Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019

new

Dependencies:   mbed CANMsg

main.cpp@13:0ae23132a2b6, 2019-01-08 (annotated)

Committer:
nerit
Date:
Tue Jan 08 07:47:07 2019 +0000
Revision:
13:0ae23132a2b6
Parent:
12:5bfbccfb3cf4
Child:
14:24c5d58e8bc6
release del 07012019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 1:e88bf5011af6 1
nerit 1:e88bf5011af6 2 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 3 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 4 // FIRMWARE SEMINATRICE MODULA
nerit 0:1e09cd7d66b4 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 12:5bfbccfb3cf4 6 // V5 - ATTENZIONE - LA VERSIONE V5 HA IL DRIVER STEPPER LV8727
nerit 0:1e09cd7d66b4 7 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 0:1e09cd7d66b4 8 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 0:1e09cd7d66b4 9 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 0:1e09cd7d66b4 10 // FIRST RELEASE OF BOARD DEC 2017
nerit 0:1e09cd7d66b4 11 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 0:1e09cd7d66b4 12 //
nerit 12:5bfbccfb3cf4 13 // THIS RELEASE: 29 DECEMBER 2018
nerit 0:1e09cd7d66b4 14 //
nerit 0:1e09cd7d66b4 15 // APPLICATION: MODULA CON DISTRIBUTORE ZUCCA OPPURE RISO E PUO' FUNZIONARE ANCHE CON SENSORE A 25 FORI SUL DISCO O
nerit 0:1e09cd7d66b4 16 // ENCODER MOTORE SETTANDO GLI APPOSITI FLAGS
nerit 0:1e09cd7d66b4 17 //
nerit 0:1e09cd7d66b4 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 0:1e09cd7d66b4 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 0:1e09cd7d66b4 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 0:1e09cd7d66b4 22 // ENCODER
nerit 0:1e09cd7d66b4 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 0:1e09cd7d66b4 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 0:1e09cd7d66b4 25 //
nerit 12:5bfbccfb3cf4 26 // 28 12 2018 - RISOLTO UN BUG CHE BLOCCAVA IL TAMBURO IN TRANSIZIONE TRA LOWSPEED E CICLO NORMALE DATO DAL CALCOLO DEL LIMITE
nerit 12:5bfbccfb3cf4 27 // DI CLOCK DEL GENERATORE DI IMPULSI DEL TAMBURO
nerit 12:5bfbccfb3cf4 28 // IN QUESTA VERSIONE E' STATO RIALLINEATO ANCHE LA CONFIGURAZIONE DELLO STEPPER CHE PERO' RISPETTO ALLA PRECEDENTE
nerit 12:5bfbccfb3cf4 29 // VERSIONE, SEMBRA CHE PRIMA IL DRIVER FOSSE IMPOSTATO A 2000 STEP/GIRO INVECE CHE 1600. IMPOSTANDOLO CORRETTAMENTE
nerit 12:5bfbccfb3cf4 30 // PERO' IL TAMBURO NON SI SINCRONIZZA E VA TROPPO VELOCE RISPETTO A QUANTO RICHIESTO. DA VERIFICARE PERCHE'!
nerit 0:1e09cd7d66b4 31 /********************
nerit 12:5bfbccfb3cf4 32 IL FIRMWARE SI COMPONE DI 9 FILES:
nerit 0:1e09cd7d66b4 33 - main.cpp
nerit 0:1e09cd7d66b4 34 - main.hpp
nerit 0:1e09cd7d66b4 35 - iodefinition.hpp
nerit 0:1e09cd7d66b4 36 - canbus.hpp
nerit 0:1e09cd7d66b4 37 - parameters.hpp
nerit 0:1e09cd7d66b4 38 - timeandtick.hpp
nerit 0:1e09cd7d66b4 39 - variables.hpp
nerit 12:5bfbccfb3cf4 40 - watchdog.cpp
nerit 12:5bfbccfb3cf4 41 - watchdog.h
nerit 12:5bfbccfb3cf4 42 ED UTILIZZA LE LIBRERIE STANDARD MBED, UNA LIBRERIA PER IL WATCHDOG ED UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 43 *********************
nerit 0:1e09cd7d66b4 44 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 0:1e09cd7d66b4 45 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 0:1e09cd7d66b4 46 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 47 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 48 *********************
nerit 0:1e09cd7d66b4 49 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 0:1e09cd7d66b4 50 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 0:1e09cd7d66b4 51 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 52 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 0:1e09cd7d66b4 53 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 54 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 0:1e09cd7d66b4 55 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 56 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 0:1e09cd7d66b4 57 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 58 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 0:1e09cd7d66b4 59 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 60 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 0:1e09cd7d66b4 61 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 62 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 0:1e09cd7d66b4 63 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 0:1e09cd7d66b4 64 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 0:1e09cd7d66b4 65 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 0:1e09cd7d66b4 66 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 0:1e09cd7d66b4 67 **********************
nerit 0:1e09cd7d66b4 68 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 69 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 0:1e09cd7d66b4 70 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 73 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 0:1e09cd7d66b4 74 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 75 **********************
nerit 0:1e09cd7d66b4 76 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 77 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 78 **********************
nerit 0:1e09cd7d66b4 79 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 80 **********************
nerit 0:1e09cd7d66b4 81 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 82 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 83 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 84 */
nerit 0:1e09cd7d66b4 85 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 86 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 87
nerit 0:1e09cd7d66b4 88 #include "main.hpp"
nerit 0:1e09cd7d66b4 89 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 90 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 91 #include "watchdog.h"
nerit 0:1e09cd7d66b4 92 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 93 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 94 #include "variables.hpp"
nerit 0:1e09cd7d66b4 95 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 96 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 97 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 98 // TASK SECTION
nerit 0:1e09cd7d66b4 99 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 100 //************************************************************************
nerit 3:c0f11ca4df02 101 //************************************************************************
nerit 0:1e09cd7d66b4 102 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 103 void sd25Fall(){
nerit 0:1e09cd7d66b4 104 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 105 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 106 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 107 metalTimer.reset();
nerit 0:1e09cd7d66b4 108 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 109 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 110 }
nerit 0:1e09cd7d66b4 111 }
nerit 5:3b95bbfe2dc9 112 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 113 void encoRise(){
nerit 5:3b95bbfe2dc9 114 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 115 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 116 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 117 metalTimer.reset();
nerit 5:3b95bbfe2dc9 118 if (encoder==true){
nerit 5:3b95bbfe2dc9 119 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 7:c9fd242538d9 120 pulseRised2=1;
nerit 5:3b95bbfe2dc9 121 }
nerit 5:3b95bbfe2dc9 122 }
nerit 7:c9fd242538d9 123 // rise of seed presence sensor
nerit 7:c9fd242538d9 124 void seedSensorTask(){
nerit 7:c9fd242538d9 125 seedSee=1;
nerit 7:c9fd242538d9 126 }
nerit 0:1e09cd7d66b4 127 //**************************************************
nerit 0:1e09cd7d66b4 128 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 129 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 130 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 131 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 132 speedTimer.reset();
nerit 0:1e09cd7d66b4 133 pulseRised=1;
nerit 7:c9fd242538d9 134 speedFilter.reset();
nerit 0:1e09cd7d66b4 135 }
nerit 0:1e09cd7d66b4 136 //*******************************************************
nerit 0:1e09cd7d66b4 137 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 138 //*******************************************************
nerit 0:1e09cd7d66b4 139 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 140 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 141 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 142 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 143 speedTimer.reset();
nerit 0:1e09cd7d66b4 144 pulseRised=1;
nerit 0:1e09cd7d66b4 145 oldTractorSpeedRead=1;
nerit 6:3fca0ca1949e 146 spazioCoperto+= pulseDistance;
nerit 0:1e09cd7d66b4 147 }
nerit 0:1e09cd7d66b4 148 speedFilter.reset();
nerit 0:1e09cd7d66b4 149 speedClock=1;
nerit 0:1e09cd7d66b4 150 }
nerit 0:1e09cd7d66b4 151 //*******************************************************
nerit 0:1e09cd7d66b4 152 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 153 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 154 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 155 if (enableSimula==1){
nerit 0:1e09cd7d66b4 156 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 157 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 158 }
nerit 0:1e09cd7d66b4 159 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 160 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 161 }
nerit 0:1e09cd7d66b4 162
nerit 0:1e09cd7d66b4 163 //*******************************************************
nerit 0:1e09cd7d66b4 164 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 165 //*******************************************************
nerit 0:1e09cd7d66b4 166 //*******************************************************
nerit 0:1e09cd7d66b4 167 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 168 SDactualPosition++;
nerit 0:1e09cd7d66b4 169 prePosSD++;
nerit 5:3b95bbfe2dc9 170 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 171 posForQuinc++;
nerit 5:3b95bbfe2dc9 172 #endif
nerit 0:1e09cd7d66b4 173 }
nerit 0:1e09cd7d66b4 174 //*******************************************************
nerit 0:1e09cd7d66b4 175 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 176 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 177 if (TBmotorStepOut==0){
nerit 12:5bfbccfb3cf4 178 TBactualPosition++;
nerit 12:5bfbccfb3cf4 179 }
nerit 12:5bfbccfb3cf4 180 }
nerit 12:5bfbccfb3cf4 181 void inverti(){
nerit 12:5bfbccfb3cf4 182 if (TBmotorDirecti==0){
nerit 12:5bfbccfb3cf4 183 TBmotorDirecti=1;
nerit 12:5bfbccfb3cf4 184 }else{
nerit 12:5bfbccfb3cf4 185 TBmotorDirecti=0;
nerit 0:1e09cd7d66b4 186 }
nerit 0:1e09cd7d66b4 187 }
nerit 0:1e09cd7d66b4 188 //*******************************************************
nerit 0:1e09cd7d66b4 189 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 190 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 191 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 192 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 193 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 194 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 195 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 196 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 197 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 198 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 199 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 200 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 201 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 202 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 203 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 204 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 205 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 206 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 207 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 7:c9fd242538d9 208 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 7:c9fd242538d9 209 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 210 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 211 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 212 }else{
nerit 0:1e09cd7d66b4 213 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 214 }
nerit 0:1e09cd7d66b4 215 }
nerit 0:1e09cd7d66b4 216 //*******************************************************
nerit 0:1e09cd7d66b4 217 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 218 // update TB frequency
nerit 11:21e990eb31d0 219 double limite=400.0f;
nerit 0:1e09cd7d66b4 220 double TBper=0.0f;
nerit 0:1e09cd7d66b4 221 if (aspettaStart==0){
nerit 11:21e990eb31d0 222 if (perio<limite){perio=limite;}
nerit 11:21e990eb31d0 223 double scala =0.0f;
nerit 0:1e09cd7d66b4 224 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 225 scala =2.0f;
nerit 0:1e09cd7d66b4 226 }else{
nerit 0:1e09cd7d66b4 227 scala =1.8f;
nerit 0:1e09cd7d66b4 228 }
nerit 0:1e09cd7d66b4 229 TBper=perio/scala;
nerit 0:1e09cd7d66b4 230 if (oldPeriodoTB!=TBper){
nerit 11:21e990eb31d0 231 if (TBper >= (limite/2.0f)){
