Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019

new

Dependencies:   mbed CANMsg

main.cpp@15:2d5ae9acff83, 2019-01-31 (annotated)

Committer:
francescopistone
Date:
Thu Jan 31 07:56:52 2019 +0000
Branch:
V6_R2C_DE_HwV5_Versione2
Revision:
15:2d5ae9acff83
Parent:
14:24c5d58e8bc6 
2V_2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 1:e88bf5011af6 1
nerit 1:e88bf5011af6 2 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 3 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 4 // FIRMWARE SEMINATRICE MODULA
nerit 0:1e09cd7d66b4 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 12:5bfbccfb3cf4 6 // V5 - ATTENZIONE - LA VERSIONE V5 HA IL DRIVER STEPPER LV8727
nerit 0:1e09cd7d66b4 7 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 0:1e09cd7d66b4 8 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 0:1e09cd7d66b4 9 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 0:1e09cd7d66b4 10 // FIRST RELEASE OF BOARD DEC 2017
nerit 0:1e09cd7d66b4 11 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 0:1e09cd7d66b4 12 //
nerit 12:5bfbccfb3cf4 13 // THIS RELEASE: 29 DECEMBER 2018
nerit 0:1e09cd7d66b4 14 //
nerit 0:1e09cd7d66b4 15 // APPLICATION: MODULA CON DISTRIBUTORE ZUCCA OPPURE RISO E PUO' FUNZIONARE ANCHE CON SENSORE A 25 FORI SUL DISCO O
nerit 0:1e09cd7d66b4 16 // ENCODER MOTORE SETTANDO GLI APPOSITI FLAGS
nerit 0:1e09cd7d66b4 17 //
nerit 0:1e09cd7d66b4 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 0:1e09cd7d66b4 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 0:1e09cd7d66b4 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 0:1e09cd7d66b4 22 // ENCODER
nerit 0:1e09cd7d66b4 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 0:1e09cd7d66b4 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 0:1e09cd7d66b4 25 //
nerit 12:5bfbccfb3cf4 26 // 28 12 2018 - RISOLTO UN BUG CHE BLOCCAVA IL TAMBURO IN TRANSIZIONE TRA LOWSPEED E CICLO NORMALE DATO DAL CALCOLO DEL LIMITE
nerit 12:5bfbccfb3cf4 27 // DI CLOCK DEL GENERATORE DI IMPULSI DEL TAMBURO
nerit 12:5bfbccfb3cf4 28 // IN QUESTA VERSIONE E' STATO RIALLINEATO ANCHE LA CONFIGURAZIONE DELLO STEPPER CHE PERO' RISPETTO ALLA PRECEDENTE
nerit 12:5bfbccfb3cf4 29 // VERSIONE, SEMBRA CHE PRIMA IL DRIVER FOSSE IMPOSTATO A 2000 STEP/GIRO INVECE CHE 1600. IMPOSTANDOLO CORRETTAMENTE
nerit 12:5bfbccfb3cf4 30 // PERO' IL TAMBURO NON SI SINCRONIZZA E VA TROPPO VELOCE RISPETTO A QUANTO RICHIESTO. DA VERIFICARE PERCHE'!
nerit 0:1e09cd7d66b4 31 /********************
nerit 12:5bfbccfb3cf4 32 IL FIRMWARE SI COMPONE DI 9 FILES:
nerit 0:1e09cd7d66b4 33 - main.cpp
nerit 0:1e09cd7d66b4 34 - main.hpp
nerit 0:1e09cd7d66b4 35 - iodefinition.hpp
nerit 0:1e09cd7d66b4 36 - canbus.hpp
nerit 0:1e09cd7d66b4 37 - parameters.hpp
nerit 0:1e09cd7d66b4 38 - timeandtick.hpp
nerit 0:1e09cd7d66b4 39 - variables.hpp
nerit 12:5bfbccfb3cf4 40 - watchdog.cpp
nerit 12:5bfbccfb3cf4 41 - watchdog.h
nerit 12:5bfbccfb3cf4 42 ED UTILIZZA LE LIBRERIE STANDARD MBED, UNA LIBRERIA PER IL WATCHDOG ED UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 43 *********************
nerit 0:1e09cd7d66b4 44 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 0:1e09cd7d66b4 45 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 0:1e09cd7d66b4 46 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 47 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 48 *********************
nerit 0:1e09cd7d66b4 49 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 0:1e09cd7d66b4 50 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 0:1e09cd7d66b4 51 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 52 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 0:1e09cd7d66b4 53 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 54 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 55 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 56 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 0:1e09cd7d66b4 57 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 58 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 0:1e09cd7d66b4 59 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 60 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 0:1e09cd7d66b4 61 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 62 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 0:1e09cd7d66b4 63 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 0:1e09cd7d66b4 64 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 0:1e09cd7d66b4 65 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 0:1e09cd7d66b4 66 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 0:1e09cd7d66b4 67 **********************
nerit 0:1e09cd7d66b4 68 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 69 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 0:1e09cd7d66b4 70 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 73 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 0:1e09cd7d66b4 74 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 75 **********************
nerit 0:1e09cd7d66b4 76 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 77 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 78 **********************
nerit 0:1e09cd7d66b4 79 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 80 **********************
nerit 0:1e09cd7d66b4 81 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 82 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 83 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 84 */
nerit 0:1e09cd7d66b4 85 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 86 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 87
nerit 0:1e09cd7d66b4 88 #include "main.hpp"
nerit 0:1e09cd7d66b4 89 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 90 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 91 #include "watchdog.h"
nerit 0:1e09cd7d66b4 92 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 93 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 94 #include "variables.hpp"
nerit 0:1e09cd7d66b4 95 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 96 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 97 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 98 // TASK SECTION
nerit 0:1e09cd7d66b4 99 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 100 //************************************************************************
nerit 3:c0f11ca4df02 101 //************************************************************************
nerit 0:1e09cd7d66b4 102 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 103 void sd25Fall(){
nerit 0:1e09cd7d66b4 104 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 105 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 106 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 107 metalTimer.reset();
nerit 0:1e09cd7d66b4 108 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 109 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 110 }
nerit 0:1e09cd7d66b4 111 }
nerit 5:3b95bbfe2dc9 112 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 113 void encoRise(){
nerit 5:3b95bbfe2dc9 114 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 115 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 116 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 117 metalTimer.reset();
nerit 5:3b95bbfe2dc9 118 if (encoder==true){
nerit 5:3b95bbfe2dc9 119 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 7:c9fd242538d9 120 pulseRised2=1;
nerit 5:3b95bbfe2dc9 121 }
nerit 5:3b95bbfe2dc9 122 }
nerit 7:c9fd242538d9 123 // rise of seed presence sensor
nerit 7:c9fd242538d9 124 void seedSensorTask(){
nerit 7:c9fd242538d9 125 seedSee=1;
nerit 7:c9fd242538d9 126 }
nerit 0:1e09cd7d66b4 127 //**************************************************
nerit 0:1e09cd7d66b4 128 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 129 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 130 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 131 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 132 speedTimer.reset();
nerit 0:1e09cd7d66b4 133 pulseRised=1;
nerit 7:c9fd242538d9 134 speedFilter.reset();
nerit 0:1e09cd7d66b4 135 }
nerit 0:1e09cd7d66b4 136 //*******************************************************
nerit 0:1e09cd7d66b4 137 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 138 //*******************************************************
nerit 0:1e09cd7d66b4 139 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 140 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 141 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 142 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 143 speedTimer.reset();
nerit 0:1e09cd7d66b4 144 pulseRised=1;
nerit 0:1e09cd7d66b4 145 oldTractorSpeedRead=1;
nerit 6:3fca0ca1949e 146 spazioCoperto+= pulseDistance;
nerit 0:1e09cd7d66b4 147 }
nerit 0:1e09cd7d66b4 148 speedFilter.reset();
nerit 0:1e09cd7d66b4 149 speedClock=1;
nerit 0:1e09cd7d66b4 150 }
nerit 0:1e09cd7d66b4 151 //*******************************************************
nerit 0:1e09cd7d66b4 152 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 153 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 154 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 155 if (enableSimula==1){
nerit 0:1e09cd7d66b4 156 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 157 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 158 }
nerit 0:1e09cd7d66b4 159 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 160 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 161 }
nerit 0:1e09cd7d66b4 162
nerit 0:1e09cd7d66b4 163 //*******************************************************
nerit 0:1e09cd7d66b4 164 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 165 //*******************************************************
nerit 0:1e09cd7d66b4 166 //*******************************************************
nerit 0:1e09cd7d66b4 167 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 168 SDactualPosition++;
nerit 0:1e09cd7d66b4 169 prePosSD++;
nerit 5:3b95bbfe2dc9 170 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 171 posForQuinc++;
nerit 5:3b95bbfe2dc9 172 #endif
nerit 0:1e09cd7d66b4 173 }
nerit 0:1e09cd7d66b4 174 //*******************************************************
nerit 0:1e09cd7d66b4 175 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 176 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 177 if (TBmotorStepOut==0){
nerit 12:5bfbccfb3cf4 178 TBactualPosition++;
nerit 12:5bfbccfb3cf4 179 }
nerit 12:5bfbccfb3cf4 180 }
nerit 12:5bfbccfb3cf4 181 void inverti(){
nerit 12:5bfbccfb3cf4 182 if (TBmotorDirecti==0){
nerit 12:5bfbccfb3cf4 183 TBmotorDirecti=1;
nerit 12:5bfbccfb3cf4 184 }else{
nerit 12:5bfbccfb3cf4 185 TBmotorDirecti=0;
nerit 0:1e09cd7d66b4 186 }
nerit 14:24c5d58e8bc6 187 #if defined(pcSerial)
nerit 14:24c5d58e8bc6 188 #if defined(inversione)
