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@23:ccd253b36733, 2019-05-04 (annotated)

Committer:
nerit
Date:
Sat May 04 15:24:56 2019 +0000
Revision:
23:ccd253b36733
Parent:
22:2136dcad1dbc
Child:
24:2b5e749e26b2
Riportato i parametri stepper ai valori preAlessandria per la versione Spagna senza encoder con 5 elementi. Corretto bug sulla simulazione stepper che ora e' possibile solo con selezione elemento.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:a469bbd294b5 1
nerit 3:a469bbd294b5 2 //********************************************************************************************************************
nerit 3:a469bbd294b5 3 //********************************************************************************************************************
nerit 3:a469bbd294b5 4 // FIRMWARE SEMINATRICE MODULA
nerit 3:a469bbd294b5 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 3:a469bbd294b5 6 // V7 - ATTENZIONE - LA VERSIONE V7 HA IL DRIVER STEPPER POWERSTEP01 DA 10A
nerit 3:a469bbd294b5 7 // IL PROCESSORE UTILIZZATO E' IL STM32L476RG A 80MHz
nerit 3:a469bbd294b5 8 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 3:a469bbd294b5 9 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 3:a469bbd294b5 10 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 3:a469bbd294b5 11 // FIRST RELEASE OF BOARD DEC 2017
nerit 3:a469bbd294b5 12 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 3:a469bbd294b5 13 //
nerit 4:de1b296e9757 14 // THIS RELEASE: 10 february 2019
nerit 3:a469bbd294b5 15 //
nerit 8:310f9e4eac7b 16 // APPLICATION: MODULA CON DISTRIBUTORE RISO ED ENCODER MOTORE
nerit 3:a469bbd294b5 17 //
nerit 3:a469bbd294b5 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 3:a469bbd294b5 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 3:a469bbd294b5 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 3:a469bbd294b5 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 3:a469bbd294b5 22 // ENCODER
nerit 3:a469bbd294b5 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 3:a469bbd294b5 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 3:a469bbd294b5 25 // 03 01 2019 - INSERITA GESTIONE IN RTOS PER IL DRIVER POWERSTEP01
nerit 4:de1b296e9757 26 // 10 02 2019 - INSERITO FUNZIONAMENTO STEPPER IN MODALITA' CONTROLLO DI TENSIONE E STEP DA CLOCKPIN
nerit 6:e8c18f0f399a 27 // 16 02 2019 - SOSTITUITA LIBRERIA MBED PER PROBLEMI DI COMPILAZIONE DEL FIRMWARE
nerit 3:a469bbd294b5 28 /********************
nerit 3:a469bbd294b5 29 IL FIRMWARE SI COMPONE DI 10 FILES:
nerit 3:a469bbd294b5 30 - main.cpp
nerit 3:a469bbd294b5 31 - main.hpp
nerit 3:a469bbd294b5 32 - iodefinition.hpp
nerit 3:a469bbd294b5 33 - canbus.hpp
nerit 3:a469bbd294b5 34 - parameters.hpp
nerit 4:de1b296e9757 35 - powerstep.hpp
nerit 3:a469bbd294b5 36 - timeandtick.hpp
nerit 3:a469bbd294b5 37 - variables.hpp
nerit 3:a469bbd294b5 38 - powerstep.hpp
nerit 3:a469bbd294b5 39 - watchdog.cpp
nerit 3:a469bbd294b5 40 - watchdog.h
nerit 8:310f9e4eac7b 41 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU'
nerit 3:a469bbd294b5 42 UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 3:a469bbd294b5 43 UNA LIBRERIA DEDICATA PER IL DRIVER STEPPER
nerit 3:a469bbd294b5 44 *********************
nerit 3:a469bbd294b5 45 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 3:a469bbd294b5 46 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 3:a469bbd294b5 47 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 3:a469bbd294b5 48 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 3:a469bbd294b5 49 *********************
nerit 3:a469bbd294b5 50 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 8:310f9e4eac7b 51 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 3:a469bbd294b5 52 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 3:a469bbd294b5 53 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 3:a469bbd294b5 54 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 3:a469bbd294b5 55 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 3:a469bbd294b5 56 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 3:a469bbd294b5 57 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 3:a469bbd294b5 58 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 3:a469bbd294b5 59 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 3:a469bbd294b5 60 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 3:a469bbd294b5 61 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 3:a469bbd294b5 62 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 3:a469bbd294b5 63 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 3:a469bbd294b5 64 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 3:a469bbd294b5 65 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 3:a469bbd294b5 66 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 3:a469bbd294b5 67 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 3:a469bbd294b5 68 **********************
nerit 3:a469bbd294b5 69 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 3:a469bbd294b5 70 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 3:a469bbd294b5 71 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 3:a469bbd294b5 72 **********************
nerit 3:a469bbd294b5 73 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 3:a469bbd294b5 74 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 3:a469bbd294b5 75 LO STEPPER SEGUE IL DC.
nerit 3:a469bbd294b5 76 **********************
nerit 3:a469bbd294b5 77 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 3:a469bbd294b5 78 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 3:a469bbd294b5 79 **********************
nerit 3:a469bbd294b5 80 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 3:a469bbd294b5 81 **********************
nerit 3:a469bbd294b5 82 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 3:a469bbd294b5 83 AZZERAMENTO MANUALE
nerit 3:a469bbd294b5 84 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 3:a469bbd294b5 85 */
nerit 3:a469bbd294b5 86 //********************************************************************************************************************
nerit 3:a469bbd294b5 87 //********************************************************************************************************************
nerit 3:a469bbd294b5 88 #include "main.hpp"
nerit 8:310f9e4eac7b 89 /* Helper header files. */
nerit 8:310f9e4eac7b 90 #include "DevSPI.h"
nerit 8:310f9e4eac7b 91 /* Component specific header files. */
nerit 8:310f9e4eac7b 92 #include "PowerStep01.h"
nerit 3:a469bbd294b5 93 #include "timeandtick.hpp"
nerit 3:a469bbd294b5 94 #include "canbus.hpp"
nerit 3:a469bbd294b5 95 #include "watchdog.h"
nerit 3:a469bbd294b5 96 #include "iodefinition.hpp"
nerit 3:a469bbd294b5 97 #include "parameters.hpp"
nerit 3:a469bbd294b5 98 #include "variables.hpp"
nerit 8:310f9e4eac7b 99 #include "powerstep.hpp"
nerit 3:a469bbd294b5 100 //********************************************************************************************************************
nerit 3:a469bbd294b5 101 //********************************************************************************************************************
nerit 8:310f9e4eac7b 102 #if defined(runnerTos)
nerit 8:310f9e4eac7b 103 Thread thread;
nerit 8:310f9e4eac7b 104 #endif
nerit 3:a469bbd294b5 105
nerit 3:a469bbd294b5 106 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 107
nerit 3:a469bbd294b5 108 /* Functions -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 109
nerit 3:a469bbd294b5 110 /**
nerit 3:a469bbd294b5 111 * @brief This is an example of user handler for the flag interrupt.
nerit 3:a469bbd294b5 112 * @param None
nerit 3:a469bbd294b5 113 * @retval None
nerit 3:a469bbd294b5 114 * @note If needed, implement it, and then attach and enable it:
nerit 3:a469bbd294b5 115 * + motor->attach_flag_irq(&my_flag_irq_handler);
nerit 3:a469bbd294b5 116 * + motor->enable_flag_irq();
nerit 3:a469bbd294b5 117 * To disable it:
nerit 3:a469bbd294b5 118 * + motor->DisbleFlagIRQ();
nerit 3:a469bbd294b5 119 */
nerit 3:a469bbd294b5 120 void my_flag_irq_handler(void)
nerit 3:a469bbd294b5 121 {
nerit 3:a469bbd294b5 122 /* Set ISR flag. */
nerit 3:a469bbd294b5 123 motor->isrFlag = TRUE;
nerit 3:a469bbd294b5 124 /* Get the value of the status register. */
nerit 3:a469bbd294b5 125 unsigned int statusRegister = motor->get_status();
nerit 10:9e70619e97ab 126 #if defined(pcSerial)
nerit 10:9e70619e97ab 127 pc.printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
nerit 10:9e70619e97ab 128 #endif
nerit 3:a469bbd294b5 129 /* Check SW_F flag: if not set, the SW input is opened */
nerit 3:a469bbd294b5 130 if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
nerit 10:9e70619e97ab 131 #if defined(pcSerial)
nerit 8:310f9e4eac7b 132 pc.printf(" SW closed (connected to ground).\r\n");
nerit 10:9e70619e97ab 133 #endif
nerit 3:a469bbd294b5 134 }
nerit 3:a469bbd294b5 135 /* Check SW_EN bit */
nerit 3:a469bbd294b5 136 if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
nerit 10:9e70619e97ab 137 #if defined(pcSerial)
nerit 8:310f9e4eac7b 138 pc.printf(" SW turn_on event.\r\n");
nerit 10:9e70619e97ab 139 #endif
nerit 3:a469bbd294b5 140 }
nerit 3:a469bbd294b5 141 /* Check Command Error flag: if set, the command received by SPI can't be */
nerit 3:a469bbd294b5 142 /* performed. This occurs for instance when a move command is sent to the */
nerit 3:a469bbd294b5 143 /* Powerstep01 while it is already running */
nerit 3:a469bbd294b5 144 if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
nerit 10:9e70619e97ab 145 #if defined(pcSerial)
nerit 8:310f9e4eac7b 146 pc.printf(" Non-performable command detected.\r\n");
nerit 10:9e70619e97ab 147 #endif
nerit 8:310f9e4eac7b 148 }
nerit 3:a469bbd294b5 149 /* Check UVLO flag: if not set, there is an undervoltage lock-out */
nerit 3:a469bbd294b5 150 if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
nerit 10:9e70619e97ab 151 #if defined(pcSerial)
nerit 8:310f9e4eac7b 152 pc.printf(" undervoltage lock-out.\r\n");
nerit 10:9e70619e97ab 153 #endif
nerit 8:310f9e4eac7b 154 }
nerit 3:a469bbd294b5 155 /* Check thermal STATUS flags: if set, the thermal status is not normal */
nerit 3:a469bbd294b5 156 if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
nerit 8:310f9e4eac7b 157 //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
nerit 10:9e70619e97ab 158 #if defined(pcSerial)
nerit 8:310f9e4eac7b 159 pc.printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
nerit 10:9e70619e97ab 160 #endif
nerit 8:310f9e4eac7b 161 }
nerit 3:a469bbd294b5 162 /* Check OCD flag: if not set, there is an overcurrent detection */
nerit 3:a469bbd294b5 163 if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
nerit 10:9e70619e97ab 164 #if defined(pcSerial)
nerit 8:310f9e4eac7b 165 pc.printf(" Overcurrent detection.\r\n");
nerit 10:9e70619e97ab 166 #endif
nerit 3:a469bbd294b5 167 }
nerit 3:a469bbd294b5 168 /* Reset ISR flag. */
nerit 3:a469bbd294b5 169 motor->isrFlag = FALSE;
nerit 3:a469bbd294b5 170 }
nerit 3:a469bbd294b5 171
nerit 3:a469bbd294b5 172 /**
nerit 3:a469bbd294b5 173 * @brief This is an example of error handler.