nerit 0:1e09cd7d66b4 232 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 233 }else{
nerit 0:1e09cd7d66b4 234 TBticker.detach();
nerit 0:1e09cd7d66b4 235 }
nerit 0:1e09cd7d66b4 236 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 237 }
nerit 0:1e09cd7d66b4 238 }
nerit 0:1e09cd7d66b4 239 }
nerit 0:1e09cd7d66b4 240 //*******************************************************
nerit 0:1e09cd7d66b4 241 void seedCorrect(){
nerit 0:1e09cd7d66b4 242 /*
nerit 0:1e09cd7d66b4 243 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 244 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 245 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 246 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 247 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 248 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 249 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 250 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 251 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 252 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 253 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 254 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 255 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 256 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 0:1e09cd7d66b4 257 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 258 Questo si traduce nel fatto che il controllo di posizione viene gestito solo all'interno di uno slot di semina in modo che
nerit 0:1e09cd7d66b4 259 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 260
nerit 0:1e09cd7d66b4 261 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 262 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 263 */
nerit 0:1e09cd7d66b4 264 /*
nerit 0:1e09cd7d66b4 265 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 266 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 267 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 268 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 269 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 270 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 271 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 272 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 273 */
nerit 0:1e09cd7d66b4 274
nerit 0:1e09cd7d66b4 275 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 276 if (inhibit==0){
nerit 0:1e09cd7d66b4 277 double posError =0.0f;
nerit 0:1e09cd7d66b4 278 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 279 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 280 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 281 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 282 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 283 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 284 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 285 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 286 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 287 }
nerit 0:1e09cd7d66b4 288 }
nerit 0:1e09cd7d66b4 289 }
nerit 4:d32258ec411f 290 }
nerit 4:d32258ec411f 291 }
nerit 4:d32258ec411f 292 //*******************************************************
nerit 4:d32258ec411f 293 void videoUpdate(){
nerit 4:d32258ec411f 294 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 295 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 296 totalSpeed=0.0f;
nerit 4:d32258ec411f 297 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 298 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 299 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 300 #if defined(SDreset)
nerit 0:1e09cd7d66b4 301 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 302 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 303 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 304 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 305 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 306 #endif
nerit 0:1e09cd7d66b4 307 #endif
nerit 0:1e09cd7d66b4 308 }
nerit 0:1e09cd7d66b4 309 //*******************************************************
nerit 0:1e09cd7d66b4 310 void ciclaTB(){
nerit 0:1e09cd7d66b4 311 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 312 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 313 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 314 startCicloTB=0;
nerit 0:1e09cd7d66b4 315 }
nerit 0:1e09cd7d66b4 316 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 317 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 318 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 319 stopCicloTB=0;
nerit 0:1e09cd7d66b4 320 }
nerit 0:1e09cd7d66b4 321 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 322 TBticker.detach();
nerit 0:1e09cd7d66b4 323 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 324 stopCicloTB=0;
nerit 0:1e09cd7d66b4 325 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 326 loadDaCan=0;
nerit 0:1e09cd7d66b4 327 }
nerit 0:1e09cd7d66b4 328 }
nerit 7:c9fd242538d9 329 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 7:c9fd242538d9 330 void stepSetting(){
nerit 7:c9fd242538d9 331 // Stepper driver init and set
nerit 7:c9fd242538d9 332 TBmotorRst=1; // reset stepper driver
nerit 12:5bfbccfb3cf4 333 TBmotorDirecti=1; // reset stepper direction
nerit 12:5bfbccfb3cf4 334 // M1 M2 M3 RESOLUTION
nerit 12:5bfbccfb3cf4 335 // 0 0 0 1/2
nerit 12:5bfbccfb3cf4 336 // 1 0 0 1/8
nerit 12:5bfbccfb3cf4 337 // 0 1 0 1/16
nerit 12:5bfbccfb3cf4 338 // 1 1 0 1/32
nerit 12:5bfbccfb3cf4 339 // 0 0 1 1/64
nerit 12:5bfbccfb3cf4 340 // 1 0 1 1/128
nerit 12:5bfbccfb3cf4 341 // 0 1 1 1/10
nerit 12:5bfbccfb3cf4 342 // 1 1 1 1/20
nerit 12:5bfbccfb3cf4 343 if (TBmotorSteps==400){
nerit 12:5bfbccfb3cf4 344 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 345 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 346 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 347 }else if (TBmotorSteps==1600){
nerit 12:5bfbccfb3cf4 348 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 349 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 350 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 351 }else if (TBmotorSteps==3200){
nerit 12:5bfbccfb3cf4 352 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 353 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 354 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 355 }else if (TBmotorSteps==6400){
nerit 12:5bfbccfb3cf4 356 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 357 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 358 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 359 }else if (TBmotorSteps==12800){
nerit 12:5bfbccfb3cf4 360 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 361 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 362 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 363 }else if (TBmotorSteps==25600){
nerit 12:5bfbccfb3cf4 364 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 365 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 366 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 367 }else if (TBmotorSteps==2000){
nerit 12:5bfbccfb3cf4 368 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 369 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 370 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 371 }else if (TBmotorSteps==4000){
nerit 12:5bfbccfb3cf4 372 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 373 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 374 TBmotor_M3=0;
nerit 9:503e2aba047c 375 }
nerit 12:5bfbccfb3cf4 376 TBmotorRst=0;
nerit 12:5bfbccfb3cf4 377 }
nerit 12:5bfbccfb3cf4 378 /*void stepSetting(){
nerit 12:5bfbccfb3cf4 379 // Stepper driver init and set
nerit 12:5bfbccfb3cf4 380 TBmotorRst=1; // reset stepper driver
nerit 12:5bfbccfb3cf4 381 TBmotorDirecti=1; // reset stepper direction
nerit 7:c9fd242538d9 382 // M1 M2 M3 RESOLUTION
nerit 7:c9fd242538d9 383 // 0 0 0 1/2
nerit 7:c9fd242538d9 384 // 1 0 0 1/8
nerit 7:c9fd242538d9 385 // 0 1 0 1/16
nerit 7:c9fd242538d9 386 // 1 1 0 1/32
nerit 7:c9fd242538d9 387 // 0 0 1 1/64
nerit 7:c9fd242538d9 388 // 1 0 1 1/128
nerit 7:c9fd242538d9 389 // 0 1 1 1/10
nerit 7:c9fd242538d9 390 // 1 1 1 1/20
nerit 10:d85ed006056e 391 if (TBmotorSteps==400.0f){
nerit 10:d85ed006056e 392 TBmotor_M1=0;
nerit 10:d85ed006056e 393 TBmotor_M2=0;
nerit 10:d85ed006056e 394 TBmotor_M3=0;
nerit 10:d85ed006056e 395 }else if (TBmotorSteps==1600.0f){
nerit 10:d85ed006056e 396 TBmotor_M1=0;
nerit 10:d85ed006056e 397 TBmotor_M2=0;
nerit 10:d85ed006056e 398 TBmotor_M3=1;
nerit 10:d85ed006056e 399 }else if (TBmotorSteps==3200.0f){
nerit 10:d85ed006056e 400 TBmotor_M1=0;
nerit 10:d85ed006056e 401 TBmotor_M2=1;
nerit 10:d85ed006056e 402 TBmotor_M3=0;
nerit 10:d85ed006056e 403 }else if (TBmotorSteps==6400.0f){
nerit 7:c9fd242538d9 404 TBmotor_M1=1;
nerit 7:c9fd242538d9 405 TBmotor_M2=1;
nerit 10:d85ed006056e 406 TBmotor_M3=0;
nerit 10:d85ed006056e 407 }else if (TBmotorSteps==12800.0f){
nerit 7:c9fd242538d9 408 TBmotor_M1=0;
nerit 10:d85ed006056e 409 TBmotor_M2=0;
nerit 7:c9fd242538d9 410 TBmotor_M3=1;
nerit 10:d85ed006056e 411 }else if (TBmotorSteps==25600.0f){
nerit 7:c9fd242538d9 412 TBmotor_M1=1;
nerit 7:c9fd242538d9 413 TBmotor_M2=0;
nerit 7:c9fd242538d9 414 TBmotor_M3=1;
nerit 10:d85ed006056e 415 }else if (TBmotorSteps==2000.0f){
nerit 7:c9fd242538d9 416 TBmotor_M1=0;
nerit 10:d85ed006056e 417 TBmotor_M2=1;
nerit 7:c9fd242538d9 418 TBmotor_M3=1;
nerit 10:d85ed006056e 419 }else if (TBmotorSteps==4000.0f){
nerit 7:c9fd242538d9 420 TBmotor_M1=1;
nerit 7:c9fd242538d9 421 TBmotor_M2=1;
nerit 10:d85ed006056e 422 TBmotor_M3=1;
nerit 10:d85ed006056e 423 }else{
nerit 10:d85ed006056e 424 // set dei 1600 passi
nerit 7:c9fd242538d9 425 TBmotor_M1=1;
nerit 7:c9fd242538d9 426 TBmotor_M2=0;
nerit 7:c9fd242538d9 427 TBmotor_M3=0;
nerit 7:c9fd242538d9 428 }
nerit 7:c9fd242538d9 429 TBmotorRst=0;
nerit 7:c9fd242538d9 430 }
nerit 12:5bfbccfb3cf4 431 */
nerit 7:c9fd242538d9 432 //****************************************
nerit 7:c9fd242538d9 433 void dcSetting(){
nerit 7:c9fd242538d9 434 if ((speedFromPick==0)&&(encoder==false)){
nerit 7:c9fd242538d9 435 DcEncoder.rise(&sd25Fall);
nerit 7:c9fd242538d9 436 }
nerit 7:c9fd242538d9 437 if (encoder==true){
nerit 7:c9fd242538d9 438 DcEncoder.rise(&encoRise);
nerit 7:c9fd242538d9 439 //ElementPosition.fall(&encoRise);
nerit 7:c9fd242538d9 440 }
nerit 7:c9fd242538d9 441 }
nerit 0:1e09cd7d66b4 442 //*******************************************************
nerit 0:1e09cd7d66b4 443 void allarmi(){
nerit 0:1e09cd7d66b4 444 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 445 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 446 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 447
nerit 0:1e09cd7d66b4 448 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 449 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 450 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 451 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 452 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 453 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 454 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 7:c9fd242538d9 455 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 456 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 7:c9fd242538d9 457 }
nerit 0:1e09cd7d66b4 458
nerit 0:1e09cd7d66b4 459 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 460 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 461 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 462 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 463 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 464 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 465 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 466 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 467 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 468 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 469 }
nerit 0:1e09cd7d66b4 470
nerit 0:1e09cd7d66b4 471 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 472 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 473 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 474 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 475 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 476 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 477 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 478 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 479 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 480 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 481 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 482 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 483 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 484 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 485 #endif
nerit 0:1e09cd7d66b4 486 #endif
nerit 0:1e09cd7d66b4 487 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 488 all_pickSignal=0;
nerit 0:1e09cd7d66b4 489 all_cellSignal=0;
nerit 0:1e09cd7d66b4 490 all_lowBattery=0;
nerit 0:1e09cd7d66b4 491 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 492 all_stopSistem=0;
nerit 0:1e09cd7d66b4 493 all_upElements=0;