nerit 14:24c5d58e8bc6 189 pc.printf("cambio M %d\n",cambiaStep);
nerit 14:24c5d58e8bc6 190 #endif
nerit 14:24c5d58e8bc6 191 #endif
nerit 0:1e09cd7d66b4 192 }
nerit 0:1e09cd7d66b4 193 //*******************************************************
nerit 0:1e09cd7d66b4 194 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 195 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 196 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 197 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 198 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 199 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 200 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 201 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 202 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 203 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 204 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 205 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 206 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 207 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 208 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 209 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 210 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 211 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 212 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 7:c9fd242538d9 213 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 7:c9fd242538d9 214 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 215 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 216 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 217 }else{
nerit 0:1e09cd7d66b4 218 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 219 }
nerit 0:1e09cd7d66b4 220 }
nerit 0:1e09cd7d66b4 221 //*******************************************************
nerit 0:1e09cd7d66b4 222 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 223 // update TB frequency
nerit 11:21e990eb31d0 224 double limite=400.0f;
nerit 0:1e09cd7d66b4 225 double TBper=0.0f;
nerit 0:1e09cd7d66b4 226 if (aspettaStart==0){
nerit 11:21e990eb31d0 227 if (perio<limite){perio=limite;}
nerit 11:21e990eb31d0 228 double scala =0.0f;
nerit 0:1e09cd7d66b4 229 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 230 scala =2.0f;
nerit 0:1e09cd7d66b4 231 }else{
nerit 0:1e09cd7d66b4 232 scala =1.8f;
nerit 0:1e09cd7d66b4 233 }
nerit 0:1e09cd7d66b4 234 TBper=perio/scala;
nerit 0:1e09cd7d66b4 235 if (oldPeriodoTB!=TBper){
nerit 11:21e990eb31d0 236 if (TBper >= (limite/2.0f)){
nerit 0:1e09cd7d66b4 237 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 238 }else{
nerit 0:1e09cd7d66b4 239 TBticker.detach();
nerit 0:1e09cd7d66b4 240 }
nerit 0:1e09cd7d66b4 241 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 242 }
nerit 0:1e09cd7d66b4 243 }
nerit 0:1e09cd7d66b4 244 }
nerit 0:1e09cd7d66b4 245 //*******************************************************
nerit 0:1e09cd7d66b4 246 void seedCorrect(){
nerit 0:1e09cd7d66b4 247 /*
nerit 0:1e09cd7d66b4 248 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 249 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 250 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 251 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 252 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 253 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 254 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 255 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 256 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 257 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 258 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 259 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 260 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 261 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 262 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 263 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 264 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 265
nerit 0:1e09cd7d66b4 266 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 267 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 268 */
nerit 0:1e09cd7d66b4 269 /*
nerit 0:1e09cd7d66b4 270 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 271 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 272 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 273 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 274 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 275 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 276 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 277 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 278 */
nerit 0:1e09cd7d66b4 279
nerit 0:1e09cd7d66b4 280 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 281 if (inhibit==0){
nerit 0:1e09cd7d66b4 282 double posError =0.0f;
nerit 0:1e09cd7d66b4 283 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 284 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 285 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 286 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 287 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 288 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 289 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 290 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 291 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 292 }
nerit 0:1e09cd7d66b4 293 }
nerit 0:1e09cd7d66b4 294 }
nerit 4:d32258ec411f 295 }
nerit 4:d32258ec411f 296 }
nerit 4:d32258ec411f 297 //*******************************************************
nerit 4:d32258ec411f 298 void videoUpdate(){
nerit 4:d32258ec411f 299 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 300 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 301 totalSpeed=0.0f;
nerit 4:d32258ec411f 302 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 303 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 304 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 305 #if defined(SDreset)
nerit 0:1e09cd7d66b4 306 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 307 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 308 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 309 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 310 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 311 #endif
nerit 0:1e09cd7d66b4 312 #endif
nerit 0:1e09cd7d66b4 313 }
nerit 0:1e09cd7d66b4 314 //*******************************************************
nerit 0:1e09cd7d66b4 315 void ciclaTB(){
nerit 0:1e09cd7d66b4 316 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 317 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 318 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 319 startCicloTB=0;
nerit 0:1e09cd7d66b4 320 }
nerit 0:1e09cd7d66b4 321 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 322 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 323 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 324 stopCicloTB=0;
nerit 0:1e09cd7d66b4 325 }
nerit 0:1e09cd7d66b4 326 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 327 TBticker.detach();
nerit 0:1e09cd7d66b4 328 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 329 stopCicloTB=0;
nerit 0:1e09cd7d66b4 330 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 331 loadDaCan=0;
nerit 0:1e09cd7d66b4 332 }
nerit 0:1e09cd7d66b4 333 }
nerit 7:c9fd242538d9 334 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 7:c9fd242538d9 335 void stepSetting(){
nerit 7:c9fd242538d9 336 // Stepper driver init and set
nerit 7:c9fd242538d9 337 TBmotorRst=1; // reset stepper driver
nerit 12:5bfbccfb3cf4 338 TBmotorDirecti=1; // reset stepper direction
nerit 12:5bfbccfb3cf4 339 // M1 M2 M3 RESOLUTION
nerit 12:5bfbccfb3cf4 340 // 0 0 0 1/2
nerit 12:5bfbccfb3cf4 341 // 1 0 0 1/8
nerit 12:5bfbccfb3cf4 342 // 0 1 0 1/16
nerit 12:5bfbccfb3cf4 343 // 1 1 0 1/32
nerit 12:5bfbccfb3cf4 344 // 0 0 1 1/64
nerit 12:5bfbccfb3cf4 345 // 1 0 1 1/128
nerit 12:5bfbccfb3cf4 346 // 0 1 1 1/10
nerit 12:5bfbccfb3cf4 347 // 1 1 1 1/20
nerit 12:5bfbccfb3cf4 348 if (TBmotorSteps==400){
nerit 12:5bfbccfb3cf4 349 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 350 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 351 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 352 }else if (TBmotorSteps==1600){
nerit 12:5bfbccfb3cf4 353 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 354 TBmotor_M2=1;
nerit 14:24c5d58e8bc6 355 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 356 }else if (TBmotorSteps==3200){
nerit 12:5bfbccfb3cf4 357 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 358 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 359 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 360 }else if (TBmotorSteps==6400){
nerit 12:5bfbccfb3cf4 361 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 362 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 363 TBmotor_M3=1;
nerit 12:5bfbccfb3cf4 364 }else if (TBmotorSteps==12800){
nerit 12:5bfbccfb3cf4 365 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 366 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 367 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 368 }else if (TBmotorSteps==25600){
nerit 12:5bfbccfb3cf4 369 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 370 TBmotor_M2=1;
nerit 12:5bfbccfb3cf4 371 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 372 }else if (TBmotorSteps==2000){
nerit 12:5bfbccfb3cf4 373 TBmotor_M1=1;
nerit 12:5bfbccfb3cf4 374 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 375 TBmotor_M3=0;
nerit 12:5bfbccfb3cf4 376 }else if (TBmotorSteps==4000){
nerit 12:5bfbccfb3cf4 377 TBmotor_M1=0;
nerit 12:5bfbccfb3cf4 378 TBmotor_M2=0;
nerit 12:5bfbccfb3cf4 379 TBmotor_M3=0;
nerit 9:503e2aba047c 380 }
nerit 12:5bfbccfb3cf4 381 TBmotorRst=0;
nerit 12:5bfbccfb3cf4 382 }
nerit 12:5bfbccfb3cf4 383 /*void stepSetting(){
nerit 12:5bfbccfb3cf4 384 // Stepper driver init and set
nerit 12:5bfbccfb3cf4 385 TBmotorRst=1; // reset stepper driver
nerit 12:5bfbccfb3cf4 386 TBmotorDirecti=1; // reset stepper direction
nerit 7:c9fd242538d9 387 // M1 M2 M3 RESOLUTION
nerit 7:c9fd242538d9 388 // 0 0 0 1/2
nerit 7:c9fd242538d9 389 // 1 0 0 1/8
nerit 7:c9fd242538d9 390 // 0 1 0 1/16
nerit 7:c9fd242538d9 391 // 1 1 0 1/32
nerit 7:c9fd242538d9 392 // 0 0 1 1/64
nerit 7:c9fd242538d9 393 // 1 0 1 1/128
nerit 7:c9fd242538d9 394 // 0 1 1 1/10
nerit 7:c9fd242538d9 395 // 1 1 1 1/20
nerit 10:d85ed006056e 396 if (TBmotorSteps==400.0f){
nerit 10:d85ed006056e 397 TBmotor_M1=0;
nerit 10:d85ed006056e 398 TBmotor_M2=0;
nerit 10:d85ed006056e 399 TBmotor_M3=0;
nerit 10:d85ed006056e 400 }else if (TBmotorSteps==1600.0f){
nerit 10:d85ed006056e 401 TBmotor_M1=0;
nerit 10:d85ed006056e 402 TBmotor_M2=0;
nerit 10:d85ed006056e 403 TBmotor_M3=1;
