Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5

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Dependencies:   mbed CANMsg

variables.hpp@6:3fca0ca1949e, 2018-07-05 (annotated)

Committer:
nerit
Date:
Thu Jul 05 16:30:54 2018 +0000
Revision:
6:3fca0ca1949e
Parent:
5:3b95bbfe2dc9
Child:
7:c9fd242538d9
Introdotto parametri per il setting degli elementi, del tamburo, ed alcune funzioni di programma.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 6:3fca0ca1949e 1 /*
nerit 6:3fca0ca1949e 2 variabili generali di programma e set iniziali
nerit 6:3fca0ca1949e 3 */
nerit 6:3fca0ca1949e 4
nerit 6:3fca0ca1949e 5 // SET INIZIALI DI MACCHINA
nerit 6:3fca0ca1949e 6 bool canDataCheckEnable=false; // a true per attivare il controllo del quinconce anche con dati CAN
nerit 6:3fca0ca1949e 7 int speedFromPick = 1; // definisce se il controllo di velocità della ruota di semina è gestita dai becchi (set a 1) o dai fori sul disco (set a 0)
nerit 6:3fca0ca1949e 8 bool encoder=false; // true quando montato motore DC con encoder incorporato
nerit 6:3fca0ca1949e 9 // NOTA: SE ENCODER=TRUE ALLORA SPEEDFROMPICK DEVE ESSERE MESSO A 0
nerit 6:3fca0ca1949e 10 int tamburoStandard=1; // a 1 per tamburo parallelo alla ruota di semina, a 0 per zucca
nerit 6:3fca0ca1949e 11
nerit 6:3fca0ca1949e 12 bool tankLevelEnable = false;
nerit 6:3fca0ca1949e 13 bool seedSensorEnable=false;
nerit 6:3fca0ca1949e 14 bool stendiNylonEnable=false;
nerit 6:3fca0ca1949e 15 bool currentCheckEnable=false;
nerit 6:3fca0ca1949e 16 uint8_t cellsCountSet=1;
nerit 6:3fca0ca1949e 17
nerit 6:3fca0ca1949e 18 // VARIABILI DI PROGRAMMA
nerit 0:1e09cd7d66b4 19 int zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 20 int runRequestBuf=0;
nerit 0:1e09cd7d66b4 21
nerit 0:1e09cd7d66b4 22 // define cycle variable related to the external command
nerit 0:1e09cd7d66b4 23 int oldTractorSpeedRead=0;
nerit 0:1e09cd7d66b4 24 int startCycle=0; // activate motors and functions
nerit 0:1e09cd7d66b4 25 int enableCycle=0; // enable regular cycle
nerit 0:1e09cd7d66b4 26 int zeroCycle=0; // azzeramento motori richiesto
nerit 0:1e09cd7d66b4 27 int OldStartCycle=0; // use for triggering command change
nerit 0:1e09cd7d66b4 28 int OldEnableCycle=0;
nerit 0:1e09cd7d66b4 29 int oldZeroCycle=0; // memoria azzeramento motori su richiesta
nerit 0:1e09cd7d66b4 30 int zeroCycleEnd=0; // ciclo di azzeramento completato
nerit 0:1e09cd7d66b4 31 int zeroTrigger=0;
nerit 6:3fca0ca1949e 32 int TBzeroPinInput=0; // segnale invertito micro tamburo
nerit 6:3fca0ca1949e 33 int seedWheelZeroPinInput=0; // segnale invertito sensore ruota di semina
nerit 0:1e09cd7d66b4 34 int SD_faultA=0;
nerit 0:1e09cd7d66b4 35 int SD_faultB=0;
nerit 6:3fca0ca1949e 36 int DC_brake=1; // comando gestione frenatura motore DC
nerit 6:3fca0ca1949e 37 int DC_forward=1; // comando gestione direzione motore DC
nerit 0:1e09cd7d66b4 38
nerit 0:1e09cd7d66b4 39 int oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 40
nerit 0:1e09cd7d66b4 41 // define logic internal variables
nerit 0:1e09cd7d66b4 42 double tractorSpeed_MtS_timed=0.0f; // tractor speed calculated from pulse interval time
nerit 0:1e09cd7d66b4 43 double speedForDisplay[5]={0.0f,0.0f,0.0f,0.0f,0.0f};
nerit 0:1e09cd7d66b4 44 double totalSpeed=0.0f;
nerit 0:1e09cd7d66b4 45 double OLDpulseSpeedInterval=1000.01f; // tractor speed calculated from pulse interval time
nerit 0:1e09cd7d66b4 46 double pulseDistance=0.0f; // linear space between pulse
nerit 0:1e09cd7d66b4 47 double pulseDistanceCalc=0.0f;
nerit 0:1e09cd7d66b4 48 double speedPerimeter=0.0f; // perimeter of tractor speed wheel
nerit 0:1e09cd7d66b4 49 double seedPerimeter=0.0f; // perimeter of seed wheel
nerit 0:1e09cd7d66b4 50 double mediaSpeed[5]={0.0f,0.0f,0.0f,0.0f,0.0f};
nerit 0:1e09cd7d66b4 51 int pntMedia=0;
nerit 0:1e09cd7d66b4 52 int actualPulseReadTimer=0; // timer read at previous pulse
nerit 0:1e09cd7d66b4 53 double pulseSpeedInterval=0.0f; // delta time of pulse
nerit 0:1e09cd7d66b4 54 int lastPulseRead=0;
nerit 0:1e09cd7d66b4 55 int oldLastPulseRead=0;
nerit 0:1e09cd7d66b4 56 int pulseRised=0; // pulse from speed wheel occured. Define when is possible to determine speed of up down motor.
