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@20:4a400a4cc419, 2019-04-26 (annotated)

Committer:
nerit
Date:
Fri Apr 26 13:46:42 2019 +0000
Revision:
20:4a400a4cc419
Parent:
19:231b8931cabc
Child:
21:3e6576c2e126
Aggiunta funzione per simulazione stepper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:a469bbd294b5 1
nerit 3:a469bbd294b5 2 //********************************************************************************************************************
nerit 3:a469bbd294b5 3 //********************************************************************************************************************
nerit 3:a469bbd294b5 4 // FIRMWARE SEMINATRICE MODULA
nerit 3:a469bbd294b5 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 3:a469bbd294b5 6 // V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A
nerit 3:a469bbd294b5 7 // IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz
nerit 3:a469bbd294b5 8 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 3:a469bbd294b5 9 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 3:a469bbd294b5 10 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 3:a469bbd294b5 11 // FIRST RELEASE OF BOARD DEC 2017
nerit 3:a469bbd294b5 12 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 3:a469bbd294b5 13 //
nerit 4:de1b296e9757 14 // THIS RELEASE: 10 february 2019
nerit 3:a469bbd294b5 15 //
nerit 8:310f9e4eac7b 16 // APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE
nerit 3:a469bbd294b5 17 //
nerit 3:a469bbd294b5 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 3:a469bbd294b5 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 3:a469bbd294b5 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 3:a469bbd294b5 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 3:a469bbd294b5 22 // ENCODER
nerit 3:a469bbd294b5 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 3:a469bbd294b5 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 3:a469bbd294b5 25 // 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01
nerit 4:de1b296e9757 26 // 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN
nerit 6:e8c18f0f399a 27 // 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE
nerit 3:a469bbd294b5 28 /********************
nerit 3:a469bbd294b5 29 IL FIRMWARE SI COMPONE DI 10 FILES:
nerit 3:a469bbd294b5 30 - main.cpp
nerit 3:a469bbd294b5 31 - main.hpp
nerit 3:a469bbd294b5 32 - iodefinition.hpp
nerit 3:a469bbd294b5 33 - canbus.hpp
nerit 3:a469bbd294b5 34 - parameters.hpp
nerit 4:de1b296e9757 35 - powerstep.hpp
nerit 3:a469bbd294b5 36 - timeandtick.hpp
nerit 3:a469bbd294b5 37 - variables.hpp
nerit 3:a469bbd294b5 38 - powerstep.hpp
nerit 3:a469bbd294b5 39 - watchdog.cpp
nerit 3:a469bbd294b5 40 - watchdog.h
nerit 8:310f9e4eac7b 41 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU'
nerit 3:a469bbd294b5 42 UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 3:a469bbd294b5 43 UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER
nerit 3:a469bbd294b5 44 *********************
nerit 3:a469bbd294b5 45 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 3:a469bbd294b5 46 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 3:a469bbd294b5 47 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 3:a469bbd294b5 48 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 3:a469bbd294b5 49 *********************
nerit 3:a469bbd294b5 50 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 8:310f9e4eac7b 51 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 3:a469bbd294b5 52 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 3:a469bbd294b5 53 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 3:a469bbd294b5 54 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 3:a469bbd294b5 55 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 3:a469bbd294b5 56 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 3:a469bbd294b5 57 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 3:a469bbd294b5 58 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 3:a469bbd294b5 59 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 3:a469bbd294b5 60 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 3:a469bbd294b5 61 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 3:a469bbd294b5 62 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 3:a469bbd294b5 63 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 3:a469bbd294b5 64 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 3:a469bbd294b5 65 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 3:a469bbd294b5 66 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 3:a469bbd294b5 67 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 3:a469bbd294b5 68 **********************
nerit 3:a469bbd294b5 69 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 3:a469bbd294b5 70 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 3:a469bbd294b5 71 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 3:a469bbd294b5 72 **********************
nerit 3:a469bbd294b5 73 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 3:a469bbd294b5 74 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 3:a469bbd294b5 75 LO STEPPER SEGUE IL DC.
nerit 3:a469bbd294b5 76 **********************
nerit 3:a469bbd294b5 77 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 3:a469bbd294b5 78 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 3:a469bbd294b5 79 **********************
nerit 3:a469bbd294b5 80 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 3:a469bbd294b5 81 **********************
nerit 3:a469bbd294b5 82 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 3:a469bbd294b5 83 AZZERAMENTO MANUALE
nerit 3:a469bbd294b5 84 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 3:a469bbd294b5 85 */
nerit 3:a469bbd294b5 86 //********************************************************************************************************************
nerit 3:a469bbd294b5 87 //********************************************************************************************************************
nerit 3:a469bbd294b5 88 #include "main.hpp"
nerit 8:310f9e4eac7b 89 /* Helper header files. */
nerit 8:310f9e4eac7b 90 #include "DevSPI.h"
nerit 8:310f9e4eac7b 91 /* Component specific header files. */
nerit 8:310f9e4eac7b 92 #include "PowerStep01.h"
nerit 3:a469bbd294b5 93 #include "timeandtick.hpp"
nerit 3:a469bbd294b5 94 #include "canbus.hpp"
nerit 3:a469bbd294b5 95 #include "watchdog.h"
nerit 3:a469bbd294b5 96 #include "iodefinition.hpp"
nerit 3:a469bbd294b5 97 #include "parameters.hpp"
nerit 3:a469bbd294b5 98 #include "variables.hpp"
nerit 8:310f9e4eac7b 99 #include "powerstep.hpp"
nerit 3:a469bbd294b5 100 //********************************************************************************************************************
nerit 3:a469bbd294b5 101 //********************************************************************************************************************
nerit 8:310f9e4eac7b 102 #if defined(runnerTos)
nerit 8:310f9e4eac7b 103 Thread thread;
nerit 8:310f9e4eac7b 104 #endif
nerit 3:a469bbd294b5 105
nerit 3:a469bbd294b5 106 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 107
nerit 3:a469bbd294b5 108 /* Functions -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 109
nerit 3:a469bbd294b5 110 /**
nerit 3:a469bbd294b5 111 * @brief This is an example of user handler for the flag interrupt.
nerit 3:a469bbd294b5 112 * @param None
nerit 3:a469bbd294b5 113 * @retval None
nerit 3:a469bbd294b5 114 * @note If needed, implement it, and then attach and enable it:
nerit 3:a469bbd294b5 115 * + motor->attach_flag_irq(&my_flag_irq_handler);
nerit 3:a469bbd294b5 116 * + motor->enable_flag_irq();
nerit 3:a469bbd294b5 117 * To disable it:
nerit 3:a469bbd294b5 118 * + motor->DisbleFlagIRQ();
nerit 3:a469bbd294b5 119 */
nerit 3:a469bbd294b5 120 void my_flag_irq_handler(void)
nerit 3:a469bbd294b5 121 {
nerit 3:a469bbd294b5 122 /* Set ISR flag. */
nerit 3:a469bbd294b5 123 motor->isrFlag = TRUE;
nerit 3:a469bbd294b5 124 /* Get the value of the status register. */
nerit 3:a469bbd294b5 125 unsigned int statusRegister = motor->get_status();
nerit 10:9e70619e97ab 126 #if defined(pcSerial)
nerit 10:9e70619e97ab 127 pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit 10:9e70619e97ab 128 #endif
nerit 3:a469bbd294b5 129 /* Check SW_F flag: if not set, the SW input is opened */
nerit 3:a469bbd294b5 130 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit 10:9e70619e97ab 131 #if defined(pcSerial)
nerit 8:310f9e4eac7b 132 pc.printf(" SW closed (connected to ground).\r\n");
nerit 10:9e70619e97ab 133 #endif
nerit 3:a469bbd294b5 134 }
nerit 3:a469bbd294b5 135 /* Check SW_EN bit */
nerit 3:a469bbd294b5 136 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit 10:9e70619e97ab 137 #if defined(pcSerial)
nerit 8:310f9e4eac7b 138 pc.printf(" SW turn_on event.\r\n");
nerit 10:9e70619e97ab 139 #endif
nerit 3:a469bbd294b5 140 }
nerit 3:a469bbd294b5 141 /* Check Command Error flag: if set, the command received by SPI can't be */
nerit 3:a469bbd294b5 142 /* performed. This occurs for instance when a move command is sent to the */
nerit 3:a469bbd294b5 143 /* Powerstep01 while it is already running */
nerit 3:a469bbd294b5 144 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit 10:9e70619e97ab 145 #if defined(pcSerial)
nerit 8:310f9e4eac7b 146 pc.printf(" Non-performable command detected.\r\n");
nerit 10:9e70619e97ab 147 #endif
nerit 8:310f9e4eac7b 148 }
nerit 3:a469bbd294b5 149 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit 3:a469bbd294b5 150 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit 10:9e70619e97ab 151 #if defined(pcSerial)
nerit 8:310f9e4eac7b 152 pc.printf(" undervoltage lock-out.\r\n");
nerit 10:9e70619e97ab 153 #endif
nerit 8:310f9e4eac7b 154 }
nerit 3:a469bbd294b5 155 /* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit 3:a469bbd294b5 156 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit 8:310f9e4eac7b 157 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit 10:9e70619e97ab 158 #if defined(pcSerial)
nerit 8:310f9e4eac7b 159 pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit 10:9e70619e97ab 160 #endif
nerit 8:310f9e4eac7b 161 }
nerit 3:a469bbd294b5 162 /* Check OCD flag: if not set, there is an overcurrent detection */
nerit 3:a469bbd294b5 163 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit 10:9e70619e97ab 164 #if defined(pcSerial)
nerit 8:310f9e4eac7b 165 pc.printf(" Overcurrent detection.\r\n");
nerit 10:9e70619e97ab 166 #endif
nerit 3:a469bbd294b5 167 }
nerit 3:a469bbd294b5 168 /* Reset ISR flag. */
nerit 3:a469bbd294b5 169 motor->isrFlag = FALSE;
nerit 3:a469bbd294b5 170 }
nerit 3:a469bbd294b5 171
nerit 3:a469bbd294b5 172 /**
nerit 3:a469bbd294b5 173 * @brief This is an example of error handler.
nerit 3:a469bbd294b5 174 * @param[in] error Number of the error
nerit 3:a469bbd294b5 175 * @retval None
nerit 3:a469bbd294b5 176 * @note If needed, implement it, and then attach it:
nerit 3:a469bbd294b5 177 * + motor->attach_error_handler(&my_error_handler);
nerit 3:a469bbd294b5 178 */
nerit 3:a469bbd294b5 179 void my_error_handler(uint16_t error)
nerit 3:a469bbd294b5 180 {
nerit 3:a469bbd294b5 181 /* Printing to the console. */
nerit 10:9e70619e97ab 182 #if defined(pcSerial)
nerit 10:9e70619e97ab 183 pc.printf("Error %d detected\r\n\n", error);
nerit 10:9e70619e97ab 184 #endif
nerit 8:310f9e4eac7b 185
nerit 3:a469bbd294b5 186 /* Infinite loop */
nerit 3:a469bbd294b5 187 //while (true) {
nerit 8:310f9e4eac7b 188 //}
nerit 3:a469bbd294b5 189 }
nerit 8:310f9e4eac7b 190 //*******************************************************************************
nerit 8:310f9e4eac7b 191 // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit 8:310f9e4eac7b 192 //*******************************************************************************
nerit 8:310f9e4eac7b 193 #if defined(runner)
nerit 8:310f9e4eac7b 194 void step_Reading(){
nerit 8:310f9e4eac7b 195 //while(true){
nerit 8:310f9e4eac7b 196 /* Get current position of device and print to the console */
nerit 8:310f9e4eac7b 197 TBpassPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 198 if (TBpassPosition >= TBoldPosition){
nerit 8:310f9e4eac7b 199 TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 200 }else{
nerit 8:310f9e4eac7b 201 TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))*TBreductionRatio);//*10;
nerit 18:7c978f69cc51 202 TBactualPosition= 1;
nerit 18:7c978f69cc51 203 TBoldPosition=0;
nerit 18:7c978f69cc51 204 motor->set_home();
nerit 8:310f9e4eac7b 205 }
nerit 8:310f9e4eac7b 206 //wait_us(50); // 50 mS di intervallo lettura
nerit 8:310f9e4eac7b 207 //}
nerit 8:310f9e4eac7b 208 }
nerit 8:310f9e4eac7b 209 #endif
nerit 3:a469bbd294b5 210 //*******************************************************************************
nerit 3:a469bbd294b5 211 //********************************************************************************************************************
nerit 3:a469bbd294b5 212 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 213 // TASK SECTION
nerit 3:a469bbd294b5 214 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 215 //************************************************************************
nerit 8:310f9e4eac7b 216 void aggioVelocita()
nerit 8:310f9e4eac7b 217 {
nerit 8:310f9e4eac7b 218 realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit 17:9629eb019892 219 tempoBecco = realGiroSD*44.4444f; //(realGiroSD/360.0f)*16000.0f;
nerit 8:310f9e4eac7b 220 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 8:310f9e4eac7b 221 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 8:310f9e4eac7b 222 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 8:310f9e4eac7b 223 #if defined(runner)
nerit 10:9e70619e97ab 224 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 9:7f02256f6e8f 225 #if defined(Zucca)
nerit 9:7f02256f6e8f 226 TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 227 #else
nerit 17:9629eb019892 228 if (cellsNumber<8.0f){
nerit 17:9629eb019892 229 TBperiod=4.8f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 230 }else{
nerit 17:9629eb019892 231 TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 232 }
nerit 9:7f02256f6e8f 233 #endif
nerit 8:310f9e4eac7b 234 #else
nerit 10:9e70619e97ab 235 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 8:310f9e4eac7b 236 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 8:310f9e4eac7b 237 #endif
nerit 8:310f9e4eac7b 238
nerit 8:310f9e4eac7b 239 }
nerit 3:a469bbd294b5 240 //************************************************************************
nerit 3:a469bbd294b5 241 // rise of seed speed 25 pulse sensor
nerit 10:9e70619e97ab 242 void sd25Fall(){
nerit 3:a469bbd294b5 243 timeHole=metalTimer.read_ms();
nerit 10:9e70619e97ab 244 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 245 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 246 metalTimer.reset();