nerit 10:d85ed006056e 404 }else if (TBmotorSteps==3200.0f){
nerit 10:d85ed006056e 405 TBmotor_M1=0;
nerit 10:d85ed006056e 406 TBmotor_M2=1;
nerit 10:d85ed006056e 407 TBmotor_M3=0;
nerit 10:d85ed006056e 408 }else if (TBmotorSteps==6400.0f){
nerit 7:c9fd242538d9 409 TBmotor_M1=1;
nerit 7:c9fd242538d9 410 TBmotor_M2=1;
nerit 10:d85ed006056e 411 TBmotor_M3=0;
nerit 10:d85ed006056e 412 }else if (TBmotorSteps==12800.0f){
nerit 7:c9fd242538d9 413 TBmotor_M1=0;
nerit 10:d85ed006056e 414 TBmotor_M2=0;
nerit 7:c9fd242538d9 415 TBmotor_M3=1;
nerit 10:d85ed006056e 416 }else if (TBmotorSteps==25600.0f){
nerit 7:c9fd242538d9 417 TBmotor_M1=1;
nerit 7:c9fd242538d9 418 TBmotor_M2=0;
nerit 7:c9fd242538d9 419 TBmotor_M3=1;
nerit 10:d85ed006056e 420 }else if (TBmotorSteps==2000.0f){
nerit 7:c9fd242538d9 421 TBmotor_M1=0;
nerit 10:d85ed006056e 422 TBmotor_M2=1;
nerit 7:c9fd242538d9 423 TBmotor_M3=1;
nerit 10:d85ed006056e 424 }else if (TBmotorSteps==4000.0f){
nerit 7:c9fd242538d9 425 TBmotor_M1=1;
nerit 7:c9fd242538d9 426 TBmotor_M2=1;
nerit 10:d85ed006056e 427 TBmotor_M3=1;
nerit 10:d85ed006056e 428 }else{
nerit 10:d85ed006056e 429 // set dei 1600 passi
nerit 7:c9fd242538d9 430 TBmotor_M1=1;
nerit 7:c9fd242538d9 431 TBmotor_M2=0;
nerit 7:c9fd242538d9 432 TBmotor_M3=0;
nerit 7:c9fd242538d9 433 }
nerit 7:c9fd242538d9 434 TBmotorRst=0;
nerit 7:c9fd242538d9 435 }
nerit 12:5bfbccfb3cf4 436 */
nerit 7:c9fd242538d9 437 //****************************************
nerit 7:c9fd242538d9 438 void dcSetting(){
nerit 7:c9fd242538d9 439 if ((speedFromPick==0)&&(encoder==false)){
nerit 7:c9fd242538d9 440 DcEncoder.rise(&sd25Fall);
nerit 7:c9fd242538d9 441 }
nerit 7:c9fd242538d9 442 if (encoder==true){
nerit 7:c9fd242538d9 443 DcEncoder.rise(&encoRise);
nerit 7:c9fd242538d9 444 //ElementPosition.fall(&encoRise);
nerit 7:c9fd242538d9 445 }
nerit 7:c9fd242538d9 446 }
nerit 0:1e09cd7d66b4 447 //*******************************************************
nerit 0:1e09cd7d66b4 448 void allarmi(){
nerit 0:1e09cd7d66b4 449 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 450 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 451 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 452
nerit 0:1e09cd7d66b4 453 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 454 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 455 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 456 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 457 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 458 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 459 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 7:c9fd242538d9 460 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 461 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 7:c9fd242538d9 462 }
nerit 0:1e09cd7d66b4 463
nerit 0:1e09cd7d66b4 464 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 465 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 466 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 467 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 468 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 469 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 470 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 471 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 472 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 473 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 474 }
nerit 0:1e09cd7d66b4 475
nerit 0:1e09cd7d66b4 476 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 477 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 478 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 479 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 480 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 481 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 482 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 483 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 484 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 485 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 486 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 487 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 488 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 489 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 490 #endif
nerit 0:1e09cd7d66b4 491 #endif
nerit 0:1e09cd7d66b4 492 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 493 all_pickSignal=0;
nerit 0:1e09cd7d66b4 494 all_cellSignal=0;
nerit 0:1e09cd7d66b4 495 all_lowBattery=0;
nerit 0:1e09cd7d66b4 496 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 497 all_stopSistem=0;
nerit 0:1e09cd7d66b4 498 all_upElements=0;
nerit 0:1e09cd7d66b4 499 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 500 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 501 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 502 all_noStepRota=0;
nerit 0:1e09cd7d66b4 503 all_speedError=0;
nerit 0:1e09cd7d66b4 504 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 505 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 506 all_genericals=0;
nerit 0:1e09cd7d66b4 507 }
nerit 0:1e09cd7d66b4 508 //*******************************************************
nerit 0:1e09cd7d66b4 509 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 510 void upDateSincro(){
nerit 0:1e09cd7d66b4 511 char val1[8]={0,0,0,0,0,0,0,0};
nerit 13:0ae23132a2b6 512 val1[3]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 13:0ae23132a2b6 513 val1[2]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 13:0ae23132a2b6 514 val1[1]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 13:0ae23132a2b6 515 val1[0]=posForQuinc & 0x000000FF;
nerit 7:c9fd242538d9 516 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 7:c9fd242538d9 517 double pass = speedOfSeedWheel*100.0f;
nerit 5:3b95bbfe2dc9 518 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 519 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 520 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 521 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 522 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 523 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 524 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 525 checkState=0;
nerit 0:1e09cd7d66b4 526 }
nerit 0:1e09cd7d66b4 527 #endif
nerit 0:1e09cd7d66b4 528 #endif
nerit 0:1e09cd7d66b4 529 }
nerit 0:1e09cd7d66b4 530 #endif
nerit 0:1e09cd7d66b4 531 //*******************************************************
nerit 0:1e09cd7d66b4 532 void upDateSpeed(){
nerit 0:1e09cd7d66b4 533 /*
nerit 0:1e09cd7d66b4 534 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 535 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 536 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 537 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 538 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 539 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 540 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 541 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 542 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 543 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 544 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 545 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 546 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 547 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 548 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 549 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 550 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 551 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 552 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 553 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 554 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 555 bit 1= sensore celle
nerit 0:1e09cd7d66b4 556 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 557 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 558 bit 4= motore DC
nerit 0:1e09cd7d66b4 559 bit 5= controller
nerit 0:1e09cd7d66b4 560 bit 6= motore stepper
nerit 0:1e09cd7d66b4 561 */
nerit 0:1e09cd7d66b4 562 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 563
nerit 0:1e09cd7d66b4 564 val1[3]=0;
nerit 0:1e09cd7d66b4 565 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 566 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 7:c9fd242538d9 567 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 3:c0f11ca4df02 568 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 569 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 570 if (buttonUser==0){
nerit 0:1e09cd7d66b4 571 val1[1]=0x02;
nerit 0:1e09cd7d66b4 572 }else{
nerit 0:1e09cd7d66b4 573 val1[1]=0x00;
nerit 0:1e09cd7d66b4 574 }
nerit 0:1e09cd7d66b4 575 val1[3]=valore;
nerit 0:1e09cd7d66b4 576 valore+=1;
nerit 0:1e09cd7d66b4 577 if(valore>50){
nerit 0:1e09cd7d66b4 578 valore=0;
nerit 0:1e09cd7d66b4 579 }
nerit 0:1e09cd7d66b4 580 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 581 #endif
nerit 0:1e09cd7d66b4 582 allarmi();
nerit 0:1e09cd7d66b4 583 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 584 val1[0]=valore;
nerit 0:1e09cd7d66b4 585 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 586 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 587 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 588 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 589 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 590 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 591 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 592 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 593 checkState=0;
nerit 0:1e09cd7d66b4 594 }
nerit 0:1e09cd7d66b4 595 #endif
nerit 0:1e09cd7d66b4 596 }
nerit 0:1e09cd7d66b4 597 //*******************************************************
nerit 0:1e09cd7d66b4 598 void leggiCAN(){
nerit 0:1e09cd7d66b4 599 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 600 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 601 if (firstStart==1){
nerit 0:1e09cd7d66b4 602 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 603 sincUpdate.attach(&upDateSincro,0.009f);
nerit 7:c9fd242538d9 604 canUpdate.attach(&upDateSpeed,0.21f);
nerit 7:c9fd242538d9 605 #else
nerit 7:c9fd242538d9 606 canUpdate.attach(&upDateSpeed,0.407f);
nerit 0:1e09cd7d66b4 607 #endif
nerit 0:1e09cd7d66b4 608 firstStart=0;
nerit 0:1e09cd7d66b4 609 }
nerit 0:1e09cd7d66b4 610
nerit 0:1e09cd7d66b4 611 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 612 #if defined(pcSerial)
nerit 7:c9fd242538d9 613 #if defined(canDataReceiveda)
nerit 0:1e09cd7d66b4 614 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 615 #endif
nerit 0:1e09cd7d66b4 616 #endif
nerit 0:1e09cd7d66b4 617 }
nerit 0:1e09cd7d66b4 618 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 619 #if defined(pcSerial)
