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

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Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_maggio2020

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

Dependencies: mbed X_NUCLEO_IHM03A1_for

Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by Francesco Pistone

main.cpp@41:a0d9a71f8cb5, 2020-05-04 (annotated)

Committer:: nerit
Date:: Mon May 04 12:07:33 2020 +0000
Revision:: 41:a0d9a71f8cb5
Parent:: 40:42eae86457dd
Child:: 42:59ceb4b6bc69

modificato parametro accelerazione stepper

Who changed what in which revision?

User	Revision	Line number	New contents of line
nerit	3:a469bbd294b5	1
nerit	3:a469bbd294b5	2	//********************************************************************************************************************
nerit	3:a469bbd294b5	3	//********************************************************************************************************************
nerit	3:a469bbd294b5	4	// FIRMWARE SEMINATRICE MODULA
nerit	3:a469bbd294b5	5	// VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit	3:a469bbd294b5	6	// V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A
nerit	3:a469bbd294b5	7	// IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz
nerit	3:a469bbd294b5	8	// IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit	3:a469bbd294b5	9	// DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit	3:a469bbd294b5	10	// CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit	3:a469bbd294b5	11	// FIRST RELEASE OF BOARD DEC 2017
nerit	3:a469bbd294b5	12	// FIRST RELEASE OF FIRMWARE JAN 2018
nerit	3:a469bbd294b5	13	//
nerit	4:de1b296e9757	14	// THIS RELEASE: 10 february 2019
nerit	3:a469bbd294b5	15	//
nerit	8:310f9e4eac7b	16	// APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE
nerit	3:a469bbd294b5	17	//
nerit	3:a469bbd294b5	18	// 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit	3:a469bbd294b5	19	// IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit	3:a469bbd294b5	20	// IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit	3:a469bbd294b5	21	// PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit	3:a469bbd294b5	22	// ENCODER
nerit	3:a469bbd294b5	23	// 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit	3:a469bbd294b5	24	// 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit	3:a469bbd294b5	25	// 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01
nerit	4:de1b296e9757	26	// 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN
nerit	6:e8c18f0f399a	27	// 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE
nerit	3:a469bbd294b5	28	/********************
nerit	3:a469bbd294b5	29	IL FIRMWARE SI COMPONE DI 10 FILES:
nerit	3:a469bbd294b5	30	- main.cpp
nerit	3:a469bbd294b5	31	- main.hpp
nerit	3:a469bbd294b5	32	- iodefinition.hpp
nerit	3:a469bbd294b5	33	- canbus.hpp
nerit	3:a469bbd294b5	34	- parameters.hpp
nerit	4:de1b296e9757	35	- powerstep.hpp
nerit	3:a469bbd294b5	36	- timeandtick.hpp
nerit	3:a469bbd294b5	37	- variables.hpp
nerit	3:a469bbd294b5	38	- powerstep.hpp
nerit	3:a469bbd294b5	39	- watchdog.cpp
nerit	3:a469bbd294b5	40	- watchdog.h
nerit	8:310f9e4eac7b	41	ED UTILIZZA LE LIBRERIE STANDARD MBED PIU'
nerit	3:a469bbd294b5	42	UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit	3:a469bbd294b5	43	UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER
nerit	3:a469bbd294b5	44	*********************
nerit	3:a469bbd294b5	45	LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit	3:a469bbd294b5	46	GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit	3:a469bbd294b5	47	UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit	3:a469bbd294b5	48	UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit	3:a469bbd294b5	49	*********************
nerit	3:a469bbd294b5	50	LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit	8:310f9e4eac7b	51	IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit	3:a469bbd294b5	52	PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit	3:a469bbd294b5	53	PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit	3:a469bbd294b5	54	IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit	3:a469bbd294b5	55	IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit	3:a469bbd294b5	56	LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit	3:a469bbd294b5	57	IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit	3:a469bbd294b5	58	SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit	3:a469bbd294b5	59	PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit	3:a469bbd294b5	60	TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit	3:a469bbd294b5	61	IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit	3:a469bbd294b5	62	IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit	3:a469bbd294b5	63	IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit	3:a469bbd294b5	64	IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit	3:a469bbd294b5	65	LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit	3:a469bbd294b5	66	DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit	3:a469bbd294b5	67	IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit	3:a469bbd294b5	68	**********************
nerit	3:a469bbd294b5	69	TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit	3:a469bbd294b5	70	I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit	3:a469bbd294b5	71	AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit	3:a469bbd294b5	72	**********************
nerit	3:a469bbd294b5	73	ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit	3:a469bbd294b5	74	IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit	3:a469bbd294b5	75	LO STEPPER SEGUE IL DC.
nerit	3:a469bbd294b5	76	**********************
nerit	3:a469bbd294b5	77	IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit	3:a469bbd294b5	78	NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit	3:a469bbd294b5	79	**********************
nerit	3:a469bbd294b5	80	NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit	3:a469bbd294b5	81	**********************
nerit	3:a469bbd294b5	82	ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit	3:a469bbd294b5	83	AZZERAMENTO MANUALE
nerit	3:a469bbd294b5	84	STATISTICA DI SEMINA (CONTA LE CELLE)
nerit	3:a469bbd294b5	85	*/
nerit	3:a469bbd294b5	86	//********************************************************************************************************************
nerit	3:a469bbd294b5	87	//********************************************************************************************************************
nerit	3:a469bbd294b5	88	#include "main.hpp"
nerit	35:3165f4c1c7bf	89	#if defined(runner)
nerit	35:3165f4c1c7bf	90	/* Helper header files. */
nerit	35:3165f4c1c7bf	91	#include "DevSPI.h"
nerit	35:3165f4c1c7bf	92	/* Component specific header files. */
nerit	35:3165f4c1c7bf	93	#include "PowerStep01.h"
nerit	35:3165f4c1c7bf	94	#endif
nerit	3:a469bbd294b5	95	#include "timeandtick.hpp"
nerit	3:a469bbd294b5	96	#include "canbus.hpp"
nerit	3:a469bbd294b5	97	#include "watchdog.h"
nerit	3:a469bbd294b5	98	#include "iodefinition.hpp"
nerit	3:a469bbd294b5	99	#include "parameters.hpp"
nerit	3:a469bbd294b5	100	#include "variables.hpp"
nerit	35:3165f4c1c7bf	101	#if defined(runner)
nerit	35:3165f4c1c7bf	102	#include "powerstep.hpp"
nerit	35:3165f4c1c7bf	103	#endif
nerit	3:a469bbd294b5	104	//********************************************************************************************************************
nerit	3:a469bbd294b5	105	//********************************************************************************************************************
nerit	8:310f9e4eac7b	106	#if defined(runnerTos)
nerit	8:310f9e4eac7b	107	Thread thread;
nerit	8:310f9e4eac7b	108	#endif
nerit	3:a469bbd294b5	109
nerit	3:a469bbd294b5	110	/* Variables -----------------------------------------------------------------*/
nerit	3:a469bbd294b5	111
nerit	3:a469bbd294b5	112	/* Functions -----------------------------------------------------------------*/
nerit	3:a469bbd294b5	113
nerit	3:a469bbd294b5	114	/**
nerit	3:a469bbd294b5	115	* @brief This is an example of user handler for the flag interrupt.
nerit	3:a469bbd294b5	116	* @param None
nerit	3:a469bbd294b5	117	* @retval None
nerit	3:a469bbd294b5	118	* @note If needed, implement it, and then attach and enable it:
nerit	3:a469bbd294b5	119	* + motor->attach_flag_irq(&my_flag_irq_handler);
nerit	3:a469bbd294b5	120	* + motor->enable_flag_irq();
nerit	3:a469bbd294b5	121	* To disable it:
nerit	3:a469bbd294b5	122	* + motor->DisbleFlagIRQ();
nerit	3:a469bbd294b5	123	*/
nerit	35:3165f4c1c7bf	124	#if defined(runner)
nerit	3:a469bbd294b5	125	void my_flag_irq_handler(void)
nerit	3:a469bbd294b5	126	{
nerit	3:a469bbd294b5	127	/* Set ISR flag. */
nerit	3:a469bbd294b5	128	motor->isrFlag = TRUE;
nerit	3:a469bbd294b5	129	/* Get the value of the status register. */
nerit	3:a469bbd294b5	130	unsigned int statusRegister = motor->get_status();
nerit	10:9e70619e97ab	131	#if defined(pcSerial)
nerit	10:9e70619e97ab	132	pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit	10:9e70619e97ab	133	#endif
nerit	3:a469bbd294b5	134	/* Check SW_F flag: if not set, the SW input is opened */
nerit	3:a469bbd294b5	135	if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit	10:9e70619e97ab	136	#if defined(pcSerial)
nerit	8:310f9e4eac7b	137	pc.printf(" SW closed (connected to ground).\r\n");
nerit	10:9e70619e97ab	138	#endif
nerit	3:a469bbd294b5	139	}
nerit	3:a469bbd294b5	140	/* Check SW_EN bit */
nerit	3:a469bbd294b5	141	if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit	10:9e70619e97ab	142	#if defined(pcSerial)
nerit	8:310f9e4eac7b	143	pc.printf(" SW turn_on event.\r\n");
nerit	10:9e70619e97ab	144	#endif
nerit	3:a469bbd294b5	145	}
nerit	3:a469bbd294b5	146	/* Check Command Error flag: if set, the command received by SPI can't be */
nerit	3:a469bbd294b5	147	/* performed. This occurs for instance when a move command is sent to the */
nerit	3:a469bbd294b5	148	/* Powerstep01 while it is already running */
nerit	3:a469bbd294b5	149	if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit	10:9e70619e97ab	150	#if defined(pcSerial)
nerit	8:310f9e4eac7b	151	pc.printf(" Non-performable command detected.\r\n");
nerit	10:9e70619e97ab	152	#endif
nerit	8:310f9e4eac7b	153	}
nerit	3:a469bbd294b5	154	/* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit	3:a469bbd294b5	155	if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit	10:9e70619e97ab	156	#if defined(pcSerial)
nerit	8:310f9e4eac7b	157	pc.printf(" undervoltage lock-out.\r\n");
nerit	10:9e70619e97ab	158	#endif
nerit	8:310f9e4eac7b	159	}
nerit	3:a469bbd294b5	160	/* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit	3:a469bbd294b5	161	if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit	8:310f9e4eac7b	162	//thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit	10:9e70619e97ab	163	#if defined(pcSerial)
nerit	8:310f9e4eac7b	164	pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit	10:9e70619e97ab	165	#endif
nerit	8:310f9e4eac7b	166	}
nerit	3:a469bbd294b5	167	/* Check OCD flag: if not set, there is an overcurrent detection */
nerit	3:a469bbd294b5	168	if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit	10:9e70619e97ab	169	#if defined(pcSerial)
nerit	8:310f9e4eac7b	170	pc.printf(" Overcurrent detection.\r\n");
nerit	10:9e70619e97ab	171	#endif
nerit	3:a469bbd294b5	172	}
nerit	3:a469bbd294b5	173	/* Reset ISR flag. */
nerit	3:a469bbd294b5	174	motor->isrFlag = FALSE;
nerit	3:a469bbd294b5	175	}
nerit	35:3165f4c1c7bf	176	#endif
nerit	3:a469bbd294b5	177	/**
nerit	3:a469bbd294b5	178	* @brief This is an example of error handler.
nerit	3:a469bbd294b5	179	* @param[in] error Number of the error
nerit	3:a469bbd294b5	180	* @retval None
nerit	3:a469bbd294b5	181	* @note If needed, implement it, and then attach it:
nerit	3:a469bbd294b5	182	* + motor->attach_error_handler(&my_error_handler);
nerit	3:a469bbd294b5	183	*/
nerit	3:a469bbd294b5	184	void my_error_handler(uint16_t error)
nerit	3:a469bbd294b5	185	{
nerit	3:a469bbd294b5	186	/* Printing to the console. */
nerit	10:9e70619e97ab	187	#if defined(pcSerial)
nerit	10:9e70619e97ab	188	pc.printf("Error %d detected\r\n\n", error);
nerit	10:9e70619e97ab	189	#endif
nerit	8:310f9e4eac7b	190
nerit	3:a469bbd294b5	191	/* Infinite loop */
nerit	3:a469bbd294b5	192	//while (true) {
nerit	8:310f9e4eac7b	193	//}
nerit	3:a469bbd294b5	194	}
nerit	8:310f9e4eac7b	195	//*******************************************************************************
nerit	8:310f9e4eac7b	196	// FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit	8:310f9e4eac7b	197	//*******************************************************************************
nerit	8:310f9e4eac7b	198	#if defined(runner)
nerit	8:310f9e4eac7b	199	void step_Reading(){
nerit	8:310f9e4eac7b	200	//while(true){
nerit	8:310f9e4eac7b	201	/* Get current position of device and print to the console */
nerit	8:310f9e4eac7b	202	TBpassPosition= (uint32_t) motor->get_position();
nerit	34:eb04f4f41dfd	203	ildato=TBpassPosition;
nerit	8:310f9e4eac7b	204	if (TBpassPosition >= TBoldPosition){
nerit	8:310f9e4eac7b	205	TBactualPosition= ((TBpassPosition-TBoldPosition)TBreductionRatio);//10;
nerit	8:310f9e4eac7b	206	}else{
nerit	36:896cd03314f1	207	TBperiod=5.2f*TBrpm;
nerit	8:310f9e4eac7b	208	}
nerit	8:310f9e4eac7b	209	//wait_us(50); // 50 mS di intervallo lettura
nerit	8:310f9e4eac7b	210	//}
nerit	8:310f9e4eac7b	211	}
nerit	8:310f9e4eac7b	212	#endif
nerit	3:a469bbd294b5	213	//********************************************************************************************************************
nerit	3:a469bbd294b5	214	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	215	// TASK SECTION
nerit	3:a469bbd294b5	216	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	217	//************************************************************************
nerit	8:310f9e4eac7b	218	void aggioVelocita()
nerit	8:310f9e4eac7b	219	{
nerit	8:310f9e4eac7b	220	realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit	17:9629eb019892	221	tempoBecco = realGiroSD44.4444f; //(realGiroSD/360.0f)16000.0f;
nerit	8:310f9e4eac7b	222	frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit	8:310f9e4eac7b	223	semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit	8:310f9e4eac7b	224	seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit	39:6814c75dfa5c	225	TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit	8:310f9e4eac7b	226	#if defined(runner)
nerit	9:7f02256f6e8f	227	#if defined(Zucca)
nerit	9:7f02256f6e8f	228	TBperiod=5.2fTBrpm2.0f; //prova dopo test con contagiri
nerit	9:7f02256f6e8f	229	#else
nerit	17:9629eb019892	230	if (cellsNumber<8.0f){
nerit	34:eb04f4f41dfd	231	TBperiod=6.2fTBrpm;//4.8fTBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	232	}else{
nerit	17:9629eb019892	233	TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit	17:9629eb019892	234	}
nerit	9:7f02256f6e8f	235	#endif
nerit	38:79af1c65dd6f	236	#endif
nerit	38:79af1c65dd6f	237	#if defined(oldStepperDriver)
nerit	10:9e70619e97ab	238	TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit	8:310f9e4eac7b	239	TBperiod=1000000.0f/TBfrequency; // 715uS
nerit	8:310f9e4eac7b	240	#endif
nerit	8:310f9e4eac7b	241
nerit	8:310f9e4eac7b	242	}
nerit	3:a469bbd294b5	243	//************************************************************************
nerit	3:a469bbd294b5	244	// rise of seed speed 25 pulse sensor
nerit	10:9e70619e97ab	245	void sd25Fall(){
nerit	3:a469bbd294b5	246	timeHole=metalTimer.read_ms();
nerit	10:9e70619e97ab	247	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	248	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	249	metalTimer.reset();
nerit	8:310f9e4eac7b	250	if (speedFromPick==0) {
nerit	10:9e70619e97ab	251	speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit	3:a469bbd294b5	252	}
nerit	6:e8c18f0f399a	253	#if defined(pcSerial)
nerit	6:e8c18f0f399a	254	#if defined(checkLoop)
nerit	6:e8c18f0f399a	255	pc.printf("1\n");
nerit	6:e8c18f0f399a	256	#endif
nerit	6:e8c18f0f399a	257	#endif
nerit	3:a469bbd294b5	258	}
nerit	10:9e70619e97ab	259	//************************************************************************
nerit	3:a469bbd294b5	260	// rise of seed speed motor encoder
nerit	3:a469bbd294b5	261	void encoRise(){
nerit	3:a469bbd294b5	262	timeHole=metalTimer.read_us();
nerit	10:9e70619e97ab	263	double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit	10:9e70619e97ab	264	memoTimeHole = (double)timeHole;
nerit	3:a469bbd294b5	265	metalTimer.reset();
nerit	8:310f9e4eac7b	266	if (encoder==true) {
nerit	13:d1030d4e51a8	267	speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit	3:a469bbd294b5	268	pulseRised2=1;
nerit	13:d1030d4e51a8	269	dcEncoderCnt++;
nerit	13:d1030d4e51a8	270	double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit	13:d1030d4e51a8	271	prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit	13:d1030d4e51a8	272	#if defined(speedMaster)
nerit	13:d1030d4e51a8	273	if (quinconceActive==0) {
nerit	13:d1030d4e51a8	274	posForQuinc=500+(uint32_t)sincronizza;
nerit	13:d1030d4e51a8	275	}
nerit	13:d1030d4e51a8	276	#endif
nerit	3:a469bbd294b5	277	}
nerit	6:e8c18f0f399a	278	#if defined(pcSerial)
nerit	6:e8c18f0f399a	279	#if defined(checkLoop)
nerit	6:e8c18f0f399a	280	pc.printf("2\n");
nerit	6:e8c18f0f399a	281	#endif
nerit	6:e8c18f0f399a	282	#endif
nerit	8:310f9e4eac7b	283	aggioVelocita();
nerit	3:a469bbd294b5	284	}
nerit	6:e8c18f0f399a	285	//**************************************************
nerit	3:a469bbd294b5	286	// rise of seed presence sensor
nerit	3:a469bbd294b5	287	void seedSensorTask(){
nerit	3:a469bbd294b5	288	seedSee=1;