nerit 0:1e09cd7d66b4 494 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 495 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 496 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 497 all_noStepRota=0;
nerit 0:1e09cd7d66b4 498 all_speedError=0;
nerit 0:1e09cd7d66b4 499 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 500 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 501 all_genericals=0;
nerit 0:1e09cd7d66b4 502 }
nerit 0:1e09cd7d66b4 503 //*******************************************************
nerit 0:1e09cd7d66b4 504 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 505 void upDateSincro(){
nerit 0:1e09cd7d66b4 506 char val1[8]={0,0,0,0,0,0,0,0};
nerit 13:0ae23132a2b6 507 val1[3]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 13:0ae23132a2b6 508 val1[2]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 13:0ae23132a2b6 509 val1[1]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 13:0ae23132a2b6 510 val1[0]=posForQuinc & 0x000000FF;
nerit 7:c9fd242538d9 511 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 7:c9fd242538d9 512 double pass = speedOfSeedWheel*100.0f;
nerit 5:3b95bbfe2dc9 513 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 514 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 515 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 516 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 517 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 518 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 519 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 520 checkState=0;
nerit 0:1e09cd7d66b4 521 }
nerit 0:1e09cd7d66b4 522 #endif
nerit 0:1e09cd7d66b4 523 #endif
nerit 0:1e09cd7d66b4 524 }
nerit 0:1e09cd7d66b4 525 #endif
nerit 0:1e09cd7d66b4 526 //*******************************************************
nerit 0:1e09cd7d66b4 527 void upDateSpeed(){
nerit 0:1e09cd7d66b4 528 /*
nerit 0:1e09cd7d66b4 529 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 530 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 531 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 532 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 533 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 534 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 535 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 536 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 537 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 538 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 539 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 540 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 541 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 542 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 543 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 544 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 545 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 546 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 547 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 548 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 549 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 550 bit 1= sensore celle
nerit 0:1e09cd7d66b4 551 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 552 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 553 bit 4= motore DC
nerit 0:1e09cd7d66b4 554 bit 5= controller
nerit 0:1e09cd7d66b4 555 bit 6= motore stepper
nerit 0:1e09cd7d66b4 556 */
nerit 0:1e09cd7d66b4 557 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 558
nerit 0:1e09cd7d66b4 559 val1[3]=0;
nerit 0:1e09cd7d66b4 560 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 561 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 7:c9fd242538d9 562 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 3:c0f11ca4df02 563 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 564 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 565 if (buttonUser==0){
nerit 0:1e09cd7d66b4 566 val1[1]=0x02;
nerit 0:1e09cd7d66b4 567 }else{
nerit 0:1e09cd7d66b4 568 val1[1]=0x00;
nerit 0:1e09cd7d66b4 569 }
nerit 0:1e09cd7d66b4 570 val1[3]=valore;
nerit 0:1e09cd7d66b4 571 valore+=1;
nerit 0:1e09cd7d66b4 572 if(valore>50){
nerit 0:1e09cd7d66b4 573 valore=0;
nerit 0:1e09cd7d66b4 574 }
nerit 0:1e09cd7d66b4 575 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 576 #endif
nerit 0:1e09cd7d66b4 577 allarmi();
nerit 0:1e09cd7d66b4 578 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 579 val1[0]=valore;
nerit 0:1e09cd7d66b4 580 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 581 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 582 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 583 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 584 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 585 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 586 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 587 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 588 checkState=0;
nerit 0:1e09cd7d66b4 589 }
nerit 0:1e09cd7d66b4 590 #endif
nerit 0:1e09cd7d66b4 591 }
nerit 0:1e09cd7d66b4 592 //*******************************************************
nerit 0:1e09cd7d66b4 593 void leggiCAN(){
nerit 0:1e09cd7d66b4 594 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 595 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 596 if (firstStart==1){
nerit 0:1e09cd7d66b4 597 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 598 sincUpdate.attach(&upDateSincro,0.009f);
nerit 7:c9fd242538d9 599 canUpdate.attach(&upDateSpeed,0.21f);
nerit 7:c9fd242538d9 600 #else
nerit 7:c9fd242538d9 601 canUpdate.attach(&upDateSpeed,0.407f);
nerit 0:1e09cd7d66b4 602 #endif
nerit 0:1e09cd7d66b4 603 firstStart=0;
nerit 0:1e09cd7d66b4 604 }
nerit 0:1e09cd7d66b4 605
nerit 0:1e09cd7d66b4 606 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 607 #if defined(pcSerial)
nerit 7:c9fd242538d9 608 #if defined(canDataReceiveda)
nerit 0:1e09cd7d66b4 609 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 610 #endif
nerit 0:1e09cd7d66b4 611 #endif
nerit 0:1e09cd7d66b4 612 }
nerit 0:1e09cd7d66b4 613 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 614 #if defined(pcSerial)
nerit 7:c9fd242538d9 615 #if defined(canDataReceivedb)
nerit 0:1e09cd7d66b4 616 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 617 #endif
nerit 0:1e09cd7d66b4 618 #endif
nerit 0:1e09cd7d66b4 619 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 620 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 621 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 622 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 623 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 624 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 625 #if defined(canDataReceived)
nerit 7:c9fd242538d9 626 pc.printf("Speed simula %d \n",speedSimula);
nerit 0:1e09cd7d66b4 627 #endif
nerit 0:1e09cd7d66b4 628 #endif
nerit 0:1e09cd7d66b4 629 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 630 case 1:
nerit 0:1e09cd7d66b4 631 case 3:
nerit 0:1e09cd7d66b4 632 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 633 resetComandi=0x01;
nerit 0:1e09cd7d66b4 634 comandiDaCan=0;
nerit 0:1e09cd7d66b4 635 break;
nerit 0:1e09cd7d66b4 636 case 2:
nerit 0:1e09cd7d66b4 637 loadDaCan=1;
nerit 0:1e09cd7d66b4 638 resetComandi=0x02;
nerit 0:1e09cd7d66b4 639 comandiDaCan=0;
nerit 0:1e09cd7d66b4 640 break;
nerit 0:1e09cd7d66b4 641 default:
nerit 0:1e09cd7d66b4 642 comandiDaCan=0;
nerit 0:1e09cd7d66b4 643 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 644 break;
nerit 0:1e09cd7d66b4 645 }
nerit 0:1e09cd7d66b4 646 #if defined(pcSerial)
nerit 7:c9fd242538d9 647 #if defined(canDataReceivedR)
nerit 0:1e09cd7d66b4 648 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 649 #endif
nerit 0:1e09cd7d66b4 650 #endif
nerit 0:1e09cd7d66b4 651 if (speedSimula>45){
nerit 0:1e09cd7d66b4 652 speedSimula=45;
nerit 0:1e09cd7d66b4 653 }
nerit 0:1e09cd7d66b4 654 // modulo 1
nerit 0:1e09cd7d66b4 655 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 656 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 657 simOk=1;
nerit 0:1e09cd7d66b4 658 }else{
nerit 0:1e09cd7d66b4 659 simOk=0;
nerit 0:1e09cd7d66b4 660 }
nerit 0:1e09cd7d66b4 661 }
nerit 0:1e09cd7d66b4 662 // modulo 2
nerit 0:1e09cd7d66b4 663 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 664 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 665 simOk=1;
nerit 0:1e09cd7d66b4 666 }else{
nerit 0:1e09cd7d66b4 667 simOk=0;
nerit 0:1e09cd7d66b4 668 }
nerit 0:1e09cd7d66b4 669 }
nerit 0:1e09cd7d66b4 670 // modulo 3
nerit 0:1e09cd7d66b4 671 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 672 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 673 simOk=1;
nerit 0:1e09cd7d66b4 674 }else{
nerit 0:1e09cd7d66b4 675 simOk=0;
nerit 0:1e09cd7d66b4 676 }
nerit 0:1e09cd7d66b4 677 }
nerit 0:1e09cd7d66b4 678 // modulo 4
nerit 0:1e09cd7d66b4 679 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 680 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 681 simOk=1;
nerit 0:1e09cd7d66b4 682 }else{
nerit 0:1e09cd7d66b4 683 simOk=0;
nerit 0:1e09cd7d66b4 684 }
nerit 0:1e09cd7d66b4 685 }
nerit 0:1e09cd7d66b4 686 // modulo 5
nerit 0:1e09cd7d66b4 687 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 688 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 689 simOk=1;
nerit 0:1e09cd7d66b4 690 }else{
nerit 0:1e09cd7d66b4 691 simOk=0;
nerit 0:1e09cd7d66b4 692 }
nerit 0:1e09cd7d66b4 693 }
nerit 0:1e09cd7d66b4 694
nerit 0:1e09cd7d66b4 695 }
nerit 0:1e09cd7d66b4 696 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 697 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 698 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 699 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 700 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 701 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 702 speedWheelDiameter = ((rxMsg.data[6]*0xFF)+rxMsg.data[5])/10000.0f; // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
nerit 0:1e09cd7d66b4 703 speedWheelPulse = rxMsg.data[7]; // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
nerit 0:1e09cd7d66b4 704 aggiornaParametri();
nerit 13:0ae23132a2b6 705 #if defined(pcSerial)
nerit 13:0ae23132a2b6 706 #if defined(quinca)
nerit 13:0ae23132a2b6 707 pc.printf("pick %f cells %f deep %f \n",pickNumber, cellsNumber,deepOfSeed);
nerit 13:0ae23132a2b6 708 #endif
nerit 13:0ae23132a2b6 709 #endif
nerit 0:1e09cd7d66b4 710 }
nerit 0:1e09cd7d66b4 711 }
nerit 0:1e09cd7d66b4 712 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 713 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 714 #if defined(M1)
nerit 0:1e09cd7d66b4 715 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 716 aggiornaParametri();
nerit 0:1e09cd7d66b4 717 #endif
nerit 0:1e09cd7d66b4 718 #if defined(M2)
nerit 13:0ae23132a2b6 719 #if defined(pcSerial)
nerit 13:0ae23132a2b6 720 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 721 pc.printf("AngoloFase M2\n");
nerit 13:0ae23132a2b6 722 #endif
nerit 13:0ae23132a2b6 723 #endif
nerit 0:1e09cd7d66b4 724 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 725 aggiornaParametri();
nerit 0:1e09cd7d66b4 726 #endif
nerit 0:1e09cd7d66b4 727 #if defined(M3)
nerit 0:1e09cd7d66b4 728 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 729 aggiornaParametri();
nerit 0:1e09cd7d66b4 730 #endif
nerit 0:1e09cd7d66b4 731 #if defined(M4)
nerit 0:1e09cd7d66b4 732 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 733 aggiornaParametri();
nerit 0:1e09cd7d66b4 734 #endif
nerit 0:1e09cd7d66b4 735 #if defined(M5)
nerit 0:1e09cd7d66b4 736 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 737 aggiornaParametri();
nerit 0:1e09cd7d66b4 738 #endif
nerit 0:1e09cd7d66b4 739 #if defined(M6)
nerit 0:1e09cd7d66b4 740 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 741 aggiornaParametri();
nerit 0:1e09cd7d66b4 742 #endif
nerit 0:1e09cd7d66b4 743 }
nerit 0:1e09cd7d66b4 744 }
nerit 0:1e09cd7d66b4 745 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 746 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 747 #if defined(M1)
nerit 0:1e09cd7d66b4 748 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 749 aggiornaParametri();
nerit 0:1e09cd7d66b4 750 #endif
nerit 0:1e09cd7d66b4 751 #if defined(M2)
nerit 13:0ae23132a2b6 752 #if defined(pcSerial)
nerit 13:0ae23132a2b6 753 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 754 pc.printf("AngoloAvvio M2\n");
nerit 13:0ae23132a2b6 755 #endif
nerit 13:0ae23132a2b6 756 #endif
nerit 0:1e09cd7d66b4 757 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 758 aggiornaParametri();
nerit 0:1e09cd7d66b4 759 #endif
nerit 0:1e09cd7d66b4 760 #if defined(M3)
nerit 0:1e09cd7d66b4 761 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 762 aggiornaParametri();
nerit 0:1e09cd7d66b4 763 #endif
nerit 0:1e09cd7d66b4 764 #if defined(M4)
nerit 0:1e09cd7d66b4 765 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 766 aggiornaParametri();
nerit 0:1e09cd7d66b4 767 #endif
nerit 0:1e09cd7d66b4 768 #if defined(M5)
nerit 0:1e09cd7d66b4 769 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 770 aggiornaParametri();
nerit 0:1e09cd7d66b4 771 #endif