nerit 7:c9fd242538d9 620 #if defined(canDataReceivedb)
nerit 0:1e09cd7d66b4 621 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 622 #endif
nerit 0:1e09cd7d66b4 623 #endif
nerit 0:1e09cd7d66b4 624 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 625 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 626 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 627 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 628 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 629 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 630 #if defined(canDataReceived)
nerit 7:c9fd242538d9 631 pc.printf("Speed simula %d \n",speedSimula);
nerit 0:1e09cd7d66b4 632 #endif
nerit 0:1e09cd7d66b4 633 #endif
nerit 0:1e09cd7d66b4 634 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 635 case 1:
nerit 0:1e09cd7d66b4 636 case 3:
nerit 0:1e09cd7d66b4 637 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 638 resetComandi=0x01;
nerit 0:1e09cd7d66b4 639 comandiDaCan=0;
nerit 0:1e09cd7d66b4 640 break;
nerit 0:1e09cd7d66b4 641 case 2:
nerit 0:1e09cd7d66b4 642 loadDaCan=1;
nerit 0:1e09cd7d66b4 643 resetComandi=0x02;
nerit 0:1e09cd7d66b4 644 comandiDaCan=0;
nerit 0:1e09cd7d66b4 645 break;
nerit 0:1e09cd7d66b4 646 default:
nerit 0:1e09cd7d66b4 647 comandiDaCan=0;
nerit 0:1e09cd7d66b4 648 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 649 break;
nerit 0:1e09cd7d66b4 650 }
nerit 0:1e09cd7d66b4 651 #if defined(pcSerial)
nerit 7:c9fd242538d9 652 #if defined(canDataReceivedR)
nerit 0:1e09cd7d66b4 653 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 654 #endif
nerit 0:1e09cd7d66b4 655 #endif
nerit 0:1e09cd7d66b4 656 if (speedSimula>45){
nerit 0:1e09cd7d66b4 657 speedSimula=45;
nerit 0:1e09cd7d66b4 658 }
nerit 0:1e09cd7d66b4 659 // modulo 1
nerit 0:1e09cd7d66b4 660 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 661 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 662 simOk=1;
nerit 0:1e09cd7d66b4 663 }else{
nerit 0:1e09cd7d66b4 664 simOk=0;
nerit 0:1e09cd7d66b4 665 }
nerit 0:1e09cd7d66b4 666 }
nerit 0:1e09cd7d66b4 667 // modulo 2
nerit 0:1e09cd7d66b4 668 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 669 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 670 simOk=1;
nerit 0:1e09cd7d66b4 671 }else{
nerit 0:1e09cd7d66b4 672 simOk=0;
nerit 0:1e09cd7d66b4 673 }
nerit 0:1e09cd7d66b4 674 }
nerit 0:1e09cd7d66b4 675 // modulo 3
nerit 0:1e09cd7d66b4 676 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 677 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 678 simOk=1;
nerit 0:1e09cd7d66b4 679 }else{
nerit 0:1e09cd7d66b4 680 simOk=0;
nerit 0:1e09cd7d66b4 681 }
nerit 0:1e09cd7d66b4 682 }
nerit 0:1e09cd7d66b4 683 // modulo 4
nerit 0:1e09cd7d66b4 684 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 685 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 686 simOk=1;
nerit 0:1e09cd7d66b4 687 }else{
nerit 0:1e09cd7d66b4 688 simOk=0;
nerit 0:1e09cd7d66b4 689 }
nerit 0:1e09cd7d66b4 690 }
nerit 0:1e09cd7d66b4 691 // modulo 5
nerit 0:1e09cd7d66b4 692 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 693 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 694 simOk=1;
nerit 0:1e09cd7d66b4 695 }else{
nerit 0:1e09cd7d66b4 696 simOk=0;
nerit 0:1e09cd7d66b4 697 }
nerit 0:1e09cd7d66b4 698 }
nerit 0:1e09cd7d66b4 699
nerit 0:1e09cd7d66b4 700 }
nerit 0:1e09cd7d66b4 701 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 702 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 703 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 704 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 705 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 706 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 707 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 708 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 709 aggiornaParametri();
nerit 13:0ae23132a2b6 710 #if defined(pcSerial)
nerit 13:0ae23132a2b6 711 #if defined(quinca)
nerit 13:0ae23132a2b6 712 pc.printf("pick %f cells %f deep %f \n",pickNumber, cellsNumber,deepOfSeed);
nerit 13:0ae23132a2b6 713 #endif
nerit 13:0ae23132a2b6 714 #endif
nerit 0:1e09cd7d66b4 715 }
nerit 0:1e09cd7d66b4 716 }
nerit 0:1e09cd7d66b4 717 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 718 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 719 #if defined(M1)
nerit 0:1e09cd7d66b4 720 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 721 aggiornaParametri();
nerit 0:1e09cd7d66b4 722 #endif
nerit 0:1e09cd7d66b4 723 #if defined(M2)
nerit 13:0ae23132a2b6 724 #if defined(pcSerial)
nerit 13:0ae23132a2b6 725 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 726 pc.printf("AngoloFase M2\n");
nerit 13:0ae23132a2b6 727 #endif
nerit 13:0ae23132a2b6 728 #endif
nerit 0:1e09cd7d66b4 729 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 730 aggiornaParametri();
nerit 0:1e09cd7d66b4 731 #endif
nerit 0:1e09cd7d66b4 732 #if defined(M3)
nerit 0:1e09cd7d66b4 733 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 734 aggiornaParametri();
nerit 0:1e09cd7d66b4 735 #endif
nerit 0:1e09cd7d66b4 736 #if defined(M4)
nerit 0:1e09cd7d66b4 737 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 738 aggiornaParametri();
nerit 0:1e09cd7d66b4 739 #endif
nerit 0:1e09cd7d66b4 740 #if defined(M5)
nerit 0:1e09cd7d66b4 741 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 742 aggiornaParametri();
nerit 0:1e09cd7d66b4 743 #endif
nerit 0:1e09cd7d66b4 744 #if defined(M6)
nerit 0:1e09cd7d66b4 745 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 746 aggiornaParametri();
nerit 0:1e09cd7d66b4 747 #endif
nerit 0:1e09cd7d66b4 748 }
nerit 0:1e09cd7d66b4 749 }
nerit 0:1e09cd7d66b4 750 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 751 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 752 #if defined(M1)
nerit 0:1e09cd7d66b4 753 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 754 aggiornaParametri();
nerit 0:1e09cd7d66b4 755 #endif
nerit 0:1e09cd7d66b4 756 #if defined(M2)
nerit 13:0ae23132a2b6 757 #if defined(pcSerial)
nerit 13:0ae23132a2b6 758 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 759 pc.printf("AngoloAvvio M2\n");
nerit 13:0ae23132a2b6 760 #endif
nerit 13:0ae23132a2b6 761 #endif
nerit 0:1e09cd7d66b4 762 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 763 aggiornaParametri();
nerit 0:1e09cd7d66b4 764 #endif
nerit 0:1e09cd7d66b4 765 #if defined(M3)
nerit 0:1e09cd7d66b4 766 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 767 aggiornaParametri();
nerit 0:1e09cd7d66b4 768 #endif
nerit 0:1e09cd7d66b4 769 #if defined(M4)
nerit 0:1e09cd7d66b4 770 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 771 aggiornaParametri();
nerit 0:1e09cd7d66b4 772 #endif
nerit 0:1e09cd7d66b4 773 #if defined(M5)
nerit 0:1e09cd7d66b4 774 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 775 aggiornaParametri();
nerit 0:1e09cd7d66b4 776 #endif
nerit 0:1e09cd7d66b4 777 #if defined(M6)
nerit 0:1e09cd7d66b4 778 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 779 aggiornaParametri();
nerit 0:1e09cd7d66b4 780 #endif
nerit 0:1e09cd7d66b4 781 }
nerit 0:1e09cd7d66b4 782 }
nerit 0:1e09cd7d66b4 783 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 784 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 785 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 786 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 787 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 788 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 789 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 790 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 791 aggiornaParametri();
nerit 13:0ae23132a2b6 792 #if defined(pcSerial)
nerit 13:0ae23132a2b6 793 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 794 pc.printf("Quinconce Active %d M2\n",quinconceActive);
nerit 13:0ae23132a2b6 795 #endif
nerit 13:0ae23132a2b6 796 #endif
nerit 0:1e09cd7d66b4 797 }
nerit 0:1e09cd7d66b4 798 }
nerit 0:1e09cd7d66b4 799 if (rxMsg.id==RX_QuincSinc){
nerit 7:c9fd242538d9 800 masterSinc = (uint32_t) rxMsg.data[3] * 0x00FF0000;
nerit 7:c9fd242538d9 801 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x0000FF00);
nerit 7:c9fd242538d9 802 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x000000FF);
nerit 7:c9fd242538d9 803 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 5:3b95bbfe2dc9 804 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 805 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 806 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 807 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 808 canDataCheck=1;
nerit 0:1e09cd7d66b4 809 }
nerit 6:3fca0ca1949e 810 if (rxMsg.id==RX_Configure){
nerit 6:3fca0ca1949e 811 uint8_t flags = rxMsg.data[0];
nerit 10:d85ed006056e 812 uint16_t steps = (uint32_t) rxMsg.data[1]*0x000000FF;
nerit 6:3fca0ca1949e 813 steps = steps + ((uint32_t)rxMsg.data[2]);
nerit 12:5bfbccfb3cf4 814 //TBmotorSteps =steps;
nerit 12:5bfbccfb3cf4 815 stepSetting();
nerit 6:3fca0ca1949e 816 cellsCountSet = rxMsg.data[3];
nerit 6:3fca0ca1949e 817 if ((flags&0x01)==0x01){
nerit 7:c9fd242538d9 818 if (encoder==false){
nerit 7:c9fd242538d9 819 encoder=true;
nerit 7:c9fd242538d9 820 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 821 dcSetting();
nerit 7:c9fd242538d9 822 }
nerit 6:3fca0ca1949e 823 }else{
nerit 7:c9fd242538d9 824 if (encoder==true){
nerit 7:c9fd242538d9 825 encoder=false;
nerit 7:c9fd242538d9 826 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 827 dcSetting();
nerit 7:c9fd242538d9 828 }
nerit 6:3fca0ca1949e 829 }
nerit 6:3fca0ca1949e 830 if ((flags&0x02)==0x02){
nerit 6:3fca0ca1949e 831 tankLevelEnable=true;
nerit 6:3fca0ca1949e 832 }else{
nerit 6:3fca0ca1949e 833 tankLevelEnable=false;
nerit 6:3fca0ca1949e 834 }
nerit 6:3fca0ca1949e 835 if ((flags&0x04)==0x04){
nerit 6:3fca0ca1949e 836 seedSensorEnable=true;
nerit 6:3fca0ca1949e 837 }else{
nerit 6:3fca0ca1949e 838 seedSensorEnable=false;
nerit 6:3fca0ca1949e 839 }
nerit 6:3fca0ca1949e 840 if ((flags&0x08)==0x08){
nerit 6:3fca0ca1949e 841 stendiNylonEnable=true;
nerit 6:3fca0ca1949e 842 }else{
nerit 6:3fca0ca1949e 843 stendiNylonEnable=false;
nerit 6:3fca0ca1949e 844 }
nerit 6:3fca0ca1949e 845 if ((flags&0x10)==0x10){
nerit 6:3fca0ca1949e 846 canDataCheckEnable=true;
nerit 13:0ae23132a2b6 847 #if defined(pcSerial)
nerit 13:0ae23132a2b6 848 #if defined(canDataReceivedR)
nerit 13:0ae23132a2b6 849 pc.printf("Datacheck ON\n");
nerit 13:0ae23132a2b6 850 #endif
nerit 13:0ae23132a2b6 851 #endif
nerit 6:3fca0ca1949e 852 }else{
nerit 6:3fca0ca1949e 853 canDataCheckEnable=false;
nerit 6:3fca0ca1949e 854 }
nerit 6:3fca0ca1949e 855 if ((flags&0x20)==0x20){
nerit 6:3fca0ca1949e 856 tamburoStandard=1;
nerit 6:3fca0ca1949e 857 }else{
nerit 6:3fca0ca1949e 858 tamburoStandard=0;
