInput = TBzeroPinInputRev;
nerit	25:4461bc76aaab	1850	}else{
nerit	25:4461bc76aaab	1851	TBzeroPinInput = !TBzeroPinInputRev;
nerit	25:4461bc76aaab	1852	}
nerit	3:a469bbd294b5	1853	// se quinconce attivo ed unita' master invia segnale di sincro
nerit	3:a469bbd294b5	1854	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1855	if (seedWheelZeroPinInput==1) {
nerit	3:a469bbd294b5	1856	quinconceOut=0;
nerit	3:a469bbd294b5	1857	}
nerit	8:310f9e4eac7b	1858	if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit	3:a469bbd294b5	1859	quinconceOut=1;
nerit	3:a469bbd294b5	1860	}
nerit	8:310f9e4eac7b	1861	if (quinconceActive==1) {
nerit	8:310f9e4eac7b	1862	if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit	3:a469bbd294b5	1863	posForQuinc=500;
nerit	3:a469bbd294b5	1864	oldQuinconceOut=0;
nerit	3:a469bbd294b5	1865	}
nerit	8:310f9e4eac7b	1866	if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit	3:a469bbd294b5	1867	oldQuinconceOut=1;
nerit	3:a469bbd294b5	1868	}
nerit	8:310f9e4eac7b	1869	}
nerit	3:a469bbd294b5	1870	#endif
nerit	3:a469bbd294b5	1871
nerit	3:a469bbd294b5	1872	// simulazione velocita
nerit	8:310f9e4eac7b	1873	if (enableSimula==1) {
nerit	3:a469bbd294b5	1874	double TMT = 0.0f;
nerit	8:310f9e4eac7b	1875	if (speedSimula > 0) {
nerit	3:a469bbd294b5	1876	TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	1877	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	1878	} else {
nerit	3:a469bbd294b5	1879	pulseSpeedInterval = 10000.0f;
nerit	8:310f9e4eac7b	1880	}
nerit	8:310f9e4eac7b	1881	if (avviaSimula==1) {
nerit	8:310f9e4eac7b	1882	if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit	3:a469bbd294b5	1883	spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit	3:a469bbd294b5	1884	oldSimulaSpeed=pulseSpeedInterval;
nerit	3:a469bbd294b5	1885	}
nerit	8:310f9e4eac7b	1886	} else {
nerit	3:a469bbd294b5	1887	oldSimulaSpeed=10000.0f;
nerit	3:a469bbd294b5	1888	spedSimclock.detach();
nerit	3:a469bbd294b5	1889	}
nerit	8:310f9e4eac7b	1890	} else {
nerit	3:a469bbd294b5	1891	spedSimclock.detach();
nerit	3:a469bbd294b5	1892	}
nerit	8:310f9e4eac7b	1893
nerit	3:a469bbd294b5	1894	//*******************************************************
nerit	3:a469bbd294b5	1895	// determina se sono in bassa velocità per il controllo di TB
nerit	8:310f9e4eac7b	1896	if (speedOfSeedWheel<=minSeedSpeed) {
nerit	8:310f9e4eac7b	1897	if (lowSpeedRequired==0) {
nerit	3:a469bbd294b5	1898	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1899	ritardaLowSpeed.start();
nerit	3:a469bbd294b5	1900	}
nerit	3:a469bbd294b5	1901	lowSpeedRequired=1;
nerit	8:310f9e4eac7b	1902	} else {
nerit	8:310f9e4eac7b	1903	if (lowSpeedRequired==1) {
nerit	3:a469bbd294b5	1904	lowSpeedRequired=0;
nerit	3:a469bbd294b5	1905	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1906	ritardaLowSpeed.stop();
nerit	3:a469bbd294b5	1907	}
nerit	3:a469bbd294b5	1908	}
nerit	3:a469bbd294b5	1909
nerit	8:310f9e4eac7b	1910	if (ritardaLowSpeed.read_ms()> 2000) {
nerit	3:a469bbd294b5	1911	lowSpeed=1;
nerit	8:310f9e4eac7b	1912	} else {
nerit	3:a469bbd294b5	1913	lowSpeed=0;
nerit	3:a469bbd294b5	1914	}
bcostm	2:35f13b7f3659	1915
nerit	3:a469bbd294b5	1916	//**************************************************************************************************************
nerit	3:a469bbd294b5	1917	//**************************************************************************************************************
nerit	3:a469bbd294b5	1918	// LOGICAL CONTROLS
nerit	3:a469bbd294b5	1919	//**************************************************************************************************************
nerit	3:a469bbd294b5	1920	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1921
nerit	8:310f9e4eac7b	1922	if (inProva==0) {
nerit	20:4a400a4cc419	1923	// simulazione stepper
nerit	23:ccd253b36733	1924	if (simOk==1){
nerit	23:ccd253b36733	1925	if (simStepper==1){
nerit	23:ccd253b36733	1926	oldSimStepper=true;
nerit	39:6814c75dfa5c	1927	#if defined(runner)
nerit	39:6814c75dfa5c	1928	simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit	39:6814c75dfa5c	1929	#endif
nerit	39:6814c75dfa5c	1930	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1931	simStepSpeed= 1.0f/(((double)speedStepp/250.0f)/100.0f);
nerit	39:6814c75dfa5c	1932	#endif
nerit	23:ccd253b36733	1933	if (oldSimStepSpeed!=simStepSpeed){
nerit	35:3165f4c1c7bf	1934	#if defined(runner)
nerit	35:3165f4c1c7bf	1935	motor->run(StepperMotor::FWD,simStepSpeed);
nerit	35:3165f4c1c7bf	1936	#endif
nerit	35:3165f4c1c7bf	1937	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1938	//TBmotorRst=0;
nerit	39:6814c75dfa5c	1939	//TBticker.attach_us(&step_TBPulseOut,simStepSpeed/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	1940	attivaTb(simStepSpeed/2.0f);
nerit	35:3165f4c1c7bf	1941	#endif
nerit	23:ccd253b36733	1942	oldSimStepSpeed=simStepSpeed;
nerit	23:ccd253b36733	1943	}
nerit	23:ccd253b36733	1944	}else{
nerit	23:ccd253b36733	1945	if (oldSimStepper==true){
nerit	23:ccd253b36733	1946	oldSimStepper=false;
nerit	35:3165f4c1c7bf	1947	#if defined(runner)
nerit	35:3165f4c1c7bf	1948	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1949	#endif
nerit	35:3165f4c1c7bf	1950	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1951	//TBticker.detach();
nerit	39:6814c75dfa5c	1952	//TBmotorRst=1;
nerit	39:6814c75dfa5c	1953	stopTb();
nerit	35:3165f4c1c7bf	1954	#endif
nerit	23:ccd253b36733	1955	oldSimStepSpeed=0.0f;
nerit	23:ccd253b36733	1956	}
nerit	23:ccd253b36733	1957	}
nerit	20:4a400a4cc419	1958	}else{
nerit	20:4a400a4cc419	1959	if (oldSimStepper==true){
nerit	20:4a400a4cc419	1960	oldSimStepper=false;
nerit	35:3165f4c1c7bf	1961	#if defined(runner)
nerit	35:3165f4c1c7bf	1962	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1963	#endif