nerit 8:310f9e4eac7b 247 if (speedFromPick==0) {
nerit 10:9e70619e97ab 248 speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit 3:a469bbd294b5 249 }
nerit 6:e8c18f0f399a 250 #if defined(pcSerial)
nerit 6:e8c18f0f399a 251 #if defined(checkLoop)
nerit 6:e8c18f0f399a 252 pc.printf("1\n");
nerit 6:e8c18f0f399a 253 #endif
nerit 6:e8c18f0f399a 254 #endif
nerit 3:a469bbd294b5 255 }
nerit 10:9e70619e97ab 256 //************************************************************************
nerit 3:a469bbd294b5 257 // rise of seed speed motor encoder
nerit 3:a469bbd294b5 258 void encoRise(){
nerit 3:a469bbd294b5 259 timeHole=metalTimer.read_us();
nerit 10:9e70619e97ab 260 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 261 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 262 metalTimer.reset();
nerit 8:310f9e4eac7b 263 if (encoder==true) {
nerit 13:d1030d4e51a8 264 speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit 3:a469bbd294b5 265 pulseRised2=1;
nerit 13:d1030d4e51a8 266 dcEncoderCnt++;
nerit 13:d1030d4e51a8 267 double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit 13:d1030d4e51a8 268 prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit 13:d1030d4e51a8 269 #if defined(speedMaster)
nerit 13:d1030d4e51a8 270 if (quinconceActive==0) {
nerit 13:d1030d4e51a8 271 posForQuinc=500+(uint32_t)sincronizza;
nerit 13:d1030d4e51a8 272 }
nerit 13:d1030d4e51a8 273 #endif
nerit 3:a469bbd294b5 274 }
nerit 6:e8c18f0f399a 275 #if defined(pcSerial)
nerit 6:e8c18f0f399a 276 #if defined(checkLoop)
nerit 6:e8c18f0f399a 277 pc.printf("2\n");
nerit 6:e8c18f0f399a 278 #endif
nerit 6:e8c18f0f399a 279 #endif
nerit 8:310f9e4eac7b 280 aggioVelocita();
nerit 3:a469bbd294b5 281 }
nerit 6:e8c18f0f399a 282 //**************************************************
nerit 3:a469bbd294b5 283 // rise of seed presence sensor
nerit 3:a469bbd294b5 284 void seedSensorTask(){
nerit 3:a469bbd294b5 285 seedSee=1;
nerit 6:e8c18f0f399a 286 #if defined(pcSerial)
nerit 6:e8c18f0f399a 287 #if defined(checkLoop)
nerit 6:e8c18f0f399a 288 pc.printf("3\n");
nerit 6:e8c18f0f399a 289 #endif
nerit 6:e8c18f0f399a 290 #endif
nerit 3:a469bbd294b5 291 }
nerit 3:a469bbd294b5 292 //**************************************************
nerit 3:a469bbd294b5 293 // generate speed clock when speed is simulated from Tritecnica display
nerit 8:310f9e4eac7b 294 void speedSimulationClock(){
nerit 3:a469bbd294b5 295 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 296 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 297 speedTimer.reset();
nerit 3:a469bbd294b5 298 pulseRised=1;
nerit 3:a469bbd294b5 299 speedFilter.reset();
nerit 6:e8c18f0f399a 300 #if defined(pcSerial)
nerit 6:e8c18f0f399a 301 #if defined(checkLoop)
nerit 6:e8c18f0f399a 302 pc.printf("4\n");
nerit 6:e8c18f0f399a 303 #endif
nerit 6:e8c18f0f399a 304 #endif
nerit 3:a469bbd294b5 305 }
nerit 3:a469bbd294b5 306 //*******************************************************
nerit 3:a469bbd294b5 307 // interrupt task for tractor speed reading
nerit 3:a469bbd294b5 308 //*******************************************************
nerit 3:a469bbd294b5 309 void tractorReadSpeed(){
nerit 8:310f9e4eac7b 310 if ((oldTractorSpeedRead==0)) {
nerit 3:a469bbd294b5 311 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 312 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 313 speedTimer.reset();
nerit 3:a469bbd294b5 314 pulseRised=1;
nerit 3:a469bbd294b5 315 oldTractorSpeedRead=1;
nerit 3:a469bbd294b5 316 }
nerit 8:310f9e4eac7b 317 speedClock=1;
nerit 3:a469bbd294b5 318 speedFilter.reset();
nerit 10:9e70619e97ab 319 cntSpeedError=0;
nerit 6:e8c18f0f399a 320 #if defined(pcSerial)
nerit 6:e8c18f0f399a 321 #if defined(checkLoop)
nerit 6:e8c18f0f399a 322 pc.printf("5\n");
nerit 6:e8c18f0f399a 323 #endif
nerit 6:e8c18f0f399a 324 #endif
nerit 3:a469bbd294b5 325 }
nerit 3:a469bbd294b5 326 //*******************************************************
nerit 8:310f9e4eac7b 327 void speedMediaCalc()
nerit 8:310f9e4eac7b 328 {
nerit 3:a469bbd294b5 329 double lastPd=(double) lastPulseRead/1000.0f;
nerit 3:a469bbd294b5 330 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 8:310f9e4eac7b 331 if (enableSimula==1) {
nerit 3:a469bbd294b5 332 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 333 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 334 }
nerit 3:a469bbd294b5 335 mediaSpeed[0]=lastPd;
nerit 3:a469bbd294b5 336 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 10:9e70619e97ab 337 #if defined(pcSerial)
nerit 10:9e70619e97ab 338 #if defined(checkLoop)
nerit 10:9e70619e97ab 339 pc.printf("6\n");
nerit 10:9e70619e97ab 340 #endif
nerit 10:9e70619e97ab 341 #endif
nerit 8:310f9e4eac7b 342 }
bcostm 0:5701b41769fd 343
nerit 3:a469bbd294b5 344 //*******************************************************
nerit 3:a469bbd294b5 345 // clocked task for manage virtual encoder of seed wheel i/o
nerit 3:a469bbd294b5 346 //*******************************************************
nerit 3:a469bbd294b5 347 //*******************************************************
nerit 8:310f9e4eac7b 348 void step_SDPulseOut()
nerit 8:310f9e4eac7b 349 {
nerit 3:a469bbd294b5 350 SDactualPosition++;
nerit 3:a469bbd294b5 351 prePosSD++;
nerit 10:9e70619e97ab 352 #if defined(speedMaster)
nerit 10:9e70619e97ab 353 posForQuinc++;
nerit 10:9e70619e97ab 354 #endif
nerit 10:9e70619e97ab 355 #if defined(pcSerial)
nerit 10:9e70619e97ab 356 #if defined(checkLoop)
nerit 10:9e70619e97ab 357 pc.printf("7\n");
nerit 10:9e70619e97ab 358 #endif
nerit 10:9e70619e97ab 359 #endif
nerit 3:a469bbd294b5 360 }
nerit 3:a469bbd294b5 361 //*******************************************************
nerit 18:7c978f69cc51 362 void step_TBPulseOut(){
nerit 3:a469bbd294b5 363 TBmotorStepOut=!TBmotorStepOut;
nerit 8:310f9e4eac7b 364 if (TBmotorStepOut==0) {
nerit 8:310f9e4eac7b 365 if (TBmotorDirecti==TBforward) {
nerit 3:a469bbd294b5 366 TBactualPosition++;
nerit 3:a469bbd294b5 367 }
nerit 3:a469bbd294b5 368 }
nerit 10:9e70619e97ab 369 #if defined(pcSerial)
nerit 10:9e70619e97ab 370 #if defined(stepTamb)
nerit 10:9e70619e97ab 371 pc.printf("step\n");
nerit 10:9e70619e97ab 372 #endif
nerit 10:9e70619e97ab 373 #endif
nerit 6:e8c18f0f399a 374 /*
nerit 6:e8c18f0f399a 375 #if defined(pcSerial)
nerit 6:e8c18f0f399a 376 #if defined(checkLoop)
nerit 6:e8c18f0f399a 377 pc.printf("8\n");
nerit 6:e8c18f0f399a 378 #endif
nerit 6:e8c18f0f399a 379 #endif
nerit 6:e8c18f0f399a 380 */
nerit 3:a469bbd294b5 381 }
nerit 3:a469bbd294b5 382 //*******************************************************
nerit 8:310f9e4eac7b 383 void invertiLo()
nerit 8:310f9e4eac7b 384 {
nerit 8:310f9e4eac7b 385 if (TBmotorDirecti==TBreverse) {
nerit 3:a469bbd294b5 386 TBmotorDirecti=TBforward;
nerit 8:310f9e4eac7b 387 #if !defined(runner)
nerit 9:7f02256f6e8f 388 #if defined(Zucca)
nerit 9:7f02256f6e8f 389 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 390 #else
nerit 9:7f02256f6e8f 391 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 392 #endif
nerit 8:310f9e4eac7b 393 #endif
nerit 18:7c978f69cc51 394 #if defined(provaStepper)
nerit 18:7c978f69cc51 395 motor->run(StepperMotor::FWD,150.0f);
nerit 18:7c978f69cc51 396 #endif
nerit 8:310f9e4eac7b 397 } else {
nerit 3:a469bbd294b5 398 TBmotorDirecti=TBreverse;
nerit 8:310f9e4eac7b 399 #if !defined(runner)
nerit 9:7f02256f6e8f 400 #if defined(Zucca)
nerit 9:7f02256f6e8f 401 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 402 #else
nerit 9:7f02256f6e8f 403 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 404 #endif
nerit 8:310f9e4eac7b 405 #endif
nerit 18:7c978f69cc51 406 #if defined(provaStepper)
nerit 18:7c978f69cc51 407 motor->run(StepperMotor::BWD,100.0f);
nerit 18:7c978f69cc51 408 #endif
nerit 3:a469bbd294b5 409 }
nerit 3:a469bbd294b5 410 #if defined(pcSerial)
nerit 3:a469bbd294b5 411 #if defined(inversione)
nerit 3:a469bbd294b5 412 pc.printf("cambio M %d\n",cambiaStep);
nerit 3:a469bbd294b5 413 pc.printf("posizione %d \n",TBactualPosition);
nerit 3:a469bbd294b5 414 #endif
nerit 3:a469bbd294b5 415 #endif
nerit 6:e8c18f0f399a 416 #if defined(pcSerial)
nerit 6:e8c18f0f399a 417 #if defined(checkLoop)
nerit 6:e8c18f0f399a 418 pc.printf("9\n");
nerit 6:e8c18f0f399a 419 #endif
nerit 6:e8c18f0f399a 420 #endif
nerit 3:a469bbd294b5 421 }
nerit 3:a469bbd294b5 422 //*******************************************************
nerit 3:a469bbd294b5 423 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 8:310f9e4eac7b 424 void aggiornaParametri()
nerit 8:310f9e4eac7b 425 {
nerit 3:a469bbd294b5 426 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 3:a469bbd294b5 427 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 3:a469bbd294b5 428 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 3:a469bbd294b5 429 intraPickDistance = seedPerimeter/pickNumber;
nerit 3:a469bbd294b5 430 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 17:9629eb019892 431 //K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 3:a469bbd294b5 432 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 13:d1030d4e51a8 433 SDsectorStep = fixedStepGiroSD / pickNumber;
nerit 3:a469bbd294b5 434 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 13:d1030d4e51a8 435 seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit 13:d1030d4e51a8 436 frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit 8:310f9e4eac7b 437 #if defined(runner)
nerit 9:7f02256f6e8f 438 #if defined(Zucca)
nerit 9:7f02256f6e8f 439 KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit 9:7f02256f6e8f 440 #else
nerit 9:7f02256f6e8f 441 KcorT = (SDsectorStep/TBsectorStep)/2.0f;
nerit 9:7f02256f6e8f 442 #endif
nerit 8:310f9e4eac7b 443 #else
nerit 8:310f9e4eac7b 444 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 8:310f9e4eac7b 445 #endif
nerit 3:a469bbd294b5 446 angoloFase=angoloPh;
nerit 3:a469bbd294b5 447 avvioGradi=angoloAv;
nerit 3:a469bbd294b5 448 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 449 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 450 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 451 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 3:a469bbd294b5 452 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 3:a469bbd294b5 453 if (speedFromPick==1) {
nerit 3:a469bbd294b5 454 intraPickDistance = seedPerimeter/pickNumber;
nerit 8:310f9e4eac7b 455 } else {
nerit 3:a469bbd294b5 456 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 3:a469bbd294b5 457 }
nerit 6:e8c18f0f399a 458 #if defined(pcSerial)
nerit 6:e8c18f0f399a 459 #if defined(checkLoop)
nerit 6:e8c18f0f399a 460 pc.printf("10\n");
nerit 6:e8c18f0f399a 461 #endif
nerit 6:e8c18f0f399a 462 #endif
nerit 3:a469bbd294b5 463 }
nerit 3:a469bbd294b5 464 //*******************************************************
nerit 8:310f9e4eac7b 465 void cambiaTB(double perio)
nerit 8:310f9e4eac7b 466 {
nerit 8:310f9e4eac7b 467 #if defined(runner)
nerit 8:310f9e4eac7b 468 // update TB frequency
nerit 8:310f9e4eac7b 469 double TBper=0.0f;
nerit 8:310f9e4eac7b 470 if (aspettaStart==0){
nerit 8:310f9e4eac7b 471 TBper=perio;
nerit 8:310f9e4eac7b 472 if (oldPeriodoTB!=TBper){
nerit 6:e8c18f0f399a 473 #if defined(pcSerial)
nerit 8:310f9e4eac7b 474 #if defined(TBperSo)
nerit 8:310f9e4eac7b 475 pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit 6:e8c18f0f399a 476 #endif
nerit 6:e8c18f0f399a 477 #endif
nerit 9:7f02256f6e8f 478 #if defined(Zucca)
nerit 9:7f02256f6e8f 479 motor->run(StepperMotor::BWD,TBper);
nerit 9:7f02256f6e8f 480 #else
nerit 9:7f02256f6e8f 481 motor->run(StepperMotor::FWD,TBper);
nerit 9:7f02256f6e8f 482 #endif
nerit 8:310f9e4eac7b 483 oldPeriodoTB=TBper;
nerit 8:310f9e4eac7b 484 }
nerit 8:310f9e4eac7b 485 }
nerit 8:310f9e4eac7b 486 #else
nerit 8:310f9e4eac7b 487 // update TB frequency
nerit 8:310f9e4eac7b 488 double limite=500.0f;
nerit 8:310f9e4eac7b 489 double TBper=0.0f;
nerit 8:310f9e4eac7b 490 double scala =2.0f;
nerit 8:310f9e4eac7b 491 if (aspettaStart==0) {
nerit 8:310f9e4eac7b 492 if (perio<limite) {
nerit 8:310f9e4eac7b 493 perio=limite;
nerit 8:310f9e4eac7b 494 }
nerit 8:310f9e4eac7b 495 TBper=perio/scala;
nerit 8:310f9e4eac7b 496 if (oldPeriodoTB!=TBper) {
nerit 8:310f9e4eac7b 497 if (TBper >= (limite/2.0f)) {
nerit 8:310f9e4eac7b 498 #if defined(pcSerial)
nerit 8:310f9e4eac7b 499 #if defined(checkLoop)
nerit 8:310f9e4eac7b 500 pc.printf("11a\n");
nerit 8:310f9e4eac7b 501 pc.printf("11a TBper: %f \n",TBper);
nerit 8:310f9e4eac7b 502 #endif
nerit 6:e8c18f0f399a 503 #endif
nerit 8:310f9e4eac7b 504 if (TBper != NULL) {
nerit 9:7f02256f6e8f 505 #if defined(Zucca)
nerit 9:7f02256f6e8f 506 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 507 #else
nerit 9:7f02256f6e8f 508 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 509 #endif
nerit 8:310f9e4eac7b 510 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 511 }
nerit 8:310f9e4eac7b 512 } else {
nerit 8:310f9e4eac7b 513 #if defined(pcSerial)
nerit 8:310f9e4eac7b 514 #if defined(checkLoop)
nerit 8:310f9e4eac7b 515 pc.printf("11b\n");
nerit 8:310f9e4eac7b 516 #endif
nerit 6:e8c18f0f399a 517 #endif
nerit 8:310f9e4eac7b 518 TBticker.detach();
nerit 8:310f9e4eac7b 519 #if defined(pcSerial)
nerit 8:310f9e4eac7b 520 #if defined(loStop)
nerit 8:310f9e4eac7b 521 pc.printf("A1\n");
nerit 8:310f9e4eac7b 522 #endif
nerit 8:310f9e4eac7b 523 #endif
nerit 8:310f9e4eac7b 524 motor->soft_hiz();
nerit 8:310f9e4eac7b 525 }
nerit 8:310f9e4eac7b 526 oldPeriodoTB=TBper;
nerit 3:a469bbd294b5 527 }
nerit 3:a469bbd294b5 528 }
nerit 8:310f9e4eac7b 529 #endif
nerit 3:a469bbd294b5 530 }
nerit 3:a469bbd294b5 531 //*******************************************************
nerit 8:310f9e4eac7b 532 void seedCorrect()
nerit 8:310f9e4eac7b 533 {
nerit 3:a469bbd294b5 534 /*
nerit 3:a469bbd294b5 535 posError determina la posizione relativa di TB rispetto ad SD
nerit 8:310f9e4eac7b 536 la reale posizione di SD viene modificata in funzione della velocità per
nerit 3:a469bbd294b5 537 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 3:a469bbd294b5 538 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 3:a469bbd294b5 539 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 3:a469bbd294b5 540 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 3:a469bbd294b5 541 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 3:a469bbd294b5 542 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 3:a469bbd294b5 543 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 3:a469bbd294b5 544 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 3:a469bbd294b5 545 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 3:a469bbd294b5 546 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 3:a469bbd294b5 547 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 3:a469bbd294b5 548 di fase di TB. In pratica il ciclo viene resettato al passaggio sul sensore di SD che riporta a 0 la posizione di SD.
