Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019

new

Dependencies:   mbed CANMsg

main.cpp@11:21e990eb31d0, 2018-12-27 (annotated)

Committer:
nerit
Date:
Thu Dec 27 15:54:22 2018 +0000
Revision:
11:21e990eb31d0
Parent:
10:d85ed006056e
Child:
12:5bfbccfb3cf4
Versione Verificata alle 16:54 del 27/12/2018 con due elementi

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 0:1e09cd7d66b4 6 // V4 - ATTENZIONE - LA VERSIONE V4 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 0:1e09cd7d66b4 13 // THIS RELEASE: 09 JULY 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 0:1e09cd7d66b4 26 /********************
nerit 0:1e09cd7d66b4 27 IL FIRMWARE SI COMPONE DI 7 FILES:
nerit 0:1e09cd7d66b4 28 - main.cpp
nerit 0:1e09cd7d66b4 29 - main.hpp
nerit 0:1e09cd7d66b4 30 - iodefinition.hpp
nerit 0:1e09cd7d66b4 31 - canbus.hpp
nerit 0:1e09cd7d66b4 32 - parameters.hpp
nerit 0:1e09cd7d66b4 33 - timeandtick.hpp
nerit 0:1e09cd7d66b4 34 - variables.hpp
nerit 0:1e09cd7d66b4 35 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU' UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 36 *********************
nerit 0:1e09cd7d66b4 37 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 38 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 39 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 40 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 41 *********************
nerit 0:1e09cd7d66b4 42 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 43 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 44 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 45 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 46 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 47 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 48 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 49 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 50 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 51 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 52 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 53 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 54 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 55 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 56 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 57 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 58 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 59 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 60 **********************
nerit 0:1e09cd7d66b4 61 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 62 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 63 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 64 **********************
nerit 0:1e09cd7d66b4 65 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 66 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 67 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 68 **********************
nerit 0:1e09cd7d66b4 69 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 70 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 73 **********************
nerit 0:1e09cd7d66b4 74 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 75 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 76 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 77 */
nerit 0:1e09cd7d66b4 78 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 79 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 80
nerit 0:1e09cd7d66b4 81 #include "main.hpp"
nerit 0:1e09cd7d66b4 82 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 83 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 84 #include "watchdog.h"
nerit 0:1e09cd7d66b4 85 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 86 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 87 #include "variables.hpp"
nerit 0:1e09cd7d66b4 88 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 89 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 90 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 91 // TASK SECTION
nerit 0:1e09cd7d66b4 92 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 93 //************************************************************************
nerit 3:c0f11ca4df02 94 //************************************************************************
nerit 0:1e09cd7d66b4 95 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 96 void sd25Fall(){
nerit 0:1e09cd7d66b4 97 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 98 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 99 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 100 metalTimer.reset();
nerit 0:1e09cd7d66b4 101 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 102 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 103 }
nerit 0:1e09cd7d66b4 104 }
nerit 5:3b95bbfe2dc9 105 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 106 void encoRise(){
nerit 5:3b95bbfe2dc9 107 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 108 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 109 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 110 metalTimer.reset();
nerit 5:3b95bbfe2dc9 111 if (encoder==true){
nerit 5:3b95bbfe2dc9 112 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 7:c9fd242538d9 113 pulseRised2=1;
nerit 5:3b95bbfe2dc9 114 }
nerit 5:3b95bbfe2dc9 115 }
nerit 7:c9fd242538d9 116 // rise of seed presence sensor
nerit 7:c9fd242538d9 117 void seedSensorTask(){
nerit 7:c9fd242538d9 118 seedSee=1;
nerit 7:c9fd242538d9 119 }
nerit 0:1e09cd7d66b4 120 //**************************************************
nerit 0:1e09cd7d66b4 121 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 122 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 123 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 124 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 125 speedTimer.reset();
nerit 0:1e09cd7d66b4 126 pulseRised=1;
nerit 7:c9fd242538d9 127 speedFilter.reset();
nerit 0:1e09cd7d66b4 128 }
nerit 0:1e09cd7d66b4 129 //*******************************************************
nerit 0:1e09cd7d66b4 130 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 131 //*******************************************************
nerit 0:1e09cd7d66b4 132 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 133 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 134 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 135 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 136 speedTimer.reset();
nerit 0:1e09cd7d66b4 137 pulseRised=1;
nerit 0:1e09cd7d66b4 138 oldTractorSpeedRead=1;
nerit 6:3fca0ca1949e 139 spazioCoperto+= pulseDistance;
nerit 0:1e09cd7d66b4 140 }
nerit 0:1e09cd7d66b4 141 speedFilter.reset();
nerit 0:1e09cd7d66b4 142 speedClock=1;
nerit 0:1e09cd7d66b4 143 }
nerit 0:1e09cd7d66b4 144 //*******************************************************
nerit 0:1e09cd7d66b4 145 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 146 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 147 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 148 if (enableSimula==1){
nerit 0:1e09cd7d66b4 149 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 150 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 151 }
nerit 0:1e09cd7d66b4 152 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 153 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 154 }
nerit 0:1e09cd7d66b4 155
nerit 0:1e09cd7d66b4 156 //*******************************************************
nerit 0:1e09cd7d66b4 157 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 158 //*******************************************************
nerit 0:1e09cd7d66b4 159 //*******************************************************
nerit 0:1e09cd7d66b4 160 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 161 SDactualPosition++;
nerit 0:1e09cd7d66b4 162 prePosSD++;
nerit 5:3b95bbfe2dc9 163 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 164 posForQuinc++;
nerit 5:3b95bbfe2dc9 165 #endif
nerit 0:1e09cd7d66b4 166 }
nerit 0:1e09cd7d66b4 167 //*******************************************************
nerit 0:1e09cd7d66b4 168 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 169 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 170 if (TBmotorStepOut==0){
nerit 9:503e2aba047c 171 if (TBmotorDirecti==1){
nerit 9:503e2aba047c 172 TBactualPosition++;
nerit 9:503e2aba047c 173 }else{
nerit 9:503e2aba047c 174 TBactualPosition--;
nerit 9:503e2aba047c 175 }
nerit 0:1e09cd7d66b4 176 }
nerit 0:1e09cd7d66b4 177 }
nerit 0:1e09cd7d66b4 178 //*******************************************************
nerit 0:1e09cd7d66b4 179 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 180 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 181 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 182 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 183 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 184 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 185 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 186 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 187 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 188 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 189 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 190 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 191 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 192 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 193 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 194 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 195 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 196 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 197 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 7:c9fd242538d9 198 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 7:c9fd242538d9 199 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 200 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 201 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 202 }else{
nerit 0:1e09cd7d66b4 203 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 204 }
nerit 0:1e09cd7d66b4 205 }
nerit 0:1e09cd7d66b4 206 //*******************************************************
nerit 0:1e09cd7d66b4 207 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 208 // update TB frequency
nerit 11:21e990eb31d0 209 double limite=400.0f;
nerit 0:1e09cd7d66b4 210 double TBper=0.0f;
nerit 0:1e09cd7d66b4 211 if (aspettaStart==0){
nerit 11:21e990eb31d0 212 if (perio<limite){perio=limite;}
nerit 11:21e990eb31d0 213 double scala =0.0f;
nerit 0:1e09cd7d66b4 214 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 215 scala =2.0f;
nerit 0:1e09cd7d66b4 216 }else{
nerit 0:1e09cd7d66b4 217 scala =1.8f;
nerit 0:1e09cd7d66b4 218 }
nerit 0:1e09cd7d66b4 219 TBper=perio/scala;
nerit 0:1e09cd7d66b4 220 if (oldPeriodoTB!=TBper){
nerit 11:21e990eb31d0 221 if (TBper >= (limite/2.0f)){
nerit 0:1e09cd7d66b4 222 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 223 }else{
nerit 0:1e09cd7d66b4 224 TBticker.detach();
nerit 0:1e09cd7d66b4 225 }
nerit 0:1e09cd7d66b4 226 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 227 }
nerit 0:1e09cd7d66b4 228 }
nerit 0:1e09cd7d66b4 229 }
nerit 0:1e09cd7d66b4 230 //*******************************************************
nerit 0:1e09cd7d66b4 231 void seedCorrect(){
nerit 0:1e09cd7d66b4 232 /*
nerit 0:1e09cd7d66b4 233 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 234 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 235 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 236 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 237 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 238 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 239 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 240 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 241 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 242 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 243 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 244 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 245 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 246 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 247 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 248 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 249 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 250