nerit	35:3165f4c1c7bf	1964	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1965	//TBticker.detach();
nerit	39:6814c75dfa5c	1966	//TBmotorRst=1;
nerit	39:6814c75dfa5c	1967	stopTb();
nerit	35:3165f4c1c7bf	1968	#endif
nerit	20:4a400a4cc419	1969	oldSimStepSpeed=0.0f;
nerit	20:4a400a4cc419	1970	}
nerit	20:4a400a4cc419	1971	}
nerit	8:310f9e4eac7b	1972	if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit	6:e8c18f0f399a	1973	runRequestBuf=1;//0;
nerit	8:310f9e4eac7b	1974	} else {
nerit	6:e8c18f0f399a	1975	runRequestBuf=1;//0;
nerit	6:e8c18f0f399a	1976	}
nerit	8:310f9e4eac7b	1977	if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit	6:e8c18f0f399a	1978	oldTractorSpeedRead=0;
nerit	3:a469bbd294b5	1979	}
nerit	3:a469bbd294b5	1980	// ----------------------------------------
nerit	3:a469bbd294b5	1981	// filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit	3:a469bbd294b5	1982	// ----------------------------------------
nerit	8:310f9e4eac7b	1983	if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit	8:310f9e4eac7b	1984	if(seedFilter.read_ms()>=4) {
nerit	3:a469bbd294b5	1985	oldSeedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1986	SDzeroDebounced=0;
nerit	3:a469bbd294b5	1987	}
nerit	3:a469bbd294b5	1988	}
nerit	8:310f9e4eac7b	1989	if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit	3:a469bbd294b5	1990	timeIntraPick = (double)intraPickTimer.read_ms();
nerit	3:a469bbd294b5	1991	prePosSD=500; // preposizionamento SD
nerit	3:a469bbd294b5	1992	intraPickTimer.reset();
nerit	3:a469bbd294b5	1993	rotationTimeOut.reset();
nerit	8:310f9e4eac7b	1994	seedFilter.reset();
nerit	3:a469bbd294b5	1995	sincroTimer.reset();
nerit	3:a469bbd294b5	1996	oldSeedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1997	quincTime.reset();
nerit	3:a469bbd294b5	1998	quincTimeSD.reset();
nerit	3:a469bbd294b5	1999	SDzeroDebounced=1;
nerit	3:a469bbd294b5	2000	sincroQui=1;
nerit	3:a469bbd294b5	2001	SDwheelTimer.reset();
nerit	13:d1030d4e51a8	2002	dcEncoderCnt=0;
nerit	3:a469bbd294b5	2003	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2004	if (quinconceActive==0) {
nerit	3:a469bbd294b5	2005	posForQuinc=500;
nerit	3:a469bbd294b5	2006	}
nerit	17:9629eb019892	2007	if (checkSDrotation==0) {
nerit	17:9629eb019892	2008	checkSDrotation=1;
nerit	17:9629eb019892	2009	SDwheelTimer.start();
nerit	17:9629eb019892	2010	}
nerit	3:a469bbd294b5	2011	#endif
nerit	8:310f9e4eac7b	2012	if (quincCnt<10) {
nerit	3:a469bbd294b5	2013	quincCnt++;
nerit	3:a469bbd294b5	2014	}
nerit	8:310f9e4eac7b	2015	if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit	3:a469bbd294b5	2016	beccoPronto=1;
nerit	3:a469bbd294b5	2017	}
nerit	3:a469bbd294b5	2018	lockStart=0;
nerit	3:a469bbd294b5	2019	double fase1=0.0f;
nerit	3:a469bbd294b5	2020	forzaFase=0;
nerit	3:a469bbd294b5	2021	double limite=fixedStepGiroSD/pickNumber;
nerit	8:310f9e4eac7b	2022	if (tamburoStandard==0) {
nerit	8:310f9e4eac7b	2023	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	2024	} else {
nerit	8:310f9e4eac7b	2025	if(speedForCorrection >= speedOfSeedWheel) {
nerit	3:a469bbd294b5	2026	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	2027	} else {
nerit	3:a469bbd294b5	2028	fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit	3:a469bbd294b5	2029	}
nerit	8:310f9e4eac7b	2030	if (fase1 > limite) {
nerit	3:a469bbd294b5	2031	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	2032	}
nerit	8:310f9e4eac7b	2033	if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit	3:a469bbd294b5	2034	fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit	3:a469bbd294b5	2035	forzaFase=1;
nerit	3:a469bbd294b5	2036	}
nerit	3:a469bbd294b5	2037	trigRepos=1;
nerit	3:a469bbd294b5	2038	}
nerit	3:a469bbd294b5	2039	fase = (uint32_t)fase1+500;
nerit	3:a469bbd294b5	2040	#if defined(pcSerial)
nerit	3:a469bbd294b5	2041	#if defined(inCorre)
nerit	3:a469bbd294b5	2042	pc.printf(" limite %f", limite);
nerit	3:a469bbd294b5	2043	pc.printf(" delta %f", TBdeltaStep);
nerit	3:a469bbd294b5	2044	pc.printf(" faseStep %f", TBfaseStep);
nerit	3:a469bbd294b5	2045	pc.printf(" fase %d",fase);
nerit	3:a469bbd294b5	2046	pc.printf(" forzaFase %d",forzaFase);
nerit	3:a469bbd294b5	2047	pc.printf(" trigRepos %d", trigRepos);
nerit	3:a469bbd294b5	2048	pc.printf(" ActualSD: %d",SDactualPosition);
nerit	3:a469bbd294b5	2049	pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit	3:a469bbd294b5	2050	pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit	3:a469bbd294b5	2051	#endif
nerit	3:a469bbd294b5	2052	#endif
nerit	19:231b8931cabc	2053	if (tractorSpeed_MtS_timed>0.2f){
nerit	17:9629eb019892	2054	if (timeIntraPick >= (memoIntraPick*2)) {
nerit	31:92a9e183be8e	2055	if ((aspettaStart==0)&&(alarmEnable==true)) {
nerit	17:9629eb019892	2056	if (firstStart==0) {
nerit	39:6814c75dfa5c	2057	#if defined(pcSerial)
nerit	39:6814c75dfa5c	2058	#if defined(tempoTb)
nerit	39:6814c75dfa5c	2059	pc.printf("intra: %f memo: %f\n" , timeIntraPick, memoIntraPick);
nerit	39:6814c75dfa5c	2060	#endif
nerit	39:6814c75dfa5c	2061	#endif
nerit	17:9629eb019892	2062	all_pickSignal=1;
nerit	17:9629eb019892	2063	}
nerit	3:a469bbd294b5	2064	}
nerit	3:a469bbd294b5	2065	}
nerit	3:a469bbd294b5	2066	}
nerit	3:a469bbd294b5	2067	memoIntraPick = timeIntraPick;
nerit	8:310f9e4eac7b	2068	if ((speedFromPick==1)&&(encoder==false)) {
nerit	3:a469bbd294b5	2069	speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit	10:9e70619e97ab	2070	#if defined(pcSerial)
nerit	10:9e70619e97ab	2071	#if defined(Qnca)
nerit	10:9e70619e97ab	2072	pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit	10:9e70619e97ab	2073	#endif
nerit	3:a469bbd294b5	2074	#endif
nerit	3:a469bbd294b5	2075	}
nerit	8:310f9e4eac7b	2076	if (encoder==false) {
nerit	3:a469bbd294b5	2077	pulseRised2=1;
nerit	3:a469bbd294b5	2078	}