nerit 3:a469bbd294b5 549 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 3:a469bbd294b5 550 Questo si traduce nel fatto che il controllo di posizione viene gestito solo all'interno di uno slot di semina in modo che
nerit 3:a469bbd294b5 551 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 8:310f9e4eac7b 552
nerit 3:a469bbd294b5 553 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 3:a469bbd294b5 554 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 8:310f9e4eac7b 555 */
nerit 3:a469bbd294b5 556 /*
nerit 3:a469bbd294b5 557 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 558 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 3:a469bbd294b5 559 KcorT = (SDsectorStep/TBsectorStep);
nerit 3:a469bbd294b5 560 angoloFase=angoloPh;
nerit 3:a469bbd294b5 561 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 562 avvioGradi = costante da terminale tritecnica
nerit 3:a469bbd294b5 563 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 564 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 565 */
nerit 8:310f9e4eac7b 566 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 567 if (inhibit==0) {
nerit 3:a469bbd294b5 568 double posError =0.0f;
nerit 3:a469bbd294b5 569 double posSD=((double)SDactualPosition)/KcorT;
nerit 8:310f9e4eac7b 570 posError = posSD - (double)TBactualPosition;
nerit 3:a469bbd294b5 571 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 8:310f9e4eac7b 572 if((lowSpeed==0)&&(aspettaStart==0)) {
nerit 19:231b8931cabc 573 double lowLim=-500.0f;
nerit 19:231b8931cabc 574 double higLim= 130.0f;
nerit 19:231b8931cabc 575 double divide= 25.0f;
nerit 8:310f9e4eac7b 576 if (pickNumber <= 5) {
nerit 4:de1b296e9757 577 lowLim=-500.0f;
nerit 4:de1b296e9757 578 higLim= 500.0f;
nerit 4:de1b296e9757 579 divide= 25.0f;
nerit 8:310f9e4eac7b 580 } else {
nerit 8:310f9e4eac7b 581 lowLim=-10.0f;
nerit 8:310f9e4eac7b 582 higLim= 130.0f;
nerit 19:231b8931cabc 583 divide= 20.0f;
nerit 4:de1b296e9757 584 }
nerit 8:310f9e4eac7b 585 if (posError>higLim) {
nerit 17:9629eb019892 586 posError=higLim;
nerit 17:9629eb019892 587 //posError=0.0f;
nerit 17:9629eb019892 588 //motor->soft_hiz();
nerit 8:310f9e4eac7b 589 }
nerit 8:310f9e4eac7b 590 if (posError<lowLim) {
nerit 8:310f9e4eac7b 591 posError=lowLim;
nerit 8:310f9e4eac7b 592 }
nerit 8:310f9e4eac7b 593 if ((posError >=1.0f)||(posError<=-1.0f)) {
nerit 8:310f9e4eac7b 594 #if defined(runner)
nerit 8:310f9e4eac7b 595 ePpos = periodo *(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 596 #else
nerit 8:310f9e4eac7b 597 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 598 #endif
nerit 3:a469bbd294b5 599 #if defined(pcSerial)
nerit 6:e8c18f0f399a 600 #if defined(checkLoop)
nerit 6:e8c18f0f399a 601 pc.printf("12a ePpos:%f\n",ePpos);
nerit 3:a469bbd294b5 602 #endif
nerit 3:a469bbd294b5 603 #endif
nerit 8:310f9e4eac7b 604 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 605 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 606 } else {
nerit 6:e8c18f0f399a 607 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 608 }
nerit 6:e8c18f0f399a 609 }
nerit 6:e8c18f0f399a 610 #if defined(pcSerial)
nerit 6:e8c18f0f399a 611 #if defined(TBperS)
nerit 8:310f9e4eac7b 612 pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo);
nerit 6:e8c18f0f399a 613 #endif
nerit 6:e8c18f0f399a 614 #endif
nerit 3:a469bbd294b5 615 }
nerit 3:a469bbd294b5 616 }
nerit 3:a469bbd294b5 617 }
nerit 10:9e70619e97ab 618 #if defined(pcSerial)
nerit 10:9e70619e97ab 619 #if defined(checkLoopa)
nerit 10:9e70619e97ab 620 pc.printf("12\n");
nerit 10:9e70619e97ab 621 #endif
nerit 10:9e70619e97ab 622 #endif
nerit 3:a469bbd294b5 623 }
nerit 3:a469bbd294b5 624 //*******************************************************
nerit 8:310f9e4eac7b 625 void videoUpdate()
nerit 8:310f9e4eac7b 626 {
nerit 8:310f9e4eac7b 627 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 628 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 629 }
nerit 3:a469bbd294b5 630 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 631 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 632 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 633 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 634 }
nerit 3:a469bbd294b5 635 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 636 #if defined(pcSerial)
nerit 10:9e70619e97ab 637 #if defined(SDreset)
nerit 10:9e70619e97ab 638 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 639 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 640 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 641 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 642 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 643 #endif
nerit 10:9e70619e97ab 644 #endif
nerit 10:9e70619e97ab 645 #if defined(pcSerial)
nerit 10:9e70619e97ab 646 #if defined(checkLoop)
nerit 10:9e70619e97ab 647 pc.printf("13\n");
nerit 10:9e70619e97ab 648 #endif
nerit 10:9e70619e97ab 649 #endif
nerit 3:a469bbd294b5 650 }
nerit 3:a469bbd294b5 651 //*******************************************************
nerit 8:310f9e4eac7b 652 void ciclaTB()
nerit 8:310f9e4eac7b 653 {
nerit 8:310f9e4eac7b 654 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 655 #if defined(pcSerial)
nerit 6:e8c18f0f399a 656 #if defined(checkLoop)
nerit 6:e8c18f0f399a 657 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 658 #endif
nerit 6:e8c18f0f399a 659 #endif
nerit 8:310f9e4eac7b 660 #if defined(runner)
nerit 9:7f02256f6e8f 661 #if defined(Zucca)
nerit 9:7f02256f6e8f 662 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 663 #else
nerit 9:7f02256f6e8f 664 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 665 #endif
nerit 8:310f9e4eac7b 666 #else
nerit 8:310f9e4eac7b 667 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 668 if (TBperiod != NULL) {
nerit 9:7f02256f6e8f 669 #if defined(Zucca)
nerit 9:7f02256f6e8f 670 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 671 #else
nerit 9:7f02256f6e8f 672 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 673 #endif
nerit 8:310f9e4eac7b 674 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 675 }
nerit 6:e8c18f0f399a 676 }
nerit 8:310f9e4eac7b 677 #endif
nerit 8:310f9e4eac7b 678 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 679 startCicloTB=0;
nerit 3:a469bbd294b5 680 }
nerit 8:310f9e4eac7b 681 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 682 #if defined(pcSerial)
nerit 6:e8c18f0f399a 683 #if defined(checkLoop)
nerit 6:e8c18f0f399a 684 pc.printf("14b\n");
nerit 6:e8c18f0f399a 685 #endif
nerit 6:e8c18f0f399a 686 #endif
nerit 8:310f9e4eac7b 687 #if defined(runner)
nerit 9:7f02256f6e8f 688 #if defined(Zucca)
nerit 9:7f02256f6e8f 689 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 690 #else
nerit 9:7f02256f6e8f 691 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 692 #endif
nerit 8:310f9e4eac7b 693 #else
nerit 9:7f02256f6e8f 694 #if defined(Zucca)
nerit 9:7f02256f6e8f 695 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 696 #else
nerit 9:7f02256f6e8f 697 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 698 #endif
nerit 8:310f9e4eac7b 699 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 700 #endif
nerit 3:a469bbd294b5 701 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 702 stopCicloTB=0;
nerit 3:a469bbd294b5 703 }
nerit 8:310f9e4eac7b 704 if ((stopCicloTB==1)&&(TBactualPosition>5)) {
nerit 6:e8c18f0f399a 705 #if defined(pcSerial)
nerit 6:e8c18f0f399a 706 #if defined(checkLoop)
nerit 6:e8c18f0f399a 707 pc.printf("14c\n");
nerit 6:e8c18f0f399a 708 #endif
nerit 6:e8c18f0f399a 709 #endif
nerit 8:310f9e4eac7b 710 #if !defined(runner)
nerit 8:310f9e4eac7b 711 TBticker.detach();
nerit 8:310f9e4eac7b 712 #endif
nerit 6:e8c18f0f399a 713 #if defined(pcSerial)
nerit 6:e8c18f0f399a 714 #if defined(loStop)
nerit 6:e8c18f0f399a 715 pc.printf("A2\n");
nerit 6:e8c18f0f399a 716 #endif
nerit 6:e8c18f0f399a 717 #endif
nerit 3:a469bbd294b5 718 motor->soft_hiz();
nerit 3:a469bbd294b5 719 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 720 stopCicloTB=0;
nerit 3:a469bbd294b5 721 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 722 loadDaCan=0;
nerit 3:a469bbd294b5 723 }
nerit 3:a469bbd294b5 724 }
nerit 3:a469bbd294b5 725 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 726 void stepSetting()
nerit 8:310f9e4eac7b 727 {
nerit 3:a469bbd294b5 728 // Stepper driver init and set
nerit 3:a469bbd294b5 729 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 730 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 731 #if defined(pcSerial)
nerit 6:e8c18f0f399a 732 #if defined(checkLoop)
nerit 6:e8c18f0f399a 733 pc.printf("15\n");
nerit 6:e8c18f0f399a 734 #endif
nerit 6:e8c18f0f399a 735 #endif
nerit 8:310f9e4eac7b 736 TBmotorRst=1;
nerit 3:a469bbd294b5 737 }
nerit 3:a469bbd294b5 738 //****************************************
nerit 12:b0fc1d313813 739 void controllaCorrente(){
nerit 12:b0fc1d313813 740 correggiCorrente=1;
nerit 12:b0fc1d313813 741 }
nerit 12:b0fc1d313813 742 //****************************************
nerit 3:a469bbd294b5 743 void dcSetting(){
nerit 8:310f9e4eac7b 744 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 745 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 746 }
nerit 8:310f9e4eac7b 747 if (encoder==true) {
nerit 8:310f9e4eac7b 748 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 749 }
nerit 6:e8c18f0f399a 750 #if defined(pcSerial)
nerit 6:e8c18f0f399a 751 #if defined(checkLoop)
nerit 6:e8c18f0f399a 752 pc.printf("16\n");
nerit 6:e8c18f0f399a 753 #endif
nerit 6:e8c18f0f399a 754 #endif
nerit 3:a469bbd294b5 755 }
nerit 3:a469bbd294b5 756 //*******************************************************
nerit 8:310f9e4eac7b 757 void allarmi()
nerit 8:310f9e4eac7b 758 {
nerit 8:310f9e4eac7b 759 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 760 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 761 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 762
nerit 8:310f9e4eac7b 763 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 764 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 765 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 766 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 767 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 768 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 769 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 770 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 771 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 772 }
nerit 3:a469bbd294b5 773
nerit 8:310f9e4eac7b 774 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 775 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 776 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 777 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 778 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 779 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 780 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 781 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 782 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 783 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 784 }
nerit 3:a469bbd294b5 785
nerit 10:9e70619e97ab 786 #if defined(pcSerial)
nerit 10:9e70619e97ab 787 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 788 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 789 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 790 }
nerit 10:9e70619e97ab 791 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 792 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 793 }
nerit 10:9e70619e97ab 794 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 795 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 796 }
nerit 10:9e70619e97ab 797 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 798 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 799 }
nerit 10:9e70619e97ab 800 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 801 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 802 }
nerit 10:9e70619e97ab 803 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 804 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 805 }
nerit 10:9e70619e97ab 806 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 807 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 808 }
nerit 10:9e70619e97ab 809 if (all_speedError==1) {
nerit 10:9e70619e97ab 810 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 811 }
nerit 10:9e70619e97ab 812 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 813 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 814 }
nerit 10:9e70619e97ab 815 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 816 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 817 }
nerit 10:9e70619e97ab 818 if (all_genericals==1) {
nerit 10:9e70619e97ab 819 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 820 }
nerit 10:9e70619e97ab 821 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 822 #endif
nerit 10:9e70619e97ab 823 #endif
nerit 8:310f9e4eac7b 824 all_semiFiniti=0;
nerit 8:310f9e4eac7b 825 all_pickSignal=0;
nerit 8:310f9e4eac7b 826 all_cellSignal=0;
nerit 8:310f9e4eac7b 827 all_lowBattery=0;
nerit 8:310f9e4eac7b 828 all_overCurrDC=0;
nerit 8:310f9e4eac7b 829 all_stopSistem=0;
nerit 8:310f9e4eac7b 830 all_upElements=0;
nerit 8:310f9e4eac7b 831 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 832 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 833 all_noDcRotati=0;
nerit 8:310f9e4eac7b 834 all_noStepRota=0;
nerit 8:310f9e4eac7b 835 all_speedError=0;
nerit 8:310f9e4eac7b 836 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 837 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 838 all_genericals=0;
nerit 10:9e70619e97ab 839 #if defined(pcSerial)
nerit 10:9e70619e97ab 840 #if defined(checkLoop)
nerit 10:9e70619e97ab 841 pc.printf("17\n");
nerit 10:9e70619e97ab 842 #endif
nerit 10:9e70619e97ab 843 #endif
nerit 3:a469bbd294b5 844 }
nerit 3:a469bbd294b5 845 //*******************************************************
nerit 3:a469bbd294b5 846 #if defined(speedMaster)
nerit 3:a469bbd294b5 847 void upDateSincro(){
nerit 8:310f9e4eac7b 848 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 849 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 850 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 851 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 852 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 853 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 854 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 855 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 856 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 857 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 858 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 859 #if defined(canbusActive)
nerit 3:a469bbd294b5 860 #if defined(speedMaster)
nerit 8:310f9e4eac7b 861 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 862 checkState=0;
nerit 3:a469bbd294b5 863 }
nerit 3:a469bbd294b5 864 #endif
nerit 3:a469bbd294b5 865 #endif
nerit 6:e8c18f0f399a 866 #if defined(pcSerial)
nerit 6:e8c18f0f399a 867 #if defined(checkLoop)
nerit 6:e8c18f0f399a 868 pc.printf("18\n");
nerit 6:e8c18f0f399a 869 #endif
nerit 6:e8c18f0f399a 870 #endif
nerit 3:a469bbd294b5 871 }
nerit 3:a469bbd294b5 872 #endif
nerit 3:a469bbd294b5 873 //*******************************************************
nerit 8:310f9e4eac7b 874 void upDateSpeed()
