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@13:d1030d4e51a8, 2019-03-25 (annotated)

Committer:
nerit
Date:
Mon Mar 25 15:42:04 2019 +0000
Revision:
13:d1030d4e51a8
Parent:
12:b0fc1d313813
Child:
14:e2b5efa06c41
Inserito stabilizzazione velocit trattore dopo 5 secondi di lavoro e con variazione compresa tra -0,2 e +0,2mt/s. Aggiunto risincronizzazione encoder virtuale con encoder DC. Inserito controllo di corrente DC. Inserito interpolazione duty DC.

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 #if defined(pcSerial)
nerit 8:310f9e4eac7b 201 #if defined(rtosData)
nerit 8:310f9e4eac7b 202 printf(" 1 Position: %d TBpass: %d Tbold: %d \r\n", TBactualPosition, TBpassPosition, TBoldPosition);
nerit 8:310f9e4eac7b 203 #endif
nerit 8:310f9e4eac7b 204 #endif
nerit 8:310f9e4eac7b 205 }else{
nerit 8:310f9e4eac7b 206 TBactualPosition=((((2097152-TBoldPosition)+TBpassPosition))*TBreductionRatio);//*10;
nerit 8:310f9e4eac7b 207 #if defined(pcSerial)
nerit 8:310f9e4eac7b 208 #if defined(rtosData)
nerit 8:310f9e4eac7b 209 printf(" 2 Position: %d TBpass: %d Tbold: %d \r\n", TBactualPosition, TBpassPosition, TBoldPosition);
nerit 8:310f9e4eac7b 210 #endif
nerit 8:310f9e4eac7b 211 #endif
nerit 8:310f9e4eac7b 212 }
nerit 8:310f9e4eac7b 213 //wait_us(50); // 50 mS di intervallo lettura
nerit 8:310f9e4eac7b 214 //}
nerit 8:310f9e4eac7b 215 }
nerit 8:310f9e4eac7b 216 #endif
nerit 3:a469bbd294b5 217 //*******************************************************************************
nerit 3:a469bbd294b5 218 //********************************************************************************************************************
nerit 3:a469bbd294b5 219 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 220 // TASK SECTION
nerit 3:a469bbd294b5 221 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 222 //************************************************************************
nerit 8:310f9e4eac7b 223 void aggioVelocita()
nerit 8:310f9e4eac7b 224 {
nerit 8:310f9e4eac7b 225 realGiroSD = seedPerimeter / speedOfSeedWheel;
nerit 10:9e70619e97ab 226 tempoBecco = realGiroSD*444.444f; //(realGiroSD/360.0f)*16000.0f;
nerit 8:310f9e4eac7b 227 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 8:310f9e4eac7b 228 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 8:310f9e4eac7b 229 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 8:310f9e4eac7b 230 #if defined(runner)
nerit 10:9e70619e97ab 231 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 9:7f02256f6e8f 232 #if defined(Zucca)
nerit 9:7f02256f6e8f 233 TBperiod=5.2f*TBrpm*2.0f; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 234 #else
nerit 9:7f02256f6e8f 235 TBperiod=5.2f*TBrpm; //prova dopo test con contagiri
nerit 9:7f02256f6e8f 236 #endif
nerit 8:310f9e4eac7b 237 #else
nerit 10:9e70619e97ab 238 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 8:310f9e4eac7b 239 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 8:310f9e4eac7b 240 #endif
nerit 8:310f9e4eac7b 241
nerit 8:310f9e4eac7b 242 }
nerit 3:a469bbd294b5 243 //************************************************************************
nerit 3:a469bbd294b5 244 // rise of seed speed 25 pulse sensor
nerit 10:9e70619e97ab 245 void sd25Fall(){
nerit 3:a469bbd294b5 246 timeHole=metalTimer.read_ms();
nerit 10:9e70619e97ab 247 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 248 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 249 metalTimer.reset();
nerit 8:310f9e4eac7b 250 if (speedFromPick==0) {
nerit 10:9e70619e97ab 251 speedOfSeedWheel=((seedPerimeter/25.0f)/memo_TimeHole)*1000.0f; //mtS
nerit 3:a469bbd294b5 252 }
nerit 6:e8c18f0f399a 253 #if defined(pcSerial)
nerit 6:e8c18f0f399a 254 #if defined(checkLoop)
nerit 6:e8c18f0f399a 255 pc.printf("1\n");
nerit 6:e8c18f0f399a 256 #endif
nerit 6:e8c18f0f399a 257 #endif
nerit 3:a469bbd294b5 258 }
nerit 10:9e70619e97ab 259 //************************************************************************
nerit 3:a469bbd294b5 260 // rise of seed speed motor encoder
nerit 3:a469bbd294b5 261 void encoRise(){
nerit 3:a469bbd294b5 262 timeHole=metalTimer.read_us();
nerit 10:9e70619e97ab 263 double memo_TimeHole= (memoTimeHole + (double)timeHole)/ 2.0f;
nerit 10:9e70619e97ab 264 memoTimeHole = (double)timeHole;
nerit 3:a469bbd294b5 265 metalTimer.reset();
nerit 8:310f9e4eac7b 266 if (encoder==true) {
nerit 13:d1030d4e51a8 267 speedOfSeedWheel=((seedPerimeter/seedWheelDcPulse)/memo_TimeHole)*1000000.0f; //mtS
nerit 3:a469bbd294b5 268 pulseRised2=1;
nerit 13:d1030d4e51a8 269 dcEncoderCnt++;
nerit 13:d1030d4e51a8 270 double sincronizza = frazioneImpulsi * dcEncoderCnt;
nerit 13:d1030d4e51a8 271 prePosSD=500+(uint32_t)sincronizza; // preposizionamento SD
nerit 13:d1030d4e51a8 272 #if defined(speedMaster)
nerit 13:d1030d4e51a8 273 if (quinconceActive==0) {
nerit 13:d1030d4e51a8 274 posForQuinc=500+(uint32_t)sincronizza;
nerit 13:d1030d4e51a8 275 }
nerit 13:d1030d4e51a8 276 #endif
nerit 3:a469bbd294b5 277 }
nerit 6:e8c18f0f399a 278 #if defined(pcSerial)
nerit 6:e8c18f0f399a 279 #if defined(checkLoop)
nerit 6:e8c18f0f399a 280 pc.printf("2\n");
nerit 6:e8c18f0f399a 281 #endif
nerit 6:e8c18f0f399a 282 #endif
nerit 8:310f9e4eac7b 283 aggioVelocita();
nerit 3:a469bbd294b5 284 }
nerit 6:e8c18f0f399a 285 //**************************************************
nerit 3:a469bbd294b5 286 // rise of seed presence sensor
nerit 3:a469bbd294b5 287 void seedSensorTask(){
nerit 3:a469bbd294b5 288 seedSee=1;
nerit 6:e8c18f0f399a 289 #if defined(pcSerial)
nerit 6:e8c18f0f399a 290 #if defined(checkLoop)
nerit 6:e8c18f0f399a 291 pc.printf("3\n");
nerit 6:e8c18f0f399a 292 #endif
nerit 6:e8c18f0f399a 293 #endif
nerit 3:a469bbd294b5 294 }
nerit 3:a469bbd294b5 295 //**************************************************
nerit 3:a469bbd294b5 296 // generate speed clock when speed is simulated from Tritecnica display
nerit 8:310f9e4eac7b 297 void speedSimulationClock(){
nerit 3:a469bbd294b5 298 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 299 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 300 speedTimer.reset();
nerit 3:a469bbd294b5 301 pulseRised=1;
nerit 3:a469bbd294b5 302 speedFilter.reset();
nerit 6:e8c18f0f399a 303 #if defined(pcSerial)
nerit 6:e8c18f0f399a 304 #if defined(checkLoop)
nerit 6:e8c18f0f399a 305 pc.printf("4\n");
nerit 6:e8c18f0f399a 306 #endif
nerit 6:e8c18f0f399a 307 #endif
nerit 3:a469bbd294b5 308 }
nerit 3:a469bbd294b5 309 //*******************************************************
nerit 3:a469bbd294b5 310 // interrupt task for tractor speed reading
nerit 3:a469bbd294b5 311 //*******************************************************
nerit 3:a469bbd294b5 312 void tractorReadSpeed(){
nerit 8:310f9e4eac7b 313 if ((oldTractorSpeedRead==0)) {
nerit 3:a469bbd294b5 314 lastPulseRead=speedTimer.read_us();
nerit 3:a469bbd294b5 315 oldLastPulseRead=lastPulseRead;
nerit 3:a469bbd294b5 316 speedTimer.reset();
nerit 3:a469bbd294b5 317 pulseRised=1;
nerit 3:a469bbd294b5 318 oldTractorSpeedRead=1;
nerit 3:a469bbd294b5 319 }
nerit 8:310f9e4eac7b 320 speedClock=1;
nerit 3:a469bbd294b5 321 speedFilter.reset();
nerit 10:9e70619e97ab 322 cntSpeedError=0;
nerit 6:e8c18f0f399a 323 #if defined(pcSerial)
nerit 6:e8c18f0f399a 324 #if defined(checkLoop)
nerit 6:e8c18f0f399a 325 pc.printf("5\n");
nerit 6:e8c18f0f399a 326 #endif
nerit 6:e8c18f0f399a 327 #endif
nerit 3:a469bbd294b5 328 }
nerit 3:a469bbd294b5 329 //*******************************************************
nerit 8:310f9e4eac7b 330 void speedMediaCalc()
nerit 8:310f9e4eac7b 331 {
nerit 3:a469bbd294b5 332 double lastPd=(double) lastPulseRead/1000.0f;
nerit 3:a469bbd294b5 333 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 8:310f9e4eac7b 334 if (enableSimula==1) {
nerit 3:a469bbd294b5 335 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 336 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 337 }
nerit 3:a469bbd294b5 338 mediaSpeed[0]=lastPd;
nerit 3:a469bbd294b5 339 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 10:9e70619e97ab 340 #if defined(pcSerial)
nerit 10:9e70619e97ab 341 #if defined(checkLoop)
nerit 10:9e70619e97ab 342 pc.printf("6\n");
nerit 10:9e70619e97ab 343 #endif
nerit 10:9e70619e97ab 344 #endif
nerit 8:310f9e4eac7b 345 }
bcostm 0:5701b41769fd 346
nerit 3:a469bbd294b5 347 //*******************************************************
nerit 3:a469bbd294b5 348 // clocked task for manage virtual encoder of seed wheel i/o
nerit 3:a469bbd294b5 349 //*******************************************************
nerit 3:a469bbd294b5 350 //*******************************************************
nerit 8:310f9e4eac7b 351 void step_SDPulseOut()
nerit 8:310f9e4eac7b 352 {
nerit 3:a469bbd294b5 353 SDactualPosition++;
nerit 3:a469bbd294b5 354 prePosSD++;
nerit 10:9e70619e97ab 355 #if defined(speedMaster)
nerit 10:9e70619e97ab 356 posForQuinc++;
nerit 10:9e70619e97ab 357 #endif
nerit 10:9e70619e97ab 358 #if defined(pcSerial)
nerit 10:9e70619e97ab 359 #if defined(checkLoop)
nerit 10:9e70619e97ab 360 pc.printf("7\n");
nerit 10:9e70619e97ab 361 #endif
nerit 10:9e70619e97ab 362 #endif
nerit 3:a469bbd294b5 363 }
nerit 3:a469bbd294b5 364 //*******************************************************
nerit 8:310f9e4eac7b 365 void step_TBPulseOut()
nerit 8:310f9e4eac7b 366 {
nerit 3:a469bbd294b5 367 TBmotorStepOut=!TBmotorStepOut;
nerit 8:310f9e4eac7b 368 if (TBmotorStepOut==0) {
nerit 8:310f9e4eac7b 369 if (TBmotorDirecti==TBforward) {
nerit 3:a469bbd294b5 370 TBactualPosition++;
nerit 3:a469bbd294b5 371 }
nerit 3:a469bbd294b5 372 }
nerit 10:9e70619e97ab 373 #if defined(pcSerial)
nerit 10:9e70619e97ab 374 #if defined(stepTamb)
nerit 10:9e70619e97ab 375 pc.printf("step\n");
nerit 10:9e70619e97ab 376 #endif
nerit 10:9e70619e97ab 377 #endif
nerit 6:e8c18f0f399a 378 /*
nerit 6:e8c18f0f399a 379 #if defined(pcSerial)
nerit 6:e8c18f0f399a 380 #if defined(checkLoop)
nerit 6:e8c18f0f399a 381 pc.printf("8\n");
nerit 6:e8c18f0f399a 382 #endif
nerit 6:e8c18f0f399a 383 #endif
nerit 6:e8c18f0f399a 384 */
nerit 3:a469bbd294b5 385 }
nerit 3:a469bbd294b5 386 //*******************************************************
nerit 8:310f9e4eac7b 387 void invertiLo()
nerit 8:310f9e4eac7b 388 {
nerit 8:310f9e4eac7b 389 if (TBmotorDirecti==TBreverse) {
nerit 3:a469bbd294b5 390 TBmotorDirecti=TBforward;
nerit 8:310f9e4eac7b 391 #if !defined(runner)
nerit 9:7f02256f6e8f 392 #if defined(Zucca)
nerit 9:7f02256f6e8f 393 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 394 #else
nerit 9:7f02256f6e8f 395 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 396 #endif
nerit 8:310f9e4eac7b 397 #endif
nerit 8:310f9e4eac7b 398 } else {
nerit 3:a469bbd294b5 399 TBmotorDirecti=TBreverse;
nerit 8:310f9e4eac7b 400 #if !defined(runner)
nerit 9:7f02256f6e8f 401 #if defined(Zucca)
nerit 9:7f02256f6e8f 402 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 403 #else
nerit 9:7f02256f6e8f 404 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 405 #endif
nerit 8:310f9e4eac7b 406 #endif
nerit 3:a469bbd294b5 407 }
nerit 3:a469bbd294b5 408 #if defined(pcSerial)
nerit 3:a469bbd294b5 409 #if defined(inversione)
nerit 3:a469bbd294b5 410 pc.printf("cambio M %d\n",cambiaStep);
nerit 3:a469bbd294b5 411 pc.printf("posizione %d \n",TBactualPosition);
nerit 3:a469bbd294b5 412 #endif
nerit 3:a469bbd294b5 413 #endif
nerit 6:e8c18f0f399a 414 #if defined(pcSerial)
nerit 6:e8c18f0f399a 415 #if defined(checkLoop)
nerit 6:e8c18f0f399a 416 pc.printf("9\n");
nerit 6:e8c18f0f399a 417 #endif
nerit 6:e8c18f0f399a 418 #endif
nerit 3:a469bbd294b5 419 }
nerit 3:a469bbd294b5 420 //*******************************************************
nerit 3:a469bbd294b5 421 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 8:310f9e4eac7b 422 void aggiornaParametri()
nerit 8:310f9e4eac7b 423 {
nerit 3:a469bbd294b5 424 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 3:a469bbd294b5 425 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 3:a469bbd294b5 426 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 3:a469bbd294b5 427 intraPickDistance = seedPerimeter/pickNumber;
nerit 3:a469bbd294b5 428 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 3:a469bbd294b5 429 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 3:a469bbd294b5 430 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 13:d1030d4e51a8 431 SDsectorStep = fixedStepGiroSD / pickNumber;
nerit 3:a469bbd294b5 432 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 13:d1030d4e51a8 433 seedWheelDcPulse=SDreductionRatio*dcPulseTurn;
nerit 13:d1030d4e51a8 434 frazioneImpulsi= (SDsectorStep/(seedWheelDcPulse/pickNumber));
nerit 8:310f9e4eac7b 435 #if defined(runner)
nerit 9:7f02256f6e8f 436 #if defined(Zucca)
nerit 9:7f02256f6e8f 437 KcorT = (SDsectorStep/TBsectorStep)*2.0f;
nerit 9:7f02256f6e8f 438 #else
nerit 9:7f02256f6e8f 439 KcorT = (SDsectorStep/TBsectorStep)/2.0f;
nerit 9:7f02256f6e8f 440 #endif
nerit 8:310f9e4eac7b 441 #else
nerit 8:310f9e4eac7b 442 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 8:310f9e4eac7b 443 #endif
nerit 3:a469bbd294b5 444 angoloFase=angoloPh;
nerit 3:a469bbd294b5 445 avvioGradi=angoloAv;
nerit 3:a469bbd294b5 446 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 447 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 448 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 449 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 3:a469bbd294b5 450 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 3:a469bbd294b5 451 if (speedFromPick==1) {
nerit 3:a469bbd294b5 452 intraPickDistance = seedPerimeter/pickNumber;
nerit 8:310f9e4eac7b 453 } else {
nerit 3:a469bbd294b5 454 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 3:a469bbd294b5 455 }
nerit 6:e8c18f0f399a 456 #if defined(pcSerial)
nerit 6:e8c18f0f399a 457 #if defined(checkLoop)
nerit 6:e8c18f0f399a 458 pc.printf("10\n");