nerit	6:e8c18f0f399a	289	#if defined(pcSerial)
nerit	6:e8c18f0f399a	290	#if defined(checkLoop)
nerit	6:e8c18f0f399a	291	pc.printf("3\n");
nerit	6:e8c18f0f399a	292	#endif
nerit	6:e8c18f0f399a	293	#endif
nerit	3:a469bbd294b5	294	}
nerit	3:a469bbd294b5	295	//**************************************************
nerit	3:a469bbd294b5	296	// generate speed clock when speed is simulated from Tritecnica display
nerit	8:310f9e4eac7b	297	void speedSimulationClock(){
nerit	3:a469bbd294b5	298	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	299	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	300	speedTimer.reset();
nerit	3:a469bbd294b5	301	pulseRised=1;
nerit	3:a469bbd294b5	302	speedFilter.reset();
nerit	6:e8c18f0f399a	303	#if defined(pcSerial)
nerit	6:e8c18f0f399a	304	#if defined(checkLoop)
nerit	6:e8c18f0f399a	305	pc.printf("4\n");
nerit	6:e8c18f0f399a	306	#endif
nerit	6:e8c18f0f399a	307	#endif
nerit	3:a469bbd294b5	308	}
nerit	3:a469bbd294b5	309	//*******************************************************
nerit	3:a469bbd294b5	310	// interrupt task for tractor speed reading
nerit	3:a469bbd294b5	311	//*******************************************************
nerit	3:a469bbd294b5	312	void tractorReadSpeed(){
nerit	8:310f9e4eac7b	313	if ((oldTractorSpeedRead==0)) {
nerit	3:a469bbd294b5	314	lastPulseRead=speedTimer.read_us();
nerit	3:a469bbd294b5	315	oldLastPulseRead=lastPulseRead;
nerit	3:a469bbd294b5	316	speedTimer.reset();
nerit	3:a469bbd294b5	317	pulseRised=1;
nerit	3:a469bbd294b5	318	oldTractorSpeedRead=1;
nerit	3:a469bbd294b5	319	}
nerit	8:310f9e4eac7b	320	speedClock=1;
nerit	3:a469bbd294b5	321	speedFilter.reset();
nerit	10:9e70619e97ab	322	cntSpeedError=0;
nerit	6:e8c18f0f399a	323	#if defined(pcSerial)
nerit	6:e8c18f0f399a	324	#if defined(checkLoop)
nerit	6:e8c18f0f399a	325	pc.printf("5\n");
nerit	6:e8c18f0f399a	326	#endif
nerit	6:e8c18f0f399a	327	#endif
nerit	3:a469bbd294b5	328	}
nerit	3:a469bbd294b5	329	//*******************************************************
nerit	8:310f9e4eac7b	330	void speedMediaCalc()
nerit	8:310f9e4eac7b	331	{
nerit	3:a469bbd294b5	332	double lastPd=(double) lastPulseRead/1000.0f;
nerit	3:a469bbd294b5	333	pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit	8:310f9e4eac7b	334	if (enableSimula==1) {
nerit	3:a469bbd294b5	335	double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	336	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	337	}
nerit	3:a469bbd294b5	338	mediaSpeed[0]=lastPd;
nerit	3:a469bbd294b5	339	OLDpulseSpeedInterval=pulseSpeedInterval;
nerit	10:9e70619e97ab	340	#if defined(pcSerial)
nerit	10:9e70619e97ab	341	#if defined(checkLoop)
nerit	10:9e70619e97ab	342	pc.printf("6\n");
nerit	10:9e70619e97ab	343	#endif
nerit	10:9e70619e97ab	344	#endif
nerit	8:310f9e4eac7b	345	}
bcostm	0:5701b41769fd	346
nerit	3:a469bbd294b5	347	//*******************************************************
nerit	3:a469bbd294b5	348	// clocked task for manage virtual encoder of seed wheel i/o
nerit	3:a469bbd294b5	349	//*******************************************************
nerit	3:a469bbd294b5	350	//*******************************************************
nerit	8:310f9e4eac7b	351	void step_SDPulseOut()
nerit	8:310f9e4eac7b	352	{
nerit	3:a469bbd294b5	353	SDactualPosition++;
nerit	3:a469bbd294b5	354	prePosSD++;
nerit	10:9e70619e97ab	355	#if defined(speedMaster)
nerit	10:9e70619e97ab	356	posForQuinc++;
nerit	10:9e70619e97ab	357	#endif
nerit	10:9e70619e97ab	358	#if defined(pcSerial)
nerit	10:9e70619e97ab	359	#if defined(checkLoop)
nerit	10:9e70619e97ab	360	pc.printf("7\n");
nerit	10:9e70619e97ab	361	#endif
nerit	10:9e70619e97ab	362	#endif
nerit	3:a469bbd294b5	363	}
nerit	3:a469bbd294b5	364	//*******************************************************
nerit	18:7c978f69cc51	365	void step_TBPulseOut(){
nerit	3:a469bbd294b5	366	TBmotorStepOut=!TBmotorStepOut;
nerit	8:310f9e4eac7b	367	if (TBmotorStepOut==0) {
nerit	8:310f9e4eac7b	368	if (TBmotorDirecti==TBforward) {
nerit	3:a469bbd294b5	369	TBactualPosition++;
nerit	3:a469bbd294b5	370	}
nerit	3:a469bbd294b5	371	}
nerit	10:9e70619e97ab	372	#if defined(pcSerial)
nerit	10:9e70619e97ab	373	#if defined(stepTamb)
nerit	10:9e70619e97ab	374	pc.printf("step\n");
nerit	10:9e70619e97ab	375	#endif
nerit	10:9e70619e97ab	376	#endif
nerit	6:e8c18f0f399a	377	/*
nerit	6:e8c18f0f399a	378	#if defined(pcSerial)
nerit	6:e8c18f0f399a	379	#if defined(checkLoop)
nerit	6:e8c18f0f399a	380	pc.printf("8\n");
nerit	6:e8c18f0f399a	381	#endif
nerit	6:e8c18f0f399a	382	#endif
nerit	6:e8c18f0f399a	383	*/
nerit	3:a469bbd294b5	384	}
nerit	39:6814c75dfa5c	385	//*******************************************************************************
nerit	39:6814c75dfa5c	386	void attivaTb(double velocita){
nerit	39:6814c75dfa5c	387	TBmotorRst=0;
nerit	39:6814c75dfa5c	388	#if defined(pcSerial)
nerit	39:6814c75dfa5c	389	#if defined(velocity)
nerit	39:6814c75dfa5c	390	pc.printf("velocita: %f\n",velocita);
nerit	39:6814c75dfa5c	391	#endif
nerit	39:6814c75dfa5c	392	#endif
nerit	39:6814c75dfa5c	393	TBticker.attach_us(&step_TBPulseOut,velocita); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	394	}
nerit	39:6814c75dfa5c	395	void stopTb(){
nerit	39:6814c75dfa5c	396	TBticker.detach();
nerit	39:6814c75dfa5c	397	TBmotorRst=1;
nerit	39:6814c75dfa5c	398	}
nerit	3:a469bbd294b5	399	//*******************************************************
nerit	8:310f9e4eac7b	400	void invertiLo()
nerit	8:310f9e4eac7b	401	{
nerit	8:310f9e4eac7b	402	if (TBmotorDirecti==TBreverse) {
nerit	3:a469bbd294b5	403	TBmotorDirecti=TBforward;
nerit	35:3165f4c1c7bf	404	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	405	#if !defined(runner)
nerit	35:3165f4c1c7bf	406	#if defined(Zucca)
nerit	35:3165f4c1c7bf	407	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	408	#else
nerit	35:3165f4c1c7bf	409	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	410	#endif
nerit	9:7f02256f6e8f	411	#endif
nerit	35:3165f4c1c7bf	412	#if defined(provaStepper)
nerit	35:3165f4c1c7bf	413	motor->run(StepperMotor::FWD,150.0f);
nerit	35:3165f4c1c7bf	414	#endif
nerit	18:7c978f69cc51	415	#endif
nerit	8:310f9e4eac7b	416	} else {
nerit	3:a469bbd294b5	417	TBmotorDirecti=TBreverse;
nerit	35:3165f4c1c7bf	418	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	419	#if !defined(runner)
nerit	35:3165f4c1c7bf	420	#if defined(Zucca)
nerit	35:3165f4c1c7bf	421	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	422	#else
nerit	35:3165f4c1c7bf	423	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	424	#endif
nerit	9:7f02256f6e8f	425	#endif
nerit	35:3165f4c1c7bf	426	#if defined(provaStepper)
nerit	35:3165f4c1c7bf	427	motor->run(StepperMotor::BWD,100.0f);
nerit	35:3165f4c1c7bf	428	#endif
nerit	18:7c978f69cc51	429	#endif
nerit	3:a469bbd294b5	430	}
nerit	3:a469bbd294b5	431	#if defined(pcSerial)
nerit	3:a469bbd294b5	432	#if defined(inversione)
nerit	3:a469bbd294b5	433	pc.printf("cambio M %d\n",cambiaStep);
nerit	3:a469bbd294b5	434	pc.printf("posizione %d \n",TBactualPosition);
nerit	3:a469bbd294b5	435	#endif
nerit	3:a469bbd294b5	436	#endif
nerit	6:e8c18f0f399a	437	#if defined(pcSerial)
nerit	6:e8c18f0f399a	438	#if defined(checkLoop)
nerit	6:e8c18f0f399a	439	pc.printf("9\n");
nerit	6:e8c18f0f399a	440	#endif
nerit	6:e8c18f0f399a	441	#endif
nerit	3:a469bbd294b5	442	}
nerit	3:a469bbd294b5	443	//*******************************************************
nerit	3:a469bbd294b5	444	// aggiornamento parametri di lavoro fissi e da Tritecnica
nerit	8:310f9e4eac7b	445	void aggiornaParametri()
nerit	8:310f9e4eac7b	446	{
nerit	3:a469bbd294b5	447	speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit	3:a469bbd294b5	448	pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit	3:a469bbd294b5	449	seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit	3:a469bbd294b5	450	intraPickDistance = seedPerimeter/pickNumber;
nerit	3:a469bbd294b5	451	K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit	17:9629eb019892	452	//K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit	3:a469bbd294b5	453	rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit	13:d1030d4e51a8	454	SDsectorStep = fixedStepGiroSD / pickNumber;
nerit	3:a469bbd294b5	455	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	13:d1030d4e51a8	456	seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit	13:d1030d4e51a8	457	frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit	8:310f9e4eac7b	458	#if defined(runner)
nerit	9:7f02256f6e8f	459	#if defined(Zucca)
nerit	9:7f02256f6e8f	460	KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit	9:7f02256f6e8f	461	#else
nerit	30:32e770e91998	462	KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit	9:7f02256f6e8f	463	#endif
nerit	8:310f9e4eac7b	464	#else
nerit	8:310f9e4eac7b	465	KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit	8:310f9e4eac7b	466	#endif
nerit	3:a469bbd294b5	467	angoloFase=angoloPh;
nerit	3:a469bbd294b5	468	avvioGradi=angoloAv;
nerit	3:a469bbd294b5	469	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	470	TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	471	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	472	TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit	3:a469bbd294b5	473	K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit	3:a469bbd294b5	474	if (speedFromPick==1) {
nerit	3:a469bbd294b5	475	intraPickDistance = seedPerimeter/pickNumber;
nerit	8:310f9e4eac7b	476	} else {
nerit	3:a469bbd294b5	477	intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit	3:a469bbd294b5	478	}
nerit	6:e8c18f0f399a	479	#if defined(pcSerial)
nerit	6:e8c18f0f399a	480	#if defined(checkLoop)
nerit	6:e8c18f0f399a	481	pc.printf("10\n");
nerit	6:e8c18f0f399a	482	#endif
nerit	6:e8c18f0f399a	483	#endif
nerit	3:a469bbd294b5	484	}
nerit	3:a469bbd294b5	485	//*******************************************************
nerit	39:6814c75dfa5c	486	void cambiaTB(double perio, int idxc)
nerit	8:310f9e4eac7b	487	{
nerit	8:310f9e4eac7b	488	#if defined(runner)
nerit	8:310f9e4eac7b	489	// update TB frequency
nerit	8:310f9e4eac7b	490	double TBper=0.0f;
nerit	8:310f9e4eac7b	491	if (aspettaStart==0){
nerit	8:310f9e4eac7b	492	TBper=perio;
nerit	8:310f9e4eac7b	493	if (oldPeriodoTB!=TBper){
nerit	6:e8c18f0f399a	494	#if defined(pcSerial)
nerit	8:310f9e4eac7b	495	#if defined(TBperSo)
nerit	8:310f9e4eac7b	496	pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit	6:e8c18f0f399a	497	#endif
nerit	6:e8c18f0f399a	498	#endif
nerit	9:7f02256f6e8f	499	#if defined(Zucca)
nerit	9:7f02256f6e8f	500	motor->run(StepperMotor::BWD,TBper);
nerit	9:7f02256f6e8f	501	#else
nerit	9:7f02256f6e8f	502	motor->run(StepperMotor::FWD,TBper);
nerit	9:7f02256f6e8f	503	#endif
nerit	8:310f9e4eac7b	504	oldPeriodoTB=TBper;
nerit	8:310f9e4eac7b	505	}
nerit	8:310f9e4eac7b	506	}
nerit	8:310f9e4eac7b	507	#else
nerit	8:310f9e4eac7b	508	// update TB frequency
nerit	39:6814c75dfa5c	509	double limite=400.0f;
nerit	8:310f9e4eac7b	510	double TBper=0.0f;
nerit	8:310f9e4eac7b	511	double scala =2.0f;
nerit	8:310f9e4eac7b	512	if (aspettaStart==0) {
nerit	8:310f9e4eac7b	513	if (perio<limite) {
nerit	8:310f9e4eac7b	514	perio=limite;
nerit	8:310f9e4eac7b	515	}
nerit	8:310f9e4eac7b	516	TBper=perio/scala;
nerit	8:310f9e4eac7b	517	if (oldPeriodoTB!=TBper) {
nerit	8:310f9e4eac7b	518	if (TBper >= (limite/2.0f)) {
nerit	8:310f9e4eac7b	519	#if defined(pcSerial)
nerit	39:6814c75dfa5c	520	#if defined(checkLoopc)
nerit	8:310f9e4eac7b	521	pc.printf("11a\n");
nerit	39:6814c75dfa5c	522	pc.printf("11a TBper: %f perio: %f idx: %d\n",TBper,perio,idxc);
nerit	8:310f9e4eac7b	523	#endif
nerit	6:e8c18f0f399a	524	#endif
nerit	8:310f9e4eac7b	525	if (TBper != NULL) {
nerit	35:3165f4c1c7bf	526	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	527	#if defined(runner)
nerit	35:3165f4c1c7bf	528	#if defined(Zucca)
nerit	35:3165f4c1c7bf	529	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	530	#else
nerit	35:3165f4c1c7bf	531	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	532	#endif
nerit	35:3165f4c1c7bf	533	#endif
nerit	9:7f02256f6e8f	534	#endif
nerit	39:6814c75dfa5c	535	//TBmotorRst=0;
nerit	39:6814c75dfa5c	536	//TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	537	attivaTb(TBper);
nerit	8:310f9e4eac7b	538	}
nerit	8:310f9e4eac7b	539	} else {
nerit	8:310f9e4eac7b	540	#if defined(pcSerial)
nerit	8:310f9e4eac7b	541	#if defined(checkLoop)
nerit	8:310f9e4eac7b	542	pc.printf("11b\n");
nerit	8:310f9e4eac7b	543	#endif
nerit	6:e8c18f0f399a	544	#endif
nerit	39:6814c75dfa5c	545	//TBticker.detach();
nerit	39:6814c75dfa5c	546	//TBmotorRst=1;
nerit	39:6814c75dfa5c	547	stopTb();
nerit	8:310f9e4eac7b	548	#if defined(pcSerial)
nerit	8:310f9e4eac7b	549	#if defined(loStop)
nerit	8:310f9e4eac7b	550	pc.printf("A1\n");
nerit	8:310f9e4eac7b	551	#endif
nerit	8:310f9e4eac7b	552	#endif
nerit	35:3165f4c1c7bf	553	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	554	#if defined(runner)
nerit	35:3165f4c1c7bf	555	motor->soft_hiz();
nerit	35:3165f4c1c7bf	556	#endif
nerit	35:3165f4c1c7bf	557	#endif
nerit	8:310f9e4eac7b	558	}
nerit	8:310f9e4eac7b	559	oldPeriodoTB=TBper;
nerit	3:a469bbd294b5	560	}
nerit	3:a469bbd294b5	561	}
nerit	8:310f9e4eac7b	562	#endif
nerit	3:a469bbd294b5	563	}
nerit	3:a469bbd294b5	564	//*******************************************************
nerit	8:310f9e4eac7b	565	void seedCorrect()
nerit	8:310f9e4eac7b	566	{
nerit	3:a469bbd294b5	567	/*
nerit	3:a469bbd294b5	568	posError determina la posizione relativa di TB rispetto ad SD
nerit	8:310f9e4eac7b	569	la reale posizione di SD viene modificata in funzione della velocità per
nerit	3:a469bbd294b5	570	traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit	3:a469bbd294b5	571	di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit	3:a469bbd294b5	572	La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit	3:a469bbd294b5	573	poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit	3:a469bbd294b5	574	Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit	3:a469bbd294b5	575	angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit	3:a469bbd294b5	576	Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit	3:a469bbd294b5	577	del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit	3:a469bbd294b5	578	Ancora di più se viene eliminata la parte gestita da ciclata.
nerit	3:a469bbd294b5	579	In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit	3:a469bbd294b5	580	dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit	3:a469bbd294b5	581	di fase di TB. In pratica il ciclo viene resettato al passaggio sul sensore di SD che riporta a 0 la posizione di SD.
nerit	3:a469bbd294b5	582	Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit	3:a469bbd294b5	583	Questo si traduce nel fatto che il controllo di posizione viene gestito solo all'interno di uno slot di semina in modo che
nerit	3:a469bbd294b5	584	il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit	8:310f9e4eac7b	585
nerit	3:a469bbd294b5	586	// La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit	3:a469bbd294b5	587	// di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit	8:310f9e4eac7b	588	*/
nerit	3:a469bbd294b5	589	/*
nerit	3:a469bbd294b5	590	SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit	3:a469bbd294b5	591	TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit	3:a469bbd294b5	592	KcorT = (SDsectorStep/TBsectorStep);
nerit	3:a469bbd294b5	593	angoloFase=angoloPh;
nerit	3:a469bbd294b5	594	stepGrado=fixedStepGiroSD/360.0f;
nerit	3:a469bbd294b5	595	avvioGradi = costante da terminale tritecnica
nerit	3:a469bbd294b5	596	TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit	8:310f9e4eac7b	597	TBfaseStep = (stepGrado*angoloFase);
nerit	3:a469bbd294b5	598	*/
nerit	8:310f9e4eac7b	599	if ((tractorSpeed_MtS_timed>0.01f)) {
nerit	8:310f9e4eac7b	600	if (inhibit==0) {
nerit	3:a469bbd294b5	601	double posError =0.0f;
nerit	3:a469bbd294b5	602	double posSD=((double)SDactualPosition)/KcorT;
nerit	8:310f9e4eac7b	603	posError = posSD - (double)TBactualPosition;
nerit	39:6814c75dfa5c	604	#if defined(pcSerial)
nerit	39:6814c75dfa5c	605	#if defined(calcoli)
nerit	39:6814c75dfa5c	606	pc.printf("posSD: %f SDactual: %d TBactual: %d posErr: %f \n",posSD,SDactualPosition,TBactualPosition,posError);
nerit	39:6814c75dfa5c	607	#endif
nerit	39:6814c75dfa5c	608	#endif
nerit	39:6814c75dfa5c	609
nerit	3:a469bbd294b5	610	// interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit	8:310f9e4eac7b	611	if((lowSpeed==0)&&(aspettaStart==0)) {
nerit	23:ccd253b36733	612	double lowLim=-50.0f;
nerit	23:ccd253b36733	613	double higLim = 50.0f;
nerit	23:ccd253b36733	614	double divide= 100.0f;
nerit	24:2b5e749e26b2	615	if (drumSelect==false){
nerit	25:4461bc76aaab	616	if (pickNumber <= 5) {
nerit	25:4461bc76aaab	617	lowLim=-500.0f;
nerit	25:4461bc76aaab	618	higLim= 500.0f;
nerit	25:4461bc76aaab	619	divide= 25.0f;
nerit	25:4461bc76aaab	620	} else {
nerit	25:4461bc76aaab	621	lowLim=-10.0f;
nerit	25:4461bc76aaab	622	higLim= 130.0f;
nerit	25:4461bc76aaab	623	divide= 100.0f;
nerit	25:4461bc76aaab	624	}
nerit	24:2b5e749e26b2	625	}else{
nerit	25:4461bc76aaab	626	if (pickNumber <= 5) {
nerit	30:32e770e91998	627	lowLim=-100.0f;
nerit	30:32e770e91998	628	higLim= 100.0f;
nerit	30:32e770e91998	629	divide= 75.0f;
nerit	24:2b5e749e26b2	630	}else{
nerit	25:4461bc76aaab	631	lowLim=-500.0f; //pneumatico Alessandria
nerit	25:4461bc76aaab	632	higLim= 130.0f; //pneumatico Alessandria
nerit	25:4461bc76aaab	633	divide= 20.0f; //pneumatico Alessandria
nerit	24:2b5e749e26b2	634	}
nerit	4:de1b296e9757	635	}
nerit	25:4461bc76aaab	636
nerit	8:310f9e4eac7b	637	if (posError>higLim) {
nerit	17:9629eb019892	638	posError=higLim;
nerit	17:9629eb019892	639	//posError=0.0f;