nerit 3:a469bbd294b5 174 * @param[in] error Number of the error
nerit 3:a469bbd294b5 175 * @retval None
nerit 3:a469bbd294b5 176 * @note If needed, implement it, and then attach it:
nerit 3:a469bbd294b5 177 * + motor->attach_error_handler(&my_error_handler);
nerit 3:a469bbd294b5 178 */
nerit 3:a469bbd294b5 179 void my_error_handler(uint16_t error)
nerit 3:a469bbd294b5 180 {
nerit 3:a469bbd294b5 181 /* Printing to the console. */
nerit 10:9e70619e97ab 182 #if defined(pcSerial)
nerit 10:9e70619e97ab 183 pc.printf("Error %d detected\r\n\n", error);
nerit 10:9e70619e97ab 184 #endif
nerit 8:310f9e4eac7b 185
nerit 3:a469bbd294b5 186 /* Infinite loop */
nerit 3:a469bbd294b5 187 //while (true) {
nerit 8:310f9e4eac7b 188 //}
nerit 3:a469bbd294b5 189 }
nerit 8:310f9e4eac7b 190 //*******************************************************************************
nerit 8:310f9e4eac7b 191 // FREE RUNNING RTOS THREAD FOR DRUM STEPPER POSITION READING
nerit 8:310f9e4eac7b 192 //*******************************************************************************
nerit 8:310f9e4eac7b 193 #if defined(runner)
nerit 8:310f9e4eac7b 194 void step_Reading(){
nerit 8:310f9e4eac7b 195 //while(true){
nerit 8:310f9e4eac7b 196 /* Get current position of device and print to the console */
nerit 8:310f9e4eac7b 197 TBpassPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 198 if (TBpassPosition >= TBoldPosition){
nerit 8:310f9e4eac7b 199 TBactualPosition= ((TBpassPosition-TBoldPosition)*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 200 }else{
nerit 8:310f9e4eac7b 201 TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))*TBreductionRatio);//*10;
nerit 18:7c978f69cc51 202 TBactualPosition= 1;
nerit 18:7c978f69cc51 203 TBoldPosition=0;
nerit 18:7c978f69cc51 204 motor->set_home();
nerit 8:310f9e4eac7b 205 }
nerit 8:310f9e4eac7b 206 //wait_us(50); // 50 mS di intervallo lettura
nerit 8:310f9e4eac7b 207 //}
nerit 8:310f9e4eac7b 208 }
nerit 8:310f9e4eac7b 209 #endif
nerit 3:a469bbd294b5 210 //*******************************************************************************
nerit 3:a469bbd294b5 211 //********************************************************************************************************************
nerit 3:a469bbd294b5 212 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 213 // TASK SECTION
nerit 3:a469bbd294b5 214 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 215 //************************************************************************
nerit 8:310f9e4eac7b 216 void aggioVelocita()
nerit 8:310f9e4eac7b 217 {
nerit 8:310f9e4eac7b 218 realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit 17:9629eb019892 219 tempoBecco = realGiroSD*44.4444f; //(realGiroSD/360.0f)*16000.0f;
nerit 8:310f9e4eac7b 220 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 8:310f9e4eac7b 221 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 8:310f9e4eac7b 222 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 8:310f9e4eac7b 223 #if defined(runner)
nerit 10:9e70619e97ab 224 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 9:7f02256f6e8f 225 #if defined(Zucca)
nerit 9:7f02256f6e8f 226 TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 227 #else
nerit 17:9629eb019892 228 if (cellsNumber<8.0f){
nerit 17:9629eb019892 229 TBperiod=4.8f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 230 }else{
nerit 17:9629eb019892 231 TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit 17:9629eb019892 232 }
nerit 9:7f02256f6e8f 233 #endif
nerit 8:310f9e4eac7b 234 #else
nerit 10:9e70619e97ab 235 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 8:310f9e4eac7b 236 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 8:310f9e4eac7b 237 #endif
nerit 8:310f9e4eac7b 238
nerit 8:310f9e4eac7b 239 }
nerit 3:a469bbd294b5 240 //************************************************************************
nerit 3:a469bbd294b5 241 // rise of seed speed 25 pulse sensor
nerit 10:9e70619e97ab 242 void sd25Fall(){
nerit 3:a469bbd294b5 243 timeHole=metalTimer.read_ms();
nerit 10:9e70619e97ab 244 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 245 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 246 metalTimer.reset();
nerit 8:310f9e4eac7b 247 if (speedFromPick==0) {
nerit 10:9e70619e97ab 248 speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit 3:a469bbd294b5 249 }
nerit 6:e8c18f0f399a 250 #if defined(pcSerial)
nerit 6:e8c18f0f399a 251 #if defined(checkLoop)
nerit 6:e8c18f0f399a 252 pc.printf("1\n");
nerit 6:e8c18f0f399a 253 #endif
nerit 6:e8c18f0f399a 254 #endif
nerit 3:a469bbd294b5 255 }
nerit 10:9e70619e97ab 256 //************************************************************************
nerit 3:a469bbd294b5 257 // rise of seed speed motor encoder
nerit 3:a469bbd294b5 258 void encoRise(){
nerit 3:a469bbd294b5 259 timeHole=metalTimer.read_us();
nerit 10:9e70619e97ab 260 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 261 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 262 metalTimer.reset();
nerit 8:310f9e4eac7b 263 if (encoder==true) {
nerit 13:d1030d4e51a8 264 speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit 3:a469bbd294b5 265 pulseRised2=1;
nerit 13:d1030d4e51a8 266 dcEncoderCnt++;
nerit 13:d1030d4e51a8 267 double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit 13:d1030d4e51a8 268 prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit 13:d1030d4e51a8 269 #if defined(speedMaster)
nerit 13:d1030d4e51a8 270 if (quinconceActive==0) {
nerit 13:d1030d4e51a8 271 posForQuinc=500+(uint32_t)sincronizza;
nerit 13:d1030d4e51a8 272 }
nerit 13:d1030d4e51a8 273 #endif
nerit 3:a469bbd294b5 274 }
nerit 6:e8c18f0f399a 275 #if defined(pcSerial)
nerit 6:e8c18f0f399a 276 #if defined(checkLoop)
nerit 6:e8c18f0f399a 277 pc.printf("2\n");
nerit 6:e8c18f0f399a 278 #endif
nerit 6:e8c18f0f399a 279 #endif
nerit 8:310f9e4eac7b 280 aggioVelocita();
nerit 3:a469bbd294b5 281 }
nerit 6:e8c18f0f399a 282 //**************************************************
nerit 3:a469bbd294b5 283 // rise of seed presence sensor
nerit 3:a469bbd294b5 284 void seedSensorTask(){
nerit 3:a469bbd294b5 285 seedSee=1;
nerit 6:e8c18f0f399a 286 #if defined(pcSerial)
nerit 6:e8c18f0f399a 287 #if defined(checkLoop)
nerit 6:e8c18f0f399a 288 pc.printf("3\n");
nerit 6:e8c18f0f399a 289 #endif
nerit 6:e8c18f0f399a 290 #endif
nerit 3:a469bbd294b5 291 }
nerit 3:a469bbd294b5 292 //**************************************************
nerit 3:a469bbd294b5 293 // generate speed clock when speed is simulated from Tritecnica display
nerit 8:310f9e4eac7b 294 void speedSimulationClock(){
nerit 3:a469bbd294b5 295 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 296 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 297 speedTimer.reset();
nerit 3:a469bbd294b5 298 pulseRised=1;
nerit 3:a469bbd294b5 299 speedFilter.reset();
nerit 6:e8c18f0f399a 300 #if defined(pcSerial)
nerit 6:e8c18f0f399a 301 #if defined(checkLoop)
nerit 6:e8c18f0f399a 302 pc.printf("4\n");
nerit 6:e8c18f0f399a 303 #endif
nerit 6:e8c18f0f399a 304 #endif
nerit 3:a469bbd294b5 305 }
nerit 3:a469bbd294b5 306 //*******************************************************
nerit 3:a469bbd294b5 307 // interrupt task for tractor speed reading
nerit 3:a469bbd294b5 308 //*******************************************************
nerit 3:a469bbd294b5 309 void tractorReadSpeed(){
nerit 8:310f9e4eac7b 310 if ((oldTractorSpeedRead==0)) {
nerit 3:a469bbd294b5 311 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 312 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 313 speedTimer.reset();
nerit 3:a469bbd294b5 314 pulseRised=1;
nerit 3:a469bbd294b5 315 oldTractorSpeedRead=1;
nerit 3:a469bbd294b5 316 }
nerit 8:310f9e4eac7b 317 speedClock=1;
nerit 3:a469bbd294b5 318 speedFilter.reset();
nerit 10:9e70619e97ab 319 cntSpeedError=0;
nerit 6:e8c18f0f399a 320 #if defined(pcSerial)
nerit 6:e8c18f0f399a 321 #if defined(checkLoop)
nerit 6:e8c18f0f399a 322 pc.printf("5\n");
nerit 6:e8c18f0f399a 323 #endif
nerit 6:e8c18f0f399a 324 #endif
nerit 3:a469bbd294b5 325 }
nerit 3:a469bbd294b5 326 //*******************************************************
nerit 8:310f9e4eac7b 327 void speedMediaCalc()
nerit 8:310f9e4eac7b 328 {
nerit 3:a469bbd294b5 329 double lastPd=(double) lastPulseRead/1000.0f;
nerit 3:a469bbd294b5 330 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 8:310f9e4eac7b 331 if (enableSimula==1) {
nerit 3:a469bbd294b5 332 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 333 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 334 }
nerit 3:a469bbd294b5 335 mediaSpeed[0]=lastPd;
nerit 3:a469bbd294b5 336 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 10:9e70619e97ab 337 #if defined(pcSerial)
nerit 10:9e70619e97ab 338 #if defined(checkLoop)
nerit 10:9e70619e97ab 339 pc.printf("6\n");
nerit 10:9e70619e97ab 340 #endif
nerit 10:9e70619e97ab 341 #endif
nerit 8:310f9e4eac7b 342 }
bcostm 0:5701b41769fd 343
nerit 3:a469bbd294b5 344 //*******************************************************
nerit 3:a469bbd294b5 345 // clocked task for manage virtual encoder of seed wheel i/o
nerit 3:a469bbd294b5 346 //*******************************************************
nerit 3:a469bbd294b5 347 //*******************************************************
nerit 8:310f9e4eac7b 348 void step_SDPulseOut()
nerit 8:310f9e4eac7b 349 {
nerit 3:a469bbd294b5 350 SDactualPosition++;
nerit 3:a469bbd294b5 351 prePosSD++;
nerit 10:9e70619e97ab 352 #if defined(speedMaster)
nerit 10:9e70619e97ab 353 posForQuinc++;
nerit 10:9e70619e97ab 354 #endif
nerit 10:9e70619e97ab 355 #if defined(pcSerial)
nerit 10:9e70619e97ab 356 #if defined(checkLoop)
nerit 10:9e70619e97ab 357 pc.printf("7\n");
nerit 10:9e70619e97ab 358 #endif
nerit 10:9e70619e97ab 359 #endif
nerit 3:a469bbd294b5 360 }
nerit 3:a469bbd294b5 361 //*******************************************************
nerit 18:7c978f69cc51 362 void step_TBPulseOut(){
nerit 3:a469bbd294b5 363 TBmotorStepOut=!TBmotorStepOut;
nerit 8:310f9e4eac7b 364 if (TBmotorStepOut==0) {
nerit 8:310f9e4eac7b 365 if (TBmotorDirecti==TBforward) {
nerit 3:a469bbd294b5 366 TBactualPosition++;
nerit 3:a469bbd294b5 367 }
nerit 3:a469bbd294b5 368 }
nerit 10:9e70619e97ab 369 #if defined(pcSerial)
nerit 10:9e70619e97ab 370 #if defined(stepTamb)
nerit 10:9e70619e97ab 371 pc.printf("step\n");
nerit 10:9e70619e97ab 372 #endif
nerit 10:9e70619e97ab 373 #endif
nerit 6:e8c18f0f399a 374 /*
nerit 6:e8c18f0f399a 375 #if defined(pcSerial)
nerit 6:e8c18f0f399a 376 #if defined(checkLoop)
nerit 6:e8c18f0f399a 377 pc.printf("8\n");
nerit 6:e8c18f0f399a 378 #endif
nerit 6:e8c18f0f399a 379 #endif
nerit 6:e8c18f0f399a 380 */
nerit 3:a469bbd294b5 381 }
nerit 3:a469bbd294b5 382 //*******************************************************
nerit 8:310f9e4eac7b 383 void invertiLo()
nerit 8:310f9e4eac7b 384 {
nerit 8:310f9e4eac7b 385 if (TBmotorDirecti==TBreverse) {
nerit 3:a469bbd294b5 386 TBmotorDirecti=TBforward;
nerit 8:310f9e4eac7b 387 #if !defined(runner)
nerit 9:7f02256f6e8f 388 #if defined(Zucca)
nerit 9:7f02256f6e8f 389 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 390 #else
nerit 9:7f02256f6e8f 391 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 392 #endif
nerit 8:310f9e4eac7b 393 #endif
nerit 18:7c978f69cc51 394 #if defined(provaStepper)
nerit 18:7c978f69cc51 395 motor->run(StepperMotor::FWD,150.0f);
nerit 18:7c978f69cc51 396 #endif
nerit 8:310f9e4eac7b 397 } else {
nerit 3:a469bbd294b5 398 TBmotorDirecti=TBreverse;
nerit 8:310f9e4eac7b 399 #if !defined(runner)
nerit 9:7f02256f6e8f 400 #if defined(Zucca)
nerit 9:7f02256f6e8f 401 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 402 #else
nerit 9:7f02256f6e8f 403 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 404 #endif
nerit 8:310f9e4eac7b 405 #endif
nerit 18:7c978f69cc51 406 #if defined(provaStepper)
nerit 18:7c978f69cc51 407 motor->run(StepperMotor::BWD,100.0f);
nerit 18:7c978f69cc51 408 #endif
nerit 3:a469bbd294b5 409 }
nerit 3:a469bbd294b5 410 #if defined(pcSerial)
nerit 3:a469bbd294b5 411 #if defined(inversione)
nerit 3:a469bbd294b5 412 pc.printf("cambio M %d\n",cambiaStep);
nerit 3:a469bbd294b5 413 pc.printf("posizione %d \n",TBactualPosition);
nerit 3:a469bbd294b5 414 #endif
nerit 3:a469bbd294b5 415 #endif
nerit 6:e8c18f0f399a 416 #if defined(pcSerial)
nerit 6:e8c18f0f399a 417 #if defined(checkLoop)
nerit 6:e8c18f0f399a 418 pc.printf("9\n");
nerit 6:e8c18f0f399a 419 #endif
nerit 6:e8c18f0f399a 420 #endif
nerit 3:a469bbd294b5 421 }
nerit 3:a469bbd294b5 422 //*******************************************************
nerit 3:a469bbd294b5 423 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 8:310f9e4eac7b 424 void aggiornaParametri()
nerit 8:310f9e4eac7b 425 {
nerit 3:a469bbd294b5 426 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 3:a469bbd294b5 427 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 3:a469bbd294b5 428 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 3:a469bbd294b5 429 intraPickDistance = seedPerimeter/pickNumber;
nerit 3:a469bbd294b5 430 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 17:9629eb019892 431 //K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 3:a469bbd294b5 432 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 13:d1030d4e51a8 433 SDsectorStep = fixedStepGiroSD / pickNumber;
nerit 3:a469bbd294b5 434 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 13:d1030d4e51a8 435 seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit 13:d1030d4e51a8 436 frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit 8:310f9e4eac7b 437 #if defined(runner)
nerit 9:7f02256f6e8f 438 #if defined(Zucca)
nerit 9:7f02256f6e8f 439 KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit 9:7f02256f6e8f 440 #else
nerit 9:7f02256f6e8f 441 KcorT = (SDsectorStep/TBsectorStep)/2.0f;
nerit 9:7f02256f6e8f 442 #endif
nerit 8:310f9e4eac7b 443 #else
nerit 8:310f9e4eac7b 444 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 8:310f9e4eac7b 445 #endif
nerit 3:a469bbd294b5 446 angoloFase=angoloPh;
nerit 3:a469bbd294b5 447 avvioGradi=angoloAv;
nerit 3:a469bbd294b5 448 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 449 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 450 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 451 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 3:a469bbd294b5 452 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 3:a469bbd294b5 453 if (speedFromPick==1) {
nerit 3:a469bbd294b5 454 intraPickDistance = seedPerimeter/pickNumber;
nerit 8:310f9e4eac7b 455 } else {
nerit 3:a469bbd294b5 456 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 3:a469bbd294b5 457 }
nerit 6:e8c18f0f399a 458 #if defined(pcSerial)
nerit 6:e8c18f0f399a 459 #if defined(checkLoop)
nerit 6:e8c18f0f399a 460 pc.printf("10\n");
nerit 6:e8c18f0f399a 461 #endif
nerit 6:e8c18f0f399a 462 #endif
nerit 3:a469bbd294b5 463 }
nerit 3:a469bbd294b5 464 //*******************************************************
nerit 8:310f9e4eac7b 465 void cambiaTB(double perio)
nerit 8:310f9e4eac7b 466 {
nerit 8:310f9e4eac7b 467 #if defined(runner)
nerit 8:310f9e4eac7b 468 // update TB frequency
nerit 8:310f9e4eac7b 469 double TBper=0.0f;
nerit 8:310f9e4eac7b 470 if (aspettaStart==0){
nerit 8:310f9e4eac7b 471 TBper=perio;
nerit 8:310f9e4eac7b 472 if (oldPeriodoTB!=TBper){
nerit 6:e8c18f0f399a 473 #if defined(pcSerial)
nerit 8:310f9e4eac7b 474 #if defined(TBperSo)
nerit 8:310f9e4eac7b 475 pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit 6:e8c18f0f399a 476 #endif
nerit 6:e8c18f0f399a 477 #endif
nerit 9:7f02256f6e8f 478 #if defined(Zucca)
nerit 9:7f02256f6e8f 479 motor->run(StepperMotor::BWD,TBper);
nerit 9:7f02256f6e8f 480 #else
nerit 9:7f02256f6e8f 481 motor->run(StepperMotor::FWD,TBper);
nerit 9:7f02256f6e8f 482 #endif
nerit 8:310f9e4eac7b 483 oldPeriodoTB=TBper;
nerit 8:310f9e4eac7b 484 }
nerit 8:310f9e4eac7b 485 }
nerit 8:310f9e4eac7b 486 #else
nerit 8:310f9e4eac7b 487 // update TB frequency
nerit 8:310f9e4eac7b 488 double limite=500.0f;
nerit 8:310f9e4eac7b 489 double TBper=0.0f;
nerit 8:310f9e4eac7b 490 double scala =2.0f;
nerit 8:310f9e4eac7b 491 if (aspettaStart==0) {
nerit 8:310f9e4eac7b 492 if (perio<limite) {
nerit 8:310f9e4eac7b 493 perio=limite;
nerit 8:310f9e4eac7b 494 }
nerit 8:310f9e4eac7b 495 TBper=perio/scala;
nerit 8:310f9e4eac7b 496 if (oldPeriodoTB!=TBper) {
nerit 8:310f9e4eac7b 497 if (TBper >= (limite/2.0f)) {
nerit 8:310f9e4eac7b 498 #if defined(pcSerial)
nerit 8:310f9e4eac7b 499 #if defined(checkLoop)
nerit 8:310f9e4eac7b 500 pc.printf("11a\n");
nerit 8:310f9e4eac7b 501 pc.printf("11a TBper: %f \n",TBper);
nerit 8:310f9e4eac7b 502 #endif
nerit 6:e8c18f0f399a 503 #endif
nerit 8:310f9e4eac7b 504 if (TBper != NULL) {
nerit 9:7f02256f6e8f 505 #if defined(Zucca)
nerit 9:7f02256f6e8f 506 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 507 #else
nerit 9:7f02256f6e8f 508 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 509 #endif
nerit 8:310f9e4eac7b 510 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 511 }
nerit 8:310f9e4eac7b 512 } else {
nerit 8:310f9e4eac7b 513 #if defined(pcSerial)
nerit 8:310f9e4eac7b 514 #if defined(checkLoop)
nerit 8:310f9e4eac7b 515 pc.printf("11b\n");
nerit 8:310f9e4eac7b 516 #endif
nerit 6:e8c18f0f399a 517 #endif
nerit 8:310f9e4eac7b 518 TBticker.detach();
nerit 8:310f9e4eac7b 519 #if defined(pcSerial)
nerit 8:310f9e4eac7b 520 #if defined(loStop)
nerit 8:310f9e4eac7b 521 pc.printf("A1\n");
nerit 8:310f9e4eac7b 522 #endif
nerit 8:310f9e4eac7b 523 #endif
nerit 8:310f9e4eac7b 524 motor->soft_hiz();
nerit 8:310f9e4eac7b 525 }
nerit 8:310f9e4eac7b 526 oldPeriodoTB=TBper;
nerit 3:a469bbd294b5 527 }
nerit 3:a469bbd294b5 528 }
nerit 8:310f9e4eac7b 529 #endif
nerit 3:a469bbd294b5 530 }
nerit 3:a469bbd294b5 531 //*******************************************************
nerit 8:310f9e4eac7b 532 void seedCorrect()
nerit 8:310f9e4eac7b 533 {
nerit 3:a469bbd294b5 534 /*
nerit 3:a469bbd294b5 535 posError determina la posizione relativa di TB rispetto ad SD
nerit 8:310f9e4eac7b 536 la reale posizione di SD viene modificata in funzione della velocità per
nerit 3:a469bbd294b5 537 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 3:a469bbd294b5 538 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 3:a469bbd294b5 539 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 3:a469bbd294b5 540 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 3:a469bbd294b5 541 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 3:a469bbd294b5 542 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 3:a469bbd294b5 543 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 3:a469bbd294b5 544 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 3:a469bbd294b5 545 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 3:a469bbd294b5 546 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 3:a469bbd294b5 547 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 3:a469bbd294b5 548 di fase di TB. In pratica il ciclo viene resettato al passaggio sul sensore di SD che riporta a 0 la posizione di SD.