nerit 0:1e09cd7d66b4 57 int pulseRised1 = 0;
nerit 0:1e09cd7d66b4 58 int pulseRised2 = 0;
nerit 6:3fca0ca1949e 59
nerit 0:1e09cd7d66b4 60 double rapportoRuote = 0.0f;
nerit 0:1e09cd7d66b4 61 double TBrpm = 0.0f;
nerit 0:1e09cd7d66b4 62 double TBfrequency = 0.0f;
nerit 0:1e09cd7d66b4 63 double TBperiod = 0.0f;
nerit 0:1e09cd7d66b4 64 double oldPeriodoTB = 0.0f;
nerit 0:1e09cd7d66b4 65 int SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 66 int TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 67 int SDzeroed=0;
nerit 0:1e09cd7d66b4 68 int TBzeroed=0;
nerit 0:1e09cd7d66b4 69 int oldOnSDzero=0;
nerit 0:1e09cd7d66b4 70 int oldOnTBzero=0;
nerit 0:1e09cd7d66b4 71 int oldOffSDzero=0;
nerit 0:1e09cd7d66b4 72 int oldOffTBzero=0;
nerit 0:1e09cd7d66b4 73 int SDzeroPinTrig=0;
nerit 0:1e09cd7d66b4 74 int TBzeroPinTrig=0;
nerit 0:1e09cd7d66b4 75 int SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 76 int SDrunZero=0;
nerit 0:1e09cd7d66b4 77 int TBrunZero=0;
nerit 0:1e09cd7d66b4 78 int syncroCheck=0;
nerit 0:1e09cd7d66b4 79 double memoStepTB=0.0f;
nerit 0:1e09cd7d66b4 80 double erroreSyncro=0.0f;
nerit 0:1e09cd7d66b4 81 double errorePercentuale=1.0f;
nerit 0:1e09cd7d66b4 82 int oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 83 int oldTBzeroPinInput=0;
nerit 0:1e09cd7d66b4 84 int stopCicloTB = 0;
nerit 0:1e09cd7d66b4 85 int startCicloTB = 0;
nerit 0:1e09cd7d66b4 86 int cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 87 int beccoPronto =0;
nerit 0:1e09cd7d66b4 88 int memoIntraPick=0;
nerit 0:1e09cd7d66b4 89
nerit 0:1e09cd7d66b4 90 double realSpeed = 0.0f;
nerit 0:1e09cd7d66b4 91 double realGiroSD = 0.0f;
nerit 0:1e09cd7d66b4 92 double tempoBecco = 0.0f;
nerit 0:1e09cd7d66b4 93 double frequenzaReale = 0.0f;
nerit 0:1e09cd7d66b4 94 double semiPeriodoReale = 0.0f;
nerit 0:1e09cd7d66b4 95 double tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 96 double tempoGiroSD = 0.0f;
nerit 0:1e09cd7d66b4 97
nerit 0:1e09cd7d66b4 98 // variable for speed and step calculation
nerit 0:1e09cd7d66b4 99 uint32_t prePosSD=0; // actual position of seed wheel (step of motor)
nerit 0:1e09cd7d66b4 100 uint32_t SDactualPosition=0; // actual position of seed wheel (step of motor)
nerit 0:1e09cd7d66b4 101 uint32_t TBactualPosition=0;
nerit 5:3b95bbfe2dc9 102 uint32_t posForQuinc=0;
nerit 0:1e09cd7d66b4 103
nerit 0:1e09cd7d66b4 104 int cycleStopRequest=0; // when cycle end request the zero of SD and UD
nerit 0:1e09cd7d66b4 105
nerit 0:1e09cd7d66b4 106 double duty_DC=0.0f;
nerit 0:1e09cd7d66b4 107 double oldDuty_DC=0.0f;
nerit 0:1e09cd7d66b4 108
nerit 0:1e09cd7d66b4 109 double dcActualDuty = 0.0f; // valore di lavoro del duty cycle
nerit 4:d32258ec411f 110 double olddcActualDuty = 0.0f; // valore di lavoro del duty cycle
nerit 0:1e09cd7d66b4 111 double correzione = 0.0f;
nerit 0:1e09cd7d66b4 112 double periodo =0.0f;
nerit 0:1e09cd7d66b4 113 double ePpos = 0.0f;