nerit 0:1e09cd7d66b4 251 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 252 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 253 */
nerit 0:1e09cd7d66b4 254 /*
nerit 0:1e09cd7d66b4 255 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 256 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 257 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 258 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 259 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 260 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 261 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 262 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 263 */
nerit 0:1e09cd7d66b4 264
nerit 0:1e09cd7d66b4 265 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 266 if (inhibit==0){
nerit 0:1e09cd7d66b4 267 double posError =0.0f;
nerit 0:1e09cd7d66b4 268 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 269 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 270 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 271 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 272 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 273 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 274 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 275 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 276 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 277 }
nerit 0:1e09cd7d66b4 278 }
nerit 0:1e09cd7d66b4 279 }
nerit 4:d32258ec411f 280 }
nerit 4:d32258ec411f 281 }
nerit 4:d32258ec411f 282 //*******************************************************
nerit 4:d32258ec411f 283 void videoUpdate(){
nerit 4:d32258ec411f 284 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 285 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 286 totalSpeed=0.0f;
nerit 4:d32258ec411f 287 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 288 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 289 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 290 #if defined(SDreset)
nerit 0:1e09cd7d66b4 291 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 292 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 293 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 294 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 295 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 296 #endif
nerit 0:1e09cd7d66b4 297 #endif
nerit 0:1e09cd7d66b4 298 }
nerit 0:1e09cd7d66b4 299 //*******************************************************
nerit 0:1e09cd7d66b4 300 void ciclaTB(){
nerit 0:1e09cd7d66b4 301 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 302 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 303 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 304 startCicloTB=0;
nerit 0:1e09cd7d66b4 305 }
nerit 0:1e09cd7d66b4 306 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 307 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 308 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 309 stopCicloTB=0;
nerit 0:1e09cd7d66b4 310 }
nerit 0:1e09cd7d66b4 311 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 312 TBticker.detach();
nerit 0:1e09cd7d66b4 313 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 314 stopCicloTB=0;
nerit 0:1e09cd7d66b4 315 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 316 loadDaCan=0;
nerit 0:1e09cd7d66b4 317 }
nerit 0:1e09cd7d66b4 318 }
nerit 7:c9fd242538d9 319 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 7:c9fd242538d9 320 void stepSetting(){
nerit 7:c9fd242538d9 321 // Stepper driver init and set
nerit 7:c9fd242538d9 322 TBmotorRst=1; // reset stepper driver
nerit 9:503e2aba047c 323 if (tractorSpeed_MtS_timed==0.0f){
nerit 9:503e2aba047c 324 TBmotorDirecti=1; // reset stepper direction
nerit 9:503e2aba047c 325 }
nerit 7:c9fd242538d9 326 // M1 M2 M3 RESOLUTION
nerit 7:c9fd242538d9 327 // 0 0 0 1/2
nerit 7:c9fd242538d9 328 // 1 0 0 1/8
nerit 7:c9fd242538d9 329 // 0 1 0 1/16
nerit 7:c9fd242538d9 330 // 1 1 0 1/32
nerit 7:c9fd242538d9 331 // 0 0 1 1/64
nerit 7:c9fd242538d9 332 // 1 0 1 1/128
nerit 7:c9fd242538d9 333 // 0 1 1 1/10
nerit 7:c9fd242538d9 334 // 1 1 1 1/20
nerit 10:d85ed006056e 335 if (TBmotorSteps==400.0f){
nerit 10:d85ed006056e 336 TBmotor_M1=0;
nerit 10:d85ed006056e 337 TBmotor_M2=0;
nerit 10:d85ed006056e 338 TBmotor_M3=0;
nerit 10:d85ed006056e 339 }else if (TBmotorSteps==1600.0f){
nerit 10:d85ed006056e 340 TBmotor_M1=0;
nerit 10:d85ed006056e 341 TBmotor_M2=0;
nerit 10:d85ed006056e 342 TBmotor_M3=1;
nerit 10:d85ed006056e 343 }else if (TBmotorSteps==3200.0f){
nerit 10:d85ed006056e 344 TBmotor_M1=0;
nerit 10:d85ed006056e 345 TBmotor_M2=1;
nerit 10:d85ed006056e 346 TBmotor_M3=0;
nerit 10:d85ed006056e 347 }else if (TBmotorSteps==6400.0f){
nerit 7:c9fd242538d9 348 TBmotor_M1=1;
nerit 7:c9fd242538d9 349 TBmotor_M2=1;
nerit 10:d85ed006056e 350 TBmotor_M3=0;
nerit 10:d85ed006056e 351 }else if (TBmotorSteps==12800.0f){
nerit 7:c9fd242538d9 352 TBmotor_M1=0;
nerit 10:d85ed006056e 353 TBmotor_M2=0;
nerit 7:c9fd242538d9 354 TBmotor_M3=1;
nerit 10:d85ed006056e 355 }else if (TBmotorSteps==25600.0f){
nerit 7:c9fd242538d9 356 TBmotor_M1=1;
nerit 7:c9fd242538d9 357 TBmotor_M2=0;
nerit 7:c9fd242538d9 358 TBmotor_M3=1;
nerit 10:d85ed006056e 359 }else if (TBmotorSteps==2000.0f){
nerit 7:c9fd242538d9 360 TBmotor_M1=0;
nerit 10:d85ed006056e 361 TBmotor_M2=1;
nerit 7:c9fd242538d9 362 TBmotor_M3=1;
nerit 10:d85ed006056e 363 }else if (TBmotorSteps==4000.0f){
nerit 7:c9fd242538d9 364 TBmotor_M1=1;
nerit 7:c9fd242538d9 365 TBmotor_M2=1;
nerit 10:d85ed006056e 366 TBmotor_M3=1;
nerit 10:d85ed006056e 367 }else{
nerit 10:d85ed006056e 368 // set dei 1600 passi
nerit 7:c9fd242538d9 369 TBmotor_M1=1;
nerit 7:c9fd242538d9 370 TBmotor_M2=0;
nerit 7:c9fd242538d9 371 TBmotor_M3=0;
nerit 7:c9fd242538d9 372 }
nerit 7:c9fd242538d9 373 TBmotorRst=0;
nerit 7:c9fd242538d9 374 }
nerit 7:c9fd242538d9 375 //****************************************
nerit 7:c9fd242538d9 376 void dcSetting(){
nerit 7:c9fd242538d9 377 if ((speedFromPick==0)&&(encoder==false)){
nerit 7:c9fd242538d9 378 DcEncoder.rise(&sd25Fall);
nerit 7:c9fd242538d9 379 }
nerit 7:c9fd242538d9 380 if (encoder==true){
nerit 7:c9fd242538d9 381 DcEncoder.rise(&encoRise);
nerit 7:c9fd242538d9 382 //ElementPosition.fall(&encoRise);
nerit 7:c9fd242538d9 383 }
nerit 7:c9fd242538d9 384 }
nerit 0:1e09cd7d66b4 385 //*******************************************************
nerit 0:1e09cd7d66b4 386 void allarmi(){
nerit 0:1e09cd7d66b4 387 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 388 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 389 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 390
nerit 0:1e09cd7d66b4 391 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 392 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 393 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 394 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 395 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 396 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 397 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 7:c9fd242538d9 398 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 399 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 7:c9fd242538d9 400 }
nerit 0:1e09cd7d66b4 401
nerit 0:1e09cd7d66b4 402 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 403 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 404 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 405 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 406 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 407 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 408 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 409 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 410 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 411 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 412 }
nerit 0:1e09cd7d66b4 413
nerit 0:1e09cd7d66b4 414 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 415 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 416 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 417 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 418 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 419 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 420 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 421 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 422 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 423 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 424 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 425 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 426 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 427 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 428 #endif
nerit 0:1e09cd7d66b4 429 #endif
nerit 0:1e09cd7d66b4 430 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 431 all_pickSignal=0;
nerit 0:1e09cd7d66b4 432 all_cellSignal=0;
nerit 0:1e09cd7d66b4 433 all_lowBattery=0;
nerit 0:1e09cd7d66b4 434 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 435 all_stopSistem=0;
nerit 0:1e09cd7d66b4 436 all_upElements=0;
nerit 0:1e09cd7d66b4 437 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 438 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 439 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 440 all_noStepRota=0;
nerit 0:1e09cd7d66b4 441 all_speedError=0;
nerit 0:1e09cd7d66b4 442 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 443 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 444 all_genericals=0;
nerit 0:1e09cd7d66b4 445 }
nerit 0:1e09cd7d66b4 446 //*******************************************************
nerit 0:1e09cd7d66b4 447 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 448 void upDateSincro(){
nerit 0:1e09cd7d66b4 449 char val1[8]={0,0,0,0,0,0,0,0};
nerit 10:d85ed006056e 450 val1[0]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 10:d85ed006056e 451 val1[1]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 10:d85ed006056e 452 val1[2]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 10:d85ed006056e 453 val1[3]=posForQuinc & 0x000000FF;
nerit 7:c9fd242538d9 454 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 7:c9fd242538d9 455 double pass = speedOfSeedWheel*100.0f;
nerit 5:3b95bbfe2dc9 456 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 457 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 458 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 459 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 460 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 461 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 462 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 463 checkState=0;
nerit 0:1e09cd7d66b4 464 }
nerit 0:1e09cd7d66b4 465 #endif
nerit 0:1e09cd7d66b4 466 #endif
nerit 0:1e09cd7d66b4 467 }
nerit 0:1e09cd7d66b4 468 #endif
nerit 0:1e09cd7d66b4 469 //*******************************************************
nerit 0:1e09cd7d66b4 470 void upDateSpeed(){
nerit 0:1e09cd7d66b4 471 /*
nerit 0:1e09cd7d66b4 472 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 473 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 474 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 475 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 476 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 477 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 478 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 479 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 480 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 481 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 482 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 483 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 484 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 485 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 486 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 487 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 488 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 489 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 490 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 491 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 492 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 493 bit 1= sensore celle
nerit 0:1e09cd7d66b4 494 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 495 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 496 bit 4= motore DC