nerit	3:a469bbd294b5	2079	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2080	if ((tractorSpeed_MtS_timed==0.0f)) {
nerit	8:310f9e4eac7b	2081	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	10:9e70619e97ab	2082	cntSpeedError++;
nerit	18:7c978f69cc51	2083	if (cntSpeedError >= 5){
nerit	10:9e70619e97ab	2084	all_noSpeedSen=1;
nerit	10:9e70619e97ab	2085	}
nerit	3:a469bbd294b5	2086	}
nerit	3:a469bbd294b5	2087	}
nerit	31:92a9e183be8e	2088	if ((tractorSpeed_MtS_timed>0.2f)&&(alarmEnable==true)){
nerit	18:7c978f69cc51	2089	double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit	17:9629eb019892	2090	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	17:9629eb019892	2091	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	17:9629eb019892	2092	all_speedError =1;
nerit	17:9629eb019892	2093	}
nerit	3:a469bbd294b5	2094	}
nerit	3:a469bbd294b5	2095	}
nerit	3:a469bbd294b5	2096	#endif
nerit	3:a469bbd294b5	2097	//*******************************************
nerit	3:a469bbd294b5	2098	// esegue calcolo clock per la generazione della posizione teorica
nerit	3:a469bbd294b5	2099	// la realtà in base al segnale di presenza del becco
nerit	8:310f9e4eac7b	2100	if (speedOfSeedWheel < 0.002f) {
nerit	10:9e70619e97ab	2101	#if defined(pcSerial)
nerit	10:9e70619e97ab	2102	#if defined(checkLoopb)
nerit	10:9e70619e97ab	2103	pc.printf("forza\n");
nerit	10:9e70619e97ab	2104	#endif
nerit	8:310f9e4eac7b	2105	#endif
nerit	6:e8c18f0f399a	2106	speedOfSeedWheel=0.001f;
nerit	6:e8c18f0f399a	2107	}
nerit	8:310f9e4eac7b	2108	aggioVelocita();
nerit	3:a469bbd294b5	2109	}
nerit	3:a469bbd294b5	2110	// ----------------------------------------
nerit	8:310f9e4eac7b	2111	// check SD fase
nerit	8:310f9e4eac7b	2112	if ((prePosSD >= fase)\|\|(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit	3:a469bbd294b5	2113	forzaFase=0;
nerit	8:310f9e4eac7b	2114	if (trigRepos==1) {
nerit	3:a469bbd294b5	2115	SDactualPosition=0;
nerit	8:310f9e4eac7b	2116	if ((countCicli<30)&&(trigCicli==0)) {
nerit	6:e8c18f0f399a	2117	countCicli++;
nerit	6:e8c18f0f399a	2118	trigCicli=1;
nerit	6:e8c18f0f399a	2119	}
nerit	8:310f9e4eac7b	2120	if(countCicli>=cicliAspettaStart) {
nerit	6:e8c18f0f399a	2121	aspettaStart=0;
nerit	6:e8c18f0f399a	2122	}
nerit	8:310f9e4eac7b	2123	if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit	6:e8c18f0f399a	2124	syncroCheck=1;
nerit	6:e8c18f0f399a	2125	beccoPronto=0;
nerit	6:e8c18f0f399a	2126	}
nerit	8:310f9e4eac7b	2127	if (trigTB==0) {
nerit	3:a469bbd294b5	2128	inhibit=1;
nerit	3:a469bbd294b5	2129	trigSD=1;
nerit	8:310f9e4eac7b	2130	} else {
nerit	3:a469bbd294b5	2131	inhibit=0;
nerit	3:a469bbd294b5	2132	trigTB=0;
nerit	3:a469bbd294b5	2133	trigSD=0;
nerit	3:a469bbd294b5	2134	}
nerit	3:a469bbd294b5	2135	trigRepos=0;
nerit	3:a469bbd294b5	2136	}
nerit	8:310f9e4eac7b	2137	} else {
nerit	3:a469bbd294b5	2138	trigCicli=0;
nerit	3:a469bbd294b5	2139	}
nerit	8:310f9e4eac7b	2140	// ----------------------------------------
nerit	3:a469bbd294b5	2141	// filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit	8:310f9e4eac7b	2142	if (TBzeroPinInput==0) {
nerit	8:310f9e4eac7b	2143	if (TBfilter.read_ms()>=2) {
nerit	8:310f9e4eac7b	2144	oldTBzeroPinInput=0;
nerit	8:310f9e4eac7b	2145	}
nerit	8:310f9e4eac7b	2146	}
nerit	20:4a400a4cc419	2147	if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit	3:a469bbd294b5	2148	oldTBzeroPinInput=1;
nerit	8:310f9e4eac7b	2149	if (loadDaCanInCorso==0) {
nerit	3:a469bbd294b5	2150	stopCicloTB=1;
nerit	3:a469bbd294b5	2151	startCicloTB=0;
nerit	3:a469bbd294b5	2152	}
nerit	3:a469bbd294b5	2153	TBfilter.reset();
nerit	3:a469bbd294b5	2154	TBzeroCyclePulse=1;
nerit	8:310f9e4eac7b	2155	#if defined(runner)
nerit	8:310f9e4eac7b	2156	legPos.detach();
nerit	8:310f9e4eac7b	2157	TBoldPosition= (uint32_t) motor->get_position();
nerit	8:310f9e4eac7b	2158	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	2159	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2160	#if defined(TBperS)
nerit	8:310f9e4eac7b	2161	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	8:310f9e4eac7b	2162	#endif
nerit	8:310f9e4eac7b	2163	#endif
nerit	37:0a225902cf48	2164	#if defined(perProva)
nerit	37:0a225902cf48	2165	pc.printf(" ildato %d Actual %d\n", ildato, TBactualPosition);
nerit	37:0a225902cf48	2166	#endif
nerit	8:310f9e4eac7b	2167	#else
nerit	8:310f9e4eac7b	2168	TBactualPosition=0;
nerit	8:310f9e4eac7b	2169	#endif
nerit	8:310f9e4eac7b	2170	if (cntTbError>0) {
nerit	3:a469bbd294b5	2171	cntCellsCorrect++;
nerit	3:a469bbd294b5	2172	}
nerit	19:231b8931cabc	2173	if (cntCellsCorrect>0) {
nerit	3:a469bbd294b5	2174	cntTbError=0;
nerit	3:a469bbd294b5	2175	cntCellsCorrect=0;
nerit	3:a469bbd294b5	2176	}
nerit	3:a469bbd294b5	2177	// conteggio celle erogate
nerit	8:310f9e4eac7b	2178	if (cellsCounterLow < 0xFF) {
nerit	3:a469bbd294b5	2179	cellsCounterLow++;
nerit	8:310f9e4eac7b	2180	} else {
nerit	3:a469bbd294b5	2181	cellsCounterHig++;
nerit	3:a469bbd294b5	2182	cellsCounterLow=0;
nerit	3:a469bbd294b5	2183	}
nerit	3:a469bbd294b5	2184	// ciclo conteggio celle per carico manuale
nerit	8:310f9e4eac7b	2185	if (loadDaCanInCorso==1) {
nerit	3:a469bbd294b5	2186	cntCellsForLoad++;
nerit	27:3d382b6e60ba	2187	double cellsToCount = ceil(((cellsNumber/360.0)*180.0f)+1.0f);
nerit	26:77955c5d16a3	2188	if (cntCellsForLoad >= cellsToCount) {
nerit	8:310f9e4eac7b	2189	stopCicloTB=1;
nerit	3:a469bbd294b5	2190	cntCellsForLoad=0;
nerit	3:a469bbd294b5	2191	}
nerit	8:310f9e4eac7b	2192	} else {
nerit	3:a469bbd294b5	2193	cntCellsForLoad=0;
nerit	3:a469bbd294b5	2194	}
nerit	3:a469bbd294b5	2195	// inibizione controllo di sincro per fuori fase
nerit	8:310f9e4eac7b	2196	if (trigSD==0) {
nerit	3:a469bbd294b5	2197	inhibit=1;
nerit	3:a469bbd294b5	2198	trigTB=1;
nerit	8:310f9e4eac7b	2199	} else {
nerit	3:a469bbd294b5	2200	inhibit=0;