nerit 6:3fca0ca1949e 859 }
nerit 6:3fca0ca1949e 860 if ((flags&0x40)==0x40){
nerit 6:3fca0ca1949e 861 currentCheckEnable=true;
nerit 6:3fca0ca1949e 862 }else{
nerit 6:3fca0ca1949e 863 currentCheckEnable=false;
nerit 6:3fca0ca1949e 864 }
nerit 6:3fca0ca1949e 865 }
nerit 0:1e09cd7d66b4 866 }
nerit 0:1e09cd7d66b4 867 #endif
nerit 0:1e09cd7d66b4 868 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 869 enableSimula=1;
nerit 0:1e09cd7d66b4 870 speedSimula=25;
nerit 0:1e09cd7d66b4 871 avviaSimula=1;
nerit 0:1e09cd7d66b4 872 simOk=1;
nerit 0:1e09cd7d66b4 873 #endif
nerit 0:1e09cd7d66b4 874
nerit 0:1e09cd7d66b4 875 }
nerit 0:1e09cd7d66b4 876
nerit 0:1e09cd7d66b4 877 //*******************************************************
nerit 0:1e09cd7d66b4 878 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 879
nerit 0:1e09cd7d66b4 880 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 881 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 882
nerit 0:1e09cd7d66b4 883 //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 884 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 885 // Analog reading
nerit 0:1e09cd7d66b4 886 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 887 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 888 timeout.detach();
nerit 0:1e09cd7d66b4 889 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 890 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 891 }
nerit 0:1e09cd7d66b4 892 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 893 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 894 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 895 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 896 }
nerit 0:1e09cd7d66b4 897 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 898 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 899 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 900 }
nerit 0:1e09cd7d66b4 901 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 902 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 903 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 904 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 905 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 906 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 907 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 908 #endif
nerit 0:1e09cd7d66b4 909 #endif
nerit 0:1e09cd7d66b4 910 reduceCurrent=false;
nerit 0:1e09cd7d66b4 911 incrementCurrent=false;
nerit 0:1e09cd7d66b4 912 /*
nerit 0:1e09cd7d66b4 913 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 914 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 915 all_lowBattery=1;
nerit 0:1e09cd7d66b4 916 #endif
nerit 0:1e09cd7d66b4 917 incrementCurrent=true;
nerit 0:1e09cd7d66b4 918 }
nerit 0:1e09cd7d66b4 919 */
nerit 4:d32258ec411f 920 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 921 timeCurr.start();
nerit 4:d32258ec411f 922 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 923 #if defined(canbusActive)
nerit 4:d32258ec411f 924 all_overCurrDC=1;
nerit 4:d32258ec411f 925 #endif
nerit 4:d32258ec411f 926 reduceCurrent=true;
nerit 4:d32258ec411f 927 timeCurr.reset();
nerit 4:d32258ec411f 928 }
nerit 4:d32258ec411f 929 }else{
nerit 4:d32258ec411f 930 timeCurr.stop();
nerit 0:1e09cd7d66b4 931 }
nerit 0:1e09cd7d66b4 932 //}
nerit 0:1e09cd7d66b4 933 }
nerit 0:1e09cd7d66b4 934 //*******************************************************
nerit 0:1e09cd7d66b4 935 void DC_prepare(){
nerit 0:1e09cd7d66b4 936 // direction or brake preparation
nerit 7:c9fd242538d9 937 if (DC_brake==1){
nerit 7:c9fd242538d9 938 SDmotorInA=1;
nerit 7:c9fd242538d9 939 SDmotorInB=1;
nerit 7:c9fd242538d9 940 }else{
nerit 7:c9fd242538d9 941 if (DC_forward==0){
nerit 7:c9fd242538d9 942 SDmotorInA=1;
nerit 7:c9fd242538d9 943 SDmotorInB=0;
nerit 7:c9fd242538d9 944 }else{
nerit 7:c9fd242538d9 945 SDmotorInA=0;
nerit 7:c9fd242538d9 946 SDmotorInB=1;
nerit 7:c9fd242538d9 947 }
nerit 7:c9fd242538d9 948 }
nerit 0:1e09cd7d66b4 949 // fault reading
nerit 0:1e09cd7d66b4 950 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 951 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 952 }
nerit 0:1e09cd7d66b4 953 //*******************************************************
nerit 0:1e09cd7d66b4 954 void startDelay(){
nerit 0:1e09cd7d66b4 955 int ritardo =0;
nerit 0:1e09cd7d66b4 956 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 957 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 958 }
nerit 0:1e09cd7d66b4 959 //*******************************************************
nerit 4:d32258ec411f 960 void quincTrigon(){
nerit 4:d32258ec411f 961 quincClock=true;
nerit 4:d32258ec411f 962 }
nerit 4:d32258ec411f 963 void quincTrigof(){
nerit 4:d32258ec411f 964 quincClock=false;
nerit 0:1e09cd7d66b4 965 }
nerit 0:1e09cd7d66b4 966 //*******************************************************
nerit 2:d9c7430ae953 967 void quinCalc(){
nerit 0:1e09cd7d66b4 968 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 969 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 970 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 971 oldQuincIn=1;
nerit 0:1e09cd7d66b4 972 if (quincStart==0){
nerit 5:3b95bbfe2dc9 973 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 974 quincTime.reset();
nerit 8:0e643ea7834f 975 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 976 quincStart=1;
nerit 0:1e09cd7d66b4 977 }
nerit 0:1e09cd7d66b4 978 }
nerit 2:d9c7430ae953 979 if(quincClock==false){
nerit 0:1e09cd7d66b4 980 oldQuincIn=0;
nerit 0:1e09cd7d66b4 981 }
nerit 2:d9c7430ae953 982 #else
nerit 2:d9c7430ae953 983 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 984 oldQuincIn=1;
nerit 0:1e09cd7d66b4 985 if (quincStart==0){
nerit 5:3b95bbfe2dc9 986 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 987 quincTime.reset();
nerit 0:1e09cd7d66b4 988 quincStart=1;
nerit 0:1e09cd7d66b4 989 }
nerit 0:1e09cd7d66b4 990 }
nerit 4:d32258ec411f 991 if (quinconceActive==0){
nerit 4:d32258ec411f 992 if (quincClock==false){
nerit 4:d32258ec411f 993 oldQuincIn=0;
nerit 4:d32258ec411f 994 }
nerit 4:d32258ec411f 995 }else{
nerit 4:d32258ec411f 996 if (quincClock==true){
nerit 4:d32258ec411f 997 oldQuincIn=0;
nerit 4:d32258ec411f 998 }
nerit 0:1e09cd7d66b4 999 }
nerit 2:d9c7430ae953 1000 #endif
nerit 5:3b95bbfe2dc9 1001 //****************************************************************************************
nerit 7:c9fd242538d9 1002 if (quincCnt>=4){
nerit 5:3b95bbfe2dc9 1003 if (countPicks==0){
nerit 5:3b95bbfe2dc9 1004 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 1005 // decelera
nerit 5:3b95bbfe2dc9 1006 countPicks=1;
nerit 4:d32258ec411f 1007 }
nerit 5:3b95bbfe2dc9 1008 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 1009 // accelera
nerit 5:3b95bbfe2dc9 1010 countPicks=2;
nerit 4:d32258ec411f 1011 }
nerit 4:d32258ec411f 1012 }
nerit 5:3b95bbfe2dc9 1013 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 1014 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 1015 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 1016 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 1017 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 1018 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 1019 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1020 #if defined(laq)
nerit 5:3b95bbfe2dc9 1021 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 1022 #endif
nerit 5:3b95bbfe2dc9 1023 #endif
nerit 5:3b95bbfe2dc9 1024 }
nerit 7:c9fd242538d9 1025 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 1026 }
nerit 5:3b95bbfe2dc9 1027 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 1028 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 1029 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 1030 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 1031 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 1032 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1033 #if defined(laq)
nerit 5:3b95bbfe2dc9 1034 pc.printf(
nerit 5:3b95bbfe2dc9 1035 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 1036 #endif
nerit 5:3b95bbfe2dc9 1037 #endif
nerit 5:3b95bbfe2dc9 1038 }
nerit 7:c9fd242538d9 1039 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 1040 }
nerit 5:3b95bbfe2dc9 1041 sincroQui=0;
nerit 5:3b95bbfe2dc9 1042 quincStart=0;
nerit 5:3b95bbfe2dc9 1043 countPicks=0;
nerit 7:c9fd242538d9 1044 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1045 if (quincCnt>=3){
nerit 7:c9fd242538d9 1046 if (speedFromMaster>0.0f){
nerit 8:0e643ea7834f 1047 if (enableSimula==0){
nerit 8:0e643ea7834f 1048 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1049 }
nerit 7:c9fd242538d9 1050 }
nerit 7:c9fd242538d9 1051 }
nerit 7:c9fd242538d9 1052 #endif
nerit 5:3b95bbfe2dc9 1053 }
nerit 5:3b95bbfe2dc9 1054
nerit 5:3b95bbfe2dc9 1055 //*******************************************************************
nerit 5:3b95bbfe2dc9 1056 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 1057 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 1058 canDataCheck=0;
nerit 7:c9fd242538d9 1059 double parametro = SDsectorStep/3.0f;
nerit 5:3b95bbfe2dc9 1060 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 1061 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 1062 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 1063 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1064 }else{
nerit 5:3b95bbfe2dc9 1065 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1066 }
nerit 5:3b95bbfe2dc9 1067 #else
nerit 5:3b95bbfe2dc9 1068 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 1069 #endif
nerit 5:3b95bbfe2dc9 1070 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 1071 double diffPerc = differenza / parametro;
nerit 7:c9fd242538d9 1072 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 1073 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1074 #if defined(quinca)
nerit 5:3b95bbfe2dc9 1075 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 1076 #endif
nerit 5:3b95bbfe2dc9 1077 #endif
nerit 5:3b95bbfe2dc9 1078 }
nerit 5:3b95bbfe2dc9 1079 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 1080 double diffPerc = (double)differenza / parametro;
nerit 7:c9fd242538d9 1081 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 1082 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 1083 #if defined(quinca)
nerit 5:3b95bbfe2dc9 1084 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 1085 #endif
nerit 5:3b95bbfe2dc9 1086 #endif
nerit 5:3b95bbfe2dc9 1087 }
nerit 7:c9fd242538d9 1088
nerit 7:c9fd242538d9 1089 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1090 if (quincCnt>=3){
nerit 7:c9fd242538d9 1091 if (speedFromMaster>0.0f){
nerit 10:d85ed006056e 1092 //Questo
nerit 8:0e643ea7834f 1093 if (enableSimula==0){
nerit 8:0e643ea7834f 1094 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1095 }