nerit 3:a469bbd294b5 549 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 3:a469bbd294b5 550 Questo si traduce nel fatto che il controllo di posizione viene gestito solo all'interno di uno slot di semina in modo che
nerit 3:a469bbd294b5 551 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 8:310f9e4eac7b 552
nerit 3:a469bbd294b5 553 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 3:a469bbd294b5 554 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 8:310f9e4eac7b 555 */
nerit 3:a469bbd294b5 556 /*
nerit 3:a469bbd294b5 557 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 558 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 3:a469bbd294b5 559 KcorT = (SDsectorStep/TBsectorStep);
nerit 3:a469bbd294b5 560 angoloFase=angoloPh;
nerit 3:a469bbd294b5 561 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 562 avvioGradi = costante da terminale tritecnica
nerit 3:a469bbd294b5 563 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 564 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 565 */
nerit 8:310f9e4eac7b 566 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 567 if (inhibit==0) {
nerit 3:a469bbd294b5 568 double posError =0.0f;
nerit 3:a469bbd294b5 569 double posSD=((double)SDactualPosition)/KcorT;
nerit 8:310f9e4eac7b 570 posError = posSD - (double)TBactualPosition;
nerit 3:a469bbd294b5 571 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 8:310f9e4eac7b 572 if((lowSpeed==0)&&(aspettaStart==0)) {
nerit 23:ccd253b36733 573 double lowLim=-50.0f;
nerit 23:ccd253b36733 574 double higLim = 50.0f;
nerit 23:ccd253b36733 575 double divide= 100.0f;
nerit 23:ccd253b36733 576 // double lowLim=-500.0f; pneumatico Alessandria
nerit 23:ccd253b36733 577 // double higLim= 130.0f; pneumatico Alessandria
nerit 23:ccd253b36733 578 // double divide= 25.0f; pneumatico Alessandria
nerit 8:310f9e4eac7b 579 if (pickNumber <= 5) {
nerit 4:de1b296e9757 580 lowLim=-500.0f;
nerit 4:de1b296e9757 581 higLim= 500.0f;
nerit 4:de1b296e9757 582 divide= 25.0f;
nerit 8:310f9e4eac7b 583 } else {
nerit 8:310f9e4eac7b 584 lowLim=-10.0f;
nerit 8:310f9e4eac7b 585 higLim= 130.0f;
nerit 23:ccd253b36733 586 // divide= 20.0f; pneumatico Alessandria
nerit 23:ccd253b36733 587 divide= 100.0f;
nerit 4:de1b296e9757 588 }
nerit 8:310f9e4eac7b 589 if (posError>higLim) {
nerit 17:9629eb019892 590 posError=higLim;
nerit 17:9629eb019892 591 //posError=0.0f;
nerit 17:9629eb019892 592 //motor->soft_hiz();
nerit 8:310f9e4eac7b 593 }
nerit 8:310f9e4eac7b 594 if (posError<lowLim) {
nerit 8:310f9e4eac7b 595 posError=lowLim;
nerit 8:310f9e4eac7b 596 }
nerit 8:310f9e4eac7b 597 if ((posError >=1.0f)||(posError<=-1.0f)) {
nerit 8:310f9e4eac7b 598 #if defined(runner)
nerit 8:310f9e4eac7b 599 ePpos = periodo *(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 600 #else
nerit 8:310f9e4eac7b 601 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 602 #endif
nerit 3:a469bbd294b5 603 #if defined(pcSerial)
nerit 6:e8c18f0f399a 604 #if defined(checkLoop)
nerit 6:e8c18f0f399a 605 pc.printf("12a ePpos:%f\n",ePpos);
nerit 3:a469bbd294b5 606 #endif
nerit 3:a469bbd294b5 607 #endif
nerit 8:310f9e4eac7b 608 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 609 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 610 } else {
nerit 6:e8c18f0f399a 611 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 612 }
nerit 6:e8c18f0f399a 613 }
nerit 6:e8c18f0f399a 614 #if defined(pcSerial)
nerit 6:e8c18f0f399a 615 #if defined(TBperS)
nerit 8:310f9e4eac7b 616 pc.printf("TBpos: %f SDpos: %f SDact: %f Err: %f Correggi: %f periodo: %f \n",(double)TBactualPosition,posSD,(double)SDactualPosition,posError,ePpos,periodo);
nerit 6:e8c18f0f399a 617 #endif
nerit 6:e8c18f0f399a 618 #endif
nerit 3:a469bbd294b5 619 }
nerit 3:a469bbd294b5 620 }
nerit 3:a469bbd294b5 621 }
nerit 10:9e70619e97ab 622 #if defined(pcSerial)
nerit 10:9e70619e97ab 623 #if defined(checkLoopa)
nerit 10:9e70619e97ab 624 pc.printf("12\n");
nerit 10:9e70619e97ab 625 #endif
nerit 10:9e70619e97ab 626 #endif
nerit 3:a469bbd294b5 627 }
nerit 3:a469bbd294b5 628 //*******************************************************
nerit 8:310f9e4eac7b 629 void videoUpdate()
nerit 8:310f9e4eac7b 630 {
nerit 8:310f9e4eac7b 631 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 632 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 633 }
nerit 3:a469bbd294b5 634 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 635 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 636 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 637 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 638 }
nerit 3:a469bbd294b5 639 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 640 #if defined(pcSerial)
nerit 10:9e70619e97ab 641 #if defined(SDreset)
nerit 10:9e70619e97ab 642 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 643 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 644 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 645 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 646 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 647 #endif
nerit 10:9e70619e97ab 648 #endif
nerit 10:9e70619e97ab 649 #if defined(pcSerial)
nerit 10:9e70619e97ab 650 #if defined(checkLoop)
nerit 10:9e70619e97ab 651 pc.printf("13\n");
nerit 10:9e70619e97ab 652 #endif
nerit 10:9e70619e97ab 653 #endif
nerit 3:a469bbd294b5 654 }
nerit 3:a469bbd294b5 655 //*******************************************************
nerit 8:310f9e4eac7b 656 void ciclaTB()
nerit 8:310f9e4eac7b 657 {
nerit 8:310f9e4eac7b 658 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 659 #if defined(pcSerial)
nerit 6:e8c18f0f399a 660 #if defined(checkLoop)
nerit 6:e8c18f0f399a 661 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 662 #endif
nerit 6:e8c18f0f399a 663 #endif
nerit 8:310f9e4eac7b 664 #if defined(runner)
nerit 9:7f02256f6e8f 665 #if defined(Zucca)
nerit 9:7f02256f6e8f 666 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 667 #else
nerit 9:7f02256f6e8f 668 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 669 #endif
nerit 8:310f9e4eac7b 670 #else
nerit 8:310f9e4eac7b 671 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 672 if (TBperiod != NULL) {
nerit 9:7f02256f6e8f 673 #if defined(Zucca)
nerit 9:7f02256f6e8f 674 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 675 #else
nerit 9:7f02256f6e8f 676 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 677 #endif
nerit 8:310f9e4eac7b 678 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 679 }
nerit 6:e8c18f0f399a 680 }
nerit 8:310f9e4eac7b 681 #endif
nerit 8:310f9e4eac7b 682 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 683 startCicloTB=0;
nerit 3:a469bbd294b5 684 }
nerit 8:310f9e4eac7b 685 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 686 #if defined(pcSerial)
nerit 6:e8c18f0f399a 687 #if defined(checkLoop)
nerit 6:e8c18f0f399a 688 pc.printf("14b\n");
nerit 6:e8c18f0f399a 689 #endif
nerit 6:e8c18f0f399a 690 #endif
nerit 8:310f9e4eac7b 691 #if defined(runner)
nerit 9:7f02256f6e8f 692 #if defined(Zucca)
nerit 9:7f02256f6e8f 693 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 694 #else
nerit 9:7f02256f6e8f 695 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 696 #endif
nerit 8:310f9e4eac7b 697 #else
nerit 9:7f02256f6e8f 698 #if defined(Zucca)
nerit 9:7f02256f6e8f 699 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 700 #else
nerit 9:7f02256f6e8f 701 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 702 #endif
nerit 8:310f9e4eac7b 703 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 704 #endif
nerit 3:a469bbd294b5 705 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 706 stopCicloTB=0;
nerit 3:a469bbd294b5 707 }
nerit 8:310f9e4eac7b 708 if ((stopCicloTB==1)&&(TBactualPosition>5)) {
nerit 6:e8c18f0f399a 709 #if defined(pcSerial)
nerit 6:e8c18f0f399a 710 #if defined(checkLoop)
nerit 6:e8c18f0f399a 711 pc.printf("14c\n");
nerit 6:e8c18f0f399a 712 #endif
nerit 6:e8c18f0f399a 713 #endif
nerit 8:310f9e4eac7b 714 #if !defined(runner)
nerit 8:310f9e4eac7b 715 TBticker.detach();
nerit 8:310f9e4eac7b 716 #endif
nerit 6:e8c18f0f399a 717 #if defined(pcSerial)
nerit 6:e8c18f0f399a 718 #if defined(loStop)
nerit 6:e8c18f0f399a 719 pc.printf("A2\n");
nerit 6:e8c18f0f399a 720 #endif
nerit 6:e8c18f0f399a 721 #endif
nerit 3:a469bbd294b5 722 motor->soft_hiz();
nerit 3:a469bbd294b5 723 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 724 stopCicloTB=0;
nerit 3:a469bbd294b5 725 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 726 loadDaCan=0;
nerit 3:a469bbd294b5 727 }
nerit 3:a469bbd294b5 728 }
nerit 3:a469bbd294b5 729 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 730 void stepSetting()
nerit 8:310f9e4eac7b 731 {
nerit 3:a469bbd294b5 732 // Stepper driver init and set
nerit 3:a469bbd294b5 733 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 734 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 735 #if defined(pcSerial)
nerit 6:e8c18f0f399a 736 #if defined(checkLoop)
nerit 6:e8c18f0f399a 737 pc.printf("15\n");
nerit 6:e8c18f0f399a 738 #endif
nerit 6:e8c18f0f399a 739 #endif
nerit 8:310f9e4eac7b 740 TBmotorRst=1;
nerit 3:a469bbd294b5 741 }
nerit 3:a469bbd294b5 742 //****************************************
nerit 12:b0fc1d313813 743 void controllaCorrente(){
nerit 12:b0fc1d313813 744 correggiCorrente=1;
nerit 12:b0fc1d313813 745 }
nerit 12:b0fc1d313813 746 //****************************************
nerit 3:a469bbd294b5 747 void dcSetting(){
nerit 8:310f9e4eac7b 748 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 749 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 750 }
nerit 8:310f9e4eac7b 751 if (encoder==true) {
nerit 8:310f9e4eac7b 752 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 753 }
nerit 6:e8c18f0f399a 754 #if defined(pcSerial)
nerit 6:e8c18f0f399a 755 #if defined(checkLoop)
nerit 6:e8c18f0f399a 756 pc.printf("16\n");
nerit 6:e8c18f0f399a 757 #endif
nerit 6:e8c18f0f399a 758 #endif
nerit 3:a469bbd294b5 759 }
nerit 3:a469bbd294b5 760 //*******************************************************
nerit 8:310f9e4eac7b 761 void allarmi()
nerit 8:310f9e4eac7b 762 {
nerit 8:310f9e4eac7b 763 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 764 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 765 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 766
nerit 8:310f9e4eac7b 767 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 768 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 769 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 770 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 771 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 772 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 773 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 774 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 775 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 776 }
nerit 3:a469bbd294b5 777
nerit 8:310f9e4eac7b 778 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 779 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 780 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 781 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 782 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 783 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 784 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 785 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 786 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 787 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 788 }
nerit 3:a469bbd294b5 789
nerit 10:9e70619e97ab 790 #if defined(pcSerial)
nerit 10:9e70619e97ab 791 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 792 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 793 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 794 }
nerit 10:9e70619e97ab 795 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 796 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 797 }
nerit 10:9e70619e97ab 798 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 799 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 800 }
nerit 10:9e70619e97ab 801 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 802 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 803 }
nerit 10:9e70619e97ab 804 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 805 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 806 }
nerit 10:9e70619e97ab 807 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 808 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 809 }
nerit 10:9e70619e97ab 810 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 811 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 812 }
nerit 10:9e70619e97ab 813 if (all_speedError==1) {
nerit 10:9e70619e97ab 814 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 815 }
nerit 10:9e70619e97ab 816 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 817 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 818 }
nerit 10:9e70619e97ab 819 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 820 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 821 }
nerit 10:9e70619e97ab 822 if (all_genericals==1) {
nerit 10:9e70619e97ab 823 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 824 }
nerit 10:9e70619e97ab 825 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 826 #endif
nerit 10:9e70619e97ab 827 #endif
nerit 8:310f9e4eac7b 828 all_semiFiniti=0;
nerit 8:310f9e4eac7b 829 all_pickSignal=0;
nerit 8:310f9e4eac7b 830 all_cellSignal=0;
nerit 8:310f9e4eac7b 831 all_lowBattery=0;
nerit 8:310f9e4eac7b 832 all_overCurrDC=0;
nerit 8:310f9e4eac7b 833 all_stopSistem=0;
nerit 8:310f9e4eac7b 834 all_upElements=0;
nerit 8:310f9e4eac7b 835 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 836 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 837 all_noDcRotati=0;
nerit 8:310f9e4eac7b 838 all_noStepRota=0;
nerit 8:310f9e4eac7b 839 all_speedError=0;
nerit 8:310f9e4eac7b 840 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 841 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 842 all_genericals=0;
nerit 10:9e70619e97ab 843 #if defined(pcSerial)
nerit 10:9e70619e97ab 844 #if defined(checkLoop)
nerit 10:9e70619e97ab 845 pc.printf("17\n");
nerit 10:9e70619e97ab 846 #endif
nerit 10:9e70619e97ab 847 #endif
nerit 3:a469bbd294b5 848 }
nerit 3:a469bbd294b5 849 //*******************************************************
nerit 3:a469bbd294b5 850 #if defined(speedMaster)
nerit 3:a469bbd294b5 851 void upDateSincro(){
nerit 8:310f9e4eac7b 852 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 853 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 854 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 855 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 856 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 857 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 858 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 859 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 860 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 861 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 862 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 863 #if defined(canbusActive)
nerit 3:a469bbd294b5 864 #if defined(speedMaster)
nerit 8:310f9e4eac7b 865 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 866 checkState=0;
nerit 3:a469bbd294b5 867 }
nerit 3:a469bbd294b5 868 #endif
nerit 3:a469bbd294b5 869 #endif
nerit 6:e8c18f0f399a 870 #if defined(pcSerial)
nerit 6:e8c18f0f399a 871 #if defined(checkLoop)
nerit 6:e8c18f0f399a 872 pc.printf("18\n");
nerit 6:e8c18f0f399a 873 #endif