nerit	3:a469bbd294b5	2201	trigTB=0;
nerit	3:a469bbd294b5	2202	trigSD=0;
nerit	3:a469bbd294b5	2203	}
nerit	3:a469bbd294b5	2204	// conta le celle indietro per sbloccare il tamburo
nerit	8:310f9e4eac7b	2205	if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit	3:a469bbd294b5	2206	cntCellsForReload++;
nerit	8:310f9e4eac7b	2207	if (cntCellsForReload >= cellsCountSet) {
nerit	3:a469bbd294b5	2208	TBmotorDirecti=TBforward; // rotazione normale
nerit	21:3e6576c2e126	2209	if (tractorSpeed_MtS_timed>0.0f){
nerit	21:3e6576c2e126	2210	#if defined(runner)
nerit	21:3e6576c2e126	2211	#if defined(Zucca)
nerit	21:3e6576c2e126	2212	motor->run(StepperMotor::BWD);
nerit	21:3e6576c2e126	2213	#else
nerit	21:3e6576c2e126	2214	motor->run(StepperMotor::FWD);
nerit	21:3e6576c2e126	2215	#endif
nerit	9:7f02256f6e8f	2216	#else
nerit	35:3165f4c1c7bf	2217	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2218	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2219	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2220	#else
nerit	35:3165f4c1c7bf	2221	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2222	#endif
nerit	21:3e6576c2e126	2223	#endif
nerit	9:7f02256f6e8f	2224	#endif
nerit	21:3e6576c2e126	2225	}
nerit	3:a469bbd294b5	2226	erroreTamburo=0;
nerit	3:a469bbd294b5	2227	cntCellsCorrect=0;
nerit	8:310f9e4eac7b	2228	}
nerit	3:a469bbd294b5	2229	}
nerit	3:a469bbd294b5	2230	#if defined(seedSensor)
nerit	3:a469bbd294b5	2231	resetDelay();
nerit	3:a469bbd294b5	2232	delaySeedCheck.start();
nerit	3:a469bbd294b5	2233	#endif
nerit	3:a469bbd294b5	2234	}
nerit	20:4a400a4cc419	2235	if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit	31:92a9e183be8e	2236	if ((firstStart==0)&&(alarmEnable==true)) {
nerit	18:7c978f69cc51	2237	if (tractorSpeed_MtS_timed>0.4f){
nerit	17:9629eb019892	2238	if (cntTbError>5) {
nerit	17:9629eb019892	2239	all_cellSignal=1;
nerit	17:9629eb019892	2240	#if defined(seedSensor)
nerit	17:9629eb019892	2241	resetDelay();
nerit	17:9629eb019892	2242	#endif
nerit	17:9629eb019892	2243	}
nerit	3:a469bbd294b5	2244	}
nerit	3:a469bbd294b5	2245	}
nerit	8:310f9e4eac7b	2246	if (erroreTamburo==0) {
nerit	17:9629eb019892	2247	if (cellsCountSet>1){
nerit	17:9629eb019892	2248	erroreTamburo=1;
nerit	17:9629eb019892	2249	TBmotorDirecti=TBreverse; // rotazione inversa
nerit	21:3e6576c2e126	2250	if (tractorSpeed_MtS_timed>0.0f){
nerit	21:3e6576c2e126	2251	#if defined(runner)
nerit	21:3e6576c2e126	2252	#if defined(Zucca)
nerit	21:3e6576c2e126	2253	motor->run(StepperMotor::FWD);
nerit	21:3e6576c2e126	2254	#else
nerit	21:3e6576c2e126	2255	motor->run(StepperMotor::BWD);
nerit	21:3e6576c2e126	2256	#endif
nerit	17:9629eb019892	2257	#else
nerit	35:3165f4c1c7bf	2258	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2259	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2260	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2261	#else
nerit	35:3165f4c1c7bf	2262	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	2263	#endif
nerit	21:3e6576c2e126	2264	#endif
nerit	17:9629eb019892	2265	#endif
nerit	21:3e6576c2e126	2266	}
nerit	17:9629eb019892	2267	}
nerit	3:a469bbd294b5	2268	cntCellsForReload=0;
nerit	17:9629eb019892	2269	if (tractorSpeed_MtS_timed>0.0f){
nerit	17:9629eb019892	2270	cntTbError++;
nerit	30:32e770e91998	2271	//aggiornati();
nerit	17:9629eb019892	2272	}else{
nerit	17:9629eb019892	2273	cntTbError=0;
nerit	17:9629eb019892	2274	}
nerit	3:a469bbd294b5	2275	#if defined(seedSensor)
nerit	3:a469bbd294b5	2276	resetDelay();
nerit	3:a469bbd294b5	2277	#endif
nerit	3:a469bbd294b5	2278	}
nerit	3:a469bbd294b5	2279	}
nerit	31:92a9e183be8e	2280	if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit	17:9629eb019892	2281	if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))\|\|(cntTbError>5)) {
nerit	17:9629eb019892	2282	if (firstStart==0) {
nerit	39:6814c75dfa5c	2283	#if defined(pcSerial)
nerit	39:6814c75dfa5c	2284	#if defined(posit)
nerit	39:6814c75dfa5c	2285	pc.printf("actual: %d giro: %f cells: %f cnt: %d", TBactualPosition,TBgiroStep, cellsNumber,cntTbError);
nerit	39:6814c75dfa5c	2286	#endif
nerit	39:6814c75dfa5c	2287	#endif
nerit	17:9629eb019892	2288	all_noStepRota=1;
nerit	17:9629eb019892	2289	#if defined(seedSensor)
nerit	17:9629eb019892	2290	resetDelay();
nerit	17:9629eb019892	2291	#endif
nerit	17:9629eb019892	2292	}
nerit	17:9629eb019892	2293	cntTbError=0;
nerit	3:a469bbd294b5	2294	}
nerit	3:a469bbd294b5	2295	}
nerit	8:310f9e4eac7b	2296	// ----------------------------------------
nerit	3:a469bbd294b5	2297	// read and manage joystick
nerit	20:4a400a4cc419	2298	if ((loadDaCan==1)&(simStepper==0)) {
nerit	8:310f9e4eac7b	2299	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	2300	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2301	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2302	pc.printf("daCAN\n");
nerit	6:e8c18f0f399a	2303	#endif
nerit	8:310f9e4eac7b	2304	#endif
nerit	6:e8c18f0f399a	2305	ciclaTB();
nerit	8:310f9e4eac7b	2306	}
nerit	3:a469bbd294b5	2307	}
nerit	8:310f9e4eac7b	2308
nerit	8:310f9e4eac7b	2309	//***************************************************************************************************
nerit	8:310f9e4eac7b	2310	// pulseRised define the event of speed wheel pulse occurs
nerit	8:310f9e4eac7b	2311	//
nerit	3:a469bbd294b5	2312	//double maxInterval = pulseDistance/minWorkSpeed;
nerit	3:a469bbd294b5	2313	//double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit	8:310f9e4eac7b	2314	if (pulseRised==1) {
nerit	12:b0fc1d313813	2315	if (enableSpeed<10) {enableSpeed++;}
nerit	3:a469bbd294b5	2316	pulseRised=0;
nerit	3:a469bbd294b5	2317	pulseRised1=1;
nerit	3:a469bbd294b5	2318	speedMediaCalc();
nerit	3:a469bbd294b5	2319	// calcola velocità trattore
nerit	8:310f9e4eac7b	2320	if(enableSpeed>=2) {