nerit 0:1e09cd7d66b4 497 bit 5= controller
nerit 0:1e09cd7d66b4 498 bit 6= motore stepper
nerit 0:1e09cd7d66b4 499 */
nerit 0:1e09cd7d66b4 500 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 501
nerit 0:1e09cd7d66b4 502 val1[3]=0;
nerit 0:1e09cd7d66b4 503 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 504 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 7:c9fd242538d9 505 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 3:c0f11ca4df02 506 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 507 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 508 if (buttonUser==0){
nerit 0:1e09cd7d66b4 509 val1[1]=0x02;
nerit 0:1e09cd7d66b4 510 }else{
nerit 0:1e09cd7d66b4 511 val1[1]=0x00;
nerit 0:1e09cd7d66b4 512 }
nerit 0:1e09cd7d66b4 513 val1[3]=valore;
nerit 0:1e09cd7d66b4 514 valore+=1;
nerit 0:1e09cd7d66b4 515 if(valore>50){
nerit 0:1e09cd7d66b4 516 valore=0;
nerit 0:1e09cd7d66b4 517 }
nerit 0:1e09cd7d66b4 518 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 519 #endif
nerit 0:1e09cd7d66b4 520 allarmi();
nerit 0:1e09cd7d66b4 521 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 522 val1[0]=valore;
nerit 0:1e09cd7d66b4 523 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 524 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 525 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 526 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 527 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 528 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 529 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 530 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 531 checkState=0;
nerit 0:1e09cd7d66b4 532 }
nerit 0:1e09cd7d66b4 533 #endif
nerit 0:1e09cd7d66b4 534 }
nerit 0:1e09cd7d66b4 535 //*******************************************************
nerit 0:1e09cd7d66b4 536 void leggiCAN(){
nerit 0:1e09cd7d66b4 537 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 538 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 539 if (firstStart==1){
nerit 0:1e09cd7d66b4 540 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 541 sincUpdate.attach(&upDateSincro,0.009f);
nerit 7:c9fd242538d9 542 canUpdate.attach(&upDateSpeed,0.21f);
nerit 7:c9fd242538d9 543 #else
nerit 7:c9fd242538d9 544 canUpdate.attach(&upDateSpeed,0.407f);
nerit 0:1e09cd7d66b4 545 #endif
nerit 0:1e09cd7d66b4 546 firstStart=0;
nerit 0:1e09cd7d66b4 547 }
nerit 0:1e09cd7d66b4 548
nerit 0:1e09cd7d66b4 549 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 550 #if defined(pcSerial)
nerit 7:c9fd242538d9 551 #if defined(canDataReceiveda)
nerit 0:1e09cd7d66b4 552 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 553 #endif
nerit 0:1e09cd7d66b4 554 #endif
nerit 0:1e09cd7d66b4 555 }
nerit 0:1e09cd7d66b4 556 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 557 #if defined(pcSerial)
nerit 7:c9fd242538d9 558 #if defined(canDataReceivedb)
nerit 0:1e09cd7d66b4 559 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 560 #endif
nerit 0:1e09cd7d66b4 561 #endif
nerit 0:1e09cd7d66b4 562 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 563 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 564 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 565 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 566 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 567 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 568 #if defined(canDataReceived)
nerit 7:c9fd242538d9 569 pc.printf("Speed simula %d \n",speedSimula);
nerit 0:1e09cd7d66b4 570 #endif
nerit 0:1e09cd7d66b4 571 #endif
nerit 0:1e09cd7d66b4 572 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 573 case 1:
nerit 0:1e09cd7d66b4 574 case 3:
nerit 0:1e09cd7d66b4 575 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 576 resetComandi=0x01;
nerit 0:1e09cd7d66b4 577 comandiDaCan=0;
nerit 0:1e09cd7d66b4 578 break;
nerit 0:1e09cd7d66b4 579 case 2:
nerit 0:1e09cd7d66b4 580 loadDaCan=1;
nerit 0:1e09cd7d66b4 581 resetComandi=0x02;
nerit 0:1e09cd7d66b4 582 comandiDaCan=0;
nerit 0:1e09cd7d66b4 583 break;
nerit 0:1e09cd7d66b4 584 default:
nerit 0:1e09cd7d66b4 585 comandiDaCan=0;
nerit 0:1e09cd7d66b4 586 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 587 break;
nerit 0:1e09cd7d66b4 588 }
nerit 0:1e09cd7d66b4 589 #if defined(pcSerial)
nerit 7:c9fd242538d9 590 #if defined(canDataReceivedR)
nerit 0:1e09cd7d66b4 591 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 592 #endif
nerit 0:1e09cd7d66b4 593 #endif
nerit 0:1e09cd7d66b4 594 if (speedSimula>45){
nerit 0:1e09cd7d66b4 595 speedSimula=45;
nerit 0:1e09cd7d66b4 596 }
nerit 0:1e09cd7d66b4 597 // modulo 1
nerit 0:1e09cd7d66b4 598 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 599 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 600 simOk=1;
nerit 0:1e09cd7d66b4 601 }else{
nerit 0:1e09cd7d66b4 602 simOk=0;
nerit 0:1e09cd7d66b4 603 }
nerit 0:1e09cd7d66b4 604 }
nerit 0:1e09cd7d66b4 605 // modulo 2
nerit 0:1e09cd7d66b4 606 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 607 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 608 simOk=1;
nerit 0:1e09cd7d66b4 609 }else{
nerit 0:1e09cd7d66b4 610 simOk=0;
nerit 0:1e09cd7d66b4 611 }
nerit 0:1e09cd7d66b4 612 }
nerit 0:1e09cd7d66b4 613 // modulo 3
nerit 0:1e09cd7d66b4 614 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 615 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 616 simOk=1;
nerit 0:1e09cd7d66b4 617 }else{
nerit 0:1e09cd7d66b4 618 simOk=0;
nerit 0:1e09cd7d66b4 619 }
nerit 0:1e09cd7d66b4 620 }
nerit 0:1e09cd7d66b4 621 // modulo 4
nerit 0:1e09cd7d66b4 622 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 623 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 624 simOk=1;
nerit 0:1e09cd7d66b4 625 }else{
nerit 0:1e09cd7d66b4 626 simOk=0;
nerit 0:1e09cd7d66b4 627 }
nerit 0:1e09cd7d66b4 628 }
nerit 0:1e09cd7d66b4 629 // modulo 5
nerit 0:1e09cd7d66b4 630 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 631 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 632 simOk=1;
nerit 0:1e09cd7d66b4 633 }else{
nerit 0:1e09cd7d66b4 634 simOk=0;
nerit 0:1e09cd7d66b4 635 }
nerit 0:1e09cd7d66b4 636 }
nerit 0:1e09cd7d66b4 637
nerit 0:1e09cd7d66b4 638 }
nerit 0:1e09cd7d66b4 639 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 640 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 641 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 642 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 643 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 644 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 645 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 646 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 647 aggiornaParametri();
nerit 0:1e09cd7d66b4 648 }
nerit 0:1e09cd7d66b4 649 }
nerit 0:1e09cd7d66b4 650 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 651 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 652 #if defined(M1)
nerit 0:1e09cd7d66b4 653 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 654 aggiornaParametri();
nerit 0:1e09cd7d66b4 655 #endif
nerit 0:1e09cd7d66b4 656 #if defined(M2)
nerit 0:1e09cd7d66b4 657 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 658 aggiornaParametri();
nerit 0:1e09cd7d66b4 659 #endif
nerit 0:1e09cd7d66b4 660 #if defined(M3)
nerit 0:1e09cd7d66b4 661 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 662 aggiornaParametri();
nerit 0:1e09cd7d66b4 663 #endif
nerit 0:1e09cd7d66b4 664 #if defined(M4)
nerit 0:1e09cd7d66b4 665 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 666 aggiornaParametri();
nerit 0:1e09cd7d66b4 667 #endif
nerit 0:1e09cd7d66b4 668 #if defined(M5)
nerit 0:1e09cd7d66b4 669 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 670 aggiornaParametri();
nerit 0:1e09cd7d66b4 671 #endif
nerit 0:1e09cd7d66b4 672 #if defined(M6)
nerit 0:1e09cd7d66b4 673 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 674 aggiornaParametri();
nerit 0:1e09cd7d66b4 675 #endif
nerit 0:1e09cd7d66b4 676 }
nerit 0:1e09cd7d66b4 677 }
nerit 0:1e09cd7d66b4 678 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 679 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 680 #if defined(M1)
nerit 0:1e09cd7d66b4 681 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 682 aggiornaParametri();
nerit 0:1e09cd7d66b4 683 #endif
nerit 0:1e09cd7d66b4 684 #if defined(M2)
nerit 0:1e09cd7d66b4 685 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 686 aggiornaParametri();
nerit 0:1e09cd7d66b4 687 #endif
nerit 0:1e09cd7d66b4 688 #if defined(M3)
nerit 0:1e09cd7d66b4 689 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 690 aggiornaParametri();
nerit 0:1e09cd7d66b4 691 #endif
nerit 0:1e09cd7d66b4 692 #if defined(M4)
nerit 0:1e09cd7d66b4 693 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 694 aggiornaParametri();
nerit 0:1e09cd7d66b4 695 #endif
nerit 0:1e09cd7d66b4 696 #if defined(M5)
nerit 0:1e09cd7d66b4 697 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 698 aggiornaParametri();
nerit 0:1e09cd7d66b4 699 #endif
nerit 0:1e09cd7d66b4 700 #if defined(M6)
nerit 0:1e09cd7d66b4 701 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 702 aggiornaParametri();
nerit 0:1e09cd7d66b4 703 #endif
nerit 0:1e09cd7d66b4 704 }
nerit 0:1e09cd7d66b4 705 }
nerit 0:1e09cd7d66b4 706 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 707 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 708 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 709 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 710 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 711 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 712 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 713 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 714 aggiornaParametri();
nerit 0:1e09cd7d66b4 715 }
nerit 0:1e09cd7d66b4 716 }
nerit 0:1e09cd7d66b4 717 if (rxMsg.id==RX_QuincSinc){
nerit 7:c9fd242538d9 718 masterSinc = (uint32_t) rxMsg.data[3] * 0x00FF0000;
nerit 7:c9fd242538d9 719 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x0000FF00);
nerit 7:c9fd242538d9 720 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x000000FF);
nerit 7:c9fd242538d9 721 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 5:3b95bbfe2dc9 722 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 723 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 724 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 725 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 726 canDataCheck=1;
nerit 0:1e09cd7d66b4 727 }
nerit 6:3fca0ca1949e 728 if (rxMsg.id==RX_Configure){
nerit 6:3fca0ca1949e 729 uint8_t flags = rxMsg.data[0];
nerit 10:d85ed006056e 730 uint16_t steps = (uint32_t) rxMsg.data[1]*0x000000FF;
nerit 6:3fca0ca1949e 731 steps = steps + ((uint32_t)rxMsg.data[2]);
nerit 10:d85ed006056e 732 TBmotorSteps =steps;
nerit 10:d85ed006056e 733 //stepSetting();
nerit 6:3fca0ca1949e 734 cellsCountSet = rxMsg.data[3];
nerit 6:3fca0ca1949e 735 if ((flags&0x01)==0x01){
nerit 7:c9fd242538d9 736 if (encoder==false){
nerit 7:c9fd242538d9 737 encoder=true;
nerit 7:c9fd242538d9 738 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 739 dcSetting();
nerit 7:c9fd242538d9 740 }
nerit 6:3fca0ca1949e 741 }else{
nerit 7:c9fd242538d9 742 if (encoder==true){
nerit 7:c9fd242538d9 743 encoder=false;
nerit 7:c9fd242538d9 744 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 745 dcSetting();
nerit 7:c9fd242538d9 746 }
nerit 6:3fca0ca1949e 747 }
nerit 6:3fca0ca1949e 748 if ((flags&0x02)==0x02){
nerit 6:3fca0ca1949e 749 tankLevelEnable=true;
nerit 6:3fca0ca1949e 750 }else{
nerit 6:3fca0ca1949e 751 tankLevelEnable=false;
nerit 6:3fca0ca1949e 752 }
nerit 6:3fca0ca1949e 753 if ((flags&0x04)==0x04){
nerit 6:3fca0ca1949e 754 seedSensorEnable=true;
nerit 6:3fca0ca1949e 755 }else{
nerit 6:3fca0ca1949e 756 seedSensorEnable=false;
nerit 6:3fca0ca1949e 757 }
nerit 6:3fca0ca1949e 758 if ((flags&0x08)==0x08){
nerit 6:3fca0ca1949e 759 stendiNylonEnable=true;
nerit 6:3fca0ca1949e 760 }else{
nerit 6:3fca0ca1949e 761 stendiNylonEnable=false;
nerit 6:3fca0ca1949e 762 }
nerit 6:3fca0ca1949e 763 if ((flags&0x10)==0x10){
nerit 6:3fca0ca1949e 764 canDataCheckEnable=true;
nerit 6:3fca0ca1949e 765 }else{
nerit 6:3fca0ca1949e 766 canDataCheckEnable=false;
nerit 6:3fca0ca1949e 767 }
nerit 6:3fca0ca1949e 768 if ((flags&0x20)==0x20){