nerit 6:e8c18f0f399a 874 #endif
nerit 3:a469bbd294b5 875 }
nerit 3:a469bbd294b5 876 #endif
nerit 3:a469bbd294b5 877 //*******************************************************
nerit 8:310f9e4eac7b 878 void upDateSpeed()
nerit 8:310f9e4eac7b 879 {
nerit 3:a469bbd294b5 880 /*
nerit 3:a469bbd294b5 881 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 882 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 883 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 884 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 885 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 886 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 887 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 888 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 889 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 890 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 891 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 892 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 893 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 894 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 895 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 896 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 897 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 898 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 899 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 900 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 901 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 902 bit 1= sensore celle
nerit 3:a469bbd294b5 903 bit 2= sensore posizione
nerit 3:a469bbd294b5 904 bit 3= sensore becchi
nerit 3:a469bbd294b5 905 bit 4= motore DC
nerit 3:a469bbd294b5 906 bit 5= controller
nerit 3:a469bbd294b5 907 bit 6= motore stepper
nerit 3:a469bbd294b5 908 */
nerit 8:310f9e4eac7b 909 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 910
nerit 8:310f9e4eac7b 911 val1[3]=0;
nerit 8:310f9e4eac7b 912 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 913 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 914 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 915 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 916 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 917 if (buttonUser==0) {
nerit 10:9e70619e97ab 918 val1[1]=0x02;
nerit 10:9e70619e97ab 919 } else {
nerit 10:9e70619e97ab 920 val1[1]=0x00;
nerit 10:9e70619e97ab 921 }
nerit 10:9e70619e97ab 922 val1[3]=valore;
nerit 10:9e70619e97ab 923 valore+=1;
nerit 10:9e70619e97ab 924 if(valore>50) {
nerit 10:9e70619e97ab 925 valore=0;
nerit 10:9e70619e97ab 926 }
nerit 10:9e70619e97ab 927 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 928 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 929 #endif
nerit 3:a469bbd294b5 930 allarmi();
nerit 3:a469bbd294b5 931 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 932 val1[0]=valore;
nerit 3:a469bbd294b5 933 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 934 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 935 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 936 val1[4]=resetComandi;
nerit 3:a469bbd294b5 937 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 938 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 939 #if defined(canbusActive)
nerit 10:9e70619e97ab 940 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 941 checkState=0;
nerit 10:9e70619e97ab 942 }
nerit 10:9e70619e97ab 943 #endif
nerit 10:9e70619e97ab 944 #if defined(pcSerial)
nerit 10:9e70619e97ab 945 #if defined(checkLoop)
nerit 10:9e70619e97ab 946 pc.printf("19\n");
nerit 10:9e70619e97ab 947 #endif
nerit 10:9e70619e97ab 948 #endif
nerit 3:a469bbd294b5 949 }
nerit 3:a469bbd294b5 950 //*******************************************************
nerit 8:310f9e4eac7b 951 void leggiCAN()
nerit 8:310f9e4eac7b 952 {
nerit 8:310f9e4eac7b 953 #if defined(canbusActive)
nerit 8:310f9e4eac7b 954 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 955 if (firstStart==1) {
nerit 8:310f9e4eac7b 956 #if defined(speedMaster)
nerit 8:310f9e4eac7b 957 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 958 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 959 #else
nerit 8:310f9e4eac7b 960 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 961 #endif
nerit 8:310f9e4eac7b 962 firstStart=0;
nerit 8:310f9e4eac7b 963 }
nerit 8:310f9e4eac7b 964 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 965 #if defined(pcSerial)
nerit 8:310f9e4eac7b 966 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 967 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 968 #endif
nerit 8:310f9e4eac7b 969 #endif
nerit 8:310f9e4eac7b 970 }
nerit 8:310f9e4eac7b 971 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 972 #if defined(pcSerial)
nerit 8:310f9e4eac7b 973 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 974 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 975 #endif
nerit 8:310f9e4eac7b 976 #endif
nerit 8:310f9e4eac7b 977 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 978 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 979 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 980 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 981 comandiDaCan = rxMsg.data[4];
nerit 20:4a400a4cc419 982 speedStepp = rxMsg.data[5];
nerit 20:4a400a4cc419 983 if (speedStepp==0){
nerit 20:4a400a4cc419 984 simStepper=0;
nerit 20:4a400a4cc419 985 }else{
nerit 20:4a400a4cc419 986 simStepper=1;
nerit 20:4a400a4cc419 987 }
nerit 8:310f9e4eac7b 988 #if defined(pcSerial)
nerit 8:310f9e4eac7b 989 #if defined(canDataReceived)
nerit 3:a469bbd294b5 990 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 991 #endif
nerit 8:310f9e4eac7b 992 #endif
nerit 8:310f9e4eac7b 993 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 994 case 1:
nerit 8:310f9e4eac7b 995 case 3:
nerit 8:310f9e4eac7b 996 azzeraDaCan=1;
nerit 8:310f9e4eac7b 997 resetComandi=0x01;
nerit 8:310f9e4eac7b 998 comandiDaCan=0;
nerit 8:310f9e4eac7b 999 break;
nerit 8:310f9e4eac7b 1000 case 2:
nerit 8:310f9e4eac7b 1001 loadDaCan=1;
nerit 8:310f9e4eac7b 1002 resetComandi=0x02;
nerit 8:310f9e4eac7b 1003 comandiDaCan=0;
nerit 8:310f9e4eac7b 1004 break;
nerit 8:310f9e4eac7b 1005 default:
nerit 8:310f9e4eac7b 1006 comandiDaCan=0;
nerit 8:310f9e4eac7b 1007 resetComandi=0xFF;
nerit 8:310f9e4eac7b 1008 break;
nerit 8:310f9e4eac7b 1009 }
nerit 8:310f9e4eac7b 1010 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1011 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 1012 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 1013 #endif
nerit 8:310f9e4eac7b 1014 #endif
nerit 8:310f9e4eac7b 1015 if (speedSimula>45) {
nerit 8:310f9e4eac7b 1016 speedSimula=45;
nerit 8:310f9e4eac7b 1017 }
nerit 8:310f9e4eac7b 1018 // modulo 1
nerit 8:310f9e4eac7b 1019 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 1020 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 1021 simOk=1;
nerit 8:310f9e4eac7b 1022 } else {
nerit 8:310f9e4eac7b 1023 simOk=0;
nerit 3:a469bbd294b5 1024 }
nerit 8:310f9e4eac7b 1025 }
nerit 8:310f9e4eac7b 1026 // modulo 2
nerit 8:310f9e4eac7b 1027 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1028 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1029 simOk=1;
nerit 8:310f9e4eac7b 1030 } else {
nerit 8:310f9e4eac7b 1031 simOk=0;
nerit 3:a469bbd294b5 1032 }
nerit 8:310f9e4eac7b 1033 }
nerit 8:310f9e4eac7b 1034 // modulo 3
nerit 8:310f9e4eac7b 1035 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1036 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1037 simOk=1;
nerit 8:310f9e4eac7b 1038 } else {
nerit 8:310f9e4eac7b 1039 simOk=0;
nerit 3:a469bbd294b5 1040 }
nerit 8:310f9e4eac7b 1041 }
nerit 8:310f9e4eac7b 1042 // modulo 4
nerit 8:310f9e4eac7b 1043 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1044 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1045 simOk=1;
nerit 8:310f9e4eac7b 1046 } else {
nerit 8:310f9e4eac7b 1047 simOk=0;
nerit 3:a469bbd294b5 1048 }
nerit 8:310f9e4eac7b 1049 }
nerit 8:310f9e4eac7b 1050 // modulo 5
nerit 8:310f9e4eac7b 1051 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1052 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1053 simOk=1;
nerit 8:310f9e4eac7b 1054 } else {
nerit 8:310f9e4eac7b 1055 simOk=0;
nerit 3:a469bbd294b5 1056 }
nerit 3:a469bbd294b5 1057 }
nerit 8:310f9e4eac7b 1058
nerit 8:310f9e4eac7b 1059 }
nerit 14:e2b5efa06c41 1060 //if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1061 if (rxMsg.id==RX_Settings) {
nerit 14:e2b5efa06c41 1062 //if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1063 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1064 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 17:9629eb019892 1065 deepOfSeed=((double)rxMsg.data[2]/1000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1066 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1067 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 1068 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 1069 aggiornaParametri();
nerit 14:e2b5efa06c41 1070 //}
nerit 3:a469bbd294b5 1071 }
nerit 14:e2b5efa06c41 1072 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1073 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1074 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1075 #if defined(M1)
nerit 3:a469bbd294b5 1076 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1077 aggiornaParametri();
nerit 3:a469bbd294b5 1078 #endif
nerit 3:a469bbd294b5 1079 #if defined(M2)
nerit 3:a469bbd294b5 1080 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1081 aggiornaParametri();
nerit 3:a469bbd294b5 1082 #endif
nerit 3:a469bbd294b5 1083 #if defined(M3)
nerit 3:a469bbd294b5 1084 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1085 aggiornaParametri();
nerit 3:a469bbd294b5 1086 #endif
nerit 3:a469bbd294b5 1087 #if defined(M4)
nerit 3:a469bbd294b5 1088 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1089 aggiornaParametri();
nerit 3:a469bbd294b5 1090 #endif
nerit 3:a469bbd294b5 1091 #if defined(M5)
nerit 3:a469bbd294b5 1092 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1093 aggiornaParametri();
nerit 3:a469bbd294b5 1094 #endif
nerit 3:a469bbd294b5 1095 #if defined(M6)
nerit 3:a469bbd294b5 1096 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1097 aggiornaParametri();
nerit 3:a469bbd294b5 1098 #endif
nerit 3:a469bbd294b5 1099 }
nerit 3:a469bbd294b5 1100 }
nerit 8:310f9e4eac7b 1101 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1102 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1103 #if defined(M1)
nerit 3:a469bbd294b5 1104 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1105 aggiornaParametri();
nerit 3:a469bbd294b5 1106 #endif
nerit 3:a469bbd294b5 1107 #if defined(M2)
nerit 3:a469bbd294b5 1108 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1109 aggiornaParametri();
nerit 3:a469bbd294b5 1110 #endif
nerit 3:a469bbd294b5 1111 #if defined(M3)
nerit 3:a469bbd294b5 1112 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1113 aggiornaParametri();
nerit 3:a469bbd294b5 1114 #endif
nerit 3:a469bbd294b5 1115 #if defined(M4)
nerit 3:a469bbd294b5 1116 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1117 aggiornaParametri();
nerit 3:a469bbd294b5 1118 #endif
nerit 3:a469bbd294b5 1119 #if defined(M5)
nerit 3:a469bbd294b5 1120 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1121 aggiornaParametri();
nerit 3:a469bbd294b5 1122 #endif
nerit 3:a469bbd294b5 1123 #if defined(M6)
nerit 3:a469bbd294b5 1124 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1125 aggiornaParametri();
nerit 3:a469bbd294b5 1126 #endif
nerit 3:a469bbd294b5 1127 }
nerit 3:a469bbd294b5 1128 }
nerit 8:310f9e4eac7b 1129 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1130 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1131 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1132 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1133 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1134 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1135 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1136 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1137 aggiornaParametri();
nerit 3:a469bbd294b5 1138 }
nerit 3:a469bbd294b5 1139 }
nerit 8:310f9e4eac7b 1140 }
nerit 8:310f9e4eac7b 1141 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1142 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1143 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1144 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1145 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1146 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1147 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1148 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1149 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1150 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1151 canDataCheck=1;
nerit 3:a469bbd294b5 1152 }
nerit 8:310f9e4eac7b 1153 }
nerit 8:310f9e4eac7b 1154 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1155 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1156 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1157 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1158 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1159 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1160 //stepSetting();
nerit 3:a469bbd294b5 1161 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1162 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1163 if (encoder==false) {
nerit 3:a469bbd294b5 1164 encoder=true;
nerit 22:2136dcad1dbc 1165 speedFromPick=0;
nerit 3:a469bbd294b5 1166 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1167 dcSetting();
nerit 3:a469bbd294b5 1168 }
nerit 8:310f9e4eac7b 1169 } else {
nerit 8:310f9e4eac7b 1170 if (encoder==true) {
nerit 3:a469bbd294b5 1171 encoder=false;
nerit 22:2136dcad1dbc 1172 speedFromPick=1;
nerit 3:a469bbd294b5 1173 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1174 dcSetting();
nerit 3:a469bbd294b5 1175 }
nerit 3:a469bbd294b5 1176 }
nerit 8:310f9e4eac7b 1177 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1178 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1179 } else {
nerit 3:a469bbd294b5 1180 tankLevelEnable=false;
nerit 3:a469bbd294b5 1181 }
nerit 8:310f9e4eac7b 1182 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1183 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1184 } else {
nerit 3:a469bbd294b5 1185 seedSensorEnable=false;
nerit 3:a469bbd294b5 1186 }
nerit 8:310f9e4eac7b 1187 if ((flags&0x08)==0x08) {
nerit 3:a469bbd294b5 1188 stendiNylonEnable=true;
nerit 8:310f9e4eac7b 1189 } else {
nerit 3:a469bbd294b5 1190 stendiNylonEnable=false;
nerit 3:a469bbd294b5 1191 }
nerit 8:310f9e4eac7b 1192 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1193 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1194 } else {
nerit 3:a469bbd294b5 1195 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1196 }
nerit 8:310f9e4eac7b 1197 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1198 tamburoStandard=1;
nerit 8:310f9e4eac7b 1199 } else {
nerit 3:a469bbd294b5 1200 tamburoStandard=0;
nerit 3:a469bbd294b5 1201 }
nerit 8:310f9e4eac7b 1202 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1203 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1204 } else {
nerit 3:a469bbd294b5 1205 currentCheckEnable=false;
nerit 3:a469bbd294b5 1206 }
nerit 3:a469bbd294b5 1207 }
nerit 8:310f9e4eac7b 1208 }
nerit 8:310f9e4eac7b 1209 }
nerit 10:9e70619e97ab 1210 #endif
nerit 10:9e70619e97ab 1211 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1212 enableSimula=1;
nerit 10:9e70619e97ab 1213 speedSimula=25;