nerit	8:310f9e4eac7b	2321	if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit	32:cfc3d7420fa5	2322	// todo: separare il controllo su speedfrommaster per attivarlo solo sullo slave
nerit	8:310f9e4eac7b	2323	if((quincCnt<3)\|\|(speedFromMaster==0.0f)\|\|(enableSimula==1)) {
nerit	3:a469bbd294b5	2324	tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit	13:d1030d4e51a8	2325	if (delaySpeedCheck.read()>=5.0f){
nerit	13:d1030d4e51a8	2326	if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit	13:d1030d4e51a8	2327	tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit	13:d1030d4e51a8	2328	}
nerit	13:d1030d4e51a8	2329	}
nerit	10:9e70619e97ab	2330	oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	2331	}
nerit	17:9629eb019892	2332	/*if (checkSDrotation==0) {
nerit	3:a469bbd294b5	2333	checkSDrotation=1;
nerit	3:a469bbd294b5	2334	SDwheelTimer.start();
nerit	17:9629eb019892	2335	}*/
nerit	3:a469bbd294b5	2336	}
nerit	3:a469bbd294b5	2337	}
nerit	3:a469bbd294b5	2338	speedTimeOut.reset();
nerit	8:310f9e4eac7b	2339	} else {
nerit	3:a469bbd294b5	2340	double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit	8:310f9e4eac7b	2341	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	3:a469bbd294b5	2342	tractorSpeed_MtS_timed = 0.0f;
nerit	10:9e70619e97ab	2343	oldLocalTractorSpeed=0.0f;
nerit	10:9e70619e97ab	2344	#if defined(seedSensor)
nerit	10:9e70619e97ab	2345	resetDelay();
nerit	10:9e70619e97ab	2346	#endif
nerit	3:a469bbd294b5	2347	pntMedia=0;
nerit	3:a469bbd294b5	2348	speedTimeOut.reset();
nerit	3:a469bbd294b5	2349	enableSpeed=0;
nerit	3:a469bbd294b5	2350	quincCnt=0;
nerit	3:a469bbd294b5	2351	}
nerit	3:a469bbd294b5	2352	}
nerit	8:310f9e4eac7b	2353
nerit	10:9e70619e97ab	2354	#if defined(seedSensor)
nerit	10:9e70619e97ab	2355	if (seedSensorEnable==true) {
nerit	10:9e70619e97ab	2356	if (delaySeedCheck.read_ms()>100) {
nerit	10:9e70619e97ab	2357	if (seedSee==0) {
nerit	10:9e70619e97ab	2358	all_noSeedOnCe=1;
nerit	10:9e70619e97ab	2359	}
nerit	10:9e70619e97ab	2360	resetDelay();
nerit	3:a469bbd294b5	2361	}
nerit	3:a469bbd294b5	2362	}
nerit	10:9e70619e97ab	2363	#endif
nerit	3:a469bbd294b5	2364	// esegue il controllo di velocità minima
nerit	3:a469bbd294b5	2365	/*if ((double)speedTimer.read_ms()>=maxInterval){
nerit	3:a469bbd294b5	2366	tractorSpeed_MtS_timed = 0.0f;
nerit	3:a469bbd294b5	2367	enableSpeed=0;
nerit	3:a469bbd294b5	2368	}*/
nerit	3:a469bbd294b5	2369	// esegue il controllo di velocità massima
nerit	3:a469bbd294b5	2370	/*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit	3:a469bbd294b5	2371	tractorSpeed_MtS_timed = 4.5f;
nerit	3:a469bbd294b5	2372	}*/
nerit	8:310f9e4eac7b	2373	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2374	// cycle logic control section
nerit	8:310f9e4eac7b	2375	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2376	if (enableSimula==1) {
nerit	8:310f9e4eac7b	2377	if(simOk==0) {
nerit	8:310f9e4eac7b	2378	tractorSpeed_MtS_timed=0.0f;
nerit	10:9e70619e97ab	2379	oldLocalTractorSpeed=0.0f;
nerit	8:310f9e4eac7b	2380	}
nerit	8:310f9e4eac7b	2381	}
nerit	20:4a400a4cc419	2382	if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit	8:310f9e4eac7b	2383	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2384	#if defined(Qncc)
nerit	8:310f9e4eac7b	2385	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2386
nerit	8:310f9e4eac7b	2387	#endif
nerit	8:310f9e4eac7b	2388	#endif
nerit	8:310f9e4eac7b	2389	cycleStopRequest=1;
nerit	8:310f9e4eac7b	2390	// calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit	8:310f9e4eac7b	2391	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	2392	if (encoder==false) {
nerit	8:310f9e4eac7b	2393	if (speedFromPick==1) {
nerit	8:310f9e4eac7b	2394	tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2395	} else {
nerit	8:310f9e4eac7b	2396	tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2397	}
nerit	8:310f9e4eac7b	2398	} else {
nerit	17:9629eb019892	2399	tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatiodcPulseTurn))1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	5:2a3a64b52f54	2400	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2401	#if defined(Qnce)
nerit	8:310f9e4eac7b	2402	pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit	5:2a3a64b52f54	2403	#endif
nerit	5:2a3a64b52f54	2404	#endif
nerit	8:310f9e4eac7b	2405	#if !defined(speedMaster)
nerit	10:9e70619e97ab	2406	double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit	10:9e70619e97ab	2407	tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit	8:310f9e4eac7b	2408	#endif
nerit	8:310f9e4eac7b	2409	}
nerit	8:310f9e4eac7b	2410	//*******************************************
nerit	8:310f9e4eac7b	2411	// segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit	8:310f9e4eac7b	2412	double dutyTeorico = 0.00;
nerit	12:b0fc1d313813	2413	double deltaV=0.0f;
nerit	12:b0fc1d313813	2414	double deltaD=0.0f;
nerit	12:b0fc1d313813	2415	double setV=0.0f;
nerit	12:b0fc1d313813	2416	double teoriaC=0.0f;
nerit	14:e2b5efa06c41	2417	double speedCorrectionMachine=0.0f;
nerit	17:9629eb019892	2418	//#if defined(speedMaster)
nerit	14:e2b5efa06c41	2419	speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed2.0f)))tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2420	//#else
nerit	17:9629eb019892	2421	// speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2422	//#endif
nerit	14:e2b5efa06c41	2423	//if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit	17:9629eb019892	2424	if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit	8:310f9e4eac7b	2425	dutyTeorico = tabComan[0];
nerit	8:310f9e4eac7b	2426	}
nerit	38:79af1c65dd6f	2427	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	2428	for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit	38:79af1c65dd6f	2429	#endif