nerit 6:e8c18f0f399a 459 #endif
nerit 6:e8c18f0f399a 460 #endif
nerit 3:a469bbd294b5 461 }
nerit 3:a469bbd294b5 462 //*******************************************************
nerit 8:310f9e4eac7b 463 void cambiaTB(double perio)
nerit 8:310f9e4eac7b 464 {
nerit 8:310f9e4eac7b 465 #if defined(runner)
nerit 8:310f9e4eac7b 466 // update TB frequency
nerit 8:310f9e4eac7b 467 double TBper=0.0f;
nerit 8:310f9e4eac7b 468 if (aspettaStart==0){
nerit 8:310f9e4eac7b 469 TBper=perio;
nerit 8:310f9e4eac7b 470 if (oldPeriodoTB!=TBper){
nerit 6:e8c18f0f399a 471 #if defined(pcSerial)
nerit 8:310f9e4eac7b 472 #if defined(TBperSo)
nerit 8:310f9e4eac7b 473 pc.printf("TBper: %f MtS: %f\n",TBper,tractorSpeed_MtS_timed);
nerit 6:e8c18f0f399a 474 #endif
nerit 6:e8c18f0f399a 475 #endif
nerit 9:7f02256f6e8f 476 #if defined(Zucca)
nerit 9:7f02256f6e8f 477 motor->run(StepperMotor::BWD,TBper);
nerit 9:7f02256f6e8f 478 #else
nerit 9:7f02256f6e8f 479 motor->run(StepperMotor::FWD,TBper);
nerit 9:7f02256f6e8f 480 #endif
nerit 8:310f9e4eac7b 481 oldPeriodoTB=TBper;
nerit 8:310f9e4eac7b 482 }
nerit 8:310f9e4eac7b 483 }
nerit 8:310f9e4eac7b 484 #else
nerit 8:310f9e4eac7b 485 // update TB frequency
nerit 8:310f9e4eac7b 486 double limite=500.0f;
nerit 8:310f9e4eac7b 487 double TBper=0.0f;
nerit 8:310f9e4eac7b 488 double scala =2.0f;
nerit 8:310f9e4eac7b 489 if (aspettaStart==0) {
nerit 8:310f9e4eac7b 490 if (perio<limite) {
nerit 8:310f9e4eac7b 491 perio=limite;
nerit 8:310f9e4eac7b 492 }
nerit 8:310f9e4eac7b 493 TBper=perio/scala;
nerit 8:310f9e4eac7b 494 if (oldPeriodoTB!=TBper) {
nerit 8:310f9e4eac7b 495 if (TBper >= (limite/2.0f)) {
nerit 8:310f9e4eac7b 496 #if defined(pcSerial)
nerit 8:310f9e4eac7b 497 #if defined(checkLoop)
nerit 8:310f9e4eac7b 498 pc.printf("11a\n");
nerit 8:310f9e4eac7b 499 pc.printf("11a TBper: %f \n",TBper);
nerit 8:310f9e4eac7b 500 #endif
nerit 6:e8c18f0f399a 501 #endif
nerit 8:310f9e4eac7b 502 if (TBper != NULL) {
nerit 9:7f02256f6e8f 503 #if defined(Zucca)
nerit 9:7f02256f6e8f 504 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 505 #else
nerit 9:7f02256f6e8f 506 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 507 #endif
nerit 8:310f9e4eac7b 508 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 509 }
nerit 8:310f9e4eac7b 510 } else {
nerit 8:310f9e4eac7b 511 #if defined(pcSerial)
nerit 8:310f9e4eac7b 512 #if defined(checkLoop)
nerit 8:310f9e4eac7b 513 pc.printf("11b\n");
nerit 8:310f9e4eac7b 514 #endif
nerit 6:e8c18f0f399a 515 #endif
nerit 8:310f9e4eac7b 516 TBticker.detach();
nerit 8:310f9e4eac7b 517 #if defined(pcSerial)
nerit 8:310f9e4eac7b 518 #if defined(loStop)
nerit 8:310f9e4eac7b 519 pc.printf("A1\n");
nerit 8:310f9e4eac7b 520 #endif
nerit 8:310f9e4eac7b 521 #endif
nerit 8:310f9e4eac7b 522 motor->soft_hiz();
nerit 8:310f9e4eac7b 523 }
nerit 8:310f9e4eac7b 524 oldPeriodoTB=TBper;
nerit 3:a469bbd294b5 525 }
nerit 3:a469bbd294b5 526 }
nerit 8:310f9e4eac7b 527 #endif
nerit 3:a469bbd294b5 528 }
nerit 3:a469bbd294b5 529 //*******************************************************
nerit 8:310f9e4eac7b 530 void seedCorrect()
nerit 8:310f9e4eac7b 531 {
nerit 3:a469bbd294b5 532 /*
nerit 3:a469bbd294b5 533 posError determina la posizione relativa di TB rispetto ad SD
nerit 8:310f9e4eac7b 534 la reale posizione di SD viene modificata in funzione della velocità per
nerit 3:a469bbd294b5 535 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 3:a469bbd294b5 536 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 3:a469bbd294b5 537 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 3:a469bbd294b5 538 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 3:a469bbd294b5 539 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 3:a469bbd294b5 540 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 3:a469bbd294b5 541 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 3:a469bbd294b5 542 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 3:a469bbd294b5 543 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 3:a469bbd294b5 544 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 3:a469bbd294b5 545 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 3:a469bbd294b5 546 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 547 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 3:a469bbd294b5 548 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 549 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 8:310f9e4eac7b 550
nerit 3:a469bbd294b5 551 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 3:a469bbd294b5 552 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 8:310f9e4eac7b 553 */
nerit 3:a469bbd294b5 554 /*
nerit 3:a469bbd294b5 555 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 3:a469bbd294b5 556 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 3:a469bbd294b5 557 KcorT = (SDsectorStep/TBsectorStep);
nerit 3:a469bbd294b5 558 angoloFase=angoloPh;
nerit 3:a469bbd294b5 559 stepGrado=fixedStepGiroSD/360.0f;
nerit 3:a469bbd294b5 560 avvioGradi = costante da terminale tritecnica
nerit 3:a469bbd294b5 561 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 8:310f9e4eac7b 562 TBfaseStep = (stepGrado*angoloFase);
nerit 3:a469bbd294b5 563 */
nerit 8:310f9e4eac7b 564 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 565 if (inhibit==0) {
nerit 3:a469bbd294b5 566 double posError =0.0f;
nerit 3:a469bbd294b5 567 double posSD=((double)SDactualPosition)/KcorT;
nerit 8:310f9e4eac7b 568 posError = posSD - (double)TBactualPosition;
nerit 3:a469bbd294b5 569 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 8:310f9e4eac7b 570 if((lowSpeed==0)&&(aspettaStart==0)) {
nerit 4:de1b296e9757 571 double lowLim=-50.0f;
nerit 4:de1b296e9757 572 double higLim= 50.0f;
nerit 4:de1b296e9757 573 double divide= 100.0f;
nerit 8:310f9e4eac7b 574 if (pickNumber <= 5) {
nerit 4:de1b296e9757 575 lowLim=-500.0f;
nerit 4:de1b296e9757 576 higLim= 500.0f;
nerit 4:de1b296e9757 577 divide= 25.0f;
nerit 8:310f9e4eac7b 578 } else {
nerit 8:310f9e4eac7b 579 lowLim=-10.0f;
nerit 8:310f9e4eac7b 580 higLim= 130.0f;
nerit 4:de1b296e9757 581 divide= 100.0f;
nerit 4:de1b296e9757 582 }
nerit 8:310f9e4eac7b 583 if (posError>higLim) {
nerit 8:310f9e4eac7b 584 //posError=higLim;
nerit 8:310f9e4eac7b 585 posError=0.0f;
nerit 8:310f9e4eac7b 586 motor->soft_hiz();
nerit 8:310f9e4eac7b 587 }
nerit 8:310f9e4eac7b 588 if (posError<lowLim) {
nerit 8:310f9e4eac7b 589 posError=lowLim;
nerit 8:310f9e4eac7b 590 }
nerit 8:310f9e4eac7b 591 if ((posError >=1.0f)||(posError<=-1.0f)) {
nerit 8:310f9e4eac7b 592 #if defined(runner)
nerit 8:310f9e4eac7b 593 ePpos = periodo *(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 594 #else
nerit 8:310f9e4eac7b 595 ePpos = periodo /(1.0f+ ((posError/divide)));
nerit 8:310f9e4eac7b 596 #endif
nerit 3:a469bbd294b5 597 #if defined(pcSerial)
nerit 6:e8c18f0f399a 598 #if defined(checkLoop)
nerit 6:e8c18f0f399a 599 pc.printf("12a ePpos:%f\n",ePpos);
nerit 3:a469bbd294b5 600 #endif
nerit 3:a469bbd294b5 601 #endif
nerit 8:310f9e4eac7b 602 if (ePpos>0.0f) {
nerit 6:e8c18f0f399a 603 cambiaTB(ePpos);
nerit 8:310f9e4eac7b 604 } else {
nerit 6:e8c18f0f399a 605 cambiaTB(periodo);///2.0f);
nerit 6:e8c18f0f399a 606 }
nerit 6:e8c18f0f399a 607 }
nerit 6:e8c18f0f399a 608 #if defined(pcSerial)
nerit 6:e8c18f0f399a 609 #if defined(TBperS)
nerit 8:310f9e4eac7b 610 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 611 #endif
nerit 6:e8c18f0f399a 612 #endif
nerit 3:a469bbd294b5 613 }
nerit 3:a469bbd294b5 614 }
nerit 3:a469bbd294b5 615 }
nerit 10:9e70619e97ab 616 #if defined(pcSerial)
nerit 10:9e70619e97ab 617 #if defined(checkLoopa)
nerit 10:9e70619e97ab 618 pc.printf("12\n");
nerit 10:9e70619e97ab 619 #endif
nerit 10:9e70619e97ab 620 #endif
nerit 3:a469bbd294b5 621 }
nerit 3:a469bbd294b5 622 //*******************************************************
nerit 8:310f9e4eac7b 623 void videoUpdate()
nerit 8:310f9e4eac7b 624 {
nerit 8:310f9e4eac7b 625 for(int aa=0; aa<4; aa++) {
nerit 8:310f9e4eac7b 626 speedForDisplay[aa]=speedForDisplay[aa+1];
nerit 8:310f9e4eac7b 627 }
nerit 3:a469bbd294b5 628 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 629 totalSpeed=0.0f;
nerit 8:310f9e4eac7b 630 for (int aa=0; aa<5; aa++) {
nerit 8:310f9e4eac7b 631 totalSpeed += speedForDisplay[aa];
nerit 8:310f9e4eac7b 632 }
nerit 3:a469bbd294b5 633 totalSpeed = totalSpeed / 5.0f;
nerit 10:9e70619e97ab 634 #if defined(pcSerial)
nerit 10:9e70619e97ab 635 #if defined(SDreset)
nerit 10:9e70619e97ab 636 pc.printf("Fase: %d",fase);
nerit 10:9e70619e97ab 637 pc.printf(" PrePosSD: %d",prePosSD);
nerit 10:9e70619e97ab 638 pc.printf(" PosSD: %d",SDactualPosition);
nerit 10:9e70619e97ab 639 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 10:9e70619e97ab 640 pc.printf(" Trigger: %d \n", trigRepos);
nerit 10:9e70619e97ab 641 #endif
nerit 10:9e70619e97ab 642 #endif
nerit 10:9e70619e97ab 643 #if defined(pcSerial)
nerit 10:9e70619e97ab 644 #if defined(checkLoop)
nerit 10:9e70619e97ab 645 pc.printf("13\n");
nerit 10:9e70619e97ab 646 #endif
nerit 10:9e70619e97ab 647 #endif
nerit 3:a469bbd294b5 648 }
nerit 3:a469bbd294b5 649 //*******************************************************
nerit 8:310f9e4eac7b 650 void ciclaTB()
nerit 8:310f9e4eac7b 651 {
nerit 8:310f9e4eac7b 652 if ((startCicloTB==1)&&(cicloTbinCorso==0)) {
nerit 6:e8c18f0f399a 653 #if defined(pcSerial)
nerit 6:e8c18f0f399a 654 #if defined(checkLoop)
nerit 6:e8c18f0f399a 655 pc.printf("14a TBperiod: %f\n",TBperiod);
nerit 6:e8c18f0f399a 656 #endif
nerit 6:e8c18f0f399a 657 #endif
nerit 8:310f9e4eac7b 658 #if defined(runner)
nerit 9:7f02256f6e8f 659 #if defined(Zucca)
nerit 9:7f02256f6e8f 660 motor->run(StepperMotor::BWD,TBperiod);
nerit 9:7f02256f6e8f 661 #else
nerit 9:7f02256f6e8f 662 motor->run(StepperMotor::FWD,TBperiod);
nerit 9:7f02256f6e8f 663 #endif
nerit 8:310f9e4eac7b 664 #else
nerit 8:310f9e4eac7b 665 if (TBperiod >= (250.0f*2.0f)) {
nerit 8:310f9e4eac7b 666 if (TBperiod != NULL) {
nerit 9:7f02256f6e8f 667 #if defined(Zucca)
nerit 9:7f02256f6e8f 668 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 669 #else
nerit 9:7f02256f6e8f 670 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 671 #endif
nerit 8:310f9e4eac7b 672 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 673 }
nerit 6:e8c18f0f399a 674 }
nerit 8:310f9e4eac7b 675 #endif
nerit 8:310f9e4eac7b 676 cicloTbinCorso = 1;
nerit 8:310f9e4eac7b 677 startCicloTB=0;
nerit 3:a469bbd294b5 678 }
nerit 8:310f9e4eac7b 679 if ((loadDaCan==1)&&(loadDaCanInCorso==0)) {
nerit 6:e8c18f0f399a 680 #if defined(pcSerial)
nerit 6:e8c18f0f399a 681 #if defined(checkLoop)
nerit 6:e8c18f0f399a 682 pc.printf("14b\n");
nerit 6:e8c18f0f399a 683 #endif
nerit 6:e8c18f0f399a 684 #endif
nerit 8:310f9e4eac7b 685 #if defined(runner)
nerit 9:7f02256f6e8f 686 #if defined(Zucca)
nerit 9:7f02256f6e8f 687 motor->run(StepperMotor::BWD,50.0f);
nerit 9:7f02256f6e8f 688 #else
nerit 9:7f02256f6e8f 689 motor->run(StepperMotor::FWD,50.0f);
nerit 9:7f02256f6e8f 690 #endif
nerit 8:310f9e4eac7b 691 #else
nerit 9:7f02256f6e8f 692 #if defined(Zucca)
nerit 9:7f02256f6e8f 693 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 694 #else
nerit 9:7f02256f6e8f 695 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 696 #endif
nerit 8:310f9e4eac7b 697 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 698 #endif
nerit 3:a469bbd294b5 699 loadDaCanInCorso=1;
nerit 3:a469bbd294b5 700 stopCicloTB=0;
nerit 3:a469bbd294b5 701 }
nerit 8:310f9e4eac7b 702 if ((stopCicloTB==1)&&(TBactualPosition>5)) {
nerit 6:e8c18f0f399a 703 #if defined(pcSerial)
nerit 6:e8c18f0f399a 704 #if defined(checkLoop)
nerit 6:e8c18f0f399a 705 pc.printf("14c\n");
nerit 6:e8c18f0f399a 706 #endif
nerit 6:e8c18f0f399a 707 #endif
nerit 8:310f9e4eac7b 708 #if !defined(runner)
nerit 8:310f9e4eac7b 709 TBticker.detach();
nerit 8:310f9e4eac7b 710 #endif
nerit 6:e8c18f0f399a 711 #if defined(pcSerial)
nerit 6:e8c18f0f399a 712 #if defined(loStop)
nerit 6:e8c18f0f399a 713 pc.printf("A2\n");
nerit 6:e8c18f0f399a 714 #endif
nerit 6:e8c18f0f399a 715 #endif
nerit 3:a469bbd294b5 716 motor->soft_hiz();
nerit 3:a469bbd294b5 717 cicloTbinCorso = 0;
nerit 3:a469bbd294b5 718 stopCicloTB=0;
nerit 3:a469bbd294b5 719 loadDaCanInCorso=0;
nerit 3:a469bbd294b5 720 loadDaCan=0;
nerit 3:a469bbd294b5 721 }
nerit 3:a469bbd294b5 722 }
nerit 3:a469bbd294b5 723 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 8:310f9e4eac7b 724 void stepSetting()
nerit 8:310f9e4eac7b 725 {
nerit 3:a469bbd294b5 726 // Stepper driver init and set
nerit 3:a469bbd294b5 727 TBmotorRst=0; // reset stepper driver
nerit 3:a469bbd294b5 728 TBmotorDirecti=TBforward; // reset stepper direction
nerit 6:e8c18f0f399a 729 #if defined(pcSerial)
nerit 6:e8c18f0f399a 730 #if defined(checkLoop)
nerit 6:e8c18f0f399a 731 pc.printf("15\n");
nerit 6:e8c18f0f399a 732 #endif
nerit 6:e8c18f0f399a 733 #endif
nerit 8:310f9e4eac7b 734 TBmotorRst=1;
nerit 3:a469bbd294b5 735 }
nerit 3:a469bbd294b5 736 //****************************************
nerit 12:b0fc1d313813 737 void controllaCorrente(){
nerit 12:b0fc1d313813 738 correggiCorrente=1;
nerit 12:b0fc1d313813 739 }
nerit 12:b0fc1d313813 740 //****************************************
nerit 3:a469bbd294b5 741 void dcSetting(){
nerit 8:310f9e4eac7b 742 if ((speedFromPick==0)&&(encoder==false)) {
nerit 8:310f9e4eac7b 743 DcEncoder.rise(&sd25Fall);
nerit 8:310f9e4eac7b 744 }
nerit 8:310f9e4eac7b 745 if (encoder==true) {
nerit 8:310f9e4eac7b 746 DcEncoder.rise(&encoRise);
nerit 8:310f9e4eac7b 747 }
nerit 6:e8c18f0f399a 748 #if defined(pcSerial)
nerit 6:e8c18f0f399a 749 #if defined(checkLoop)
nerit 6:e8c18f0f399a 750 pc.printf("16\n");
nerit 6:e8c18f0f399a 751 #endif
nerit 6:e8c18f0f399a 752 #endif
nerit 3:a469bbd294b5 753 }
nerit 3:a469bbd294b5 754 //*******************************************************