nerit	17:9629eb019892	640	//motor->soft_hiz();
nerit	28:0534c86365ec	641	//aspettareSincro=1;
nerit	28:0534c86365ec	642	//stopCicloTB=1;
nerit	8:310f9e4eac7b	643	}
nerit	8:310f9e4eac7b	644	if (posError<lowLim) {
nerit	8:310f9e4eac7b	645	posError=lowLim;
nerit	28:0534c86365ec	646	//aspettareSincro=1;
nerit	28:0534c86365ec	647	//stopCicloTB=1;
nerit	8:310f9e4eac7b	648	}
nerit	28:0534c86365ec	649	if (((posError >=1.0f)\|\|(posError<=-1.0f))) {
nerit	8:310f9e4eac7b	650	#if defined(runner)
nerit	28:0534c86365ec	651	double variante = posError/divide;
nerit	41:a0d9a71f8cb5	652	//if (variante < -0.399f){variante=-0.3999;}
nerit	41:a0d9a71f8cb5	653	if (variante < -0.5f){variante=-0.5;}
nerit	30:32e770e91998	654	/*if ((posError<=15.0f)&&(posError>=-15.0f)){
nerit	30:32e770e91998	655	ePpos = periodo;// *(1.0f+ variante);
nerit	30:32e770e91998	656	}else{*/
nerit	30:32e770e91998	657	ePpos = periodo *(1.0f+ variante);
nerit	30:32e770e91998	658	//}
nerit	30:32e770e91998	659	#if defined(pcSerial)
nerit	30:32e770e91998	660	#if defined(TBperS)
nerit	30:32e770e91998	661	pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f KcorT: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo, KcorT);
nerit	30:32e770e91998	662	#endif
nerit	30:32e770e91998	663	#endif
nerit	8:310f9e4eac7b	664	#else
nerit	39:6814c75dfa5c	665	double variante = posError/100.0f;
nerit	41:a0d9a71f8cb5	666	if (variante < -0.399f){variante=-0.3999;}
nerit	39:6814c75dfa5c	667	ePpos = periodo /(1.0f+ variante);
nerit	39:6814c75dfa5c	668	#if defined(pcSerial)
nerit	39:6814c75dfa5c	669	#if defined(calcoli)
nerit	39:6814c75dfa5c	670	pc.printf("variante: %f poserror: %f periodo: %f eppos: %f \n",variante,posError,periodo,ePpos);
nerit	39:6814c75dfa5c	671	#endif
nerit	39:6814c75dfa5c	672	#endif
nerit	8:310f9e4eac7b	673	#endif
nerit	39:6814c75dfa5c	674	if ((ePpos>0.0f)&&(ePpos!=NULL)) {
nerit	39:6814c75dfa5c	675	cambiaTB(ePpos,1);
nerit	8:310f9e4eac7b	676	} else {
nerit	39:6814c75dfa5c	677	cambiaTB(periodo,2);///2.0f);
nerit	6:e8c18f0f399a	678	}
nerit	6:e8c18f0f399a	679	}
nerit	3:a469bbd294b5	680	}
nerit	3:a469bbd294b5	681	}
nerit	3:a469bbd294b5	682	}
nerit	10:9e70619e97ab	683	#if defined(pcSerial)
nerit	10:9e70619e97ab	684	#if defined(checkLoopa)
nerit	10:9e70619e97ab	685	pc.printf("12\n");
nerit	10:9e70619e97ab	686	#endif
nerit	10:9e70619e97ab	687	#endif
nerit	3:a469bbd294b5	688	}
nerit	3:a469bbd294b5	689	//*******************************************************
nerit	8:310f9e4eac7b	690	void videoUpdate()
nerit	8:310f9e4eac7b	691	{
nerit	8:310f9e4eac7b	692	for(int aa=0; aa<4; aa++) {
nerit	8:310f9e4eac7b	693	speedForDisplay[aa]=speedForDisplay[aa+1];
nerit	8:310f9e4eac7b	694	}
nerit	3:a469bbd294b5	695	speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	696	totalSpeed=0.0f;
nerit	8:310f9e4eac7b	697	for (int aa=0; aa<5; aa++) {
nerit	8:310f9e4eac7b	698	totalSpeed += speedForDisplay[aa];
nerit	8:310f9e4eac7b	699	}
nerit	3:a469bbd294b5	700	totalSpeed = totalSpeed / 5.0f;
nerit	10:9e70619e97ab	701	#if defined(pcSerial)
nerit	10:9e70619e97ab	702	#if defined(SDreset)
nerit	10:9e70619e97ab	703	pc.printf("Fase: %d",fase);
nerit	10:9e70619e97ab	704	pc.printf(" PrePosSD: %d",prePosSD);
nerit	10:9e70619e97ab	705	pc.printf(" PosSD: %d",SDactualPosition);
nerit	10:9e70619e97ab	706	pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit	10:9e70619e97ab	707	pc.printf(" Trigger: %d \n", trigRepos);
nerit	10:9e70619e97ab	708	#endif
nerit	10:9e70619e97ab	709	#endif
nerit	10:9e70619e97ab	710	#if defined(pcSerial)
nerit	10:9e70619e97ab	711	#if defined(checkLoop)
nerit	10:9e70619e97ab	712	pc.printf("13\n");
nerit	10:9e70619e97ab	713	#endif
nerit	10:9e70619e97ab	714	#endif
nerit	3:a469bbd294b5	715	}
nerit	3:a469bbd294b5	716	//*******************************************************
nerit	8:310f9e4eac7b	717	void ciclaTB()
nerit	8:310f9e4eac7b	718	{
nerit	8:310f9e4eac7b	719	if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit	6:e8c18f0f399a	720	#if defined(pcSerial)
nerit	6:e8c18f0f399a	721	#if defined(checkLoop)
nerit	6:e8c18f0f399a	722	pc.printf("14a TBperiod: %f\n",TBperiod);
nerit	6:e8c18f0f399a	723	#endif
nerit	6:e8c18f0f399a	724	#endif
nerit	8:310f9e4eac7b	725	#if defined(runner)
nerit	9:7f02256f6e8f	726	#if defined(Zucca)
nerit	9:7f02256f6e8f	727	motor->run(StepperMotor::BWD,TBperiod);
nerit	9:7f02256f6e8f	728	#else
nerit	9:7f02256f6e8f	729	motor->run(StepperMotor::FWD,TBperiod);
nerit	9:7f02256f6e8f	730	#endif
nerit	8:310f9e4eac7b	731	#else
nerit	8:310f9e4eac7b	732	if (TBperiod >= (250.0f*2.0f)) {
nerit	8:310f9e4eac7b	733	if (TBperiod != NULL) {
nerit	35:3165f4c1c7bf	734	#if !defined(oldstepperDriver)
nerit	35:3165f4c1c7bf	735	#if defined(runner)
nerit	35:3165f4c1c7bf	736	#if defined(Zucca)
nerit	35:3165f4c1c7bf	737	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	738	#else
nerit	35:3165f4c1c7bf	739	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	740	#endif
nerit	35:3165f4c1c7bf	741	#endif
nerit	9:7f02256f6e8f	742	#endif
nerit	39:6814c75dfa5c	743	//TBmotorRst=0;
nerit	39:6814c75dfa5c	744	//TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	745	attivaTb(TBperiod/2.0f);
nerit	8:310f9e4eac7b	746	}
nerit	6:e8c18f0f399a	747	}
nerit	8:310f9e4eac7b	748	#endif
nerit	8:310f9e4eac7b	749	cicloTbinCorso = 1;
nerit	8:310f9e4eac7b	750	startCicloTB=0;
nerit	3:a469bbd294b5	751	}
nerit	8:310f9e4eac7b	752	if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit	6:e8c18f0f399a	753	#if defined(pcSerial)
nerit	6:e8c18f0f399a	754	#if defined(checkLoop)
nerit	6:e8c18f0f399a	755	pc.printf("14b\n");
nerit	6:e8c18f0f399a	756	#endif
nerit	6:e8c18f0f399a	757	#endif
nerit	8:310f9e4eac7b	758	#if defined(runner)
nerit	9:7f02256f6e8f	759	#if defined(Zucca)
nerit	9:7f02256f6e8f	760	motor->run(StepperMotor::BWD,50.0f);
nerit	9:7f02256f6e8f	761	#else
nerit	9:7f02256f6e8f	762	motor->run(StepperMotor::FWD,50.0f);
nerit	9:7f02256f6e8f	763	#endif
nerit	8:310f9e4eac7b	764	#else
nerit	35:3165f4c1c7bf	765	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	766	#if defined(Zucca)
nerit	35:3165f4c1c7bf	767	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	768	#else
nerit	35:3165f4c1c7bf	769	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	770	#endif
nerit	9:7f02256f6e8f	771	#endif
nerit	39:6814c75dfa5c	772	//TBmotorRst=0;
nerit	39:6814c75dfa5c	773	//TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	40:42eae86457dd	774	attivaTb(700.0f);
nerit	8:310f9e4eac7b	775	#endif
nerit	3:a469bbd294b5	776	loadDaCanInCorso=1;
nerit	3:a469bbd294b5	777	stopCicloTB=0;
nerit	3:a469bbd294b5	778	}
nerit	28:0534c86365ec	779	if ((stopCicloTB==1)&&(TBactualPosition>5)&&(TBactualPosition<50)) {
nerit	6:e8c18f0f399a	780	#if defined(pcSerial)
nerit	6:e8c18f0f399a	781	#if defined(checkLoop)
nerit	6:e8c18f0f399a	782	pc.printf("14c\n");
nerit	6:e8c18f0f399a	783	#endif
nerit	6:e8c18f0f399a	784	#endif
nerit	8:310f9e4eac7b	785	#if !defined(runner)
nerit	39:6814c75dfa5c	786	//TBticker.detach();
nerit	39:6814c75dfa5c	787	//TBmotorRst=1;
nerit	39:6814c75dfa5c	788	stopTb();
nerit	8:310f9e4eac7b	789	#endif
nerit	6:e8c18f0f399a	790	#if defined(pcSerial)
nerit	6:e8c18f0f399a	791	#if defined(loStop)
nerit	6:e8c18f0f399a	792	pc.printf("A2\n");
nerit	6:e8c18f0f399a	793	#endif
nerit	6:e8c18f0f399a	794	#endif
nerit	35:3165f4c1c7bf	795	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	796	motor->soft_hiz();
nerit	35:3165f4c1c7bf	797	#endif
nerit	3:a469bbd294b5	798	cicloTbinCorso = 0;
nerit	3:a469bbd294b5	799	stopCicloTB=0;
nerit	3:a469bbd294b5	800	loadDaCanInCorso=0;
nerit	3:a469bbd294b5	801	loadDaCan=0;
nerit	3:a469bbd294b5	802	}
nerit	3:a469bbd294b5	803	}
nerit	3:a469bbd294b5	804	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	8:310f9e4eac7b	805	void stepSetting()
nerit	8:310f9e4eac7b	806	{
nerit	3:a469bbd294b5	807	// Stepper driver init and set
nerit	37:0a225902cf48	808	TBmotorRst=1; // reset stepper driver
nerit	37:0a225902cf48	809	// M1 M2 M3 RESOLUTION
nerit	37:0a225902cf48	810	// 0 0 0 1/2
nerit	37:0a225902cf48	811	// 1 0 0 1/8
nerit	37:0a225902cf48	812	// 0 1 0 1/16
nerit	37:0a225902cf48	813	// 1 1 0 1/32
nerit	37:0a225902cf48	814	// 0 0 1 1/64
nerit	37:0a225902cf48	815	// 1 0 1 1/128
nerit	37:0a225902cf48	816	// 0 1 1 1/10
nerit	37:0a225902cf48	817	// 1 1 1 1/20
nerit	37:0a225902cf48	818	if (TBmotorSteps==400.0f){
nerit	37:0a225902cf48	819	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	820	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	821	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	822	#if defined(pcSerial)
nerit	37:0a225902cf48	823	pc.printf("Steps 400\n");
nerit	37:0a225902cf48	824	#endif
nerit	37:0a225902cf48	825	}else if (TBmotorSteps==1600.0f){
nerit	37:0a225902cf48	826	TBmotor_M1=0;//0;
nerit	37:0a225902cf48	827	TBmotor_M2=1;//1;
nerit	37:0a225902cf48	828	TBmotor_M3=1;//1;
nerit	37:0a225902cf48	829	#if defined(pcSerial)
nerit	37:0a225902cf48	830	pc.printf("Steps 1600\n");
nerit	37:0a225902cf48	831	#endif
nerit	37:0a225902cf48	832	}else if (TBmotorSteps==3200.0f){
nerit	37:0a225902cf48	833	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	834	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	835	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	836	#if defined(pcSerial)
nerit	37:0a225902cf48	837	pc.printf("Steps 3200\n");
nerit	37:0a225902cf48	838	#endif
nerit	37:0a225902cf48	839	}else if (TBmotorSteps==6400.0f){
nerit	37:0a225902cf48	840	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	841	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	842	TBmotor_M3=1;//0;
nerit	37:0a225902cf48	843	#if defined(pcSerial)
nerit	37:0a225902cf48	844	pc.printf("Steps 6400\n");
nerit	37:0a225902cf48	845	#endif
nerit	37:0a225902cf48	846	}else if (TBmotorSteps==12800.0f){
nerit	37:0a225902cf48	847	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	848	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	849	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	850	#if defined(pcSerial)
nerit	37:0a225902cf48	851	pc.printf("Steps 12800\n");
nerit	37:0a225902cf48	852	#endif
nerit	37:0a225902cf48	853	}else if (TBmotorSteps==25600.0f){
nerit	37:0a225902cf48	854	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	855	TBmotor_M2=1;//0;
nerit	37:0a225902cf48	856	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	857	#if defined(pcSerial)
nerit	37:0a225902cf48	858	pc.printf("Steps 25600\n");
nerit	37:0a225902cf48	859	#endif
nerit	37:0a225902cf48	860	}else if (TBmotorSteps==2000.0f){
nerit	37:0a225902cf48	861	TBmotor_M1=1;//0;
nerit	37:0a225902cf48	862	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	863	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	864	#if defined(pcSerial)
nerit	37:0a225902cf48	865	pc.printf("Steps 2000\n");
nerit	37:0a225902cf48	866	#endif
nerit	37:0a225902cf48	867	}else if (TBmotorSteps==4000.0f){
nerit	37:0a225902cf48	868	TBmotor_M1=0;//1;
nerit	37:0a225902cf48	869	TBmotor_M2=0;//1;
nerit	37:0a225902cf48	870	TBmotor_M3=0;//1;
nerit	37:0a225902cf48	871	#if defined(pcSerial)
nerit	37:0a225902cf48	872	pc.printf("Steps 4000\n");
nerit	37:0a225902cf48	873	#endif
nerit	37:0a225902cf48	874	}else{
nerit	37:0a225902cf48	875	// set dei 1600 passi
nerit	37:0a225902cf48	876	TBmotor_M1=0;
nerit	37:0a225902cf48	877	TBmotor_M2=1;
nerit	37:0a225902cf48	878	TBmotor_M3=1;
nerit	37:0a225902cf48	879	#if defined(pcSerial)
nerit	37:0a225902cf48	880	pc.printf("Step standard\n");
nerit	37:0a225902cf48	881	#endif
nerit	37:0a225902cf48	882	}
nerit	3:a469bbd294b5	883	TBmotorRst=0; // reset stepper driver
nerit	3:a469bbd294b5	884	TBmotorDirecti=TBforward; // reset stepper direction
nerit	6:e8c18f0f399a	885	#if defined(pcSerial)
nerit	6:e8c18f0f399a	886	#if defined(checkLoop)
nerit	6:e8c18f0f399a	887	pc.printf("15\n");
nerit	6:e8c18f0f399a	888	#endif
nerit	6:e8c18f0f399a	889	#endif
nerit	3:a469bbd294b5	890	}
nerit	3:a469bbd294b5	891	//****************************************
nerit	12:b0fc1d313813	892	void controllaCorrente(){
nerit	12:b0fc1d313813	893	correggiCorrente=1;
nerit	12:b0fc1d313813	894	}
nerit	12:b0fc1d313813	895	//****************************************
nerit	3:a469bbd294b5	896	void dcSetting(){
nerit	8:310f9e4eac7b	897	if ((speedFromPick==0)&&(encoder==false)) {
nerit	8:310f9e4eac7b	898	DcEncoder.rise(&sd25Fall);
nerit	8:310f9e4eac7b	899	}
nerit	8:310f9e4eac7b	900	if (encoder==true) {
nerit	8:310f9e4eac7b	901	DcEncoder.rise(&encoRise);
nerit	8:310f9e4eac7b	902	}
nerit	6:e8c18f0f399a	903	#if defined(pcSerial)
nerit	6:e8c18f0f399a	904	#if defined(checkLoop)
nerit	6:e8c18f0f399a	905	pc.printf("16\n");
nerit	6:e8c18f0f399a	906	#endif
nerit	6:e8c18f0f399a	907	#endif
nerit	3:a469bbd294b5	908	}
nerit	3:a469bbd294b5	909	//*******************************************************
nerit	8:310f9e4eac7b	910	void allarmi()
nerit	8:310f9e4eac7b	911	{
nerit	8:310f9e4eac7b	912	uint8_t alarmLowRegister1=0x00;
nerit	8:310f9e4eac7b	913	alarmLowRegister=0x00;
nerit	8:310f9e4eac7b	914	alarmHighRegister=0x80;
nerit	3:a469bbd294b5	915
nerit	8:310f9e4eac7b	916	//alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit	8:310f9e4eac7b	917	alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit	8:310f9e4eac7b	918	alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit	8:310f9e4eac7b	919	alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit	8:310f9e4eac7b	920	alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit	8:310f9e4eac7b	921	alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit	8:310f9e4eac7b	922	//alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit	8:310f9e4eac7b	923	if (seedSensorEnable==true) {
nerit	8:310f9e4eac7b	924	alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit	8:310f9e4eac7b	925	}
nerit	3:a469bbd294b5	926
nerit	8:310f9e4eac7b	927	//alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit	8:310f9e4eac7b	928	alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit	8:310f9e4eac7b	929	alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit	8:310f9e4eac7b	930	alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit	8:310f9e4eac7b	931	alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit	8:310f9e4eac7b	932	alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit	8:310f9e4eac7b	933	alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit	8:310f9e4eac7b	934	if (alarmLowRegister1 > 0) {
nerit	8:310f9e4eac7b	935	alarmHighRegister = 0x81;
nerit	8:310f9e4eac7b	936	alarmLowRegister = alarmLowRegister1;
nerit	8:310f9e4eac7b	937	}
nerit	3:a469bbd294b5	938
nerit	10:9e70619e97ab	939	#if defined(pcSerial)
nerit	10:9e70619e97ab	940	#if defined(VediAllarmi)
nerit	10:9e70619e97ab	941	if (all_pickSignal==1) {
nerit	10:9e70619e97ab	942	pc.printf("AllarmeBecchi\n");
nerit	10:9e70619e97ab	943	}
nerit	10:9e70619e97ab	944	if (all_cellSignal==1) {
nerit	10:9e70619e97ab	945	pc.printf("AllarmeCelle\n");
nerit	10:9e70619e97ab	946	}
nerit	10:9e70619e97ab	947	if (all_lowBattery==1) {
nerit	10:9e70619e97ab	948	pc.printf("AllarmeBassaCorrente\n");
nerit	10:9e70619e97ab	949	}
nerit	10:9e70619e97ab	950	if (all_overCurrDC==1) {
nerit	10:9e70619e97ab	951	pc.printf("AllarmeAltaCorrente\n");
nerit	10:9e70619e97ab	952	}
nerit	10:9e70619e97ab	953	if (all_stopSistem==1) {
nerit	10:9e70619e97ab	954	pc.printf("AllarmeStop\n");
nerit	10:9e70619e97ab	955	}
nerit	10:9e70619e97ab	956	if (all_noDcRotati==1) {
nerit	10:9e70619e97ab	957	pc.printf("AllarmeDCnoRotation\n");
nerit	10:9e70619e97ab	958	}
nerit	10:9e70619e97ab	959	if (all_noStepRota==1) {
nerit	10:9e70619e97ab	960	pc.printf("AllarmeNoStepRotation\n");
nerit	10:9e70619e97ab	961	}
nerit	10:9e70619e97ab	962	if (all_speedError==1) {
nerit	10:9e70619e97ab	963	pc.printf("AllarmeSpeedError\n");
nerit	10:9e70619e97ab	964	}
nerit	10:9e70619e97ab	965	if (all_noSpeedSen==1) {
nerit	10:9e70619e97ab	966	pc.printf("AllarmeNoSpeedSensor\n");
nerit	10:9e70619e97ab	967	}
nerit	10:9e70619e97ab	968	if (all_no_Zeroing==1) {
nerit	10:9e70619e97ab	969	pc.printf("AllarmeNoZero\n");
nerit	10:9e70619e97ab	970	}
nerit	10:9e70619e97ab	971	if (all_genericals==1) {
nerit	10:9e70619e97ab	972	pc.printf("AllarmeGenerico\n");
nerit	10:9e70619e97ab	973	}
nerit	10:9e70619e97ab	974	pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit	10:9e70619e97ab	975	#endif
nerit	10:9e70619e97ab	976	#endif
nerit	8:310f9e4eac7b	977	all_semiFiniti=0;
nerit	8:310f9e4eac7b	978	all_pickSignal=0;
nerit	8:310f9e4eac7b	979	all_cellSignal=0;
nerit	8:310f9e4eac7b	980	all_lowBattery=0;
nerit	8:310f9e4eac7b	981	all_overCurrDC=0;
nerit	8:310f9e4eac7b	982	all_stopSistem=0;
nerit	8:310f9e4eac7b	983	all_upElements=0;
nerit	8:310f9e4eac7b	984	all_noSeedOnCe=0;
nerit	8:310f9e4eac7b	985	all_cfgnErrors=0;
nerit	8:310f9e4eac7b	986	all_noDcRotati=0;
nerit	8:310f9e4eac7b	987	all_noStepRota=0;
nerit	8:310f9e4eac7b	988	all_speedError=0;
nerit	8:310f9e4eac7b	989	all_noSpeedSen=0;
nerit	8:310f9e4eac7b	990	all_no_Zeroing=0;
nerit	8:310f9e4eac7b	991	all_genericals=0;
nerit	10:9e70619e97ab	992	#if defined(pcSerial)
nerit	10:9e70619e97ab	993	#if defined(checkLoop)
nerit	10:9e70619e97ab	994	pc.printf("17\n");
nerit	10:9e70619e97ab	995	#endif
nerit	10:9e70619e97ab	996	#endif
nerit	3:a469bbd294b5	997	}
nerit	3:a469bbd294b5	998	//*******************************************************
nerit	3:a469bbd294b5	999	#if defined(speedMaster)
nerit	3:a469bbd294b5	1000	void upDateSincro(){
nerit	8:310f9e4eac7b	1001	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	8:310f9e4eac7b	1002	val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit	8:310f9e4eac7b	1003	val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	1004	val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	1005	val1[0]=posForQuinc & 0x000000FF;