nerit 10:9e70619e97ab 1214 avviaSimula=1;
nerit 10:9e70619e97ab 1215 simOk=1;
nerit 10:9e70619e97ab 1216 #endif
nerit 10:9e70619e97ab 1217 #if defined(pcSerial)
nerit 10:9e70619e97ab 1218 #if defined(checkLoop)
nerit 10:9e70619e97ab 1219 pc.printf("20\n");
nerit 10:9e70619e97ab 1220 #endif
nerit 10:9e70619e97ab 1221 #endif
bcostm 0:5701b41769fd 1222 }
bcostm 0:5701b41769fd 1223
nerit 3:a469bbd294b5 1224 //*******************************************************
nerit 8:310f9e4eac7b 1225 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1226 {
nerit 8:310f9e4eac7b 1227
nerit 3:a469bbd294b5 1228 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1229 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1230
nerit 3:a469bbd294b5 1231 //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 1232 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1233 // Analog reading
nerit 3:a469bbd294b5 1234 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1235 timeout.detach();
nerit 8:310f9e4eac7b 1236 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1237 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1238 }
nerit 3:a469bbd294b5 1239 //*******************************************************
nerit 8:310f9e4eac7b 1240 void DC_prepare()
nerit 8:310f9e4eac7b 1241 {
nerit 3:a469bbd294b5 1242 // direction or brake preparation
nerit 8:310f9e4eac7b 1243 if (DC_brake==1) {
nerit 3:a469bbd294b5 1244 SDmotorInA=1;
nerit 3:a469bbd294b5 1245 SDmotorInB=1;
nerit 8:310f9e4eac7b 1246 } else {
nerit 8:310f9e4eac7b 1247 if (DC_forward==0) {
nerit 3:a469bbd294b5 1248 SDmotorInA=1;
nerit 3:a469bbd294b5 1249 SDmotorInB=0;
nerit 8:310f9e4eac7b 1250 } else {
nerit 3:a469bbd294b5 1251 SDmotorInA=0;
nerit 3:a469bbd294b5 1252 SDmotorInB=1;
nerit 3:a469bbd294b5 1253 }
nerit 3:a469bbd294b5 1254 }
nerit 3:a469bbd294b5 1255 // fault reading
nerit 8:310f9e4eac7b 1256 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1257 SD_faultA=1;
nerit 8:310f9e4eac7b 1258 } else {
nerit 8:310f9e4eac7b 1259 SD_faultA=0;
nerit 8:310f9e4eac7b 1260 }
nerit 8:310f9e4eac7b 1261 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1262 SD_faultB=1;
nerit 8:310f9e4eac7b 1263 } else {
nerit 8:310f9e4eac7b 1264 SD_faultB=0;
nerit 8:310f9e4eac7b 1265 }
nerit 10:9e70619e97ab 1266 #if defined(pcSerial)
nerit 10:9e70619e97ab 1267 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1268 pc.printf("22\n");
nerit 10:9e70619e97ab 1269 #endif
nerit 10:9e70619e97ab 1270 #endif
nerit 3:a469bbd294b5 1271 }
nerit 3:a469bbd294b5 1272 //*******************************************************
nerit 12:b0fc1d313813 1273 void startDelay(){
nerit 12:b0fc1d313813 1274 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1275 int ritardo =0;
nerit 12:b0fc1d313813 1276 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1277 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1278 }
nerit 3:a469bbd294b5 1279 //*******************************************************
nerit 10:9e70619e97ab 1280 void quincTrigon(){
nerit 3:a469bbd294b5 1281 quincClock=true;
nerit 10:9e70619e97ab 1282 #if defined(pcSerial)
nerit 10:9e70619e97ab 1283 #if defined(checkLoop)
nerit 10:9e70619e97ab 1284 pc.printf("24\n");
nerit 10:9e70619e97ab 1285 #endif
nerit 10:9e70619e97ab 1286 #endif
nerit 3:a469bbd294b5 1287 }
nerit 10:9e70619e97ab 1288 void quincTrigof(){
nerit 3:a469bbd294b5 1289 quincClock=false;
nerit 10:9e70619e97ab 1290 #if defined(pcSerial)
nerit 10:9e70619e97ab 1291 #if defined(checkLoop)
nerit 10:9e70619e97ab 1292 pc.printf("25\n");
nerit 10:9e70619e97ab 1293 #endif
nerit 10:9e70619e97ab 1294 #endif
nerit 3:a469bbd294b5 1295 }
nerit 3:a469bbd294b5 1296 //*******************************************************
nerit 8:310f9e4eac7b 1297 void quinCalc()
nerit 8:310f9e4eac7b 1298 {
nerit 3:a469bbd294b5 1299 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1300 #if !defined(mezzo)
nerit 10:9e70619e97ab 1301 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1302 oldQuincIn=1;
nerit 10:9e70619e97ab 1303 if (quincStart==0) {
nerit 10:9e70619e97ab 1304 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1305 quincTime.reset();
nerit 10:9e70619e97ab 1306 quincTimeSD.reset();
nerit 10:9e70619e97ab 1307 quincStart=1;
nerit 10:9e70619e97ab 1308 }
nerit 3:a469bbd294b5 1309 }
nerit 10:9e70619e97ab 1310 if(quincClock==false) {
nerit 3:a469bbd294b5 1311 oldQuincIn=0;
nerit 3:a469bbd294b5 1312 }
nerit 10:9e70619e97ab 1313 #else
nerit 10:9e70619e97ab 1314 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1315 oldQuincIn=1;
nerit 10:9e70619e97ab 1316 if (quincStart==0) {
nerit 10:9e70619e97ab 1317 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1318 quincTime.reset();
nerit 10:9e70619e97ab 1319 quincStart=1;
nerit 10:9e70619e97ab 1320 }
nerit 3:a469bbd294b5 1321 }
nerit 10:9e70619e97ab 1322 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1323 if (quincClock==false) {
nerit 10:9e70619e97ab 1324 oldQuincIn=0;
nerit 10:9e70619e97ab 1325 }
nerit 10:9e70619e97ab 1326 } else {
nerit 10:9e70619e97ab 1327 if (quincClock==true) {
nerit 10:9e70619e97ab 1328 oldQuincIn=0;
nerit 10:9e70619e97ab 1329 }
nerit 10:9e70619e97ab 1330 }
nerit 10:9e70619e97ab 1331 #endif
nerit 3:a469bbd294b5 1332 //****************************************************************************************
nerit 8:310f9e4eac7b 1333 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1334 if (countPicks==0) {
nerit 8:310f9e4eac7b 1335 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1336 // decelera
nerit 3:a469bbd294b5 1337 countPicks=1;
nerit 3:a469bbd294b5 1338 }
nerit 8:310f9e4eac7b 1339 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1340 // accelera
nerit 3:a469bbd294b5 1341 countPicks=2;
nerit 3:a469bbd294b5 1342 }
nerit 3:a469bbd294b5 1343 }
nerit 8:310f9e4eac7b 1344 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1345 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1346 scostamento = oldQuincTimeSD;
nerit 17:9629eb019892 1347 if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
nerit 3:a469bbd294b5 1348 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1349 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1350 #if defined(pcSerial)
nerit 3:a469bbd294b5 1351 #if defined(laq)
nerit 3:a469bbd294b5 1352 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1353 #endif
nerit 3:a469bbd294b5 1354 #endif
nerit 3:a469bbd294b5 1355 }
nerit 3:a469bbd294b5 1356 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1357 }
nerit 8:310f9e4eac7b 1358 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1359 scostamento = (double)quincTime.read_ms();
nerit 17:9629eb019892 1360 if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
nerit 3:a469bbd294b5 1361 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1362 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1363 #if defined(pcSerial)
nerit 3:a469bbd294b5 1364 #if defined(laq)
nerit 8:310f9e4eac7b 1365 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1366 #endif
nerit 3:a469bbd294b5 1367 #endif
nerit 3:a469bbd294b5 1368 }
nerit 3:a469bbd294b5 1369 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1370 }
nerit 3:a469bbd294b5 1371 sincroQui=0;
nerit 3:a469bbd294b5 1372 quincStart=0;
nerit 3:a469bbd294b5 1373 countPicks=0;
nerit 5:2a3a64b52f54 1374 // questo e il primo
nerit 3:a469bbd294b5 1375 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1376 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1377 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1378 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1379 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1380 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1381 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1382 }
nerit 13:d1030d4e51a8 1383 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1384 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1385 }*/
nerit 3:a469bbd294b5 1386 }
nerit 8:310f9e4eac7b 1387 }
nerit 3:a469bbd294b5 1388 }
nerit 3:a469bbd294b5 1389 #endif
nerit 3:a469bbd294b5 1390 }
nerit 8:310f9e4eac7b 1391
nerit 3:a469bbd294b5 1392 //*******************************************************************
nerit 8:310f9e4eac7b 1393 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1394 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1395 canDataCheck=0;
nerit 17:9629eb019892 1396 double parametro = SDsectorStep/(double)quincSector;
nerit 3:a469bbd294b5 1397 double differenza=0.0f;
nerit 3:a469bbd294b5 1398 #if defined(mezzo)
nerit 8:310f9e4eac7b 1399 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1400 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1401 } else {
nerit 3:a469bbd294b5 1402 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1403 }
nerit 3:a469bbd294b5 1404 #else
nerit 3:a469bbd294b5 1405 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1406 #endif
nerit 17:9629eb019892 1407 if (abs(differenza)<=50.0f){differenza=0.0f;}
nerit 8:310f9e4eac7b 1408 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1409 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1410 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1411 }
nerit 8:310f9e4eac7b 1412 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1413 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1414 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1415 }
nerit 5:2a3a64b52f54 1416 // questo e il secondo
nerit 3:a469bbd294b5 1417 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1418 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1419 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1420 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1421 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 14:e2b5efa06c41 1422 /*if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1423 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1424 }
nerit 13:d1030d4e51a8 1425 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1426 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 14:e2b5efa06c41 1427 }*/
nerit 3:a469bbd294b5 1428 }
nerit 5:2a3a64b52f54 1429 }
nerit 3:a469bbd294b5 1430 }
nerit 3:a469bbd294b5 1431 #endif
nerit 3:a469bbd294b5 1432 }
nerit 3:a469bbd294b5 1433 }
nerit 8:310f9e4eac7b 1434
nerit 3:a469bbd294b5 1435 }
nerit 8:310f9e4eac7b 1436 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1437 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1438 }
nerit 8:310f9e4eac7b 1439 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1440 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1441 }
nerit 6:e8c18f0f399a 1442 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1443 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1444 pc.printf("26\n");
nerit 6:e8c18f0f399a 1445 #endif
nerit 6:e8c18f0f399a 1446 #endif
bcostm 0:5701b41769fd 1447 }
nerit 8:310f9e4eac7b 1448 // ----------------------------------------
nerit 3:a469bbd294b5 1449 #if defined(seedSensor)
nerit 3:a469bbd294b5 1450 void resetDelay(){
nerit 3:a469bbd294b5 1451 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1452 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1453 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1454 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1455 pc.printf("27\n");
nerit 8:310f9e4eac7b 1456 #endif
nerit 6:e8c18f0f399a 1457 #endif
nerit 3:a469bbd294b5 1458 }
nerit 3:a469bbd294b5 1459 #endif
nerit 18:7c978f69cc51 1460 // ----------------------------------------
nerit 17:9629eb019892 1461 void aggiornati(){
nerit 17:9629eb019892 1462 #if defined(runner)
nerit 17:9629eb019892 1463 legPos.detach();
nerit 17:9629eb019892 1464 TBoldPosition= (uint32_t) motor->get_position();
nerit 17:9629eb019892 1465 legPos.attach(&step_Reading,0.002f);
nerit 17:9629eb019892 1466 #if defined(pcSerial)
nerit 17:9629eb019892 1467 #if defined(TBperS)
nerit 17:9629eb019892 1468 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 17:9629eb019892 1469 #endif
nerit 17:9629eb019892 1470 #endif
nerit 17:9629eb019892 1471
nerit 17:9629eb019892 1472 #else
nerit 17:9629eb019892 1473 TBactualPosition=0;
nerit 17:9629eb019892 1474 #endif
nerit 17:9629eb019892 1475 }
nerit 17:9629eb019892 1476
nerit 3:a469bbd294b5 1477 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1478 // MAIN SECTION
nerit 3:a469bbd294b5 1479 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1480
nerit 3:a469bbd294b5 1481 //*******************************************************************************
nerit 8:310f9e4eac7b 1482 int main()
nerit 8:310f9e4eac7b 1483 {
nerit 6:e8c18f0f399a 1484 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1485 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1486 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1487 #endif
nerit 6:e8c18f0f399a 1488 #endif
nerit 8:310f9e4eac7b 1489
nerit 8:310f9e4eac7b 1490 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1491 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1492 #endif
nerit 8:310f9e4eac7b 1493
nerit 8:310f9e4eac7b 1494 wait(1.0f);
nerit 8:310f9e4eac7b 1495 wait(1.0f);
nerit 19:231b8931cabc 1496 wait(ritAvv);
nerit 8:310f9e4eac7b 1497
nerit 8:310f9e4eac7b 1498 //stepSetting();
nerit 8:310f9e4eac7b 1499
nerit 6:e8c18f0f399a 1500 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1501 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1502 //----- Initialization
nerit 8:310f9e4eac7b 1503 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1504 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1505 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1506 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1507 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1508
nerit 8:310f9e4eac7b 1509 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1510 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1511 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1512 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1513 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1514 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1515 }
nerit 6:e8c18f0f399a 1516
nerit 8:310f9e4eac7b 1517 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1518 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1519 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1520 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1521
nerit 8:310f9e4eac7b 1522 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1523 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1524 wait(1.0f);
nerit 8:310f9e4eac7b 1525 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1526 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1527 }
nerit 8:310f9e4eac7b 1528
nerit 3:a469bbd294b5 1529 // DC reset ad set
nerit 3:a469bbd294b5 1530 int decima = 100;
nerit 3:a469bbd294b5 1531 wait_ms(200);
nerit 3:a469bbd294b5 1532 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1533 wait_ms(2);
nerit 3:a469bbd294b5 1534 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1535 wait_ms(1);
nerit 3:a469bbd294b5 1536 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1537 wait_ms(3);
nerit 3:a469bbd294b5 1538 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1539 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1540 wait_ms(100);
nerit 3:a469bbd294b5 1541 DC_prepare();
nerit 8:310f9e4eac7b 1542
nerit 8:310f9e4eac7b 1543 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1544 intraPickTimer.start();
nerit 8:310f9e4eac7b 1545 speedTimeOut.start();
nerit 3:a469bbd294b5 1546 speedFilter.start();
nerit 3:a469bbd294b5 1547 seedFilter.start();
nerit 3:a469bbd294b5 1548 TBfilter.start();