nerit 6:3fca0ca1949e 769 tamburoStandard=1;
nerit 6:3fca0ca1949e 770 }else{
nerit 6:3fca0ca1949e 771 tamburoStandard=0;
nerit 6:3fca0ca1949e 772 }
nerit 6:3fca0ca1949e 773 if ((flags&0x40)==0x40){
nerit 6:3fca0ca1949e 774 currentCheckEnable=true;
nerit 6:3fca0ca1949e 775 }else{
nerit 6:3fca0ca1949e 776 currentCheckEnable=false;
nerit 6:3fca0ca1949e 777 }
nerit 6:3fca0ca1949e 778 }
nerit 0:1e09cd7d66b4 779 }
nerit 0:1e09cd7d66b4 780 #endif
nerit 0:1e09cd7d66b4 781 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 782 enableSimula=1;
nerit 0:1e09cd7d66b4 783 speedSimula=25;
nerit 0:1e09cd7d66b4 784 avviaSimula=1;
nerit 0:1e09cd7d66b4 785 simOk=1;
nerit 0:1e09cd7d66b4 786 #endif
nerit 0:1e09cd7d66b4 787
nerit 0:1e09cd7d66b4 788 }
nerit 0:1e09cd7d66b4 789
nerit 0:1e09cd7d66b4 790 //*******************************************************
nerit 0:1e09cd7d66b4 791 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 792
nerit 0:1e09cd7d66b4 793 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 794 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 795
nerit 0:1e09cd7d66b4 796 //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 797 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 798 // Analog reading
nerit 0:1e09cd7d66b4 799 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 800 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 801 timeout.detach();
nerit 0:1e09cd7d66b4 802 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 803 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 804 }
nerit 0:1e09cd7d66b4 805 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 806 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 807 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 808 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 809 }
nerit 0:1e09cd7d66b4 810 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 811 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 812 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 813 }
nerit 0:1e09cd7d66b4 814 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 815 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 816 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 817 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 818 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 819 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 820 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 821 #endif
nerit 0:1e09cd7d66b4 822 #endif
nerit 0:1e09cd7d66b4 823 reduceCurrent=false;
nerit 0:1e09cd7d66b4 824 incrementCurrent=false;
nerit 0:1e09cd7d66b4 825 /*
nerit 0:1e09cd7d66b4 826 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 827 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 828 all_lowBattery=1;
nerit 0:1e09cd7d66b4 829 #endif
nerit 0:1e09cd7d66b4 830 incrementCurrent=true;
nerit 0:1e09cd7d66b4 831 }
nerit 0:1e09cd7d66b4 832 */
nerit 4:d32258ec411f 833 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 834 timeCurr.start();
nerit 4:d32258ec411f 835 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 836 #if defined(canbusActive)
nerit 4:d32258ec411f 837 all_overCurrDC=1;
nerit 4:d32258ec411f 838 #endif
nerit 4:d32258ec411f 839 reduceCurrent=true;
nerit 4:d32258ec411f 840 timeCurr.reset();
nerit 4:d32258ec411f 841 }
nerit 4:d32258ec411f 842 }else{
nerit 4:d32258ec411f 843 timeCurr.stop();
nerit 0:1e09cd7d66b4 844 }
nerit 0:1e09cd7d66b4 845 //}
nerit 0:1e09cd7d66b4 846 }
nerit 0:1e09cd7d66b4 847 //*******************************************************
nerit 0:1e09cd7d66b4 848 void DC_prepare(){
nerit 0:1e09cd7d66b4 849 // direction or brake preparation
nerit 7:c9fd242538d9 850 if (DC_brake==1){
nerit 7:c9fd242538d9 851 SDmotorInA=1;
nerit 7:c9fd242538d9 852 SDmotorInB=1;
nerit 7:c9fd242538d9 853 }else{
nerit 7:c9fd242538d9 854 if (DC_forward==0){
nerit 7:c9fd242538d9 855 SDmotorInA=1;
nerit 7:c9fd242538d9 856 SDmotorInB=0;
nerit 7:c9fd242538d9 857 }else{
nerit 7:c9fd242538d9 858 SDmotorInA=0;
nerit 7:c9fd242538d9 859 SDmotorInB=1;
nerit 7:c9fd242538d9 860 }
nerit 7:c9fd242538d9 861 }
nerit 0:1e09cd7d66b4 862 // fault reading
nerit 0:1e09cd7d66b4 863 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 864 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 865 }
nerit 0:1e09cd7d66b4 866 //*******************************************************
nerit 0:1e09cd7d66b4 867 void startDelay(){
nerit 0:1e09cd7d66b4 868 int ritardo =0;
nerit 0:1e09cd7d66b4 869 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 870 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 871 }
nerit 0:1e09cd7d66b4 872 //*******************************************************
nerit 4:d32258ec411f 873 void quincTrigon(){
nerit 4:d32258ec411f 874 quincClock=true;
nerit 4:d32258ec411f 875 }
nerit 4:d32258ec411f 876 void quincTrigof(){
nerit 4:d32258ec411f 877 quincClock=false;
nerit 0:1e09cd7d66b4 878 }
nerit 0:1e09cd7d66b4 879 //*******************************************************
nerit 2:d9c7430ae953 880 void quinCalc(){
nerit 0:1e09cd7d66b4 881 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 882 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 883 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 884 oldQuincIn=1;
nerit 0:1e09cd7d66b4 885 if (quincStart==0){
nerit 5:3b95bbfe2dc9 886 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 887 quincTime.reset();
nerit 8:0e643ea7834f 888 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 889 quincStart=1;
nerit 0:1e09cd7d66b4 890 }
nerit 0:1e09cd7d66b4 891 }
nerit 2:d9c7430ae953 892 if(quincClock==false){
nerit 0:1e09cd7d66b4 893 oldQuincIn=0;
nerit 0:1e09cd7d66b4 894 }
nerit 2:d9c7430ae953 895 #else
nerit 2:d9c7430ae953 896 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 897 oldQuincIn=1;
nerit 0:1e09cd7d66b4 898 if (quincStart==0){
nerit 5:3b95bbfe2dc9 899 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 900 quincTime.reset();
nerit 0:1e09cd7d66b4 901 quincStart=1;
nerit 0:1e09cd7d66b4 902 }
nerit 0:1e09cd7d66b4 903 }
nerit 4:d32258ec411f 904 if (quinconceActive==0){
nerit 4:d32258ec411f 905 if (quincClock==false){
nerit 4:d32258ec411f 906 oldQuincIn=0;
nerit 4:d32258ec411f 907 }
nerit 4:d32258ec411f 908 }else{
nerit 4:d32258ec411f 909 if (quincClock==true){
nerit 4:d32258ec411f 910 oldQuincIn=0;
nerit 4:d32258ec411f 911 }
nerit 0:1e09cd7d66b4 912 }
nerit 2:d9c7430ae953 913 #endif
nerit 5:3b95bbfe2dc9 914 //****************************************************************************************
nerit 7:c9fd242538d9 915 if (quincCnt>=4){
nerit 5:3b95bbfe2dc9 916 if (countPicks==0){
nerit 5:3b95bbfe2dc9 917 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 918 // decelera
nerit 5:3b95bbfe2dc9 919 countPicks=1;
nerit 4:d32258ec411f 920 }
nerit 5:3b95bbfe2dc9 921 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 922 // accelera
nerit 5:3b95bbfe2dc9 923 countPicks=2;
nerit 4:d32258ec411f 924 }
nerit 4:d32258ec411f 925 }
nerit 5:3b95bbfe2dc9 926 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 927 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 928 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 929 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 930 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 931 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 932 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 933 #if defined(laq)
nerit 5:3b95bbfe2dc9 934 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 935 #endif
nerit 5:3b95bbfe2dc9 936 #endif
nerit 5:3b95bbfe2dc9 937 }
nerit 7:c9fd242538d9 938 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 939 }
nerit 5:3b95bbfe2dc9 940 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 941 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 942 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 943 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 944 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 945 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 946 #if defined(laq)
nerit 5:3b95bbfe2dc9 947 pc.printf(
nerit 5:3b95bbfe2dc9 948 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 949 #endif
nerit 5:3b95bbfe2dc9 950 #endif
nerit 5:3b95bbfe2dc9 951 }
nerit 7:c9fd242538d9 952 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 953 }
nerit 5:3b95bbfe2dc9 954 sincroQui=0;
nerit 5:3b95bbfe2dc9 955 quincStart=0;
nerit 5:3b95bbfe2dc9 956 countPicks=0;
nerit 7:c9fd242538d9 957 #if !defined(speedMaster)
nerit 8:0e643ea7834f 958 if (quincCnt>=3){
nerit 7:c9fd242538d9 959 if (speedFromMaster>0.0f){
nerit 8:0e643ea7834f 960 if (enableSimula==0){
nerit 8:0e643ea7834f 961 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 962 }
nerit 7:c9fd242538d9 963 }
nerit 7:c9fd242538d9 964 }
nerit 7:c9fd242538d9 965 #endif
nerit 5:3b95bbfe2dc9 966 }
nerit 5:3b95bbfe2dc9 967
nerit 5:3b95bbfe2dc9 968 //*******************************************************************
nerit 5:3b95bbfe2dc9 969 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 970 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 971 canDataCheck=0;
nerit 7:c9fd242538d9 972 double parametro = SDsectorStep/3.0f;
nerit 5:3b95bbfe2dc9 973 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 974 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 975 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 976 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 977 }else{
nerit 5:3b95bbfe2dc9 978 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 979 }
nerit 5:3b95bbfe2dc9 980 #else
nerit 5:3b95bbfe2dc9 981 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 982 #endif
nerit 5:3b95bbfe2dc9 983 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 984 double diffPerc = differenza / parametro;
nerit 7:c9fd242538d9 985 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 986 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 987 #if defined(quinca)
nerit 5:3b95bbfe2dc9 988 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 989 #endif
nerit 5:3b95bbfe2dc9 990 #endif
nerit 5:3b95bbfe2dc9 991 }
nerit 5:3b95bbfe2dc9 992 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 993 double diffPerc = (double)differenza / parametro;
nerit 7:c9fd242538d9 994 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 995 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 996 #if defined(quinca)
nerit 5:3b95bbfe2dc9 997 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 998 #endif
nerit 5:3b95bbfe2dc9 999 #endif
nerit 5:3b95bbfe2dc9 1000 }
nerit 7:c9fd242538d9 1001
nerit 7:c9fd242538d9 1002 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1003 if (quincCnt>=3){
nerit 7:c9fd242538d9 1004 if (speedFromMaster>0.0f){
nerit 10:d85ed006056e 1005 //Questo
nerit 8:0e643ea7834f 1006 if (enableSimula==0){
nerit 8:0e643ea7834f 1007 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1008 }
nerit 7:c9fd242538d9 1009 }
nerit 7:c9fd242538d9 1010 }
nerit 7:c9fd242538d9 1011 #endif
nerit 5:3b95bbfe2dc9 1012 }
nerit 5:3b95bbfe2dc9 1013 }
nerit 5:3b95bbfe2dc9 1014
nerit 5:3b95bbfe2dc9 1015 }
nerit 5:3b95bbfe2dc9 1016 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 1017 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 1018 }
nerit 5:3b95bbfe2dc9 1019 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 1020 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 1021 }
nerit 0:1e09cd7d66b4 1022 }
nerit 7:c9fd242538d9 1023 // ----------------------------------------
nerit 7:c9fd242538d9 1024 #if defined(seedSensor)
nerit 7:c9fd242538d9 1025 void resetDelay(){
nerit 7:c9fd242538d9 1026 delaySeedCheck.reset();
nerit 7:c9fd242538d9 1027 delaySeedCheck.stop();
nerit 7:c9fd242538d9 1028 }
nerit 7:c9fd242538d9 1029 #endif
nerit 0:1e09cd7d66b4 1030 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1031 // MAIN SECTION
nerit 3:c0f11ca4df02 1032 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1033
nerit 0:1e09cd7d66b4 1034 int main()
nerit 0:1e09cd7d66b4 1035 {
nerit 5:3b95bbfe2dc9 1036 //wait(1.0f);
nerit 0:1e09cd7d66b4 1037 wd.Configure(2); //watchdog set at xx seconds
nerit 7:c9fd242538d9 1038
nerit 7:c9fd242538d9 1039 stepSetting();
nerit 7:c9fd242538d9 1040
nerit 0:1e09cd7d66b4 1041 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 1042 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 1043 }
nerit 0:1e09cd7d66b4 1044