nerit	3:a469bbd294b5	1006	//double pass = tractorSpeed_MtS_timed*100.0f;
nerit	3:a469bbd294b5	1007	double pass = speedOfSeedWheel*100.0f;
nerit	3:a469bbd294b5	1008	val1[4]=(uint8_t)(pass)&0x000000FF;
nerit	8:310f9e4eac7b	1009	val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit	8:310f9e4eac7b	1010	val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit	3:a469bbd294b5	1011	val1[7]=prePosSD & 0x000000FF;
nerit	3:a469bbd294b5	1012	#if defined(canbusActive)
nerit	3:a469bbd294b5	1013	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1014	if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit	3:a469bbd294b5	1015	checkState=0;
nerit	3:a469bbd294b5	1016	}
nerit	3:a469bbd294b5	1017	#endif
nerit	3:a469bbd294b5	1018	#endif
nerit	6:e8c18f0f399a	1019	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1020	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1021	pc.printf("18\n");
nerit	6:e8c18f0f399a	1022	#endif
nerit	6:e8c18f0f399a	1023	#endif
nerit	3:a469bbd294b5	1024	}
nerit	3:a469bbd294b5	1025	#endif
nerit	3:a469bbd294b5	1026	//*******************************************************
nerit	8:310f9e4eac7b	1027	void upDateSpeed()
nerit	8:310f9e4eac7b	1028	{
nerit	3:a469bbd294b5	1029	/*
nerit	3:a469bbd294b5	1030	aggiorna dati OPUSA3
nerit	3:a469bbd294b5	1031	val1[0] contiene il dato di velocità
nerit	3:a469bbd294b5	1032	val1[1] contiene il byte basso della tabella allarmi
nerit	3:a469bbd294b5	1033	uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit	3:a469bbd294b5	1034	uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit	3:a469bbd294b5	1035	uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit	3:a469bbd294b5	1036	uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit	3:a469bbd294b5	1037	uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit	3:a469bbd294b5	1038	uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit	3:a469bbd294b5	1039	uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit	3:a469bbd294b5	1040	uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit	3:a469bbd294b5	1041	uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit	3:a469bbd294b5	1042	uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit	3:a469bbd294b5	1043	uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit	3:a469bbd294b5	1044	uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit	3:a469bbd294b5	1045	uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit	3:a469bbd294b5	1046	uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit	3:a469bbd294b5	1047	uint8_t all_genericals = 0; // allarme generico
nerit	3:a469bbd294b5	1048	val1[2] contiene il byte alto della tabella di allarmi
nerit	3:a469bbd294b5	1049	val1[3] contiene i segnali per la diagnostica
nerit	3:a469bbd294b5	1050	bit 0= sensore ruota fonica
nerit	3:a469bbd294b5	1051	bit 1= sensore celle
nerit	3:a469bbd294b5	1052	bit 2= sensore posizione
nerit	3:a469bbd294b5	1053	bit 3= sensore becchi
nerit	3:a469bbd294b5	1054	bit 4= motore DC
nerit	3:a469bbd294b5	1055	bit 5= controller
nerit	3:a469bbd294b5	1056	bit 6= motore stepper
nerit	3:a469bbd294b5	1057	*/
nerit	8:310f9e4eac7b	1058	char val1[8]= {0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	1059
nerit	8:310f9e4eac7b	1060	val1[3]=0;
nerit	8:310f9e4eac7b	1061	val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit	8:310f9e4eac7b	1062	val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit	8:310f9e4eac7b	1063	val1[3]=val1[3]+(DcEncoder*0x04);
nerit	8:310f9e4eac7b	1064	val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit	10:9e70619e97ab	1065	#if defined(simulaPerCan)
nerit	10:9e70619e97ab	1066	if (buttonUser==0) {
nerit	10:9e70619e97ab	1067	val1[1]=0x02;
nerit	10:9e70619e97ab	1068	} else {
nerit	10:9e70619e97ab	1069	val1[1]=0x00;
nerit	10:9e70619e97ab	1070	}
nerit	10:9e70619e97ab	1071	val1[3]=valore;
nerit	10:9e70619e97ab	1072	valore+=1;
nerit	10:9e70619e97ab	1073	if(valore>50) {
nerit	10:9e70619e97ab	1074	valore=0;
nerit	10:9e70619e97ab	1075	}
nerit	10:9e70619e97ab	1076	tractorSpeed_MtS_timed=valore;
nerit	10:9e70619e97ab	1077	oldLocalTractorSpeed=valore;
nerit	10:9e70619e97ab	1078	#endif
nerit	3:a469bbd294b5	1079	allarmi();
nerit	3:a469bbd294b5	1080	valore = totalSpeed36.0f; // tractorSpeed_MtS_timed36.0f;
nerit	3:a469bbd294b5	1081	val1[0]=valore;
nerit	3:a469bbd294b5	1082	val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit	3:a469bbd294b5	1083	val1[2]=alarmLowRegister; // registro basso allarmi
nerit	3:a469bbd294b5	1084	//val1[3]=val1[3];// registro di stato degli ingressi
nerit	3:a469bbd294b5	1085	val1[4]=resetComandi;
nerit	3:a469bbd294b5	1086	val1[5]=cellsCounterLow;
nerit	3:a469bbd294b5	1087	val1[6]=cellsCounterHig;
nerit	10:9e70619e97ab	1088	#if defined(canbusActive)
nerit	10:9e70619e97ab	1089	if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit	10:9e70619e97ab	1090	checkState=0;
nerit	10:9e70619e97ab	1091	}
nerit	10:9e70619e97ab	1092	#endif
nerit	10:9e70619e97ab	1093	#if defined(pcSerial)
nerit	10:9e70619e97ab	1094	#if defined(checkLoop)
nerit	10:9e70619e97ab	1095	pc.printf("19\n");
nerit	10:9e70619e97ab	1096	#endif
nerit	10:9e70619e97ab	1097	#endif
nerit	3:a469bbd294b5	1098	}
nerit	3:a469bbd294b5	1099	//*******************************************************
nerit	8:310f9e4eac7b	1100	void leggiCAN()
nerit	8:310f9e4eac7b	1101	{
nerit	8:310f9e4eac7b	1102	#if defined(canbusActive)
nerit	8:310f9e4eac7b	1103	if(can1.read(rxMsg)) {
nerit	8:310f9e4eac7b	1104	if (firstStart==1) {
nerit	8:310f9e4eac7b	1105	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1106	sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit	8:310f9e4eac7b	1107	canUpdate.attach(&upDateSpeed,0.21f);
nerit	8:310f9e4eac7b	1108	#else
nerit	8:310f9e4eac7b	1109	canUpdate.attach(&upDateSpeed,0.407f);
nerit	8:310f9e4eac7b	1110	#endif
nerit	8:310f9e4eac7b	1111	firstStart=0;
nerit	8:310f9e4eac7b	1112	}
nerit	8:310f9e4eac7b	1113	if (rxMsg.id==RX_ID) {
nerit	8:310f9e4eac7b	1114	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1115	#if defined(canDataReceiveda)
nerit	8:310f9e4eac7b	1116	pc.printf("Messaggio ricevuto\n");
nerit	3:a469bbd294b5	1117	#endif
nerit	8:310f9e4eac7b	1118	#endif
nerit	8:310f9e4eac7b	1119	}
nerit	8:310f9e4eac7b	1120	if (rxMsg.id==RX_Broadcast) {
nerit	8:310f9e4eac7b	1121	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1122	#if defined(canDataReceivedb)
nerit	3:a469bbd294b5	1123	pc.printf("BroadCast ricevuto\n");
nerit	3:a469bbd294b5	1124	#endif
nerit	8:310f9e4eac7b	1125	#endif
nerit	8:310f9e4eac7b	1126	enableSimula= rxMsg.data[0];
nerit	8:310f9e4eac7b	1127	speedSimula = rxMsg.data[1];
nerit	8:310f9e4eac7b	1128	avviaSimula = rxMsg.data[2];
nerit	8:310f9e4eac7b	1129	selezionato = rxMsg.data[3];
nerit	8:310f9e4eac7b	1130	comandiDaCan = rxMsg.data[4];
nerit	20:4a400a4cc419	1131	speedStepp = rxMsg.data[5];
nerit	20:4a400a4cc419	1132	if (speedStepp==0){
nerit	20:4a400a4cc419	1133	simStepper=0;
nerit	20:4a400a4cc419	1134	}else{
nerit	20:4a400a4cc419	1135	simStepper=1;
nerit	20:4a400a4cc419	1136	}
nerit	8:310f9e4eac7b	1137	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1138	#if defined(canDataReceived)
nerit	3:a469bbd294b5	1139	pc.printf("Speed simula %d \n",speedSimula);
nerit	3:a469bbd294b5	1140	#endif
nerit	8:310f9e4eac7b	1141	#endif
nerit	8:310f9e4eac7b	1142	switch (comandiDaCan) {
nerit	8:310f9e4eac7b	1143	case 1:
nerit	8:310f9e4eac7b	1144	case 3:
nerit	8:310f9e4eac7b	1145	azzeraDaCan=1;
nerit	8:310f9e4eac7b	1146	resetComandi=0x01;
nerit	8:310f9e4eac7b	1147	comandiDaCan=0;
nerit	8:310f9e4eac7b	1148	break;
nerit	8:310f9e4eac7b	1149	case 2:
nerit	8:310f9e4eac7b	1150	loadDaCan=1;
nerit	8:310f9e4eac7b	1151	resetComandi=0x02;
nerit	8:310f9e4eac7b	1152	comandiDaCan=0;
nerit	8:310f9e4eac7b	1153	break;
nerit	8:310f9e4eac7b	1154	default:
nerit	8:310f9e4eac7b	1155	comandiDaCan=0;
nerit	8:310f9e4eac7b	1156	resetComandi=0xFF;
nerit	8:310f9e4eac7b	1157	break;
nerit	8:310f9e4eac7b	1158	}
nerit	8:310f9e4eac7b	1159	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1160	#if defined(canDataReceivedR)
nerit	8:310f9e4eac7b	1161	pc.printf("Comandi: %x\n",resetComandi);
nerit	8:310f9e4eac7b	1162	#endif
nerit	8:310f9e4eac7b	1163	#endif
nerit	8:310f9e4eac7b	1164	if (speedSimula>45) {
nerit	8:310f9e4eac7b	1165	speedSimula=45;
nerit	8:310f9e4eac7b	1166	}
nerit	8:310f9e4eac7b	1167	// modulo 1
nerit	8:310f9e4eac7b	1168	if (RX_ID==0x100) {
nerit	8:310f9e4eac7b	1169	if ((selezionato&0x01)==0x01) {
nerit	8:310f9e4eac7b	1170	simOk=1;
nerit	8:310f9e4eac7b	1171	} else {
nerit	8:310f9e4eac7b	1172	simOk=0;
nerit	3:a469bbd294b5	1173	}
nerit	8:310f9e4eac7b	1174	}
nerit	8:310f9e4eac7b	1175	// modulo 2
nerit	8:310f9e4eac7b	1176	if (RX_ID==0x102) {
nerit	8:310f9e4eac7b	1177	if ((selezionato&0x02)==0x02) {
nerit	8:310f9e4eac7b	1178	simOk=1;
nerit	8:310f9e4eac7b	1179	} else {
nerit	8:310f9e4eac7b	1180	simOk=0;
nerit	3:a469bbd294b5	1181	}
nerit	8:310f9e4eac7b	1182	}
nerit	8:310f9e4eac7b	1183	// modulo 3
nerit	8:310f9e4eac7b	1184	if (RX_ID==0x104) {
nerit	8:310f9e4eac7b	1185	if ((selezionato&0x04)==0x04) {
nerit	8:310f9e4eac7b	1186	simOk=1;
nerit	8:310f9e4eac7b	1187	} else {
nerit	8:310f9e4eac7b	1188	simOk=0;
nerit	3:a469bbd294b5	1189	}
nerit	8:310f9e4eac7b	1190	}
nerit	8:310f9e4eac7b	1191	// modulo 4
nerit	8:310f9e4eac7b	1192	if (RX_ID==0x106) {
nerit	8:310f9e4eac7b	1193	if ((selezionato&0x08)==0x08) {
nerit	8:310f9e4eac7b	1194	simOk=1;
nerit	8:310f9e4eac7b	1195	} else {
nerit	8:310f9e4eac7b	1196	simOk=0;
nerit	3:a469bbd294b5	1197	}
nerit	8:310f9e4eac7b	1198	}
nerit	8:310f9e4eac7b	1199	// modulo 5
nerit	8:310f9e4eac7b	1200	if (RX_ID==0x108) {
nerit	8:310f9e4eac7b	1201	if ((selezionato&0x10)==0x10) {
nerit	8:310f9e4eac7b	1202	simOk=1;
nerit	8:310f9e4eac7b	1203	} else {
nerit	8:310f9e4eac7b	1204	simOk=0;
nerit	3:a469bbd294b5	1205	}
nerit	3:a469bbd294b5	1206	}
nerit	8:310f9e4eac7b	1207
nerit	8:310f9e4eac7b	1208	}
nerit	14:e2b5efa06c41	1209	//if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1210	if (rxMsg.id==RX_Settings) {
nerit	14:e2b5efa06c41	1211	//if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1212	pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit	3:a469bbd294b5	1213	cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit	17:9629eb019892	1214	deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit	5:2a3a64b52f54	1215	seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit	5:2a3a64b52f54	1216	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	1217	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	1218	aggiornaParametri();
nerit	14:e2b5efa06c41	1219	//}
nerit	3:a469bbd294b5	1220	}
nerit	14:e2b5efa06c41	1221	if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1222	if (rxMsg.id==RX_AngoloPh) {
nerit	8:310f9e4eac7b	1223	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1224	#if defined(M1)
nerit	3:a469bbd294b5	1225	angoloPh = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1226	aggiornaParametri();
nerit	3:a469bbd294b5	1227	#endif
nerit	3:a469bbd294b5	1228	#if defined(M2)
nerit	3:a469bbd294b5	1229	angoloPh = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1230	aggiornaParametri();
nerit	3:a469bbd294b5	1231	#endif
nerit	3:a469bbd294b5	1232	#if defined(M3)
nerit	3:a469bbd294b5	1233	angoloPh = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1234	aggiornaParametri();
nerit	3:a469bbd294b5	1235	#endif
nerit	3:a469bbd294b5	1236	#if defined(M4)
nerit	3:a469bbd294b5	1237	angoloPh = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1238	aggiornaParametri();
nerit	3:a469bbd294b5	1239	#endif
nerit	3:a469bbd294b5	1240	#if defined(M5)
nerit	3:a469bbd294b5	1241	angoloPh = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1242	aggiornaParametri();
nerit	3:a469bbd294b5	1243	#endif
nerit	3:a469bbd294b5	1244	#if defined(M6)
nerit	3:a469bbd294b5	1245	angoloPh = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1246	aggiornaParametri();
nerit	3:a469bbd294b5	1247	#endif
nerit	3:a469bbd294b5	1248	}
nerit	3:a469bbd294b5	1249	}
nerit	8:310f9e4eac7b	1250	if (rxMsg.id==RX_AngoloAv) {
nerit	8:310f9e4eac7b	1251	if (tractorSpeed_MtS_timed==0.0f) {
nerit	3:a469bbd294b5	1252	#if defined(M1)
nerit	3:a469bbd294b5	1253	angoloAv = (double) rxMsg.data[0] ;
nerit	3:a469bbd294b5	1254	aggiornaParametri();
nerit	3:a469bbd294b5	1255	#endif
nerit	3:a469bbd294b5	1256	#if defined(M2)
nerit	3:a469bbd294b5	1257	angoloAv = (double) rxMsg.data[1] ;
nerit	3:a469bbd294b5	1258	aggiornaParametri();
nerit	3:a469bbd294b5	1259	#endif
nerit	3:a469bbd294b5	1260	#if defined(M3)
nerit	3:a469bbd294b5	1261	angoloAv = (double) rxMsg.data[2] ;
nerit	3:a469bbd294b5	1262	aggiornaParametri();
nerit	3:a469bbd294b5	1263	#endif
nerit	3:a469bbd294b5	1264	#if defined(M4)
nerit	3:a469bbd294b5	1265	angoloAv = (double) rxMsg.data[3] ;
nerit	3:a469bbd294b5	1266	aggiornaParametri();
nerit	3:a469bbd294b5	1267	#endif
nerit	3:a469bbd294b5	1268	#if defined(M5)
nerit	3:a469bbd294b5	1269	angoloAv = (double) rxMsg.data[4] ;
nerit	3:a469bbd294b5	1270	aggiornaParametri();
nerit	3:a469bbd294b5	1271	#endif
nerit	3:a469bbd294b5	1272	#if defined(M6)
nerit	3:a469bbd294b5	1273	angoloAv = (double) rxMsg.data[5] ;
nerit	3:a469bbd294b5	1274	aggiornaParametri();
nerit	3:a469bbd294b5	1275	#endif
nerit	3:a469bbd294b5	1276	}
nerit	3:a469bbd294b5	1277	}
nerit	8:310f9e4eac7b	1278	if (rxMsg.id==RX_Quinconce) {
nerit	8:310f9e4eac7b	1279	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	1280	quinconceActive = (uint8_t) rxMsg.data[0];
nerit	8:310f9e4eac7b	1281	quincPIDminus = (uint8_t) rxMsg.data[1];
nerit	8:310f9e4eac7b	1282	quincPIDplus = (uint8_t) rxMsg.data[2];
nerit	8:310f9e4eac7b	1283	quincLIMminus = (uint8_t) rxMsg.data[3];
nerit	8:310f9e4eac7b	1284	quincLIMplus = (uint8_t) rxMsg.data[4];
nerit	3:a469bbd294b5	1285	quincSector = (uint8_t) rxMsg.data[5];
nerit	3:a469bbd294b5	1286	aggiornaParametri();
nerit	3:a469bbd294b5	1287	}
nerit	3:a469bbd294b5	1288	}
nerit	8:310f9e4eac7b	1289	}
nerit	8:310f9e4eac7b	1290	if (tractorSpeed_MtS_timed > 0.0f){
nerit	8:310f9e4eac7b	1291	if (rxMsg.id==RX_QuincSinc) {
nerit	8:310f9e4eac7b	1292	masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit	8:310f9e4eac7b	1293	masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit	8:310f9e4eac7b	1294	masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit	3:a469bbd294b5	1295	masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit	3:a469bbd294b5	1296	speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit	8:310f9e4eac7b	1297	mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit	8:310f9e4eac7b	1298	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit	3:a469bbd294b5	1299	mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit	3:a469bbd294b5	1300	canDataCheck=1;
nerit	3:a469bbd294b5	1301	}
nerit	8:310f9e4eac7b	1302	}
nerit	33:81b406a911b6	1303	//if (tractorSpeed_MtS_timed <= 0.01f){
nerit	8:310f9e4eac7b	1304	if (rxMsg.id==RX_Configure) {
nerit	3:a469bbd294b5	1305	uint8_t flags = rxMsg.data[0];
nerit	32:cfc3d7420fa5	1306	if ((flags&0x80)==0x80) { // comando taglianylon
nerit	33:81b406a911b6	1307	if (oldTagliaNylon==false){
nerit	33:81b406a911b6	1308	tagliaNylonAttivo=true;
nerit	33:81b406a911b6	1309	oldTagliaNylon=true;
nerit	33:81b406a911b6	1310	}
nerit	32:cfc3d7420fa5	1311	} else {
nerit	33:81b406a911b6	1312	if (oldTagliaNylon==true){
nerit	33:81b406a911b6	1313	tagliaNylonAttivo=false;
nerit	33:81b406a911b6	1314	oldTagliaNylon=false;
nerit	3:a469bbd294b5	1315	}
nerit	33:81b406a911b6	1316	if ((tagliaNylonAttivo==false)&&(tractorSpeed_MtS_timed<=0.01f)){
nerit	33:81b406a911b6	1317	uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit	33:81b406a911b6	1318	steps = steps + ((uint32_t)rxMsg.data[1]);
nerit	33:81b406a911b6	1319	TBmotorSteps =steps;
nerit	37:0a225902cf48	1320	#if defined(oldStepperDriver)
nerit	37:0a225902cf48	1321	stepSetting();
nerit	37:0a225902cf48	1322	#endif
nerit	33:81b406a911b6	1323	cellsCountSet = rxMsg.data[3];
nerit	33:81b406a911b6	1324	if ((flags&0x01)==0x01) {
nerit	33:81b406a911b6	1325	if (encoder==false) {
nerit	33:81b406a911b6	1326	encoder=true;
nerit	33:81b406a911b6	1327	speedFromPick=0;
nerit	33:81b406a911b6	1328	DcEncoder.rise(NULL);
nerit	33:81b406a911b6	1329	dcSetting();
nerit	33:81b406a911b6	1330	}
nerit	33:81b406a911b6	1331	} else {
nerit	33:81b406a911b6	1332	if (encoder==true) {
nerit	33:81b406a911b6	1333	encoder=false;
nerit	33:81b406a911b6	1334	speedFromPick=1;
nerit	33:81b406a911b6	1335	DcEncoder.rise(NULL);
nerit	33:81b406a911b6	1336	dcSetting();
nerit	33:81b406a911b6	1337	}
nerit	33:81b406a911b6	1338	}
nerit	33:81b406a911b6	1339	if ((flags&0x02)==0x02) {
nerit	33:81b406a911b6	1340	tankLevelEnable=true;
nerit	33:81b406a911b6	1341	} else {
nerit	33:81b406a911b6	1342	tankLevelEnable=false;
nerit	33:81b406a911b6	1343	}
nerit	39:6814c75dfa5c	1344	#if !defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1345	if ((flags&0x04)==0x04) {
nerit	39:6814c75dfa5c	1346	seedSensorEnable=true;
nerit	39:6814c75dfa5c	1347	} else {
nerit	39:6814c75dfa5c	1348	seedSensorEnable=false;
nerit	39:6814c75dfa5c	1349	}
nerit	39:6814c75dfa5c	1350	#else
nerit	33:81b406a911b6	1351	seedSensorEnable=false;
nerit	39:6814c75dfa5c	1352	#endif
nerit	33:81b406a911b6	1353	if ((flags&0x08)==0x08) {
nerit	33:81b406a911b6	1354	drumSelect=true; // usare per selezione del tamburo =0 meccanico =1 PNEUMATICO
nerit	33:81b406a911b6	1355	} else {
nerit	33:81b406a911b6	1356	drumSelect=false; // forzato a true per Germania
nerit	33:81b406a911b6	1357	}
nerit	33:81b406a911b6	1358	if ((flags&0x10)==0x10) {