nerit	38:79af1c65dd6f	2430	#if defined(runner)
nerit	38:79af1c65dd6f	2431	for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit	38:79af1c65dd6f	2432	#endif
nerit	14:e2b5efa06c41	2433	if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit	12:b0fc1d313813	2434	// esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit	12:b0fc1d313813	2435	deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit	12:b0fc1d313813	2436	deltaD=tabComan[ii+1]-tabComan[ii];
nerit	14:e2b5efa06c41	2437	//setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit	14:e2b5efa06c41	2438	setV = speedCorrectionMachine-tabSpeed[ii];
nerit	12:b0fc1d313813	2439	teoriaC=(setV/deltaV)*deltaD;
nerit	12:b0fc1d313813	2440	dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit	14:e2b5efa06c41	2441	#if defined(pcSerial)
nerit	14:e2b5efa06c41	2442	#if defined(boost1)
nerit	14:e2b5efa06c41	2443	pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit	14:e2b5efa06c41	2444	pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit	14:e2b5efa06c41	2445	#endif
nerit	14:e2b5efa06c41	2446	#endif
nerit	3:a469bbd294b5	2447	}
nerit	8:310f9e4eac7b	2448	}
nerit	38:79af1c65dd6f	2449	#if defined(oldStepperDriver)
nerit	38:79af1c65dd6f	2450	if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit	38:79af1c65dd6f	2451	dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit	38:79af1c65dd6f	2452	}
nerit	38:79af1c65dd6f	2453	#endif
nerit	38:79af1c65dd6f	2454	#if defined(runner)
nerit	38:79af1c65dd6f	2455	if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit	38:79af1c65dd6f	2456	dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit	38:79af1c65dd6f	2457	}
nerit	38:79af1c65dd6f	2458	#endif
nerit	8:310f9e4eac7b	2459	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	2460	quinCalc();
nerit	8:310f9e4eac7b	2461	#endif
nerit	8:310f9e4eac7b	2462	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2463	#if defined(Qncd)
nerit	8:310f9e4eac7b	2464	pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit	3:a469bbd294b5	2465	#endif
nerit	8:310f9e4eac7b	2466	#endif
nerit	8:310f9e4eac7b	2467	if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit	8:310f9e4eac7b	2468	double erroreTempo = 0.0f;
nerit	8:310f9e4eac7b	2469	if(encoder==false) {
nerit	8:310f9e4eac7b	2470	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2471	erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2472	} else {
nerit	8:310f9e4eac7b	2473	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	2474	}
nerit	8:310f9e4eac7b	2475	} else {
nerit	8:310f9e4eac7b	2476	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	2477	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2478	#if defined(Qnce)
nerit	8:310f9e4eac7b	2479	pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit	3:a469bbd294b5	2480	#endif
nerit	3:a469bbd294b5	2481	#endif
nerit	3:a469bbd294b5	2482	}
nerit	8:310f9e4eac7b	2483	double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2484	double k3=0.0f;
nerit	8:310f9e4eac7b	2485	double k4=0.0f;
nerit	8:310f9e4eac7b	2486	double k5=0.0f;
nerit	8:310f9e4eac7b	2487	double k6=0.0f;
nerit	8:310f9e4eac7b	2488	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2489	k3=0.010f;
nerit	8:310f9e4eac7b	2490	#else
nerit	8:310f9e4eac7b	2491	k3=0.050f;
nerit	8:310f9e4eac7b	2492	#endif
nerit	8:310f9e4eac7b	2493	k4=1.103f;
nerit	8:310f9e4eac7b	2494	k5=10.00f;
nerit	8:310f9e4eac7b	2495	k6=20.50f;
nerit	8:310f9e4eac7b	2496	double L1 = 0.045f;
nerit	8:310f9e4eac7b	2497	double L_1=-0.045f;
nerit	8:310f9e4eac7b	2498	double L2 = 0.150f;
nerit	8:310f9e4eac7b	2499	double L_2=-0.150f;
nerit	8:310f9e4eac7b	2500	double L3 = 0.301f;
nerit	8:310f9e4eac7b	2501	double L_3=-0.301f;
nerit	8:310f9e4eac7b	2502	double k1=0.0f;
nerit	8:310f9e4eac7b	2503	if ((errorePercentuale > L3)\|\|(errorePercentuale < L_3)) {
nerit	8:310f9e4eac7b	2504	k1=errorePercentuale*k6;
nerit	8:310f9e4eac7b	2505	}
nerit	8:310f9e4eac7b	2506	if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))\|\|((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit	8:310f9e4eac7b	2507	k1=errorePercentuale*k5;
nerit	8:310f9e4eac7b	2508	}
nerit	8:310f9e4eac7b	2509	if (((errorePercentuale < L2)&&(errorePercentuale>L1))\|\|((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit	8:310f9e4eac7b	2510	k1=errorePercentuale*k4;
nerit	8:310f9e4eac7b	2511	}
nerit	8:310f9e4eac7b	2512	if ((errorePercentuale < L1)\|\|(errorePercentuale > L_1)) {
nerit	8:310f9e4eac7b	2513	k1=errorePercentuale*k3;
nerit	8:310f9e4eac7b	2514	}
nerit	8:310f9e4eac7b	2515	double memoCorrezione = k1;
nerit	8:310f9e4eac7b	2516	if (quincCnt >= 2) {
nerit	8:310f9e4eac7b	2517	correzione = correzione + memoCorrezione;
nerit	8:310f9e4eac7b	2518	if (correzione > (1.0f - dutyTeorico)) {
nerit	8:310f9e4eac7b	2519	correzione = (1.0f - dutyTeorico);
nerit	34:eb04f4f41dfd	2520	//#if defined(pcSerial)
nerit	34:eb04f4f41dfd	2521	// pc.printf("limite\n");
nerit	34:eb04f4f41dfd	2522	//#endif
nerit	3:a469bbd294b5	2523	}
nerit	8:310f9e4eac7b	2524	if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit	8:310f9e4eac7b	2525	correzione = -1.0f*dutyTeorico;
nerit	34:eb04f4f41dfd	2526	//#if defined(pcSerial)
nerit	34:eb04f4f41dfd	2527	// pc.printf("limite\n");
nerit	34:eb04f4f41dfd	2528	//#endif
nerit	3:a469bbd294b5	2529	}
nerit	3:a469bbd294b5	2530	}
nerit	8:310f9e4eac7b	2531	pulseRised1=0;
nerit	8:310f9e4eac7b	2532	pulseRised2=0;
nerit	8:310f9e4eac7b	2533	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2534	#if defined(Qnca)
nerit	8:310f9e4eac7b	2535	pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit	8:310f9e4eac7b	2536	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	2537	#endif
nerit	8:310f9e4eac7b	2538	#endif
nerit	8:310f9e4eac7b	2539	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2540	#if defined(Qncb)