nerit 0:1e09cd7d66b4 772 #if defined(M6)
nerit 0:1e09cd7d66b4 773 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 774 aggiornaParametri();
nerit 0:1e09cd7d66b4 775 #endif
nerit 0:1e09cd7d66b4 776 }
nerit 0:1e09cd7d66b4 777 }
nerit 0:1e09cd7d66b4 778 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 779 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 780 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 781 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 782 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 783 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 784 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 785 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 786 aggiornaParametri();
nerit 13:0ae23132a2b6 787 #if defined(pcSerial)
nerit 13:0ae23132a2b6 788 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 789 pc.printf("Quinconce Active %d M2\n",quinconceActive);
nerit 13:0ae23132a2b6 790 #endif
nerit 13:0ae23132a2b6 791 #endif
nerit 0:1e09cd7d66b4 792 }
nerit 0:1e09cd7d66b4 793 }
nerit 0:1e09cd7d66b4 794 if (rxMsg.id==RX_QuincSinc){
nerit 7:c9fd242538d9 795 masterSinc = (uint32_t) rxMsg.data[3] * 0x00FF0000;
nerit 7:c9fd242538d9 796 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x0000FF00);
nerit 7:c9fd242538d9 797 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x000000FF);
nerit 7:c9fd242538d9 798 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 5:3b95bbfe2dc9 799 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 800 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 801 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 802 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 803 canDataCheck=1;
nerit 0:1e09cd7d66b4 804 }
nerit 6:3fca0ca1949e 805 if (rxMsg.id==RX_Configure){
nerit 6:3fca0ca1949e 806 uint8_t flags = rxMsg.data[0];
nerit 10:d85ed006056e 807 uint16_t steps = (uint32_t) rxMsg.data[1]*0x000000FF;
nerit 6:3fca0ca1949e 808 steps = steps + ((uint32_t)rxMsg.data[2]);
nerit 12:5bfbccfb3cf4 809 //TBmotorSteps =steps;
nerit 12:5bfbccfb3cf4 810 stepSetting();
nerit 6:3fca0ca1949e 811 cellsCountSet = rxMsg.data[3];
nerit 6:3fca0ca1949e 812 if ((flags&0x01)==0x01){
nerit 7:c9fd242538d9 813 if (encoder==false){
nerit 7:c9fd242538d9 814 encoder=true;
nerit 7:c9fd242538d9 815 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 816 dcSetting();
nerit 7:c9fd242538d9 817 }
nerit 6:3fca0ca1949e 818 }else{
nerit 7:c9fd242538d9 819 if (encoder==true){
nerit 7:c9fd242538d9 820 encoder=false;
nerit 7:c9fd242538d9 821 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 822 dcSetting();
nerit 7:c9fd242538d9 823 }
nerit 6:3fca0ca1949e 824 }
nerit 6:3fca0ca1949e 825 if ((flags&0x02)==0x02){
nerit 6:3fca0ca1949e 826 tankLevelEnable=true;
nerit 6:3fca0ca1949e 827 }else{
nerit 6:3fca0ca1949e 828 tankLevelEnable=false;
nerit 6:3fca0ca1949e 829 }
nerit 6:3fca0ca1949e 830 if ((flags&0x04)==0x04){
nerit 6:3fca0ca1949e 831 seedSensorEnable=true;
nerit 6:3fca0ca1949e 832 }else{
nerit 6:3fca0ca1949e 833 seedSensorEnable=false;
nerit 6:3fca0ca1949e 834 }
nerit 6:3fca0ca1949e 835 if ((flags&0x08)==0x08){
nerit 6:3fca0ca1949e 836 stendiNylonEnable=true;
nerit 6:3fca0ca1949e 837 }else{
nerit 6:3fca0ca1949e 838 stendiNylonEnable=false;
nerit 6:3fca0ca1949e 839 }
nerit 6:3fca0ca1949e 840 if ((flags&0x10)==0x10){
nerit 6:3fca0ca1949e 841 canDataCheckEnable=true;
nerit 13:0ae23132a2b6 842 #if defined(pcSerial)
nerit 13:0ae23132a2b6 843 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 844 pc.printf("Datacheck ON\n");
nerit 13:0ae23132a2b6 845 #endif
nerit 13:0ae23132a2b6 846 #endif
nerit 6:3fca0ca1949e 847 }else{
nerit 6:3fca0ca1949e 848 canDataCheckEnable=false;
nerit 6:3fca0ca1949e 849 }
nerit 6:3fca0ca1949e 850 if ((flags&0x20)==0x20){
nerit 6:3fca0ca1949e 851 tamburoStandard=1;
nerit 6:3fca0ca1949e 852 }else{
nerit 6:3fca0ca1949e 853 tamburoStandard=0;
nerit 6:3fca0ca1949e 854 }
nerit 6:3fca0ca1949e 855 if ((flags&0x40)==0x40){
nerit 6:3fca0ca1949e 856 currentCheckEnable=true;
nerit 6:3fca0ca1949e 857 }else{
nerit 6:3fca0ca1949e 858 currentCheckEnable=false;
nerit 6:3fca0ca1949e 859 }
nerit 6:3fca0ca1949e 860 }
nerit 0:1e09cd7d66b4 861 }
nerit 0:1e09cd7d66b4 862 #endif
nerit 0:1e09cd7d66b4 863 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 864 enableSimula=1;
nerit 0:1e09cd7d66b4 865 speedSimula=25;
nerit 0:1e09cd7d66b4 866 avviaSimula=1;
nerit 0:1e09cd7d66b4 867 simOk=1;
nerit 0:1e09cd7d66b4 868 #endif
nerit 0:1e09cd7d66b4 869
nerit 0:1e09cd7d66b4 870 }
nerit 0:1e09cd7d66b4 871
nerit 0:1e09cd7d66b4 872 //*******************************************************
nerit 0:1e09cd7d66b4 873 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 874
nerit 0:1e09cd7d66b4 875 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 876 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 877
nerit 0:1e09cd7d66b4 878 //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 0:1e09cd7d66b4 879 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 880 // Analog reading
nerit 0:1e09cd7d66b4 881 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 882 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 883 timeout.detach();
nerit 0:1e09cd7d66b4 884 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 885 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 886 }
nerit 0:1e09cd7d66b4 887 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 888 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 889 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 890 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 891 }
nerit 0:1e09cd7d66b4 892 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 893 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 894 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 895 }
nerit 0:1e09cd7d66b4 896 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 897 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 898 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 899 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 900 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 901 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 902 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 903 #endif
nerit 0:1e09cd7d66b4 904 #endif
nerit 0:1e09cd7d66b4 905 reduceCurrent=false;
nerit 0:1e09cd7d66b4 906 incrementCurrent=false;
nerit 0:1e09cd7d66b4 907 /*
nerit 0:1e09cd7d66b4 908 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 909 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 910 all_lowBattery=1;
nerit 0:1e09cd7d66b4 911 #endif
nerit 0:1e09cd7d66b4 912 incrementCurrent=true;
nerit 0:1e09cd7d66b4 913 }
nerit 0:1e09cd7d66b4 914 */
nerit 4:d32258ec411f 915 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 916 timeCurr.start();
nerit 4:d32258ec411f 917 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 918 #if defined(canbusActive)
nerit 4:d32258ec411f 919 all_overCurrDC=1;
nerit 4:d32258ec411f 920 #endif
nerit 4:d32258ec411f 921 reduceCurrent=true;
nerit 4:d32258ec411f 922 timeCurr.reset();
nerit 4:d32258ec411f 923 }
nerit 4:d32258ec411f 924 }else{
nerit 4:d32258ec411f 925 timeCurr.stop();
nerit 0:1e09cd7d66b4 926 }
nerit 0:1e09cd7d66b4 927 //}
nerit 0:1e09cd7d66b4 928 }
nerit 0:1e09cd7d66b4 929 //*******************************************************
nerit 0:1e09cd7d66b4 930 void DC_prepare(){
nerit 0:1e09cd7d66b4 931 // direction or brake preparation
nerit 7:c9fd242538d9 932 if (DC_brake==1){
nerit 7:c9fd242538d9 933 SDmotorInA=1;
nerit 7:c9fd242538d9 934 SDmotorInB=1;
nerit 7:c9fd242538d9 935 }else{
nerit 7:c9fd242538d9 936 if (DC_forward==0){
nerit 7:c9fd242538d9 937 SDmotorInA=1;
nerit 7:c9fd242538d9 938 SDmotorInB=0;
nerit 7:c9fd242538d9 939 }else{
nerit 7:c9fd242538d9 940 SDmotorInA=0;
nerit 7:c9fd242538d9 941 SDmotorInB=1;
nerit 7:c9fd242538d9 942 }
nerit 7:c9fd242538d9 943 }
nerit 0:1e09cd7d66b4 944 // fault reading
nerit 0:1e09cd7d66b4 945 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 946 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 947 }
nerit 0:1e09cd7d66b4 948 //*******************************************************
nerit 0:1e09cd7d66b4 949 void startDelay(){
nerit 0:1e09cd7d66b4 950 int ritardo =0;
nerit 0:1e09cd7d66b4 951 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 952 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 953 }
nerit 0:1e09cd7d66b4 954 //*******************************************************
nerit 4:d32258ec411f 955 void quincTrigon(){
nerit 4:d32258ec411f 956 quincClock=true;
nerit 4:d32258ec411f 957 }
nerit 4:d32258ec411f 958 void quincTrigof(){
nerit 4:d32258ec411f 959 quincClock=false;
nerit 0:1e09cd7d66b4 960 }
nerit 0:1e09cd7d66b4 961 //*******************************************************
nerit 2:d9c7430ae953 962 void quinCalc(){
nerit 0:1e09cd7d66b4 963 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 964 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 965 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 966 oldQuincIn=1;
nerit 0:1e09cd7d66b4 967 if (quincStart==0){
nerit 5:3b95bbfe2dc9 968 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 969 quincTime.reset();
nerit 8:0e643ea7834f 970 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 971 quincStart=1;
nerit 0:1e09cd7d66b4 972 }
nerit 0:1e09cd7d66b4 973 }
nerit 2:d9c7430ae953 974 if(quincClock==false){
nerit 0:1e09cd7d66b4 975 oldQuincIn=0;
nerit 0:1e09cd7d66b4 976 }
nerit 2:d9c7430ae953 977 #else
nerit 2:d9c7430ae953 978 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 979 oldQuincIn=1;
nerit 0:1e09cd7d66b4 980 if (quincStart==0){
nerit 5:3b95bbfe2dc9 981 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 982 quincTime.reset();
nerit 0:1e09cd7d66b4 983 quincStart=1;
nerit 0:1e09cd7d66b4 984 }
nerit 0:1e09cd7d66b4 985 }
nerit 4:d32258ec411f 986 if (quinconceActive==0){
nerit 4:d32258ec411f 987 if (quincClock==false){
nerit 4:d32258ec411f 988 oldQuincIn=0;
nerit 4:d32258ec411f 989 }
nerit 4:d32258ec411f 990 }else{
nerit 4:d32258ec411f 991 if (quincClock==true){
nerit 4:d32258ec411f 992 oldQuincIn=0;
nerit 4:d32258ec411f 993 }
nerit 0:1e09cd7d66b4 994 }
nerit 2:d9c7430ae953 995 #endif
nerit 5:3b95bbfe2dc9 996 //****************************************************************************************
nerit 7:c9fd242538d9 997 if (quincCnt>=4){
nerit 5:3b95bbfe2dc9 998 if (countPicks==0){
nerit 5:3b95bbfe2dc9 999 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 1000 // decelera
nerit 5:3b95bbfe2dc9 1001 countPicks=1;
nerit 4:d32258ec411f 1002 }
nerit 5:3b95bbfe2dc9 1003 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 1004 // accelera
nerit 5:3b95bbfe2dc9 1005 countPicks=2;
nerit 4:d32258ec411f 1006 }
nerit 4:d32258ec411f 1007 }
nerit 5:3b95bbfe2dc9 1008 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 1009 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 1010 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 1011 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 1012 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 1013 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 1014 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1015 #if defined(laq)
nerit 5:3b95bbfe2dc9 1016 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 1017 #endif
nerit 5:3b95bbfe2dc9 1018 #endif
nerit 5:3b95bbfe2dc9 1019 }
nerit 7:c9fd242538d9 1020 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 1021 }
nerit 5:3b95bbfe2dc9 1022 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 1023 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 1024 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 1025 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 1026 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 1027 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1028 #if defined(laq)
nerit 5:3b95bbfe2dc9 1029 pc.printf(
nerit 5:3b95bbfe2dc9 1030 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 1031 #endif
nerit 5:3b95bbfe2dc9 1032 #endif
nerit 5:3b95bbfe2dc9 1033 }
nerit 7:c9fd242538d9 1034 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 1035 }
nerit 5:3b95bbfe2dc9 1036 sincroQui=0;
nerit 5:3b95bbfe2dc9 1037 quincStart=0;
nerit 5:3b95bbfe2dc9 1038 countPicks=0;
nerit 7:c9fd242538d9 1039 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1040 if (quincCnt>=3){
nerit 7:c9fd242538d9 1041 if (speedFromMaster>0.0f){
nerit 8:0e643ea7834f 1042 if (enableSimula==0){
nerit 8:0e643ea7834f 1043 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1044 }
nerit 7:c9fd242538d9 1045 }
nerit 7:c9fd242538d9 1046 }
nerit 7:c9fd242538d9 1047 #endif
nerit 5:3b95bbfe2dc9 1048 }
nerit 5:3b95bbfe2dc9 1049
nerit 5:3b95bbfe2dc9 1050 //*******************************************************************
nerit 5:3b95bbfe2dc9 1051 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 1052 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 1053 canDataCheck=0;
nerit 7:c9fd242538d9 1054 double parametro = SDsectorStep/3.0f;
nerit 5:3b95bbfe2dc9 1055 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 1056 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 1057 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 1058 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1059 }else{