nerit 8:310f9e4eac7b 755 void allarmi()
nerit 8:310f9e4eac7b 756 {
nerit 8:310f9e4eac7b 757 uint8_t alarmLowRegister1=0x00;
nerit 8:310f9e4eac7b 758 alarmLowRegister=0x00;
nerit 8:310f9e4eac7b 759 alarmHighRegister=0x80;
nerit 3:a469bbd294b5 760
nerit 8:310f9e4eac7b 761 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 8:310f9e4eac7b 762 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 8:310f9e4eac7b 763 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 8:310f9e4eac7b 764 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 8:310f9e4eac7b 765 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 8:310f9e4eac7b 766 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 8:310f9e4eac7b 767 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 8:310f9e4eac7b 768 if (seedSensorEnable==true) {
nerit 8:310f9e4eac7b 769 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 8:310f9e4eac7b 770 }
nerit 3:a469bbd294b5 771
nerit 8:310f9e4eac7b 772 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 8:310f9e4eac7b 773 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 8:310f9e4eac7b 774 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 8:310f9e4eac7b 775 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 8:310f9e4eac7b 776 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 8:310f9e4eac7b 777 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 8:310f9e4eac7b 778 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 8:310f9e4eac7b 779 if (alarmLowRegister1 > 0) {
nerit 8:310f9e4eac7b 780 alarmHighRegister = 0x81;
nerit 8:310f9e4eac7b 781 alarmLowRegister = alarmLowRegister1;
nerit 8:310f9e4eac7b 782 }
nerit 3:a469bbd294b5 783
nerit 10:9e70619e97ab 784 #if defined(pcSerial)
nerit 10:9e70619e97ab 785 #if defined(VediAllarmi)
nerit 10:9e70619e97ab 786 if (all_pickSignal==1) {
nerit 10:9e70619e97ab 787 pc.printf("AllarmeBecchi\n");
nerit 10:9e70619e97ab 788 }
nerit 10:9e70619e97ab 789 if (all_cellSignal==1) {
nerit 10:9e70619e97ab 790 pc.printf("AllarmeCelle\n");
nerit 10:9e70619e97ab 791 }
nerit 10:9e70619e97ab 792 if (all_lowBattery==1) {
nerit 10:9e70619e97ab 793 pc.printf("AllarmeBassaCorrente\n");
nerit 10:9e70619e97ab 794 }
nerit 10:9e70619e97ab 795 if (all_overCurrDC==1) {
nerit 10:9e70619e97ab 796 pc.printf("AllarmeAltaCorrente\n");
nerit 10:9e70619e97ab 797 }
nerit 10:9e70619e97ab 798 if (all_stopSistem==1) {
nerit 10:9e70619e97ab 799 pc.printf("AllarmeStop\n");
nerit 10:9e70619e97ab 800 }
nerit 10:9e70619e97ab 801 if (all_noDcRotati==1) {
nerit 10:9e70619e97ab 802 pc.printf("AllarmeDCnoRotation\n");
nerit 10:9e70619e97ab 803 }
nerit 10:9e70619e97ab 804 if (all_noStepRota==1) {
nerit 10:9e70619e97ab 805 pc.printf("AllarmeNoStepRotation\n");
nerit 10:9e70619e97ab 806 }
nerit 10:9e70619e97ab 807 if (all_speedError==1) {
nerit 10:9e70619e97ab 808 pc.printf("AllarmeSpeedError\n");
nerit 10:9e70619e97ab 809 }
nerit 10:9e70619e97ab 810 if (all_noSpeedSen==1) {
nerit 10:9e70619e97ab 811 pc.printf("AllarmeNoSpeedSensor\n");
nerit 10:9e70619e97ab 812 }
nerit 10:9e70619e97ab 813 if (all_no_Zeroing==1) {
nerit 10:9e70619e97ab 814 pc.printf("AllarmeNoZero\n");
nerit 10:9e70619e97ab 815 }
nerit 10:9e70619e97ab 816 if (all_genericals==1) {
nerit 10:9e70619e97ab 817 pc.printf("AllarmeGenerico\n");
nerit 10:9e70619e97ab 818 }
nerit 10:9e70619e97ab 819 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 10:9e70619e97ab 820 #endif
nerit 10:9e70619e97ab 821 #endif
nerit 8:310f9e4eac7b 822 all_semiFiniti=0;
nerit 8:310f9e4eac7b 823 all_pickSignal=0;
nerit 8:310f9e4eac7b 824 all_cellSignal=0;
nerit 8:310f9e4eac7b 825 all_lowBattery=0;
nerit 8:310f9e4eac7b 826 all_overCurrDC=0;
nerit 8:310f9e4eac7b 827 all_stopSistem=0;
nerit 8:310f9e4eac7b 828 all_upElements=0;
nerit 8:310f9e4eac7b 829 all_noSeedOnCe=0;
nerit 8:310f9e4eac7b 830 all_cfgnErrors=0;
nerit 8:310f9e4eac7b 831 all_noDcRotati=0;
nerit 8:310f9e4eac7b 832 all_noStepRota=0;
nerit 8:310f9e4eac7b 833 all_speedError=0;
nerit 8:310f9e4eac7b 834 all_noSpeedSen=0;
nerit 8:310f9e4eac7b 835 all_no_Zeroing=0;
nerit 8:310f9e4eac7b 836 all_genericals=0;
nerit 10:9e70619e97ab 837 #if defined(pcSerial)
nerit 10:9e70619e97ab 838 #if defined(checkLoop)
nerit 10:9e70619e97ab 839 pc.printf("17\n");
nerit 10:9e70619e97ab 840 #endif
nerit 10:9e70619e97ab 841 #endif
nerit 3:a469bbd294b5 842 }
nerit 3:a469bbd294b5 843 //*******************************************************
nerit 3:a469bbd294b5 844 #if defined(speedMaster)
nerit 3:a469bbd294b5 845 void upDateSincro(){
nerit 8:310f9e4eac7b 846 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 8:310f9e4eac7b 847 val1[3]=(posForQuinc /0x01000000)&0x000000FF;
nerit 8:310f9e4eac7b 848 val1[2]=(posForQuinc /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 849 val1[1]=(posForQuinc /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 850 val1[0]=posForQuinc & 0x000000FF;
nerit 3:a469bbd294b5 851 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 3:a469bbd294b5 852 double pass = speedOfSeedWheel*100.0f;
nerit 3:a469bbd294b5 853 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 8:310f9e4eac7b 854 val1[5]=(prePosSD /0x00010000)&0x000000FF;
nerit 8:310f9e4eac7b 855 val1[6]=(prePosSD /0x00000100)&0x000000FF;
nerit 3:a469bbd294b5 856 val1[7]=prePosSD & 0x000000FF;
nerit 3:a469bbd294b5 857 #if defined(canbusActive)
nerit 3:a469bbd294b5 858 #if defined(speedMaster)
nerit 8:310f9e4eac7b 859 if(can1.write(CANMessage(TX_SI, *&val1,8))) {
nerit 3:a469bbd294b5 860 checkState=0;
nerit 3:a469bbd294b5 861 }
nerit 3:a469bbd294b5 862 #endif
nerit 3:a469bbd294b5 863 #endif
nerit 6:e8c18f0f399a 864 #if defined(pcSerial)
nerit 6:e8c18f0f399a 865 #if defined(checkLoop)
nerit 6:e8c18f0f399a 866 pc.printf("18\n");
nerit 6:e8c18f0f399a 867 #endif
nerit 6:e8c18f0f399a 868 #endif
nerit 3:a469bbd294b5 869 }
nerit 3:a469bbd294b5 870 #endif
nerit 3:a469bbd294b5 871 //*******************************************************
nerit 8:310f9e4eac7b 872 void upDateSpeed()
nerit 8:310f9e4eac7b 873 {
nerit 3:a469bbd294b5 874 /*
nerit 3:a469bbd294b5 875 aggiorna dati OPUSA3
nerit 3:a469bbd294b5 876 val1[0] contiene il dato di velocità
nerit 3:a469bbd294b5 877 val1[1] contiene il byte basso della tabella allarmi
nerit 3:a469bbd294b5 878 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 3:a469bbd294b5 879 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 3:a469bbd294b5 880 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 3:a469bbd294b5 881 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 3:a469bbd294b5 882 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 3:a469bbd294b5 883 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 3:a469bbd294b5 884 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 3:a469bbd294b5 885 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 3:a469bbd294b5 886 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 3:a469bbd294b5 887 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 3:a469bbd294b5 888 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 3:a469bbd294b5 889 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 3:a469bbd294b5 890 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 3:a469bbd294b5 891 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 3:a469bbd294b5 892 uint8_t all_genericals = 0; // allarme generico
nerit 3:a469bbd294b5 893 val1[2] contiene il byte alto della tabella di allarmi
nerit 3:a469bbd294b5 894 val1[3] contiene i segnali per la diagnostica
nerit 3:a469bbd294b5 895 bit 0= sensore ruota fonica
nerit 3:a469bbd294b5 896 bit 1= sensore celle
nerit 3:a469bbd294b5 897 bit 2= sensore posizione
nerit 3:a469bbd294b5 898 bit 3= sensore becchi
nerit 3:a469bbd294b5 899 bit 4= motore DC
nerit 3:a469bbd294b5 900 bit 5= controller
nerit 3:a469bbd294b5 901 bit 6= motore stepper
nerit 3:a469bbd294b5 902 */
nerit 8:310f9e4eac7b 903 char val1[8]= {0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 904
nerit 8:310f9e4eac7b 905 val1[3]=0;
nerit 8:310f9e4eac7b 906 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 8:310f9e4eac7b 907 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 8:310f9e4eac7b 908 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 8:310f9e4eac7b 909 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 10:9e70619e97ab 910 #if defined(simulaPerCan)
nerit 10:9e70619e97ab 911 if (buttonUser==0) {
nerit 10:9e70619e97ab 912 val1[1]=0x02;
nerit 10:9e70619e97ab 913 } else {
nerit 10:9e70619e97ab 914 val1[1]=0x00;
nerit 10:9e70619e97ab 915 }
nerit 10:9e70619e97ab 916 val1[3]=valore;
nerit 10:9e70619e97ab 917 valore+=1;
nerit 10:9e70619e97ab 918 if(valore>50) {
nerit 10:9e70619e97ab 919 valore=0;
nerit 10:9e70619e97ab 920 }
nerit 10:9e70619e97ab 921 tractorSpeed_MtS_timed=valore;
nerit 10:9e70619e97ab 922 oldLocalTractorSpeed=valore;
nerit 10:9e70619e97ab 923 #endif
nerit 3:a469bbd294b5 924 allarmi();
nerit 3:a469bbd294b5 925 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 3:a469bbd294b5 926 val1[0]=valore;
nerit 3:a469bbd294b5 927 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 3:a469bbd294b5 928 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 3:a469bbd294b5 929 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 3:a469bbd294b5 930 val1[4]=resetComandi;
nerit 3:a469bbd294b5 931 val1[5]=cellsCounterLow;
nerit 3:a469bbd294b5 932 val1[6]=cellsCounterHig;
nerit 10:9e70619e97ab 933 #if defined(canbusActive)
nerit 10:9e70619e97ab 934 if(can1.write(CANMessage(TX_ID, *&val1,8))) {
nerit 10:9e70619e97ab 935 checkState=0;
nerit 10:9e70619e97ab 936 }
nerit 10:9e70619e97ab 937 #endif
nerit 10:9e70619e97ab 938 #if defined(pcSerial)
nerit 10:9e70619e97ab 939 #if defined(checkLoop)
nerit 10:9e70619e97ab 940 pc.printf("19\n");
nerit 10:9e70619e97ab 941 #endif
nerit 10:9e70619e97ab 942 #endif
nerit 3:a469bbd294b5 943 }
nerit 3:a469bbd294b5 944 //*******************************************************
nerit 8:310f9e4eac7b 945 void leggiCAN()
nerit 8:310f9e4eac7b 946 {
nerit 8:310f9e4eac7b 947 #if defined(canbusActive)
nerit 8:310f9e4eac7b 948 if(can1.read(rxMsg)) {
nerit 8:310f9e4eac7b 949 if (firstStart==1) {
nerit 8:310f9e4eac7b 950 #if defined(speedMaster)
nerit 8:310f9e4eac7b 951 sincUpdate.attach(&upDateSincro,0.012f);//0.009f
nerit 8:310f9e4eac7b 952 canUpdate.attach(&upDateSpeed,0.21f);
nerit 8:310f9e4eac7b 953 #else
nerit 8:310f9e4eac7b 954 canUpdate.attach(&upDateSpeed,0.407f);
nerit 8:310f9e4eac7b 955 #endif
nerit 8:310f9e4eac7b 956 firstStart=0;
nerit 8:310f9e4eac7b 957 }
nerit 8:310f9e4eac7b 958 if (rxMsg.id==RX_ID) {
nerit 8:310f9e4eac7b 959 #if defined(pcSerial)
nerit 8:310f9e4eac7b 960 #if defined(canDataReceiveda)
nerit 8:310f9e4eac7b 961 pc.printf("Messaggio ricevuto\n");
nerit 3:a469bbd294b5 962 #endif
nerit 8:310f9e4eac7b 963 #endif
nerit 8:310f9e4eac7b 964 }
nerit 8:310f9e4eac7b 965 if (rxMsg.id==RX_Broadcast) {
nerit 8:310f9e4eac7b 966 #if defined(pcSerial)
nerit 8:310f9e4eac7b 967 #if defined(canDataReceivedb)
nerit 3:a469bbd294b5 968 pc.printf("BroadCast ricevuto\n");
nerit 3:a469bbd294b5 969 #endif
nerit 8:310f9e4eac7b 970 #endif
nerit 8:310f9e4eac7b 971 enableSimula= rxMsg.data[0];
nerit 8:310f9e4eac7b 972 speedSimula = rxMsg.data[1];
nerit 8:310f9e4eac7b 973 avviaSimula = rxMsg.data[2];
nerit 8:310f9e4eac7b 974 selezionato = rxMsg.data[3];
nerit 8:310f9e4eac7b 975 comandiDaCan = rxMsg.data[4];
nerit 8:310f9e4eac7b 976 #if defined(pcSerial)
nerit 8:310f9e4eac7b 977 #if defined(canDataReceived)
nerit 3:a469bbd294b5 978 pc.printf("Speed simula %d \n",speedSimula);
nerit 3:a469bbd294b5 979 #endif
nerit 8:310f9e4eac7b 980 #endif
nerit 8:310f9e4eac7b 981 switch (comandiDaCan) {
nerit 8:310f9e4eac7b 982 case 1:
nerit 8:310f9e4eac7b 983 case 3:
nerit 8:310f9e4eac7b 984 azzeraDaCan=1;
nerit 8:310f9e4eac7b 985 resetComandi=0x01;
nerit 8:310f9e4eac7b 986 comandiDaCan=0;
nerit 8:310f9e4eac7b 987 break;
nerit 8:310f9e4eac7b 988 case 2:
nerit 8:310f9e4eac7b 989 loadDaCan=1;
nerit 8:310f9e4eac7b 990 resetComandi=0x02;
nerit 8:310f9e4eac7b 991 comandiDaCan=0;
nerit 8:310f9e4eac7b 992 break;
nerit 8:310f9e4eac7b 993 default:
nerit 8:310f9e4eac7b 994 comandiDaCan=0;
nerit 8:310f9e4eac7b 995 resetComandi=0xFF;
nerit 8:310f9e4eac7b 996 break;
nerit 8:310f9e4eac7b 997 }
nerit 8:310f9e4eac7b 998 #if defined(pcSerial)
nerit 8:310f9e4eac7b 999 #if defined(canDataReceivedR)
nerit 8:310f9e4eac7b 1000 pc.printf("Comandi: %x\n",resetComandi);
nerit 8:310f9e4eac7b 1001 #endif
nerit 8:310f9e4eac7b 1002 #endif
nerit 8:310f9e4eac7b 1003 if (speedSimula>45) {
nerit 8:310f9e4eac7b 1004 speedSimula=45;
nerit 8:310f9e4eac7b 1005 }
nerit 8:310f9e4eac7b 1006 // modulo 1
nerit 8:310f9e4eac7b 1007 if (RX_ID==0x100) {
nerit 8:310f9e4eac7b 1008 if ((selezionato&0x01)==0x01) {
nerit 8:310f9e4eac7b 1009 simOk=1;
nerit 8:310f9e4eac7b 1010 } else {
nerit 8:310f9e4eac7b 1011 simOk=0;
nerit 3:a469bbd294b5 1012 }
nerit 8:310f9e4eac7b 1013 }
nerit 8:310f9e4eac7b 1014 // modulo 2
nerit 8:310f9e4eac7b 1015 if (RX_ID==0x102) {
nerit 8:310f9e4eac7b 1016 if ((selezionato&0x02)==0x02) {
nerit 8:310f9e4eac7b 1017 simOk=1;
nerit 8:310f9e4eac7b 1018 } else {
nerit 8:310f9e4eac7b 1019 simOk=0;
nerit 3:a469bbd294b5 1020 }
nerit 8:310f9e4eac7b 1021 }
nerit 8:310f9e4eac7b 1022 // modulo 3
nerit 8:310f9e4eac7b 1023 if (RX_ID==0x104) {
nerit 8:310f9e4eac7b 1024 if ((selezionato&0x04)==0x04) {
nerit 8:310f9e4eac7b 1025 simOk=1;
nerit 8:310f9e4eac7b 1026 } else {
nerit 8:310f9e4eac7b 1027 simOk=0;
nerit 3:a469bbd294b5 1028 }
nerit 8:310f9e4eac7b 1029 }
nerit 8:310f9e4eac7b 1030 // modulo 4
nerit 8:310f9e4eac7b 1031 if (RX_ID==0x106) {
nerit 8:310f9e4eac7b 1032 if ((selezionato&0x08)==0x08) {
nerit 8:310f9e4eac7b 1033 simOk=1;
nerit 8:310f9e4eac7b 1034 } else {
nerit 8:310f9e4eac7b 1035 simOk=0;
nerit 3:a469bbd294b5 1036 }
nerit 8:310f9e4eac7b 1037 }
nerit 8:310f9e4eac7b 1038 // modulo 5