nerit	33:81b406a911b6	1359	canDataCheckEnable=true;
nerit	33:81b406a911b6	1360	} else {
nerit	33:81b406a911b6	1361	canDataCheckEnable=false;
nerit	33:81b406a911b6	1362	}
nerit	33:81b406a911b6	1363	if ((flags&0x20)==0x20) {
nerit	33:81b406a911b6	1364	tamburoStandard=1;
nerit	33:81b406a911b6	1365	} else {
nerit	33:81b406a911b6	1366	tamburoStandard=0;
nerit	33:81b406a911b6	1367	}
nerit	33:81b406a911b6	1368	if ((flags&0x40)==0x40) {
nerit	33:81b406a911b6	1369	currentCheckEnable=true;
nerit	33:81b406a911b6	1370	} else {
nerit	33:81b406a911b6	1371	currentCheckEnable=false;
nerit	33:81b406a911b6	1372	}
nerit	33:81b406a911b6	1373	aggiornaParametri();
nerit	3:a469bbd294b5	1374	}
nerit	3:a469bbd294b5	1375	}
nerit	3:a469bbd294b5	1376	}
nerit	33:81b406a911b6	1377	//}
nerit	8:310f9e4eac7b	1378	}
nerit	10:9e70619e97ab	1379	#endif
nerit	10:9e70619e97ab	1380	#if defined(overWriteCanSimulation)
nerit	10:9e70619e97ab	1381	enableSimula=1;
nerit	10:9e70619e97ab	1382	speedSimula=25;
nerit	10:9e70619e97ab	1383	avviaSimula=1;
nerit	10:9e70619e97ab	1384	simOk=1;
nerit	10:9e70619e97ab	1385	#endif
nerit	10:9e70619e97ab	1386	#if defined(pcSerial)
nerit	10:9e70619e97ab	1387	#if defined(checkLoop)
nerit	10:9e70619e97ab	1388	pc.printf("20\n");
nerit	10:9e70619e97ab	1389	#endif
nerit	10:9e70619e97ab	1390	#endif
bcostm	0:5701b41769fd	1391	}
bcostm	0:5701b41769fd	1392
nerit	3:a469bbd294b5	1393	//*******************************************************
nerit	8:310f9e4eac7b	1394	void DC_CheckCurrent()
nerit	8:310f9e4eac7b	1395	{
nerit	8:310f9e4eac7b	1396
nerit	3:a469bbd294b5	1397	// TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit	3:a469bbd294b5	1398	// gli allarmi e le correzioni di velocità
nerit	8:310f9e4eac7b	1399
nerit	3:a469bbd294b5	1400	//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	1401	//int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit	3:a469bbd294b5	1402	// Analog reading
nerit	3:a469bbd294b5	1403	//number = floor(number * 100) / 100;
nerit	8:310f9e4eac7b	1404	timeout.detach();
nerit	8:310f9e4eac7b	1405	SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1406	SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)3.3f) / (SD_CurrentFactor/1000.0f)10)/10;
nerit	3:a469bbd294b5	1407	}
nerit	3:a469bbd294b5	1408	//*******************************************************
nerit	8:310f9e4eac7b	1409	void DC_prepare()
nerit	8:310f9e4eac7b	1410	{
nerit	3:a469bbd294b5	1411	// direction or brake preparation
nerit	8:310f9e4eac7b	1412	if (DC_brake==1) {
nerit	3:a469bbd294b5	1413	SDmotorInA=1;
nerit	3:a469bbd294b5	1414	SDmotorInB=1;
nerit	8:310f9e4eac7b	1415	} else {
nerit	8:310f9e4eac7b	1416	if (DC_forward==0) {
nerit	3:a469bbd294b5	1417	SDmotorInA=1;
nerit	3:a469bbd294b5	1418	SDmotorInB=0;
nerit	8:310f9e4eac7b	1419	} else {
nerit	3:a469bbd294b5	1420	SDmotorInA=0;
nerit	3:a469bbd294b5	1421	SDmotorInB=1;
nerit	3:a469bbd294b5	1422	}
nerit	3:a469bbd294b5	1423	}
nerit	3:a469bbd294b5	1424	// fault reading
nerit	8:310f9e4eac7b	1425	if (SDmotorInA==1) {
nerit	8:310f9e4eac7b	1426	SD_faultA=1;
nerit	8:310f9e4eac7b	1427	} else {
nerit	8:310f9e4eac7b	1428	SD_faultA=0;
nerit	8:310f9e4eac7b	1429	}
nerit	8:310f9e4eac7b	1430	if (SDmotorInB==1) {
nerit	8:310f9e4eac7b	1431	SD_faultB=1;
nerit	8:310f9e4eac7b	1432	} else {
nerit	8:310f9e4eac7b	1433	SD_faultB=0;
nerit	8:310f9e4eac7b	1434	}
nerit	10:9e70619e97ab	1435	#if defined(pcSerial)
nerit	10:9e70619e97ab	1436	#if defined(checkLoopa)
nerit	10:9e70619e97ab	1437	pc.printf("22\n");
nerit	10:9e70619e97ab	1438	#endif
nerit	10:9e70619e97ab	1439	#endif
nerit	3:a469bbd294b5	1440	}
nerit	3:a469bbd294b5	1441	//*******************************************************
nerit	12:b0fc1d313813	1442	void startDelay(){
nerit	12:b0fc1d313813	1443	SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit	12:b0fc1d313813	1444	int ritardo =0;
nerit	12:b0fc1d313813	1445	ritardo = (int)((float)(dcActualDuty*800.0f));
nerit	12:b0fc1d313813	1446	timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit	3:a469bbd294b5	1447	}
nerit	3:a469bbd294b5	1448	//*******************************************************
nerit	10:9e70619e97ab	1449	void quincTrigon(){
nerit	3:a469bbd294b5	1450	quincClock=true;
nerit	10:9e70619e97ab	1451	#if defined(pcSerial)
nerit	10:9e70619e97ab	1452	#if defined(checkLoop)
nerit	10:9e70619e97ab	1453	pc.printf("24\n");
nerit	10:9e70619e97ab	1454	#endif
nerit	10:9e70619e97ab	1455	#endif
nerit	3:a469bbd294b5	1456	}
nerit	10:9e70619e97ab	1457	void quincTrigof(){
nerit	3:a469bbd294b5	1458	quincClock=false;
nerit	10:9e70619e97ab	1459	#if defined(pcSerial)
nerit	10:9e70619e97ab	1460	#if defined(checkLoop)
nerit	10:9e70619e97ab	1461	pc.printf("25\n");
nerit	10:9e70619e97ab	1462	#endif
nerit	10:9e70619e97ab	1463	#endif
nerit	3:a469bbd294b5	1464	}
nerit	3:a469bbd294b5	1465	//*******************************************************
nerit	8:310f9e4eac7b	1466	void quinCalc()
nerit	8:310f9e4eac7b	1467	{
nerit	3:a469bbd294b5	1468	// riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit	10:9e70619e97ab	1469	#if !defined(mezzo)
nerit	10:9e70619e97ab	1470	if ((quincClock==true)&&(oldQuincIn==0)) {
nerit	10:9e70619e97ab	1471	oldQuincIn=1;
nerit	10:9e70619e97ab	1472	if (quincStart==0) {
nerit	10:9e70619e97ab	1473	oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit	10:9e70619e97ab	1474	quincTime.reset();
nerit	10:9e70619e97ab	1475	quincTimeSD.reset();
nerit	10:9e70619e97ab	1476	quincStart=1;
nerit	10:9e70619e97ab	1477	}
nerit	3:a469bbd294b5	1478	}
nerit	10:9e70619e97ab	1479	if(quincClock==false) {
nerit	3:a469bbd294b5	1480	oldQuincIn=0;
nerit	3:a469bbd294b5	1481	}
nerit	10:9e70619e97ab	1482	#else
nerit	10:9e70619e97ab	1483	if ((((quinconceActive==0)&&(quincClock==true))\|\|((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit	10:9e70619e97ab	1484	oldQuincIn=1;
nerit	10:9e70619e97ab	1485	if (quincStart==0) {
nerit	10:9e70619e97ab	1486	oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit	10:9e70619e97ab	1487	quincTime.reset();
nerit	10:9e70619e97ab	1488	quincStart=1;
nerit	10:9e70619e97ab	1489	}
nerit	3:a469bbd294b5	1490	}
nerit	10:9e70619e97ab	1491	if (quinconceActive==0) {
nerit	10:9e70619e97ab	1492	if (quincClock==false) {
nerit	10:9e70619e97ab	1493	oldQuincIn=0;
nerit	10:9e70619e97ab	1494	}
nerit	10:9e70619e97ab	1495	} else {
nerit	10:9e70619e97ab	1496	if (quincClock==true) {
nerit	10:9e70619e97ab	1497	oldQuincIn=0;
nerit	10:9e70619e97ab	1498	}
nerit	10:9e70619e97ab	1499	}
nerit	10:9e70619e97ab	1500	#endif
nerit	3:a469bbd294b5	1501	//****************************************************************************************
nerit	8:310f9e4eac7b	1502	if (quincCnt>=4) {
nerit	8:310f9e4eac7b	1503	if (countPicks==0) {
nerit	8:310f9e4eac7b	1504	if ((sincroQui==1)&&(quincStart==0)) {
nerit	3:a469bbd294b5	1505	// decelera
nerit	3:a469bbd294b5	1506	countPicks=1;
nerit	3:a469bbd294b5	1507	}
nerit	8:310f9e4eac7b	1508	if ((sincroQui==0)&&(quincStart==1)) {
nerit	3:a469bbd294b5	1509	// accelera
nerit	3:a469bbd294b5	1510	countPicks=2;
nerit	3:a469bbd294b5	1511	}
nerit	3:a469bbd294b5	1512	}
nerit	8:310f9e4eac7b	1513	if ((sincroQui==1)&&(quincStart==1)) {
nerit	8:310f9e4eac7b	1514	if (countPicks==1) { //decelera
nerit	3:a469bbd294b5	1515	scostamento = oldQuincTimeSD;
nerit	17:9629eb019892	1516	if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit	3:a469bbd294b5	1517	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1518	percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1519	#if defined(pcSerial)
nerit	3:a469bbd294b5	1520	#if defined(laq)
nerit	3:a469bbd294b5	1521	pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit	3:a469bbd294b5	1522	#endif
nerit	3:a469bbd294b5	1523	#endif
nerit	3:a469bbd294b5	1524	}
nerit	3:a469bbd294b5	1525	//if (scostamento <15.0f){percento=0.0f;}
nerit	3:a469bbd294b5	1526	}
nerit	8:310f9e4eac7b	1527	if (countPicks==2) { //accelera
nerit	3:a469bbd294b5	1528	scostamento = (double)quincTime.read_ms();
nerit	17:9629eb019892	1529	if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit	3:a469bbd294b5	1530	double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit	3:a469bbd294b5	1531	percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit	3:a469bbd294b5	1532	#if defined(pcSerial)
nerit	3:a469bbd294b5	1533	#if defined(laq)
nerit	8:310f9e4eac7b	1534	pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit	3:a469bbd294b5	1535	#endif
nerit	3:a469bbd294b5	1536	#endif
nerit	3:a469bbd294b5	1537	}
nerit	3:a469bbd294b5	1538	//if (scostamento <15.0f){percento=0.0f;}
nerit	3:a469bbd294b5	1539	}
nerit	3:a469bbd294b5	1540	sincroQui=0;
nerit	3:a469bbd294b5	1541	quincStart=0;
nerit	3:a469bbd294b5	1542	countPicks=0;
nerit	5:2a3a64b52f54	1543	// questo e il primo
nerit	3:a469bbd294b5	1544	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1545	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1546	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1547	if (enableSimula==0) {
nerit	8:310f9e4eac7b	1548	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1549	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1550	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1551	}
nerit	13:d1030d4e51a8	1552	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1553	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1554	}*/
nerit	3:a469bbd294b5	1555	}
nerit	8:310f9e4eac7b	1556	}
nerit	3:a469bbd294b5	1557	}
nerit	3:a469bbd294b5	1558	#endif
nerit	3:a469bbd294b5	1559	}
nerit	8:310f9e4eac7b	1560
nerit	3:a469bbd294b5	1561	//*******************************************************************
nerit	8:310f9e4eac7b	1562	if (canDataCheckEnable==true) {
nerit	8:310f9e4eac7b	1563	if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit	3:a469bbd294b5	1564	canDataCheck=0;
nerit	17:9629eb019892	1565	double parametro = SDsectorStep/(double)quincSector;
nerit	3:a469bbd294b5	1566	double differenza=0.0f;
nerit	3:a469bbd294b5	1567	#if defined(mezzo)
nerit	8:310f9e4eac7b	1568	if (quinconceActive==1) {
nerit	3:a469bbd294b5	1569	differenza = (double)masterSinc - (double)prePosSD;
nerit	8:310f9e4eac7b	1570	} else {
nerit	3:a469bbd294b5	1571	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1572	}
nerit	3:a469bbd294b5	1573	#else
nerit	3:a469bbd294b5	1574	differenza = (double)mast2_Sinc - (double)prePosSD;
nerit	3:a469bbd294b5	1575	#endif
nerit	17:9629eb019892	1576	if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit	8:310f9e4eac7b	1577	if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit	8:310f9e4eac7b	1578	double diffPerc = differenza / parametro;
nerit	3:a469bbd294b5	1579	percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1580	}
nerit	8:310f9e4eac7b	1581	if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit	8:310f9e4eac7b	1582	double diffPerc = (double)differenza / parametro;
nerit	3:a469bbd294b5	1583	percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit	3:a469bbd294b5	1584	}
nerit	5:2a3a64b52f54	1585	// questo e il secondo
nerit	3:a469bbd294b5	1586	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	1587	if (quincCnt>=3) {
nerit	8:310f9e4eac7b	1588	if (speedFromMaster>0.0f) {
nerit	8:310f9e4eac7b	1589	if (enableSimula==0) {
nerit	5:2a3a64b52f54	1590	tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit	14:e2b5efa06c41	1591	/if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed1.15f)){
nerit	10:9e70619e97ab	1592	tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit	10:9e70619e97ab	1593	}
nerit	13:d1030d4e51a8	1594	if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit	10:9e70619e97ab	1595	tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit	14:e2b5efa06c41	1596	}*/
nerit	3:a469bbd294b5	1597	}
nerit	5:2a3a64b52f54	1598	}
nerit	3:a469bbd294b5	1599	}
nerit	3:a469bbd294b5	1600	#endif
nerit	3:a469bbd294b5	1601	}
nerit	3:a469bbd294b5	1602	}
nerit	8:310f9e4eac7b	1603
nerit	3:a469bbd294b5	1604	}
nerit	8:310f9e4eac7b	1605	if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit	3:a469bbd294b5	1606	percento= (double)quincLIMplus/100.0f;
nerit	3:a469bbd294b5	1607	}
nerit	8:310f9e4eac7b	1608	if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit	3:a469bbd294b5	1609	percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm	0:5701b41769fd	1610	}
nerit	6:e8c18f0f399a	1611	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1612	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1613	pc.printf("26\n");
nerit	6:e8c18f0f399a	1614	#endif
nerit	6:e8c18f0f399a	1615	#endif
bcostm	0:5701b41769fd	1616	}
nerit	8:310f9e4eac7b	1617	// ----------------------------------------
nerit	3:a469bbd294b5	1618	#if defined(seedSensor)
nerit	3:a469bbd294b5	1619	void resetDelay(){
nerit	3:a469bbd294b5	1620	delaySeedCheck.reset();
nerit	3:a469bbd294b5	1621	delaySeedCheck.stop();
nerit	8:310f9e4eac7b	1622	#if defined(pcSerial)
nerit	8:310f9e4eac7b	1623	#if defined(checkLoop)
nerit	8:310f9e4eac7b	1624	pc.printf("27\n");
nerit	8:310f9e4eac7b	1625	#endif
nerit	6:e8c18f0f399a	1626	#endif
nerit	3:a469bbd294b5	1627	}
nerit	3:a469bbd294b5	1628	#endif
nerit	18:7c978f69cc51	1629	// ----------------------------------------
nerit	17:9629eb019892	1630	void aggiornati(){
nerit	17:9629eb019892	1631	#if defined(runner)
nerit	17:9629eb019892	1632	legPos.detach();
nerit	17:9629eb019892	1633	TBoldPosition= (uint32_t) motor->get_position();
nerit	17:9629eb019892	1634	legPos.attach(&step_Reading,0.002f);
nerit	17:9629eb019892	1635	#if defined(pcSerial)
nerit	17:9629eb019892	1636	#if defined(TBperS)
nerit	17:9629eb019892	1637	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	17:9629eb019892	1638	#endif
nerit	17:9629eb019892	1639	#endif
nerit	17:9629eb019892	1640
nerit	17:9629eb019892	1641	#else
nerit	17:9629eb019892	1642	TBactualPosition=0;
nerit	17:9629eb019892	1643	#endif
nerit	17:9629eb019892	1644	}
nerit	17:9629eb019892	1645
nerit	3:a469bbd294b5	1646	// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit	3:a469bbd294b5	1647	// MAIN SECTION
nerit	3:a469bbd294b5	1648	// ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm	0:5701b41769fd	1649
nerit	3:a469bbd294b5	1650	//*******************************************************************************
nerit	8:310f9e4eac7b	1651	int main()
nerit	8:310f9e4eac7b	1652	{
nerit	6:e8c18f0f399a	1653	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1654	#if defined(resetCpu)
nerit	6:e8c18f0f399a	1655	pc.printf("RESET\n");
nerit	6:e8c18f0f399a	1656	#endif
nerit	6:e8c18f0f399a	1657	#endif
nerit	8:310f9e4eac7b	1658
nerit	8:310f9e4eac7b	1659	#if defined(canbusActive)
nerit	8:310f9e4eac7b	1660	can1.attach(&leggiCAN, CAN::RxIrq);
nerit	8:310f9e4eac7b	1661	#endif
nerit	8:310f9e4eac7b	1662
nerit	8:310f9e4eac7b	1663	wait(1.0f);
nerit	8:310f9e4eac7b	1664	wait(1.0f);
nerit	19:231b8931cabc	1665	wait(ritAvv);
nerit	8:310f9e4eac7b	1666
nerit	37:0a225902cf48	1667	#if defined(oldStepperDriver)
nerit	37:0a225902cf48	1668	stepSetting();
nerit	37:0a225902cf48	1669	#endif
nerit	37:0a225902cf48	1670
nerit	37:0a225902cf48	1671	#if defined(runner)
nerit	37:0a225902cf48	1672	TBmotor_SW=1;
nerit	37:0a225902cf48	1673	#endif
nerit	8:310f9e4eac7b	1674	TBmotorDirecti=TBforward; // reset stepper direction
nerit	8:310f9e4eac7b	1675	//----- Initialization
nerit	8:310f9e4eac7b	1676	/* Initializing SPI bus. */
nerit	8:310f9e4eac7b	1677	// dev_spi(mosi,miso,sclk)
nerit	8:310f9e4eac7b	1678	// D11= PA7; D12= PA6; D13= PA5
nerit	35:3165f4c1c7bf	1679	#if defined(runner)
nerit	35:3165f4c1c7bf	1680	DevSPI dev_spi(D11, D12, D13);
nerit	35:3165f4c1c7bf	1681	dev_spi.frequency(5000000);
nerit	10:9e70619e97ab	1682
nerit	35:3165f4c1c7bf	1683	/* Initializing Motor Control Component. */
nerit	35:3165f4c1c7bf	1684	// powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit	35:3165f4c1c7bf	1685	// motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit	35:3165f4c1c7bf	1686	motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit	35:3165f4c1c7bf	1687	if (motor->init(&init) != COMPONENT_OK) {
nerit	35:3165f4c1c7bf	1688	exit(EXIT_FAILURE);
nerit	35:3165f4c1c7bf	1689	}
nerit	35:3165f4c1c7bf	1690
nerit	35:3165f4c1c7bf	1691	/* Attaching and enabling an interrupt handler. */
nerit	35:3165f4c1c7bf	1692	motor->attach_flag_irq(&my_flag_irq_handler);
nerit	35:3165f4c1c7bf	1693	motor->enable_flag_irq();
nerit	35:3165f4c1c7bf	1694	//motor->disable_flag_irq();
nerit	35:3165f4c1c7bf	1695
nerit	35:3165f4c1c7bf	1696	/* Attaching an error handler */
nerit	35:3165f4c1c7bf	1697	//motor->attach_error_handler(&my_error_handler);
nerit	35:3165f4c1c7bf	1698	#endif
nerit	8:310f9e4eac7b	1699	wait(1.0f);
nerit	8:310f9e4eac7b	1700	for (int a=0; a<5; a++) {
nerit	3:a469bbd294b5	1701	mediaSpeed[a]=0;
nerit	3:a469bbd294b5	1702	}
nerit	8:310f9e4eac7b	1703
nerit	3:a469bbd294b5	1704	// DC reset ad set
nerit	3:a469bbd294b5	1705	int decima = 100;
nerit	3:a469bbd294b5	1706	wait_ms(200);
nerit	3:a469bbd294b5	1707	SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1708	wait_ms(2);
nerit	3:a469bbd294b5	1709	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1710	wait_ms(1);
nerit	3:a469bbd294b5	1711	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	3:a469bbd294b5	1712	wait_ms(3);
nerit	3:a469bbd294b5	1713	SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit	8:310f9e4eac7b	1714	SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit	3:a469bbd294b5	1715	wait_ms(100);
nerit	3:a469bbd294b5	1716	DC_prepare();
nerit	8:310f9e4eac7b	1717
nerit	8:310f9e4eac7b	1718	speedTimer.start(); // speed pulse timer
nerit	3:a469bbd294b5	1719	intraPickTimer.start();
nerit	8:310f9e4eac7b	1720	speedTimeOut.start();
nerit	3:a469bbd294b5	1721	speedFilter.start();
nerit	3:a469bbd294b5	1722	seedFilter.start();