nerit	8:310f9e4eac7b	2541	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2542	#endif
nerit	8:310f9e4eac7b	2543	#endif
nerit	12:b0fc1d313813	2544	#if defined(pcSerial)
nerit	12:b0fc1d313813	2545	#if defined(boost)
nerit	12:b0fc1d313813	2546	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	2547	#endif
nerit	12:b0fc1d313813	2548	#endif
nerit	8:310f9e4eac7b	2549	}
nerit	12:b0fc1d313813	2550	// introduce il controllo di corrente
nerit	14:e2b5efa06c41	2551	double variazione=0.0f;
nerit	12:b0fc1d313813	2552	if (correggiCorrente==1){
nerit	12:b0fc1d313813	2553	if (SD_CurrentScaled < 1.6f){
nerit	12:b0fc1d313813	2554	boostDcOut +=0.01f;
nerit	12:b0fc1d313813	2555	}
nerit	12:b0fc1d313813	2556	if (SD_CurrentScaled > 2.6f){
nerit	12:b0fc1d313813	2557	boostDcOut -=0.01f;
nerit	12:b0fc1d313813	2558	}
nerit	12:b0fc1d313813	2559	if (boostDcOut >= 0.2f){
nerit	12:b0fc1d313813	2560	boostDcOut=0.2f;
nerit	14:e2b5efa06c41	2561	//all_genericals=1;
nerit	12:b0fc1d313813	2562	}
nerit	12:b0fc1d313813	2563	if (boostDcOut <=-0.2f){
nerit	12:b0fc1d313813	2564	boostDcOut=-0.2f;
nerit	14:e2b5efa06c41	2565	//all_genericals=1;
nerit	12:b0fc1d313813	2566	}
nerit	14:e2b5efa06c41	2567	variazione=boostDcOut;
nerit	12:b0fc1d313813	2568	correggiCorrente=0;
nerit	8:310f9e4eac7b	2569	}
nerit	12:b0fc1d313813	2570	if (currentCheckEnable==true){
nerit	14:e2b5efa06c41	2571	correzione += variazione;
nerit	14:e2b5efa06c41	2572	variazione=0.0f;
nerit	8:310f9e4eac7b	2573	}
nerit	8:310f9e4eac7b	2574	DC_brake=0;
nerit	8:310f9e4eac7b	2575	DC_forward=1;
nerit	8:310f9e4eac7b	2576	DC_prepare();
bcostm	2:35f13b7f3659	2577
nerit	8:310f9e4eac7b	2578	// il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit	8:310f9e4eac7b	2579	seedWheelPeriod = semiPeriodoReale;
nerit	8:310f9e4eac7b	2580	if (seedWheelPeriod < 180.0f) {
nerit	8:310f9e4eac7b	2581	seedWheelPeriod = 180.0f;
nerit	8:310f9e4eac7b	2582	}
nerit	8:310f9e4eac7b	2583	if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit	8:310f9e4eac7b	2584	SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	2585	oldSeedWheelPeriod=seedWheelPeriod;
nerit	8:310f9e4eac7b	2586	}
nerit	3:a469bbd294b5	2587
nerit	8:310f9e4eac7b	2588	if((quincCnt>=3)) {
nerit	8:310f9e4eac7b	2589	if (correzioneAttiva==1) {
nerit	8:310f9e4eac7b	2590	dcActualDuty = dutyTeorico + correzione;
nerit	8:310f9e4eac7b	2591	} else {
nerit	3:a469bbd294b5	2592	dcActualDuty = dutyTeorico;
nerit	3:a469bbd294b5	2593	}
nerit	8:310f9e4eac7b	2594	} else {
nerit	8:310f9e4eac7b	2595	dcActualDuty = dutyTeorico;
nerit	8:310f9e4eac7b	2596	}
nerit	8:310f9e4eac7b	2597	if (dcActualDuty <=0.0f) {
nerit	8:310f9e4eac7b	2598	dcActualDuty=0.05f;
nerit	8:310f9e4eac7b	2599	}
nerit	8:310f9e4eac7b	2600	if (dcActualDuty > 0.95f) {
nerit	8:310f9e4eac7b	2601	dcActualDuty = 0.95f;
nerit	8:310f9e4eac7b	2602	}
nerit	17:9629eb019892	2603	if (dcActualDuty > (dutyTeorico 1.15f)){dcActualDuty=dutyTeorico1.15f;}
nerit	14:e2b5efa06c41	2604	if (dcActualDuty < (dutyTeorico 0.85f)){dcActualDuty=dutyTeorico0.85f;}
nerit	8:310f9e4eac7b	2605	if (olddcActualDuty!=dcActualDuty) {
nerit	8:310f9e4eac7b	2606	SDmotorPWM.write(1.0f-dcActualDuty);
nerit	8:310f9e4eac7b	2607	olddcActualDuty=dcActualDuty;
nerit	8:310f9e4eac7b	2608	}
nerit	8:310f9e4eac7b	2609	// allarme
nerit	31:92a9e183be8e	2610	if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit	17:9629eb019892	2611	if (SDwheelTimer.read_ms()>4000) {
nerit	17:9629eb019892	2612	if (firstStart==0) {
nerit	17:9629eb019892	2613	all_noDcRotati=1;
nerit	17:9629eb019892	2614	}
nerit	17:9629eb019892	2615	#if defined(pcSerial)
nerit	17:9629eb019892	2616	#if defined(VediAllarmi)
nerit	17:9629eb019892	2617	pc.printf("allarme no DC rotation");
nerit	17:9629eb019892	2618	#endif
nerit	17:9629eb019892	2619	#endif
nerit	3:a469bbd294b5	2620	}
nerit	8:310f9e4eac7b	2621	}
nerit	3:a469bbd294b5	2622
nerit	8:310f9e4eac7b	2623	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2624	// CONTROLLA TAMBURO
nerit	8:310f9e4eac7b	2625	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2626	if(lowSpeed==0) {
nerit	8:310f9e4eac7b	2627	if (syncroCheck==1) {
nerit	8:310f9e4eac7b	2628	syncroCheck=0;
nerit	8:310f9e4eac7b	2629	lockStart=1;
nerit	8:310f9e4eac7b	2630	periodo = TBperiod;
nerit	35:3165f4c1c7bf	2631	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2632	#if !defined(runner)
nerit	35:3165f4c1c7bf	2633	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2634	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	2635	#else
nerit	35:3165f4c1c7bf	2636	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2637	#endif
nerit	9:7f02256f6e8f	2638	#endif
nerit	8:310f9e4eac7b	2639	#endif
nerit	8:310f9e4eac7b	2640	if (aspettaStart==0) {
nerit	6:e8c18f0f399a	2641	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2642	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2643	pc.printf("da sincro\n");
nerit	6:e8c18f0f399a	2644	#endif
nerit	6:e8c18f0f399a	2645	#endif
nerit	39:6814c75dfa5c	2646	cambiaTB(periodo,3);
nerit	3:a469bbd294b5	2647	}
nerit	8:310f9e4eac7b	2648	}
nerit	8:310f9e4eac7b	2649	// controllo di stop
nerit	8:310f9e4eac7b	2650	double memoIntraP = (double)memoIntraPick*1.8f;
nerit	8:310f9e4eac7b	2651	if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit	3:a469bbd294b5	2652	syncroCheck=0;
nerit	8:310f9e4eac7b	2653	aspettaStart=1;
nerit	8:310f9e4eac7b	2654	countCicli=0;
nerit	6:e8c18f0f399a	2655	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2656	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2657	pc.printf("AspettaSI\n");
nerit	6:e8c18f0f399a	2658	#endif
nerit	6:e8c18f0f399a	2659	#endif
nerit	8:310f9e4eac7b	2660	if (TBzeroCyclePulse==1) {
nerit	8:310f9e4eac7b	2661	#if !defined(runner)
nerit	39:6814c75dfa5c	2662	//TBticker.detach();