nerit 8:310f9e4eac7b 875 {
nerit 3:a469bbd294b5 876 /*
nerit 3:a469bbd294b5 877 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 878 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 879 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 880 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 881 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 882 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 883 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 884 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 885 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 886 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 887 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 888 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 889 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 890 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 891 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 892 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 893 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 894 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 895 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 896 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 897 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 898 bit 1= sensore celle
nerit 3:a469bbd294b5 899 bit 2= sensore posizione
nerit 3:a469bbd294b5 900 bit 3= sensore becchi
nerit 3:a469bbd294b5 901 bit 4= motore DC
nerit 3:a469bbd294b5 902 bit 5= controller
nerit 3:a469bbd294b5 903 bit 6= motore stepper
nerit 3:a469bbd294b5 904 */
nerit 8:310f9e4eac7b 905 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 906
nerit 8:310f9e4eac7b 907 val1[3]=0;
nerit 8:310f9e4eac7b 908 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 909 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 910 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 911 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 912 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 913 if (buttonUser==0) {
nerit 10:9e70619e97ab 914 val1[1]=0x02;
nerit 10:9e70619e97ab 915 } else {
nerit 10:9e70619e97ab 916 val1[1]=0x00;
nerit 10:9e70619e97ab 917 }
nerit 10:9e70619e97ab 918 val1[3]=valore;
nerit 10:9e70619e97ab 919 valore+=1;
nerit 10:9e70619e97ab 920 if(valore>50) {
nerit 10:9e70619e97ab 921 valore=0;
nerit 10:9e70619e97ab 922 }
nerit 10:9e70619e97ab 923 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 924 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 925 #endif
nerit 3:a469bbd294b5 926 allarmi();
nerit 3:a469bbd294b5 927 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 928 val1[0]=valore;
nerit 3:a469bbd294b5 929 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 930 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 931 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 932 val1[4]=resetComandi;
nerit 3:a469bbd294b5 933 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 934 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 935 #if defined(canbusActive)
nerit 10:9e70619e97ab 936 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 937 checkState=0;
nerit 10:9e70619e97ab 938 }
nerit 10:9e70619e97ab 939 #endif
nerit 10:9e70619e97ab 940 #if defined(pcSerial)
nerit 10:9e70619e97ab 941 #if defined(checkLoop)
nerit 10:9e70619e97ab 942 pc.printf("19\n");
nerit 10:9e70619e97ab 943 #endif
nerit 10:9e70619e97ab 944 #endif
nerit 3:a469bbd294b5 945 }
nerit 3:a469bbd294b5 946 //*******************************************************
nerit 8:310f9e4eac7b 947 void leggiCAN()
nerit 8:310f9e4eac7b 948 {
nerit 8:310f9e4eac7b 949 #if defined(canbusActive)
nerit 8:310f9e4eac7b 950 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 951 if (firstStart==1) {
nerit 8:310f9e4eac7b 952 #if defined(speedMaster)
nerit 8:310f9e4eac7b 953 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 954 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 955 #else
nerit 8:310f9e4eac7b 956 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 957 #endif
nerit 8:310f9e4eac7b 958 firstStart=0;
nerit 8:310f9e4eac7b 959 }
nerit 8:310f9e4eac7b 960 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 961 #if defined(pcSerial)
nerit 8:310f9e4eac7b 962 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 963 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 964 #endif
nerit 8:310f9e4eac7b 965 #endif
nerit 8:310f9e4eac7b 966 }
nerit 8:310f9e4eac7b 967 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 968 #if defined(pcSerial)
nerit 8:310f9e4eac7b 969 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 970 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 971 #endif
nerit 8:310f9e4eac7b 972 #endif
nerit 8:310f9e4eac7b 973 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 974 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 975 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 976 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 977 comandiDaCan = rxMsg.data[4];
nerit 20:4a400a4cc419 978 speedStepp = rxMsg.data[5];
nerit 20:4a400a4cc419 979 if (speedStepp==0){
nerit 20:4a400a4cc419 980 simStepper=0;
nerit 20:4a400a4cc419 981 }else{
nerit 20:4a400a4cc419 982 simStepper=1;
nerit 20:4a400a4cc419 983 }
nerit 8:310f9e4eac7b 984 #if defined(pcSerial)
nerit 8:310f9e4eac7b 985 #if defined(canDataReceived)
nerit 3:a469bbd294b5 986 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 987 #endif
nerit 8:310f9e4eac7b 988 #endif
nerit 8:310f9e4eac7b 989 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 990 case 1:
nerit 8:310f9e4eac7b 991 case 3:
nerit 8:310f9e4eac7b 992 azzeraDaCan=1;
nerit 8:310f9e4eac7b 993 resetComandi=0x01;
nerit 8:310f9e4eac7b 994 comandiDaCan=0;
nerit 8:310f9e4eac7b 995 break;
nerit 8:310f9e4eac7b 996 case 2:
nerit 8:310f9e4eac7b 997 loadDaCan=1;
nerit 8:310f9e4eac7b 998 resetComandi=0x02;
nerit 8:310f9e4eac7b 999 comandiDaCan=0;
nerit 8:310f9e4eac7b 1000 break;
nerit 8:310f9e4eac7b 1001 default:
nerit 8:310f9e4eac7b 1002 comandiDaCan=0;
nerit 8:310f9e4eac7b 1003 resetComandi=0xFF;
nerit 8:310f9e4eac7b 1004 break;
nerit 8:310f9e4eac7b 1005 }
nerit 8:310f9e4eac7b 1006 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1007 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 1008 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 1009 #endif
nerit 8:310f9e4eac7b 1010 #endif
nerit 8:310f9e4eac7b 1011 if (speedSimula>45) {
nerit 8:310f9e4eac7b 1012 speedSimula=45;
nerit 8:310f9e4eac7b 1013 }
nerit 8:310f9e4eac7b 1014 // modulo 1
nerit 8:310f9e4eac7b 1015 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 1016 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 1017 simOk=1;
nerit 8:310f9e4eac7b 1018 } else {
nerit 8:310f9e4eac7b 1019 simOk=0;
nerit 3:a469bbd294b5 1020 }
nerit 8:310f9e4eac7b 1021 }
nerit 8:310f9e4eac7b 1022 // modulo 2
nerit 8:310f9e4eac7b 1023 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1024 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1025 simOk=1;
nerit 8:310f9e4eac7b 1026 } else {
nerit 8:310f9e4eac7b 1027 simOk=0;
nerit 3:a469bbd294b5 1028 }
nerit 8:310f9e4eac7b 1029 }
nerit 8:310f9e4eac7b 1030 // modulo 3
nerit 8:310f9e4eac7b 1031 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1032 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1033 simOk=1;
nerit 8:310f9e4eac7b 1034 } else {
nerit 8:310f9e4eac7b 1035 simOk=0;
nerit 3:a469bbd294b5 1036 }
nerit 8:310f9e4eac7b 1037 }
nerit 8:310f9e4eac7b 1038 // modulo 4
nerit 8:310f9e4eac7b 1039 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1040 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1041 simOk=1;
nerit 8:310f9e4eac7b 1042 } else {
nerit 8:310f9e4eac7b 1043 simOk=0;
nerit 3:a469bbd294b5 1044 }
nerit 8:310f9e4eac7b 1045 }
nerit 8:310f9e4eac7b 1046 // modulo 5
nerit 8:310f9e4eac7b 1047 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1048 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1049 simOk=1;
nerit 8:310f9e4eac7b 1050 } else {
nerit 8:310f9e4eac7b 1051 simOk=0;
nerit 3:a469bbd294b5 1052 }
nerit 3:a469bbd294b5 1053 }
nerit 8:310f9e4eac7b 1054
nerit 8:310f9e4eac7b 1055 }
nerit 14:e2b5efa06c41 1056 //if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1057 if (rxMsg.id==RX_Settings) {
nerit 14:e2b5efa06c41 1058 //if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1059 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1060 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 17:9629eb019892 1061 deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1062 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1063 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 1064 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 1065 aggiornaParametri();
nerit 14:e2b5efa06c41 1066 //}
nerit 3:a469bbd294b5 1067 }
nerit 14:e2b5efa06c41 1068 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1069 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1070 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1071 #if defined(M1)
nerit 3:a469bbd294b5 1072 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1073 aggiornaParametri();
nerit 3:a469bbd294b5 1074 #endif
nerit 3:a469bbd294b5 1075 #if defined(M2)
nerit 3:a469bbd294b5 1076 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1077 aggiornaParametri();
nerit 3:a469bbd294b5 1078 #endif
nerit 3:a469bbd294b5 1079 #if defined(M3)
nerit 3:a469bbd294b5 1080 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1081 aggiornaParametri();
nerit 3:a469bbd294b5 1082 #endif
nerit 3:a469bbd294b5 1083 #if defined(M4)
nerit 3:a469bbd294b5 1084 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1085 aggiornaParametri();
nerit 3:a469bbd294b5 1086 #endif
nerit 3:a469bbd294b5 1087 #if defined(M5)
nerit 3:a469bbd294b5 1088 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1089 aggiornaParametri();
nerit 3:a469bbd294b5 1090 #endif
nerit 3:a469bbd294b5 1091 #if defined(M6)
nerit 3:a469bbd294b5 1092 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1093 aggiornaParametri();
nerit 3:a469bbd294b5 1094 #endif
nerit 3:a469bbd294b5 1095 }
nerit 3:a469bbd294b5 1096 }
nerit 8:310f9e4eac7b 1097 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1098 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1099 #if defined(M1)
nerit 3:a469bbd294b5 1100 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1101 aggiornaParametri();
nerit 3:a469bbd294b5 1102 #endif
nerit 3:a469bbd294b5 1103 #if defined(M2)
nerit 3:a469bbd294b5 1104 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1105 aggiornaParametri();
nerit 3:a469bbd294b5 1106 #endif
nerit 3:a469bbd294b5 1107 #if defined(M3)
nerit 3:a469bbd294b5 1108 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1109 aggiornaParametri();
nerit 3:a469bbd294b5 1110 #endif
nerit 3:a469bbd294b5 1111 #if defined(M4)
nerit 3:a469bbd294b5 1112 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1113 aggiornaParametri();
nerit 3:a469bbd294b5 1114 #endif
nerit 3:a469bbd294b5 1115 #if defined(M5)
nerit 3:a469bbd294b5 1116 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1117 aggiornaParametri();
nerit 3:a469bbd294b5 1118 #endif
nerit 3:a469bbd294b5 1119 #if defined(M6)
nerit 3:a469bbd294b5 1120 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1121 aggiornaParametri();
nerit 3:a469bbd294b5 1122 #endif
nerit 3:a469bbd294b5 1123 }
nerit 3:a469bbd294b5 1124 }
nerit 8:310f9e4eac7b 1125 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1126 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1127 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1128 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1129 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1130 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1131 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1132 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1133 aggiornaParametri();
nerit 3:a469bbd294b5 1134 }
nerit 3:a469bbd294b5 1135 }
nerit 8:310f9e4eac7b 1136 }
nerit 8:310f9e4eac7b 1137 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1138 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1139 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1140 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1141 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1142 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1143 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1144 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1145 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1146 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1147 canDataCheck=1;
nerit 3:a469bbd294b5 1148 }
nerit 8:310f9e4eac7b 1149 }
nerit 8:310f9e4eac7b 1150 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1151 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1152 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1153 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1154 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1155 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1156 //stepSetting();
nerit 3:a469bbd294b5 1157 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1158 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1159 if (encoder==false) {
nerit 3:a469bbd294b5 1160 encoder=true;
nerit 3:a469bbd294b5 1161 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1162 dcSetting();
nerit 3:a469bbd294b5 1163 }
nerit 8:310f9e4eac7b 1164 } else {
nerit 8:310f9e4eac7b 1165 if (encoder==true) {
nerit 3:a469bbd294b5 1166 encoder=false;
nerit 3:a469bbd294b5 1167 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1168 dcSetting();
nerit 3:a469bbd294b5 1169 }
nerit 3:a469bbd294b5 1170 }
nerit 8:310f9e4eac7b 1171 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1172 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1173 } else {
nerit 3:a469bbd294b5 1174 tankLevelEnable=false;
nerit 3:a469bbd294b5 1175 }
nerit 8:310f9e4eac7b 1176 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1177 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1178 } else {
nerit 3:a469bbd294b5 1179 seedSensorEnable=false;
nerit 3:a469bbd294b5 1180 }
nerit 8:310f9e4eac7b 1181 if ((flags&0x08)==0x08) {
nerit 3:a469bbd294b5 1182 stendiNylonEnable=true;
nerit 8:310f9e4eac7b 1183 } else {
nerit 3:a469bbd294b5 1184 stendiNylonEnable=false;
nerit 3:a469bbd294b5 1185 }
nerit 8:310f9e4eac7b 1186 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1187 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1188 } else {
nerit 3:a469bbd294b5 1189 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1190 }
nerit 8:310f9e4eac7b 1191 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1192 tamburoStandard=1;
nerit 8:310f9e4eac7b 1193 } else {
nerit 3:a469bbd294b5 1194 tamburoStandard=0;
nerit 3:a469bbd294b5 1195 }
nerit 8:310f9e4eac7b 1196 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1197 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1198 } else {
nerit 3:a469bbd294b5 1199 currentCheckEnable=false;
nerit 3:a469bbd294b5 1200 }
nerit 3:a469bbd294b5 1201 }
nerit 8:310f9e4eac7b 1202 }
nerit 8:310f9e4eac7b 1203 }
nerit 10:9e70619e97ab 1204 #endif
nerit 10:9e70619e97ab 1205 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1206 enableSimula=1;
nerit 10:9e70619e97ab 1207 speedSimula=25;
nerit 10:9e70619e97ab 1208 avviaSimula=1;
nerit 10:9e70619e97ab 1209 simOk=1;
nerit 10:9e70619e97ab 1210 #endif