nerit	3:a469bbd294b5	1723	TBfilter.start();
nerit	3:a469bbd294b5	1724	sincroTimer.start();
nerit	3:a469bbd294b5	1725	rotationTimeOut.start();
nerit	3:a469bbd294b5	1726	metalTimer.start();
nerit	3:a469bbd294b5	1727	quincTime.start();
nerit	3:a469bbd294b5	1728	quincTimeSD.start();
nerit	8:310f9e4eac7b	1729	#if defined(runner)
nerit	8:310f9e4eac7b	1730	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	1731	#endif
nerit	8:310f9e4eac7b	1732
nerit	3:a469bbd294b5	1733	//*******************************************************
nerit	3:a469bbd294b5	1734	// controls for check DC motor current
nerit	8:310f9e4eac7b	1735	pwmCheck.rise(&startDelay);
nerit	3:a469bbd294b5	1736	wait_ms(500);
nerit	8:310f9e4eac7b	1737
nerit	12:b0fc1d313813	1738	dcVeri.attach(&controllaCorrente,2.0f);
nerit	13:d1030d4e51a8	1739	delaySpeedCheck.start();
nerit	12:b0fc1d313813	1740
nerit	8:310f9e4eac7b	1741	#if defined(runnerTos)
nerit	8:310f9e4eac7b	1742	thread.start(step_Reading);
nerit	8:310f9e4eac7b	1743	#endif
nerit	3:a469bbd294b5	1744
nerit	8:310f9e4eac7b	1745	if (inProva==0) {
nerit	3:a469bbd294b5	1746	tractorSpeedRead.rise(&tractorReadSpeed);
nerit	3:a469bbd294b5	1747	#if !defined(speedMaster)
nerit	3:a469bbd294b5	1748	quinconceIn.rise(&quincTrigon);
nerit	3:a469bbd294b5	1749	quinconceIn.fall(&quincTrigof);
nerit	3:a469bbd294b5	1750	#endif
nerit	3:a469bbd294b5	1751	#if defined(speedMaster)
nerit	3:a469bbd294b5	1752	tftUpdate.attach(&videoUpdate,0.50f);
nerit	3:a469bbd294b5	1753	#endif
nerit	3:a469bbd294b5	1754	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	1755	dcSetting();
nerit	3:a469bbd294b5	1756	#if defined(seedSensor)
nerit	3:a469bbd294b5	1757	seedCheck.fall(&seedSensorTask);
nerit	3:a469bbd294b5	1758	#endif
nerit	8:310f9e4eac7b	1759	} else {
nerit	8:310f9e4eac7b	1760	tftUpdate.attach(&videoUpdate,0.125f);
nerit	8:310f9e4eac7b	1761	}
nerit	8:310f9e4eac7b	1762
nerit	3:a469bbd294b5	1763	aggiornaParametri();
nerit	3:a469bbd294b5	1764
nerit	3:a469bbd294b5	1765	SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit	3:a469bbd294b5	1766	SDmotorPWM.write(1.0f); // duty cycle = stop
nerit	3:a469bbd294b5	1767	TBmotorDirecti=TBforward; // tb motor direction set
nerit	3:a469bbd294b5	1768
nerit	3:a469bbd294b5	1769	#if defined(provaStepper)
nerit	3:a469bbd294b5	1770	TBmotorRst=1;
nerit	3:a469bbd294b5	1771	TBmotorDirecti=TBforward;
nerit	3:a469bbd294b5	1772	// definire il pin di clock che è PB_3
nerit	9:7f02256f6e8f	1773	#if defined(Zucca)
nerit	17:9629eb019892	1774	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1775	//motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	9:7f02256f6e8f	1776	#else
nerit	18:7c978f69cc51	1777	motor->run(StepperMotor::BWD,100.0f);
nerit	10:9e70619e97ab	1778	//motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	9:7f02256f6e8f	1779	#endif
nerit	3:a469bbd294b5	1780	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	10:9e70619e97ab	1781	//DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	6:e8c18f0f399a	1782	#if defined(pcSerial)
nerit	6:e8c18f0f399a	1783	#if defined(checkLoop)
nerit	6:e8c18f0f399a	1784	pc.printf("11f\n");
nerit	6:e8c18f0f399a	1785	#endif
nerit	6:e8c18f0f399a	1786	#endif
nerit	10:9e70619e97ab	1787	//TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit	18:7c978f69cc51	1788	TATicker.attach(&invertiLo,3.0f);
nerit	3:a469bbd294b5	1789	#else
nerit	35:3165f4c1c7bf	1790	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	1791	// definire il pin di clock che è PB_3
nerit	35:3165f4c1c7bf	1792	motor->set_home();
nerit	35:3165f4c1c7bf	1793	motor->go_to(50);
nerit	35:3165f4c1c7bf	1794	motor->wait_while_active();
nerit	35:3165f4c1c7bf	1795	#if !defined(runner)
nerit	35:3165f4c1c7bf	1796	#if defined(Zucca)
nerit	35:3165f4c1c7bf	1797	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	1798	#else
nerit	35:3165f4c1c7bf	1799	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	1800	#endif
nerit	9:7f02256f6e8f	1801	#endif
nerit	35:3165f4c1c7bf	1802	#if defined(pcSerial)
nerit	35:3165f4c1c7bf	1803	#if defined(loStop)
nerit	35:3165f4c1c7bf	1804	pc.printf("A3\n");
nerit	35:3165f4c1c7bf	1805	#endif
nerit	6:e8c18f0f399a	1806	#endif
nerit	35:3165f4c1c7bf	1807	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1808	// attiva l'out per il controllo dello stepper in stepClockMode
nerit	35:3165f4c1c7bf	1809	DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit	6:e8c18f0f399a	1810	#endif
nerit	3:a469bbd294b5	1811	#endif // end prova stepper
nerit	8:310f9e4eac7b	1812
nerit	8:310f9e4eac7b	1813	wd.Configure(2.0); //watchdog set at xx seconds
nerit	8:310f9e4eac7b	1814
nerit	8:310f9e4eac7b	1815
nerit	3:a469bbd294b5	1816	//**************************************************************************************************************
nerit	3:a469bbd294b5	1817	// MAIN LOOP
nerit	3:a469bbd294b5	1818	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1819	while (true) {
nerit	6:e8c18f0f399a	1820	// ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit	8:310f9e4eac7b	1821	if (tractorSpeedRead==0) {
nerit	8:310f9e4eac7b	1822	speedClock=0;
nerit	8:310f9e4eac7b	1823	}
nerit	31:92a9e183be8e	1824	if ((tractorSpeed_MtS_timed>0.0f)&&(oldTractStop==1)){
nerit	31:92a9e183be8e	1825	alarmDelay.start();
nerit	31:92a9e183be8e	1826	oldTractStop=0;
nerit	31:92a9e183be8e	1827	}
nerit	31:92a9e183be8e	1828	if (alarmDelay.read()>5){
nerit	31:92a9e183be8e	1829	alarmEnable=true;
nerit	31:92a9e183be8e	1830	}
nerit	31:92a9e183be8e	1831	if ((tractorSpeed_MtS_timed<=0.05f)){
nerit	31:92a9e183be8e	1832	oldTractStop=1;
nerit	31:92a9e183be8e	1833	alarmDelay.stop();
nerit	31:92a9e183be8e	1834	alarmDelay.reset();
nerit	31:92a9e183be8e	1835	alarmEnable=false;
nerit	31:92a9e183be8e	1836	}
nerit	8:310f9e4eac7b	1837
nerit	3:a469bbd294b5	1838	// inversione segnali ingressi
nerit	3:a469bbd294b5	1839	#if !defined(simulaBanco)
nerit	3:a469bbd294b5	1840	seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit	3:a469bbd294b5	1841	#else
nerit	8:310f9e4eac7b	1842	if ((prePosSD-500) >= SDsectorStep) {
nerit	3:a469bbd294b5	1843	seedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1844	}
nerit	8:310f9e4eac7b	1845	if ((prePosSD > 500)&&(prePosSD<580)) {
nerit	3:a469bbd294b5	1846	seedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1847	}
nerit	8:310f9e4eac7b	1848	#endif
nerit	25:4461bc76aaab	1849	if (drumSelect==true){
nerit	25:4461bc76aaab	1850	TBzeroPinInput = TBzeroPinInputRev;
nerit	25:4461bc76aaab	1851	}else{
nerit	25:4461bc76aaab	1852	TBzeroPinInput = !TBzeroPinInputRev;
nerit	25:4461bc76aaab	1853	}
nerit	3:a469bbd294b5	1854	// se quinconce attivo ed unita' master invia segnale di sincro
nerit	3:a469bbd294b5	1855	#if defined(speedMaster)
nerit	8:310f9e4eac7b	1856	if (seedWheelZeroPinInput==1) {
nerit	3:a469bbd294b5	1857	quinconceOut=0;
nerit	3:a469bbd294b5	1858	}
nerit	8:310f9e4eac7b	1859	if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit	3:a469bbd294b5	1860	quinconceOut=1;
nerit	3:a469bbd294b5	1861	}
nerit	8:310f9e4eac7b	1862	if (quinconceActive==1) {
nerit	8:310f9e4eac7b	1863	if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit	3:a469bbd294b5	1864	posForQuinc=500;
nerit	3:a469bbd294b5	1865	oldQuinconceOut=0;
nerit	3:a469bbd294b5	1866	}
nerit	8:310f9e4eac7b	1867	if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit	3:a469bbd294b5	1868	oldQuinconceOut=1;
nerit	3:a469bbd294b5	1869	}
nerit	8:310f9e4eac7b	1870	}
nerit	3:a469bbd294b5	1871	#endif
nerit	3:a469bbd294b5	1872
nerit	3:a469bbd294b5	1873	// simulazione velocita
nerit	8:310f9e4eac7b	1874	if (enableSimula==1) {
nerit	3:a469bbd294b5	1875	double TMT = 0.0f;
nerit	8:310f9e4eac7b	1876	if (speedSimula > 0) {
nerit	3:a469bbd294b5	1877	TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit	3:a469bbd294b5	1878	pulseSpeedInterval = pulseDistance / TMT;
nerit	8:310f9e4eac7b	1879	} else {
nerit	3:a469bbd294b5	1880	pulseSpeedInterval = 10000.0f;
nerit	8:310f9e4eac7b	1881	}
nerit	8:310f9e4eac7b	1882	if (avviaSimula==1) {
nerit	8:310f9e4eac7b	1883	if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit	3:a469bbd294b5	1884	spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit	3:a469bbd294b5	1885	oldSimulaSpeed=pulseSpeedInterval;
nerit	3:a469bbd294b5	1886	}
nerit	8:310f9e4eac7b	1887	} else {
nerit	3:a469bbd294b5	1888	oldSimulaSpeed=10000.0f;
nerit	3:a469bbd294b5	1889	spedSimclock.detach();
nerit	3:a469bbd294b5	1890	}
nerit	8:310f9e4eac7b	1891	} else {
nerit	3:a469bbd294b5	1892	spedSimclock.detach();
nerit	3:a469bbd294b5	1893	}
nerit	8:310f9e4eac7b	1894
nerit	3:a469bbd294b5	1895	//*******************************************************
nerit	3:a469bbd294b5	1896	// determina se sono in bassa velocità per il controllo di TB
nerit	8:310f9e4eac7b	1897	if (speedOfSeedWheel<=minSeedSpeed) {
nerit	8:310f9e4eac7b	1898	if (lowSpeedRequired==0) {
nerit	3:a469bbd294b5	1899	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1900	ritardaLowSpeed.start();
nerit	3:a469bbd294b5	1901	}
nerit	3:a469bbd294b5	1902	lowSpeedRequired=1;
nerit	8:310f9e4eac7b	1903	} else {
nerit	8:310f9e4eac7b	1904	if (lowSpeedRequired==1) {
nerit	3:a469bbd294b5	1905	lowSpeedRequired=0;
nerit	3:a469bbd294b5	1906	ritardaLowSpeed.reset();
nerit	3:a469bbd294b5	1907	ritardaLowSpeed.stop();
nerit	3:a469bbd294b5	1908	}
nerit	3:a469bbd294b5	1909	}
nerit	3:a469bbd294b5	1910
nerit	8:310f9e4eac7b	1911	if (ritardaLowSpeed.read_ms()> 2000) {
nerit	3:a469bbd294b5	1912	lowSpeed=1;
nerit	8:310f9e4eac7b	1913	} else {
nerit	3:a469bbd294b5	1914	lowSpeed=0;
nerit	3:a469bbd294b5	1915	}
bcostm	2:35f13b7f3659	1916
nerit	3:a469bbd294b5	1917	//**************************************************************************************************************
nerit	3:a469bbd294b5	1918	//**************************************************************************************************************
nerit	3:a469bbd294b5	1919	// LOGICAL CONTROLS
nerit	3:a469bbd294b5	1920	//**************************************************************************************************************
nerit	3:a469bbd294b5	1921	//**************************************************************************************************************
nerit	8:310f9e4eac7b	1922
nerit	8:310f9e4eac7b	1923	if (inProva==0) {
nerit	20:4a400a4cc419	1924	// simulazione stepper
nerit	23:ccd253b36733	1925	if (simOk==1){
nerit	23:ccd253b36733	1926	if (simStepper==1){
nerit	23:ccd253b36733	1927	oldSimStepper=true;
nerit	39:6814c75dfa5c	1928	#if defined(runner)
nerit	39:6814c75dfa5c	1929	simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit	39:6814c75dfa5c	1930	#endif
nerit	39:6814c75dfa5c	1931	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1932	simStepSpeed= 1.0f/(((double)speedStepp/250.0f)/100.0f);
nerit	39:6814c75dfa5c	1933	#endif
nerit	23:ccd253b36733	1934	if (oldSimStepSpeed!=simStepSpeed){
nerit	35:3165f4c1c7bf	1935	#if defined(runner)
nerit	35:3165f4c1c7bf	1936	motor->run(StepperMotor::FWD,simStepSpeed);
nerit	35:3165f4c1c7bf	1937	#endif
nerit	35:3165f4c1c7bf	1938	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1939	//TBmotorRst=0;
nerit	39:6814c75dfa5c	1940	//TBticker.attach_us(&step_TBPulseOut,simStepSpeed/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit	39:6814c75dfa5c	1941	attivaTb(simStepSpeed/2.0f);
nerit	35:3165f4c1c7bf	1942	#endif
nerit	23:ccd253b36733	1943	oldSimStepSpeed=simStepSpeed;
nerit	23:ccd253b36733	1944	}
nerit	23:ccd253b36733	1945	}else{
nerit	23:ccd253b36733	1946	if (oldSimStepper==true){
nerit	23:ccd253b36733	1947	oldSimStepper=false;
nerit	35:3165f4c1c7bf	1948	#if defined(runner)
nerit	35:3165f4c1c7bf	1949	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1950	#endif
nerit	35:3165f4c1c7bf	1951	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1952	//TBticker.detach();
nerit	39:6814c75dfa5c	1953	//TBmotorRst=1;
nerit	39:6814c75dfa5c	1954	stopTb();
nerit	35:3165f4c1c7bf	1955	#endif
nerit	23:ccd253b36733	1956	oldSimStepSpeed=0.0f;
nerit	23:ccd253b36733	1957	}
nerit	23:ccd253b36733	1958	}
nerit	20:4a400a4cc419	1959	}else{
nerit	20:4a400a4cc419	1960	if (oldSimStepper==true){
nerit	20:4a400a4cc419	1961	oldSimStepper=false;
nerit	35:3165f4c1c7bf	1962	#if defined(runner)
nerit	35:3165f4c1c7bf	1963	motor->soft_hiz();
nerit	35:3165f4c1c7bf	1964	#endif
nerit	35:3165f4c1c7bf	1965	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	1966	//TBticker.detach();
nerit	39:6814c75dfa5c	1967	//TBmotorRst=1;
nerit	39:6814c75dfa5c	1968	stopTb();
nerit	35:3165f4c1c7bf	1969	#endif
nerit	20:4a400a4cc419	1970	oldSimStepSpeed=0.0f;
nerit	20:4a400a4cc419	1971	}
nerit	20:4a400a4cc419	1972	}
nerit	8:310f9e4eac7b	1973	if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit	6:e8c18f0f399a	1974	runRequestBuf=1;//0;
nerit	8:310f9e4eac7b	1975	} else {
nerit	6:e8c18f0f399a	1976	runRequestBuf=1;//0;
nerit	6:e8c18f0f399a	1977	}
nerit	8:310f9e4eac7b	1978	if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit	6:e8c18f0f399a	1979	oldTractorSpeedRead=0;
nerit	3:a469bbd294b5	1980	}
nerit	3:a469bbd294b5	1981	// ----------------------------------------
nerit	3:a469bbd294b5	1982	// filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit	3:a469bbd294b5	1983	// ----------------------------------------
nerit	8:310f9e4eac7b	1984	if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit	8:310f9e4eac7b	1985	if(seedFilter.read_ms()>=4) {
nerit	3:a469bbd294b5	1986	oldSeedWheelZeroPinInput=0;
nerit	3:a469bbd294b5	1987	SDzeroDebounced=0;
nerit	3:a469bbd294b5	1988	}
nerit	3:a469bbd294b5	1989	}
nerit	8:310f9e4eac7b	1990	if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit	3:a469bbd294b5	1991	timeIntraPick = (double)intraPickTimer.read_ms();
nerit	3:a469bbd294b5	1992	prePosSD=500; // preposizionamento SD
nerit	3:a469bbd294b5	1993	intraPickTimer.reset();
nerit	3:a469bbd294b5	1994	rotationTimeOut.reset();
nerit	8:310f9e4eac7b	1995	seedFilter.reset();
nerit	3:a469bbd294b5	1996	sincroTimer.reset();
nerit	3:a469bbd294b5	1997	oldSeedWheelZeroPinInput=1;
nerit	3:a469bbd294b5	1998	quincTime.reset();
nerit	3:a469bbd294b5	1999	quincTimeSD.reset();
nerit	3:a469bbd294b5	2000	SDzeroDebounced=1;
nerit	3:a469bbd294b5	2001	sincroQui=1;
nerit	3:a469bbd294b5	2002	SDwheelTimer.reset();
nerit	13:d1030d4e51a8	2003	dcEncoderCnt=0;
nerit	3:a469bbd294b5	2004	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2005	if (quinconceActive==0) {
nerit	3:a469bbd294b5	2006	posForQuinc=500;
nerit	3:a469bbd294b5	2007	}
nerit	17:9629eb019892	2008	if (checkSDrotation==0) {
nerit	17:9629eb019892	2009	checkSDrotation=1;
nerit	17:9629eb019892	2010	SDwheelTimer.start();
nerit	17:9629eb019892	2011	}
nerit	3:a469bbd294b5	2012	#endif
nerit	8:310f9e4eac7b	2013	if (quincCnt<10) {
nerit	3:a469bbd294b5	2014	quincCnt++;
nerit	3:a469bbd294b5	2015	}
nerit	8:310f9e4eac7b	2016	if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit	3:a469bbd294b5	2017	beccoPronto=1;
nerit	3:a469bbd294b5	2018	}
nerit	3:a469bbd294b5	2019	lockStart=0;
nerit	3:a469bbd294b5	2020	double fase1=0.0f;
nerit	3:a469bbd294b5	2021	forzaFase=0;
nerit	3:a469bbd294b5	2022	double limite=fixedStepGiroSD/pickNumber;
nerit	8:310f9e4eac7b	2023	if (tamburoStandard==0) {
nerit	8:310f9e4eac7b	2024	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	2025	} else {
nerit	8:310f9e4eac7b	2026	if(speedForCorrection >= speedOfSeedWheel) {
nerit	3:a469bbd294b5	2027	fase1=TBdeltaStep;
nerit	8:310f9e4eac7b	2028	} else {
nerit	3:a469bbd294b5	2029	fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit	3:a469bbd294b5	2030	}
nerit	8:310f9e4eac7b	2031	if (fase1 > limite) {
nerit	3:a469bbd294b5	2032	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	2033	}
nerit	8:310f9e4eac7b	2034	if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit	3:a469bbd294b5	2035	fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit	3:a469bbd294b5	2036	forzaFase=1;
nerit	3:a469bbd294b5	2037	}
nerit	3:a469bbd294b5	2038	trigRepos=1;
nerit	3:a469bbd294b5	2039	}
nerit	3:a469bbd294b5	2040	fase = (uint32_t)fase1+500;
nerit	3:a469bbd294b5	2041	#if defined(pcSerial)
nerit	3:a469bbd294b5	2042	#if defined(inCorre)
nerit	3:a469bbd294b5	2043	pc.printf(" limite %f", limite);
nerit	3:a469bbd294b5	2044	pc.printf(" delta %f", TBdeltaStep);
nerit	3:a469bbd294b5	2045	pc.printf(" faseStep %f", TBfaseStep);
nerit	3:a469bbd294b5	2046	pc.printf(" fase %d",fase);
nerit	3:a469bbd294b5	2047	pc.printf(" forzaFase %d",forzaFase);
nerit	3:a469bbd294b5	2048	pc.printf(" trigRepos %d", trigRepos);
nerit	3:a469bbd294b5	2049	pc.printf(" ActualSD: %d",SDactualPosition);
nerit	3:a469bbd294b5	2050	pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit	3:a469bbd294b5	2051	pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit	3:a469bbd294b5	2052	#endif
nerit	3:a469bbd294b5	2053	#endif
nerit	19:231b8931cabc	2054	if (tractorSpeed_MtS_timed>0.2f){
nerit	17:9629eb019892	2055	if (timeIntraPick >= (memoIntraPick*2)) {
nerit	31:92a9e183be8e	2056	if ((aspettaStart==0)&&(alarmEnable==true)) {
nerit	17:9629eb019892	2057	if (firstStart==0) {
nerit	39:6814c75dfa5c	2058	#if defined(pcSerial)
nerit	39:6814c75dfa5c	2059	#if defined(tempoTb)
nerit	39:6814c75dfa5c	2060	pc.printf("intra: %f memo: %f\n" , timeIntraPick, memoIntraPick);
nerit	39:6814c75dfa5c	2061	#endif
nerit	39:6814c75dfa5c	2062	#endif
nerit	17:9629eb019892	2063	all_pickSignal=1;
nerit	17:9629eb019892	2064	}
nerit	3:a469bbd294b5	2065	}
nerit	3:a469bbd294b5	2066	}
nerit	3:a469bbd294b5	2067	}
nerit	3:a469bbd294b5	2068	memoIntraPick = timeIntraPick;
nerit	8:310f9e4eac7b	2069	if ((speedFromPick==1)&&(encoder==false)) {
nerit	3:a469bbd294b5	2070	speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit	10:9e70619e97ab	2071	#if defined(pcSerial)