nerit 0:1e09cd7d66b4 1045
nerit 0:1e09cd7d66b4 1046 // DC reset ad set
nerit 0:1e09cd7d66b4 1047 int decima = 100;
nerit 0:1e09cd7d66b4 1048 wait_ms(200);
nerit 0:1e09cd7d66b4 1049 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1050 wait_ms(2);
nerit 0:1e09cd7d66b4 1051 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1052 wait_ms(1);
nerit 0:1e09cd7d66b4 1053 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1054 wait_ms(3);
nerit 0:1e09cd7d66b4 1055 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1056 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 1057 wait_ms(100);
nerit 0:1e09cd7d66b4 1058 DC_prepare();
nerit 0:1e09cd7d66b4 1059
nerit 0:1e09cd7d66b4 1060 speedTimer.start(); // speed pulse timer
nerit 0:1e09cd7d66b4 1061 intraPickTimer.start();
nerit 0:1e09cd7d66b4 1062 speedTimeOut.start();
nerit 0:1e09cd7d66b4 1063 speedFilter.start();
nerit 0:1e09cd7d66b4 1064 seedFilter.start();
nerit 0:1e09cd7d66b4 1065 TBfilter.start();
nerit 0:1e09cd7d66b4 1066 sincroTimer.start();
nerit 0:1e09cd7d66b4 1067 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 1068 metalTimer.start();
nerit 0:1e09cd7d66b4 1069 quincTime.start();
nerit 1:e88bf5011af6 1070 quincTimeSD.start();
nerit 7:c9fd242538d9 1071 //intraEncoTimer.start();
nerit 0:1e09cd7d66b4 1072
nerit 0:1e09cd7d66b4 1073 //*******************************************************
nerit 0:1e09cd7d66b4 1074 // controls for check DC motor current
nerit 0:1e09cd7d66b4 1075 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 1076
nerit 0:1e09cd7d66b4 1077 if (inProva==0){
nerit 0:1e09cd7d66b4 1078 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 1079 #if !defined(speedMaster)
nerit 4:d32258ec411f 1080 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 1081 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 1082 #endif
nerit 5:3b95bbfe2dc9 1083 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1084 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 1085 #endif
nerit 0:1e09cd7d66b4 1086 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 1087 dcSetting();
nerit 7:c9fd242538d9 1088 #if defined(seedSensor)
nerit 8:0e643ea7834f 1089 seedCheck.fall(&seedSensorTask);
nerit 7:c9fd242538d9 1090 #endif
nerit 0:1e09cd7d66b4 1091 }else{
nerit 0:1e09cd7d66b4 1092 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 1093 }
nerit 0:1e09cd7d66b4 1094
nerit 0:1e09cd7d66b4 1095 aggiornaParametri();
nerit 0:1e09cd7d66b4 1096
nerit 0:1e09cd7d66b4 1097 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 7:c9fd242538d9 1098 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 7:c9fd242538d9 1099 TBmotorDirecti=1; // tb motor direction set
nerit 0:1e09cd7d66b4 1100
nerit 0:1e09cd7d66b4 1101 #if defined(provaStepper)
nerit 7:c9fd242538d9 1102 TBmotorRst=0;
nerit 10:d85ed006056e 1103 TBticker.attach_us(&step_TBPulseOut,500.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1104 #endif // end prova stepper
nerit 0:1e09cd7d66b4 1105
nerit 0:1e09cd7d66b4 1106 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 1107 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 1108 #endif
nerit 0:1e09cd7d66b4 1109
nerit 0:1e09cd7d66b4 1110 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1111 // MAIN LOOP
nerit 0:1e09cd7d66b4 1112 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1113 while (true){
nerit 0:1e09cd7d66b4 1114 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1115 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1116
nerit 0:1e09cd7d66b4 1117 // inversione segnali ingressi
nerit 4:d32258ec411f 1118 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1119 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1120 #else
nerit 4:d32258ec411f 1121 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1122 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1123 }
nerit 4:d32258ec411f 1124 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1125 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1126 }
nerit 4:d32258ec411f 1127 #endif
nerit 0:1e09cd7d66b4 1128 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1129
nerit 0:1e09cd7d66b4 1130 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1131 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1132 if (seedWheelZeroPinInput==1){
nerit 7:c9fd242538d9 1133 quinconceOut=0;
nerit 0:1e09cd7d66b4 1134 }
nerit 5:3b95bbfe2dc9 1135 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 7:c9fd242538d9 1136 quinconceOut=1;
nerit 7:c9fd242538d9 1137 }
nerit 7:c9fd242538d9 1138 if (quinconceActive==1){
nerit 7:c9fd242538d9 1139 if ((quinconceOut==1)&&(oldQuinconceOut==1)){
nerit 5:3b95bbfe2dc9 1140 posForQuinc=500;
nerit 7:c9fd242538d9 1141 oldQuinconceOut=0;
nerit 7:c9fd242538d9 1142 }
nerit 7:c9fd242538d9 1143 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)){
nerit 7:c9fd242538d9 1144 oldQuinconceOut=1;
nerit 7:c9fd242538d9 1145 }
nerit 7:c9fd242538d9 1146 }
nerit 0:1e09cd7d66b4 1147 #endif
nerit 0:1e09cd7d66b4 1148
nerit 0:1e09cd7d66b4 1149 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1150 leggiCAN();
nerit 0:1e09cd7d66b4 1151 #endif
nerit 0:1e09cd7d66b4 1152
nerit 0:1e09cd7d66b4 1153 // simulazione velocita
nerit 0:1e09cd7d66b4 1154 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1155 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1156 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1157 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1158 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1159 }else{
nerit 0:1e09cd7d66b4 1160 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1161 }
nerit 0:1e09cd7d66b4 1162 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1163 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 7:c9fd242538d9 1164 #if defined(pcSerial)
nerit 7:c9fd242538d9 1165 #if defined(canDataReceived)
nerit 7:c9fd242538d9 1166 pc.printf("Pulseinterval %f \n",pulseSpeedInterval);
nerit 7:c9fd242538d9 1167 #endif
nerit 7:c9fd242538d9 1168 #endif
nerit 0:1e09cd7d66b4 1169 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1170 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1171 }
nerit 0:1e09cd7d66b4 1172 }else{
nerit 0:1e09cd7d66b4 1173 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1174 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1175 }
nerit 0:1e09cd7d66b4 1176 }else{
nerit 0:1e09cd7d66b4 1177 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1178 }
nerit 0:1e09cd7d66b4 1179
nerit 0:1e09cd7d66b4 1180 //*******************************************************
nerit 0:1e09cd7d66b4 1181 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1182 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1183 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1184 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1185 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1186 }
nerit 0:1e09cd7d66b4 1187 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1188 }else{
nerit 0:1e09cd7d66b4 1189 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1190 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1191 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1192 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1193 }
nerit 0:1e09cd7d66b4 1194 }
nerit 0:1e09cd7d66b4 1195
nerit 0:1e09cd7d66b4 1196 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1197 lowSpeed=1;
nerit 0:1e09cd7d66b4 1198 }else{
nerit 0:1e09cd7d66b4 1199 lowSpeed=0;
nerit 0:1e09cd7d66b4 1200 }
nerit 0:1e09cd7d66b4 1201
nerit 0:1e09cd7d66b4 1202
nerit 0:1e09cd7d66b4 1203 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1204 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1205 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1206 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1207 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1208
nerit 0:1e09cd7d66b4 1209 if (inProva==0){
nerit 7:c9fd242538d9 1210 if ((startCycleSimulation==0)&&(enableSimula==0)){
nerit 7:c9fd242538d9 1211 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1212 runRequestBuf=0;
nerit 7:c9fd242538d9 1213 enableCycle=1;
nerit 7:c9fd242538d9 1214 }else{
nerit 7:c9fd242538d9 1215 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1216 runRequestBuf=0;
nerit 7:c9fd242538d9 1217 enableCycle=1;
nerit 7:c9fd242538d9 1218 }
nerit 7:c9fd242538d9 1219 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){
nerit 7:c9fd242538d9 1220 oldTractorSpeedRead=0;
nerit 7:c9fd242538d9 1221 }
nerit 0:1e09cd7d66b4 1222 // ----------------------------------------
nerit 0:1e09cd7d66b4 1223 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1224 // ----------------------------------------
nerit 4:d32258ec411f 1225 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1226 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1227 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1228 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1229 }
nerit 0:1e09cd7d66b4 1230 }
nerit 0:1e09cd7d66b4 1231 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1232 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1233 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1234 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1235 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1236 seedFilter.reset();
nerit 0:1e09cd7d66b4 1237 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1238 oldSeedWheelZeroPinInput=1;
nerit 8:0e643ea7834f 1239 quincTime.reset();
nerit 1:e88bf5011af6 1240 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1241 SDzeroDebounced=1;
nerit 4:d32258ec411f 1242 sincroQui=1;
nerit 0:1e09cd7d66b4 1243 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1244 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1245 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1246 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1247 }
nerit 5:3b95bbfe2dc9 1248 #endif
nerit 0:1e09cd7d66b4 1249 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1250 quincCnt++;
nerit 0:1e09cd7d66b4 1251 }
nerit 0:1e09cd7d66b4 1252 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1253 beccoPronto=1;
nerit 0:1e09cd7d66b4 1254 }
nerit 0:1e09cd7d66b4 1255 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1256 lockStart=0;
nerit 0:1e09cd7d66b4 1257 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1258 forzaFase=0;
nerit 0:1e09cd7d66b4 1259 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1260 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1261 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1262 }else{
nerit 0:1e09cd7d66b4 1263 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1264 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1265 }else{
nerit 6:3fca0ca1949e 1266 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
nerit 6:3fca0ca1949e 1267 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1268 }
nerit 0:1e09cd7d66b4 1269 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1270 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 1271 //forzaFase=1;
nerit 0:1e09cd7d66b4 1272 }
nerit 0:1e09cd7d66b4 1273 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1274 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1275 forzaFase=1;
nerit 0:1e09cd7d66b4 1276 }
nerit 0:1e09cd7d66b4 1277 trigRepos=1;
nerit 0:1e09cd7d66b4 1278 }
nerit 0:1e09cd7d66b4 1279 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1280 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1281 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1282 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1283 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1284 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1285 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1286 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1287 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1288 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1289 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1290 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1291 #endif
nerit 0:1e09cd7d66b4 1292 #endif
nerit 0:1e09cd7d66b4 1293 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1294 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1295 if (firstStart==0){
nerit 0:1e09cd7d66b4 1296 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1297 }
nerit 0:1e09cd7d66b4 1298 }
nerit 0:1e09cd7d66b4 1299 }