nerit 10:9e70619e97ab 1211 #if defined(pcSerial)
nerit 10:9e70619e97ab 1212 #if defined(checkLoop)
nerit 10:9e70619e97ab 1213 pc.printf("20\n");
nerit 10:9e70619e97ab 1214 #endif
nerit 10:9e70619e97ab 1215 #endif
bcostm 0:5701b41769fd 1216 }
bcostm 0:5701b41769fd 1217
nerit 3:a469bbd294b5 1218 //*******************************************************
nerit 8:310f9e4eac7b 1219 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1220 {
nerit 8:310f9e4eac7b 1221
nerit 3:a469bbd294b5 1222 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1223 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1224
nerit 3:a469bbd294b5 1225 //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 1226 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1227 // Analog reading
nerit 3:a469bbd294b5 1228 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1229 timeout.detach();
nerit 8:310f9e4eac7b 1230 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1231 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1232 }
nerit 3:a469bbd294b5 1233 //*******************************************************
nerit 8:310f9e4eac7b 1234 void DC_prepare()
nerit 8:310f9e4eac7b 1235 {
nerit 3:a469bbd294b5 1236 // direction or brake preparation
nerit 8:310f9e4eac7b 1237 if (DC_brake==1) {
nerit 3:a469bbd294b5 1238 SDmotorInA=1;
nerit 3:a469bbd294b5 1239 SDmotorInB=1;
nerit 8:310f9e4eac7b 1240 } else {
nerit 8:310f9e4eac7b 1241 if (DC_forward==0) {
nerit 3:a469bbd294b5 1242 SDmotorInA=1;
nerit 3:a469bbd294b5 1243 SDmotorInB=0;
nerit 8:310f9e4eac7b 1244 } else {
nerit 3:a469bbd294b5 1245 SDmotorInA=0;
nerit 3:a469bbd294b5 1246 SDmotorInB=1;
nerit 3:a469bbd294b5 1247 }
nerit 3:a469bbd294b5 1248 }
nerit 3:a469bbd294b5 1249 // fault reading
nerit 8:310f9e4eac7b 1250 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1251 SD_faultA=1;
nerit 8:310f9e4eac7b 1252 } else {
nerit 8:310f9e4eac7b 1253 SD_faultA=0;
nerit 8:310f9e4eac7b 1254 }
nerit 8:310f9e4eac7b 1255 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1256 SD_faultB=1;
nerit 8:310f9e4eac7b 1257 } else {
nerit 8:310f9e4eac7b 1258 SD_faultB=0;
nerit 8:310f9e4eac7b 1259 }
nerit 10:9e70619e97ab 1260 #if defined(pcSerial)
nerit 10:9e70619e97ab 1261 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1262 pc.printf("22\n");
nerit 10:9e70619e97ab 1263 #endif
nerit 10:9e70619e97ab 1264 #endif
nerit 3:a469bbd294b5 1265 }
nerit 3:a469bbd294b5 1266 //*******************************************************
nerit 12:b0fc1d313813 1267 void startDelay(){
nerit 12:b0fc1d313813 1268 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1269 int ritardo =0;
nerit 12:b0fc1d313813 1270 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1271 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1272 }
nerit 3:a469bbd294b5 1273 //*******************************************************
nerit 10:9e70619e97ab 1274 void quincTrigon(){
nerit 3:a469bbd294b5 1275 quincClock=true;
nerit 10:9e70619e97ab 1276 #if defined(pcSerial)
nerit 10:9e70619e97ab 1277 #if defined(checkLoop)
nerit 10:9e70619e97ab 1278 pc.printf("24\n");
nerit 10:9e70619e97ab 1279 #endif
nerit 10:9e70619e97ab 1280 #endif
nerit 3:a469bbd294b5 1281 }
nerit 10:9e70619e97ab 1282 void quincTrigof(){
nerit 3:a469bbd294b5 1283 quincClock=false;
nerit 10:9e70619e97ab 1284 #if defined(pcSerial)
nerit 10:9e70619e97ab 1285 #if defined(checkLoop)
nerit 10:9e70619e97ab 1286 pc.printf("25\n");
nerit 10:9e70619e97ab 1287 #endif
nerit 10:9e70619e97ab 1288 #endif
nerit 3:a469bbd294b5 1289 }
nerit 3:a469bbd294b5 1290 //*******************************************************
nerit 8:310f9e4eac7b 1291 void quinCalc()
nerit 8:310f9e4eac7b 1292 {
nerit 3:a469bbd294b5 1293 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1294 #if !defined(mezzo)
nerit 10:9e70619e97ab 1295 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1296 oldQuincIn=1;
nerit 10:9e70619e97ab 1297 if (quincStart==0) {
nerit 10:9e70619e97ab 1298 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1299 quincTime.reset();
nerit 10:9e70619e97ab 1300 quincTimeSD.reset();
nerit 10:9e70619e97ab 1301 quincStart=1;
nerit 10:9e70619e97ab 1302 }
nerit 3:a469bbd294b5 1303 }
nerit 10:9e70619e97ab 1304 if(quincClock==false) {
nerit 3:a469bbd294b5 1305 oldQuincIn=0;
nerit 3:a469bbd294b5 1306 }
nerit 10:9e70619e97ab 1307 #else
nerit 10:9e70619e97ab 1308 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1309 oldQuincIn=1;
nerit 10:9e70619e97ab 1310 if (quincStart==0) {
nerit 10:9e70619e97ab 1311 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1312 quincTime.reset();
nerit 10:9e70619e97ab 1313 quincStart=1;
nerit 10:9e70619e97ab 1314 }
nerit 3:a469bbd294b5 1315 }
nerit 10:9e70619e97ab 1316 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1317 if (quincClock==false) {
nerit 10:9e70619e97ab 1318 oldQuincIn=0;
nerit 10:9e70619e97ab 1319 }
nerit 10:9e70619e97ab 1320 } else {
nerit 10:9e70619e97ab 1321 if (quincClock==true) {
nerit 10:9e70619e97ab 1322 oldQuincIn=0;
nerit 10:9e70619e97ab 1323 }
nerit 10:9e70619e97ab 1324 }
nerit 10:9e70619e97ab 1325 #endif
nerit 3:a469bbd294b5 1326 //****************************************************************************************
nerit 8:310f9e4eac7b 1327 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1328 if (countPicks==0) {
nerit 8:310f9e4eac7b 1329 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1330 // decelera
nerit 3:a469bbd294b5 1331 countPicks=1;
nerit 3:a469bbd294b5 1332 }
nerit 8:310f9e4eac7b 1333 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1334 // accelera
nerit 3:a469bbd294b5 1335 countPicks=2;
nerit 3:a469bbd294b5 1336 }
nerit 3:a469bbd294b5 1337 }
nerit 8:310f9e4eac7b 1338 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1339 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1340 scostamento = oldQuincTimeSD;
nerit 17:9629eb019892 1341 if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit 3:a469bbd294b5 1342 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1343 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1344 #if defined(pcSerial)
nerit 3:a469bbd294b5 1345 #if defined(laq)
nerit 3:a469bbd294b5 1346 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1347 #endif
nerit 3:a469bbd294b5 1348 #endif
nerit 3:a469bbd294b5 1349 }
nerit 3:a469bbd294b5 1350 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1351 }
nerit 8:310f9e4eac7b 1352 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1353 scostamento = (double)quincTime.read_ms();
nerit 17:9629eb019892 1354 if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit 3:a469bbd294b5 1355 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1356 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1357 #if defined(pcSerial)
nerit 3:a469bbd294b5 1358 #if defined(laq)
nerit 8:310f9e4eac7b 1359 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1360 #endif
nerit 3:a469bbd294b5 1361 #endif
nerit 3:a469bbd294b5 1362 }
nerit 3:a469bbd294b5 1363 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1364 }
nerit 3:a469bbd294b5 1365 sincroQui=0;
nerit 3:a469bbd294b5 1366 quincStart=0;
nerit 3:a469bbd294b5 1367 countPicks=0;
nerit 5:2a3a64b52f54 1368 // questo e il primo
nerit 3:a469bbd294b5 1369 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1370 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1371 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1372 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1373 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1374 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1375 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1376 }
nerit 13:d1030d4e51a8 1377 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1378 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1379 }*/
nerit 3:a469bbd294b5 1380 }
nerit 8:310f9e4eac7b 1381 }
nerit 3:a469bbd294b5 1382 }
nerit 3:a469bbd294b5 1383 #endif
nerit 3:a469bbd294b5 1384 }
nerit 8:310f9e4eac7b 1385
nerit 3:a469bbd294b5 1386 //*******************************************************************
nerit 8:310f9e4eac7b 1387 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1388 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1389 canDataCheck=0;
nerit 17:9629eb019892 1390 double parametro = SDsectorStep/(double)quincSector;
nerit 3:a469bbd294b5 1391 double differenza=0.0f;
nerit 3:a469bbd294b5 1392 #if defined(mezzo)
nerit 8:310f9e4eac7b 1393 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1394 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1395 } else {
nerit 3:a469bbd294b5 1396 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1397 }
nerit 3:a469bbd294b5 1398 #else
nerit 3:a469bbd294b5 1399 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1400 #endif
nerit 17:9629eb019892 1401 if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit 8:310f9e4eac7b 1402 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1403 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1404 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1405 }
nerit 8:310f9e4eac7b 1406 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1407 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1408 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1409 }
nerit 5:2a3a64b52f54 1410 // questo e il secondo
nerit 3:a469bbd294b5 1411 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1412 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1413 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1414 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1415 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1416 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1417 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1418 }
nerit 13:d1030d4e51a8 1419 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1420 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1421 }*/
nerit 3:a469bbd294b5 1422 }
nerit 5:2a3a64b52f54 1423 }
nerit 3:a469bbd294b5 1424 }
nerit 3:a469bbd294b5 1425 #endif
nerit 3:a469bbd294b5 1426 }
nerit 3:a469bbd294b5 1427 }
nerit 8:310f9e4eac7b 1428
nerit 3:a469bbd294b5 1429 }
nerit 8:310f9e4eac7b 1430 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1431 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1432 }
nerit 8:310f9e4eac7b 1433 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1434 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1435 }
nerit 6:e8c18f0f399a 1436 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1437 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1438 pc.printf("26\n");
nerit 6:e8c18f0f399a 1439 #endif
nerit 6:e8c18f0f399a 1440 #endif
bcostm 0:5701b41769fd 1441 }
nerit 8:310f9e4eac7b 1442 // ----------------------------------------
nerit 3:a469bbd294b5 1443 #if defined(seedSensor)
nerit 3:a469bbd294b5 1444 void resetDelay(){
nerit 3:a469bbd294b5 1445 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1446 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1447 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1448 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1449 pc.printf("27\n");
nerit 8:310f9e4eac7b 1450 #endif
nerit 6:e8c18f0f399a 1451 #endif
nerit 3:a469bbd294b5 1452 }
nerit 3:a469bbd294b5 1453 #endif
nerit 18:7c978f69cc51 1454 // ----------------------------------------
nerit 17:9629eb019892 1455 void aggiornati(){
nerit 17:9629eb019892 1456 #if defined(runner)
nerit 17:9629eb019892 1457 legPos.detach();
nerit 17:9629eb019892 1458 TBoldPosition= (uint32_t) motor->get_position();
nerit 17:9629eb019892 1459 legPos.attach(&step_Reading,0.002f);
nerit 17:9629eb019892 1460 #if defined(pcSerial)
nerit 17:9629eb019892 1461 #if defined(TBperS)
nerit 17:9629eb019892 1462 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 17:9629eb019892 1463 #endif
nerit 17:9629eb019892 1464 #endif
nerit 17:9629eb019892 1465
nerit 17:9629eb019892 1466 #else
nerit 17:9629eb019892 1467 TBactualPosition=0;
nerit 17:9629eb019892 1468 #endif
nerit 17:9629eb019892 1469 }
nerit 17:9629eb019892 1470
nerit 3:a469bbd294b5 1471 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1472 // MAIN SECTION
nerit 3:a469bbd294b5 1473 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1474
nerit 3:a469bbd294b5 1475 //*******************************************************************************
nerit 8:310f9e4eac7b 1476 int main()
nerit 8:310f9e4eac7b 1477 {
nerit 6:e8c18f0f399a 1478 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1479 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1480 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1481 #endif
nerit 6:e8c18f0f399a 1482 #endif
nerit 8:310f9e4eac7b 1483
nerit 8:310f9e4eac7b 1484 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1485 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1486 #endif
nerit 8:310f9e4eac7b 1487
nerit 8:310f9e4eac7b 1488 wait(1.0f);
nerit 8:310f9e4eac7b 1489 wait(1.0f);
nerit 19:231b8931cabc 1490 wait(ritAvv);
nerit 8:310f9e4eac7b 1491
nerit 8:310f9e4eac7b 1492 //stepSetting();
nerit 8:310f9e4eac7b 1493
nerit 6:e8c18f0f399a 1494 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1495 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1496 //----- Initialization
nerit 8:310f9e4eac7b 1497 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1498 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1499 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1500 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1501 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1502
nerit 8:310f9e4eac7b 1503 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1504 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1505 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1506 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1507 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1508 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1509 }
nerit 6:e8c18f0f399a 1510
nerit 8:310f9e4eac7b 1511 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1512 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1513 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1514 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1515
nerit 8:310f9e4eac7b 1516 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1517 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1518 wait(1.0f);
nerit 8:310f9e4eac7b 1519 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1520 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1521 }
nerit 8:310f9e4eac7b 1522
nerit 3:a469bbd294b5 1523 // DC reset ad set
nerit 3:a469bbd294b5 1524 int decima = 100;
nerit 3:a469bbd294b5 1525 wait_ms(200);
nerit 3:a469bbd294b5 1526 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1527 wait_ms(2);
nerit 3:a469bbd294b5 1528 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1529 wait_ms(1);
nerit 3:a469bbd294b5 1530 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1531 wait_ms(3);
nerit 3:a469bbd294b5 1532 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1533 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1534 wait_ms(100);
nerit 3:a469bbd294b5 1535 DC_prepare();
nerit 8:310f9e4eac7b 1536
nerit 8:310f9e4eac7b 1537 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1538 intraPickTimer.start();
nerit 8:310f9e4eac7b 1539 speedTimeOut.start();
nerit 3:a469bbd294b5 1540 speedFilter.start();
nerit 3:a469bbd294b5 1541 seedFilter.start();