nerit	10:9e70619e97ab	2072	#if defined(Qnca)
nerit	10:9e70619e97ab	2073	pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit	10:9e70619e97ab	2074	#endif
nerit	3:a469bbd294b5	2075	#endif
nerit	3:a469bbd294b5	2076	}
nerit	8:310f9e4eac7b	2077	if (encoder==false) {
nerit	3:a469bbd294b5	2078	pulseRised2=1;
nerit	3:a469bbd294b5	2079	}
nerit	3:a469bbd294b5	2080	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2081	if ((tractorSpeed_MtS_timed==0.0f)) {
nerit	8:310f9e4eac7b	2082	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	10:9e70619e97ab	2083	cntSpeedError++;
nerit	18:7c978f69cc51	2084	if (cntSpeedError >= 5){
nerit	10:9e70619e97ab	2085	all_noSpeedSen=1;
nerit	10:9e70619e97ab	2086	}
nerit	3:a469bbd294b5	2087	}
nerit	3:a469bbd294b5	2088	}
nerit	31:92a9e183be8e	2089	if ((tractorSpeed_MtS_timed>0.2f)&&(alarmEnable==true)){
nerit	18:7c978f69cc51	2090	double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit	17:9629eb019892	2091	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	17:9629eb019892	2092	if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit	17:9629eb019892	2093	all_speedError =1;
nerit	17:9629eb019892	2094	}
nerit	3:a469bbd294b5	2095	}
nerit	3:a469bbd294b5	2096	}
nerit	3:a469bbd294b5	2097	#endif
nerit	3:a469bbd294b5	2098	//*******************************************
nerit	3:a469bbd294b5	2099	// esegue calcolo clock per la generazione della posizione teorica
nerit	3:a469bbd294b5	2100	// la realtà in base al segnale di presenza del becco
nerit	8:310f9e4eac7b	2101	if (speedOfSeedWheel < 0.002f) {
nerit	10:9e70619e97ab	2102	#if defined(pcSerial)
nerit	10:9e70619e97ab	2103	#if defined(checkLoopb)
nerit	10:9e70619e97ab	2104	pc.printf("forza\n");
nerit	10:9e70619e97ab	2105	#endif
nerit	8:310f9e4eac7b	2106	#endif
nerit	6:e8c18f0f399a	2107	speedOfSeedWheel=0.001f;
nerit	6:e8c18f0f399a	2108	}
nerit	8:310f9e4eac7b	2109	aggioVelocita();
nerit	3:a469bbd294b5	2110	}
nerit	3:a469bbd294b5	2111	// ----------------------------------------
nerit	8:310f9e4eac7b	2112	// check SD fase
nerit	8:310f9e4eac7b	2113	if ((prePosSD >= fase)\|\|(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit	3:a469bbd294b5	2114	forzaFase=0;
nerit	8:310f9e4eac7b	2115	if (trigRepos==1) {
nerit	3:a469bbd294b5	2116	SDactualPosition=0;
nerit	8:310f9e4eac7b	2117	if ((countCicli<30)&&(trigCicli==0)) {
nerit	6:e8c18f0f399a	2118	countCicli++;
nerit	6:e8c18f0f399a	2119	trigCicli=1;
nerit	6:e8c18f0f399a	2120	}
nerit	8:310f9e4eac7b	2121	if(countCicli>=cicliAspettaStart) {
nerit	6:e8c18f0f399a	2122	aspettaStart=0;
nerit	6:e8c18f0f399a	2123	}
nerit	8:310f9e4eac7b	2124	if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit	6:e8c18f0f399a	2125	syncroCheck=1;
nerit	6:e8c18f0f399a	2126	beccoPronto=0;
nerit	6:e8c18f0f399a	2127	}
nerit	8:310f9e4eac7b	2128	if (trigTB==0) {
nerit	3:a469bbd294b5	2129	inhibit=1;
nerit	3:a469bbd294b5	2130	trigSD=1;
nerit	8:310f9e4eac7b	2131	} else {
nerit	3:a469bbd294b5	2132	inhibit=0;
nerit	3:a469bbd294b5	2133	trigTB=0;
nerit	3:a469bbd294b5	2134	trigSD=0;
nerit	3:a469bbd294b5	2135	}
nerit	3:a469bbd294b5	2136	trigRepos=0;
nerit	3:a469bbd294b5	2137	}
nerit	8:310f9e4eac7b	2138	} else {
nerit	3:a469bbd294b5	2139	trigCicli=0;
nerit	3:a469bbd294b5	2140	}
nerit	8:310f9e4eac7b	2141	// ----------------------------------------
nerit	3:a469bbd294b5	2142	// filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit	8:310f9e4eac7b	2143	if (TBzeroPinInput==0) {
nerit	8:310f9e4eac7b	2144	if (TBfilter.read_ms()>=2) {
nerit	8:310f9e4eac7b	2145	oldTBzeroPinInput=0;
nerit	8:310f9e4eac7b	2146	}
nerit	8:310f9e4eac7b	2147	}
nerit	20:4a400a4cc419	2148	if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit	3:a469bbd294b5	2149	oldTBzeroPinInput=1;
nerit	8:310f9e4eac7b	2150	if (loadDaCanInCorso==0) {
nerit	3:a469bbd294b5	2151	stopCicloTB=1;
nerit	3:a469bbd294b5	2152	startCicloTB=0;
nerit	3:a469bbd294b5	2153	}
nerit	3:a469bbd294b5	2154	TBfilter.reset();
nerit	3:a469bbd294b5	2155	TBzeroCyclePulse=1;
nerit	8:310f9e4eac7b	2156	#if defined(runner)
nerit	8:310f9e4eac7b	2157	legPos.detach();
nerit	8:310f9e4eac7b	2158	TBoldPosition= (uint32_t) motor->get_position();
nerit	8:310f9e4eac7b	2159	legPos.attach(&step_Reading,0.002f);
nerit	8:310f9e4eac7b	2160	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2161	#if defined(TBperS)
nerit	8:310f9e4eac7b	2162	pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit	8:310f9e4eac7b	2163	#endif
nerit	8:310f9e4eac7b	2164	#endif
nerit	37:0a225902cf48	2165	#if defined(perProva)
nerit	37:0a225902cf48	2166	pc.printf(" ildato %d Actual %d\n", ildato, TBactualPosition);
nerit	37:0a225902cf48	2167	#endif
nerit	8:310f9e4eac7b	2168	#else
nerit	8:310f9e4eac7b	2169	TBactualPosition=0;
nerit	8:310f9e4eac7b	2170	#endif
nerit	8:310f9e4eac7b	2171	if (cntTbError>0) {
nerit	3:a469bbd294b5	2172	cntCellsCorrect++;
nerit	3:a469bbd294b5	2173	}
nerit	19:231b8931cabc	2174	if (cntCellsCorrect>0) {
nerit	3:a469bbd294b5	2175	cntTbError=0;
nerit	3:a469bbd294b5	2176	cntCellsCorrect=0;
nerit	3:a469bbd294b5	2177	}
nerit	3:a469bbd294b5	2178	// conteggio celle erogate
nerit	8:310f9e4eac7b	2179	if (cellsCounterLow < 0xFF) {
nerit	3:a469bbd294b5	2180	cellsCounterLow++;
nerit	8:310f9e4eac7b	2181	} else {
nerit	3:a469bbd294b5	2182	cellsCounterHig++;
nerit	3:a469bbd294b5	2183	cellsCounterLow=0;
nerit	3:a469bbd294b5	2184	}
nerit	3:a469bbd294b5	2185	// ciclo conteggio celle per carico manuale
nerit	8:310f9e4eac7b	2186	if (loadDaCanInCorso==1) {
nerit	3:a469bbd294b5	2187	cntCellsForLoad++;
nerit	27:3d382b6e60ba	2188	double cellsToCount = ceil(((cellsNumber/360.0)*180.0f)+1.0f);
nerit	26:77955c5d16a3	2189	if (cntCellsForLoad >= cellsToCount) {
nerit	8:310f9e4eac7b	2190	stopCicloTB=1;
nerit	3:a469bbd294b5	2191	cntCellsForLoad=0;
nerit	3:a469bbd294b5	2192	}
nerit	8:310f9e4eac7b	2193	} else {
nerit	3:a469bbd294b5	2194	cntCellsForLoad=0;
nerit	3:a469bbd294b5	2195	}
nerit	3:a469bbd294b5	2196	// inibizione controllo di sincro per fuori fase
nerit	8:310f9e4eac7b	2197	if (trigSD==0) {
nerit	3:a469bbd294b5	2198	inhibit=1;
nerit	3:a469bbd294b5	2199	trigTB=1;
nerit	8:310f9e4eac7b	2200	} else {
nerit	3:a469bbd294b5	2201	inhibit=0;
nerit	3:a469bbd294b5	2202	trigTB=0;
nerit	3:a469bbd294b5	2203	trigSD=0;
nerit	3:a469bbd294b5	2204	}
nerit	3:a469bbd294b5	2205	// conta le celle indietro per sbloccare il tamburo
nerit	8:310f9e4eac7b	2206	if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit	3:a469bbd294b5	2207	cntCellsForReload++;
nerit	8:310f9e4eac7b	2208	if (cntCellsForReload >= cellsCountSet) {
nerit	3:a469bbd294b5	2209	TBmotorDirecti=TBforward; // rotazione normale
nerit	21:3e6576c2e126	2210	if (tractorSpeed_MtS_timed>0.0f){
nerit	21:3e6576c2e126	2211	#if defined(runner)
nerit	21:3e6576c2e126	2212	#if defined(Zucca)
nerit	21:3e6576c2e126	2213	motor->run(StepperMotor::BWD);
nerit	21:3e6576c2e126	2214	#else
nerit	21:3e6576c2e126	2215	motor->run(StepperMotor::FWD);
nerit	21:3e6576c2e126	2216	#endif
nerit	9:7f02256f6e8f	2217	#else
nerit	35:3165f4c1c7bf	2218	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2219	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2220	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2221	#else
nerit	35:3165f4c1c7bf	2222	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2223	#endif
nerit	21:3e6576c2e126	2224	#endif
nerit	9:7f02256f6e8f	2225	#endif
nerit	21:3e6576c2e126	2226	}
nerit	3:a469bbd294b5	2227	erroreTamburo=0;
nerit	3:a469bbd294b5	2228	cntCellsCorrect=0;
nerit	8:310f9e4eac7b	2229	}
nerit	3:a469bbd294b5	2230	}
nerit	3:a469bbd294b5	2231	#if defined(seedSensor)
nerit	3:a469bbd294b5	2232	resetDelay();
nerit	3:a469bbd294b5	2233	delaySeedCheck.start();
nerit	3:a469bbd294b5	2234	#endif
nerit	3:a469bbd294b5	2235	}
nerit	20:4a400a4cc419	2236	if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit	31:92a9e183be8e	2237	if ((firstStart==0)&&(alarmEnable==true)) {
nerit	18:7c978f69cc51	2238	if (tractorSpeed_MtS_timed>0.4f){
nerit	17:9629eb019892	2239	if (cntTbError>5) {
nerit	17:9629eb019892	2240	all_cellSignal=1;
nerit	17:9629eb019892	2241	#if defined(seedSensor)
nerit	17:9629eb019892	2242	resetDelay();
nerit	17:9629eb019892	2243	#endif
nerit	17:9629eb019892	2244	}
nerit	3:a469bbd294b5	2245	}
nerit	3:a469bbd294b5	2246	}
nerit	8:310f9e4eac7b	2247	if (erroreTamburo==0) {
nerit	17:9629eb019892	2248	if (cellsCountSet>1){
nerit	17:9629eb019892	2249	erroreTamburo=1;
nerit	17:9629eb019892	2250	TBmotorDirecti=TBreverse; // rotazione inversa
nerit	21:3e6576c2e126	2251	if (tractorSpeed_MtS_timed>0.0f){
nerit	21:3e6576c2e126	2252	#if defined(runner)
nerit	21:3e6576c2e126	2253	#if defined(Zucca)
nerit	21:3e6576c2e126	2254	motor->run(StepperMotor::FWD);
nerit	21:3e6576c2e126	2255	#else
nerit	21:3e6576c2e126	2256	motor->run(StepperMotor::BWD);
nerit	21:3e6576c2e126	2257	#endif
nerit	17:9629eb019892	2258	#else
nerit	35:3165f4c1c7bf	2259	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2260	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2261	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2262	#else
nerit	35:3165f4c1c7bf	2263	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	2264	#endif
nerit	21:3e6576c2e126	2265	#endif
nerit	17:9629eb019892	2266	#endif
nerit	21:3e6576c2e126	2267	}
nerit	17:9629eb019892	2268	}
nerit	3:a469bbd294b5	2269	cntCellsForReload=0;
nerit	17:9629eb019892	2270	if (tractorSpeed_MtS_timed>0.0f){
nerit	17:9629eb019892	2271	cntTbError++;
nerit	30:32e770e91998	2272	//aggiornati();
nerit	17:9629eb019892	2273	}else{
nerit	17:9629eb019892	2274	cntTbError=0;
nerit	17:9629eb019892	2275	}
nerit	3:a469bbd294b5	2276	#if defined(seedSensor)
nerit	3:a469bbd294b5	2277	resetDelay();
nerit	3:a469bbd294b5	2278	#endif
nerit	3:a469bbd294b5	2279	}
nerit	3:a469bbd294b5	2280	}
nerit	31:92a9e183be8e	2281	if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit	17:9629eb019892	2282	if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))\|\|(cntTbError>5)) {
nerit	17:9629eb019892	2283	if (firstStart==0) {
nerit	39:6814c75dfa5c	2284	#if defined(pcSerial)
nerit	39:6814c75dfa5c	2285	#if defined(posit)
nerit	39:6814c75dfa5c	2286	pc.printf("actual: %d giro: %f cells: %f cnt: %d", TBactualPosition,TBgiroStep, cellsNumber,cntTbError);
nerit	39:6814c75dfa5c	2287	#endif
nerit	39:6814c75dfa5c	2288	#endif
nerit	17:9629eb019892	2289	all_noStepRota=1;
nerit	17:9629eb019892	2290	#if defined(seedSensor)
nerit	17:9629eb019892	2291	resetDelay();
nerit	17:9629eb019892	2292	#endif
nerit	17:9629eb019892	2293	}
nerit	17:9629eb019892	2294	cntTbError=0;
nerit	3:a469bbd294b5	2295	}
nerit	3:a469bbd294b5	2296	}
nerit	8:310f9e4eac7b	2297	// ----------------------------------------
nerit	3:a469bbd294b5	2298	// read and manage joystick
nerit	20:4a400a4cc419	2299	if ((loadDaCan==1)&(simStepper==0)) {
nerit	8:310f9e4eac7b	2300	if (tractorSpeed_MtS_timed==0.0f) {
nerit	8:310f9e4eac7b	2301	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2302	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2303	pc.printf("daCAN\n");
nerit	6:e8c18f0f399a	2304	#endif
nerit	8:310f9e4eac7b	2305	#endif
nerit	6:e8c18f0f399a	2306	ciclaTB();
nerit	8:310f9e4eac7b	2307	}
nerit	3:a469bbd294b5	2308	}
nerit	8:310f9e4eac7b	2309
nerit	8:310f9e4eac7b	2310	//***************************************************************************************************
nerit	8:310f9e4eac7b	2311	// pulseRised define the event of speed wheel pulse occurs
nerit	8:310f9e4eac7b	2312	//
nerit	3:a469bbd294b5	2313	//double maxInterval = pulseDistance/minWorkSpeed;
nerit	3:a469bbd294b5	2314	//double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit	8:310f9e4eac7b	2315	if (pulseRised==1) {
nerit	12:b0fc1d313813	2316	if (enableSpeed<10) {enableSpeed++;}
nerit	3:a469bbd294b5	2317	pulseRised=0;
nerit	3:a469bbd294b5	2318	pulseRised1=1;
nerit	3:a469bbd294b5	2319	speedMediaCalc();
nerit	3:a469bbd294b5	2320	// calcola velocità trattore
nerit	8:310f9e4eac7b	2321	if(enableSpeed>=2) {
nerit	8:310f9e4eac7b	2322	if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit	32:cfc3d7420fa5	2323	// todo: separare il controllo su speedfrommaster per attivarlo solo sullo slave
nerit	8:310f9e4eac7b	2324	if((quincCnt<3)\|\|(speedFromMaster==0.0f)\|\|(enableSimula==1)) {
nerit	3:a469bbd294b5	2325	tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit	13:d1030d4e51a8	2326	if (delaySpeedCheck.read()>=5.0f){
nerit	13:d1030d4e51a8	2327	if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit	13:d1030d4e51a8	2328	tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit	13:d1030d4e51a8	2329	}
nerit	13:d1030d4e51a8	2330	}
nerit	10:9e70619e97ab	2331	oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit	3:a469bbd294b5	2332	}
nerit	17:9629eb019892	2333	/*if (checkSDrotation==0) {
nerit	3:a469bbd294b5	2334	checkSDrotation=1;
nerit	3:a469bbd294b5	2335	SDwheelTimer.start();
nerit	17:9629eb019892	2336	}*/
nerit	3:a469bbd294b5	2337	}
nerit	3:a469bbd294b5	2338	}
nerit	3:a469bbd294b5	2339	speedTimeOut.reset();
nerit	8:310f9e4eac7b	2340	} else {
nerit	3:a469bbd294b5	2341	double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit	8:310f9e4eac7b	2342	if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit	3:a469bbd294b5	2343	tractorSpeed_MtS_timed = 0.0f;
nerit	10:9e70619e97ab	2344	oldLocalTractorSpeed=0.0f;
nerit	10:9e70619e97ab	2345	#if defined(seedSensor)
nerit	10:9e70619e97ab	2346	resetDelay();
nerit	10:9e70619e97ab	2347	#endif
nerit	3:a469bbd294b5	2348	pntMedia=0;
nerit	3:a469bbd294b5	2349	speedTimeOut.reset();
nerit	3:a469bbd294b5	2350	enableSpeed=0;
nerit	3:a469bbd294b5	2351	quincCnt=0;
nerit	3:a469bbd294b5	2352	}
nerit	3:a469bbd294b5	2353	}
nerit	8:310f9e4eac7b	2354
nerit	10:9e70619e97ab	2355	#if defined(seedSensor)
nerit	10:9e70619e97ab	2356	if (seedSensorEnable==true) {
nerit	10:9e70619e97ab	2357	if (delaySeedCheck.read_ms()>100) {
nerit	10:9e70619e97ab	2358	if (seedSee==0) {
nerit	10:9e70619e97ab	2359	all_noSeedOnCe=1;
nerit	10:9e70619e97ab	2360	}
nerit	10:9e70619e97ab	2361	resetDelay();
nerit	3:a469bbd294b5	2362	}
nerit	3:a469bbd294b5	2363	}
nerit	10:9e70619e97ab	2364	#endif
nerit	3:a469bbd294b5	2365	// esegue il controllo di velocità minima
nerit	3:a469bbd294b5	2366	/*if ((double)speedTimer.read_ms()>=maxInterval){
nerit	3:a469bbd294b5	2367	tractorSpeed_MtS_timed = 0.0f;
nerit	3:a469bbd294b5	2368	enableSpeed=0;
nerit	3:a469bbd294b5	2369	}*/
nerit	3:a469bbd294b5	2370	// esegue il controllo di velocità massima
nerit	3:a469bbd294b5	2371	/*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit	3:a469bbd294b5	2372	tractorSpeed_MtS_timed = 4.5f;
nerit	3:a469bbd294b5	2373	}*/
nerit	8:310f9e4eac7b	2374	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2375	// cycle logic control section
nerit	8:310f9e4eac7b	2376	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2377	if (enableSimula==1) {
nerit	8:310f9e4eac7b	2378	if(simOk==0) {
nerit	8:310f9e4eac7b	2379	tractorSpeed_MtS_timed=0.0f;
nerit	10:9e70619e97ab	2380	oldLocalTractorSpeed=0.0f;
nerit	8:310f9e4eac7b	2381	}
nerit	8:310f9e4eac7b	2382	}
nerit	20:4a400a4cc419	2383	if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit	8:310f9e4eac7b	2384	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2385	#if defined(Qncc)
nerit	8:310f9e4eac7b	2386	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2387
nerit	8:310f9e4eac7b	2388	#endif
nerit	8:310f9e4eac7b	2389	#endif
nerit	8:310f9e4eac7b	2390	cycleStopRequest=1;
nerit	8:310f9e4eac7b	2391	// calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit	8:310f9e4eac7b	2392	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	2393	if (encoder==false) {
nerit	8:310f9e4eac7b	2394	if (speedFromPick==1) {
nerit	8:310f9e4eac7b	2395	tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2396	} else {
nerit	8:310f9e4eac7b	2397	tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	8:310f9e4eac7b	2398	}
nerit	8:310f9e4eac7b	2399	} else {
nerit	17:9629eb019892	2400	tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatiodcPulseTurn))1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit	5:2a3a64b52f54	2401	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2402	#if defined(Qnce)
nerit	8:310f9e4eac7b	2403	pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit	5:2a3a64b52f54	2404	#endif
nerit	5:2a3a64b52f54	2405	#endif
nerit	8:310f9e4eac7b	2406	#if !defined(speedMaster)
nerit	10:9e70619e97ab	2407	double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit	10:9e70619e97ab	2408	tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit	8:310f9e4eac7b	2409	#endif
nerit	8:310f9e4eac7b	2410	}
nerit	8:310f9e4eac7b	2411	//*******************************************
nerit	8:310f9e4eac7b	2412	// segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit	8:310f9e4eac7b	2413	double dutyTeorico = 0.00;
nerit	12:b0fc1d313813	2414	double deltaV=0.0f;
nerit	12:b0fc1d313813	2415	double deltaD=0.0f;
nerit	12:b0fc1d313813	2416	double setV=0.0f;
nerit	12:b0fc1d313813	2417	double teoriaC=0.0f;
nerit	14:e2b5efa06c41	2418	double speedCorrectionMachine=0.0f;
nerit	17:9629eb019892	2419	//#if defined(speedMaster)
nerit	14:e2b5efa06c41	2420	speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed2.0f)))tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2421	//#else
nerit	17:9629eb019892	2422	// speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit	17:9629eb019892	2423	//#endif
nerit	14:e2b5efa06c41	2424	//if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit	17:9629eb019892	2425	if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit	8:310f9e4eac7b	2426	dutyTeorico = tabComan[0];
nerit	8:310f9e4eac7b	2427	}