nerit 0:1e09cd7d66b4 1300 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1301 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1302 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1303 #if defined(pcSerial)
nerit 4:d32258ec411f 1304 #if defined(Qnca)
nerit 4:d32258ec411f 1305 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1306 #endif
nerit 0:1e09cd7d66b4 1307 #endif
nerit 0:1e09cd7d66b4 1308 }
nerit 7:c9fd242538d9 1309 if (encoder==false){
nerit 7:c9fd242538d9 1310 pulseRised2=1;
nerit 7:c9fd242538d9 1311 }
nerit 4:d32258ec411f 1312 #if defined(speedMaster)
nerit 4:d32258ec411f 1313 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1314 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1315 all_noSpeedSen=1;
nerit 4:d32258ec411f 1316 }
nerit 4:d32258ec411f 1317 }
nerit 5:3b95bbfe2dc9 1318 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1319 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1320 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1321 all_speedError =1;
nerit 0:1e09cd7d66b4 1322 }
nerit 0:1e09cd7d66b4 1323 }
nerit 0:1e09cd7d66b4 1324 #endif
nerit 0:1e09cd7d66b4 1325 //*******************************************
nerit 0:1e09cd7d66b4 1326 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1327 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1328 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1329 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1330 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1331 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1332 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1333 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1334 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1335 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1336 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1337 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1338 }
nerit 0:1e09cd7d66b4 1339 // ----------------------------------------
nerit 0:1e09cd7d66b4 1340 // check SD fase
nerit 0:1e09cd7d66b4 1341 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1342 forzaFase=0;
nerit 0:1e09cd7d66b4 1343 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1344 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1345 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1346 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1347 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1348 if (trigTB==0){
nerit 0:1e09cd7d66b4 1349 inhibit=1;
nerit 0:1e09cd7d66b4 1350 trigSD=1;
nerit 0:1e09cd7d66b4 1351 }else{
nerit 0:1e09cd7d66b4 1352 inhibit=0;
nerit 0:1e09cd7d66b4 1353 trigTB=0;
nerit 0:1e09cd7d66b4 1354 trigSD=0;
nerit 0:1e09cd7d66b4 1355 }
nerit 0:1e09cd7d66b4 1356 trigRepos=0;
nerit 0:1e09cd7d66b4 1357 }
nerit 0:1e09cd7d66b4 1358 }else{
nerit 0:1e09cd7d66b4 1359 trigCicli=0;
nerit 0:1e09cd7d66b4 1360 }
nerit 0:1e09cd7d66b4 1361 // ----------------------------------------
nerit 0:1e09cd7d66b4 1362 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1363 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1364 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1365 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1366 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1367 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1368 startCicloTB=0;
nerit 0:1e09cd7d66b4 1369 }
nerit 0:1e09cd7d66b4 1370 TBfilter.reset();
nerit 0:1e09cd7d66b4 1371 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1372 TBactualPosition=0;
nerit 9:503e2aba047c 1373 if (cntTbError>0){
nerit 9:503e2aba047c 1374 cntCellsCorrect++;
nerit 9:503e2aba047c 1375 }
nerit 9:503e2aba047c 1376 if (cntCellsCorrect>3){
nerit 9:503e2aba047c 1377 cntTbError=0;
nerit 9:503e2aba047c 1378 cntCellsCorrect=0;
nerit 9:503e2aba047c 1379 }
nerit 9:503e2aba047c 1380 // conteggio celle erogate
nerit 0:1e09cd7d66b4 1381 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1382 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1383 }else{
nerit 0:1e09cd7d66b4 1384 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1385 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1386 }
nerit 9:503e2aba047c 1387 // ciclo conteggio celle per carico manuale
nerit 0:1e09cd7d66b4 1388 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1389 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1390 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1391 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1392 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1393 }
nerit 0:1e09cd7d66b4 1394 }else{
nerit 0:1e09cd7d66b4 1395 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1396 }
nerit 9:503e2aba047c 1397 // inibizione controllo di sincro per fuori fase
nerit 0:1e09cd7d66b4 1398 if (trigSD==0){
nerit 0:1e09cd7d66b4 1399 inhibit=1;
nerit 0:1e09cd7d66b4 1400 trigTB=1;
nerit 0:1e09cd7d66b4 1401 }else{
nerit 0:1e09cd7d66b4 1402 inhibit=0;
nerit 0:1e09cd7d66b4 1403 trigTB=0;
nerit 0:1e09cd7d66b4 1404 trigSD=0;
nerit 0:1e09cd7d66b4 1405 }
nerit 9:503e2aba047c 1406 // conta le celle indietro per sbloccare il tamburo
nerit 7:c9fd242538d9 1407 if ((TBmotorDirecti==0)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1408 cntCellsForReload++;
nerit 6:3fca0ca1949e 1409 if (cntCellsForReload >= cellsCountSet){
nerit 9:503e2aba047c 1410 TBmotorDirecti=1; // rotazione normale
nerit 0:1e09cd7d66b4 1411 erroreTamburo=0;
nerit 9:503e2aba047c 1412 cntCellsCorrect=0;
nerit 0:1e09cd7d66b4 1413 }
nerit 0:1e09cd7d66b4 1414 }
nerit 7:c9fd242538d9 1415 #if defined(seedSensor)
nerit 7:c9fd242538d9 1416 resetDelay();
nerit 7:c9fd242538d9 1417 delaySeedCheck.start();
nerit 7:c9fd242538d9 1418 #endif
nerit 0:1e09cd7d66b4 1419 }
nerit 9:503e2aba047c 1420 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)&&(erroreTamburo==0)){
nerit 0:1e09cd7d66b4 1421 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1422 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1423 all_cellSignal=1;
nerit 7:c9fd242538d9 1424 #if defined(seedSensor)
nerit 7:c9fd242538d9 1425 resetDelay();
nerit 7:c9fd242538d9 1426 #endif
nerit 5:3b95bbfe2dc9 1427 }
nerit 0:1e09cd7d66b4 1428 }
nerit 0:1e09cd7d66b4 1429 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1430 erroreTamburo=1;
nerit 9:503e2aba047c 1431 TBmotorDirecti=0; // rotazione inversa
nerit 0:1e09cd7d66b4 1432 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1433 cntTbError++;
nerit 7:c9fd242538d9 1434 #if defined(seedSensor)
nerit 7:c9fd242538d9 1435 resetDelay();
nerit 7:c9fd242538d9 1436 #endif
nerit 0:1e09cd7d66b4 1437 }
nerit 0:1e09cd7d66b4 1438 }
nerit 5:3b95bbfe2dc9 1439 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1440 if (firstStart==0){
nerit 0:1e09cd7d66b4 1441 all_noStepRota=1;
nerit 7:c9fd242538d9 1442 #if defined(seedSensor)
nerit 7:c9fd242538d9 1443 resetDelay();
nerit 7:c9fd242538d9 1444 #endif
nerit 0:1e09cd7d66b4 1445 }
nerit 0:1e09cd7d66b4 1446 cntTbError=0;
nerit 0:1e09cd7d66b4 1447 }
nerit 0:1e09cd7d66b4 1448 // ----------------------------------------
nerit 0:1e09cd7d66b4 1449 // read and manage joystick
nerit 0:1e09cd7d66b4 1450 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1451 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1452 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1453 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1454 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1455 startCycle=1;
nerit 0:1e09cd7d66b4 1456 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1457 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1458 }
nerit 0:1e09cd7d66b4 1459 }
nerit 0:1e09cd7d66b4 1460 }else{
nerit 0:1e09cd7d66b4 1461 startCycle=0;
nerit 0:1e09cd7d66b4 1462 pntMedia=0;
nerit 0:1e09cd7d66b4 1463 }
nerit 0:1e09cd7d66b4 1464 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1465 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1466 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1467 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1468 }
nerit 0:1e09cd7d66b4 1469 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1470 }
nerit 0:1e09cd7d66b4 1471 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1472 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1473 ciclaTB();
nerit 0:1e09cd7d66b4 1474 }
nerit 0:1e09cd7d66b4 1475 }
nerit 0:1e09cd7d66b4 1476 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1477 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1478 zeroCycle=1;
nerit 0:1e09cd7d66b4 1479 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1480 SDzeroed=0;
nerit 0:1e09cd7d66b4 1481 TBzeroed=0;
nerit 0:1e09cd7d66b4 1482 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1483 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1484 }
nerit 0:1e09cd7d66b4 1485 }
nerit 0:1e09cd7d66b4 1486 }else{
nerit 0:1e09cd7d66b4 1487 startCycle=0;
nerit 0:1e09cd7d66b4 1488 zeroCycle=0;
nerit 0:1e09cd7d66b4 1489 }
nerit 0:1e09cd7d66b4 1490
nerit 0:1e09cd7d66b4 1491 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1492 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1493 //
nerit 0:1e09cd7d66b4 1494 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1495 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1496 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1497 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1498 pulseRised=0;
nerit 5:3b95bbfe2dc9 1499 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1500 speedMediaCalc();
nerit 0:1e09cd7d66b4 1501 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1502 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1503 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:0e643ea7834f 1504 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){
nerit 7:c9fd242538d9 1505 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 7:c9fd242538d9 1506 }
nerit 7:c9fd242538d9 1507 /*#if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1508 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1509 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1510 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1511 }
nerit 5:3b95bbfe2dc9 1512 }
nerit 7:c9fd242538d9 1513 #endif*/
nerit 0:1e09cd7d66b4 1514 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1515 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1516 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1517 }
nerit 0:1e09cd7d66b4 1518 }
nerit 0:1e09cd7d66b4 1519 }
nerit 0:1e09cd7d66b4 1520 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1521 }else{
nerit 0:1e09cd7d66b4 1522 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1523 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1524 tractorSpeed_MtS_timed = 0.0f;
nerit 7:c9fd242538d9 1525 #if defined(seedSensor)
nerit 7:c9fd242538d9 1526 resetDelay();
nerit 7:c9fd242538d9 1527 #endif
nerit 0:1e09cd7d66b4 1528 pntMedia=0;
nerit 0:1e09cd7d66b4 1529 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1530 enableSpeed=0;
nerit 0:1e09cd7d66b4 1531 quincCnt=0;
nerit 0:1e09cd7d66b4 1532 }
nerit 0:1e09cd7d66b4 1533 }
nerit 7:c9fd242538d9 1534
nerit 7:c9fd242538d9 1535 #if defined(seedSensor)
nerit 7:c9fd242538d9 1536 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 1537 if (delaySeedCheck.read_ms()>100){
nerit 7:c9fd242538d9 1538 if (seedSee==0){
nerit 7:c9fd242538d9 1539 all_noSeedOnCe=1;
nerit 7:c9fd242538d9 1540 }
nerit 7:c9fd242538d9 1541 resetDelay();
nerit 7:c9fd242538d9 1542 }
nerit 7:c9fd242538d9 1543 }
nerit 7:c9fd242538d9 1544 #endif
nerit 0:1e09cd7d66b4 1545 // esegue il controllo di velocità minima
nerit 7:c9fd242538d9 1546 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1547 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1548 enableSpeed=0;
nerit 7:c9fd242538d9 1549 }*/
nerit 6:3fca0ca1949e 1550 // esegue il controllo di velocità massima
nerit 7:c9fd242538d9 1551 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 6:3fca0ca1949e 1552 tractorSpeed_MtS_timed = 4.5f;
nerit 7:c9fd242538d9 1553 }*/
nerit 0:1e09cd7d66b4 1554 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1555 // cycle logic control section
nerit 0:1e09cd7d66b4 1556 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1557 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1558 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1559 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1560 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1561 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 1562 if (encoder==false){