nerit 8:310f9e4eac7b 1039 if (RX_ID==0x108) {
nerit 8:310f9e4eac7b 1040 if ((selezionato&0x10)==0x10) {
nerit 8:310f9e4eac7b 1041 simOk=1;
nerit 8:310f9e4eac7b 1042 } else {
nerit 8:310f9e4eac7b 1043 simOk=0;
nerit 3:a469bbd294b5 1044 }
nerit 3:a469bbd294b5 1045 }
nerit 8:310f9e4eac7b 1046
nerit 8:310f9e4eac7b 1047 }
nerit 8:310f9e4eac7b 1048 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1049 if (rxMsg.id==RX_Settings) {
nerit 8:310f9e4eac7b 1050 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1051 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 3:a469bbd294b5 1052 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 8:310f9e4eac7b 1053 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 5:2a3a64b52f54 1054 seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 5:2a3a64b52f54 1055 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 1056 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 1057 aggiornaParametri();
nerit 3:a469bbd294b5 1058 }
nerit 3:a469bbd294b5 1059 }
nerit 8:310f9e4eac7b 1060 if (rxMsg.id==RX_AngoloPh) {
nerit 8:310f9e4eac7b 1061 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1062 #if defined(M1)
nerit 3:a469bbd294b5 1063 angoloPh = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1064 aggiornaParametri();
nerit 3:a469bbd294b5 1065 #endif
nerit 3:a469bbd294b5 1066 #if defined(M2)
nerit 3:a469bbd294b5 1067 angoloPh = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1068 aggiornaParametri();
nerit 3:a469bbd294b5 1069 #endif
nerit 3:a469bbd294b5 1070 #if defined(M3)
nerit 3:a469bbd294b5 1071 angoloPh = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1072 aggiornaParametri();
nerit 3:a469bbd294b5 1073 #endif
nerit 3:a469bbd294b5 1074 #if defined(M4)
nerit 3:a469bbd294b5 1075 angoloPh = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1076 aggiornaParametri();
nerit 3:a469bbd294b5 1077 #endif
nerit 3:a469bbd294b5 1078 #if defined(M5)
nerit 3:a469bbd294b5 1079 angoloPh = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1080 aggiornaParametri();
nerit 3:a469bbd294b5 1081 #endif
nerit 3:a469bbd294b5 1082 #if defined(M6)
nerit 3:a469bbd294b5 1083 angoloPh = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1084 aggiornaParametri();
nerit 3:a469bbd294b5 1085 #endif
nerit 3:a469bbd294b5 1086 }
nerit 3:a469bbd294b5 1087 }
nerit 8:310f9e4eac7b 1088 if (rxMsg.id==RX_AngoloAv) {
nerit 8:310f9e4eac7b 1089 if (tractorSpeed_MtS_timed==0.0f) {
nerit 3:a469bbd294b5 1090 #if defined(M1)
nerit 3:a469bbd294b5 1091 angoloAv = (double) rxMsg.data[0] ;
nerit 3:a469bbd294b5 1092 aggiornaParametri();
nerit 3:a469bbd294b5 1093 #endif
nerit 3:a469bbd294b5 1094 #if defined(M2)
nerit 3:a469bbd294b5 1095 angoloAv = (double) rxMsg.data[1] ;
nerit 3:a469bbd294b5 1096 aggiornaParametri();
nerit 3:a469bbd294b5 1097 #endif
nerit 3:a469bbd294b5 1098 #if defined(M3)
nerit 3:a469bbd294b5 1099 angoloAv = (double) rxMsg.data[2] ;
nerit 3:a469bbd294b5 1100 aggiornaParametri();
nerit 3:a469bbd294b5 1101 #endif
nerit 3:a469bbd294b5 1102 #if defined(M4)
nerit 3:a469bbd294b5 1103 angoloAv = (double) rxMsg.data[3] ;
nerit 3:a469bbd294b5 1104 aggiornaParametri();
nerit 3:a469bbd294b5 1105 #endif
nerit 3:a469bbd294b5 1106 #if defined(M5)
nerit 3:a469bbd294b5 1107 angoloAv = (double) rxMsg.data[4] ;
nerit 3:a469bbd294b5 1108 aggiornaParametri();
nerit 3:a469bbd294b5 1109 #endif
nerit 3:a469bbd294b5 1110 #if defined(M6)
nerit 3:a469bbd294b5 1111 angoloAv = (double) rxMsg.data[5] ;
nerit 3:a469bbd294b5 1112 aggiornaParametri();
nerit 3:a469bbd294b5 1113 #endif
nerit 3:a469bbd294b5 1114 }
nerit 3:a469bbd294b5 1115 }
nerit 8:310f9e4eac7b 1116 if (rxMsg.id==RX_Quinconce) {
nerit 8:310f9e4eac7b 1117 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 1118 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 8:310f9e4eac7b 1119 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 8:310f9e4eac7b 1120 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 8:310f9e4eac7b 1121 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 8:310f9e4eac7b 1122 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 3:a469bbd294b5 1123 quincSector = (uint8_t) rxMsg.data[5];
nerit 3:a469bbd294b5 1124 aggiornaParametri();
nerit 3:a469bbd294b5 1125 }
nerit 3:a469bbd294b5 1126 }
nerit 8:310f9e4eac7b 1127 }
nerit 8:310f9e4eac7b 1128 if (tractorSpeed_MtS_timed > 0.0f){
nerit 8:310f9e4eac7b 1129 if (rxMsg.id==RX_QuincSinc) {
nerit 8:310f9e4eac7b 1130 masterSinc = (uint32_t) rxMsg.data[3] * 0x01000000;
nerit 8:310f9e4eac7b 1131 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x00010000);
nerit 8:310f9e4eac7b 1132 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x00000100);
nerit 3:a469bbd294b5 1133 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 3:a469bbd294b5 1134 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 8:310f9e4eac7b 1135 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x00010000);
nerit 8:310f9e4eac7b 1136 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x00000100);
nerit 3:a469bbd294b5 1137 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 3:a469bbd294b5 1138 canDataCheck=1;
nerit 3:a469bbd294b5 1139 }
nerit 8:310f9e4eac7b 1140 }
nerit 8:310f9e4eac7b 1141 if (tractorSpeed_MtS_timed <= 0.01f){
nerit 8:310f9e4eac7b 1142 if (rxMsg.id==RX_Configure) {
nerit 3:a469bbd294b5 1143 uint8_t flags = rxMsg.data[0];
nerit 3:a469bbd294b5 1144 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
nerit 3:a469bbd294b5 1145 steps = steps + ((uint32_t)rxMsg.data[1]);
nerit 3:a469bbd294b5 1146 TBmotorSteps =steps;
nerit 8:310f9e4eac7b 1147 //stepSetting();
nerit 3:a469bbd294b5 1148 cellsCountSet = rxMsg.data[3];
nerit 8:310f9e4eac7b 1149 if ((flags&0x01)==0x01) {
nerit 8:310f9e4eac7b 1150 if (encoder==false) {
nerit 3:a469bbd294b5 1151 encoder=true;
nerit 3:a469bbd294b5 1152 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1153 dcSetting();
nerit 3:a469bbd294b5 1154 }
nerit 8:310f9e4eac7b 1155 } else {
nerit 8:310f9e4eac7b 1156 if (encoder==true) {
nerit 3:a469bbd294b5 1157 encoder=false;
nerit 3:a469bbd294b5 1158 DcEncoder.rise(NULL);
nerit 3:a469bbd294b5 1159 dcSetting();
nerit 3:a469bbd294b5 1160 }
nerit 3:a469bbd294b5 1161 }
nerit 8:310f9e4eac7b 1162 if ((flags&0x02)==0x02) {
nerit 3:a469bbd294b5 1163 tankLevelEnable=true;
nerit 8:310f9e4eac7b 1164 } else {
nerit 3:a469bbd294b5 1165 tankLevelEnable=false;
nerit 3:a469bbd294b5 1166 }
nerit 8:310f9e4eac7b 1167 if ((flags&0x04)==0x04) {
nerit 3:a469bbd294b5 1168 seedSensorEnable=true;
nerit 8:310f9e4eac7b 1169 } else {
nerit 3:a469bbd294b5 1170 seedSensorEnable=false;
nerit 3:a469bbd294b5 1171 }
nerit 8:310f9e4eac7b 1172 if ((flags&0x08)==0x08) {
nerit 3:a469bbd294b5 1173 stendiNylonEnable=true;
nerit 8:310f9e4eac7b 1174 } else {
nerit 3:a469bbd294b5 1175 stendiNylonEnable=false;
nerit 3:a469bbd294b5 1176 }
nerit 8:310f9e4eac7b 1177 if ((flags&0x10)==0x10) {
nerit 3:a469bbd294b5 1178 canDataCheckEnable=true;
nerit 8:310f9e4eac7b 1179 } else {
nerit 3:a469bbd294b5 1180 canDataCheckEnable=false;
nerit 3:a469bbd294b5 1181 }
nerit 8:310f9e4eac7b 1182 if ((flags&0x20)==0x20) {
nerit 3:a469bbd294b5 1183 tamburoStandard=1;
nerit 8:310f9e4eac7b 1184 } else {
nerit 3:a469bbd294b5 1185 tamburoStandard=0;
nerit 3:a469bbd294b5 1186 }
nerit 8:310f9e4eac7b 1187 if ((flags&0x40)==0x40) {
nerit 3:a469bbd294b5 1188 currentCheckEnable=true;
nerit 8:310f9e4eac7b 1189 } else {
nerit 3:a469bbd294b5 1190 currentCheckEnable=false;
nerit 3:a469bbd294b5 1191 }
nerit 3:a469bbd294b5 1192 }
nerit 8:310f9e4eac7b 1193 }
nerit 8:310f9e4eac7b 1194 }
nerit 10:9e70619e97ab 1195 #endif
nerit 10:9e70619e97ab 1196 #if defined(overWriteCanSimulation)
nerit 10:9e70619e97ab 1197 enableSimula=1;
nerit 10:9e70619e97ab 1198 speedSimula=25;
nerit 10:9e70619e97ab 1199 avviaSimula=1;
nerit 10:9e70619e97ab 1200 simOk=1;
nerit 10:9e70619e97ab 1201 #endif
nerit 10:9e70619e97ab 1202 #if defined(pcSerial)
nerit 10:9e70619e97ab 1203 #if defined(checkLoop)
nerit 10:9e70619e97ab 1204 pc.printf("20\n");
nerit 10:9e70619e97ab 1205 #endif
nerit 10:9e70619e97ab 1206 #endif
bcostm 0:5701b41769fd 1207 }
bcostm 0:5701b41769fd 1208
nerit 3:a469bbd294b5 1209 //*******************************************************
nerit 8:310f9e4eac7b 1210 void DC_CheckCurrent()
nerit 8:310f9e4eac7b 1211 {
nerit 8:310f9e4eac7b 1212
nerit 3:a469bbd294b5 1213 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 3:a469bbd294b5 1214 // gli allarmi e le correzioni di velocità
nerit 8:310f9e4eac7b 1215
nerit 3:a469bbd294b5 1216 //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 1217 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 3:a469bbd294b5 1218 // Analog reading
nerit 3:a469bbd294b5 1219 //number = floor(number * 100) / 100;
nerit 8:310f9e4eac7b 1220 timeout.detach();
nerit 8:310f9e4eac7b 1221 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1222 SD_CurrentScaled = floor(( (SD_CurrentStart-SD_CurrentAnalog)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 3:a469bbd294b5 1223 }
nerit 3:a469bbd294b5 1224 //*******************************************************
nerit 8:310f9e4eac7b 1225 void DC_prepare()
nerit 8:310f9e4eac7b 1226 {
nerit 3:a469bbd294b5 1227 // direction or brake preparation
nerit 8:310f9e4eac7b 1228 if (DC_brake==1) {
nerit 3:a469bbd294b5 1229 SDmotorInA=1;
nerit 3:a469bbd294b5 1230 SDmotorInB=1;
nerit 8:310f9e4eac7b 1231 } else {
nerit 8:310f9e4eac7b 1232 if (DC_forward==0) {
nerit 3:a469bbd294b5 1233 SDmotorInA=1;
nerit 3:a469bbd294b5 1234 SDmotorInB=0;
nerit 8:310f9e4eac7b 1235 } else {
nerit 3:a469bbd294b5 1236 SDmotorInA=0;
nerit 3:a469bbd294b5 1237 SDmotorInB=1;
nerit 3:a469bbd294b5 1238 }
nerit 3:a469bbd294b5 1239 }
nerit 3:a469bbd294b5 1240 // fault reading
nerit 8:310f9e4eac7b 1241 if (SDmotorInA==1) {
nerit 8:310f9e4eac7b 1242 SD_faultA=1;
nerit 8:310f9e4eac7b 1243 } else {
nerit 8:310f9e4eac7b 1244 SD_faultA=0;
nerit 8:310f9e4eac7b 1245 }
nerit 8:310f9e4eac7b 1246 if (SDmotorInB==1) {
nerit 8:310f9e4eac7b 1247 SD_faultB=1;
nerit 8:310f9e4eac7b 1248 } else {
nerit 8:310f9e4eac7b 1249 SD_faultB=0;
nerit 8:310f9e4eac7b 1250 }
nerit 10:9e70619e97ab 1251 #if defined(pcSerial)
nerit 10:9e70619e97ab 1252 #if defined(checkLoopa)
nerit 10:9e70619e97ab 1253 pc.printf("22\n");
nerit 10:9e70619e97ab 1254 #endif
nerit 10:9e70619e97ab 1255 #endif
nerit 3:a469bbd294b5 1256 }
nerit 3:a469bbd294b5 1257 //*******************************************************
nerit 12:b0fc1d313813 1258 void startDelay(){
nerit 12:b0fc1d313813 1259 SD_CurrentStart = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 12:b0fc1d313813 1260 int ritardo =0;
nerit 12:b0fc1d313813 1261 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 12:b0fc1d313813 1262 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 3:a469bbd294b5 1263 }
nerit 3:a469bbd294b5 1264 //*******************************************************
nerit 10:9e70619e97ab 1265 void quincTrigon(){
nerit 3:a469bbd294b5 1266 quincClock=true;
nerit 10:9e70619e97ab 1267 #if defined(pcSerial)
nerit 10:9e70619e97ab 1268 #if defined(checkLoop)
nerit 10:9e70619e97ab 1269 pc.printf("24\n");
nerit 10:9e70619e97ab 1270 #endif
nerit 10:9e70619e97ab 1271 #endif
nerit 3:a469bbd294b5 1272 }
nerit 10:9e70619e97ab 1273 void quincTrigof(){
nerit 3:a469bbd294b5 1274 quincClock=false;
nerit 10:9e70619e97ab 1275 #if defined(pcSerial)
nerit 10:9e70619e97ab 1276 #if defined(checkLoop)
nerit 10:9e70619e97ab 1277 pc.printf("25\n");
nerit 10:9e70619e97ab 1278 #endif
nerit 10:9e70619e97ab 1279 #endif
nerit 3:a469bbd294b5 1280 }
nerit 3:a469bbd294b5 1281 //*******************************************************
nerit 8:310f9e4eac7b 1282 void quinCalc()
nerit 8:310f9e4eac7b 1283 {
nerit 3:a469bbd294b5 1284 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 10:9e70619e97ab 1285 #if !defined(mezzo)
nerit 10:9e70619e97ab 1286 if ((quincClock==true)&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1287 oldQuincIn=1;
nerit 10:9e70619e97ab 1288 if (quincStart==0) {
nerit 10:9e70619e97ab 1289 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1290 quincTime.reset();
nerit 10:9e70619e97ab 1291 quincTimeSD.reset();
nerit 10:9e70619e97ab 1292 quincStart=1;
nerit 10:9e70619e97ab 1293 }
nerit 3:a469bbd294b5 1294 }
nerit 10:9e70619e97ab 1295 if(quincClock==false) {
nerit 3:a469bbd294b5 1296 oldQuincIn=0;
nerit 3:a469bbd294b5 1297 }
nerit 10:9e70619e97ab 1298 #else
nerit 10:9e70619e97ab 1299 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)) {
nerit 10:9e70619e97ab 1300 oldQuincIn=1;
nerit 10:9e70619e97ab 1301 if (quincStart==0) {
nerit 10:9e70619e97ab 1302 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 10:9e70619e97ab 1303 quincTime.reset();
nerit 10:9e70619e97ab 1304 quincStart=1;
nerit 10:9e70619e97ab 1305 }
nerit 3:a469bbd294b5 1306 }
nerit 10:9e70619e97ab 1307 if (quinconceActive==0) {
nerit 10:9e70619e97ab 1308 if (quincClock==false) {
nerit 10:9e70619e97ab 1309 oldQuincIn=0;
nerit 10:9e70619e97ab 1310 }
nerit 10:9e70619e97ab 1311 } else {
nerit 10:9e70619e97ab 1312 if (quincClock==true) {
nerit 10:9e70619e97ab 1313 oldQuincIn=0;
nerit 10:9e70619e97ab 1314 }
nerit 10:9e70619e97ab 1315 }
nerit 10:9e70619e97ab 1316 #endif
nerit 3:a469bbd294b5 1317 //****************************************************************************************
nerit 8:310f9e4eac7b 1318 if (quincCnt>=4) {
nerit 8:310f9e4eac7b 1319 if (countPicks==0) {
nerit 8:310f9e4eac7b 1320 if ((sincroQui==1)&&(quincStart==0)) {
nerit 3:a469bbd294b5 1321 // decelera
nerit 3:a469bbd294b5 1322 countPicks=1;
nerit 3:a469bbd294b5 1323 }
nerit 8:310f9e4eac7b 1324 if ((sincroQui==0)&&(quincStart==1)) {
nerit 3:a469bbd294b5 1325 // accelera
nerit 3:a469bbd294b5 1326 countPicks=2;
nerit 3:a469bbd294b5 1327 }
nerit 3:a469bbd294b5 1328 }
nerit 8:310f9e4eac7b 1329 if ((sincroQui==1)&&(quincStart==1)) {