nerit 0:1e09cd7d66b4 114 int aspettaStart=1;
nerit 0:1e09cd7d66b4 115 int countCicli=0;
nerit 0:1e09cd7d66b4 116 uint32_t fase = 0;
nerit 0:1e09cd7d66b4 117
nerit 0:1e09cd7d66b4 118 int clocca=0;
nerit 0:1e09cd7d66b4 119 int enableSpeed=0;
nerit 0:1e09cd7d66b4 120 double speedOfSeedWheel =0.0f;
nerit 0:1e09cd7d66b4 121 int lowSpeed = 0;
nerit 0:1e09cd7d66b4 122 double valore=0.0f;
nerit 0:1e09cd7d66b4 123 //char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 124
nerit 0:1e09cd7d66b4 125 uint8_t enableSimula=0;
nerit 0:1e09cd7d66b4 126 uint8_t speedSimula=0;
nerit 0:1e09cd7d66b4 127 uint8_t avviaSimula=0;
nerit 0:1e09cd7d66b4 128 double oldSimulaSpeed=0.0f;
nerit 0:1e09cd7d66b4 129 int selezionato =0;
nerit 0:1e09cd7d66b4 130 int simOk=0;
nerit 0:1e09cd7d66b4 131
nerit 0:1e09cd7d66b4 132 float SD_CurrentAnalog=0.0f; // valore di corrente sull'ingresso
nerit 0:1e09cd7d66b4 133 float SD_CurrentScaled=0.0f; // valore di corrente convertito in scala
nerit 0:1e09cd7d66b4 134 float SD_CurrentFactor=40.0f; // fattore di scala sensore 40mV/A
nerit 0:1e09cd7d66b4 135 float SD_CurrentPeak=0.0f; // valore massimo corrente
nerit 0:1e09cd7d66b4 136 float SD_CurrentMid=0.0f; // valore medio corrente
nerit 0:1e09cd7d66b4 137 float SD_CurrentLast=0.0f; // valore precedente corrente
nerit 0:1e09cd7d66b4 138 float SD_CurrentStart=0.0f; // valore a vuoto corrente (circa il 50% della tensione di alimentazione del sensore)
nerit 0:1e09cd7d66b4 139 bool reduceCurrent=false;
nerit 0:1e09cd7d66b4 140 bool incrementCurrent=false;
nerit 0:1e09cd7d66b4 141 double boostDcOut=0.0f;
nerit 0:1e09cd7d66b4 142
nerit 0:1e09cd7d66b4 143 float SD_analogMatrix[21]={0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f};
nerit 0:1e09cd7d66b4 144 int SD_analogIndex[11]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 145 int frenata=0;
nerit 0:1e09cd7d66b4 146 int accensione=1;
nerit 0:1e09cd7d66b4 147 double SDsectorStep =0.0f;
nerit 0:1e09cd7d66b4 148 double TBsectorStep = 0.0f;
nerit 0:1e09cd7d66b4 149 double KcorT = 0.0f;
nerit 0:1e09cd7d66b4 150
nerit 0:1e09cd7d66b4 151 int trigSD=0;
nerit 0:1e09cd7d66b4 152 int trigTB=0;
nerit 0:1e09cd7d66b4 153 int inhibit=0;
nerit 0:1e09cd7d66b4 154 int trigCicli=0;
nerit 0:1e09cd7d66b4 155 int avvicinamento=0;
nerit 0:1e09cd7d66b4 156 int lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 157
nerit 0:1e09cd7d66b4 158 uint8_t alarmHighRegister=0x00;
nerit 0:1e09cd7d66b4 159 uint8_t alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 160 double TBgiroStep=0.0f;
nerit 0:1e09cd7d66b4 161 int firstStart=1;
nerit 0:1e09cd7d66b4 162 int timeHole=0;
nerit 0:1e09cd7d66b4 163 int memoTimeHole=0;
nerit 0:1e09cd7d66b4 164 int lockStart=0;
nerit 0:1e09cd7d66b4 165
nerit 0:1e09cd7d66b4 166 uint8_t quincStart=0;
nerit 0:1e09cd7d66b4 167 uint8_t oldQuincIn=0;
nerit 0:1e09cd7d66b4 168 double scostamento = 0.0f;
nerit 0:1e09cd7d66b4 169 uint8_t quincEnable=0;
nerit 0:1e09cd7d66b4 170 uint8_t quincCnt=0;