nerit 5:3b95bbfe2dc9 1563 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1564 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1565 }else{
nerit 5:3b95bbfe2dc9 1566 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1567 }
nerit 0:1e09cd7d66b4 1568 }else{
nerit 5:3b95bbfe2dc9 1569 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 1570 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1571 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1572 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1573 #endif
nerit 5:3b95bbfe2dc9 1574 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1575 }
nerit 0:1e09cd7d66b4 1576 //*******************************************
nerit 0:1e09cd7d66b4 1577 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1578 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1579 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1580 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1581 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1582 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1583 }
nerit 0:1e09cd7d66b4 1584 }
nerit 6:3fca0ca1949e 1585 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
nerit 2:d9c7430ae953 1586 #if !defined(speedMaster)
nerit 4:d32258ec411f 1587 quinCalc();
nerit 2:d9c7430ae953 1588 #endif
nerit 5:3b95bbfe2dc9 1589 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1590 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1591 if(encoder==false){
nerit 5:3b95bbfe2dc9 1592 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1593 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1594 }else{
nerit 5:3b95bbfe2dc9 1595 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 1596 }
nerit 0:1e09cd7d66b4 1597 }else{
nerit 5:3b95bbfe2dc9 1598 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 1599 }
nerit 0:1e09cd7d66b4 1600 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1601 double k3=0.0f;
nerit 1:e88bf5011af6 1602 double k4=0.0f;
nerit 1:e88bf5011af6 1603 double k5=0.0f;
nerit 4:d32258ec411f 1604 double k6=0.0f;
nerit 4:d32258ec411f 1605 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1606 k3=1.030f;
nerit 4:d32258ec411f 1607 k4=5.103f;
nerit 4:d32258ec411f 1608 k5=10.00f;
nerit 4:d32258ec411f 1609 k6=20.50f;
nerit 4:d32258ec411f 1610 }else{*/
nerit 8:0e643ea7834f 1611 #if defined(speedMaster)
nerit 8:0e643ea7834f 1612 k3=0.010f;
nerit 8:0e643ea7834f 1613 #else
nerit 8:0e643ea7834f 1614 k3=0.050f;
nerit 8:0e643ea7834f 1615 #endif
nerit 7:c9fd242538d9 1616 k4=1.103f;
nerit 7:c9fd242538d9 1617 k5=10.00f;
nerit 7:c9fd242538d9 1618 k6=20.50f;
nerit 4:d32258ec411f 1619 //}
nerit 7:c9fd242538d9 1620 double L1 = 0.045f;
nerit 7:c9fd242538d9 1621 double L_1=-0.045f;
nerit 7:c9fd242538d9 1622 double L2 = 0.150f;
nerit 7:c9fd242538d9 1623 double L_2=-0.150f;
nerit 7:c9fd242538d9 1624 double L3 = 0.301f;
nerit 7:c9fd242538d9 1625 double L_3=-0.301f;
nerit 4:d32258ec411f 1626 double k1=0.0f;
nerit 4:d32258ec411f 1627 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1628 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1629 }
nerit 4:d32258ec411f 1630 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1631 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1632 }
nerit 4:d32258ec411f 1633 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1634 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1635 }
nerit 4:d32258ec411f 1636 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1637 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1638 }
nerit 4:d32258ec411f 1639 double memoCorrezione = k1;
nerit 4:d32258ec411f 1640 if (quincCnt >= 2){
nerit 4:d32258ec411f 1641 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1642 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1643 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1644 }
nerit 4:d32258ec411f 1645 pulseRised1=0;
nerit 4:d32258ec411f 1646 pulseRised2=0;
nerit 1:e88bf5011af6 1647 #if defined(pcSerial)
nerit 4:d32258ec411f 1648 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1649 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1650 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 1651 #endif
nerit 1:e88bf5011af6 1652 #endif
nerit 4:d32258ec411f 1653 #if defined(pcSerial)
nerit 4:d32258ec411f 1654 #if defined(Qncb)
nerit 4:d32258ec411f 1655 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1656 #endif
nerit 4:d32258ec411f 1657 #endif
nerit 0:1e09cd7d66b4 1658 }
nerit 0:1e09cd7d66b4 1659 // introduce il controllo di corrente
nerit 6:3fca0ca1949e 1660 if (currentCheckEnable==true){
nerit 6:3fca0ca1949e 1661 if (incrementCurrent){
nerit 6:3fca0ca1949e 1662 boostDcOut +=0.005f;
nerit 6:3fca0ca1949e 1663 }
nerit 6:3fca0ca1949e 1664 if (reduceCurrent){
nerit 6:3fca0ca1949e 1665 boostDcOut -=0.005f;
nerit 6:3fca0ca1949e 1666 }
nerit 6:3fca0ca1949e 1667 if (boostDcOut >= 0.2f){
nerit 6:3fca0ca1949e 1668 boostDcOut=0.2f;
nerit 6:3fca0ca1949e 1669 all_genericals=1;
nerit 6:3fca0ca1949e 1670 }
nerit 6:3fca0ca1949e 1671 if (boostDcOut <=-0.2f){
nerit 6:3fca0ca1949e 1672 boostDcOut=-0.2f;
nerit 6:3fca0ca1949e 1673 all_genericals=1;
nerit 6:3fca0ca1949e 1674 }
nerit 6:3fca0ca1949e 1675 correzione += boostDcOut;
nerit 0:1e09cd7d66b4 1676 }
nerit 1:e88bf5011af6 1677 DC_brake=0;
nerit 1:e88bf5011af6 1678 DC_forward=1;
nerit 1:e88bf5011af6 1679 DC_prepare();
nerit 0:1e09cd7d66b4 1680
nerit 0:1e09cd7d66b4 1681 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1682 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1683 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1684 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1685 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1686 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1687 }
nerit 0:1e09cd7d66b4 1688
nerit 4:d32258ec411f 1689 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1690 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1691 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1692 }else{
nerit 4:d32258ec411f 1693 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1694 }
nerit 0:1e09cd7d66b4 1695 }else{
nerit 0:1e09cd7d66b4 1696 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1697 }
nerit 7:c9fd242538d9 1698 if (dcActualDuty <=0.0f){dcActualDuty=0.05f;}
nerit 7:c9fd242538d9 1699 if (dcActualDuty > 0.95f){dcActualDuty = 0.95f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1700 if (olddcActualDuty!=dcActualDuty){
nerit 7:c9fd242538d9 1701 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 4:d32258ec411f 1702 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1703 }
nerit 0:1e09cd7d66b4 1704 // allarme
nerit 0:1e09cd7d66b4 1705 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1706 if (firstStart==0){
nerit 0:1e09cd7d66b4 1707 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1708 }
nerit 0:1e09cd7d66b4 1709 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1710 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1711 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1712 #endif
nerit 0:1e09cd7d66b4 1713 #endif
nerit 0:1e09cd7d66b4 1714
nerit 0:1e09cd7d66b4 1715 }
nerit 0:1e09cd7d66b4 1716
nerit 0:1e09cd7d66b4 1717 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1718 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1719 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1720 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1721 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1722 syncroCheck=0;
nerit 0:1e09cd7d66b4 1723 lockStart=1;
nerit 0:1e09cd7d66b4 1724 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1725 if (aspettaStart==0){cambiaTB(periodo);}
nerit 11:21e990eb31d0 1726 #if defined(pcSerial)
nerit 11:21e990eb31d0 1727 #if defined(inCorre)
nerit 11:21e990eb31d0 1728 pc.printf("entrato \n");
nerit 11:21e990eb31d0 1729 pc.printf("Aspetta %d \n",aspettaStart);
nerit 11:21e990eb31d0 1730 #endif
nerit 11:21e990eb31d0 1731 #endif
nerit 0:1e09cd7d66b4 1732 }
nerit 0:1e09cd7d66b4 1733 // controllo di stop
nerit 0:1e09cd7d66b4 1734 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1735 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1736 syncroCheck=0;
nerit 0:1e09cd7d66b4 1737 aspettaStart=1;
nerit 0:1e09cd7d66b4 1738 countCicli=0;
nerit 0:1e09cd7d66b4 1739 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1740 }
nerit 0:1e09cd7d66b4 1741 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1742 syncroCheck=0;
nerit 0:1e09cd7d66b4 1743 lockStart=0;
nerit 0:1e09cd7d66b4 1744 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1745 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1746 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1747 if (encoder==false){
nerit 5:3b95bbfe2dc9 1748 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1749 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1750 }else{
nerit 5:3b95bbfe2dc9 1751 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1752 }
nerit 5:3b95bbfe2dc9 1753 }else{
nerit 0:1e09cd7d66b4 1754 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1755 }
nerit 6:3fca0ca1949e 1756 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1757 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1758 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1759 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1760 beccoPronto=0;
nerit 0:1e09cd7d66b4 1761 }
nerit 0:1e09cd7d66b4 1762 }else{
nerit 0:1e09cd7d66b4 1763 // tamburo per zucca
nerit 0:1e09cd7d66b4 1764 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1765 beccoPronto=0;
nerit 0:1e09cd7d66b4 1766 }
nerit 0:1e09cd7d66b4 1767 }
nerit 0:1e09cd7d66b4 1768 ciclaTB();
nerit 0:1e09cd7d66b4 1769 }
nerit 0:1e09cd7d66b4 1770 //*************************************************************
nerit 0:1e09cd7d66b4 1771 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1772 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1773 SDwheelTimer.reset();
nerit 7:c9fd242538d9 1774 #if defined(seedSensor)
nerit 7:c9fd242538d9 1775 resetDelay();
nerit 7:c9fd242538d9 1776 #endif
nerit 0:1e09cd7d66b4 1777 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1778 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1779 aspettaStart=1;
nerit 0:1e09cd7d66b4 1780 countCicli=0;
nerit 0:1e09cd7d66b4 1781 startCycle=0;
nerit 0:1e09cd7d66b4 1782 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1783 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1784 correzione=0.0f;
nerit 0:1e09cd7d66b4 1785 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1786 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1787 cntTbError=0;
nerit 0:1e09cd7d66b4 1788 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1789 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1790 zeroDelay.start();
nerit 0:1e09cd7d66b4 1791 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1792 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1793 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1794 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1795 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1796 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1797 zeroCycle=1;
nerit 0:1e09cd7d66b4 1798 zeroTrigger=0;
nerit 8:0e643ea7834f 1799 noSDzeroRequest=1;
nerit 0:1e09cd7d66b4 1800 }
nerit 0:1e09cd7d66b4 1801 }
nerit 0:1e09cd7d66b4 1802 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1803 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1804 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1805 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1806 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1807 DC_forward=1;
nerit 0:1e09cd7d66b4 1808 DC_brake=1;
nerit 0:1e09cd7d66b4 1809 DC_prepare();
nerit 0:1e09cd7d66b4 1810 frenata=0;
nerit 0:1e09cd7d66b4 1811 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1812 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1813 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1814 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1815 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1816 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1817 }
nerit 0:1e09cd7d66b4 1818 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1819 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1820 accensione=0;