nerit	39:6814c75dfa5c	2663	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2664	stopTb();
nerit	8:310f9e4eac7b	2665	#endif
nerit	35:3165f4c1c7bf	2666	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2667	#if defined(runner)
nerit	35:3165f4c1c7bf	2668	motor->soft_hiz();
nerit	35:3165f4c1c7bf	2669	#endif
nerit	35:3165f4c1c7bf	2670	#endif
nerit	8:310f9e4eac7b	2671	}
nerit	8:310f9e4eac7b	2672	}
nerit	8:310f9e4eac7b	2673	} else { // fine ciclo fuori da low speed
nerit	8:310f9e4eac7b	2674	syncroCheck=0;
nerit	8:310f9e4eac7b	2675	lockStart=0;
nerit	8:310f9e4eac7b	2676	if (beccoPronto==1) {
nerit	8:310f9e4eac7b	2677	if (tamburoStandard==1) {
nerit	8:310f9e4eac7b	2678	double ritardoMassimo = 0.0f;
nerit	8:310f9e4eac7b	2679	if (encoder==false) {
nerit	8:310f9e4eac7b	2680	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2681	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2682	} else {
nerit	8:310f9e4eac7b	2683	ritardoMassimo = (double)memoTimeHole;
nerit	8:310f9e4eac7b	2684	}
nerit	8:310f9e4eac7b	2685	} else {
nerit	8:310f9e4eac7b	2686	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2687	}
nerit	8:310f9e4eac7b	2688	int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit	8:310f9e4eac7b	2689	if (tempoDiSincro <= 1) {
nerit	8:310f9e4eac7b	2690	tempoDiSincro=1;
nerit	8:310f9e4eac7b	2691	}
nerit	8:310f9e4eac7b	2692	if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit	8:310f9e4eac7b	2693	if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2694	startCicloTB=1;
nerit	8:310f9e4eac7b	2695	}
nerit	8:310f9e4eac7b	2696	beccoPronto=0;
nerit	8:310f9e4eac7b	2697	}
nerit	8:310f9e4eac7b	2698	} else {
nerit	8:310f9e4eac7b	2699	// tamburo per zucca
nerit	8:310f9e4eac7b	2700	if (speedOfSeedWheel >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2701	startCicloTB=1;
nerit	8:310f9e4eac7b	2702	}
nerit	8:310f9e4eac7b	2703	beccoPronto=0;
nerit	8:310f9e4eac7b	2704	}
nerit	8:310f9e4eac7b	2705	}
nerit	8:310f9e4eac7b	2706	ciclaTB();
nerit	8:310f9e4eac7b	2707	}
nerit	8:310f9e4eac7b	2708	//*************************************************************
nerit	8:310f9e4eac7b	2709	} else { // fine ciclo con velocita maggiore di 0
nerit	13:d1030d4e51a8	2710	delaySpeedCheck.reset();
nerit	8:310f9e4eac7b	2711	if (cycleStopRequest==1) {
nerit	8:310f9e4eac7b	2712	SDwheelTimer.stop();
nerit	8:310f9e4eac7b	2713	SDwheelTimer.reset();
nerit	8:310f9e4eac7b	2714	#if defined(seedSensor)
nerit	8:310f9e4eac7b	2715	resetDelay();
nerit	8:310f9e4eac7b	2716	#endif
nerit	8:310f9e4eac7b	2717	checkSDrotation=0;
nerit	8:310f9e4eac7b	2718	oldFaseLavoro=0;
nerit	8:310f9e4eac7b	2719	aspettaStart=1;
nerit	8:310f9e4eac7b	2720	countCicli=0;
nerit	8:310f9e4eac7b	2721	oldSeedWheelPeriod=0.0f;
nerit	8:310f9e4eac7b	2722	oldPeriodoTB=0.0f;
nerit	8:310f9e4eac7b	2723	correzione=0.0f;
nerit	8:310f9e4eac7b	2724	OLDpulseSpeedInterval=1000.01f;
nerit	8:310f9e4eac7b	2725	cicloTbinCorso=0;
nerit	8:310f9e4eac7b	2726	cntTbError=0;
nerit	8:310f9e4eac7b	2727	olddcActualDuty=0.0f;
nerit	8:310f9e4eac7b	2728	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2729	#if defined(checkLoopb)
nerit	8:310f9e4eac7b	2730	pc.printf("forza\n");
nerit	8:310f9e4eac7b	2731	#endif
nerit	8:310f9e4eac7b	2732	#endif
nerit	8:310f9e4eac7b	2733	speedOfSeedWheel=0.0f;
nerit	8:310f9e4eac7b	2734	cycleStopRequest=0;
nerit	8:310f9e4eac7b	2735	DC_brake=1;
nerit	8:310f9e4eac7b	2736	DC_prepare();
nerit	8:310f9e4eac7b	2737	metalTimer.reset();
nerit	8:310f9e4eac7b	2738	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2739	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2740	pc.printf("17h\n");
nerit	8:310f9e4eac7b	2741	#endif
nerit	8:310f9e4eac7b	2742	#endif
nerit	8:310f9e4eac7b	2743	#if !defined(runner)
nerit	39:6814c75dfa5c	2744	//TBticker.detach();
nerit	39:6814c75dfa5c	2745	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2746	stopTb();
nerit	8:310f9e4eac7b	2747	#endif
nerit	8:310f9e4eac7b	2748	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2749	#if defined(loStop)
nerit	8:310f9e4eac7b	2750	pc.printf("A5\n");
nerit	6:e8c18f0f399a	2751	#endif
nerit	8:310f9e4eac7b	2752	#endif
nerit	20:4a400a4cc419	2753	if(simStepper==0){
nerit	35:3165f4c1c7bf	2754	#if defined(runner)
nerit	35:3165f4c1c7bf	2755	motor->soft_hiz();
nerit	35:3165f4c1c7bf	2756	motor->set_home();
nerit	35:3165f4c1c7bf	2757	#endif
nerit	35:3165f4c1c7bf	2758	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	2759	//TBticker.detach();
nerit	39:6814c75dfa5c	2760	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2761	stopTb();
nerit	35:3165f4c1c7bf	2762	#endif
nerit	20:4a400a4cc419	2763	}
nerit	18:7c978f69cc51	2764	cntSpeedError=0;
nerit	18:7c978f69cc51	2765	timeIntraPick=0.0f;
nerit	19:231b8931cabc	2766	memoIntraPick=0.001f;
nerit	19:231b8931cabc	2767	intraPickTimer.reset();
nerit	8:310f9e4eac7b	2768	pntMedia=0;
nerit	8:310f9e4eac7b	2769	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2770	#if defined(stopSignal)
nerit	8:310f9e4eac7b	2771	pc.printf("stop\n");
nerit	6:e8c18f0f399a	2772	#endif
nerit	8:310f9e4eac7b	2773	#endif
nerit	3:a469bbd294b5	2774	}
nerit	8:310f9e4eac7b	2775	}
nerit	8:310f9e4eac7b	2776
nerit	8:310f9e4eac7b	2777	//*************************************************************************************************
nerit	3:a469bbd294b5	2778	TBzeroCyclePulse=0;
nerit	8:310f9e4eac7b	2779	//*************************************************************************************************
nerit	6:e8c18f0f399a	2780	} //end inProva==0
nerit	3:a469bbd294b5	2781	wd.Service(); // kick the dog before the timeout
nerit	3:a469bbd294b5	2782	} // end while
nerit	3:a469bbd294b5	2783	} // end main

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

main.cpp@40:42eae86457dd, 2020-05-04 (annotated)

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