nerit 5:3b95bbfe2dc9 1060 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1061 }
nerit 5:3b95bbfe2dc9 1062 #else
nerit 5:3b95bbfe2dc9 1063 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1064 #endif
nerit 5:3b95bbfe2dc9 1065 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 1066 double diffPerc = differenza / parametro;
nerit 7:c9fd242538d9 1067 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 1068 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1069 #if defined(quinca)
nerit 5:3b95bbfe2dc9 1070 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 5:3b95bbfe2dc9 1071 #endif
nerit 5:3b95bbfe2dc9 1072 #endif
nerit 5:3b95bbfe2dc9 1073 }
nerit 5:3b95bbfe2dc9 1074 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 1075 double diffPerc = (double)differenza / parametro;
nerit 7:c9fd242538d9 1076 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 1077 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1078 #if defined(quinca)
nerit 5:3b95bbfe2dc9 1079 pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
nerit 5:3b95bbfe2dc9 1080 #endif
nerit 5:3b95bbfe2dc9 1081 #endif
nerit 5:3b95bbfe2dc9 1082 }
nerit 7:c9fd242538d9 1083
nerit 7:c9fd242538d9 1084 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1085 if (quincCnt>=3){
nerit 7:c9fd242538d9 1086 if (speedFromMaster>0.0f){
nerit 10:d85ed006056e 1087 //Questo
nerit 8:0e643ea7834f 1088 if (enableSimula==0){
nerit 8:0e643ea7834f 1089 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1090 }
nerit 7:c9fd242538d9 1091 }
nerit 7:c9fd242538d9 1092 }
nerit 7:c9fd242538d9 1093 #endif
nerit 5:3b95bbfe2dc9 1094 }
nerit 5:3b95bbfe2dc9 1095 }
nerit 5:3b95bbfe2dc9 1096
nerit 5:3b95bbfe2dc9 1097 }
nerit 5:3b95bbfe2dc9 1098 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 1099 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 1100 }
nerit 5:3b95bbfe2dc9 1101 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 1102 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 1103 }
nerit 0:1e09cd7d66b4 1104 }
nerit 7:c9fd242538d9 1105 // ----------------------------------------
nerit 7:c9fd242538d9 1106 #if defined(seedSensor)
nerit 7:c9fd242538d9 1107 void resetDelay(){
nerit 7:c9fd242538d9 1108 delaySeedCheck.reset();
nerit 7:c9fd242538d9 1109 delaySeedCheck.stop();
nerit 7:c9fd242538d9 1110 }
nerit 7:c9fd242538d9 1111 #endif
nerit 0:1e09cd7d66b4 1112 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1113 // MAIN SECTION
nerit 3:c0f11ca4df02 1114 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1115
nerit 0:1e09cd7d66b4 1116 int main()
nerit 0:1e09cd7d66b4 1117 {
nerit 5:3b95bbfe2dc9 1118 //wait(1.0f);
nerit 0:1e09cd7d66b4 1119 wd.Configure(2); //watchdog set at xx seconds
nerit 7:c9fd242538d9 1120
nerit 7:c9fd242538d9 1121 stepSetting();
nerit 7:c9fd242538d9 1122
nerit 0:1e09cd7d66b4 1123 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 1124 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 1125 }
nerit 0:1e09cd7d66b4 1126
nerit 0:1e09cd7d66b4 1127
nerit 0:1e09cd7d66b4 1128 // DC reset ad set
nerit 0:1e09cd7d66b4 1129 int decima = 100;
nerit 0:1e09cd7d66b4 1130 wait_ms(200);
nerit 0:1e09cd7d66b4 1131 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1132 wait_ms(2);
nerit 0:1e09cd7d66b4 1133 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1134 wait_ms(1);
nerit 0:1e09cd7d66b4 1135 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1136 wait_ms(3);
nerit 0:1e09cd7d66b4 1137 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1138 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 1139 wait_ms(100);
nerit 0:1e09cd7d66b4 1140 DC_prepare();
nerit 0:1e09cd7d66b4 1141
nerit 0:1e09cd7d66b4 1142 speedTimer.start(); // speed pulse timer
nerit 0:1e09cd7d66b4 1143 intraPickTimer.start();
nerit 0:1e09cd7d66b4 1144 speedTimeOut.start();
nerit 0:1e09cd7d66b4 1145 speedFilter.start();
nerit 0:1e09cd7d66b4 1146 seedFilter.start();
nerit 0:1e09cd7d66b4 1147 TBfilter.start();
nerit 0:1e09cd7d66b4 1148 sincroTimer.start();
nerit 0:1e09cd7d66b4 1149 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 1150 metalTimer.start();
nerit 0:1e09cd7d66b4 1151 quincTime.start();
nerit 1:e88bf5011af6 1152 quincTimeSD.start();
nerit 7:c9fd242538d9 1153 //intraEncoTimer.start();
nerit 0:1e09cd7d66b4 1154
nerit 0:1e09cd7d66b4 1155 //*******************************************************
nerit 0:1e09cd7d66b4 1156 // controls for check DC motor current
nerit 0:1e09cd7d66b4 1157 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 1158
nerit 0:1e09cd7d66b4 1159 if (inProva==0){
nerit 0:1e09cd7d66b4 1160 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 1161 #if !defined(speedMaster)
nerit 4:d32258ec411f 1162 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 1163 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 1164 #endif
nerit 5:3b95bbfe2dc9 1165 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1166 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 1167 #endif
nerit 0:1e09cd7d66b4 1168 seedCorrection.attach(&seedCorrect,0.005f); // con 16 becchi a 4,5Kmh ci sono 37mS tra un becco e l'altro, quindi 8 correzioni di tb
nerit 7:c9fd242538d9 1169 dcSetting();
nerit 7:c9fd242538d9 1170 #if defined(seedSensor)
nerit 8:0e643ea7834f 1171 seedCheck.fall(&seedSensorTask);
nerit 7:c9fd242538d9 1172 #endif
nerit 0:1e09cd7d66b4 1173 }else{
nerit 0:1e09cd7d66b4 1174 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 1175 }
nerit 0:1e09cd7d66b4 1176
nerit 0:1e09cd7d66b4 1177 aggiornaParametri();
nerit 0:1e09cd7d66b4 1178
nerit 0:1e09cd7d66b4 1179 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 7:c9fd242538d9 1180 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 7:c9fd242538d9 1181 TBmotorDirecti=1; // tb motor direction set
nerit 0:1e09cd7d66b4 1182
nerit 0:1e09cd7d66b4 1183 #if defined(provaStepper)
nerit 7:c9fd242538d9 1184 TBmotorRst=0;
nerit 13:0ae23132a2b6 1185 TBticker.attach_us(&step_TBPulseOut,250.0f); // clock time are seconds and attach seed motor stepper controls
nerit 13:0ae23132a2b6 1186 //TATicker.attach(&inverti,2.5f);
nerit 0:1e09cd7d66b4 1187 #endif // end prova stepper
nerit 0:1e09cd7d66b4 1188
nerit 0:1e09cd7d66b4 1189 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 1190 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 1191 #endif
nerit 0:1e09cd7d66b4 1192
nerit 0:1e09cd7d66b4 1193 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1194 // MAIN LOOP
nerit 0:1e09cd7d66b4 1195 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1196 while (true){
nerit 0:1e09cd7d66b4 1197 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1198 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1199
nerit 0:1e09cd7d66b4 1200 // inversione segnali ingressi
nerit 4:d32258ec411f 1201 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1202 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1203 #else
nerit 4:d32258ec411f 1204 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1205 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1206 }
nerit 4:d32258ec411f 1207 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1208 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1209 }
nerit 4:d32258ec411f 1210 #endif
nerit 0:1e09cd7d66b4 1211 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1212
nerit 0:1e09cd7d66b4 1213 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1214 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1215 if (seedWheelZeroPinInput==1){
nerit 7:c9fd242538d9 1216 quinconceOut=0;
nerit 0:1e09cd7d66b4 1217 }
nerit 5:3b95bbfe2dc9 1218 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 7:c9fd242538d9 1219 quinconceOut=1;
nerit 7:c9fd242538d9 1220 }
nerit 7:c9fd242538d9 1221 if (quinconceActive==1){
nerit 7:c9fd242538d9 1222 if ((quinconceOut==1)&&(oldQuinconceOut==1)){
nerit 5:3b95bbfe2dc9 1223 posForQuinc=500;
nerit 7:c9fd242538d9 1224 oldQuinconceOut=0;
nerit 7:c9fd242538d9 1225 }
nerit 7:c9fd242538d9 1226 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)){
nerit 7:c9fd242538d9 1227 oldQuinconceOut=1;
nerit 7:c9fd242538d9 1228 }
nerit 7:c9fd242538d9 1229 }
nerit 0:1e09cd7d66b4 1230 #endif
nerit 0:1e09cd7d66b4 1231
nerit 0:1e09cd7d66b4 1232 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1233 leggiCAN();
nerit 0:1e09cd7d66b4 1234 #endif
nerit 0:1e09cd7d66b4 1235
nerit 0:1e09cd7d66b4 1236 // simulazione velocita
nerit 0:1e09cd7d66b4 1237 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1238 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1239 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1240 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1241 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1242 }else{
nerit 0:1e09cd7d66b4 1243 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1244 }
nerit 0:1e09cd7d66b4 1245 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1246 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 7:c9fd242538d9 1247 #if defined(pcSerial)
nerit 7:c9fd242538d9 1248 #if defined(canDataReceived)
nerit 7:c9fd242538d9 1249 pc.printf("Pulseinterval %f \n",pulseSpeedInterval);
nerit 7:c9fd242538d9 1250 #endif
nerit 7:c9fd242538d9 1251 #endif
nerit 0:1e09cd7d66b4 1252 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1253 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1254 }
nerit 0:1e09cd7d66b4 1255 }else{
nerit 0:1e09cd7d66b4 1256 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1257 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1258 }
nerit 0:1e09cd7d66b4 1259 }else{
nerit 0:1e09cd7d66b4 1260 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1261 }
nerit 0:1e09cd7d66b4 1262
nerit 0:1e09cd7d66b4 1263 //*******************************************************
nerit 0:1e09cd7d66b4 1264 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1265 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1266 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1267 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1268 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1269 }
nerit 0:1e09cd7d66b4 1270 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1271 }else{
nerit 0:1e09cd7d66b4 1272 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1273 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1274 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1275 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1276 }
nerit 0:1e09cd7d66b4 1277 }
nerit 0:1e09cd7d66b4 1278
nerit 0:1e09cd7d66b4 1279 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1280 lowSpeed=1;
nerit 0:1e09cd7d66b4 1281 }else{
nerit 0:1e09cd7d66b4 1282 lowSpeed=0;
nerit 0:1e09cd7d66b4 1283 }
nerit 0:1e09cd7d66b4 1284
nerit 0:1e09cd7d66b4 1285
nerit 0:1e09cd7d66b4 1286 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1287 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1288 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1289 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1290 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1291
nerit 0:1e09cd7d66b4 1292 if (inProva==0){
nerit 7:c9fd242538d9 1293 if ((startCycleSimulation==0)&&(enableSimula==0)){
nerit 7:c9fd242538d9 1294 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1295 runRequestBuf=0;
nerit 7:c9fd242538d9 1296 enableCycle=1;
nerit 7:c9fd242538d9 1297 }else{
nerit 7:c9fd242538d9 1298 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1299 runRequestBuf=0;
nerit 7:c9fd242538d9 1300 enableCycle=1;
nerit 7:c9fd242538d9 1301 }
nerit 7:c9fd242538d9 1302 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){
nerit 7:c9fd242538d9 1303 oldTractorSpeedRead=0;
nerit 7:c9fd242538d9 1304 }
nerit 0:1e09cd7d66b4 1305 // ----------------------------------------
nerit 0:1e09cd7d66b4 1306 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1307 // ----------------------------------------
nerit 4:d32258ec411f 1308 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1309 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1310 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1311 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1312 }
nerit 0:1e09cd7d66b4 1313 }
nerit 0:1e09cd7d66b4 1314 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1315 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1316 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1317 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1318 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1319 seedFilter.reset();
nerit 0:1e09cd7d66b4 1320 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1321 oldSeedWheelZeroPinInput=1;
nerit 8:0e643ea7834f 1322 quincTime.reset();
nerit 1:e88bf5011af6 1323 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1324 SDzeroDebounced=1;
nerit 4:d32258ec411f 1325 sincroQui=1;
nerit 0:1e09cd7d66b4 1326 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1327 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1328 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1329 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1330 }