nerit 3:a469bbd294b5 1542 TBfilter.start();
nerit 3:a469bbd294b5 1543 sincroTimer.start();
nerit 3:a469bbd294b5 1544 rotationTimeOut.start();
nerit 3:a469bbd294b5 1545 metalTimer.start();
nerit 3:a469bbd294b5 1546 quincTime.start();
nerit 3:a469bbd294b5 1547 quincTimeSD.start();
nerit 8:310f9e4eac7b 1548 #if defined(runner)
nerit 8:310f9e4eac7b 1549 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1550 #endif
nerit 8:310f9e4eac7b 1551
nerit 3:a469bbd294b5 1552 //*******************************************************
nerit 3:a469bbd294b5 1553 // controls for check DC motor current
nerit 8:310f9e4eac7b 1554 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1555 wait_ms(500);
nerit 8:310f9e4eac7b 1556
nerit 12:b0fc1d313813 1557 dcVeri.attach(&controllaCorrente,2.0f);
nerit 13:d1030d4e51a8 1558 delaySpeedCheck.start();
nerit 12:b0fc1d313813 1559
nerit 8:310f9e4eac7b 1560 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1561 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1562 #endif
nerit 3:a469bbd294b5 1563
nerit 8:310f9e4eac7b 1564 if (inProva==0) {
nerit 3:a469bbd294b5 1565 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1566 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1567 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1568 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1569 #endif
nerit 3:a469bbd294b5 1570 #if defined(speedMaster)
nerit 3:a469bbd294b5 1571 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1572 #endif
nerit 3:a469bbd294b5 1573 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 1574 dcSetting();
nerit 3:a469bbd294b5 1575 #if defined(seedSensor)
nerit 3:a469bbd294b5 1576 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1577 #endif
nerit 8:310f9e4eac7b 1578 } else {
nerit 8:310f9e4eac7b 1579 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1580 }
nerit 8:310f9e4eac7b 1581
nerit 3:a469bbd294b5 1582 aggiornaParametri();
nerit 3:a469bbd294b5 1583
nerit 3:a469bbd294b5 1584 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1585 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1586 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1587
nerit 3:a469bbd294b5 1588 #if defined(provaStepper)
nerit 3:a469bbd294b5 1589 TBmotorRst=1;
nerit 3:a469bbd294b5 1590 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1591 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1592 #if defined(Zucca)
nerit 17:9629eb019892 1593 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1594 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1595 #else
nerit 18:7c978f69cc51 1596 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1597 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1598 #endif
nerit 3:a469bbd294b5 1599 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1600 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1601 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1602 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1603 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1604 #endif
nerit 6:e8c18f0f399a 1605 #endif
nerit 10:9e70619e97ab 1606 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 18:7c978f69cc51 1607 TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1608 #else
nerit 3:a469bbd294b5 1609 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1610 motor->set_home();
nerit 8:310f9e4eac7b 1611 motor->go_to(50);
nerit 8:310f9e4eac7b 1612 motor->wait_while_active();
nerit 8:310f9e4eac7b 1613 #if !defined(runner)
nerit 9:7f02256f6e8f 1614 #if defined(Zucca)
nerit 9:7f02256f6e8f 1615 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1616 #else
nerit 9:7f02256f6e8f 1617 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1618 #endif
nerit 8:310f9e4eac7b 1619 #endif
nerit 6:e8c18f0f399a 1620 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1621 #if defined(loStop)
nerit 6:e8c18f0f399a 1622 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1623 #endif
nerit 6:e8c18f0f399a 1624 #endif
nerit 6:e8c18f0f399a 1625 motor->soft_hiz();
nerit 3:a469bbd294b5 1626 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1627 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1628 #endif // end prova stepper
nerit 8:310f9e4eac7b 1629
nerit 8:310f9e4eac7b 1630 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1631
nerit 8:310f9e4eac7b 1632
nerit 3:a469bbd294b5 1633 //**************************************************************************************************************
nerit 3:a469bbd294b5 1634 // MAIN LOOP
nerit 3:a469bbd294b5 1635 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1636 while (true) {
nerit 6:e8c18f0f399a 1637 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1638 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1639 speedClock=0;
nerit 8:310f9e4eac7b 1640 }
nerit 8:310f9e4eac7b 1641
nerit 3:a469bbd294b5 1642 // inversione segnali ingressi
nerit 3:a469bbd294b5 1643 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1644 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1645 #else
nerit 8:310f9e4eac7b 1646 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1647 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1648 }
nerit 8:310f9e4eac7b 1649 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1650 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1651 }
nerit 8:310f9e4eac7b 1652 #endif
nerit 3:a469bbd294b5 1653 TBzeroPinInput = !TBzeroPinInputRev;
nerit 8:310f9e4eac7b 1654
nerit 3:a469bbd294b5 1655 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1656 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1657 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1658 quinconceOut=0;
nerit 3:a469bbd294b5 1659 }
nerit 8:310f9e4eac7b 1660 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1661 quinconceOut=1;
nerit 3:a469bbd294b5 1662 }
nerit 8:310f9e4eac7b 1663 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1664 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1665 posForQuinc=500;
nerit 3:a469bbd294b5 1666 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1667 }
nerit 8:310f9e4eac7b 1668 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1669 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1670 }
nerit 8:310f9e4eac7b 1671 }
nerit 3:a469bbd294b5 1672 #endif
nerit 3:a469bbd294b5 1673
nerit 3:a469bbd294b5 1674 // simulazione velocita
nerit 8:310f9e4eac7b 1675 if (enableSimula==1) {
nerit 3:a469bbd294b5 1676 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1677 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1678 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1679 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1680 } else {
nerit 3:a469bbd294b5 1681 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1682 }
nerit 8:310f9e4eac7b 1683 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1684 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1685 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1686 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1687 }
nerit 8:310f9e4eac7b 1688 } else {
nerit 3:a469bbd294b5 1689 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1690 spedSimclock.detach();
nerit 3:a469bbd294b5 1691 }
nerit 8:310f9e4eac7b 1692 } else {
nerit 3:a469bbd294b5 1693 spedSimclock.detach();
nerit 3:a469bbd294b5 1694 }
nerit 8:310f9e4eac7b 1695
nerit 3:a469bbd294b5 1696 //*******************************************************
nerit 3:a469bbd294b5 1697 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1698 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1699 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1700 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1701 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1702 }
nerit 3:a469bbd294b5 1703 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1704 } else {
nerit 8:310f9e4eac7b 1705 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1706 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1707 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1708 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1709 }
nerit 3:a469bbd294b5 1710 }
nerit 3:a469bbd294b5 1711
nerit 8:310f9e4eac7b 1712 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1713 lowSpeed=1;
nerit 8:310f9e4eac7b 1714 } else {
nerit 3:a469bbd294b5 1715 lowSpeed=0;
nerit 3:a469bbd294b5 1716 }
bcostm 2:35f13b7f3659 1717
nerit 3:a469bbd294b5 1718 //**************************************************************************************************************
nerit 3:a469bbd294b5 1719 //**************************************************************************************************************
nerit 3:a469bbd294b5 1720 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1721 //**************************************************************************************************************
nerit 3:a469bbd294b5 1722 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1723
nerit 8:310f9e4eac7b 1724 if (inProva==0) {
nerit 20:4a400a4cc419 1725 // simulazione stepper
nerit 20:4a400a4cc419 1726 if (simStepper==1){
nerit 20:4a400a4cc419 1727 oldSimStepper=true;
nerit 20:4a400a4cc419 1728 simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit 20:4a400a4cc419 1729 if (oldSimStepSpeed!=simStepSpeed){
nerit 20:4a400a4cc419 1730 motor->run(StepperMotor::FWD,simStepSpeed);
nerit 20:4a400a4cc419 1731 oldSimStepSpeed=simStepSpeed;
nerit 20:4a400a4cc419 1732 }
nerit 20:4a400a4cc419 1733 }else{
nerit 20:4a400a4cc419 1734 if (oldSimStepper==true){
nerit 20:4a400a4cc419 1735 oldSimStepper=false;
nerit 20:4a400a4cc419 1736 motor->soft_hiz();
nerit 20:4a400a4cc419 1737 oldSimStepSpeed=0.0f;
nerit 20:4a400a4cc419 1738 }
nerit 20:4a400a4cc419 1739 }
nerit 8:310f9e4eac7b 1740 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1741 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1742 } else {
nerit 6:e8c18f0f399a 1743 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1744 }
nerit 8:310f9e4eac7b 1745 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1746 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1747 }
nerit 3:a469bbd294b5 1748 // ----------------------------------------
nerit 3:a469bbd294b5 1749 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1750 // ----------------------------------------
nerit 8:310f9e4eac7b 1751 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1752 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1753 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1754 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1755 }
nerit 3:a469bbd294b5 1756 }
nerit 8:310f9e4eac7b 1757 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1758 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1759 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1760 intraPickTimer.reset();
nerit 3:a469bbd294b5 1761 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1762 seedFilter.reset();
nerit 3:a469bbd294b5 1763 sincroTimer.reset();
nerit 3:a469bbd294b5 1764 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1765 quincTime.reset();
nerit 3:a469bbd294b5 1766 quincTimeSD.reset();
nerit 3:a469bbd294b5 1767 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1768 sincroQui=1;
nerit 3:a469bbd294b5 1769 SDwheelTimer.reset();
nerit 13:d1030d4e51a8 1770 dcEncoderCnt=0;
nerit 3:a469bbd294b5 1771 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1772 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1773 posForQuinc=500;
nerit 3:a469bbd294b5 1774 }
nerit 17:9629eb019892 1775 if (checkSDrotation==0) {
nerit 17:9629eb019892 1776 checkSDrotation=1;
nerit 17:9629eb019892 1777 SDwheelTimer.start();
nerit 17:9629eb019892 1778 }
nerit 3:a469bbd294b5 1779 #endif
nerit 8:310f9e4eac7b 1780 if (quincCnt<10) {
nerit 3:a469bbd294b5 1781 quincCnt++;
nerit 3:a469bbd294b5 1782 }
nerit 8:310f9e4eac7b 1783 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1784 beccoPronto=1;
nerit 3:a469bbd294b5 1785 }
nerit 3:a469bbd294b5 1786 lockStart=0;
nerit 3:a469bbd294b5 1787 double fase1=0.0f;
nerit 3:a469bbd294b5 1788 forzaFase=0;
nerit 3:a469bbd294b5 1789 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1790 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1791 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1792 } else {
nerit 8:310f9e4eac7b 1793 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1794 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1795 } else {
nerit 3:a469bbd294b5 1796 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1797 }
nerit 8:310f9e4eac7b 1798 if (fase1 > limite) {
nerit 3:a469bbd294b5 1799 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 1800 }
nerit 8:310f9e4eac7b 1801 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1802 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1803 forzaFase=1;
nerit 3:a469bbd294b5 1804 }
nerit 3:a469bbd294b5 1805 trigRepos=1;
nerit 3:a469bbd294b5 1806 }
nerit 3:a469bbd294b5 1807 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1808 #if defined(pcSerial)
nerit 3:a469bbd294b5 1809 #if defined(inCorre)
nerit 3:a469bbd294b5 1810 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1811 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1812 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1813 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1814 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1815 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1816 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1817 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1818 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1819 #endif
nerit 3:a469bbd294b5 1820 #endif
nerit 19:231b8931cabc 1821 if (tractorSpeed_MtS_timed>0.2f){
nerit 17:9629eb019892 1822 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 17:9629eb019892 1823 if ((aspettaStart==0)) {
nerit 17:9629eb019892 1824 if (firstStart==0) {
nerit 17:9629eb019892 1825 all_pickSignal=1;
nerit 17:9629eb019892 1826 }
nerit 3:a469bbd294b5 1827 }
nerit 3:a469bbd294b5 1828 }
nerit 3:a469bbd294b5 1829 }
nerit 3:a469bbd294b5 1830 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1831 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1832 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1833 #if defined(pcSerial)
nerit 10:9e70619e97ab 1834 #if defined(Qnca)
nerit 10:9e70619e97ab 1835 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1836 #endif
nerit 3:a469bbd294b5 1837 #endif
nerit 3:a469bbd294b5 1838 }
nerit 8:310f9e4eac7b 1839 if (encoder==false) {
nerit 3:a469bbd294b5 1840 pulseRised2=1;
nerit 3:a469bbd294b5 1841 }
nerit 3:a469bbd294b5 1842 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1843 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1844 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1845 cntSpeedError++;
nerit 18:7c978f69cc51 1846 if (cntSpeedError >= 5){
nerit 10:9e70619e97ab 1847 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1848 }
nerit 3:a469bbd294b5 1849 }
nerit 3:a469bbd294b5 1850 }
nerit 17:9629eb019892 1851 if (tractorSpeed_MtS_timed>0.2f){
nerit 18:7c978f69cc51 1852 double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit 17:9629eb019892 1853 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 17:9629eb019892 1854 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 17:9629eb019892 1855 all_speedError =1;
nerit 17:9629eb019892 1856 }
nerit 3:a469bbd294b5 1857 }