nerit 8:310f9e4eac7b 1330 if (countPicks==1) { //decelera
nerit 3:a469bbd294b5 1331 scostamento = oldQuincTimeSD;
nerit 8:310f9e4eac7b 1332 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1333 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1334 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1335 #if defined(pcSerial)
nerit 3:a469bbd294b5 1336 #if defined(laq)
nerit 3:a469bbd294b5 1337 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1338 #endif
nerit 3:a469bbd294b5 1339 #endif
nerit 3:a469bbd294b5 1340 }
nerit 3:a469bbd294b5 1341 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1342 }
nerit 8:310f9e4eac7b 1343 if (countPicks==2) { //accelera
nerit 3:a469bbd294b5 1344 scostamento = (double)quincTime.read_ms();
nerit 8:310f9e4eac7b 1345 if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
nerit 3:a469bbd294b5 1346 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 3:a469bbd294b5 1347 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 3:a469bbd294b5 1348 #if defined(pcSerial)
nerit 3:a469bbd294b5 1349 #if defined(laq)
nerit 8:310f9e4eac7b 1350 pc.printf("ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 3:a469bbd294b5 1351 #endif
nerit 3:a469bbd294b5 1352 #endif
nerit 3:a469bbd294b5 1353 }
nerit 3:a469bbd294b5 1354 //if (scostamento <15.0f){percento=0.0f;}
nerit 3:a469bbd294b5 1355 }
nerit 3:a469bbd294b5 1356 sincroQui=0;
nerit 3:a469bbd294b5 1357 quincStart=0;
nerit 3:a469bbd294b5 1358 countPicks=0;
nerit 5:2a3a64b52f54 1359 // questo e il primo
nerit 3:a469bbd294b5 1360 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1361 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1362 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1363 if (enableSimula==0) {
nerit 8:310f9e4eac7b 1364 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 13:d1030d4e51a8 1365 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1366 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1367 }
nerit 13:d1030d4e51a8 1368 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1369 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1370 }
nerit 3:a469bbd294b5 1371 }
nerit 8:310f9e4eac7b 1372 }
nerit 3:a469bbd294b5 1373 }
nerit 3:a469bbd294b5 1374 #endif
nerit 3:a469bbd294b5 1375 }
nerit 8:310f9e4eac7b 1376
nerit 3:a469bbd294b5 1377 //*******************************************************************
nerit 8:310f9e4eac7b 1378 if (canDataCheckEnable==true) {
nerit 8:310f9e4eac7b 1379 if (canDataCheck==1) { // sincro da comunicazione can del valore di posizione del tamburo master
nerit 3:a469bbd294b5 1380 canDataCheck=0;
nerit 10:9e70619e97ab 1381 double parametro = SDsectorStep/2.0f;
nerit 3:a469bbd294b5 1382 double differenza=0.0f;
nerit 3:a469bbd294b5 1383 #if defined(mezzo)
nerit 8:310f9e4eac7b 1384 if (quinconceActive==1) {
nerit 3:a469bbd294b5 1385 differenza = (double)masterSinc - (double)prePosSD;
nerit 8:310f9e4eac7b 1386 } else {
nerit 3:a469bbd294b5 1387 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1388 }
nerit 3:a469bbd294b5 1389 #else
nerit 3:a469bbd294b5 1390 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 3:a469bbd294b5 1391 #endif
nerit 8:310f9e4eac7b 1392 if ((differenza > 0.0f)&&(differenza < parametro)) {
nerit 8:310f9e4eac7b 1393 double diffPerc = differenza / parametro;
nerit 3:a469bbd294b5 1394 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1395 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1396 #if defined(quinca)
nerit 3:a469bbd294b5 1397 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 3:a469bbd294b5 1398 #endif
nerit 3:a469bbd294b5 1399 #endif
nerit 3:a469bbd294b5 1400 }
nerit 8:310f9e4eac7b 1401 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
nerit 8:310f9e4eac7b 1402 double diffPerc = (double)differenza / parametro;
nerit 3:a469bbd294b5 1403 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 3:a469bbd294b5 1404 #if defined(pcSerial)
nerit 3:a469bbd294b5 1405 #if defined(quinca)
nerit 3:a469bbd294b5 1406 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 3:a469bbd294b5 1407 #endif
nerit 3:a469bbd294b5 1408 #endif
nerit 3:a469bbd294b5 1409 }
nerit 5:2a3a64b52f54 1410 // questo e il secondo
nerit 3:a469bbd294b5 1411 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 1412 if (quincCnt>=3) {
nerit 8:310f9e4eac7b 1413 if (speedFromMaster>0.0f) {
nerit 8:310f9e4eac7b 1414 if (enableSimula==0) {
nerit 5:2a3a64b52f54 1415 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 13:d1030d4e51a8 1416 if (tractorSpeed_MtS_timed > (oldLocalTractorSpeed*1.15f)){
nerit 10:9e70619e97ab 1417 tractorSpeed_MtS_timed = oldLocalTractorSpeed*1.15f;
nerit 10:9e70619e97ab 1418 }
nerit 13:d1030d4e51a8 1419 if (tractorSpeed_MtS_timed < (oldLocalTractorSpeed/1.15f)){
nerit 10:9e70619e97ab 1420 tractorSpeed_MtS_timed = oldLocalTractorSpeed/1.15f;
nerit 10:9e70619e97ab 1421 }
nerit 3:a469bbd294b5 1422 }
nerit 5:2a3a64b52f54 1423 }
nerit 3:a469bbd294b5 1424 }
nerit 3:a469bbd294b5 1425 #endif
nerit 3:a469bbd294b5 1426 }
nerit 3:a469bbd294b5 1427 }
nerit 8:310f9e4eac7b 1428
nerit 3:a469bbd294b5 1429 }
nerit 8:310f9e4eac7b 1430 if ((percento) > ((double) quincLIMplus/100.0f)) {
nerit 3:a469bbd294b5 1431 percento= (double)quincLIMplus/100.0f;
nerit 3:a469bbd294b5 1432 }
nerit 8:310f9e4eac7b 1433 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)) {
nerit 3:a469bbd294b5 1434 percento=((double)quincLIMminus*-1.0f)/100.0f;
bcostm 0:5701b41769fd 1435 }
nerit 6:e8c18f0f399a 1436 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1437 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1438 pc.printf("26\n");
nerit 6:e8c18f0f399a 1439 #endif
nerit 6:e8c18f0f399a 1440 #endif
bcostm 0:5701b41769fd 1441 }
nerit 8:310f9e4eac7b 1442 // ----------------------------------------
nerit 3:a469bbd294b5 1443 #if defined(seedSensor)
nerit 3:a469bbd294b5 1444 void resetDelay(){
nerit 3:a469bbd294b5 1445 delaySeedCheck.reset();
nerit 3:a469bbd294b5 1446 delaySeedCheck.stop();
nerit 8:310f9e4eac7b 1447 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1448 #if defined(checkLoop)
nerit 8:310f9e4eac7b 1449 pc.printf("27\n");
nerit 8:310f9e4eac7b 1450 #endif
nerit 6:e8c18f0f399a 1451 #endif
nerit 3:a469bbd294b5 1452 }
nerit 3:a469bbd294b5 1453 #endif
nerit 8:310f9e4eac7b 1454
nerit 3:a469bbd294b5 1455 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 3:a469bbd294b5 1456 // MAIN SECTION
nerit 3:a469bbd294b5 1457 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
bcostm 0:5701b41769fd 1458
nerit 3:a469bbd294b5 1459 //*******************************************************************************
nerit 8:310f9e4eac7b 1460 int main()
nerit 8:310f9e4eac7b 1461 {
nerit 6:e8c18f0f399a 1462 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1463 #if defined(resetCpu)
nerit 6:e8c18f0f399a 1464 pc.printf("RESET\n");
nerit 6:e8c18f0f399a 1465 #endif
nerit 6:e8c18f0f399a 1466 #endif
nerit 8:310f9e4eac7b 1467
nerit 8:310f9e4eac7b 1468 #if defined(canbusActive)
nerit 8:310f9e4eac7b 1469 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 8:310f9e4eac7b 1470 #endif
nerit 8:310f9e4eac7b 1471
nerit 8:310f9e4eac7b 1472 wait(1.0f);
nerit 8:310f9e4eac7b 1473 wait(1.0f);
nerit 8:310f9e4eac7b 1474 wait(1.0f);
nerit 8:310f9e4eac7b 1475
nerit 8:310f9e4eac7b 1476 //stepSetting();
nerit 8:310f9e4eac7b 1477
nerit 6:e8c18f0f399a 1478 TBmotor_SW=1;
nerit 8:310f9e4eac7b 1479 TBmotorDirecti=TBforward; // reset stepper direction
nerit 8:310f9e4eac7b 1480 //----- Initialization
nerit 8:310f9e4eac7b 1481 /* Initializing SPI bus. */
nerit 8:310f9e4eac7b 1482 // dev_spi(mosi,miso,sclk)
nerit 8:310f9e4eac7b 1483 // D11= PA7; D12= PA6; D13= PA5
nerit 8:310f9e4eac7b 1484 DevSPI dev_spi(D11, D12, D13);
nerit 10:9e70619e97ab 1485 dev_spi.frequency(5000000);
nerit 10:9e70619e97ab 1486
nerit 8:310f9e4eac7b 1487 /* Initializing Motor Control Component. */
nerit 8:310f9e4eac7b 1488 // powerstep01( flag, busy,stby, stck, cs, dev_spi)
nerit 8:310f9e4eac7b 1489 // motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); // linea standard per IHM03A1
nerit 8:310f9e4eac7b 1490 motor = new PowerStep01(PA_8, PC_7, PC_4, PB_3, PB_6, dev_spi); // linea per scheda seminatrice V7
nerit 8:310f9e4eac7b 1491 if (motor->init(&init) != COMPONENT_OK) {
nerit 6:e8c18f0f399a 1492 exit(EXIT_FAILURE);
nerit 8:310f9e4eac7b 1493 }
nerit 6:e8c18f0f399a 1494
nerit 8:310f9e4eac7b 1495 /* Attaching and enabling an interrupt handler. */
nerit 8:310f9e4eac7b 1496 motor->attach_flag_irq(&my_flag_irq_handler);
nerit 8:310f9e4eac7b 1497 motor->enable_flag_irq();
nerit 8:310f9e4eac7b 1498 //motor->disable_flag_irq();
nerit 8:310f9e4eac7b 1499
nerit 8:310f9e4eac7b 1500 /* Attaching an error handler */
nerit 8:310f9e4eac7b 1501 //motor->attach_error_handler(&my_error_handler);
nerit 8:310f9e4eac7b 1502 wait(1.0f);
nerit 8:310f9e4eac7b 1503 for (int a=0; a<5; a++) {
nerit 3:a469bbd294b5 1504 mediaSpeed[a]=0;
nerit 3:a469bbd294b5 1505 }
nerit 8:310f9e4eac7b 1506
nerit 3:a469bbd294b5 1507 // DC reset ad set
nerit 3:a469bbd294b5 1508 int decima = 100;
nerit 3:a469bbd294b5 1509 wait_ms(200);
nerit 3:a469bbd294b5 1510 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1511 wait_ms(2);
nerit 3:a469bbd294b5 1512 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1513 wait_ms(1);
nerit 3:a469bbd294b5 1514 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 3:a469bbd294b5 1515 wait_ms(3);
nerit 3:a469bbd294b5 1516 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 8:310f9e4eac7b 1517 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 3:a469bbd294b5 1518 wait_ms(100);
nerit 3:a469bbd294b5 1519 DC_prepare();
nerit 8:310f9e4eac7b 1520
nerit 8:310f9e4eac7b 1521 speedTimer.start(); // speed pulse timer
nerit 3:a469bbd294b5 1522 intraPickTimer.start();
nerit 8:310f9e4eac7b 1523 speedTimeOut.start();
nerit 3:a469bbd294b5 1524 speedFilter.start();
nerit 3:a469bbd294b5 1525 seedFilter.start();
nerit 3:a469bbd294b5 1526 TBfilter.start();
nerit 3:a469bbd294b5 1527 sincroTimer.start();
nerit 3:a469bbd294b5 1528 rotationTimeOut.start();
nerit 3:a469bbd294b5 1529 metalTimer.start();
nerit 3:a469bbd294b5 1530 quincTime.start();
nerit 3:a469bbd294b5 1531 quincTimeSD.start();
nerit 8:310f9e4eac7b 1532 #if defined(runner)
nerit 8:310f9e4eac7b 1533 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1534 #endif
nerit 8:310f9e4eac7b 1535
nerit 3:a469bbd294b5 1536 //*******************************************************
nerit 3:a469bbd294b5 1537 // controls for check DC motor current
nerit 8:310f9e4eac7b 1538 pwmCheck.rise(&startDelay);
nerit 3:a469bbd294b5 1539 wait_ms(500);
nerit 8:310f9e4eac7b 1540
nerit 12:b0fc1d313813 1541 dcVeri.attach(&controllaCorrente,2.0f);
nerit 13:d1030d4e51a8 1542 delaySpeedCheck.start();
nerit 12:b0fc1d313813 1543
nerit 8:310f9e4eac7b 1544 #if defined(runnerTos)
nerit 8:310f9e4eac7b 1545 thread.start(step_Reading);
nerit 8:310f9e4eac7b 1546 #endif
nerit 3:a469bbd294b5 1547
nerit 8:310f9e4eac7b 1548 if (inProva==0) {
nerit 3:a469bbd294b5 1549 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 3:a469bbd294b5 1550 #if !defined(speedMaster)
nerit 3:a469bbd294b5 1551 quinconceIn.rise(&quincTrigon);
nerit 3:a469bbd294b5 1552 quinconceIn.fall(&quincTrigof);
nerit 3:a469bbd294b5 1553 #endif
nerit 3:a469bbd294b5 1554 #if defined(speedMaster)
nerit 3:a469bbd294b5 1555 tftUpdate.attach(&videoUpdate,0.50f);
nerit 3:a469bbd294b5 1556 #endif
nerit 3:a469bbd294b5 1557 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 1558 dcSetting();
nerit 3:a469bbd294b5 1559 #if defined(seedSensor)
nerit 3:a469bbd294b5 1560 seedCheck.fall(&seedSensorTask);
nerit 3:a469bbd294b5 1561 #endif
nerit 8:310f9e4eac7b 1562 } else {
nerit 8:310f9e4eac7b 1563 tftUpdate.attach(&videoUpdate,0.125f);
nerit 8:310f9e4eac7b 1564 }
nerit 8:310f9e4eac7b 1565
nerit 3:a469bbd294b5 1566 aggiornaParametri();
nerit 3:a469bbd294b5 1567
nerit 3:a469bbd294b5 1568 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 3:a469bbd294b5 1569 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 3:a469bbd294b5 1570 TBmotorDirecti=TBforward; // tb motor direction set
nerit 3:a469bbd294b5 1571
nerit 3:a469bbd294b5 1572 #if defined(provaStepper)
nerit 3:a469bbd294b5 1573 TBmotorRst=1;
nerit 3:a469bbd294b5 1574 TBmotorDirecti=TBforward;
nerit 3:a469bbd294b5 1575 // definire il pin di clock che è PB_3
nerit 9:7f02256f6e8f 1576 #if defined(Zucca)
nerit 10:9e70619e97ab 1577 motor->run(StepperMotor::BWD,100.0f);
nerit 10:9e70619e97ab 1578 //motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1579 #else
nerit 10:9e70619e97ab 1580 //motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1581 #endif
nerit 3:a469bbd294b5 1582 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 10:9e70619e97ab 1583 //DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 6:e8c18f0f399a 1584 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1585 #if defined(checkLoop)
nerit 6:e8c18f0f399a 1586 pc.printf("11f\n");
nerit 6:e8c18f0f399a 1587 #endif
nerit 6:e8c18f0f399a 1588 #endif
nerit 10:9e70619e97ab 1589 //TBticker.attach(&step_TBPulseOut,0.0005f); // clock time are seconds and attach seed motor stepper controls
nerit 10:9e70619e97ab 1590 //TATicker.attach(&invertiLo,3.0f);
nerit 3:a469bbd294b5 1591 #else
nerit 3:a469bbd294b5 1592 // definire il pin di clock che è PB_3
nerit 8:310f9e4eac7b 1593 motor->set_home();
nerit 8:310f9e4eac7b 1594 motor->go_to(50);
nerit 8:310f9e4eac7b 1595 motor->wait_while_active();
nerit 8:310f9e4eac7b 1596 #if !defined(runner)
nerit 9:7f02256f6e8f 1597 #if defined(Zucca)
nerit 9:7f02256f6e8f 1598 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1599 #else
nerit 9:7f02256f6e8f 1600 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1601 #endif
nerit 8:310f9e4eac7b 1602 #endif
nerit 6:e8c18f0f399a 1603 #if defined(pcSerial)