nerit 5:3b95bbfe2dc9 1331 #endif
nerit 0:1e09cd7d66b4 1332 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1333 quincCnt++;
nerit 0:1e09cd7d66b4 1334 }
nerit 0:1e09cd7d66b4 1335 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1336 beccoPronto=1;
nerit 0:1e09cd7d66b4 1337 }
nerit 0:1e09cd7d66b4 1338 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1339 lockStart=0;
nerit 0:1e09cd7d66b4 1340 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1341 forzaFase=0;
nerit 0:1e09cd7d66b4 1342 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1343 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1344 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1345 }else{
nerit 0:1e09cd7d66b4 1346 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1347 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1348 }else{
nerit 6:3fca0ca1949e 1349 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
nerit 6:3fca0ca1949e 1350 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1351 }
nerit 0:1e09cd7d66b4 1352 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1353 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 0:1e09cd7d66b4 1354 //forzaFase=1;
nerit 0:1e09cd7d66b4 1355 }
nerit 0:1e09cd7d66b4 1356 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1357 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1358 forzaFase=1;
nerit 0:1e09cd7d66b4 1359 }
nerit 0:1e09cd7d66b4 1360 trigRepos=1;
nerit 0:1e09cd7d66b4 1361 }
nerit 0:1e09cd7d66b4 1362 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1363 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1364 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1365 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1366 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1367 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1368 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1369 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1370 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1371 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1372 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1373 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1374 #endif
nerit 0:1e09cd7d66b4 1375 #endif
nerit 0:1e09cd7d66b4 1376 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1377 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1378 if (firstStart==0){
nerit 0:1e09cd7d66b4 1379 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1380 }
nerit 0:1e09cd7d66b4 1381 }
nerit 0:1e09cd7d66b4 1382 }
nerit 0:1e09cd7d66b4 1383 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1384 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1385 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1386 #if defined(pcSerial)
nerit 4:d32258ec411f 1387 #if defined(Qnca)
nerit 4:d32258ec411f 1388 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1389 #endif
nerit 0:1e09cd7d66b4 1390 #endif
nerit 0:1e09cd7d66b4 1391 }
nerit 7:c9fd242538d9 1392 if (encoder==false){
nerit 7:c9fd242538d9 1393 pulseRised2=1;
nerit 7:c9fd242538d9 1394 }
nerit 4:d32258ec411f 1395 #if defined(speedMaster)
nerit 4:d32258ec411f 1396 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1397 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1398 all_noSpeedSen=1;
nerit 4:d32258ec411f 1399 }
nerit 4:d32258ec411f 1400 }
nerit 5:3b95bbfe2dc9 1401 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1402 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1403 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1404 all_speedError =1;
nerit 0:1e09cd7d66b4 1405 }
nerit 0:1e09cd7d66b4 1406 }
nerit 0:1e09cd7d66b4 1407 #endif
nerit 0:1e09cd7d66b4 1408 //*******************************************
nerit 0:1e09cd7d66b4 1409 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1410 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1411 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1412 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1413 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1414 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1415 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1416 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1417 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1418 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1419 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1420 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1421 }
nerit 0:1e09cd7d66b4 1422 // ----------------------------------------
nerit 0:1e09cd7d66b4 1423 // check SD fase
nerit 0:1e09cd7d66b4 1424 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1425 forzaFase=0;
nerit 0:1e09cd7d66b4 1426 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1427 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1428 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1429 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1430 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1431 if (trigTB==0){
nerit 0:1e09cd7d66b4 1432 inhibit=1;
nerit 0:1e09cd7d66b4 1433 trigSD=1;
nerit 0:1e09cd7d66b4 1434 }else{
nerit 0:1e09cd7d66b4 1435 inhibit=0;
nerit 0:1e09cd7d66b4 1436 trigTB=0;
nerit 0:1e09cd7d66b4 1437 trigSD=0;
nerit 0:1e09cd7d66b4 1438 }
nerit 0:1e09cd7d66b4 1439 trigRepos=0;
nerit 0:1e09cd7d66b4 1440 }
nerit 0:1e09cd7d66b4 1441 }else{
nerit 0:1e09cd7d66b4 1442 trigCicli=0;
nerit 0:1e09cd7d66b4 1443 }
nerit 0:1e09cd7d66b4 1444 // ----------------------------------------
nerit 0:1e09cd7d66b4 1445 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1446 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1447 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1448 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1449 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1450 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1451 startCicloTB=0;
nerit 0:1e09cd7d66b4 1452 }
nerit 0:1e09cd7d66b4 1453 TBfilter.reset();
nerit 0:1e09cd7d66b4 1454 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1455 TBactualPosition=0;
nerit 9:503e2aba047c 1456 if (cntTbError>0){
nerit 9:503e2aba047c 1457 cntCellsCorrect++;
nerit 9:503e2aba047c 1458 }
nerit 9:503e2aba047c 1459 if (cntCellsCorrect>3){
nerit 9:503e2aba047c 1460 cntTbError=0;
nerit 9:503e2aba047c 1461 cntCellsCorrect=0;
nerit 9:503e2aba047c 1462 }
nerit 9:503e2aba047c 1463 // conteggio celle erogate
nerit 0:1e09cd7d66b4 1464 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1465 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1466 }else{
nerit 0:1e09cd7d66b4 1467 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1468 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1469 }
nerit 9:503e2aba047c 1470 // ciclo conteggio celle per carico manuale
nerit 0:1e09cd7d66b4 1471 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1472 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1473 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1474 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1475 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1476 }
nerit 0:1e09cd7d66b4 1477 }else{
nerit 0:1e09cd7d66b4 1478 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1479 }
nerit 9:503e2aba047c 1480 // inibizione controllo di sincro per fuori fase
nerit 0:1e09cd7d66b4 1481 if (trigSD==0){
nerit 0:1e09cd7d66b4 1482 inhibit=1;
nerit 0:1e09cd7d66b4 1483 trigTB=1;
nerit 0:1e09cd7d66b4 1484 }else{
nerit 0:1e09cd7d66b4 1485 inhibit=0;
nerit 0:1e09cd7d66b4 1486 trigTB=0;
nerit 0:1e09cd7d66b4 1487 trigSD=0;
nerit 0:1e09cd7d66b4 1488 }
nerit 9:503e2aba047c 1489 // conta le celle indietro per sbloccare il tamburo
nerit 7:c9fd242538d9 1490 if ((TBmotorDirecti==0)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1491 cntCellsForReload++;
nerit 6:3fca0ca1949e 1492 if (cntCellsForReload >= cellsCountSet){
nerit 9:503e2aba047c 1493 TBmotorDirecti=1; // rotazione normale
nerit 0:1e09cd7d66b4 1494 erroreTamburo=0;
nerit 9:503e2aba047c 1495 cntCellsCorrect=0;
nerit 0:1e09cd7d66b4 1496 }
nerit 0:1e09cd7d66b4 1497 }
nerit 7:c9fd242538d9 1498 #if defined(seedSensor)
nerit 7:c9fd242538d9 1499 resetDelay();
nerit 7:c9fd242538d9 1500 delaySeedCheck.start();
nerit 7:c9fd242538d9 1501 #endif
nerit 0:1e09cd7d66b4 1502 }
nerit 9:503e2aba047c 1503 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)&&(erroreTamburo==0)){
nerit 0:1e09cd7d66b4 1504 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1505 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1506 all_cellSignal=1;
nerit 7:c9fd242538d9 1507 #if defined(seedSensor)
nerit 7:c9fd242538d9 1508 resetDelay();
nerit 7:c9fd242538d9 1509 #endif
nerit 5:3b95bbfe2dc9 1510 }
nerit 0:1e09cd7d66b4 1511 }
nerit 0:1e09cd7d66b4 1512 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1513 erroreTamburo=1;
nerit 9:503e2aba047c 1514 TBmotorDirecti=0; // rotazione inversa
nerit 0:1e09cd7d66b4 1515 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1516 cntTbError++;
nerit 7:c9fd242538d9 1517 #if defined(seedSensor)
nerit 7:c9fd242538d9 1518 resetDelay();
nerit 7:c9fd242538d9 1519 #endif
nerit 0:1e09cd7d66b4 1520 }
nerit 0:1e09cd7d66b4 1521 }
nerit 5:3b95bbfe2dc9 1522 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1523 if (firstStart==0){
nerit 0:1e09cd7d66b4 1524 all_noStepRota=1;
nerit 7:c9fd242538d9 1525 #if defined(seedSensor)
nerit 7:c9fd242538d9 1526 resetDelay();
nerit 7:c9fd242538d9 1527 #endif
nerit 0:1e09cd7d66b4 1528 }
nerit 0:1e09cd7d66b4 1529 cntTbError=0;
nerit 0:1e09cd7d66b4 1530 }
nerit 0:1e09cd7d66b4 1531 // ----------------------------------------
nerit 0:1e09cd7d66b4 1532 // read and manage joystick
nerit 0:1e09cd7d66b4 1533 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1534 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1535 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1536 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1537 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1538 startCycle=1;
nerit 0:1e09cd7d66b4 1539 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1540 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1541 }
nerit 0:1e09cd7d66b4 1542 }
nerit 0:1e09cd7d66b4 1543 }else{
nerit 0:1e09cd7d66b4 1544 startCycle=0;
nerit 0:1e09cd7d66b4 1545 pntMedia=0;
nerit 0:1e09cd7d66b4 1546 }
nerit 0:1e09cd7d66b4 1547 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1548 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1549 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1550 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1551 }
nerit 0:1e09cd7d66b4 1552 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1553 }
nerit 0:1e09cd7d66b4 1554 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1555 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1556 ciclaTB();
nerit 0:1e09cd7d66b4 1557 }
nerit 0:1e09cd7d66b4 1558 }
nerit 0:1e09cd7d66b4 1559 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1560 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1561 zeroCycle=1;
nerit 0:1e09cd7d66b4 1562 zeroCycleEnd=0;
nerit 13:0ae23132a2b6 1563 SDzeroed=1;
nerit 0:1e09cd7d66b4 1564 TBzeroed=0;
nerit 0:1e09cd7d66b4 1565 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1566 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1567 }
nerit 0:1e09cd7d66b4 1568 }
nerit 0:1e09cd7d66b4 1569 }else{
nerit 0:1e09cd7d66b4 1570 startCycle=0;
nerit 0:1e09cd7d66b4 1571 zeroCycle=0;
nerit 0:1e09cd7d66b4 1572 }
nerit 0:1e09cd7d66b4 1573
nerit 0:1e09cd7d66b4 1574 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1575 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1576 //
nerit 0:1e09cd7d66b4 1577 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1578 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1579 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1580 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1581 pulseRised=0;
nerit 5:3b95bbfe2dc9 1582 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1583 speedMediaCalc();
nerit 0:1e09cd7d66b4 1584 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1585 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1586 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:0e643ea7834f 1587 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){
nerit 7:c9fd242538d9 1588 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 7:c9fd242538d9 1589 }
nerit 7:c9fd242538d9 1590 /*#if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1591 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1592 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1593 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1594 }
nerit 5:3b95bbfe2dc9 1595 }
nerit 7:c9fd242538d9 1596 #endif*/
nerit 0:1e09cd7d66b4 1597 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1598 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1599 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1600 }
nerit 0:1e09cd7d66b4 1601 }
nerit 0:1e09cd7d66b4 1602 }
nerit 0:1e09cd7d66b4 1603 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1604 }else{
nerit 0:1e09cd7d66b4 1605 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1606 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1607 tractorSpeed_MtS_timed = 0.0f;