nerit 3:a469bbd294b5 1858 }
nerit 3:a469bbd294b5 1859 #endif
nerit 3:a469bbd294b5 1860 //*******************************************
nerit 3:a469bbd294b5 1861 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1862 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1863 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1864 #if defined(pcSerial)
nerit 10:9e70619e97ab 1865 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1866 pc.printf("forza\n");
nerit 10:9e70619e97ab 1867 #endif
nerit 8:310f9e4eac7b 1868 #endif
nerit 6:e8c18f0f399a 1869 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1870 }
nerit 8:310f9e4eac7b 1871 aggioVelocita();
nerit 3:a469bbd294b5 1872 }
nerit 3:a469bbd294b5 1873 // ----------------------------------------
nerit 8:310f9e4eac7b 1874 // check SD fase
nerit 8:310f9e4eac7b 1875 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1876 forzaFase=0;
nerit 8:310f9e4eac7b 1877 if (trigRepos==1) {
nerit 3:a469bbd294b5 1878 SDactualPosition=0;
nerit 8:310f9e4eac7b 1879 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1880 countCicli++;
nerit 6:e8c18f0f399a 1881 trigCicli=1;
nerit 6:e8c18f0f399a 1882 }
nerit 8:310f9e4eac7b 1883 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1884 aspettaStart=0;
nerit 6:e8c18f0f399a 1885 }
nerit 8:310f9e4eac7b 1886 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1887 syncroCheck=1;
nerit 6:e8c18f0f399a 1888 beccoPronto=0;
nerit 6:e8c18f0f399a 1889 }
nerit 8:310f9e4eac7b 1890 if (trigTB==0) {
nerit 3:a469bbd294b5 1891 inhibit=1;
nerit 3:a469bbd294b5 1892 trigSD=1;
nerit 8:310f9e4eac7b 1893 } else {
nerit 3:a469bbd294b5 1894 inhibit=0;
nerit 3:a469bbd294b5 1895 trigTB=0;
nerit 3:a469bbd294b5 1896 trigSD=0;
nerit 3:a469bbd294b5 1897 }
nerit 3:a469bbd294b5 1898 trigRepos=0;
nerit 3:a469bbd294b5 1899 }
nerit 8:310f9e4eac7b 1900 } else {
nerit 3:a469bbd294b5 1901 trigCicli=0;
nerit 3:a469bbd294b5 1902 }
nerit 8:310f9e4eac7b 1903 // ----------------------------------------
nerit 3:a469bbd294b5 1904 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1905 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1906 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1907 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1908 }
nerit 8:310f9e4eac7b 1909 }
nerit 20:4a400a4cc419 1910 if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit 3:a469bbd294b5 1911 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1912 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1913 stopCicloTB=1;
nerit 3:a469bbd294b5 1914 startCicloTB=0;
nerit 3:a469bbd294b5 1915 }
nerit 3:a469bbd294b5 1916 TBfilter.reset();
nerit 3:a469bbd294b5 1917 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1918 #if defined(runner)
nerit 8:310f9e4eac7b 1919 legPos.detach();
nerit 8:310f9e4eac7b 1920 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1921 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1922 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1923 #if defined(TBperS)
nerit 8:310f9e4eac7b 1924 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1925 #endif
nerit 8:310f9e4eac7b 1926 #endif
nerit 8:310f9e4eac7b 1927
nerit 8:310f9e4eac7b 1928 #else
nerit 8:310f9e4eac7b 1929 TBactualPosition=0;
nerit 8:310f9e4eac7b 1930 #endif
nerit 8:310f9e4eac7b 1931 if (cntTbError>0) {
nerit 3:a469bbd294b5 1932 cntCellsCorrect++;
nerit 3:a469bbd294b5 1933 }
nerit 19:231b8931cabc 1934 if (cntCellsCorrect>0) {
nerit 3:a469bbd294b5 1935 cntTbError=0;
nerit 3:a469bbd294b5 1936 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1937 }
nerit 3:a469bbd294b5 1938 // conteggio celle erogate
nerit 8:310f9e4eac7b 1939 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1940 cellsCounterLow++;
nerit 8:310f9e4eac7b 1941 } else {
nerit 3:a469bbd294b5 1942 cellsCounterHig++;
nerit 3:a469bbd294b5 1943 cellsCounterLow=0;
nerit 3:a469bbd294b5 1944 }
nerit 3:a469bbd294b5 1945 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1946 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1947 cntCellsForLoad++;
nerit 14:e2b5efa06c41 1948 if (cntCellsForLoad >= 10) {
nerit 8:310f9e4eac7b 1949 stopCicloTB=1;
nerit 3:a469bbd294b5 1950 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1951 }
nerit 8:310f9e4eac7b 1952 } else {
nerit 3:a469bbd294b5 1953 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1954 }
nerit 3:a469bbd294b5 1955 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1956 if (trigSD==0) {
nerit 3:a469bbd294b5 1957 inhibit=1;
nerit 3:a469bbd294b5 1958 trigTB=1;
nerit 8:310f9e4eac7b 1959 } else {
nerit 3:a469bbd294b5 1960 inhibit=0;
nerit 3:a469bbd294b5 1961 trigTB=0;
nerit 3:a469bbd294b5 1962 trigSD=0;
nerit 3:a469bbd294b5 1963 }
nerit 3:a469bbd294b5 1964 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1965 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1966 cntCellsForReload++;
nerit 8:310f9e4eac7b 1967 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1968 TBmotorDirecti=TBforward; // rotazione normale
nerit 8:310f9e4eac7b 1969 #if defined(runner)
nerit 9:7f02256f6e8f 1970 #if defined(Zucca)
nerit 9:7f02256f6e8f 1971 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1972 #else
nerit 9:7f02256f6e8f 1973 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1974 #endif
nerit 8:310f9e4eac7b 1975 #else
nerit 9:7f02256f6e8f 1976 #if defined(Zucca)
nerit 9:7f02256f6e8f 1977 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1978 #else
nerit 9:7f02256f6e8f 1979 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1980 #endif
nerit 8:310f9e4eac7b 1981 #endif
nerit 3:a469bbd294b5 1982 erroreTamburo=0;
nerit 3:a469bbd294b5 1983 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 1984 }
nerit 3:a469bbd294b5 1985 }
nerit 3:a469bbd294b5 1986 #if defined(seedSensor)
nerit 3:a469bbd294b5 1987 resetDelay();
nerit 3:a469bbd294b5 1988 delaySeedCheck.start();
nerit 3:a469bbd294b5 1989 #endif
nerit 3:a469bbd294b5 1990 }
nerit 20:4a400a4cc419 1991 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit 8:310f9e4eac7b 1992 if (firstStart==0) {
nerit 18:7c978f69cc51 1993 if (tractorSpeed_MtS_timed>0.4f){
nerit 17:9629eb019892 1994 if (cntTbError>5) {
nerit 17:9629eb019892 1995 all_cellSignal=1;
nerit 17:9629eb019892 1996 #if defined(seedSensor)
nerit 17:9629eb019892 1997 resetDelay();
nerit 17:9629eb019892 1998 #endif
nerit 17:9629eb019892 1999 }
nerit 3:a469bbd294b5 2000 }
nerit 3:a469bbd294b5 2001 }
nerit 8:310f9e4eac7b 2002 if (erroreTamburo==0) {
nerit 17:9629eb019892 2003 if (cellsCountSet>1){
nerit 17:9629eb019892 2004 erroreTamburo=1;
nerit 17:9629eb019892 2005 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 17:9629eb019892 2006 #if defined(runner)
nerit 17:9629eb019892 2007 #if defined(Zucca)
nerit 17:9629eb019892 2008 motor->run(StepperMotor::FWD);
nerit 17:9629eb019892 2009 #else
nerit 17:9629eb019892 2010 motor->run(StepperMotor::BWD);
nerit 17:9629eb019892 2011 #endif
nerit 9:7f02256f6e8f 2012 #else
nerit 17:9629eb019892 2013 #if defined(Zucca)
nerit 17:9629eb019892 2014 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 17:9629eb019892 2015 #else
nerit 17:9629eb019892 2016 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 17:9629eb019892 2017 #endif
nerit 9:7f02256f6e8f 2018 #endif
nerit 17:9629eb019892 2019 }
nerit 3:a469bbd294b5 2020 cntCellsForReload=0;
nerit 17:9629eb019892 2021 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2022 cntTbError++;
nerit 17:9629eb019892 2023 aggiornati();
nerit 17:9629eb019892 2024 }else{
nerit 17:9629eb019892 2025 cntTbError=0;
nerit 17:9629eb019892 2026 }
nerit 3:a469bbd294b5 2027 #if defined(seedSensor)
nerit 3:a469bbd294b5 2028 resetDelay();
nerit 3:a469bbd294b5 2029 #endif
nerit 3:a469bbd294b5 2030 }
nerit 3:a469bbd294b5 2031 }
nerit 17:9629eb019892 2032 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2033 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
nerit 17:9629eb019892 2034 if (firstStart==0) {
nerit 17:9629eb019892 2035 all_noStepRota=1;
nerit 17:9629eb019892 2036 #if defined(seedSensor)
nerit 17:9629eb019892 2037 resetDelay();
nerit 17:9629eb019892 2038 #endif
nerit 17:9629eb019892 2039 }
nerit 17:9629eb019892 2040 cntTbError=0;
nerit 3:a469bbd294b5 2041 }
nerit 3:a469bbd294b5 2042 }
nerit 8:310f9e4eac7b 2043 // ----------------------------------------
nerit 3:a469bbd294b5 2044 // read and manage joystick
nerit 20:4a400a4cc419 2045 if ((loadDaCan==1)&(simStepper==0)) {
nerit 8:310f9e4eac7b 2046 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2047 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2048 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2049 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2050 #endif
nerit 8:310f9e4eac7b 2051 #endif
nerit 6:e8c18f0f399a 2052 ciclaTB();
nerit 8:310f9e4eac7b 2053 }
nerit 3:a469bbd294b5 2054 }
nerit 8:310f9e4eac7b 2055
nerit 8:310f9e4eac7b 2056 //***************************************************************************************************
nerit 8:310f9e4eac7b 2057 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2058 //
nerit 3:a469bbd294b5 2059 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2060 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2061 if (pulseRised==1) {
nerit 12:b0fc1d313813 2062 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2063 pulseRised=0;
nerit 3:a469bbd294b5 2064 pulseRised1=1;
nerit 3:a469bbd294b5 2065 speedMediaCalc();
nerit 3:a469bbd294b5 2066 // calcola velocità trattore
nerit 8:310f9e4eac7b 2067 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2068 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2069 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 13:d1030d4e51a8 2070 //TODO: limite inferiore e superiore per non modificare la velocità selezionata
nerit 13:d1030d4e51a8 2071 // serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo
nerit 3:a469bbd294b5 2072 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 13:d1030d4e51a8 2073 if (delaySpeedCheck.read()>=5.0f){
nerit 13:d1030d4e51a8 2074 if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit 13:d1030d4e51a8 2075 tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit 13:d1030d4e51a8 2076 }
nerit 13:d1030d4e51a8 2077 }
nerit 10:9e70619e97ab 2078 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2079 }
nerit 17:9629eb019892 2080 /*if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2081 checkSDrotation=1;
nerit 3:a469bbd294b5 2082 SDwheelTimer.start();
nerit 17:9629eb019892 2083 }*/
nerit 3:a469bbd294b5 2084 }
nerit 3:a469bbd294b5 2085 }
nerit 3:a469bbd294b5 2086 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2087 } else {
nerit 3:a469bbd294b5 2088 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2089 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2090 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2091 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2092 #if defined(seedSensor)
nerit 10:9e70619e97ab 2093 resetDelay();
nerit 10:9e70619e97ab 2094 #endif
nerit 3:a469bbd294b5 2095 pntMedia=0;
nerit 3:a469bbd294b5 2096 speedTimeOut.reset();
nerit 3:a469bbd294b5 2097 enableSpeed=0;
nerit 3:a469bbd294b5 2098 quincCnt=0;
nerit 3:a469bbd294b5 2099 }
nerit 3:a469bbd294b5 2100 }
nerit 8:310f9e4eac7b 2101
nerit 10:9e70619e97ab 2102 #if defined(seedSensor)
nerit 10:9e70619e97ab 2103 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2104 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2105 if (seedSee==0) {
nerit 10:9e70619e97ab 2106 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2107 }
nerit 10:9e70619e97ab 2108 resetDelay();
nerit 3:a469bbd294b5 2109 }
nerit 3:a469bbd294b5 2110 }
nerit 10:9e70619e97ab 2111 #endif
nerit 3:a469bbd294b5 2112 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2113 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2114 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2115 enableSpeed=0;
nerit 3:a469bbd294b5 2116 }*/
nerit 3:a469bbd294b5 2117 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2118 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2119 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2120 }*/
nerit 8:310f9e4eac7b 2121 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2122 // cycle logic control section
nerit 8:310f9e4eac7b 2123 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2124 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2125 if(simOk==0) {
nerit 8:310f9e4eac7b 2126 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2127 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2128 }
nerit 8:310f9e4eac7b 2129 }
nerit 20:4a400a4cc419 2130 if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2131 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2132 #if defined(Qncc)
nerit 8:310f9e4eac7b 2133 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2134
nerit 8:310f9e4eac7b 2135 #endif
nerit 8:310f9e4eac7b 2136 #endif
nerit 8:310f9e4eac7b 2137 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2138 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2139 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 2140 if (encoder==false) {
nerit 8:310f9e4eac7b 2141 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2142 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2143 } else {
nerit 8:310f9e4eac7b 2144 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2145 }
nerit 8:310f9e4eac7b 2146 } else {
nerit 17:9629eb019892 2147 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2148 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2149 #if defined(Qnce)
nerit 8:310f9e4eac7b 2150 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2151 #endif
nerit 5:2a3a64b52f54 2152 #endif
nerit 8:310f9e4eac7b 2153 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2154 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2155 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2156 #endif
nerit 8:310f9e4eac7b 2157 }
nerit 8:310f9e4eac7b 2158 //*******************************************
nerit 8:310f9e4eac7b 2159 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2160 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2161 double deltaV=0.0f;
nerit 12:b0fc1d313813 2162 double deltaD=0.0f;
nerit 12:b0fc1d313813 2163 double setV=0.0f;
nerit 12:b0fc1d313813 2164 double teoriaC=0.0f;
nerit 14:e2b5efa06c41 2165 double speedCorrectionMachine=0.0f;
nerit 17:9629eb019892 2166 //#if defined(speedMaster)
nerit 14:e2b5efa06c41 2167 speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2168 //#else
nerit 17:9629eb019892 2169 // speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2170 //#endif
nerit 14:e2b5efa06c41 2171 //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 17:9629eb019892 2172 if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2173 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2174 }
nerit 17:9629eb019892 2175 for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit 14:e2b5efa06c41 2176 if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2177 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2178 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2179 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 14:e2b5efa06c41 2180 //setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 14:e2b5efa06c41 2181 setV = speedCorrectionMachine-tabSpeed[ii];