nerit 0:1e09cd7d66b4 171 double percento=0.0f;
nerit 0:1e09cd7d66b4 172 uint32_t masterSinc=0;
nerit 5:3b95bbfe2dc9 173 uint32_t mast2_Sinc=0;
nerit 0:1e09cd7d66b4 174 bool quincClock=false;
nerit 1:e88bf5011af6 175 double oldQuincTimeSD=0.0f;
nerit 4:d32258ec411f 176 uint8_t sincroQui=0;
nerit 4:d32258ec411f 177 uint8_t quincPIDminus=0;
nerit 4:d32258ec411f 178 uint8_t quincPIDplus=0;
nerit 4:d32258ec411f 179 uint8_t quincLIMminus=0;
nerit 4:d32258ec411f 180 uint8_t quincLIMplus=0;
nerit 4:d32258ec411f 181 double memoCorrCorr=0.0f;
nerit 5:3b95bbfe2dc9 182 double speedFromMaster=0.0f;
nerit 5:3b95bbfe2dc9 183 uint8_t quincSector=0;
nerit 5:3b95bbfe2dc9 184 uint8_t canDataCheck=0;
nerit 5:3b95bbfe2dc9 185 double tempoBecchiPerQuinc=0.0f;
nerit 5:3b95bbfe2dc9 186 int countPicks=0;
nerit 6:3fca0ca1949e 187 uint8_t quinconceActive=0;
nerit 4:d32258ec411f 188
nerit 0:1e09cd7d66b4 189 double stepGrado = 0.0f;
nerit 0:1e09cd7d66b4 190 double TBfaseStep =0.0f;
nerit 0:1e09cd7d66b4 191 double angoloPh=7.0f;
nerit 0:1e09cd7d66b4 192 double angoloAv=0.0f;
nerit 0:1e09cd7d66b4 193
nerit 0:1e09cd7d66b4 194 uint8_t checkSDrotation=0;
nerit 0:1e09cd7d66b4 195 uint8_t comandiDaCan=0;
nerit 0:1e09cd7d66b4 196 uint8_t azzeraDaCan=0;
nerit 0:1e09cd7d66b4 197 uint8_t loadDaCan=0;
nerit 0:1e09cd7d66b4 198 uint8_t loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 199 uint8_t cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 200 uint8_t trigRepos=0;
nerit 0:1e09cd7d66b4 201 uint8_t forzaFase=0;
nerit 0:1e09cd7d66b4 202 uint8_t erroreTamburo=0;
nerit 0:1e09cd7d66b4 203 uint8_t cntCellsForReload=0;
nerit 0:1e09cd7d66b4 204 uint8_t cntTbError=0;
nerit 0:1e09cd7d66b4 205
nerit 0:1e09cd7d66b4 206 uint8_t cellsCounterLow=0;
nerit 0:1e09cd7d66b4 207 uint8_t cellsCounterHig=0;
nerit 0:1e09cd7d66b4 208 uint8_t pickCounterLow=0;
nerit 0:1e09cd7d66b4 209 uint8_t pickCounterHig=0;
nerit 0:1e09cd7d66b4 210
nerit 0:1e09cd7d66b4 211 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 212 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 213 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 214 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 215 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 216 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 217 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 218 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 219 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 220 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 221 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 222 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 223 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 224 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 225 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 226 uint8_t resetComandi=0;
nerit 0:1e09cd7d66b4 227
nerit 6:3fca0ca1949e 228 uint32_t spazioCoperto=0;