nerit 7:c9fd242538d9 1608 #if defined(seedSensor)
nerit 7:c9fd242538d9 1609 resetDelay();
nerit 7:c9fd242538d9 1610 #endif
nerit 0:1e09cd7d66b4 1611 pntMedia=0;
nerit 0:1e09cd7d66b4 1612 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1613 enableSpeed=0;
nerit 0:1e09cd7d66b4 1614 quincCnt=0;
nerit 0:1e09cd7d66b4 1615 }
nerit 0:1e09cd7d66b4 1616 }
nerit 7:c9fd242538d9 1617
nerit 7:c9fd242538d9 1618 #if defined(seedSensor)
nerit 7:c9fd242538d9 1619 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 1620 if (delaySeedCheck.read_ms()>100){
nerit 7:c9fd242538d9 1621 if (seedSee==0){
nerit 7:c9fd242538d9 1622 all_noSeedOnCe=1;
nerit 7:c9fd242538d9 1623 }
nerit 7:c9fd242538d9 1624 resetDelay();
nerit 7:c9fd242538d9 1625 }
nerit 7:c9fd242538d9 1626 }
nerit 7:c9fd242538d9 1627 #endif
nerit 0:1e09cd7d66b4 1628 // esegue il controllo di velocità minima
nerit 7:c9fd242538d9 1629 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1630 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1631 enableSpeed=0;
nerit 7:c9fd242538d9 1632 }*/
nerit 6:3fca0ca1949e 1633 // esegue il controllo di velocità massima
nerit 7:c9fd242538d9 1634 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 6:3fca0ca1949e 1635 tractorSpeed_MtS_timed = 4.5f;
nerit 7:c9fd242538d9 1636 }*/
nerit 0:1e09cd7d66b4 1637 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1638 // cycle logic control section
nerit 0:1e09cd7d66b4 1639 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1640 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1641 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1642 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1643 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1644 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 5:3b95bbfe2dc9 1645 if (encoder==false){
nerit 5:3b95bbfe2dc9 1646 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1647 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1648 }else{
nerit 5:3b95bbfe2dc9 1649 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1650 }
nerit 0:1e09cd7d66b4 1651 }else{
nerit 5:3b95bbfe2dc9 1652 tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*25.5f))*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1653 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1654 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1655 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1656 #endif
nerit 5:3b95bbfe2dc9 1657 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1658 }
nerit 0:1e09cd7d66b4 1659 //*******************************************
nerit 0:1e09cd7d66b4 1660 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1661 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1662 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1663 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1664 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1665 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1666 }
nerit 0:1e09cd7d66b4 1667 }
nerit 6:3fca0ca1949e 1668 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
nerit 2:d9c7430ae953 1669 #if !defined(speedMaster)
nerit 4:d32258ec411f 1670 quinCalc();
nerit 2:d9c7430ae953 1671 #endif
nerit 5:3b95bbfe2dc9 1672 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1673 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1674 if(encoder==false){
nerit 5:3b95bbfe2dc9 1675 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1676 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1677 }else{
nerit 5:3b95bbfe2dc9 1678 erroreTempo = (double)memoTimeHole - tempoTraBecchi_mS; // errore tra il tempo previsto ed il tempo reale ( >0 se sto andando più piano del previsto)
nerit 5:3b95bbfe2dc9 1679 }
nerit 0:1e09cd7d66b4 1680 }else{
nerit 5:3b95bbfe2dc9 1681 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 0:1e09cd7d66b4 1682 }
nerit 0:1e09cd7d66b4 1683 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1684 double k3=0.0f;
nerit 1:e88bf5011af6 1685 double k4=0.0f;
nerit 1:e88bf5011af6 1686 double k5=0.0f;
nerit 4:d32258ec411f 1687 double k6=0.0f;
nerit 4:d32258ec411f 1688 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1689 k3=1.030f;
nerit 4:d32258ec411f 1690 k4=5.103f;
nerit 4:d32258ec411f 1691 k5=10.00f;
nerit 4:d32258ec411f 1692 k6=20.50f;
nerit 4:d32258ec411f 1693 }else{*/
nerit 8:0e643ea7834f 1694 #if defined(speedMaster)
nerit 8:0e643ea7834f 1695 k3=0.010f;
nerit 8:0e643ea7834f 1696 #else
nerit 8:0e643ea7834f 1697 k3=0.050f;
nerit 8:0e643ea7834f 1698 #endif
nerit 7:c9fd242538d9 1699 k4=1.103f;
nerit 7:c9fd242538d9 1700 k5=10.00f;
nerit 7:c9fd242538d9 1701 k6=20.50f;
nerit 4:d32258ec411f 1702 //}
nerit 7:c9fd242538d9 1703 double L1 = 0.045f;
nerit 7:c9fd242538d9 1704 double L_1=-0.045f;
nerit 7:c9fd242538d9 1705 double L2 = 0.150f;
nerit 7:c9fd242538d9 1706 double L_2=-0.150f;
nerit 7:c9fd242538d9 1707 double L3 = 0.301f;
nerit 7:c9fd242538d9 1708 double L_3=-0.301f;
nerit 4:d32258ec411f 1709 double k1=0.0f;
nerit 4:d32258ec411f 1710 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1711 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1712 }
nerit 4:d32258ec411f 1713 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1714 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1715 }
nerit 4:d32258ec411f 1716 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1717 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1718 }
nerit 4:d32258ec411f 1719 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1720 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1721 }
nerit 4:d32258ec411f 1722 double memoCorrezione = k1;
nerit 4:d32258ec411f 1723 if (quincCnt >= 2){
nerit 4:d32258ec411f 1724 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1725 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1726 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1727 }
nerit 4:d32258ec411f 1728 pulseRised1=0;
nerit 4:d32258ec411f 1729 pulseRised2=0;
nerit 1:e88bf5011af6 1730 #if defined(pcSerial)
nerit 4:d32258ec411f 1731 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1732 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1733 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 1:e88bf5011af6 1734 #endif
nerit 1:e88bf5011af6 1735 #endif
nerit 4:d32258ec411f 1736 #if defined(pcSerial)
nerit 4:d32258ec411f 1737 #if defined(Qncb)
nerit 4:d32258ec411f 1738 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1739 #endif
nerit 4:d32258ec411f 1740 #endif
nerit 0:1e09cd7d66b4 1741 }
nerit 0:1e09cd7d66b4 1742 // introduce il controllo di corrente
nerit 6:3fca0ca1949e 1743 if (currentCheckEnable==true){
nerit 6:3fca0ca1949e 1744 if (incrementCurrent){
nerit 6:3fca0ca1949e 1745 boostDcOut +=0.005f;
nerit 6:3fca0ca1949e 1746 }
nerit 6:3fca0ca1949e 1747 if (reduceCurrent){
nerit 6:3fca0ca1949e 1748 boostDcOut -=0.005f;
nerit 6:3fca0ca1949e 1749 }
nerit 6:3fca0ca1949e 1750 if (boostDcOut >= 0.2f){
nerit 6:3fca0ca1949e 1751 boostDcOut=0.2f;
nerit 6:3fca0ca1949e 1752 all_genericals=1;
nerit 6:3fca0ca1949e 1753 }
nerit 6:3fca0ca1949e 1754 if (boostDcOut <=-0.2f){
nerit 6:3fca0ca1949e 1755 boostDcOut=-0.2f;
nerit 6:3fca0ca1949e 1756 all_genericals=1;
nerit 6:3fca0ca1949e 1757 }
nerit 6:3fca0ca1949e 1758 correzione += boostDcOut;
nerit 0:1e09cd7d66b4 1759 }
nerit 1:e88bf5011af6 1760 DC_brake=0;
nerit 1:e88bf5011af6 1761 DC_forward=1;
nerit 1:e88bf5011af6 1762 DC_prepare();
nerit 0:1e09cd7d66b4 1763
nerit 0:1e09cd7d66b4 1764 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1765 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1766 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1767 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1768 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1769 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1770 }
nerit 0:1e09cd7d66b4 1771
nerit 4:d32258ec411f 1772 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1773 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1774 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1775 }else{
nerit 4:d32258ec411f 1776 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1777 }
nerit 0:1e09cd7d66b4 1778 }else{
nerit 0:1e09cd7d66b4 1779 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1780 }
nerit 7:c9fd242538d9 1781 if (dcActualDuty <=0.0f){dcActualDuty=0.05f;}
nerit 7:c9fd242538d9 1782 if (dcActualDuty > 0.95f){dcActualDuty = 0.95f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1783 if (olddcActualDuty!=dcActualDuty){
nerit 7:c9fd242538d9 1784 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 4:d32258ec411f 1785 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1786 }
nerit 0:1e09cd7d66b4 1787 // allarme
nerit 0:1e09cd7d66b4 1788 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1789 if (firstStart==0){
nerit 0:1e09cd7d66b4 1790 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1791 }
nerit 0:1e09cd7d66b4 1792 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1793 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1794 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1795 #endif
nerit 0:1e09cd7d66b4 1796 #endif
nerit 0:1e09cd7d66b4 1797
nerit 0:1e09cd7d66b4 1798 }
nerit 0:1e09cd7d66b4 1799
nerit 0:1e09cd7d66b4 1800 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1801 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1802 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1803 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1804 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1805 syncroCheck=0;
nerit 0:1e09cd7d66b4 1806 lockStart=1;
nerit 0:1e09cd7d66b4 1807 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1808 if (aspettaStart==0){cambiaTB(periodo);}
nerit 0:1e09cd7d66b4 1809 }
nerit 0:1e09cd7d66b4 1810 // controllo di stop
nerit 0:1e09cd7d66b4 1811 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1812 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1813 syncroCheck=0;
nerit 0:1e09cd7d66b4 1814 aspettaStart=1;
nerit 0:1e09cd7d66b4 1815 countCicli=0;
nerit 0:1e09cd7d66b4 1816 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1817 }
nerit 0:1e09cd7d66b4 1818 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1819 syncroCheck=0;
nerit 0:1e09cd7d66b4 1820 lockStart=0;
nerit 0:1e09cd7d66b4 1821 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1822 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1823 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1824 if (encoder==false){
nerit 5:3b95bbfe2dc9 1825 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1826 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1827 }else{
nerit 5:3b95bbfe2dc9 1828 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1829 }
nerit 5:3b95bbfe2dc9 1830 }else{
nerit 0:1e09cd7d66b4 1831 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1832 }
nerit 6:3fca0ca1949e 1833 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1834 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1835 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1836 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1837 beccoPronto=0;
nerit 0:1e09cd7d66b4 1838 }
nerit 0:1e09cd7d66b4 1839 }else{
nerit 0:1e09cd7d66b4 1840 // tamburo per zucca
nerit 0:1e09cd7d66b4 1841 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1842 beccoPronto=0;
nerit 0:1e09cd7d66b4 1843 }
nerit 0:1e09cd7d66b4 1844 }
nerit 0:1e09cd7d66b4 1845 ciclaTB();
nerit 0:1e09cd7d66b4 1846 }
nerit 0:1e09cd7d66b4 1847 //*************************************************************
nerit 0:1e09cd7d66b4 1848 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1849 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1850 SDwheelTimer.reset();
nerit 7:c9fd242538d9 1851 #if defined(seedSensor)
nerit 7:c9fd242538d9 1852 resetDelay();
nerit 7:c9fd242538d9 1853 #endif
nerit 0:1e09cd7d66b4 1854 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1855 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1856 aspettaStart=1;
nerit 0:1e09cd7d66b4 1857 countCicli=0;
nerit 0:1e09cd7d66b4 1858 startCycle=0;
nerit 0:1e09cd7d66b4 1859 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1860 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1861 correzione=0.0f;
nerit 0:1e09cd7d66b4 1862 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1863 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1864 cntTbError=0;
nerit 0:1e09cd7d66b4 1865 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1866 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1867 zeroDelay.start();
nerit 0:1e09cd7d66b4 1868 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1869 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1870 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1871 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1872 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1873 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1874 zeroCycle=1;
nerit 0:1e09cd7d66b4 1875 zeroTrigger=0;
nerit 8:0e643ea7834f 1876 noSDzeroRequest=1;
nerit 0:1e09cd7d66b4 1877 }
nerit 0:1e09cd7d66b4 1878 }