nerit 7:c9fd242538d9 1096 }
nerit 7:c9fd242538d9 1097 }
nerit 7:c9fd242538d9 1098 #endif
nerit 5:3b95bbfe2dc9 1099 }
nerit 5:3b95bbfe2dc9 1100 }
nerit 5:3b95bbfe2dc9 1101
nerit 5:3b95bbfe2dc9 1102 }
nerit 5:3b95bbfe2dc9 1103 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 1104 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 1105 }
nerit 5:3b95bbfe2dc9 1106 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 1107 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 1108 }
nerit 0:1e09cd7d66b4 1109 }
nerit 7:c9fd242538d9 1110 // ----------------------------------------
nerit 7:c9fd242538d9 1111 #if defined(seedSensor)
nerit 7:c9fd242538d9 1112 void resetDelay(){
nerit 7:c9fd242538d9 1113 delaySeedCheck.reset();
nerit 7:c9fd242538d9 1114 delaySeedCheck.stop();
nerit 7:c9fd242538d9 1115 }
nerit 7:c9fd242538d9 1116 #endif
nerit 0:1e09cd7d66b4 1117 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1118 // MAIN SECTION
nerit 3:c0f11ca4df02 1119 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1120
nerit 0:1e09cd7d66b4 1121 int main()
nerit 0:1e09cd7d66b4 1122 {
nerit 5:3b95bbfe2dc9 1123 //wait(1.0f);
nerit 0:1e09cd7d66b4 1124 wd.Configure(2); //watchdog set at xx seconds
nerit 7:c9fd242538d9 1125
nerit 7:c9fd242538d9 1126 stepSetting();
nerit 7:c9fd242538d9 1127
nerit 0:1e09cd7d66b4 1128 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 1129 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 1130 }
nerit 0:1e09cd7d66b4 1131
nerit 0:1e09cd7d66b4 1132
nerit 0:1e09cd7d66b4 1133 // DC reset ad set
nerit 0:1e09cd7d66b4 1134 int decima = 100;
nerit 0:1e09cd7d66b4 1135 wait_ms(200);
nerit 0:1e09cd7d66b4 1136 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1137 wait_ms(2);
nerit 0:1e09cd7d66b4 1138 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1139 wait_ms(1);
nerit 0:1e09cd7d66b4 1140 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1141 wait_ms(3);
nerit 0:1e09cd7d66b4 1142 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1143 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 1144 wait_ms(100);
nerit 0:1e09cd7d66b4 1145 DC_prepare();
nerit 0:1e09cd7d66b4 1146
nerit 0:1e09cd7d66b4 1147 speedTimer.start(); // speed pulse timer
nerit 0:1e09cd7d66b4 1148 intraPickTimer.start();
nerit 0:1e09cd7d66b4 1149 speedTimeOut.start();
nerit 0:1e09cd7d66b4 1150 speedFilter.start();
nerit 0:1e09cd7d66b4 1151 seedFilter.start();
nerit 0:1e09cd7d66b4 1152 TBfilter.start();
nerit 0:1e09cd7d66b4 1153 sincroTimer.start();
nerit 0:1e09cd7d66b4 1154 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 1155 metalTimer.start();
nerit 0:1e09cd7d66b4 1156 quincTime.start();
nerit 1:e88bf5011af6 1157 quincTimeSD.start();
nerit 7:c9fd242538d9 1158 //intraEncoTimer.start();
nerit 0:1e09cd7d66b4 1159
nerit 0:1e09cd7d66b4 1160 //*******************************************************
nerit 0:1e09cd7d66b4 1161 // controls for check DC motor current
nerit 0:1e09cd7d66b4 1162 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 1163
nerit 0:1e09cd7d66b4 1164 if (inProva==0){
nerit 0:1e09cd7d66b4 1165 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 1166 #if !defined(speedMaster)
nerit 4:d32258ec411f 1167 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 1168 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 1169 #endif
nerit 5:3b95bbfe2dc9 1170 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1171 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 1172 #endif
nerit 0:1e09cd7d66b4 1173 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 1174 dcSetting();
nerit 7:c9fd242538d9 1175 #if defined(seedSensor)
nerit 8:0e643ea7834f 1176 seedCheck.fall(&seedSensorTask);
nerit 7:c9fd242538d9 1177 #endif
nerit 0:1e09cd7d66b4 1178 }else{
nerit 0:1e09cd7d66b4 1179 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 1180 }
nerit 0:1e09cd7d66b4 1181
nerit 0:1e09cd7d66b4 1182 aggiornaParametri();
nerit 0:1e09cd7d66b4 1183
nerit 0:1e09cd7d66b4 1184 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 7:c9fd242538d9 1185 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 7:c9fd242538d9 1186 TBmotorDirecti=1; // tb motor direction set
nerit 0:1e09cd7d66b4 1187
nerit 0:1e09cd7d66b4 1188 #if defined(provaStepper)
nerit 7:c9fd242538d9 1189 TBmotorRst=0;
nerit 13:0ae23132a2b6 1190 TBticker.attach_us(&step_TBPulseOut,250.0f); // clock time are seconds and attach seed motor stepper controls
nerit 14:24c5d58e8bc6 1191 TATicker.attach(&inverti,2.0f);
nerit 0:1e09cd7d66b4 1192 #endif // end prova stepper
nerit 0:1e09cd7d66b4 1193
nerit 0:1e09cd7d66b4 1194 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 1195 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 1196 #endif
nerit 0:1e09cd7d66b4 1197
nerit 0:1e09cd7d66b4 1198 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1199 // MAIN LOOP
nerit 0:1e09cd7d66b4 1200 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1201 while (true){
nerit 0:1e09cd7d66b4 1202 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1203 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1204
nerit 0:1e09cd7d66b4 1205 // inversione segnali ingressi
nerit 4:d32258ec411f 1206 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1207 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1208 #else
nerit 4:d32258ec411f 1209 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1210 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1211 }
nerit 4:d32258ec411f 1212 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1213 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1214 }
nerit 4:d32258ec411f 1215 #endif
nerit 0:1e09cd7d66b4 1216 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1217
nerit 0:1e09cd7d66b4 1218 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1219 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1220 if (seedWheelZeroPinInput==1){
nerit 7:c9fd242538d9 1221 quinconceOut=0;
nerit 0:1e09cd7d66b4 1222 }
nerit 5:3b95bbfe2dc9 1223 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 7:c9fd242538d9 1224 quinconceOut=1;
nerit 7:c9fd242538d9 1225 }
nerit 7:c9fd242538d9 1226 if (quinconceActive==1){
nerit 7:c9fd242538d9 1227 if ((quinconceOut==1)&&(oldQuinconceOut==1)){
nerit 5:3b95bbfe2dc9 1228 posForQuinc=500;
nerit 7:c9fd242538d9 1229 oldQuinconceOut=0;
nerit 7:c9fd242538d9 1230 }
nerit 7:c9fd242538d9 1231 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)){
nerit 7:c9fd242538d9 1232 oldQuinconceOut=1;
nerit 7:c9fd242538d9 1233 }
nerit 7:c9fd242538d9 1234 }
nerit 0:1e09cd7d66b4 1235 #endif
nerit 0:1e09cd7d66b4 1236
nerit 0:1e09cd7d66b4 1237 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1238 leggiCAN();
nerit 0:1e09cd7d66b4 1239 #endif
nerit 0:1e09cd7d66b4 1240
nerit 0:1e09cd7d66b4 1241 // simulazione velocita
nerit 0:1e09cd7d66b4 1242 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1243 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1244 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1245 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1246 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1247 }else{
nerit 0:1e09cd7d66b4 1248 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1249 }
nerit 0:1e09cd7d66b4 1250 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1251 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 7:c9fd242538d9 1252 #if defined(pcSerial)
nerit 7:c9fd242538d9 1253 #if defined(canDataReceived)
nerit 7:c9fd242538d9 1254 pc.printf("Pulseinterval %f \n",pulseSpeedInterval);
nerit 7:c9fd242538d9 1255 #endif
nerit 7:c9fd242538d9 1256 #endif
nerit 0:1e09cd7d66b4 1257 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1258 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1259 }
nerit 0:1e09cd7d66b4 1260 }else{
nerit 0:1e09cd7d66b4 1261 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1262 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1263 }
nerit 0:1e09cd7d66b4 1264 }else{
nerit 0:1e09cd7d66b4 1265 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1266 }
nerit 0:1e09cd7d66b4 1267
nerit 0:1e09cd7d66b4 1268 //*******************************************************
nerit 0:1e09cd7d66b4 1269 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1270 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1271 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1272 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1273 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1274 }
nerit 0:1e09cd7d66b4 1275 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1276 }else{
nerit 0:1e09cd7d66b4 1277 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1278 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1279 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1280 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1281 }
nerit 0:1e09cd7d66b4 1282 }
nerit 0:1e09cd7d66b4 1283
nerit 0:1e09cd7d66b4 1284 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1285 lowSpeed=1;
nerit 0:1e09cd7d66b4 1286 }else{
nerit 0:1e09cd7d66b4 1287 lowSpeed=0;
nerit 0:1e09cd7d66b4 1288 }
nerit 0:1e09cd7d66b4 1289
nerit 0:1e09cd7d66b4 1290
nerit 0:1e09cd7d66b4 1291 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1292 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1293 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1294 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1295 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1296
nerit 0:1e09cd7d66b4 1297 if (inProva==0){
nerit 7:c9fd242538d9 1298 if ((startCycleSimulation==0)&&(enableSimula==0)){
nerit 7:c9fd242538d9 1299 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1300 runRequestBuf=0;
nerit 7:c9fd242538d9 1301 enableCycle=1;
nerit 7:c9fd242538d9 1302 }else{
nerit 7:c9fd242538d9 1303 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1304 runRequestBuf=0;
nerit 7:c9fd242538d9 1305 enableCycle=1;
nerit 7:c9fd242538d9 1306 }
nerit 7:c9fd242538d9 1307 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){
nerit 7:c9fd242538d9 1308 oldTractorSpeedRead=0;
nerit 7:c9fd242538d9 1309 }
nerit 0:1e09cd7d66b4 1310 // ----------------------------------------
nerit 0:1e09cd7d66b4 1311 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1312 // ----------------------------------------
nerit 4:d32258ec411f 1313 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1314 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1315 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1316 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1317 }
nerit 0:1e09cd7d66b4 1318 }
nerit 0:1e09cd7d66b4 1319 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1320 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1321 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1322 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1323 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1324 seedFilter.reset();