nerit	38:79af1c65dd6f	2428	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	2429	for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit	38:79af1c65dd6f	2430	#endif
nerit	38:79af1c65dd6f	2431	#if defined(runner)
nerit	38:79af1c65dd6f	2432	for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit	38:79af1c65dd6f	2433	#endif
nerit	14:e2b5efa06c41	2434	if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit	12:b0fc1d313813	2435	// esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit	12:b0fc1d313813	2436	deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit	12:b0fc1d313813	2437	deltaD=tabComan[ii+1]-tabComan[ii];
nerit	14:e2b5efa06c41	2438	//setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit	14:e2b5efa06c41	2439	setV = speedCorrectionMachine-tabSpeed[ii];
nerit	12:b0fc1d313813	2440	teoriaC=(setV/deltaV)*deltaD;
nerit	12:b0fc1d313813	2441	dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit	14:e2b5efa06c41	2442	#if defined(pcSerial)
nerit	14:e2b5efa06c41	2443	#if defined(boost1)
nerit	14:e2b5efa06c41	2444	pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit	14:e2b5efa06c41	2445	pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit	14:e2b5efa06c41	2446	#endif
nerit	14:e2b5efa06c41	2447	#endif
nerit	3:a469bbd294b5	2448	}
nerit	8:310f9e4eac7b	2449	}
nerit	38:79af1c65dd6f	2450	#if defined(oldStepperDriver)
nerit	38:79af1c65dd6f	2451	if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit	38:79af1c65dd6f	2452	dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit	38:79af1c65dd6f	2453	}
nerit	38:79af1c65dd6f	2454	#endif
nerit	38:79af1c65dd6f	2455	#if defined(runner)
nerit	38:79af1c65dd6f	2456	if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit	38:79af1c65dd6f	2457	dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit	38:79af1c65dd6f	2458	}
nerit	38:79af1c65dd6f	2459	#endif
nerit	8:310f9e4eac7b	2460	#if !defined(speedMaster)
nerit	8:310f9e4eac7b	2461	quinCalc();
nerit	8:310f9e4eac7b	2462	#endif
nerit	8:310f9e4eac7b	2463	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2464	#if defined(Qncd)
nerit	8:310f9e4eac7b	2465	pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit	3:a469bbd294b5	2466	#endif
nerit	8:310f9e4eac7b	2467	#endif
nerit	8:310f9e4eac7b	2468	if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit	8:310f9e4eac7b	2469	double erroreTempo = 0.0f;
nerit	8:310f9e4eac7b	2470	if(encoder==false) {
nerit	8:310f9e4eac7b	2471	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2472	erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2473	} else {
nerit	8:310f9e4eac7b	2474	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	2475	}
nerit	8:310f9e4eac7b	2476	} else {
nerit	8:310f9e4eac7b	2477	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	2478	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2479	#if defined(Qnce)
nerit	8:310f9e4eac7b	2480	pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit	3:a469bbd294b5	2481	#endif
nerit	3:a469bbd294b5	2482	#endif
nerit	3:a469bbd294b5	2483	}
nerit	8:310f9e4eac7b	2484	double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit	8:310f9e4eac7b	2485	double k3=0.0f;
nerit	8:310f9e4eac7b	2486	double k4=0.0f;
nerit	8:310f9e4eac7b	2487	double k5=0.0f;
nerit	8:310f9e4eac7b	2488	double k6=0.0f;
nerit	8:310f9e4eac7b	2489	#if defined(speedMaster)
nerit	8:310f9e4eac7b	2490	k3=0.010f;
nerit	8:310f9e4eac7b	2491	#else
nerit	8:310f9e4eac7b	2492	k3=0.050f;
nerit	8:310f9e4eac7b	2493	#endif
nerit	8:310f9e4eac7b	2494	k4=1.103f;
nerit	8:310f9e4eac7b	2495	k5=10.00f;
nerit	8:310f9e4eac7b	2496	k6=20.50f;
nerit	8:310f9e4eac7b	2497	double L1 = 0.045f;
nerit	8:310f9e4eac7b	2498	double L_1=-0.045f;
nerit	8:310f9e4eac7b	2499	double L2 = 0.150f;
nerit	8:310f9e4eac7b	2500	double L_2=-0.150f;
nerit	8:310f9e4eac7b	2501	double L3 = 0.301f;
nerit	8:310f9e4eac7b	2502	double L_3=-0.301f;
nerit	8:310f9e4eac7b	2503	double k1=0.0f;
nerit	8:310f9e4eac7b	2504	if ((errorePercentuale > L3)\|\|(errorePercentuale < L_3)) {
nerit	8:310f9e4eac7b	2505	k1=errorePercentuale*k6;
nerit	8:310f9e4eac7b	2506	}
nerit	8:310f9e4eac7b	2507	if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))\|\|((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit	8:310f9e4eac7b	2508	k1=errorePercentuale*k5;
nerit	8:310f9e4eac7b	2509	}
nerit	8:310f9e4eac7b	2510	if (((errorePercentuale < L2)&&(errorePercentuale>L1))\|\|((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit	8:310f9e4eac7b	2511	k1=errorePercentuale*k4;
nerit	8:310f9e4eac7b	2512	}
nerit	8:310f9e4eac7b	2513	if ((errorePercentuale < L1)\|\|(errorePercentuale > L_1)) {
nerit	8:310f9e4eac7b	2514	k1=errorePercentuale*k3;
nerit	8:310f9e4eac7b	2515	}
nerit	8:310f9e4eac7b	2516	double memoCorrezione = k1;
nerit	8:310f9e4eac7b	2517	if (quincCnt >= 2) {
nerit	8:310f9e4eac7b	2518	correzione = correzione + memoCorrezione;
nerit	8:310f9e4eac7b	2519	if (correzione > (1.0f - dutyTeorico)) {
nerit	8:310f9e4eac7b	2520	correzione = (1.0f - dutyTeorico);
nerit	34:eb04f4f41dfd	2521	//#if defined(pcSerial)
nerit	34:eb04f4f41dfd	2522	// pc.printf("limite\n");
nerit	34:eb04f4f41dfd	2523	//#endif
nerit	3:a469bbd294b5	2524	}
nerit	8:310f9e4eac7b	2525	if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit	8:310f9e4eac7b	2526	correzione = -1.0f*dutyTeorico;
nerit	34:eb04f4f41dfd	2527	//#if defined(pcSerial)
nerit	34:eb04f4f41dfd	2528	// pc.printf("limite\n");
nerit	34:eb04f4f41dfd	2529	//#endif
nerit	3:a469bbd294b5	2530	}
nerit	3:a469bbd294b5	2531	}
nerit	8:310f9e4eac7b	2532	pulseRised1=0;
nerit	8:310f9e4eac7b	2533	pulseRised2=0;
nerit	8:310f9e4eac7b	2534	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2535	#if defined(Qnca)
nerit	8:310f9e4eac7b	2536	pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit	8:310f9e4eac7b	2537	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	2538	#endif
nerit	8:310f9e4eac7b	2539	#endif
nerit	8:310f9e4eac7b	2540	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2541	#if defined(Qncb)
nerit	8:310f9e4eac7b	2542	pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit	8:310f9e4eac7b	2543	#endif
nerit	8:310f9e4eac7b	2544	#endif
nerit	12:b0fc1d313813	2545	#if defined(pcSerial)
nerit	12:b0fc1d313813	2546	#if defined(boost)
nerit	12:b0fc1d313813	2547	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	2548	#endif
nerit	12:b0fc1d313813	2549	#endif
nerit	8:310f9e4eac7b	2550	}
nerit	12:b0fc1d313813	2551	// introduce il controllo di corrente
nerit	14:e2b5efa06c41	2552	double variazione=0.0f;
nerit	12:b0fc1d313813	2553	if (correggiCorrente==1){
nerit	12:b0fc1d313813	2554	if (SD_CurrentScaled < 1.6f){
nerit	12:b0fc1d313813	2555	boostDcOut +=0.01f;
nerit	12:b0fc1d313813	2556	}
nerit	12:b0fc1d313813	2557	if (SD_CurrentScaled > 2.6f){
nerit	12:b0fc1d313813	2558	boostDcOut -=0.01f;
nerit	12:b0fc1d313813	2559	}
nerit	12:b0fc1d313813	2560	if (boostDcOut >= 0.2f){
nerit	12:b0fc1d313813	2561	boostDcOut=0.2f;
nerit	14:e2b5efa06c41	2562	//all_genericals=1;
nerit	12:b0fc1d313813	2563	}
nerit	12:b0fc1d313813	2564	if (boostDcOut <=-0.2f){
nerit	12:b0fc1d313813	2565	boostDcOut=-0.2f;
nerit	14:e2b5efa06c41	2566	//all_genericals=1;
nerit	12:b0fc1d313813	2567	}
nerit	14:e2b5efa06c41	2568	variazione=boostDcOut;
nerit	12:b0fc1d313813	2569	correggiCorrente=0;
nerit	8:310f9e4eac7b	2570	}
nerit	12:b0fc1d313813	2571	if (currentCheckEnable==true){
nerit	14:e2b5efa06c41	2572	correzione += variazione;
nerit	14:e2b5efa06c41	2573	variazione=0.0f;
nerit	8:310f9e4eac7b	2574	}
nerit	8:310f9e4eac7b	2575	DC_brake=0;
nerit	8:310f9e4eac7b	2576	DC_forward=1;
nerit	8:310f9e4eac7b	2577	DC_prepare();
bcostm	2:35f13b7f3659	2578
nerit	8:310f9e4eac7b	2579	// il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit	8:310f9e4eac7b	2580	seedWheelPeriod = semiPeriodoReale;
nerit	8:310f9e4eac7b	2581	if (seedWheelPeriod < 180.0f) {
nerit	8:310f9e4eac7b	2582	seedWheelPeriod = 180.0f;
nerit	8:310f9e4eac7b	2583	}
nerit	8:310f9e4eac7b	2584	if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit	8:310f9e4eac7b	2585	SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit	8:310f9e4eac7b	2586	oldSeedWheelPeriod=seedWheelPeriod;
nerit	8:310f9e4eac7b	2587	}
nerit	3:a469bbd294b5	2588
nerit	8:310f9e4eac7b	2589	if((quincCnt>=3)) {
nerit	8:310f9e4eac7b	2590	if (correzioneAttiva==1) {
nerit	8:310f9e4eac7b	2591	dcActualDuty = dutyTeorico + correzione;
nerit	8:310f9e4eac7b	2592	} else {
nerit	3:a469bbd294b5	2593	dcActualDuty = dutyTeorico;
nerit	3:a469bbd294b5	2594	}
nerit	8:310f9e4eac7b	2595	} else {
nerit	8:310f9e4eac7b	2596	dcActualDuty = dutyTeorico;
nerit	8:310f9e4eac7b	2597	}
nerit	8:310f9e4eac7b	2598	if (dcActualDuty <=0.0f) {
nerit	8:310f9e4eac7b	2599	dcActualDuty=0.05f;
nerit	8:310f9e4eac7b	2600	}
nerit	8:310f9e4eac7b	2601	if (dcActualDuty > 0.95f) {
nerit	8:310f9e4eac7b	2602	dcActualDuty = 0.95f;
nerit	8:310f9e4eac7b	2603	}
nerit	17:9629eb019892	2604	if (dcActualDuty > (dutyTeorico 1.15f)){dcActualDuty=dutyTeorico1.15f;}
nerit	14:e2b5efa06c41	2605	if (dcActualDuty < (dutyTeorico 0.85f)){dcActualDuty=dutyTeorico0.85f;}
nerit	8:310f9e4eac7b	2606	if (olddcActualDuty!=dcActualDuty) {
nerit	8:310f9e4eac7b	2607	SDmotorPWM.write(1.0f-dcActualDuty);
nerit	8:310f9e4eac7b	2608	olddcActualDuty=dcActualDuty;
nerit	8:310f9e4eac7b	2609	}
nerit	8:310f9e4eac7b	2610	// allarme
nerit	31:92a9e183be8e	2611	if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
nerit	17:9629eb019892	2612	if (SDwheelTimer.read_ms()>4000) {
nerit	17:9629eb019892	2613	if (firstStart==0) {
nerit	17:9629eb019892	2614	all_noDcRotati=1;
nerit	17:9629eb019892	2615	}
nerit	17:9629eb019892	2616	#if defined(pcSerial)
nerit	17:9629eb019892	2617	#if defined(VediAllarmi)
nerit	17:9629eb019892	2618	pc.printf("allarme no DC rotation");
nerit	17:9629eb019892	2619	#endif
nerit	17:9629eb019892	2620	#endif
nerit	3:a469bbd294b5	2621	}
nerit	8:310f9e4eac7b	2622	}
nerit	3:a469bbd294b5	2623
nerit	8:310f9e4eac7b	2624	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2625	// CONTROLLA TAMBURO
nerit	8:310f9e4eac7b	2626	//***************************************************************************************************************
nerit	8:310f9e4eac7b	2627	if(lowSpeed==0) {
nerit	8:310f9e4eac7b	2628	if (syncroCheck==1) {
nerit	8:310f9e4eac7b	2629	syncroCheck=0;
nerit	8:310f9e4eac7b	2630	lockStart=1;
nerit	8:310f9e4eac7b	2631	periodo = TBperiod;
nerit	35:3165f4c1c7bf	2632	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2633	#if !defined(runner)
nerit	35:3165f4c1c7bf	2634	#if defined(Zucca)
nerit	35:3165f4c1c7bf	2635	motor->step_clock_mode_enable(StepperMotor::BWD);
nerit	35:3165f4c1c7bf	2636	#else
nerit	35:3165f4c1c7bf	2637	motor->step_clock_mode_enable(StepperMotor::FWD);
nerit	35:3165f4c1c7bf	2638	#endif
nerit	9:7f02256f6e8f	2639	#endif
nerit	8:310f9e4eac7b	2640	#endif
nerit	8:310f9e4eac7b	2641	if (aspettaStart==0) {
nerit	6:e8c18f0f399a	2642	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2643	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2644	pc.printf("da sincro\n");
nerit	6:e8c18f0f399a	2645	#endif
nerit	6:e8c18f0f399a	2646	#endif
nerit	39:6814c75dfa5c	2647	cambiaTB(periodo,3);
nerit	3:a469bbd294b5	2648	}
nerit	8:310f9e4eac7b	2649	}
nerit	8:310f9e4eac7b	2650	// controllo di stop
nerit	8:310f9e4eac7b	2651	double memoIntraP = (double)memoIntraPick*1.8f;
nerit	8:310f9e4eac7b	2652	if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit	3:a469bbd294b5	2653	syncroCheck=0;
nerit	8:310f9e4eac7b	2654	aspettaStart=1;
nerit	8:310f9e4eac7b	2655	countCicli=0;
nerit	6:e8c18f0f399a	2656	#if defined(pcSerial)
nerit	6:e8c18f0f399a	2657	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2658	pc.printf("AspettaSI\n");
nerit	6:e8c18f0f399a	2659	#endif
nerit	6:e8c18f0f399a	2660	#endif
nerit	8:310f9e4eac7b	2661	if (TBzeroCyclePulse==1) {
nerit	8:310f9e4eac7b	2662	#if !defined(runner)
nerit	39:6814c75dfa5c	2663	//TBticker.detach();
nerit	39:6814c75dfa5c	2664	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2665	stopTb();
nerit	8:310f9e4eac7b	2666	#endif
nerit	35:3165f4c1c7bf	2667	#if !defined(oldStepperDriver)
nerit	35:3165f4c1c7bf	2668	#if defined(runner)
nerit	35:3165f4c1c7bf	2669	motor->soft_hiz();
nerit	35:3165f4c1c7bf	2670	#endif
nerit	35:3165f4c1c7bf	2671	#endif
nerit	8:310f9e4eac7b	2672	}
nerit	8:310f9e4eac7b	2673	}
nerit	8:310f9e4eac7b	2674	} else { // fine ciclo fuori da low speed
nerit	8:310f9e4eac7b	2675	syncroCheck=0;
nerit	8:310f9e4eac7b	2676	lockStart=0;
nerit	8:310f9e4eac7b	2677	if (beccoPronto==1) {
nerit	8:310f9e4eac7b	2678	if (tamburoStandard==1) {
nerit	8:310f9e4eac7b	2679	double ritardoMassimo = 0.0f;
nerit	8:310f9e4eac7b	2680	if (encoder==false) {
nerit	8:310f9e4eac7b	2681	if(speedFromPick==1) {
nerit	8:310f9e4eac7b	2682	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2683	} else {
nerit	8:310f9e4eac7b	2684	ritardoMassimo = (double)memoTimeHole;
nerit	8:310f9e4eac7b	2685	}
nerit	8:310f9e4eac7b	2686	} else {
nerit	8:310f9e4eac7b	2687	ritardoMassimo = (double)timeIntraPick;
nerit	8:310f9e4eac7b	2688	}
nerit	8:310f9e4eac7b	2689	int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit	8:310f9e4eac7b	2690	if (tempoDiSincro <= 1) {
nerit	8:310f9e4eac7b	2691	tempoDiSincro=1;
nerit	8:310f9e4eac7b	2692	}
nerit	8:310f9e4eac7b	2693	if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit	8:310f9e4eac7b	2694	if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2695	startCicloTB=1;
nerit	8:310f9e4eac7b	2696	}
nerit	8:310f9e4eac7b	2697	beccoPronto=0;
nerit	8:310f9e4eac7b	2698	}
nerit	8:310f9e4eac7b	2699	} else {
nerit	8:310f9e4eac7b	2700	// tamburo per zucca
nerit	8:310f9e4eac7b	2701	if (speedOfSeedWheel >= minWorkSpeed) {
nerit	8:310f9e4eac7b	2702	startCicloTB=1;
nerit	8:310f9e4eac7b	2703	}
nerit	8:310f9e4eac7b	2704	beccoPronto=0;
nerit	8:310f9e4eac7b	2705	}
nerit	8:310f9e4eac7b	2706	}
nerit	8:310f9e4eac7b	2707	ciclaTB();
nerit	8:310f9e4eac7b	2708	}
nerit	8:310f9e4eac7b	2709	//*************************************************************
nerit	8:310f9e4eac7b	2710	} else { // fine ciclo con velocita maggiore di 0
nerit	13:d1030d4e51a8	2711	delaySpeedCheck.reset();
nerit	8:310f9e4eac7b	2712	if (cycleStopRequest==1) {
nerit	8:310f9e4eac7b	2713	SDwheelTimer.stop();
nerit	8:310f9e4eac7b	2714	SDwheelTimer.reset();
nerit	8:310f9e4eac7b	2715	#if defined(seedSensor)
nerit	8:310f9e4eac7b	2716	resetDelay();
nerit	8:310f9e4eac7b	2717	#endif
nerit	8:310f9e4eac7b	2718	checkSDrotation=0;
nerit	8:310f9e4eac7b	2719	oldFaseLavoro=0;
nerit	8:310f9e4eac7b	2720	aspettaStart=1;
nerit	8:310f9e4eac7b	2721	countCicli=0;
nerit	8:310f9e4eac7b	2722	oldSeedWheelPeriod=0.0f;
nerit	8:310f9e4eac7b	2723	oldPeriodoTB=0.0f;
nerit	8:310f9e4eac7b	2724	correzione=0.0f;
nerit	8:310f9e4eac7b	2725	OLDpulseSpeedInterval=1000.01f;
nerit	8:310f9e4eac7b	2726	cicloTbinCorso=0;
nerit	8:310f9e4eac7b	2727	cntTbError=0;
nerit	8:310f9e4eac7b	2728	olddcActualDuty=0.0f;
nerit	8:310f9e4eac7b	2729	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2730	#if defined(checkLoopb)
nerit	8:310f9e4eac7b	2731	pc.printf("forza\n");
nerit	8:310f9e4eac7b	2732	#endif
nerit	8:310f9e4eac7b	2733	#endif
nerit	8:310f9e4eac7b	2734	speedOfSeedWheel=0.0f;
nerit	8:310f9e4eac7b	2735	cycleStopRequest=0;
nerit	8:310f9e4eac7b	2736	DC_brake=1;
nerit	8:310f9e4eac7b	2737	DC_prepare();
nerit	8:310f9e4eac7b	2738	metalTimer.reset();
nerit	8:310f9e4eac7b	2739	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2740	#if defined(checkLoop)
nerit	8:310f9e4eac7b	2741	pc.printf("17h\n");
nerit	8:310f9e4eac7b	2742	#endif
nerit	8:310f9e4eac7b	2743	#endif
nerit	8:310f9e4eac7b	2744	#if !defined(runner)
nerit	39:6814c75dfa5c	2745	//TBticker.detach();
nerit	39:6814c75dfa5c	2746	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2747	stopTb();
nerit	8:310f9e4eac7b	2748	#endif
nerit	8:310f9e4eac7b	2749	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2750	#if defined(loStop)
nerit	8:310f9e4eac7b	2751	pc.printf("A5\n");
nerit	6:e8c18f0f399a	2752	#endif
nerit	8:310f9e4eac7b	2753	#endif
nerit	20:4a400a4cc419	2754	if(simStepper==0){
nerit	35:3165f4c1c7bf	2755	#if defined(runner)
nerit	35:3165f4c1c7bf	2756	motor->soft_hiz();
nerit	35:3165f4c1c7bf	2757	motor->set_home();
nerit	35:3165f4c1c7bf	2758	#endif
nerit	35:3165f4c1c7bf	2759	#if defined(oldStepperDriver)
nerit	39:6814c75dfa5c	2760	//TBticker.detach();
nerit	39:6814c75dfa5c	2761	//TBmotorRst=1;
nerit	39:6814c75dfa5c	2762	stopTb();
nerit	35:3165f4c1c7bf	2763	#endif
nerit	20:4a400a4cc419	2764	}
nerit	18:7c978f69cc51	2765	cntSpeedError=0;
nerit	18:7c978f69cc51	2766	timeIntraPick=0.0f;
nerit	19:231b8931cabc	2767	memoIntraPick=0.001f;
nerit	19:231b8931cabc	2768	intraPickTimer.reset();
nerit	8:310f9e4eac7b	2769	pntMedia=0;
nerit	8:310f9e4eac7b	2770	#if defined(pcSerial)
nerit	8:310f9e4eac7b	2771	#if defined(stopSignal)
nerit	8:310f9e4eac7b	2772	pc.printf("stop\n");
nerit	6:e8c18f0f399a	2773	#endif
nerit	8:310f9e4eac7b	2774	#endif
nerit	3:a469bbd294b5	2775	}
nerit	8:310f9e4eac7b	2776	}
nerit	8:310f9e4eac7b	2777
nerit	8:310f9e4eac7b	2778	//*************************************************************************************************
nerit	3:a469bbd294b5	2779	TBzeroCyclePulse=0;
nerit	8:310f9e4eac7b	2780	//*************************************************************************************************
nerit	6:e8c18f0f399a	2781	} //end inProva==0
nerit	3:a469bbd294b5	2782	wd.Service(); // kick the dog before the timeout
nerit	3:a469bbd294b5	2783	} // end while
nerit	3:a469bbd294b5	2784	} // end main

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

main.cpp@41:a0d9a71f8cb5, 2020-05-04 (annotated)

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