nerit 0:1e09cd7d66b4 1879 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1880 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1881 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1882 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1883 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1884 DC_forward=1;
nerit 0:1e09cd7d66b4 1885 DC_brake=1;
nerit 0:1e09cd7d66b4 1886 DC_prepare();
nerit 0:1e09cd7d66b4 1887 frenata=0;
nerit 0:1e09cd7d66b4 1888 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1889 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1890 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1891 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1892 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1893 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1894 }
nerit 0:1e09cd7d66b4 1895 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1896 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1897 accensione=0;
nerit 0:1e09cd7d66b4 1898 avvicinamento=1;
nerit 0:1e09cd7d66b4 1899 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1900 avvicinamentoOn.start();
nerit 7:c9fd242538d9 1901 SDmotorPWM.write(1.0f-0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1902 DC_forward=1;
nerit 0:1e09cd7d66b4 1903 DC_brake=0;
nerit 0:1e09cd7d66b4 1904 DC_prepare();
nerit 0:1e09cd7d66b4 1905 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1906 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1907 }
nerit 0:1e09cd7d66b4 1908 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1909 if(avvicinamentoOn.read_ms()>300){
nerit 7:c9fd242538d9 1910 SDmotorPWM.write(1.0f-0.7f);
nerit 0:1e09cd7d66b4 1911 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1912 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1913 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1914 }
nerit 0:1e09cd7d66b4 1915 if(avvicinamentoOff.read_ms()>100){
nerit 7:c9fd242538d9 1916 SDmotorPWM.write(1.0f-0.32f);
nerit 0:1e09cd7d66b4 1917 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1918 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1919 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1920 }
nerit 0:1e09cd7d66b4 1921 }else{
nerit 0:1e09cd7d66b4 1922 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1923 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1924 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1925 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1926 }
nerit 0:1e09cd7d66b4 1927 if (frenata==0){
nerit 0:1e09cd7d66b4 1928 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1929 SDticker.detach();
nerit 0:1e09cd7d66b4 1930 frenata=1;
nerit 0:1e09cd7d66b4 1931 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1932 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1933 ritardoStop.start();
nerit 0:1e09cd7d66b4 1934 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1935 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1936 }
nerit 0:1e09cd7d66b4 1937 }else{
nerit 7:c9fd242538d9 1938 #if defined(mezzo)
nerit 7:c9fd242538d9 1939 if (quinconceActive==0){
nerit 7:c9fd242538d9 1940 if (SDzeroCyclePulse==1){
nerit 7:c9fd242538d9 1941 avvicinamento=0;
nerit 7:c9fd242538d9 1942 DC_brake=1;
nerit 7:c9fd242538d9 1943 DC_prepare();
nerit 7:c9fd242538d9 1944 SDzeroed=1;
nerit 7:c9fd242538d9 1945 ritardoStop.reset();
nerit 7:c9fd242538d9 1946 ritardoStop.stop();
nerit 7:c9fd242538d9 1947 }
nerit 7:c9fd242538d9 1948 }else{
nerit 7:c9fd242538d9 1949 if (quincTimeSet.read_ms()>700){
nerit 7:c9fd242538d9 1950 avvicinamento=0;
nerit 7:c9fd242538d9 1951 DC_brake=1;
nerit 7:c9fd242538d9 1952 DC_prepare();
nerit 7:c9fd242538d9 1953 SDzeroed=1;
nerit 7:c9fd242538d9 1954 ritardoStop.reset();
nerit 7:c9fd242538d9 1955 ritardoStop.stop();
nerit 7:c9fd242538d9 1956 quincTimeSet.stop();
nerit 7:c9fd242538d9 1957 }
nerit 7:c9fd242538d9 1958 }
nerit 7:c9fd242538d9 1959 #else
nerit 0:1e09cd7d66b4 1960 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1961 avvicinamento=0;
nerit 0:1e09cd7d66b4 1962 DC_brake=1;
nerit 0:1e09cd7d66b4 1963 DC_prepare();
nerit 0:1e09cd7d66b4 1964 SDzeroed=1;
nerit 0:1e09cd7d66b4 1965 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1966 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1967 }
nerit 7:c9fd242538d9 1968 #endif
nerit 0:1e09cd7d66b4 1969 }
nerit 0:1e09cd7d66b4 1970 // azzera tutto in time out
nerit 8:0e643ea7834f 1971 if ((timeOutZeroSD.read_ms()>=10000)||(noSDzeroRequest==1)){
nerit 8:0e643ea7834f 1972 if ((firstStart==0)&&(noSDzeroRequest==0)){
nerit 0:1e09cd7d66b4 1973 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1974 }
nerit 0:1e09cd7d66b4 1975 avvicinamento=0;
nerit 0:1e09cd7d66b4 1976 DC_brake=1;
nerit 0:1e09cd7d66b4 1977 DC_prepare();
nerit 0:1e09cd7d66b4 1978 SDzeroed=1;
nerit 0:1e09cd7d66b4 1979 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1980 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1981 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1982 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1983 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1984 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1985 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1986 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1987 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1988 timeOutZeroSD.reset();
nerit 13:0ae23132a2b6 1989 //noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 1990 }
nerit 0:1e09cd7d66b4 1991 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1992 TBticker.detach();
nerit 0:1e09cd7d66b4 1993 TBzeroed=1;
nerit 0:1e09cd7d66b4 1994 }
nerit 0:1e09cd7d66b4 1995 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 1996 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1997 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1998 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1999 ritardoStop.stop();
nerit 0:1e09cd7d66b4 2000 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 2001 zeroCycle=0;
nerit 0:1e09cd7d66b4 2002 zeroTrigger=0;
nerit 0:1e09cd7d66b4 2003 runRequestBuf=1;
nerit 0:1e09cd7d66b4 2004 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 2005 cycleStopRequest=0;
nerit 13:0ae23132a2b6 2006 SDzeroed=1;
nerit 0:1e09cd7d66b4 2007 TBzeroed=0;
nerit 0:1e09cd7d66b4 2008 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 2009 timeOutZeroSD.reset();
nerit 10:d85ed006056e 2010 DC_brake=1;
nerit 10:d85ed006056e 2011 DC_prepare();
nerit 10:d85ed006056e 2012 SDzeroed=1;
nerit 13:0ae23132a2b6 2013 noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 2014 }
nerit 0:1e09cd7d66b4 2015 }
nerit 0:1e09cd7d66b4 2016
nerit 0:1e09cd7d66b4 2017 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2018 if (enableCycle==0){
nerit 0:1e09cd7d66b4 2019 zeroTrigger=0;
nerit 0:1e09cd7d66b4 2020 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 2021 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2022 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2023 }
nerit 0:1e09cd7d66b4 2024 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 2025 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 2026 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2027 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 2028 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2029 // task di prova della scheda
nerit 0:1e09cd7d66b4 2030 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2031 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 2032 clocca++;
nerit 0:1e09cd7d66b4 2033 //led = !led;
nerit 0:1e09cd7d66b4 2034 //txMsg.clear();
nerit 0:1e09cd7d66b4 2035 //txMsg << clocca;
nerit 0:1e09cd7d66b4 2036 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 2037 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 2038 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 2039 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 2040 #endif
nerit 0:1e09cd7d66b4 2041 //}
nerit 0:1e09cd7d66b4 2042 switch (clocca){
nerit 0:1e09cd7d66b4 2043 case 1:
nerit 0:1e09cd7d66b4 2044 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 2045 break;
nerit 0:1e09cd7d66b4 2046 case 2:
nerit 0:1e09cd7d66b4 2047 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2048 break;
nerit 0:1e09cd7d66b4 2049 case 3:
nerit 0:1e09cd7d66b4 2050 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 2051 break;
nerit 0:1e09cd7d66b4 2052 case 4:
nerit 0:1e09cd7d66b4 2053 break;
nerit 0:1e09cd7d66b4 2054 case 5:
nerit 0:1e09cd7d66b4 2055 SDmotorInA=1;
nerit 0:1e09cd7d66b4 2056 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2057 break;
nerit 0:1e09cd7d66b4 2058 case 6:
nerit 0:1e09cd7d66b4 2059 break;
nerit 0:1e09cd7d66b4 2060 case 7:
nerit 0:1e09cd7d66b4 2061 break;
nerit 0:1e09cd7d66b4 2062 case 8:
nerit 0:1e09cd7d66b4 2063 break;
nerit 0:1e09cd7d66b4 2064 case 9:
nerit 0:1e09cd7d66b4 2065 break;
nerit 0:1e09cd7d66b4 2066 case 10:
nerit 0:1e09cd7d66b4 2067 break;
nerit 0:1e09cd7d66b4 2068 case 11:
nerit 0:1e09cd7d66b4 2069 break;
nerit 0:1e09cd7d66b4 2070 case 12:
nerit 0:1e09cd7d66b4 2071 break;
nerit 0:1e09cd7d66b4 2072 case 13:
nerit 0:1e09cd7d66b4 2073 break;
nerit 0:1e09cd7d66b4 2074 case 14:
nerit 0:1e09cd7d66b4 2075 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2076 break;
nerit 0:1e09cd7d66b4 2077 case 15:
nerit 0:1e09cd7d66b4 2078 break;
nerit 0:1e09cd7d66b4 2079 case 16:
nerit 0:1e09cd7d66b4 2080 case 17:
nerit 0:1e09cd7d66b4 2081 break;
nerit 0:1e09cd7d66b4 2082 case 18:
nerit 0:1e09cd7d66b4 2083 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 2084 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2085 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 2086 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2087 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2088 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2089 break;
nerit 0:1e09cd7d66b4 2090 default:
nerit 0:1e09cd7d66b4 2091 clocca=0;
nerit 0:1e09cd7d66b4 2092 break;
nerit 0:1e09cd7d66b4 2093 }
nerit 0:1e09cd7d66b4 2094 wait_ms(100);
nerit 0:1e09cd7d66b4 2095 #endif // end prova scheda
nerit 0:1e09cd7d66b4 2096
nerit 0:1e09cd7d66b4 2097 #if defined(provaDC)
nerit 0:1e09cd7d66b4 2098 int rampa=1000;
nerit 0:1e09cd7d66b4 2099 int pausa=3000;
nerit 0:1e09cd7d66b4 2100 switch (clocca){
nerit 0:1e09cd7d66b4 2101 case 0:
nerit 0:1e09cd7d66b4 2102 DC_brake=0;
nerit 0:1e09cd7d66b4 2103 DC_forward=1;
nerit 0:1e09cd7d66b4 2104 duty_DC+=0.01f;
nerit 7:c9fd242538d9 2105 if (duty_DC>=1.0f){
nerit 7:c9fd242538d9 2106 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2107 clocca=1;
nerit 0:1e09cd7d66b4 2108 }
nerit 0:1e09cd7d66b4 2109 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2110 break;
nerit 0:1e09cd7d66b4 2111 case 1:
nerit 0:1e09cd7d66b4 2112 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 2113 clocca=2;
nerit 0:1e09cd7d66b4 2114 break;
nerit 0:1e09cd7d66b4 2115 case 2:
nerit 0:1e09cd7d66b4 2116 DC_brake=0;
nerit 0:1e09cd7d66b4 2117 DC_forward=1;
nerit 0:1e09cd7d66b4 2118 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2119 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2120 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2121 clocca=3;
nerit 0:1e09cd7d66b4 2122 }
nerit 0:1e09cd7d66b4 2123 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2124 break;
nerit 0:1e09cd7d66b4 2125 case 3:
nerit 0:1e09cd7d66b4 2126 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2127 clocca=4;
nerit 0:1e09cd7d66b4 2128 break;
nerit 0:1e09cd7d66b4 2129 case 4:
nerit 0:1e09cd7d66b4 2130 DC_brake=0;
nerit 0:1e09cd7d66b4 2131 DC_forward=1;
nerit 0:1e09cd7d66b4 2132 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 2133 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 2134 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2135 clocca=5;
nerit 0:1e09cd7d66b4 2136 }
nerit 0:1e09cd7d66b4 2137 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2138 break;
nerit 0:1e09cd7d66b4 2139 case 5:
nerit 0:1e09cd7d66b4 2140 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2141 clocca=6;
nerit 0:1e09cd7d66b4 2142 break;
nerit 0:1e09cd7d66b4 2143 case 6:
nerit 0:1e09cd7d66b4 2144 DC_brake=0;
nerit 0:1e09cd7d66b4 2145 DC_forward=1;
nerit 0:1e09cd7d66b4 2146 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2147 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2148 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2149 clocca=7;
nerit 0:1e09cd7d66b4 2150 }
nerit 0:1e09cd7d66b4 2151 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2152 break;
nerit 0:1e09cd7d66b4 2153 case 7:
nerit 0:1e09cd7d66b4 2154 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2155 clocca=0;
nerit 0:1e09cd7d66b4 2156 break;
nerit 0:1e09cd7d66b4 2157 default:
nerit 0:1e09cd7d66b4 2158 break;
nerit 0:1e09cd7d66b4 2159 }
nerit 0:1e09cd7d66b4 2160 if (oldDuty_DC != duty_DC){
nerit 7:c9fd242538d9 2161 SDmotorPWM.write(1.0f-duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 2162 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 2163 DC_prepare();
nerit 0:1e09cd7d66b4 2164 }
nerit 0:1e09cd7d66b4 2165 #endif
nerit 0:1e09cd7d66b4 2166 }//end in prova
nerit 0:1e09cd7d66b4 2167 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 2168 } // end while
nerit 0:1e09cd7d66b4 2169 }// end main
nerit 0:1e09cd7d66b4 2170