nerit 0:1e09cd7d66b4 1821 avvicinamento=1;
nerit 0:1e09cd7d66b4 1822 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1823 avvicinamentoOn.start();
nerit 7:c9fd242538d9 1824 SDmotorPWM.write(1.0f-0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1825 DC_forward=1;
nerit 0:1e09cd7d66b4 1826 DC_brake=0;
nerit 0:1e09cd7d66b4 1827 DC_prepare();
nerit 0:1e09cd7d66b4 1828 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1829 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1830 }
nerit 0:1e09cd7d66b4 1831 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1832 if(avvicinamentoOn.read_ms()>300){
nerit 7:c9fd242538d9 1833 SDmotorPWM.write(1.0f-0.7f);
nerit 0:1e09cd7d66b4 1834 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1835 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1836 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1837 }
nerit 0:1e09cd7d66b4 1838 if(avvicinamentoOff.read_ms()>100){
nerit 7:c9fd242538d9 1839 SDmotorPWM.write(1.0f-0.32f);
nerit 0:1e09cd7d66b4 1840 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1841 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1842 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1843 }
nerit 0:1e09cd7d66b4 1844 }else{
nerit 0:1e09cd7d66b4 1845 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1846 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1847 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1848 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1849 }
nerit 0:1e09cd7d66b4 1850 if (frenata==0){
nerit 0:1e09cd7d66b4 1851 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1852 SDticker.detach();
nerit 0:1e09cd7d66b4 1853 frenata=1;
nerit 0:1e09cd7d66b4 1854 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1855 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1856 ritardoStop.start();
nerit 0:1e09cd7d66b4 1857 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1858 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1859 }
nerit 0:1e09cd7d66b4 1860 }else{
nerit 7:c9fd242538d9 1861 #if defined(mezzo)
nerit 7:c9fd242538d9 1862 if (quinconceActive==0){
nerit 7:c9fd242538d9 1863 if (SDzeroCyclePulse==1){
nerit 7:c9fd242538d9 1864 avvicinamento=0;
nerit 7:c9fd242538d9 1865 DC_brake=1;
nerit 7:c9fd242538d9 1866 DC_prepare();
nerit 7:c9fd242538d9 1867 SDzeroed=1;
nerit 7:c9fd242538d9 1868 ritardoStop.reset();
nerit 7:c9fd242538d9 1869 ritardoStop.stop();
nerit 7:c9fd242538d9 1870 }
nerit 7:c9fd242538d9 1871 }else{
nerit 7:c9fd242538d9 1872 if (quincTimeSet.read_ms()>700){
nerit 7:c9fd242538d9 1873 avvicinamento=0;
nerit 7:c9fd242538d9 1874 DC_brake=1;
nerit 7:c9fd242538d9 1875 DC_prepare();
nerit 7:c9fd242538d9 1876 SDzeroed=1;
nerit 7:c9fd242538d9 1877 ritardoStop.reset();
nerit 7:c9fd242538d9 1878 ritardoStop.stop();
nerit 7:c9fd242538d9 1879 quincTimeSet.stop();
nerit 7:c9fd242538d9 1880 }
nerit 7:c9fd242538d9 1881 }
nerit 7:c9fd242538d9 1882 #else
nerit 0:1e09cd7d66b4 1883 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1884 avvicinamento=0;
nerit 0:1e09cd7d66b4 1885 DC_brake=1;
nerit 0:1e09cd7d66b4 1886 DC_prepare();
nerit 0:1e09cd7d66b4 1887 SDzeroed=1;
nerit 0:1e09cd7d66b4 1888 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1889 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1890 }
nerit 7:c9fd242538d9 1891 #endif
nerit 0:1e09cd7d66b4 1892 }
nerit 0:1e09cd7d66b4 1893 // azzera tutto in time out
nerit 8:0e643ea7834f 1894 if ((timeOutZeroSD.read_ms()>=10000)||(noSDzeroRequest==1)){
nerit 8:0e643ea7834f 1895 if ((firstStart==0)&&(noSDzeroRequest==0)){
nerit 0:1e09cd7d66b4 1896 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1897 }
nerit 0:1e09cd7d66b4 1898 avvicinamento=0;
nerit 0:1e09cd7d66b4 1899 DC_brake=1;
nerit 0:1e09cd7d66b4 1900 DC_prepare();
nerit 0:1e09cd7d66b4 1901 SDzeroed=1;
nerit 0:1e09cd7d66b4 1902 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1903 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1904 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1905 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1906 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1907 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1908 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1909 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1910 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1911 timeOutZeroSD.reset();
nerit 8:0e643ea7834f 1912 noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 1913 }
nerit 0:1e09cd7d66b4 1914 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1915 TBticker.detach();
nerit 0:1e09cd7d66b4 1916 TBzeroed=1;
nerit 0:1e09cd7d66b4 1917 }
nerit 0:1e09cd7d66b4 1918 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 1919 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1920 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1921 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1922 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1923 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 1924 zeroCycle=0;
nerit 0:1e09cd7d66b4 1925 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1926 runRequestBuf=1;
nerit 0:1e09cd7d66b4 1927 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 1928 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1929 SDzeroed=0;
nerit 0:1e09cd7d66b4 1930 TBzeroed=0;
nerit 0:1e09cd7d66b4 1931 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1932 timeOutZeroSD.reset();
nerit 10:d85ed006056e 1933 DC_brake=1;
nerit 10:d85ed006056e 1934 DC_prepare();
nerit 10:d85ed006056e 1935 SDzeroed=1;
nerit 0:1e09cd7d66b4 1936 }
nerit 0:1e09cd7d66b4 1937 }
nerit 0:1e09cd7d66b4 1938
nerit 0:1e09cd7d66b4 1939 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1940 if (enableCycle==0){
nerit 0:1e09cd7d66b4 1941 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1942 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 1943 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1944 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1945 }
nerit 0:1e09cd7d66b4 1946 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1947 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1948 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1949 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 1950 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1951 // task di prova della scheda
nerit 0:1e09cd7d66b4 1952 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1953 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 1954 clocca++;
nerit 0:1e09cd7d66b4 1955 //led = !led;
nerit 0:1e09cd7d66b4 1956 //txMsg.clear();
nerit 0:1e09cd7d66b4 1957 //txMsg << clocca;
nerit 0:1e09cd7d66b4 1958 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 1959 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 1960 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1961 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 1962 #endif
nerit 0:1e09cd7d66b4 1963 //}
nerit 0:1e09cd7d66b4 1964 switch (clocca){
nerit 0:1e09cd7d66b4 1965 case 1:
nerit 0:1e09cd7d66b4 1966 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1967 break;
nerit 0:1e09cd7d66b4 1968 case 2:
nerit 0:1e09cd7d66b4 1969 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1970 break;
nerit 0:1e09cd7d66b4 1971 case 3:
nerit 0:1e09cd7d66b4 1972 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 1973 break;
nerit 0:1e09cd7d66b4 1974 case 4:
nerit 0:1e09cd7d66b4 1975 break;
nerit 0:1e09cd7d66b4 1976 case 5:
nerit 0:1e09cd7d66b4 1977 SDmotorInA=1;
nerit 0:1e09cd7d66b4 1978 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1979 break;
nerit 0:1e09cd7d66b4 1980 case 6:
nerit 0:1e09cd7d66b4 1981 break;
nerit 0:1e09cd7d66b4 1982 case 7:
nerit 0:1e09cd7d66b4 1983 break;
nerit 0:1e09cd7d66b4 1984 case 8:
nerit 0:1e09cd7d66b4 1985 break;
nerit 0:1e09cd7d66b4 1986 case 9:
nerit 0:1e09cd7d66b4 1987 break;
nerit 0:1e09cd7d66b4 1988 case 10:
nerit 0:1e09cd7d66b4 1989 break;
nerit 0:1e09cd7d66b4 1990 case 11:
nerit 0:1e09cd7d66b4 1991 break;
nerit 0:1e09cd7d66b4 1992 case 12:
nerit 0:1e09cd7d66b4 1993 break;
nerit 0:1e09cd7d66b4 1994 case 13:
nerit 0:1e09cd7d66b4 1995 break;
nerit 0:1e09cd7d66b4 1996 case 14:
nerit 0:1e09cd7d66b4 1997 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1998 break;
nerit 0:1e09cd7d66b4 1999 case 15:
nerit 0:1e09cd7d66b4 2000 break;
nerit 0:1e09cd7d66b4 2001 case 16:
nerit 0:1e09cd7d66b4 2002 case 17:
nerit 0:1e09cd7d66b4 2003 break;
nerit 0:1e09cd7d66b4 2004 case 18:
nerit 0:1e09cd7d66b4 2005 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 2006 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2007 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 2008 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2009 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2010 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2011 break;
nerit 0:1e09cd7d66b4 2012 default:
nerit 0:1e09cd7d66b4 2013 clocca=0;
nerit 0:1e09cd7d66b4 2014 break;
nerit 0:1e09cd7d66b4 2015 }
nerit 0:1e09cd7d66b4 2016 wait_ms(100);
nerit 0:1e09cd7d66b4 2017 #endif // end prova scheda
nerit 0:1e09cd7d66b4 2018
nerit 0:1e09cd7d66b4 2019 #if defined(provaDC)
nerit 0:1e09cd7d66b4 2020 int rampa=1000;
nerit 0:1e09cd7d66b4 2021 int pausa=3000;
nerit 0:1e09cd7d66b4 2022 switch (clocca){
nerit 0:1e09cd7d66b4 2023 case 0:
nerit 0:1e09cd7d66b4 2024 DC_brake=0;
nerit 0:1e09cd7d66b4 2025 DC_forward=1;
nerit 0:1e09cd7d66b4 2026 duty_DC+=0.01f;
nerit 7:c9fd242538d9 2027 if (duty_DC>=1.0f){
nerit 7:c9fd242538d9 2028 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2029 clocca=1;
nerit 0:1e09cd7d66b4 2030 }
nerit 0:1e09cd7d66b4 2031 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2032 break;
nerit 0:1e09cd7d66b4 2033 case 1:
nerit 0:1e09cd7d66b4 2034 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 2035 clocca=2;
nerit 0:1e09cd7d66b4 2036 break;
nerit 0:1e09cd7d66b4 2037 case 2:
nerit 0:1e09cd7d66b4 2038 DC_brake=0;
nerit 0:1e09cd7d66b4 2039 DC_forward=1;
nerit 0:1e09cd7d66b4 2040 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2041 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2042 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2043 clocca=3;
nerit 0:1e09cd7d66b4 2044 }
nerit 0:1e09cd7d66b4 2045 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2046 break;
nerit 0:1e09cd7d66b4 2047 case 3:
nerit 0:1e09cd7d66b4 2048 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2049 clocca=4;
nerit 0:1e09cd7d66b4 2050 break;
nerit 0:1e09cd7d66b4 2051 case 4:
nerit 0:1e09cd7d66b4 2052 DC_brake=0;
nerit 0:1e09cd7d66b4 2053 DC_forward=1;
nerit 0:1e09cd7d66b4 2054 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 2055 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 2056 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2057 clocca=5;
nerit 0:1e09cd7d66b4 2058 }
nerit 0:1e09cd7d66b4 2059 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2060 break;
nerit 0:1e09cd7d66b4 2061 case 5:
nerit 0:1e09cd7d66b4 2062 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2063 clocca=6;
nerit 0:1e09cd7d66b4 2064 break;
nerit 0:1e09cd7d66b4 2065 case 6:
nerit 0:1e09cd7d66b4 2066 DC_brake=0;
nerit 0:1e09cd7d66b4 2067 DC_forward=1;
nerit 0:1e09cd7d66b4 2068 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2069 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2070 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2071 clocca=7;
nerit 0:1e09cd7d66b4 2072 }
nerit 0:1e09cd7d66b4 2073 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2074 break;
nerit 0:1e09cd7d66b4 2075 case 7:
nerit 0:1e09cd7d66b4 2076 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2077 clocca=0;
nerit 0:1e09cd7d66b4 2078 break;
nerit 0:1e09cd7d66b4 2079 default:
nerit 0:1e09cd7d66b4 2080 break;
nerit 0:1e09cd7d66b4 2081 }
nerit 0:1e09cd7d66b4 2082 if (oldDuty_DC != duty_DC){
nerit 7:c9fd242538d9 2083 SDmotorPWM.write(1.0f-duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 2084 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 2085 DC_prepare();
nerit 0:1e09cd7d66b4 2086 }
nerit 0:1e09cd7d66b4 2087 #endif
nerit 0:1e09cd7d66b4 2088 }//end in prova
nerit 0:1e09cd7d66b4 2089 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 2090 } // end while
nerit 0:1e09cd7d66b4 2091 }// end main
nerit 0:1e09cd7d66b4 2092