nerit 3:a469bbd294b5 1549 sincroTimer.start();
nerit 3:a469bbd294b5 1550 rotationTimeOut.start();
nerit 3:a469bbd294b5 1551 metalTimer.start();
nerit 3:a469bbd294b5 1552 quincTime.start();
nerit 3:a469bbd294b5 1553 quincTimeSD.start();
nerit 8:310f9e4eac7b 1554 #if defined(runner)
nerit 8:310f9e4eac7b 1555 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1556 #endif
nerit 8:310f9e4eac7b 1557
nerit 3:a469bbd294b5 1558 //*******************************************************
nerit 3:a469bbd294b5 1559 // controls for check DC motor current
nerit 8:310f9e4eac7b 1560 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1561 wait_ms(500);
nerit 8:310f9e4eac7b 1562
nerit 12:b0fc1d313813 1563 dcVeri.attach(&controllaCorrente,2.0f);
nerit 13:d1030d4e51a8 1564 delaySpeedCheck.start();
nerit 12:b0fc1d313813 1565
nerit 8:310f9e4eac7b 1566 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1567 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1568 #endif
nerit 3:a469bbd294b5 1569
nerit 8:310f9e4eac7b 1570 if (inProva==0) {
nerit 3:a469bbd294b5 1571 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1572 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1573 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1574 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1575 #endif
nerit 3:a469bbd294b5 1576 #if defined(speedMaster)
nerit 3:a469bbd294b5 1577 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1578 #endif
nerit 3:a469bbd294b5 1579 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 1580 dcSetting();
nerit 3:a469bbd294b5 1581 #if defined(seedSensor)
nerit 3:a469bbd294b5 1582 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1583 #endif
nerit 8:310f9e4eac7b 1584 } else {
nerit 8:310f9e4eac7b 1585 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1586 }
nerit 8:310f9e4eac7b 1587
nerit 3:a469bbd294b5 1588 aggiornaParametri();
nerit 3:a469bbd294b5 1589
nerit 3:a469bbd294b5 1590 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1591 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1592 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1593
nerit 3:a469bbd294b5 1594 #if defined(provaStepper)
nerit 3:a469bbd294b5 1595 TBmotorRst=1;
nerit 3:a469bbd294b5 1596 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1597 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1598 #if defined(Zucca)
nerit 17:9629eb019892 1599 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1600 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1601 #else
nerit 18:7c978f69cc51 1602 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1603 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1604 #endif
nerit 3:a469bbd294b5 1605 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1606 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1607 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1608 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1609 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1610 #endif
nerit 6:e8c18f0f399a 1611 #endif
nerit 10:9e70619e97ab 1612 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 18:7c978f69cc51 1613 TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1614 #else
nerit 3:a469bbd294b5 1615 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1616 motor->set_home();
nerit 8:310f9e4eac7b 1617 motor->go_to(50);
nerit 8:310f9e4eac7b 1618 motor->wait_while_active();
nerit 8:310f9e4eac7b 1619 #if !defined(runner)
nerit 9:7f02256f6e8f 1620 #if defined(Zucca)
nerit 9:7f02256f6e8f 1621 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1622 #else
nerit 9:7f02256f6e8f 1623 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1624 #endif
nerit 8:310f9e4eac7b 1625 #endif
nerit 6:e8c18f0f399a 1626 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1627 #if defined(loStop)
nerit 6:e8c18f0f399a 1628 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1629 #endif
nerit 6:e8c18f0f399a 1630 #endif
nerit 6:e8c18f0f399a 1631 motor->soft_hiz();
nerit 3:a469bbd294b5 1632 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1633 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1634 #endif // end prova stepper
nerit 8:310f9e4eac7b 1635
nerit 8:310f9e4eac7b 1636 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1637
nerit 8:310f9e4eac7b 1638
nerit 3:a469bbd294b5 1639 //**************************************************************************************************************
nerit 3:a469bbd294b5 1640 // MAIN LOOP
nerit 3:a469bbd294b5 1641 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1642 while (true) {
nerit 6:e8c18f0f399a 1643 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1644 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1645 speedClock=0;
nerit 8:310f9e4eac7b 1646 }
nerit 8:310f9e4eac7b 1647
nerit 3:a469bbd294b5 1648 // inversione segnali ingressi
nerit 3:a469bbd294b5 1649 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1650 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1651 #else
nerit 8:310f9e4eac7b 1652 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1653 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1654 }
nerit 8:310f9e4eac7b 1655 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1656 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1657 }
nerit 8:310f9e4eac7b 1658 #endif
nerit 3:a469bbd294b5 1659 TBzeroPinInput = !TBzeroPinInputRev;
nerit 8:310f9e4eac7b 1660
nerit 3:a469bbd294b5 1661 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1662 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1663 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1664 quinconceOut=0;
nerit 3:a469bbd294b5 1665 }
nerit 8:310f9e4eac7b 1666 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1667 quinconceOut=1;
nerit 3:a469bbd294b5 1668 }
nerit 8:310f9e4eac7b 1669 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1670 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1671 posForQuinc=500;
nerit 3:a469bbd294b5 1672 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1673 }
nerit 8:310f9e4eac7b 1674 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1675 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1676 }
nerit 8:310f9e4eac7b 1677 }
nerit 3:a469bbd294b5 1678 #endif
nerit 3:a469bbd294b5 1679
nerit 3:a469bbd294b5 1680 // simulazione velocita
nerit 8:310f9e4eac7b 1681 if (enableSimula==1) {
nerit 3:a469bbd294b5 1682 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1683 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1684 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1685 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1686 } else {
nerit 3:a469bbd294b5 1687 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1688 }
nerit 8:310f9e4eac7b 1689 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1690 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1691 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1692 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1693 }
nerit 8:310f9e4eac7b 1694 } else {
nerit 3:a469bbd294b5 1695 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1696 spedSimclock.detach();
nerit 3:a469bbd294b5 1697 }
nerit 8:310f9e4eac7b 1698 } else {
nerit 3:a469bbd294b5 1699 spedSimclock.detach();
nerit 3:a469bbd294b5 1700 }
nerit 8:310f9e4eac7b 1701
nerit 3:a469bbd294b5 1702 //*******************************************************
nerit 3:a469bbd294b5 1703 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1704 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1705 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1706 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1707 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1708 }
nerit 3:a469bbd294b5 1709 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1710 } else {
nerit 8:310f9e4eac7b 1711 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1712 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1713 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1714 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1715 }
nerit 3:a469bbd294b5 1716 }
nerit 3:a469bbd294b5 1717
nerit 8:310f9e4eac7b 1718 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1719 lowSpeed=1;
nerit 8:310f9e4eac7b 1720 } else {
nerit 3:a469bbd294b5 1721 lowSpeed=0;
nerit 3:a469bbd294b5 1722 }
bcostm 2:35f13b7f3659 1723
nerit 3:a469bbd294b5 1724 //**************************************************************************************************************
nerit 3:a469bbd294b5 1725 //**************************************************************************************************************
nerit 3:a469bbd294b5 1726 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1727 //**************************************************************************************************************
nerit 3:a469bbd294b5 1728 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1729
nerit 8:310f9e4eac7b 1730 if (inProva==0) {
nerit 20:4a400a4cc419 1731 // simulazione stepper
nerit 23:ccd253b36733 1732 if (simOk==1){
nerit 23:ccd253b36733 1733 if (simStepper==1){
nerit 23:ccd253b36733 1734 oldSimStepper=true;
nerit 23:ccd253b36733 1735 simStepSpeed= ((double)speedStepp*180.45f)/50.0f;
nerit 23:ccd253b36733 1736 if (oldSimStepSpeed!=simStepSpeed){
nerit 23:ccd253b36733 1737 motor->run(StepperMotor::FWD,simStepSpeed);
nerit 23:ccd253b36733 1738 oldSimStepSpeed=simStepSpeed;
nerit 23:ccd253b36733 1739 }
nerit 23:ccd253b36733 1740 }else{
nerit 23:ccd253b36733 1741 if (oldSimStepper==true){
nerit 23:ccd253b36733 1742 oldSimStepper=false;
nerit 23:ccd253b36733 1743 motor->soft_hiz();
nerit 23:ccd253b36733 1744 oldSimStepSpeed=0.0f;
nerit 23:ccd253b36733 1745 }
nerit 23:ccd253b36733 1746 }
nerit 20:4a400a4cc419 1747 }else{
nerit 20:4a400a4cc419 1748 if (oldSimStepper==true){
nerit 20:4a400a4cc419 1749 oldSimStepper=false;
nerit 20:4a400a4cc419 1750 motor->soft_hiz();
nerit 20:4a400a4cc419 1751 oldSimStepSpeed=0.0f;
nerit 20:4a400a4cc419 1752 }
nerit 20:4a400a4cc419 1753 }
nerit 8:310f9e4eac7b 1754 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1755 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1756 } else {
nerit 6:e8c18f0f399a 1757 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1758 }
nerit 8:310f9e4eac7b 1759 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1760 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1761 }
nerit 3:a469bbd294b5 1762 // ----------------------------------------
nerit 3:a469bbd294b5 1763 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1764 // ----------------------------------------
nerit 8:310f9e4eac7b 1765 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1766 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1767 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1768 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1769 }
nerit 3:a469bbd294b5 1770 }
nerit 8:310f9e4eac7b 1771 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1772 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1773 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1774 intraPickTimer.reset();
nerit 3:a469bbd294b5 1775 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1776 seedFilter.reset();
nerit 3:a469bbd294b5 1777 sincroTimer.reset();
nerit 3:a469bbd294b5 1778 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1779 quincTime.reset();
nerit 3:a469bbd294b5 1780 quincTimeSD.reset();
nerit 3:a469bbd294b5 1781 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1782 sincroQui=1;
nerit 3:a469bbd294b5 1783 SDwheelTimer.reset();
nerit 13:d1030d4e51a8 1784 dcEncoderCnt=0;
nerit 3:a469bbd294b5 1785 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1786 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1787 posForQuinc=500;
nerit 3:a469bbd294b5 1788 }
nerit 17:9629eb019892 1789 if (checkSDrotation==0) {
nerit 17:9629eb019892 1790 checkSDrotation=1;
nerit 17:9629eb019892 1791 SDwheelTimer.start();
nerit 17:9629eb019892 1792 }
nerit 3:a469bbd294b5 1793 #endif
nerit 8:310f9e4eac7b 1794 if (quincCnt<10) {
nerit 3:a469bbd294b5 1795 quincCnt++;
nerit 3:a469bbd294b5 1796 }
nerit 8:310f9e4eac7b 1797 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1798 beccoPronto=1;
nerit 3:a469bbd294b5 1799 }
nerit 3:a469bbd294b5 1800 lockStart=0;
nerit 3:a469bbd294b5 1801 double fase1=0.0f;
nerit 3:a469bbd294b5 1802 forzaFase=0;
nerit 3:a469bbd294b5 1803 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1804 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1805 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1806 } else {
nerit 8:310f9e4eac7b 1807 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1808 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1809 } else {
nerit 3:a469bbd294b5 1810 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1811 }
nerit 8:310f9e4eac7b 1812 if (fase1 > limite) {
nerit 3:a469bbd294b5 1813 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 1814 }
nerit 8:310f9e4eac7b 1815 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1816 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1817 forzaFase=1;
nerit 3:a469bbd294b5 1818 }
nerit 3:a469bbd294b5 1819 trigRepos=1;
nerit 3:a469bbd294b5 1820 }
nerit 3:a469bbd294b5 1821 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1822 #if defined(pcSerial)
nerit 3:a469bbd294b5 1823 #if defined(inCorre)
nerit 3:a469bbd294b5 1824 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1825 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1826 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1827 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1828 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1829 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1830 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1831 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1832 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1833 #endif
nerit 3:a469bbd294b5 1834 #endif
nerit 19:231b8931cabc 1835 if (tractorSpeed_MtS_timed>0.2f){
nerit 17:9629eb019892 1836 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 17:9629eb019892 1837 if ((aspettaStart==0)) {
nerit 17:9629eb019892 1838 if (firstStart==0) {
nerit 17:9629eb019892 1839 all_pickSignal=1;
nerit 17:9629eb019892 1840 }
nerit 3:a469bbd294b5 1841 }
nerit 3:a469bbd294b5 1842 }
nerit 3:a469bbd294b5 1843 }
nerit 3:a469bbd294b5 1844 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1845 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1846 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1847 #if defined(pcSerial)
nerit 10:9e70619e97ab 1848 #if defined(Qnca)
nerit 10:9e70619e97ab 1849 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1850 #endif
nerit 3:a469bbd294b5 1851 #endif
nerit 3:a469bbd294b5 1852 }
nerit 8:310f9e4eac7b 1853 if (encoder==false) {
nerit 3:a469bbd294b5 1854 pulseRised2=1;
nerit 3:a469bbd294b5 1855 }
nerit 3:a469bbd294b5 1856 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1857 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1858 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1859 cntSpeedError++;
nerit 18:7c978f69cc51 1860 if (cntSpeedError >= 5){
nerit 10:9e70619e97ab 1861 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1862 }
nerit 3:a469bbd294b5 1863 }
nerit 3:a469bbd294b5 1864 }
nerit 17:9629eb019892 1865 if (tractorSpeed_MtS_timed>0.2f){
nerit 18:7c978f69cc51 1866 double oldLastPr = (double)oldLastPulseRead*2.8f;
nerit 17:9629eb019892 1867 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 17:9629eb019892 1868 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 17:9629eb019892 1869 all_speedError =1;