nerit 12:b0fc1d313813 2182 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2183 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 14:e2b5efa06c41 2184 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2185 #if defined(boost1)
nerit 14:e2b5efa06c41 2186 pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit 14:e2b5efa06c41 2187 pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit 14:e2b5efa06c41 2188 #endif
nerit 14:e2b5efa06c41 2189 #endif
nerit 3:a469bbd294b5 2190 }
nerit 8:310f9e4eac7b 2191 }
nerit 14:e2b5efa06c41 2192 //if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 14:e2b5efa06c41 2193 // dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 14:e2b5efa06c41 2194 //}
nerit 17:9629eb019892 2195 if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit 14:e2b5efa06c41 2196 dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit 8:310f9e4eac7b 2197 }
nerit 8:310f9e4eac7b 2198 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2199 quinCalc();
nerit 8:310f9e4eac7b 2200 #endif
nerit 8:310f9e4eac7b 2201 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2202 #if defined(Qncd)
nerit 8:310f9e4eac7b 2203 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2204 #endif
nerit 8:310f9e4eac7b 2205 #endif
nerit 8:310f9e4eac7b 2206 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2207 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2208 if(encoder==false) {
nerit 8:310f9e4eac7b 2209 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2210 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2211 } else {
nerit 8:310f9e4eac7b 2212 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 2213 }
nerit 8:310f9e4eac7b 2214 } else {
nerit 8:310f9e4eac7b 2215 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 2216 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2217 #if defined(Qnce)
nerit 8:310f9e4eac7b 2218 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2219 #endif
nerit 3:a469bbd294b5 2220 #endif
nerit 3:a469bbd294b5 2221 }
nerit 8:310f9e4eac7b 2222 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2223 double k3=0.0f;
nerit 8:310f9e4eac7b 2224 double k4=0.0f;
nerit 8:310f9e4eac7b 2225 double k5=0.0f;
nerit 8:310f9e4eac7b 2226 double k6=0.0f;
nerit 8:310f9e4eac7b 2227 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2228 k3=0.010f;
nerit 8:310f9e4eac7b 2229 #else
nerit 8:310f9e4eac7b 2230 k3=0.050f;
nerit 8:310f9e4eac7b 2231 #endif
nerit 8:310f9e4eac7b 2232 k4=1.103f;
nerit 8:310f9e4eac7b 2233 k5=10.00f;
nerit 8:310f9e4eac7b 2234 k6=20.50f;
nerit 8:310f9e4eac7b 2235 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2236 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2237 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2238 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2239 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2240 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2241 double k1=0.0f;
nerit 8:310f9e4eac7b 2242 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2243 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2244 }
nerit 8:310f9e4eac7b 2245 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2246 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2247 }
nerit 8:310f9e4eac7b 2248 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2249 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2250 }
nerit 8:310f9e4eac7b 2251 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2252 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2253 }
nerit 8:310f9e4eac7b 2254 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2255 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2256 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2257 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2258 correzione = (1.0f - dutyTeorico);
nerit 14:e2b5efa06c41 2259 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2260 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2261 #endif
nerit 3:a469bbd294b5 2262 }
nerit 8:310f9e4eac7b 2263 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2264 correzione = -1.0f*dutyTeorico;
nerit 14:e2b5efa06c41 2265 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2266 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2267 #endif
nerit 3:a469bbd294b5 2268 }
nerit 3:a469bbd294b5 2269 }
nerit 8:310f9e4eac7b 2270 pulseRised1=0;
nerit 8:310f9e4eac7b 2271 pulseRised2=0;
nerit 8:310f9e4eac7b 2272 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2273 #if defined(Qnca)
nerit 8:310f9e4eac7b 2274 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2275 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 2276 #endif
nerit 8:310f9e4eac7b 2277 #endif
nerit 8:310f9e4eac7b 2278 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2279 #if defined(Qncb)
nerit 8:310f9e4eac7b 2280 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2281 #endif
nerit 8:310f9e4eac7b 2282 #endif
nerit 12:b0fc1d313813 2283 #if defined(pcSerial)
nerit 12:b0fc1d313813 2284 #if defined(boost)
nerit 12:b0fc1d313813 2285 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 2286 #endif
nerit 12:b0fc1d313813 2287 #endif
nerit 8:310f9e4eac7b 2288 }
nerit 12:b0fc1d313813 2289 // introduce il controllo di corrente
nerit 14:e2b5efa06c41 2290 double variazione=0.0f;
nerit 12:b0fc1d313813 2291 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2292 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2293 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2294 }
nerit 12:b0fc1d313813 2295 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2296 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2297 }
nerit 12:b0fc1d313813 2298 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2299 boostDcOut=0.2f;
nerit 14:e2b5efa06c41 2300 //all_genericals=1;
nerit 12:b0fc1d313813 2301 }
nerit 12:b0fc1d313813 2302 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2303 boostDcOut=-0.2f;
nerit 14:e2b5efa06c41 2304 //all_genericals=1;
nerit 12:b0fc1d313813 2305 }
nerit 14:e2b5efa06c41 2306 variazione=boostDcOut;
nerit 12:b0fc1d313813 2307 correggiCorrente=0;
nerit 8:310f9e4eac7b 2308 }
nerit 12:b0fc1d313813 2309 if (currentCheckEnable==true){
nerit 14:e2b5efa06c41 2310 correzione += variazione;
nerit 14:e2b5efa06c41 2311 variazione=0.0f;
nerit 8:310f9e4eac7b 2312 }
nerit 8:310f9e4eac7b 2313 DC_brake=0;
nerit 8:310f9e4eac7b 2314 DC_forward=1;
nerit 8:310f9e4eac7b 2315 DC_prepare();
bcostm 2:35f13b7f3659 2316
nerit 8:310f9e4eac7b 2317 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2318 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2319 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2320 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2321 }
nerit 8:310f9e4eac7b 2322 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2323 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2324 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2325 }
nerit 3:a469bbd294b5 2326
nerit 8:310f9e4eac7b 2327 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2328 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2329 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2330 } else {
nerit 3:a469bbd294b5 2331 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2332 }
nerit 8:310f9e4eac7b 2333 } else {
nerit 8:310f9e4eac7b 2334 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2335 }
nerit 8:310f9e4eac7b 2336 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2337 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2338 }
nerit 8:310f9e4eac7b 2339 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2340 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2341 }
nerit 17:9629eb019892 2342 if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;}
nerit 14:e2b5efa06c41 2343 if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;}
nerit 8:310f9e4eac7b 2344 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2345 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2346 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2347 }
nerit 8:310f9e4eac7b 2348 // allarme
nerit 17:9629eb019892 2349 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2350 if (SDwheelTimer.read_ms()>4000) {
nerit 17:9629eb019892 2351 if (firstStart==0) {
nerit 17:9629eb019892 2352 all_noDcRotati=1;
nerit 17:9629eb019892 2353 }
nerit 17:9629eb019892 2354 #if defined(pcSerial)
nerit 17:9629eb019892 2355 #if defined(VediAllarmi)
nerit 17:9629eb019892 2356 pc.printf("allarme no DC rotation");
nerit 17:9629eb019892 2357 #endif
nerit 17:9629eb019892 2358 #endif
nerit 3:a469bbd294b5 2359 }
nerit 8:310f9e4eac7b 2360 }
nerit 3:a469bbd294b5 2361
nerit 8:310f9e4eac7b 2362 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2363 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2364 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2365 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2366 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2367 syncroCheck=0;
nerit 8:310f9e4eac7b 2368 lockStart=1;
nerit 8:310f9e4eac7b 2369 periodo = TBperiod;
nerit 8:310f9e4eac7b 2370 #if !defined(runner)
nerit 9:7f02256f6e8f 2371 #if defined(Zucca)
nerit 9:7f02256f6e8f 2372 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2373 #else
nerit 9:7f02256f6e8f 2374 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2375 #endif
nerit 8:310f9e4eac7b 2376 #endif
nerit 8:310f9e4eac7b 2377 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2378 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2379 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2380 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2381 #endif
nerit 6:e8c18f0f399a 2382 #endif
nerit 8:310f9e4eac7b 2383 cambiaTB(periodo);
nerit 3:a469bbd294b5 2384 }
nerit 8:310f9e4eac7b 2385 }
nerit 8:310f9e4eac7b 2386 // controllo di stop
nerit 8:310f9e4eac7b 2387 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2388 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2389 syncroCheck=0;
nerit 8:310f9e4eac7b 2390 aspettaStart=1;
nerit 8:310f9e4eac7b 2391 countCicli=0;
nerit 6:e8c18f0f399a 2392 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2393 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2394 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2395 #endif
nerit 6:e8c18f0f399a 2396 #endif
nerit 8:310f9e4eac7b 2397 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2398 #if !defined(runner)
nerit 8:310f9e4eac7b 2399 TBticker.detach();
nerit 8:310f9e4eac7b 2400 #endif
nerit 8:310f9e4eac7b 2401 motor->soft_hiz();
nerit 8:310f9e4eac7b 2402 }
nerit 8:310f9e4eac7b 2403 }
nerit 8:310f9e4eac7b 2404 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2405 syncroCheck=0;
nerit 8:310f9e4eac7b 2406 lockStart=0;
nerit 8:310f9e4eac7b 2407 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2408 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2409 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2410 if (encoder==false) {
nerit 8:310f9e4eac7b 2411 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2412 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2413 } else {
nerit 8:310f9e4eac7b 2414 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2415 }
nerit 8:310f9e4eac7b 2416 } else {
nerit 8:310f9e4eac7b 2417 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2418 }
nerit 8:310f9e4eac7b 2419 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2420 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2421 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2422 }
nerit 8:310f9e4eac7b 2423 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2424 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2425 startCicloTB=1;
nerit 8:310f9e4eac7b 2426 }
nerit 8:310f9e4eac7b 2427 beccoPronto=0;
nerit 8:310f9e4eac7b 2428 }
nerit 8:310f9e4eac7b 2429 } else {
nerit 8:310f9e4eac7b 2430 // tamburo per zucca
nerit 8:310f9e4eac7b 2431 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2432 startCicloTB=1;
nerit 8:310f9e4eac7b 2433 }
nerit 8:310f9e4eac7b 2434 beccoPronto=0;
nerit 8:310f9e4eac7b 2435 }
nerit 8:310f9e4eac7b 2436 }
nerit 8:310f9e4eac7b 2437 ciclaTB();
nerit 8:310f9e4eac7b 2438 }
nerit 8:310f9e4eac7b 2439 //*************************************************************
nerit 8:310f9e4eac7b 2440 } else { // fine ciclo con velocita maggiore di 0
nerit 13:d1030d4e51a8 2441 delaySpeedCheck.reset();
nerit 8:310f9e4eac7b 2442 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2443 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2444 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2445 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2446 resetDelay();
nerit 8:310f9e4eac7b 2447 #endif
nerit 8:310f9e4eac7b 2448 checkSDrotation=0;
nerit 8:310f9e4eac7b 2449 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2450 aspettaStart=1;
nerit 8:310f9e4eac7b 2451 countCicli=0;
nerit 8:310f9e4eac7b 2452 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2453 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2454 correzione=0.0f;
nerit 8:310f9e4eac7b 2455 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2456 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2457 cntTbError=0;
nerit 8:310f9e4eac7b 2458 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2459 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2460 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2461 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2462 #endif
nerit 8:310f9e4eac7b 2463 #endif
nerit 8:310f9e4eac7b 2464 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2465 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2466 DC_brake=1;
nerit 8:310f9e4eac7b 2467 DC_prepare();
nerit 8:310f9e4eac7b 2468 metalTimer.reset();
nerit 8:310f9e4eac7b 2469 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2470 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2471 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2472 #endif
nerit 8:310f9e4eac7b 2473 #endif
nerit 8:310f9e4eac7b 2474 #if !defined(runner)
nerit 6:e8c18f0f399a 2475 TBticker.detach();
nerit 8:310f9e4eac7b 2476 #endif
nerit 8:310f9e4eac7b 2477 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2478 #if defined(loStop)
nerit 8:310f9e4eac7b 2479 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2480 #endif
nerit 8:310f9e4eac7b 2481 #endif
nerit 20:4a400a4cc419 2482 if(simStepper==0){
nerit 20:4a400a4cc419 2483 motor->soft_hiz();
nerit 20:4a400a4cc419 2484 motor->set_home();
nerit 20:4a400a4cc419 2485 }
nerit 18:7c978f69cc51 2486 cntSpeedError=0;
nerit 18:7c978f69cc51 2487 timeIntraPick=0.0f;
nerit 19:231b8931cabc 2488 memoIntraPick=0.001f;
nerit 19:231b8931cabc 2489 intraPickTimer.reset();
nerit 8:310f9e4eac7b 2490 pntMedia=0;
nerit 8:310f9e4eac7b 2491 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2492 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2493 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2494 #endif
nerit 8:310f9e4eac7b 2495 #endif
nerit 3:a469bbd294b5 2496 }
nerit 8:310f9e4eac7b 2497 }
nerit 8:310f9e4eac7b 2498
nerit 8:310f9e4eac7b 2499 //*************************************************************************************************
nerit 3:a469bbd294b5 2500 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2501 //*************************************************************************************************
nerit 6:e8c18f0f399a 2502 } //end inProva==0
nerit 3:a469bbd294b5 2503 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2504 } // end while
nerit 3:a469bbd294b5 2505 } // end main