nerit 6:e8c18f0f399a 1604 #if defined(loStop)
nerit 6:e8c18f0f399a 1605 pc.printf("A3\n");
nerit 6:e8c18f0f399a 1606 #endif
nerit 6:e8c18f0f399a 1607 #endif
nerit 6:e8c18f0f399a 1608 motor->soft_hiz();
nerit 3:a469bbd294b5 1609 // attiva l'out per il controllo dello stepper in stepClockMode
nerit 3:a469bbd294b5 1610 DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input
nerit 3:a469bbd294b5 1611 #endif // end prova stepper
nerit 8:310f9e4eac7b 1612
nerit 8:310f9e4eac7b 1613 wd.Configure(2.0); //watchdog set at xx seconds
nerit 8:310f9e4eac7b 1614
nerit 8:310f9e4eac7b 1615
nerit 3:a469bbd294b5 1616 //**************************************************************************************************************
nerit 3:a469bbd294b5 1617 // MAIN LOOP
nerit 3:a469bbd294b5 1618 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1619 while (true) {
nerit 6:e8c18f0f399a 1620 // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
nerit 8:310f9e4eac7b 1621 if (tractorSpeedRead==0) {
nerit 8:310f9e4eac7b 1622 speedClock=0;
nerit 8:310f9e4eac7b 1623 }
nerit 8:310f9e4eac7b 1624
nerit 3:a469bbd294b5 1625 // inversione segnali ingressi
nerit 3:a469bbd294b5 1626 #if !defined(simulaBanco)
nerit 3:a469bbd294b5 1627 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 3:a469bbd294b5 1628 #else
nerit 8:310f9e4eac7b 1629 if ((prePosSD-500) >= SDsectorStep) {
nerit 3:a469bbd294b5 1630 seedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1631 }
nerit 8:310f9e4eac7b 1632 if ((prePosSD > 500)&&(prePosSD<580)) {
nerit 3:a469bbd294b5 1633 seedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1634 }
nerit 8:310f9e4eac7b 1635 #endif
nerit 3:a469bbd294b5 1636 TBzeroPinInput = !TBzeroPinInputRev;
nerit 8:310f9e4eac7b 1637
nerit 3:a469bbd294b5 1638 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 3:a469bbd294b5 1639 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1640 if (seedWheelZeroPinInput==1) {
nerit 3:a469bbd294b5 1641 quinconceOut=0;
nerit 3:a469bbd294b5 1642 }
nerit 8:310f9e4eac7b 1643 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)) {
nerit 3:a469bbd294b5 1644 quinconceOut=1;
nerit 3:a469bbd294b5 1645 }
nerit 8:310f9e4eac7b 1646 if (quinconceActive==1) {
nerit 8:310f9e4eac7b 1647 if ((quinconceOut==1)&&(oldQuinconceOut==1)) {
nerit 3:a469bbd294b5 1648 posForQuinc=500;
nerit 3:a469bbd294b5 1649 oldQuinconceOut=0;
nerit 3:a469bbd294b5 1650 }
nerit 8:310f9e4eac7b 1651 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)) {
nerit 3:a469bbd294b5 1652 oldQuinconceOut=1;
nerit 3:a469bbd294b5 1653 }
nerit 8:310f9e4eac7b 1654 }
nerit 3:a469bbd294b5 1655 #endif
nerit 3:a469bbd294b5 1656
nerit 3:a469bbd294b5 1657 // simulazione velocita
nerit 8:310f9e4eac7b 1658 if (enableSimula==1) {
nerit 3:a469bbd294b5 1659 double TMT = 0.0f;
nerit 8:310f9e4eac7b 1660 if (speedSimula > 0) {
nerit 3:a469bbd294b5 1661 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 3:a469bbd294b5 1662 pulseSpeedInterval = pulseDistance / TMT;
nerit 8:310f9e4eac7b 1663 } else {
nerit 3:a469bbd294b5 1664 pulseSpeedInterval = 10000.0f;
nerit 8:310f9e4eac7b 1665 }
nerit 8:310f9e4eac7b 1666 if (avviaSimula==1) {
nerit 8:310f9e4eac7b 1667 if(oldSimulaSpeed!=pulseSpeedInterval) {
nerit 3:a469bbd294b5 1668 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 3:a469bbd294b5 1669 oldSimulaSpeed=pulseSpeedInterval;
nerit 3:a469bbd294b5 1670 }
nerit 8:310f9e4eac7b 1671 } else {
nerit 3:a469bbd294b5 1672 oldSimulaSpeed=10000.0f;
nerit 3:a469bbd294b5 1673 spedSimclock.detach();
nerit 3:a469bbd294b5 1674 }
nerit 8:310f9e4eac7b 1675 } else {
nerit 3:a469bbd294b5 1676 spedSimclock.detach();
nerit 3:a469bbd294b5 1677 }
nerit 8:310f9e4eac7b 1678
nerit 3:a469bbd294b5 1679 //*******************************************************
nerit 3:a469bbd294b5 1680 // determina se sono in bassa velocità per il controllo di TB
nerit 8:310f9e4eac7b 1681 if (speedOfSeedWheel<=minSeedSpeed) {
nerit 8:310f9e4eac7b 1682 if (lowSpeedRequired==0) {
nerit 3:a469bbd294b5 1683 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1684 ritardaLowSpeed.start();
nerit 3:a469bbd294b5 1685 }
nerit 3:a469bbd294b5 1686 lowSpeedRequired=1;
nerit 8:310f9e4eac7b 1687 } else {
nerit 8:310f9e4eac7b 1688 if (lowSpeedRequired==1) {
nerit 3:a469bbd294b5 1689 lowSpeedRequired=0;
nerit 3:a469bbd294b5 1690 ritardaLowSpeed.reset();
nerit 3:a469bbd294b5 1691 ritardaLowSpeed.stop();
nerit 3:a469bbd294b5 1692 }
nerit 3:a469bbd294b5 1693 }
nerit 3:a469bbd294b5 1694
nerit 8:310f9e4eac7b 1695 if (ritardaLowSpeed.read_ms()> 2000) {
nerit 3:a469bbd294b5 1696 lowSpeed=1;
nerit 8:310f9e4eac7b 1697 } else {
nerit 3:a469bbd294b5 1698 lowSpeed=0;
nerit 3:a469bbd294b5 1699 }
bcostm 2:35f13b7f3659 1700
nerit 3:a469bbd294b5 1701 //**************************************************************************************************************
nerit 3:a469bbd294b5 1702 //**************************************************************************************************************
nerit 3:a469bbd294b5 1703 // LOGICAL CONTROLS
nerit 3:a469bbd294b5 1704 //**************************************************************************************************************
nerit 3:a469bbd294b5 1705 //**************************************************************************************************************
nerit 8:310f9e4eac7b 1706
nerit 8:310f9e4eac7b 1707 if (inProva==0) {
nerit 8:310f9e4eac7b 1708 if ((startCycleSimulation==0)&&(enableSimula==0)) {
nerit 6:e8c18f0f399a 1709 runRequestBuf=1;//0;
nerit 8:310f9e4eac7b 1710 } else {
nerit 6:e8c18f0f399a 1711 runRequestBuf=1;//0;
nerit 6:e8c18f0f399a 1712 }
nerit 8:310f9e4eac7b 1713 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)) {
nerit 6:e8c18f0f399a 1714 oldTractorSpeedRead=0;
nerit 3:a469bbd294b5 1715 }
nerit 3:a469bbd294b5 1716 // ----------------------------------------
nerit 3:a469bbd294b5 1717 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 3:a469bbd294b5 1718 // ----------------------------------------
nerit 8:310f9e4eac7b 1719 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)) {
nerit 8:310f9e4eac7b 1720 if(seedFilter.read_ms()>=4) {
nerit 3:a469bbd294b5 1721 oldSeedWheelZeroPinInput=0;
nerit 3:a469bbd294b5 1722 SDzeroDebounced=0;
nerit 3:a469bbd294b5 1723 }
nerit 3:a469bbd294b5 1724 }
nerit 8:310f9e4eac7b 1725 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)) {
nerit 3:a469bbd294b5 1726 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 3:a469bbd294b5 1727 prePosSD=500; // preposizionamento SD
nerit 3:a469bbd294b5 1728 intraPickTimer.reset();
nerit 3:a469bbd294b5 1729 rotationTimeOut.reset();
nerit 8:310f9e4eac7b 1730 seedFilter.reset();
nerit 3:a469bbd294b5 1731 sincroTimer.reset();
nerit 3:a469bbd294b5 1732 oldSeedWheelZeroPinInput=1;
nerit 3:a469bbd294b5 1733 quincTime.reset();
nerit 3:a469bbd294b5 1734 quincTimeSD.reset();
nerit 3:a469bbd294b5 1735 SDzeroDebounced=1;
nerit 3:a469bbd294b5 1736 sincroQui=1;
nerit 3:a469bbd294b5 1737 SDwheelTimer.reset();
nerit 13:d1030d4e51a8 1738 dcEncoderCnt=0;
nerit 3:a469bbd294b5 1739 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1740 if (quinconceActive==0) {
nerit 3:a469bbd294b5 1741 posForQuinc=500;
nerit 3:a469bbd294b5 1742 }
nerit 3:a469bbd294b5 1743 #endif
nerit 8:310f9e4eac7b 1744 if (quincCnt<10) {
nerit 3:a469bbd294b5 1745 quincCnt++;
nerit 3:a469bbd294b5 1746 }
nerit 8:310f9e4eac7b 1747 if ((aspettaStart==0)&&(lowSpeed==1)) {
nerit 3:a469bbd294b5 1748 beccoPronto=1;
nerit 3:a469bbd294b5 1749 }
nerit 3:a469bbd294b5 1750 lockStart=0;
nerit 3:a469bbd294b5 1751 double fase1=0.0f;
nerit 3:a469bbd294b5 1752 forzaFase=0;
nerit 3:a469bbd294b5 1753 double limite=fixedStepGiroSD/pickNumber;
nerit 8:310f9e4eac7b 1754 if (tamburoStandard==0) {
nerit 8:310f9e4eac7b 1755 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1756 } else {
nerit 8:310f9e4eac7b 1757 if(speedForCorrection >= speedOfSeedWheel) {
nerit 3:a469bbd294b5 1758 fase1=TBdeltaStep;
nerit 8:310f9e4eac7b 1759 } else {
nerit 3:a469bbd294b5 1760 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 3:a469bbd294b5 1761 }
nerit 8:310f9e4eac7b 1762 if (fase1 > limite) {
nerit 3:a469bbd294b5 1763 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 1764 }
nerit 8:310f9e4eac7b 1765 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))) {
nerit 3:a469bbd294b5 1766 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 3:a469bbd294b5 1767 forzaFase=1;
nerit 3:a469bbd294b5 1768 }
nerit 3:a469bbd294b5 1769 trigRepos=1;
nerit 3:a469bbd294b5 1770 }
nerit 3:a469bbd294b5 1771 fase = (uint32_t)fase1+500;
nerit 3:a469bbd294b5 1772 #if defined(pcSerial)
nerit 3:a469bbd294b5 1773 #if defined(inCorre)
nerit 3:a469bbd294b5 1774 pc.printf(" limite %f", limite);
nerit 3:a469bbd294b5 1775 pc.printf(" delta %f", TBdeltaStep);
nerit 3:a469bbd294b5 1776 pc.printf(" faseStep %f", TBfaseStep);
nerit 3:a469bbd294b5 1777 pc.printf(" fase %d",fase);
nerit 3:a469bbd294b5 1778 pc.printf(" forzaFase %d",forzaFase);
nerit 3:a469bbd294b5 1779 pc.printf(" trigRepos %d", trigRepos);
nerit 3:a469bbd294b5 1780 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 3:a469bbd294b5 1781 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 3:a469bbd294b5 1782 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 3:a469bbd294b5 1783 #endif
nerit 3:a469bbd294b5 1784 #endif
nerit 8:310f9e4eac7b 1785 if (timeIntraPick >= (memoIntraPick*2)) {
nerit 8:310f9e4eac7b 1786 if ((aspettaStart==0)) {
nerit 8:310f9e4eac7b 1787 if (firstStart==0) {
nerit 3:a469bbd294b5 1788 all_pickSignal=1;
nerit 3:a469bbd294b5 1789 }
nerit 3:a469bbd294b5 1790 }
nerit 3:a469bbd294b5 1791 }
nerit 3:a469bbd294b5 1792 memoIntraPick = timeIntraPick;
nerit 8:310f9e4eac7b 1793 if ((speedFromPick==1)&&(encoder==false)) {
nerit 3:a469bbd294b5 1794 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 10:9e70619e97ab 1795 #if defined(pcSerial)
nerit 10:9e70619e97ab 1796 #if defined(Qnca)
nerit 10:9e70619e97ab 1797 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 10:9e70619e97ab 1798 #endif
nerit 3:a469bbd294b5 1799 #endif
nerit 3:a469bbd294b5 1800 }
nerit 8:310f9e4eac7b 1801 if (encoder==false) {
nerit 3:a469bbd294b5 1802 pulseRised2=1;
nerit 3:a469bbd294b5 1803 }
nerit 3:a469bbd294b5 1804 #if defined(speedMaster)
nerit 8:310f9e4eac7b 1805 if ((tractorSpeed_MtS_timed==0.0f)) {
nerit 8:310f9e4eac7b 1806 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 10:9e70619e97ab 1807 cntSpeedError++;
nerit 10:9e70619e97ab 1808 if (cntSpeedError >= 3){
nerit 10:9e70619e97ab 1809 all_noSpeedSen=1;
nerit 10:9e70619e97ab 1810 }
nerit 3:a469bbd294b5 1811 }
nerit 3:a469bbd294b5 1812 }
nerit 10:9e70619e97ab 1813 double oldLastPr = (double)oldLastPulseRead*1.8f;
nerit 8:310f9e4eac7b 1814 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 8:310f9e4eac7b 1815 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
nerit 3:a469bbd294b5 1816 all_speedError =1;
nerit 3:a469bbd294b5 1817 }
nerit 3:a469bbd294b5 1818 }
nerit 3:a469bbd294b5 1819 #endif
nerit 3:a469bbd294b5 1820 //*******************************************
nerit 3:a469bbd294b5 1821 // esegue calcolo clock per la generazione della posizione teorica
nerit 3:a469bbd294b5 1822 // la realtà in base al segnale di presenza del becco
nerit 8:310f9e4eac7b 1823 if (speedOfSeedWheel < 0.002f) {
nerit 10:9e70619e97ab 1824 #if defined(pcSerial)
nerit 10:9e70619e97ab 1825 #if defined(checkLoopb)
nerit 10:9e70619e97ab 1826 pc.printf("forza\n");
nerit 10:9e70619e97ab 1827 #endif
nerit 8:310f9e4eac7b 1828 #endif
nerit 6:e8c18f0f399a 1829 speedOfSeedWheel=0.001f;
nerit 6:e8c18f0f399a 1830 }
nerit 8:310f9e4eac7b 1831 aggioVelocita();
nerit 3:a469bbd294b5 1832 }
nerit 3:a469bbd294b5 1833 // ----------------------------------------
nerit 8:310f9e4eac7b 1834 // check SD fase
nerit 8:310f9e4eac7b 1835 if ((prePosSD >= fase)||(forzaFase==1)) { //&&(prePosSD < (fase +30))){
nerit 3:a469bbd294b5 1836 forzaFase=0;
nerit 8:310f9e4eac7b 1837 if (trigRepos==1) {
nerit 3:a469bbd294b5 1838 SDactualPosition=0;
nerit 8:310f9e4eac7b 1839 if ((countCicli<30)&&(trigCicli==0)) {
nerit 6:e8c18f0f399a 1840 countCicli++;
nerit 6:e8c18f0f399a 1841 trigCicli=1;
nerit 6:e8c18f0f399a 1842 }
nerit 8:310f9e4eac7b 1843 if(countCicli>=cicliAspettaStart) {
nerit 6:e8c18f0f399a 1844 aspettaStart=0;
nerit 10:9e70619e97ab 1845 #if defined(pcSerial)
nerit 10:9e70619e97ab 1846 #if defined(checkLoop)
nerit 10:9e70619e97ab 1847 pc.printf("NoAspetta\n");
nerit 10:9e70619e97ab 1848 #endif
nerit 10:9e70619e97ab 1849 #endif
nerit 6:e8c18f0f399a 1850 }
nerit 8:310f9e4eac7b 1851 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
nerit 6:e8c18f0f399a 1852 syncroCheck=1;
nerit 6:e8c18f0f399a 1853 beccoPronto=0;
nerit 10:9e70619e97ab 1854 #if defined(pcSerial)
nerit 10:9e70619e97ab 1855 #if defined(checkLoop)
nerit 10:9e70619e97ab 1856 pc.printf("BeccoNo\n");
nerit 10:9e70619e97ab 1857 #endif
nerit 10:9e70619e97ab 1858 #endif
nerit 6:e8c18f0f399a 1859 }
nerit 8:310f9e4eac7b 1860 if (trigTB==0) {
nerit 3:a469bbd294b5 1861 inhibit=1;
nerit 3:a469bbd294b5 1862 trigSD=1;
nerit 8:310f9e4eac7b 1863 } else {
nerit 3:a469bbd294b5 1864 inhibit=0;
nerit 3:a469bbd294b5 1865 trigTB=0;
nerit 3:a469bbd294b5 1866 trigSD=0;
nerit 3:a469bbd294b5 1867 }
nerit 3:a469bbd294b5 1868 trigRepos=0;
nerit 3:a469bbd294b5 1869 }
nerit 8:310f9e4eac7b 1870 } else {
nerit 3:a469bbd294b5 1871 trigCicli=0;
nerit 3:a469bbd294b5 1872 }
nerit 8:310f9e4eac7b 1873 // ----------------------------------------
nerit 3:a469bbd294b5 1874 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 8:310f9e4eac7b 1875 if (TBzeroPinInput==0) {
nerit 8:310f9e4eac7b 1876 if (TBfilter.read_ms()>=2) {
nerit 8:310f9e4eac7b 1877 oldTBzeroPinInput=0;
nerit 8:310f9e4eac7b 1878 }
nerit 8:310f9e4eac7b 1879 }
nerit 8:310f9e4eac7b 1880 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)) {