nerit 17:9629eb019892 1870 }
nerit 3:a469bbd294b5 1871 }
nerit 3:a469bbd294b5 1872 }
nerit 3:a469bbd294b5 1873 #endif
nerit 3:a469bbd294b5 1874 //*******************************************
nerit 3:a469bbd294b5 1875 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1876 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1877 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1878 #if defined(pcSerial)
nerit 10:9e70619e97ab 1879 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1880 pc.printf("forza\n");
nerit 10:9e70619e97ab 1881 #endif
nerit 8:310f9e4eac7b 1882 #endif
nerit 6:e8c18f0f399a 1883 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1884 }
nerit 8:310f9e4eac7b 1885 aggioVelocita();
nerit 3:a469bbd294b5 1886 }
nerit 3:a469bbd294b5 1887 // ----------------------------------------
nerit 8:310f9e4eac7b 1888 // check SD fase
nerit 8:310f9e4eac7b 1889 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1890 forzaFase=0;
nerit 8:310f9e4eac7b 1891 if (trigRepos==1) {
nerit 3:a469bbd294b5 1892 SDactualPosition=0;
nerit 8:310f9e4eac7b 1893 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1894 countCicli++;
nerit 6:e8c18f0f399a 1895 trigCicli=1;
nerit 6:e8c18f0f399a 1896 }
nerit 8:310f9e4eac7b 1897 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1898 aspettaStart=0;
nerit 6:e8c18f0f399a 1899 }
nerit 8:310f9e4eac7b 1900 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1901 syncroCheck=1;
nerit 6:e8c18f0f399a 1902 beccoPronto=0;
nerit 6:e8c18f0f399a 1903 }
nerit 8:310f9e4eac7b 1904 if (trigTB==0) {
nerit 3:a469bbd294b5 1905 inhibit=1;
nerit 3:a469bbd294b5 1906 trigSD=1;
nerit 8:310f9e4eac7b 1907 } else {
nerit 3:a469bbd294b5 1908 inhibit=0;
nerit 3:a469bbd294b5 1909 trigTB=0;
nerit 3:a469bbd294b5 1910 trigSD=0;
nerit 3:a469bbd294b5 1911 }
nerit 3:a469bbd294b5 1912 trigRepos=0;
nerit 3:a469bbd294b5 1913 }
nerit 8:310f9e4eac7b 1914 } else {
nerit 3:a469bbd294b5 1915 trigCicli=0;
nerit 3:a469bbd294b5 1916 }
nerit 8:310f9e4eac7b 1917 // ----------------------------------------
nerit 3:a469bbd294b5 1918 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1919 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1920 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1921 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1922 }
nerit 8:310f9e4eac7b 1923 }
nerit 20:4a400a4cc419 1924 if (((TBzeroPinInput==1)&&(oldTBzeroPinInput==0))&&(simStepper==0)) {
nerit 3:a469bbd294b5 1925 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1926 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1927 stopCicloTB=1;
nerit 3:a469bbd294b5 1928 startCicloTB=0;
nerit 3:a469bbd294b5 1929 }
nerit 3:a469bbd294b5 1930 TBfilter.reset();
nerit 3:a469bbd294b5 1931 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1932 #if defined(runner)
nerit 8:310f9e4eac7b 1933 legPos.detach();
nerit 8:310f9e4eac7b 1934 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1935 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1936 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1937 #if defined(TBperS)
nerit 8:310f9e4eac7b 1938 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1939 #endif
nerit 8:310f9e4eac7b 1940 #endif
nerit 8:310f9e4eac7b 1941
nerit 8:310f9e4eac7b 1942 #else
nerit 8:310f9e4eac7b 1943 TBactualPosition=0;
nerit 8:310f9e4eac7b 1944 #endif
nerit 8:310f9e4eac7b 1945 if (cntTbError>0) {
nerit 3:a469bbd294b5 1946 cntCellsCorrect++;
nerit 3:a469bbd294b5 1947 }
nerit 19:231b8931cabc 1948 if (cntCellsCorrect>0) {
nerit 3:a469bbd294b5 1949 cntTbError=0;
nerit 3:a469bbd294b5 1950 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1951 }
nerit 3:a469bbd294b5 1952 // conteggio celle erogate
nerit 8:310f9e4eac7b 1953 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1954 cellsCounterLow++;
nerit 8:310f9e4eac7b 1955 } else {
nerit 3:a469bbd294b5 1956 cellsCounterHig++;
nerit 3:a469bbd294b5 1957 cellsCounterLow=0;
nerit 3:a469bbd294b5 1958 }
nerit 3:a469bbd294b5 1959 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1960 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1961 cntCellsForLoad++;
nerit 14:e2b5efa06c41 1962 if (cntCellsForLoad >= 10) {
nerit 8:310f9e4eac7b 1963 stopCicloTB=1;
nerit 3:a469bbd294b5 1964 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1965 }
nerit 8:310f9e4eac7b 1966 } else {
nerit 3:a469bbd294b5 1967 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1968 }
nerit 3:a469bbd294b5 1969 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1970 if (trigSD==0) {
nerit 3:a469bbd294b5 1971 inhibit=1;
nerit 3:a469bbd294b5 1972 trigTB=1;
nerit 8:310f9e4eac7b 1973 } else {
nerit 3:a469bbd294b5 1974 inhibit=0;
nerit 3:a469bbd294b5 1975 trigTB=0;
nerit 3:a469bbd294b5 1976 trigSD=0;
nerit 3:a469bbd294b5 1977 }
nerit 3:a469bbd294b5 1978 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1979 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1980 cntCellsForReload++;
nerit 8:310f9e4eac7b 1981 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1982 TBmotorDirecti=TBforward; // rotazione normale
nerit 21:3e6576c2e126 1983 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 1984 #if defined(runner)
nerit 21:3e6576c2e126 1985 #if defined(Zucca)
nerit 21:3e6576c2e126 1986 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 1987 #else
nerit 21:3e6576c2e126 1988 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 1989 #endif
nerit 9:7f02256f6e8f 1990 #else
nerit 21:3e6576c2e126 1991 #if defined(Zucca)
nerit 21:3e6576c2e126 1992 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 1993 #else
nerit 21:3e6576c2e126 1994 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 1995 #endif
nerit 9:7f02256f6e8f 1996 #endif
nerit 21:3e6576c2e126 1997 }
nerit 3:a469bbd294b5 1998 erroreTamburo=0;
nerit 3:a469bbd294b5 1999 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 2000 }
nerit 3:a469bbd294b5 2001 }
nerit 3:a469bbd294b5 2002 #if defined(seedSensor)
nerit 3:a469bbd294b5 2003 resetDelay();
nerit 3:a469bbd294b5 2004 delaySeedCheck.start();
nerit 3:a469bbd294b5 2005 #endif
nerit 3:a469bbd294b5 2006 }
nerit 20:4a400a4cc419 2007 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2008 if (firstStart==0) {
nerit 18:7c978f69cc51 2009 if (tractorSpeed_MtS_timed>0.4f){
nerit 17:9629eb019892 2010 if (cntTbError>5) {
nerit 17:9629eb019892 2011 all_cellSignal=1;
nerit 17:9629eb019892 2012 #if defined(seedSensor)
nerit 17:9629eb019892 2013 resetDelay();
nerit 17:9629eb019892 2014 #endif
nerit 17:9629eb019892 2015 }
nerit 3:a469bbd294b5 2016 }
nerit 3:a469bbd294b5 2017 }
nerit 8:310f9e4eac7b 2018 if (erroreTamburo==0) {
nerit 17:9629eb019892 2019 if (cellsCountSet>1){
nerit 17:9629eb019892 2020 erroreTamburo=1;
nerit 17:9629eb019892 2021 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 21:3e6576c2e126 2022 if (tractorSpeed_MtS_timed>0.0f){
nerit 21:3e6576c2e126 2023 #if defined(runner)
nerit 21:3e6576c2e126 2024 #if defined(Zucca)
nerit 21:3e6576c2e126 2025 motor->run(StepperMotor::FWD);
nerit 21:3e6576c2e126 2026 #else
nerit 21:3e6576c2e126 2027 motor->run(StepperMotor::BWD);
nerit 21:3e6576c2e126 2028 #endif
nerit 17:9629eb019892 2029 #else
nerit 21:3e6576c2e126 2030 #if defined(Zucca)
nerit 21:3e6576c2e126 2031 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 21:3e6576c2e126 2032 #else
nerit 21:3e6576c2e126 2033 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 21:3e6576c2e126 2034 #endif
nerit 17:9629eb019892 2035 #endif
nerit 21:3e6576c2e126 2036 }
nerit 17:9629eb019892 2037 }
nerit 3:a469bbd294b5 2038 cntCellsForReload=0;
nerit 17:9629eb019892 2039 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2040 cntTbError++;
nerit 17:9629eb019892 2041 aggiornati();
nerit 17:9629eb019892 2042 }else{
nerit 17:9629eb019892 2043 cntTbError=0;
nerit 17:9629eb019892 2044 }
nerit 3:a469bbd294b5 2045 #if defined(seedSensor)
nerit 3:a469bbd294b5 2046 resetDelay();
nerit 3:a469bbd294b5 2047 #endif
nerit 3:a469bbd294b5 2048 }
nerit 3:a469bbd294b5 2049 }
nerit 17:9629eb019892 2050 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2051 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
nerit 17:9629eb019892 2052 if (firstStart==0) {
nerit 17:9629eb019892 2053 all_noStepRota=1;
nerit 17:9629eb019892 2054 #if defined(seedSensor)
nerit 17:9629eb019892 2055 resetDelay();
nerit 17:9629eb019892 2056 #endif
nerit 17:9629eb019892 2057 }
nerit 17:9629eb019892 2058 cntTbError=0;
nerit 3:a469bbd294b5 2059 }
nerit 3:a469bbd294b5 2060 }
nerit 8:310f9e4eac7b 2061 // ----------------------------------------
nerit 3:a469bbd294b5 2062 // read and manage joystick
nerit 20:4a400a4cc419 2063 if ((loadDaCan==1)&(simStepper==0)) {
nerit 8:310f9e4eac7b 2064 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2065 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2066 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2067 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2068 #endif
nerit 8:310f9e4eac7b 2069 #endif
nerit 6:e8c18f0f399a 2070 ciclaTB();
nerit 8:310f9e4eac7b 2071 }
nerit 3:a469bbd294b5 2072 }
nerit 8:310f9e4eac7b 2073
nerit 8:310f9e4eac7b 2074 //***************************************************************************************************
nerit 8:310f9e4eac7b 2075 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2076 //
nerit 3:a469bbd294b5 2077 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2078 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2079 if (pulseRised==1) {
nerit 12:b0fc1d313813 2080 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2081 pulseRised=0;
nerit 3:a469bbd294b5 2082 pulseRised1=1;
nerit 3:a469bbd294b5 2083 speedMediaCalc();
nerit 3:a469bbd294b5 2084 // calcola velocità trattore
nerit 8:310f9e4eac7b 2085 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2086 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2087 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 13:d1030d4e51a8 2088 //TODO: limite inferiore e superiore per non modificare la velocità selezionata
nerit 13:d1030d4e51a8 2089 // serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo
nerit 3:a469bbd294b5 2090 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 13:d1030d4e51a8 2091 if (delaySpeedCheck.read()>=5.0f){
nerit 13:d1030d4e51a8 2092 if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit 13:d1030d4e51a8 2093 tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit 13:d1030d4e51a8 2094 }
nerit 13:d1030d4e51a8 2095 }
nerit 10:9e70619e97ab 2096 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2097 }
nerit 17:9629eb019892 2098 /*if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2099 checkSDrotation=1;
nerit 3:a469bbd294b5 2100 SDwheelTimer.start();
nerit 17:9629eb019892 2101 }*/
nerit 3:a469bbd294b5 2102 }
nerit 3:a469bbd294b5 2103 }
nerit 3:a469bbd294b5 2104 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2105 } else {
nerit 3:a469bbd294b5 2106 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2107 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2108 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2109 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2110 #if defined(seedSensor)
nerit 10:9e70619e97ab 2111 resetDelay();
nerit 10:9e70619e97ab 2112 #endif
nerit 3:a469bbd294b5 2113 pntMedia=0;
nerit 3:a469bbd294b5 2114 speedTimeOut.reset();
nerit 3:a469bbd294b5 2115 enableSpeed=0;
nerit 3:a469bbd294b5 2116 quincCnt=0;
nerit 3:a469bbd294b5 2117 }
nerit 3:a469bbd294b5 2118 }
nerit 8:310f9e4eac7b 2119
nerit 10:9e70619e97ab 2120 #if defined(seedSensor)
nerit 10:9e70619e97ab 2121 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2122 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2123 if (seedSee==0) {
nerit 10:9e70619e97ab 2124 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2125 }
nerit 10:9e70619e97ab 2126 resetDelay();
nerit 3:a469bbd294b5 2127 }
nerit 3:a469bbd294b5 2128 }
nerit 10:9e70619e97ab 2129 #endif
nerit 3:a469bbd294b5 2130 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2131 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2132 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2133 enableSpeed=0;
nerit 3:a469bbd294b5 2134 }*/
nerit 3:a469bbd294b5 2135 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2136 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2137 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2138 }*/
nerit 8:310f9e4eac7b 2139 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2140 // cycle logic control section
nerit 8:310f9e4eac7b 2141 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2142 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2143 if(simOk==0) {
nerit 8:310f9e4eac7b 2144 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2145 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2146 }
nerit 8:310f9e4eac7b 2147 }
nerit 20:4a400a4cc419 2148 if ((tractorSpeed_MtS_timed>0.01f)&&(simStepper==0)) {
nerit 8:310f9e4eac7b 2149 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2150 #if defined(Qncc)
nerit 8:310f9e4eac7b 2151 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2152
nerit 8:310f9e4eac7b 2153 #endif
nerit 8:310f9e4eac7b 2154 #endif
nerit 8:310f9e4eac7b 2155 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2156 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2157 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 2158 if (encoder==false) {
nerit 8:310f9e4eac7b 2159 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2160 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2161 } else {
nerit 8:310f9e4eac7b 2162 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2163 }
nerit 8:310f9e4eac7b 2164 } else {
nerit 17:9629eb019892 2165 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2166 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2167 #if defined(Qnce)
nerit 8:310f9e4eac7b 2168 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2169 #endif
nerit 5:2a3a64b52f54 2170 #endif
nerit 8:310f9e4eac7b 2171 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2172 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2173 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2174 #endif
nerit 8:310f9e4eac7b 2175 }
nerit 8:310f9e4eac7b 2176 //*******************************************
nerit 8:310f9e4eac7b 2177 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2178 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2179 double deltaV=0.0f;
nerit 12:b0fc1d313813 2180 double deltaD=0.0f;
nerit 12:b0fc1d313813 2181 double setV=0.0f;
nerit 12:b0fc1d313813 2182 double teoriaC=0.0f;
nerit 14:e2b5efa06c41 2183 double speedCorrectionMachine=0.0f;
nerit 17:9629eb019892 2184 //#if defined(speedMaster)
nerit 14:e2b5efa06c41 2185 speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2186 //#else
nerit 17:9629eb019892 2187 // speedCorrectionMachine=tractorSpeed_MtS_timed;
nerit 17:9629eb019892 2188 //#endif
nerit 14:e2b5efa06c41 2189 //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 17:9629eb019892 2190 if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2191 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2192 }
nerit 17:9629eb019892 2193 for (int ii = 0; ii<tabeling; ii++) { // era ii<16
nerit 14:e2b5efa06c41 2194 if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2195 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2196 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2197 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 14:e2b5efa06c41 2198 //setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 14:e2b5efa06c41 2199 setV = speedCorrectionMachine-tabSpeed[ii];