nerit 0:1e09cd7d66b4 1325 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1326 oldSeedWheelZeroPinInput=1;
nerit 8:0e643ea7834f 1327 quincTime.reset();
nerit 1:e88bf5011af6 1328 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1329 SDzeroDebounced=1;
nerit 4:d32258ec411f 1330 sincroQui=1;
nerit 0:1e09cd7d66b4 1331 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1332 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1333 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1334 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1335 }
nerit 5:3b95bbfe2dc9 1336 #endif
nerit 0:1e09cd7d66b4 1337 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1338 quincCnt++;
nerit 0:1e09cd7d66b4 1339 }
nerit 0:1e09cd7d66b4 1340 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1341 beccoPronto=1;
nerit 0:1e09cd7d66b4 1342 }
nerit 0:1e09cd7d66b4 1343 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1344 lockStart=0;
nerit 0:1e09cd7d66b4 1345 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1346 forzaFase=0;
nerit 0:1e09cd7d66b4 1347 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1348 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1349 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1350 }else{
nerit 0:1e09cd7d66b4 1351 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1352 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1353 }else{
nerit 6:3fca0ca1949e 1354 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
nerit 6:3fca0ca1949e 1355 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1356 }
nerit 0:1e09cd7d66b4 1357 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1358 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 1359 //forzaFase=1;
nerit 0:1e09cd7d66b4 1360 }
nerit 0:1e09cd7d66b4 1361 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1362 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1363 forzaFase=1;
nerit 0:1e09cd7d66b4 1364 }
nerit 0:1e09cd7d66b4 1365 trigRepos=1;
nerit 0:1e09cd7d66b4 1366 }
nerit 0:1e09cd7d66b4 1367 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1368 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1369 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1370 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1371 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1372 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1373 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1374 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1375 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1376 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1377 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1378 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1379 #endif
nerit 0:1e09cd7d66b4 1380 #endif
nerit 0:1e09cd7d66b4 1381 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1382 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1383 if (firstStart==0){
nerit 0:1e09cd7d66b4 1384 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1385 }
nerit 0:1e09cd7d66b4 1386 }
nerit 0:1e09cd7d66b4 1387 }
nerit 0:1e09cd7d66b4 1388 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1389 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1390 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1391 #if defined(pcSerial)
nerit 4:d32258ec411f 1392 #if defined(Qnca)
nerit 4:d32258ec411f 1393 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1394 #endif
nerit 0:1e09cd7d66b4 1395 #endif
nerit 0:1e09cd7d66b4 1396 }
nerit 7:c9fd242538d9 1397 if (encoder==false){
nerit 7:c9fd242538d9 1398 pulseRised2=1;
nerit 7:c9fd242538d9 1399 }
nerit 4:d32258ec411f 1400 #if defined(speedMaster)
nerit 4:d32258ec411f 1401 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1402 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1403 all_noSpeedSen=1;
nerit 4:d32258ec411f 1404 }
nerit 4:d32258ec411f 1405 }
nerit 5:3b95bbfe2dc9 1406 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1407 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1408 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1409 all_speedError =1;
nerit 0:1e09cd7d66b4 1410 }
nerit 0:1e09cd7d66b4 1411 }
nerit 0:1e09cd7d66b4 1412 #endif
nerit 0:1e09cd7d66b4 1413 //*******************************************
nerit 0:1e09cd7d66b4 1414 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1415 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1416 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1417 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1418 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1419 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1420 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1421 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1422 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1423 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1424 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1425 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1426 }
nerit 0:1e09cd7d66b4 1427 // ----------------------------------------
nerit 0:1e09cd7d66b4 1428 // check SD fase
nerit 0:1e09cd7d66b4 1429 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1430 forzaFase=0;
nerit 0:1e09cd7d66b4 1431 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1432 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1433 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1434 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1435 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1436 if (trigTB==0){
nerit 0:1e09cd7d66b4 1437 inhibit=1;
nerit 0:1e09cd7d66b4 1438 trigSD=1;
nerit 0:1e09cd7d66b4 1439 }else{
nerit 0:1e09cd7d66b4 1440 inhibit=0;
nerit 0:1e09cd7d66b4 1441 trigTB=0;
nerit 0:1e09cd7d66b4 1442 trigSD=0;
nerit 0:1e09cd7d66b4 1443 }
nerit 0:1e09cd7d66b4 1444 trigRepos=0;
nerit 0:1e09cd7d66b4 1445 }
nerit 0:1e09cd7d66b4 1446 }else{
nerit 0:1e09cd7d66b4 1447 trigCicli=0;
nerit 0:1e09cd7d66b4 1448 }
nerit 0:1e09cd7d66b4 1449 // ----------------------------------------
nerit 0:1e09cd7d66b4 1450 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1451 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1452 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1453 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1454 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1455 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1456 startCicloTB=0;
nerit 0:1e09cd7d66b4 1457 }
nerit 0:1e09cd7d66b4 1458 TBfilter.reset();
nerit 0:1e09cd7d66b4 1459 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1460 TBactualPosition=0;
nerit 9:503e2aba047c 1461 if (cntTbError>0){
nerit 9:503e2aba047c 1462 cntCellsCorrect++;
nerit 9:503e2aba047c 1463 }
nerit 9:503e2aba047c 1464 if (cntCellsCorrect>3){
nerit 9:503e2aba047c 1465 cntTbError=0;
nerit 9:503e2aba047c 1466 cntCellsCorrect=0;
nerit 9:503e2aba047c 1467 }
nerit 9:503e2aba047c 1468 // conteggio celle erogate
nerit 0:1e09cd7d66b4 1469 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1470 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1471 }else{
nerit 0:1e09cd7d66b4 1472 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1473 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1474 }
nerit 9:503e2aba047c 1475 // ciclo conteggio celle per carico manuale
nerit 0:1e09cd7d66b4 1476 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1477 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1478 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1479 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1480 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1481 }
nerit 0:1e09cd7d66b4 1482 }else{
nerit 0:1e09cd7d66b4 1483 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1484 }
nerit 9:503e2aba047c 1485 // inibizione controllo di sincro per fuori fase
nerit 0:1e09cd7d66b4 1486 if (trigSD==0){
nerit 0:1e09cd7d66b4 1487 inhibit=1;
nerit 0:1e09cd7d66b4 1488 trigTB=1;
nerit 0:1e09cd7d66b4 1489 }else{
nerit 0:1e09cd7d66b4 1490 inhibit=0;
nerit 0:1e09cd7d66b4 1491 trigTB=0;
nerit 0:1e09cd7d66b4 1492 trigSD=0;
nerit 0:1e09cd7d66b4 1493 }
nerit 9:503e2aba047c 1494 // conta le celle indietro per sbloccare il tamburo
nerit 7:c9fd242538d9 1495 if ((TBmotorDirecti==0)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1496 cntCellsForReload++;
nerit 6:3fca0ca1949e 1497 if (cntCellsForReload >= cellsCountSet){
nerit 9:503e2aba047c 1498 TBmotorDirecti=1; // rotazione normale
nerit 0:1e09cd7d66b4 1499 erroreTamburo=0;
nerit 9:503e2aba047c 1500 cntCellsCorrect=0;
nerit 0:1e09cd7d66b4 1501 }
nerit 0:1e09cd7d66b4 1502 }
nerit 7:c9fd242538d9 1503 #if defined(seedSensor)
nerit 7:c9fd242538d9 1504 resetDelay();
nerit 7:c9fd242538d9 1505 delaySeedCheck.start();
nerit 7:c9fd242538d9 1506 #endif
nerit 0:1e09cd7d66b4 1507 }
nerit 9:503e2aba047c 1508 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)&&(erroreTamburo==0)){
nerit 14:24c5d58e8bc6 1509 #if defined(pcSerial)
nerit 14:24c5d58e8bc6 1510 #if defined(inversione)
nerit 14:24c5d58e8bc6 1511 pc.printf("TBact: %d TBgiro: %f \n",TBactualPosition,TBgiroStep);
nerit 14:24c5d58e8bc6 1512 #endif
nerit 14:24c5d58e8bc6 1513 #endif
nerit 0:1e09cd7d66b4 1514 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1515 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1516 all_cellSignal=1;
nerit 7:c9fd242538d9 1517 #if defined(seedSensor)
nerit 7:c9fd242538d9 1518 resetDelay();
nerit 7:c9fd242538d9 1519 #endif
nerit 5:3b95bbfe2dc9 1520 }
nerit 0:1e09cd7d66b4 1521 }
nerit 0:1e09cd7d66b4 1522 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1523 erroreTamburo=1;
nerit 9:503e2aba047c 1524 TBmotorDirecti=0; // rotazione inversa
nerit 0:1e09cd7d66b4 1525 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1526 cntTbError++;
nerit 7:c9fd242538d9 1527 #if defined(seedSensor)
nerit 7:c9fd242538d9 1528 resetDelay();
nerit 7:c9fd242538d9 1529 #endif
nerit 0:1e09cd7d66b4 1530 }
nerit 0:1e09cd7d66b4 1531 }
nerit 5:3b95bbfe2dc9 1532 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1533 if (firstStart==0){
nerit 0:1e09cd7d66b4 1534 all_noStepRota=1;
nerit 7:c9fd242538d9 1535 #if defined(seedSensor)
nerit 7:c9fd242538d9 1536 resetDelay();
nerit 7:c9fd242538d9 1537 #endif
nerit 0:1e09cd7d66b4 1538 }
nerit 0:1e09cd7d66b4 1539 cntTbError=0;
nerit 0:1e09cd7d66b4 1540 }
nerit 0:1e09cd7d66b4 1541 // ----------------------------------------
nerit 0:1e09cd7d66b4 1542 // read and manage joystick
nerit 0:1e09cd7d66b4 1543 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1544 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1545 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1546 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1547 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1548 startCycle=1;