nerit 3:a469bbd294b5 1881 oldTBzeroPinInput=1;
nerit 8:310f9e4eac7b 1882 if (loadDaCanInCorso==0) {
nerit 3:a469bbd294b5 1883 stopCicloTB=1;
nerit 3:a469bbd294b5 1884 startCicloTB=0;
nerit 3:a469bbd294b5 1885 }
nerit 3:a469bbd294b5 1886 TBfilter.reset();
nerit 3:a469bbd294b5 1887 TBzeroCyclePulse=1;
nerit 8:310f9e4eac7b 1888 #if defined(runner)
nerit 8:310f9e4eac7b 1889 legPos.detach();
nerit 8:310f9e4eac7b 1890 TBoldPosition= (uint32_t) motor->get_position();
nerit 8:310f9e4eac7b 1891 legPos.attach(&step_Reading,0.002f);
nerit 8:310f9e4eac7b 1892 #if defined(pcSerial)
nerit 8:310f9e4eac7b 1893 #if defined(TBperS)
nerit 8:310f9e4eac7b 1894 pc.printf("TBoldPos: %d\n",TBoldPosition);
nerit 8:310f9e4eac7b 1895 #endif
nerit 8:310f9e4eac7b 1896 #endif
nerit 8:310f9e4eac7b 1897
nerit 8:310f9e4eac7b 1898 #else
nerit 8:310f9e4eac7b 1899 TBactualPosition=0;
nerit 8:310f9e4eac7b 1900 #endif
nerit 8:310f9e4eac7b 1901 if (cntTbError>0) {
nerit 3:a469bbd294b5 1902 cntCellsCorrect++;
nerit 3:a469bbd294b5 1903 }
nerit 8:310f9e4eac7b 1904 if (cntCellsCorrect>3) {
nerit 3:a469bbd294b5 1905 cntTbError=0;
nerit 3:a469bbd294b5 1906 cntCellsCorrect=0;
nerit 3:a469bbd294b5 1907 }
nerit 3:a469bbd294b5 1908 // conteggio celle erogate
nerit 8:310f9e4eac7b 1909 if (cellsCounterLow < 0xFF) {
nerit 3:a469bbd294b5 1910 cellsCounterLow++;
nerit 8:310f9e4eac7b 1911 } else {
nerit 3:a469bbd294b5 1912 cellsCounterHig++;
nerit 3:a469bbd294b5 1913 cellsCounterLow=0;
nerit 3:a469bbd294b5 1914 }
nerit 3:a469bbd294b5 1915 // ciclo conteggio celle per carico manuale
nerit 8:310f9e4eac7b 1916 if (loadDaCanInCorso==1) {
nerit 3:a469bbd294b5 1917 cntCellsForLoad++;
nerit 8:310f9e4eac7b 1918 if (cntCellsForLoad >= 5) {
nerit 8:310f9e4eac7b 1919 stopCicloTB=1;
nerit 3:a469bbd294b5 1920 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1921 }
nerit 8:310f9e4eac7b 1922 } else {
nerit 3:a469bbd294b5 1923 cntCellsForLoad=0;
nerit 3:a469bbd294b5 1924 }
nerit 3:a469bbd294b5 1925 // inibizione controllo di sincro per fuori fase
nerit 8:310f9e4eac7b 1926 if (trigSD==0) {
nerit 3:a469bbd294b5 1927 inhibit=1;
nerit 3:a469bbd294b5 1928 trigTB=1;
nerit 8:310f9e4eac7b 1929 } else {
nerit 3:a469bbd294b5 1930 inhibit=0;
nerit 3:a469bbd294b5 1931 trigTB=0;
nerit 3:a469bbd294b5 1932 trigSD=0;
nerit 3:a469bbd294b5 1933 }
nerit 3:a469bbd294b5 1934 // conta le celle indietro per sbloccare il tamburo
nerit 8:310f9e4eac7b 1935 if ((TBmotorDirecti==TBreverse)&&(erroreTamburo==1)) {
nerit 3:a469bbd294b5 1936 cntCellsForReload++;
nerit 8:310f9e4eac7b 1937 if (cntCellsForReload >= cellsCountSet) {
nerit 3:a469bbd294b5 1938 TBmotorDirecti=TBforward; // rotazione normale
nerit 8:310f9e4eac7b 1939 #if defined(runner)
nerit 9:7f02256f6e8f 1940 #if defined(Zucca)
nerit 9:7f02256f6e8f 1941 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1942 #else
nerit 9:7f02256f6e8f 1943 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1944 #endif
nerit 8:310f9e4eac7b 1945 #else
nerit 9:7f02256f6e8f 1946 #if defined(Zucca)
nerit 9:7f02256f6e8f 1947 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1948 #else
nerit 9:7f02256f6e8f 1949 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1950 #endif
nerit 8:310f9e4eac7b 1951 #endif
nerit 3:a469bbd294b5 1952 erroreTamburo=0;
nerit 3:a469bbd294b5 1953 cntCellsCorrect=0;
nerit 8:310f9e4eac7b 1954 }
nerit 3:a469bbd294b5 1955 }
nerit 3:a469bbd294b5 1956 #if defined(seedSensor)
nerit 3:a469bbd294b5 1957 resetDelay();
nerit 3:a469bbd294b5 1958 delaySeedCheck.start();
nerit 3:a469bbd294b5 1959 #endif
nerit 3:a469bbd294b5 1960 }
nerit 8:310f9e4eac7b 1961 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
nerit 8:310f9e4eac7b 1962 if (firstStart==0) {
nerit 8:310f9e4eac7b 1963 if (cntTbError>2) {
nerit 3:a469bbd294b5 1964 all_cellSignal=1;
nerit 3:a469bbd294b5 1965 #if defined(seedSensor)
nerit 3:a469bbd294b5 1966 resetDelay();
nerit 3:a469bbd294b5 1967 #endif
nerit 3:a469bbd294b5 1968 }
nerit 3:a469bbd294b5 1969 }
nerit 8:310f9e4eac7b 1970 if (erroreTamburo==0) {
nerit 3:a469bbd294b5 1971 erroreTamburo=1;
nerit 3:a469bbd294b5 1972 TBmotorDirecti=TBreverse; // rotazione inversa
nerit 8:310f9e4eac7b 1973 #if defined(runner)
nerit 9:7f02256f6e8f 1974 #if defined(Zucca)
nerit 9:7f02256f6e8f 1975 motor->run(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1976 #else
nerit 9:7f02256f6e8f 1977 motor->run(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1978 #endif
nerit 8:310f9e4eac7b 1979 #else
nerit 9:7f02256f6e8f 1980 #if defined(Zucca)
nerit 9:7f02256f6e8f 1981 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 1982 #else
nerit 9:7f02256f6e8f 1983 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 1984 #endif
nerit 8:310f9e4eac7b 1985 #endif
nerit 3:a469bbd294b5 1986 cntCellsForReload=0;
nerit 3:a469bbd294b5 1987 cntTbError++;
nerit 3:a469bbd294b5 1988 #if defined(seedSensor)
nerit 3:a469bbd294b5 1989 resetDelay();
nerit 3:a469bbd294b5 1990 #endif
nerit 3:a469bbd294b5 1991 }
nerit 3:a469bbd294b5 1992 }
nerit 8:310f9e4eac7b 1993 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)) {
nerit 8:310f9e4eac7b 1994 if (firstStart==0) {
nerit 3:a469bbd294b5 1995 all_noStepRota=1;
nerit 3:a469bbd294b5 1996 #if defined(seedSensor)
nerit 3:a469bbd294b5 1997 resetDelay();
nerit 3:a469bbd294b5 1998 #endif
nerit 3:a469bbd294b5 1999 }
nerit 3:a469bbd294b5 2000 cntTbError=0;
nerit 3:a469bbd294b5 2001 }
nerit 8:310f9e4eac7b 2002 // ----------------------------------------
nerit 3:a469bbd294b5 2003 // read and manage joystick
nerit 8:310f9e4eac7b 2004 if (loadDaCan==1) {
nerit 8:310f9e4eac7b 2005 if (tractorSpeed_MtS_timed==0.0f) {
nerit 8:310f9e4eac7b 2006 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2007 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2008 pc.printf("daCAN\n");
nerit 6:e8c18f0f399a 2009 #endif
nerit 8:310f9e4eac7b 2010 #endif
nerit 6:e8c18f0f399a 2011 ciclaTB();
nerit 8:310f9e4eac7b 2012 }
nerit 3:a469bbd294b5 2013 }
nerit 8:310f9e4eac7b 2014
nerit 8:310f9e4eac7b 2015 //***************************************************************************************************
nerit 8:310f9e4eac7b 2016 // pulseRised define the event of speed wheel pulse occurs
nerit 8:310f9e4eac7b 2017 //
nerit 3:a469bbd294b5 2018 //double maxInterval = pulseDistance/minWorkSpeed;
nerit 3:a469bbd294b5 2019 //double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 8:310f9e4eac7b 2020 if (pulseRised==1) {
nerit 12:b0fc1d313813 2021 if (enableSpeed<10) {enableSpeed++;}
nerit 3:a469bbd294b5 2022 pulseRised=0;
nerit 3:a469bbd294b5 2023 pulseRised1=1;
nerit 3:a469bbd294b5 2024 speedMediaCalc();
nerit 3:a469bbd294b5 2025 // calcola velocità trattore
nerit 8:310f9e4eac7b 2026 if(enableSpeed>=2) {
nerit 8:310f9e4eac7b 2027 if ((pulseSpeedInterval>=0.0f)) { //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:310f9e4eac7b 2028 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)) {
nerit 13:d1030d4e51a8 2029 //TODO: limite inferiore e superiore per non modificare la velocità selezionata
nerit 13:d1030d4e51a8 2030 // serve un timer a 5 secondi dopo l'avviamento che fa partire il controllo
nerit 3:a469bbd294b5 2031 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 13:d1030d4e51a8 2032 if (delaySpeedCheck.read()>=5.0f){
nerit 13:d1030d4e51a8 2033 if ((tractorSpeed_MtS_timed<=(oldLocalTractorSpeed+hiLimitSpeed))&&(tractorSpeed_MtS_timed>=(oldLocalTractorSpeed-loLimitSpeed))){
nerit 13:d1030d4e51a8 2034 tractorSpeed_MtS_timed=oldLocalTractorSpeed;
nerit 13:d1030d4e51a8 2035 }
nerit 13:d1030d4e51a8 2036 }
nerit 10:9e70619e97ab 2037 oldLocalTractorSpeed = tractorSpeed_MtS_timed;
nerit 3:a469bbd294b5 2038 }
nerit 8:310f9e4eac7b 2039 if (checkSDrotation==0) {
nerit 3:a469bbd294b5 2040 checkSDrotation=1;
nerit 3:a469bbd294b5 2041 SDwheelTimer.start();
nerit 3:a469bbd294b5 2042 }
nerit 3:a469bbd294b5 2043 }
nerit 3:a469bbd294b5 2044 }
nerit 3:a469bbd294b5 2045 speedTimeOut.reset();
nerit 8:310f9e4eac7b 2046 } else {
nerit 3:a469bbd294b5 2047 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 8:310f9e4eac7b 2048 if((double)speedTimeOut.read_us()> (oldLastPr)) {
nerit 3:a469bbd294b5 2049 tractorSpeed_MtS_timed = 0.0f;
nerit 10:9e70619e97ab 2050 oldLocalTractorSpeed=0.0f;
nerit 10:9e70619e97ab 2051 #if defined(seedSensor)
nerit 10:9e70619e97ab 2052 resetDelay();
nerit 10:9e70619e97ab 2053 #endif
nerit 3:a469bbd294b5 2054 pntMedia=0;
nerit 3:a469bbd294b5 2055 speedTimeOut.reset();
nerit 3:a469bbd294b5 2056 enableSpeed=0;
nerit 3:a469bbd294b5 2057 quincCnt=0;
nerit 3:a469bbd294b5 2058 }
nerit 3:a469bbd294b5 2059 }
nerit 8:310f9e4eac7b 2060
nerit 10:9e70619e97ab 2061 #if defined(seedSensor)
nerit 10:9e70619e97ab 2062 if (seedSensorEnable==true) {
nerit 10:9e70619e97ab 2063 if (delaySeedCheck.read_ms()>100) {
nerit 10:9e70619e97ab 2064 if (seedSee==0) {
nerit 10:9e70619e97ab 2065 all_noSeedOnCe=1;
nerit 10:9e70619e97ab 2066 }
nerit 10:9e70619e97ab 2067 resetDelay();
nerit 3:a469bbd294b5 2068 }
nerit 3:a469bbd294b5 2069 }
nerit 10:9e70619e97ab 2070 #endif
nerit 3:a469bbd294b5 2071 // esegue il controllo di velocità minima
nerit 3:a469bbd294b5 2072 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 3:a469bbd294b5 2073 tractorSpeed_MtS_timed = 0.0f;
nerit 3:a469bbd294b5 2074 enableSpeed=0;
nerit 3:a469bbd294b5 2075 }*/
nerit 3:a469bbd294b5 2076 // esegue il controllo di velocità massima
nerit 3:a469bbd294b5 2077 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 3:a469bbd294b5 2078 tractorSpeed_MtS_timed = 4.5f;
nerit 3:a469bbd294b5 2079 }*/
nerit 8:310f9e4eac7b 2080 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2081 // cycle logic control section
nerit 8:310f9e4eac7b 2082 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2083 if (enableSimula==1) {
nerit 8:310f9e4eac7b 2084 if(simOk==0) {
nerit 8:310f9e4eac7b 2085 tractorSpeed_MtS_timed=0.0f;
nerit 10:9e70619e97ab 2086 oldLocalTractorSpeed=0.0f;
nerit 8:310f9e4eac7b 2087 }
nerit 8:310f9e4eac7b 2088 }
nerit 8:310f9e4eac7b 2089 if ((tractorSpeed_MtS_timed>0.01f)) {
nerit 8:310f9e4eac7b 2090 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2091 #if defined(Qncc)
nerit 8:310f9e4eac7b 2092 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2093
nerit 8:310f9e4eac7b 2094 #endif
nerit 8:310f9e4eac7b 2095 #endif
nerit 8:310f9e4eac7b 2096 cycleStopRequest=1;
nerit 8:310f9e4eac7b 2097 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 8:310f9e4eac7b 2098 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 2099 if (encoder==false) {
nerit 8:310f9e4eac7b 2100 if (speedFromPick==1) {
nerit 8:310f9e4eac7b 2101 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2102 } else {
nerit 8:310f9e4eac7b 2103 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 8:310f9e4eac7b 2104 }
nerit 8:310f9e4eac7b 2105 } else {
nerit 8:310f9e4eac7b 2106 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*25.5f))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:2a3a64b52f54 2107 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2108 #if defined(Qnce)
nerit 8:310f9e4eac7b 2109 pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
nerit 5:2a3a64b52f54 2110 #endif
nerit 5:2a3a64b52f54 2111 #endif
nerit 8:310f9e4eac7b 2112 #if !defined(speedMaster)
nerit 10:9e70619e97ab 2113 double tempoGiroSDfomMaster = seedPerimeter / speedFromMaster;
nerit 10:9e70619e97ab 2114 tempoBecchiPerQuinc = (tempoGiroSDfomMaster / pickNumber)*1000.0f;
nerit 8:310f9e4eac7b 2115 #endif
nerit 8:310f9e4eac7b 2116 }
nerit 8:310f9e4eac7b 2117 //*******************************************
nerit 8:310f9e4eac7b 2118 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 8:310f9e4eac7b 2119 double dutyTeorico = 0.00;
nerit 12:b0fc1d313813 2120 double deltaV=0.0f;
nerit 12:b0fc1d313813 2121 double deltaD=0.0f;
nerit 12:b0fc1d313813 2122 double setV=0.0f;
nerit 12:b0fc1d313813 2123 double teoriaC=0.0f;
nerit 12:b0fc1d313813 2124
nerit 8:310f9e4eac7b 2125 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
nerit 8:310f9e4eac7b 2126 dutyTeorico = tabComan[0];
nerit 8:310f9e4eac7b 2127 }
nerit 8:310f9e4eac7b 2128 for (int ii = 0; ii<16; ii++) {
nerit 8:310f9e4eac7b 2129 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])) {
nerit 12:b0fc1d313813 2130 // esegue l'interpolazione dei valori stimati di duty in base alla velocità
nerit 12:b0fc1d313813 2131 deltaV=tabSpeed[ii+1]-tabSpeed[ii];
nerit 12:b0fc1d313813 2132 deltaD=tabComan[ii+1]-tabComan[ii];
nerit 12:b0fc1d313813 2133 setV = tractorSpeed_MtS_timed-tabSpeed[ii];
nerit 12:b0fc1d313813 2134 teoriaC=(setV/deltaV)*deltaD;
nerit 12:b0fc1d313813 2135 dutyTeorico = tabComan[ii]+teoriaC; // era ii+1 al 23/03/19
nerit 3:a469bbd294b5 2136 }
nerit 8:310f9e4eac7b 2137 }
nerit 8:310f9e4eac7b 2138 if (tractorSpeed_MtS_timed > tabSpeed[16]) {
nerit 8:310f9e4eac7b 2139 dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
nerit 8:310f9e4eac7b 2140 }
nerit 8:310f9e4eac7b 2141 #if !defined(speedMaster)
nerit 8:310f9e4eac7b 2142 quinCalc();
nerit 8:310f9e4eac7b 2143 #endif
nerit 8:310f9e4eac7b 2144 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2145 #if defined(Qncd)
nerit 8:310f9e4eac7b 2146 pc.printf("enableSpeed: %d pulseRised2: %d quincCnt: %d\n",enableSpeed,pulseRised2,quincCnt);
nerit 3:a469bbd294b5 2147 #endif
nerit 8:310f9e4eac7b 2148 #endif
nerit 8:310f9e4eac7b 2149 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)) {
nerit 8:310f9e4eac7b 2150 double erroreTempo = 0.0f;
nerit 8:310f9e4eac7b 2151 if(encoder==false) {
nerit 8:310f9e4eac7b 2152 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2153 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2154 } else {
nerit 8:310f9e4eac7b 2155 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 2156 }
nerit 8:310f9e4eac7b 2157 } else {