nerit 12:b0fc1d313813 2200 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2201 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 14:e2b5efa06c41 2202 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2203 #if defined(boost1)
nerit 14:e2b5efa06c41 2204 pc.printf("tractor: %f tabspeed1: %f tabspeed2: %f\n",tractorSpeed_MtS_timed, tabSpeed[ii],tabSpeed[ii+1]);
nerit 14:e2b5efa06c41 2205 pc.printf("deltaV: %f deltaD: %f setV: %f teoriaC %f \n",deltaV,deltaD,setV,teoriaC);
nerit 14:e2b5efa06c41 2206 #endif
nerit 14:e2b5efa06c41 2207 #endif
nerit 3:a469bbd294b5 2208 }
nerit 8:310f9e4eac7b 2209 }
nerit 14:e2b5efa06c41 2210 //if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 14:e2b5efa06c41 2211 // dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 14:e2b5efa06c41 2212 //}
nerit 17:9629eb019892 2213 if (speedCorrectionMachine > tabSpeed[tabeling]) {
nerit 14:e2b5efa06c41 2214 dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
nerit 8:310f9e4eac7b 2215 }
nerit 8:310f9e4eac7b 2216 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2217 quinCalc();
nerit 8:310f9e4eac7b 2218 #endif
nerit 8:310f9e4eac7b 2219 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2220 #if defined(Qncd)
nerit 8:310f9e4eac7b 2221 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2222 #endif
nerit 8:310f9e4eac7b 2223 #endif
nerit 8:310f9e4eac7b 2224 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2225 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2226 if(encoder==false) {
nerit 8:310f9e4eac7b 2227 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2228 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2229 } else {
nerit 8:310f9e4eac7b 2230 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 2231 }
nerit 8:310f9e4eac7b 2232 } else {
nerit 8:310f9e4eac7b 2233 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 2234 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2235 #if defined(Qnce)
nerit 8:310f9e4eac7b 2236 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2237 #endif
nerit 3:a469bbd294b5 2238 #endif
nerit 3:a469bbd294b5 2239 }
nerit 8:310f9e4eac7b 2240 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2241 double k3=0.0f;
nerit 8:310f9e4eac7b 2242 double k4=0.0f;
nerit 8:310f9e4eac7b 2243 double k5=0.0f;
nerit 8:310f9e4eac7b 2244 double k6=0.0f;
nerit 8:310f9e4eac7b 2245 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2246 k3=0.010f;
nerit 8:310f9e4eac7b 2247 #else
nerit 8:310f9e4eac7b 2248 k3=0.050f;
nerit 8:310f9e4eac7b 2249 #endif
nerit 8:310f9e4eac7b 2250 k4=1.103f;
nerit 8:310f9e4eac7b 2251 k5=10.00f;
nerit 8:310f9e4eac7b 2252 k6=20.50f;
nerit 8:310f9e4eac7b 2253 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2254 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2255 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2256 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2257 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2258 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2259 double k1=0.0f;
nerit 8:310f9e4eac7b 2260 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2261 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2262 }
nerit 8:310f9e4eac7b 2263 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2264 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2265 }
nerit 8:310f9e4eac7b 2266 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2267 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2268 }
nerit 8:310f9e4eac7b 2269 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2270 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2271 }
nerit 8:310f9e4eac7b 2272 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2273 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2274 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2275 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2276 correzione = (1.0f - dutyTeorico);
nerit 14:e2b5efa06c41 2277 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2278 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2279 #endif
nerit 3:a469bbd294b5 2280 }
nerit 8:310f9e4eac7b 2281 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2282 correzione = -1.0f*dutyTeorico;
nerit 14:e2b5efa06c41 2283 #if defined(pcSerial)
nerit 14:e2b5efa06c41 2284 pc.printf("limite\n");
nerit 14:e2b5efa06c41 2285 #endif
nerit 3:a469bbd294b5 2286 }
nerit 3:a469bbd294b5 2287 }
nerit 8:310f9e4eac7b 2288 pulseRised1=0;
nerit 8:310f9e4eac7b 2289 pulseRised2=0;
nerit 8:310f9e4eac7b 2290 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2291 #if defined(Qnca)
nerit 8:310f9e4eac7b 2292 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2293 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 2294 #endif
nerit 8:310f9e4eac7b 2295 #endif
nerit 8:310f9e4eac7b 2296 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2297 #if defined(Qncb)
nerit 8:310f9e4eac7b 2298 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2299 #endif
nerit 8:310f9e4eac7b 2300 #endif
nerit 12:b0fc1d313813 2301 #if defined(pcSerial)
nerit 12:b0fc1d313813 2302 #if defined(boost)
nerit 12:b0fc1d313813 2303 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 2304 #endif
nerit 12:b0fc1d313813 2305 #endif
nerit 8:310f9e4eac7b 2306 }
nerit 12:b0fc1d313813 2307 // introduce il controllo di corrente
nerit 14:e2b5efa06c41 2308 double variazione=0.0f;
nerit 12:b0fc1d313813 2309 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2310 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2311 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2312 }
nerit 12:b0fc1d313813 2313 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2314 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2315 }
nerit 12:b0fc1d313813 2316 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2317 boostDcOut=0.2f;
nerit 14:e2b5efa06c41 2318 //all_genericals=1;
nerit 12:b0fc1d313813 2319 }
nerit 12:b0fc1d313813 2320 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2321 boostDcOut=-0.2f;
nerit 14:e2b5efa06c41 2322 //all_genericals=1;
nerit 12:b0fc1d313813 2323 }
nerit 14:e2b5efa06c41 2324 variazione=boostDcOut;
nerit 12:b0fc1d313813 2325 correggiCorrente=0;
nerit 8:310f9e4eac7b 2326 }
nerit 12:b0fc1d313813 2327 if (currentCheckEnable==true){
nerit 14:e2b5efa06c41 2328 correzione += variazione;
nerit 14:e2b5efa06c41 2329 variazione=0.0f;
nerit 8:310f9e4eac7b 2330 }
nerit 8:310f9e4eac7b 2331 DC_brake=0;
nerit 8:310f9e4eac7b 2332 DC_forward=1;
nerit 8:310f9e4eac7b 2333 DC_prepare();
bcostm 2:35f13b7f3659 2334
nerit 8:310f9e4eac7b 2335 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2336 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2337 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2338 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2339 }
nerit 8:310f9e4eac7b 2340 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2341 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2342 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2343 }
nerit 3:a469bbd294b5 2344
nerit 8:310f9e4eac7b 2345 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2346 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2347 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2348 } else {
nerit 3:a469bbd294b5 2349 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2350 }
nerit 8:310f9e4eac7b 2351 } else {
nerit 8:310f9e4eac7b 2352 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2353 }
nerit 8:310f9e4eac7b 2354 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2355 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2356 }
nerit 8:310f9e4eac7b 2357 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2358 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2359 }
nerit 17:9629eb019892 2360 if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;}
nerit 14:e2b5efa06c41 2361 if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;}
nerit 8:310f9e4eac7b 2362 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2363 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2364 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2365 }
nerit 8:310f9e4eac7b 2366 // allarme
nerit 17:9629eb019892 2367 if (tractorSpeed_MtS_timed>0.0f){
nerit 17:9629eb019892 2368 if (SDwheelTimer.read_ms()>4000) {
nerit 17:9629eb019892 2369 if (firstStart==0) {
nerit 17:9629eb019892 2370 all_noDcRotati=1;
nerit 17:9629eb019892 2371 }
nerit 17:9629eb019892 2372 #if defined(pcSerial)
nerit 17:9629eb019892 2373 #if defined(VediAllarmi)
nerit 17:9629eb019892 2374 pc.printf("allarme no DC rotation");
nerit 17:9629eb019892 2375 #endif
nerit 17:9629eb019892 2376 #endif
nerit 3:a469bbd294b5 2377 }
nerit 8:310f9e4eac7b 2378 }
nerit 3:a469bbd294b5 2379
nerit 8:310f9e4eac7b 2380 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2381 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2382 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2383 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2384 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2385 syncroCheck=0;
nerit 8:310f9e4eac7b 2386 lockStart=1;
nerit 8:310f9e4eac7b 2387 periodo = TBperiod;
nerit 8:310f9e4eac7b 2388 #if !defined(runner)
nerit 9:7f02256f6e8f 2389 #if defined(Zucca)
nerit 9:7f02256f6e8f 2390 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2391 #else
nerit 9:7f02256f6e8f 2392 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2393 #endif
nerit 8:310f9e4eac7b 2394 #endif
nerit 8:310f9e4eac7b 2395 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2396 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2397 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2398 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2399 #endif
nerit 6:e8c18f0f399a 2400 #endif
nerit 8:310f9e4eac7b 2401 cambiaTB(periodo);
nerit 3:a469bbd294b5 2402 }
nerit 8:310f9e4eac7b 2403 }
nerit 8:310f9e4eac7b 2404 // controllo di stop
nerit 8:310f9e4eac7b 2405 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2406 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2407 syncroCheck=0;
nerit 8:310f9e4eac7b 2408 aspettaStart=1;
nerit 8:310f9e4eac7b 2409 countCicli=0;
nerit 6:e8c18f0f399a 2410 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2411 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2412 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2413 #endif
nerit 6:e8c18f0f399a 2414 #endif
nerit 8:310f9e4eac7b 2415 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2416 #if !defined(runner)
nerit 8:310f9e4eac7b 2417 TBticker.detach();
nerit 8:310f9e4eac7b 2418 #endif
nerit 8:310f9e4eac7b 2419 motor->soft_hiz();
nerit 8:310f9e4eac7b 2420 }
nerit 8:310f9e4eac7b 2421 }
nerit 8:310f9e4eac7b 2422 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2423 syncroCheck=0;
nerit 8:310f9e4eac7b 2424 lockStart=0;
nerit 8:310f9e4eac7b 2425 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2426 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2427 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2428 if (encoder==false) {
nerit 8:310f9e4eac7b 2429 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2430 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2431 } else {
nerit 8:310f9e4eac7b 2432 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2433 }
nerit 8:310f9e4eac7b 2434 } else {
nerit 8:310f9e4eac7b 2435 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2436 }
nerit 8:310f9e4eac7b 2437 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2438 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2439 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2440 }
nerit 8:310f9e4eac7b 2441 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2442 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2443 startCicloTB=1;
nerit 8:310f9e4eac7b 2444 }
nerit 8:310f9e4eac7b 2445 beccoPronto=0;
nerit 8:310f9e4eac7b 2446 }
nerit 8:310f9e4eac7b 2447 } else {
nerit 8:310f9e4eac7b 2448 // tamburo per zucca
nerit 8:310f9e4eac7b 2449 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2450 startCicloTB=1;
nerit 8:310f9e4eac7b 2451 }
nerit 8:310f9e4eac7b 2452 beccoPronto=0;
nerit 8:310f9e4eac7b 2453 }
nerit 8:310f9e4eac7b 2454 }
nerit 8:310f9e4eac7b 2455 ciclaTB();
nerit 8:310f9e4eac7b 2456 }
nerit 8:310f9e4eac7b 2457 //*************************************************************
nerit 8:310f9e4eac7b 2458 } else { // fine ciclo con velocita maggiore di 0
nerit 13:d1030d4e51a8 2459 delaySpeedCheck.reset();
nerit 8:310f9e4eac7b 2460 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2461 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2462 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2463 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2464 resetDelay();
nerit 8:310f9e4eac7b 2465 #endif
nerit 8:310f9e4eac7b 2466 checkSDrotation=0;
nerit 8:310f9e4eac7b 2467 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2468 aspettaStart=1;
nerit 8:310f9e4eac7b 2469 countCicli=0;
nerit 8:310f9e4eac7b 2470 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2471 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2472 correzione=0.0f;
nerit 8:310f9e4eac7b 2473 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2474 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2475 cntTbError=0;
nerit 8:310f9e4eac7b 2476 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2477 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2478 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2479 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2480 #endif
nerit 8:310f9e4eac7b 2481 #endif
nerit 8:310f9e4eac7b 2482 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2483 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2484 DC_brake=1;
nerit 8:310f9e4eac7b 2485 DC_prepare();
nerit 8:310f9e4eac7b 2486 metalTimer.reset();
nerit 8:310f9e4eac7b 2487 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2488 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2489 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2490 #endif
nerit 8:310f9e4eac7b 2491 #endif
nerit 8:310f9e4eac7b 2492 #if !defined(runner)
nerit 6:e8c18f0f399a 2493 TBticker.detach();
nerit 8:310f9e4eac7b 2494 #endif
nerit 8:310f9e4eac7b 2495 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2496 #if defined(loStop)
nerit 8:310f9e4eac7b 2497 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2498 #endif
nerit 8:310f9e4eac7b 2499 #endif
nerit 20:4a400a4cc419 2500 if(simStepper==0){
nerit 20:4a400a4cc419 2501 motor->soft_hiz();
nerit 20:4a400a4cc419 2502 motor->set_home();
nerit 20:4a400a4cc419 2503 }
nerit 18:7c978f69cc51 2504 cntSpeedError=0;
nerit 18:7c978f69cc51 2505 timeIntraPick=0.0f;
nerit 19:231b8931cabc 2506 memoIntraPick=0.001f;
nerit 19:231b8931cabc 2507 intraPickTimer.reset();
nerit 8:310f9e4eac7b 2508 pntMedia=0;
nerit 8:310f9e4eac7b 2509 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2510 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2511 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2512 #endif
nerit 8:310f9e4eac7b 2513 #endif
nerit 3:a469bbd294b5 2514 }
nerit 8:310f9e4eac7b 2515 }
nerit 8:310f9e4eac7b 2516
nerit 8:310f9e4eac7b 2517 //*************************************************************************************************
nerit 3:a469bbd294b5 2518 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2519 //*************************************************************************************************
nerit 6:e8c18f0f399a 2520 } //end inProva==0
nerit 3:a469bbd294b5 2521 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2522 } // end while
nerit 3:a469bbd294b5 2523 } // end main