nerit 8:310f9e4eac7b 2158 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 2159 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2160 #if defined(Qnce)
nerit 8:310f9e4eac7b 2161 pc.printf("timeHole: %d TempoBecchi: %f erroreTempo: %f\n",memoTimeHole,tempoTraBecchi_mS,erroreTempo);
nerit 3:a469bbd294b5 2162 #endif
nerit 3:a469bbd294b5 2163 #endif
nerit 3:a469bbd294b5 2164 }
nerit 8:310f9e4eac7b 2165 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 8:310f9e4eac7b 2166 double k3=0.0f;
nerit 8:310f9e4eac7b 2167 double k4=0.0f;
nerit 8:310f9e4eac7b 2168 double k5=0.0f;
nerit 8:310f9e4eac7b 2169 double k6=0.0f;
nerit 8:310f9e4eac7b 2170 #if defined(speedMaster)
nerit 8:310f9e4eac7b 2171 k3=0.010f;
nerit 8:310f9e4eac7b 2172 #else
nerit 8:310f9e4eac7b 2173 k3=0.050f;
nerit 8:310f9e4eac7b 2174 #endif
nerit 8:310f9e4eac7b 2175 k4=1.103f;
nerit 8:310f9e4eac7b 2176 k5=10.00f;
nerit 8:310f9e4eac7b 2177 k6=20.50f;
nerit 8:310f9e4eac7b 2178 double L1 = 0.045f;
nerit 8:310f9e4eac7b 2179 double L_1=-0.045f;
nerit 8:310f9e4eac7b 2180 double L2 = 0.150f;
nerit 8:310f9e4eac7b 2181 double L_2=-0.150f;
nerit 8:310f9e4eac7b 2182 double L3 = 0.301f;
nerit 8:310f9e4eac7b 2183 double L_3=-0.301f;
nerit 8:310f9e4eac7b 2184 double k1=0.0f;
nerit 8:310f9e4eac7b 2185 if ((errorePercentuale > L3)||(errorePercentuale < L_3)) {
nerit 8:310f9e4eac7b 2186 k1=errorePercentuale*k6;
nerit 8:310f9e4eac7b 2187 }
nerit 8:310f9e4eac7b 2188 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))) {
nerit 8:310f9e4eac7b 2189 k1=errorePercentuale*k5;
nerit 8:310f9e4eac7b 2190 }
nerit 8:310f9e4eac7b 2191 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))) {
nerit 8:310f9e4eac7b 2192 k1=errorePercentuale*k4;
nerit 8:310f9e4eac7b 2193 }
nerit 8:310f9e4eac7b 2194 if ((errorePercentuale < L1)||(errorePercentuale > L_1)) {
nerit 8:310f9e4eac7b 2195 k1=errorePercentuale*k3;
nerit 8:310f9e4eac7b 2196 }
nerit 8:310f9e4eac7b 2197 double memoCorrezione = k1;
nerit 8:310f9e4eac7b 2198 if (quincCnt >= 2) {
nerit 8:310f9e4eac7b 2199 correzione = correzione + memoCorrezione;
nerit 8:310f9e4eac7b 2200 if (correzione > (1.0f - dutyTeorico)) {
nerit 8:310f9e4eac7b 2201 correzione = (1.0f - dutyTeorico);
nerit 3:a469bbd294b5 2202 }
nerit 8:310f9e4eac7b 2203 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)) {
nerit 8:310f9e4eac7b 2204 correzione = -1.0f*dutyTeorico;
nerit 3:a469bbd294b5 2205 }
nerit 3:a469bbd294b5 2206 }
nerit 8:310f9e4eac7b 2207 pulseRised1=0;
nerit 8:310f9e4eac7b 2208 pulseRised2=0;
nerit 8:310f9e4eac7b 2209 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2210 #if defined(Qnca)
nerit 8:310f9e4eac7b 2211 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 8:310f9e4eac7b 2212 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 2213 #endif
nerit 8:310f9e4eac7b 2214 #endif
nerit 8:310f9e4eac7b 2215 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2216 #if defined(Qncb)
nerit 8:310f9e4eac7b 2217 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 8:310f9e4eac7b 2218 #endif
nerit 8:310f9e4eac7b 2219 #endif
nerit 12:b0fc1d313813 2220 #if defined(pcSerial)
nerit 12:b0fc1d313813 2221 #if defined(boost)
nerit 12:b0fc1d313813 2222 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 2223 #endif
nerit 12:b0fc1d313813 2224 #endif
nerit 8:310f9e4eac7b 2225 }
nerit 12:b0fc1d313813 2226 // introduce il controllo di corrente
nerit 12:b0fc1d313813 2227 if (correggiCorrente==1){
nerit 12:b0fc1d313813 2228 if (SD_CurrentScaled < 1.6f){
nerit 12:b0fc1d313813 2229 boostDcOut +=0.01f;
nerit 12:b0fc1d313813 2230 }
nerit 12:b0fc1d313813 2231 if (SD_CurrentScaled > 2.6f){
nerit 12:b0fc1d313813 2232 boostDcOut -=0.01f;
nerit 12:b0fc1d313813 2233 }
nerit 12:b0fc1d313813 2234 if (boostDcOut >= 0.2f){
nerit 12:b0fc1d313813 2235 boostDcOut=0.2f;
nerit 12:b0fc1d313813 2236 all_genericals=1;
nerit 12:b0fc1d313813 2237 }
nerit 12:b0fc1d313813 2238 if (boostDcOut <=-0.2f){
nerit 12:b0fc1d313813 2239 boostDcOut=-0.2f;
nerit 12:b0fc1d313813 2240 all_genericals=1;
nerit 12:b0fc1d313813 2241 }
nerit 12:b0fc1d313813 2242 correggiCorrente=0;
nerit 8:310f9e4eac7b 2243 }
nerit 12:b0fc1d313813 2244 if (currentCheckEnable==true){
nerit 12:b0fc1d313813 2245 correzione += boostDcOut;
nerit 12:b0fc1d313813 2246 boostDcOut=0.0f;
nerit 8:310f9e4eac7b 2247 }
nerit 8:310f9e4eac7b 2248 DC_brake=0;
nerit 8:310f9e4eac7b 2249 DC_forward=1;
nerit 8:310f9e4eac7b 2250 DC_prepare();
bcostm 2:35f13b7f3659 2251
nerit 8:310f9e4eac7b 2252 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 8:310f9e4eac7b 2253 seedWheelPeriod = semiPeriodoReale;
nerit 8:310f9e4eac7b 2254 if (seedWheelPeriod < 180.0f) {
nerit 8:310f9e4eac7b 2255 seedWheelPeriod = 180.0f;
nerit 8:310f9e4eac7b 2256 }
nerit 8:310f9e4eac7b 2257 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )) {
nerit 8:310f9e4eac7b 2258 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are microseconds and attach seed motor stepper controls
nerit 8:310f9e4eac7b 2259 oldSeedWheelPeriod=seedWheelPeriod;
nerit 8:310f9e4eac7b 2260 }
nerit 3:a469bbd294b5 2261
nerit 8:310f9e4eac7b 2262 if((quincCnt>=3)) {
nerit 8:310f9e4eac7b 2263 if (correzioneAttiva==1) {
nerit 8:310f9e4eac7b 2264 dcActualDuty = dutyTeorico + correzione;
nerit 8:310f9e4eac7b 2265 } else {
nerit 3:a469bbd294b5 2266 dcActualDuty = dutyTeorico;
nerit 3:a469bbd294b5 2267 }
nerit 8:310f9e4eac7b 2268 } else {
nerit 8:310f9e4eac7b 2269 dcActualDuty = dutyTeorico;
nerit 8:310f9e4eac7b 2270 }
nerit 8:310f9e4eac7b 2271 if (dcActualDuty <=0.0f) {
nerit 8:310f9e4eac7b 2272 dcActualDuty=0.05f;
nerit 8:310f9e4eac7b 2273 }
nerit 8:310f9e4eac7b 2274 if (dcActualDuty > 0.95f) {
nerit 8:310f9e4eac7b 2275 dcActualDuty = 0.95f;
nerit 8:310f9e4eac7b 2276 }
nerit 8:310f9e4eac7b 2277 if (olddcActualDuty!=dcActualDuty) {
nerit 8:310f9e4eac7b 2278 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 8:310f9e4eac7b 2279 olddcActualDuty=dcActualDuty;
nerit 8:310f9e4eac7b 2280 }
nerit 8:310f9e4eac7b 2281 // allarme
nerit 8:310f9e4eac7b 2282 if (SDwheelTimer.read_ms()>4000) {
nerit 8:310f9e4eac7b 2283 if (firstStart==0) {
nerit 8:310f9e4eac7b 2284 all_noDcRotati=1;
nerit 3:a469bbd294b5 2285 }
nerit 8:310f9e4eac7b 2286 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2287 #if defined(VediAllarmi)
nerit 8:310f9e4eac7b 2288 pc.printf("allarme no DC rotation");
nerit 3:a469bbd294b5 2289 #endif
nerit 8:310f9e4eac7b 2290 #endif
nerit 8:310f9e4eac7b 2291 }
nerit 3:a469bbd294b5 2292
nerit 8:310f9e4eac7b 2293 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2294 // CONTROLLA TAMBURO
nerit 8:310f9e4eac7b 2295 //***************************************************************************************************************
nerit 8:310f9e4eac7b 2296 if(lowSpeed==0) {
nerit 8:310f9e4eac7b 2297 if (syncroCheck==1) {
nerit 8:310f9e4eac7b 2298 syncroCheck=0;
nerit 8:310f9e4eac7b 2299 lockStart=1;
nerit 8:310f9e4eac7b 2300 periodo = TBperiod;
nerit 8:310f9e4eac7b 2301 #if !defined(runner)
nerit 9:7f02256f6e8f 2302 #if defined(Zucca)
nerit 9:7f02256f6e8f 2303 motor->step_clock_mode_enable(StepperMotor::BWD);
nerit 9:7f02256f6e8f 2304 #else
nerit 9:7f02256f6e8f 2305 motor->step_clock_mode_enable(StepperMotor::FWD);
nerit 9:7f02256f6e8f 2306 #endif
nerit 8:310f9e4eac7b 2307 #endif
nerit 8:310f9e4eac7b 2308 if (aspettaStart==0) {
nerit 6:e8c18f0f399a 2309 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2310 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2311 pc.printf("da sincro\n");
nerit 6:e8c18f0f399a 2312 #endif
nerit 6:e8c18f0f399a 2313 #endif
nerit 8:310f9e4eac7b 2314 cambiaTB(periodo);
nerit 3:a469bbd294b5 2315 }
nerit 8:310f9e4eac7b 2316 }
nerit 8:310f9e4eac7b 2317 // controllo di stop
nerit 8:310f9e4eac7b 2318 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 8:310f9e4eac7b 2319 if ((double)rotationTimeOut.read_ms()> (memoIntraP)) {
nerit 3:a469bbd294b5 2320 syncroCheck=0;
nerit 8:310f9e4eac7b 2321 aspettaStart=1;
nerit 8:310f9e4eac7b 2322 countCicli=0;
nerit 6:e8c18f0f399a 2323 #if defined(pcSerial)
nerit 6:e8c18f0f399a 2324 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2325 pc.printf("AspettaSI\n");
nerit 6:e8c18f0f399a 2326 #endif
nerit 6:e8c18f0f399a 2327 #endif
nerit 8:310f9e4eac7b 2328 if (TBzeroCyclePulse==1) {
nerit 8:310f9e4eac7b 2329 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2330 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2331 pc.printf("15f\n");
nerit 8:310f9e4eac7b 2332 #endif
nerit 8:310f9e4eac7b 2333 #endif
nerit 8:310f9e4eac7b 2334 #if !defined(runner)
nerit 8:310f9e4eac7b 2335 TBticker.detach();
nerit 8:310f9e4eac7b 2336 #endif
nerit 8:310f9e4eac7b 2337 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2338 #if defined(loStop)
nerit 8:310f9e4eac7b 2339 pc.printf("A4\n");
nerit 8:310f9e4eac7b 2340 #endif
nerit 6:e8c18f0f399a 2341 #endif
nerit 8:310f9e4eac7b 2342 motor->soft_hiz();
nerit 8:310f9e4eac7b 2343 }
nerit 8:310f9e4eac7b 2344 }
nerit 8:310f9e4eac7b 2345 } else { // fine ciclo fuori da low speed
nerit 8:310f9e4eac7b 2346 syncroCheck=0;
nerit 8:310f9e4eac7b 2347 lockStart=0;
nerit 8:310f9e4eac7b 2348 if (beccoPronto==1) {
nerit 8:310f9e4eac7b 2349 if (tamburoStandard==1) {
nerit 8:310f9e4eac7b 2350 double ritardoMassimo = 0.0f;
nerit 8:310f9e4eac7b 2351 if (encoder==false) {
nerit 8:310f9e4eac7b 2352 if(speedFromPick==1) {
nerit 8:310f9e4eac7b 2353 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2354 } else {
nerit 8:310f9e4eac7b 2355 ritardoMassimo = (double)memoTimeHole;
nerit 8:310f9e4eac7b 2356 }
nerit 8:310f9e4eac7b 2357 } else {
nerit 8:310f9e4eac7b 2358 ritardoMassimo = (double)timeIntraPick;
nerit 8:310f9e4eac7b 2359 }
nerit 8:310f9e4eac7b 2360 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/1.8f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 8:310f9e4eac7b 2361 if (tempoDiSincro <= 1) {
nerit 8:310f9e4eac7b 2362 tempoDiSincro=1;
nerit 8:310f9e4eac7b 2363 }
nerit 8:310f9e4eac7b 2364 if ((sincroTimer.read_ms()>= tempoDiSincro)) {
nerit 8:310f9e4eac7b 2365 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2366 startCicloTB=1;
nerit 8:310f9e4eac7b 2367 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2368 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2369 pc.printf("startTB\n");
nerit 8:310f9e4eac7b 2370 #endif
nerit 8:310f9e4eac7b 2371 #endif
nerit 8:310f9e4eac7b 2372 }
nerit 8:310f9e4eac7b 2373 beccoPronto=0;
nerit 8:310f9e4eac7b 2374 }
nerit 8:310f9e4eac7b 2375 } else {
nerit 8:310f9e4eac7b 2376 // tamburo per zucca
nerit 8:310f9e4eac7b 2377 if (speedOfSeedWheel >= minWorkSpeed) {
nerit 8:310f9e4eac7b 2378 startCicloTB=1;
nerit 8:310f9e4eac7b 2379 }
nerit 8:310f9e4eac7b 2380 beccoPronto=0;
nerit 8:310f9e4eac7b 2381 }
nerit 8:310f9e4eac7b 2382 }
nerit 8:310f9e4eac7b 2383 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2384 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2385 pc.printf("lowSpeed\n");
nerit 6:e8c18f0f399a 2386 #endif
nerit 8:310f9e4eac7b 2387 #endif
nerit 8:310f9e4eac7b 2388 ciclaTB();
nerit 8:310f9e4eac7b 2389 }
nerit 8:310f9e4eac7b 2390 //*************************************************************
nerit 8:310f9e4eac7b 2391 } else { // fine ciclo con velocita maggiore di 0
nerit 13:d1030d4e51a8 2392 delaySpeedCheck.reset();
nerit 8:310f9e4eac7b 2393 if (cycleStopRequest==1) {
nerit 8:310f9e4eac7b 2394 SDwheelTimer.stop();
nerit 8:310f9e4eac7b 2395 SDwheelTimer.reset();
nerit 8:310f9e4eac7b 2396 #if defined(seedSensor)
nerit 8:310f9e4eac7b 2397 resetDelay();
nerit 8:310f9e4eac7b 2398 #endif
nerit 8:310f9e4eac7b 2399 checkSDrotation=0;
nerit 8:310f9e4eac7b 2400 oldFaseLavoro=0;
nerit 8:310f9e4eac7b 2401 aspettaStart=1;
nerit 8:310f9e4eac7b 2402 countCicli=0;
nerit 8:310f9e4eac7b 2403 oldSeedWheelPeriod=0.0f;
nerit 8:310f9e4eac7b 2404 oldPeriodoTB=0.0f;
nerit 8:310f9e4eac7b 2405 correzione=0.0f;
nerit 8:310f9e4eac7b 2406 OLDpulseSpeedInterval=1000.01f;
nerit 8:310f9e4eac7b 2407 cicloTbinCorso=0;
nerit 8:310f9e4eac7b 2408 cntTbError=0;
nerit 8:310f9e4eac7b 2409 olddcActualDuty=0.0f;
nerit 8:310f9e4eac7b 2410 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2411 #if defined(checkLoopb)
nerit 8:310f9e4eac7b 2412 pc.printf("forza\n");
nerit 8:310f9e4eac7b 2413 #endif
nerit 8:310f9e4eac7b 2414 #endif
nerit 8:310f9e4eac7b 2415 speedOfSeedWheel=0.0f;
nerit 8:310f9e4eac7b 2416 cycleStopRequest=0;
nerit 8:310f9e4eac7b 2417 DC_brake=1;
nerit 8:310f9e4eac7b 2418 DC_prepare();
nerit 8:310f9e4eac7b 2419 metalTimer.reset();
nerit 8:310f9e4eac7b 2420 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2421 #if defined(checkLoop)
nerit 8:310f9e4eac7b 2422 pc.printf("17h\n");
nerit 8:310f9e4eac7b 2423 #endif
nerit 8:310f9e4eac7b 2424 #endif
nerit 8:310f9e4eac7b 2425 #if !defined(runner)
nerit 6:e8c18f0f399a 2426 TBticker.detach();
nerit 8:310f9e4eac7b 2427 #endif
nerit 8:310f9e4eac7b 2428 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2429 #if defined(loStop)
nerit 8:310f9e4eac7b 2430 pc.printf("A5\n");
nerit 6:e8c18f0f399a 2431 #endif
nerit 8:310f9e4eac7b 2432 #endif
nerit 8:310f9e4eac7b 2433 motor->soft_hiz();
nerit 8:310f9e4eac7b 2434 pntMedia=0;
nerit 8:310f9e4eac7b 2435 #if defined(pcSerial)
nerit 8:310f9e4eac7b 2436 #if defined(stopSignal)
nerit 8:310f9e4eac7b 2437 pc.printf("stop\n");
nerit 6:e8c18f0f399a 2438 #endif
nerit 8:310f9e4eac7b 2439 #endif
nerit 3:a469bbd294b5 2440 }
nerit 8:310f9e4eac7b 2441 }
nerit 8:310f9e4eac7b 2442
nerit 8:310f9e4eac7b 2443 //*************************************************************************************************
nerit 3:a469bbd294b5 2444 TBzeroCyclePulse=0;
nerit 8:310f9e4eac7b 2445 //*************************************************************************************************
nerit 6:e8c18f0f399a 2446 } //end inProva==0
nerit 3:a469bbd294b5 2447 wd.Service(); // kick the dog before the timeout
nerit 3:a469bbd294b5 2448 } // end while
nerit 3:a469bbd294b5 2449 } // end main