nerit 0:1e09cd7d66b4 1549 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1550 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1551 }
nerit 0:1e09cd7d66b4 1552 }
nerit 0:1e09cd7d66b4 1553 }else{
nerit 0:1e09cd7d66b4 1554 startCycle=0;
nerit 0:1e09cd7d66b4 1555 pntMedia=0;
nerit 0:1e09cd7d66b4 1556 }
nerit 0:1e09cd7d66b4 1557 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1558 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1559 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1560 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1561 }
nerit 0:1e09cd7d66b4 1562 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1563 }
nerit 0:1e09cd7d66b4 1564 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1565 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1566 ciclaTB();
nerit 0:1e09cd7d66b4 1567 }
nerit 0:1e09cd7d66b4 1568 }
nerit 0:1e09cd7d66b4 1569 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1570 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1571 zeroCycle=1;
nerit 0:1e09cd7d66b4 1572 zeroCycleEnd=0;
nerit 13:0ae23132a2b6 1573 SDzeroed=1;
nerit 0:1e09cd7d66b4 1574 TBzeroed=0;
nerit 0:1e09cd7d66b4 1575 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1576 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1577 }
nerit 0:1e09cd7d66b4 1578 }
nerit 0:1e09cd7d66b4 1579 }else{
nerit 0:1e09cd7d66b4 1580 startCycle=0;
nerit 0:1e09cd7d66b4 1581 zeroCycle=0;
nerit 0:1e09cd7d66b4 1582 }
nerit 0:1e09cd7d66b4 1583
nerit 0:1e09cd7d66b4 1584 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1585 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1586 //
nerit 0:1e09cd7d66b4 1587 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1588 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1589 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1590 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1591 pulseRised=0;
nerit 5:3b95bbfe2dc9 1592 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1593 speedMediaCalc();
nerit 0:1e09cd7d66b4 1594 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1595 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1596 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:0e643ea7834f 1597 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){
nerit 7:c9fd242538d9 1598 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 7:c9fd242538d9 1599 }
nerit 7:c9fd242538d9 1600 /*#if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1601 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1602 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1603 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1604 }
nerit 5:3b95bbfe2dc9 1605 }
nerit 7:c9fd242538d9 1606 #endif*/
nerit 0:1e09cd7d66b4 1607 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1608 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1609 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1610 }
nerit 0:1e09cd7d66b4 1611 }
nerit 0:1e09cd7d66b4 1612 }
nerit 0:1e09cd7d66b4 1613 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1614 }else{
nerit 0:1e09cd7d66b4 1615 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1616 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1617 tractorSpeed_MtS_timed = 0.0f;
nerit 7:c9fd242538d9 1618 #if defined(seedSensor)
nerit 7:c9fd242538d9 1619 resetDelay();
nerit 7:c9fd242538d9 1620 #endif
nerit 0:1e09cd7d66b4 1621 pntMedia=0;
nerit 0:1e09cd7d66b4 1622 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1623 enableSpeed=0;
nerit 0:1e09cd7d66b4 1624 quincCnt=0;
nerit 0:1e09cd7d66b4 1625 }
nerit 0:1e09cd7d66b4 1626 }
nerit 7:c9fd242538d9 1627
nerit 7:c9fd242538d9 1628 #if defined(seedSensor)
nerit 7:c9fd242538d9 1629 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 1630 if (delaySeedCheck.read_ms()>100){
nerit 7:c9fd242538d9 1631 if (seedSee==0){
nerit 7:c9fd242538d9 1632 all_noSeedOnCe=1;
nerit 7:c9fd242538d9 1633 }
nerit 7:c9fd242538d9 1634 resetDelay();
nerit 7:c9fd242538d9 1635 }
nerit 7:c9fd242538d9 1636 }
nerit 7:c9fd242538d9 1637 #endif
nerit 0:1e09cd7d66b4 1638 // esegue il controllo di velocità minima
nerit 7:c9fd242538d9 1639 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1640 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1641 enableSpeed=0;
nerit 7:c9fd242538d9 1642 }*/
nerit 6:3fca0ca1949e 1643 // esegue il controllo di velocità massima
nerit 7:c9fd242538d9 1644 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 6:3fca0ca1949e 1645 tractorSpeed_MtS_timed = 4.5f;
nerit 7:c9fd242538d9 1646 }*/
nerit 0:1e09cd7d66b4 1647 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1648 // cycle logic control section
nerit 0:1e09cd7d66b4 1649 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1650 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1651 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1652 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1653 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1654 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 1655 if (encoder==false){
nerit 5:3b95bbfe2dc9 1656 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1657 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1658 }else{
nerit 5:3b95bbfe2dc9 1659 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1660 }
nerit 0:1e09cd7d66b4 1661 }else{
nerit 5:3b95bbfe2dc9 1662 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 1663 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1664 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1665 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1666 #endif
nerit 5:3b95bbfe2dc9 1667 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1668 }
nerit 0:1e09cd7d66b4 1669 //*******************************************
nerit 0:1e09cd7d66b4 1670 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1671 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1672 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1673 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1674 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1675 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1676 }
nerit 0:1e09cd7d66b4 1677 }
nerit 6:3fca0ca1949e 1678 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
nerit 2:d9c7430ae953 1679 #if !defined(speedMaster)
nerit 4:d32258ec411f 1680 quinCalc();
nerit 2:d9c7430ae953 1681 #endif
nerit 5:3b95bbfe2dc9 1682 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1683 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1684 if(encoder==false){
nerit 5:3b95bbfe2dc9 1685 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1686 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1687 }else{
nerit 5:3b95bbfe2dc9 1688 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 1689 }
nerit 0:1e09cd7d66b4 1690 }else{
nerit 5:3b95bbfe2dc9 1691 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 1692 }
nerit 0:1e09cd7d66b4 1693 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1694 double k3=0.0f;
nerit 1:e88bf5011af6 1695 double k4=0.0f;
nerit 1:e88bf5011af6 1696 double k5=0.0f;
nerit 4:d32258ec411f 1697 double k6=0.0f;
nerit 4:d32258ec411f 1698 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1699 k3=1.030f;
nerit 4:d32258ec411f 1700 k4=5.103f;
nerit 4:d32258ec411f 1701 k5=10.00f;
nerit 4:d32258ec411f 1702 k6=20.50f;
nerit 4:d32258ec411f 1703 }else{*/
nerit 8:0e643ea7834f 1704 #if defined(speedMaster)
nerit 8:0e643ea7834f 1705 k3=0.010f;
nerit 8:0e643ea7834f 1706 #else
nerit 8:0e643ea7834f 1707 k3=0.050f;
nerit 8:0e643ea7834f 1708 #endif
nerit 7:c9fd242538d9 1709 k4=1.103f;
nerit 7:c9fd242538d9 1710 k5=10.00f;
nerit 7:c9fd242538d9 1711 k6=20.50f;
nerit 4:d32258ec411f 1712 //}
nerit 7:c9fd242538d9 1713 double L1 = 0.045f;
nerit 7:c9fd242538d9 1714 double L_1=-0.045f;
nerit 7:c9fd242538d9 1715 double L2 = 0.150f;
nerit 7:c9fd242538d9 1716 double L_2=-0.150f;
nerit 7:c9fd242538d9 1717 double L3 = 0.301f;
nerit 7:c9fd242538d9 1718 double L_3=-0.301f;
nerit 4:d32258ec411f 1719 double k1=0.0f;
nerit 4:d32258ec411f 1720 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1721 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1722 }
nerit 4:d32258ec411f 1723 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1724 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1725 }
nerit 4:d32258ec411f 1726 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1727 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1728 }
nerit 4:d32258ec411f 1729 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1730 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1731 }
nerit 4:d32258ec411f 1732 double memoCorrezione = k1;
nerit 4:d32258ec411f 1733 if (quincCnt >= 2){
nerit 4:d32258ec411f 1734 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1735 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1736 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1737 }
nerit 4:d32258ec411f 1738 pulseRised1=0;
nerit 4:d32258ec411f 1739 pulseRised2=0;
nerit 1:e88bf5011af6 1740 #if defined(pcSerial)
nerit 4:d32258ec411f 1741 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1742 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1743 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 1744 #endif
nerit 1:e88bf5011af6 1745 #endif
nerit 4:d32258ec411f 1746 #if defined(pcSerial)
nerit 4:d32258ec411f 1747 #if defined(Qncb)
nerit 4:d32258ec411f 1748 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1749 #endif
nerit 4:d32258ec411f 1750 #endif
nerit 0:1e09cd7d66b4 1751 }
nerit 0:1e09cd7d66b4 1752 // introduce il controllo di corrente
nerit 6:3fca0ca1949e 1753 if (currentCheckEnable==true){
nerit 6:3fca0ca1949e 1754 if (incrementCurrent){
nerit 6:3fca0ca1949e 1755 boostDcOut +=0.005f;
nerit 6:3fca0ca1949e 1756 }
nerit 6:3fca0ca1949e 1757 if (reduceCurrent){
nerit 6:3fca0ca1949e 1758 boostDcOut -=0.005f;
nerit 6:3fca0ca1949e 1759 }
nerit 6:3fca0ca1949e 1760 if (boostDcOut >= 0.2f){
nerit 6:3fca0ca1949e 1761 boostDcOut=0.2f;
nerit 6:3fca0ca1949e 1762 all_genericals=1;
nerit 6:3fca0ca1949e 1763 }
nerit 6:3fca0ca1949e 1764 if (boostDcOut <=-0.2f){
nerit 6:3fca0ca1949e 1765 boostDcOut=-0.2f;
nerit 6:3fca0ca1949e 1766 all_genericals=1;
nerit 6:3fca0ca1949e 1767 }
nerit 6:3fca0ca1949e 1768 correzione += boostDcOut;
nerit 0:1e09cd7d66b4 1769 }
nerit 1:e88bf5011af6 1770 DC_brake=0;
nerit 1:e88bf5011af6 1771 DC_forward=1;
nerit 1:e88bf5011af6 1772 DC_prepare();
nerit 0:1e09cd7d66b4 1773
nerit 0:1e09cd7d66b4 1774 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1775 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1776 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1777 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1778 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1779 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1780 }
nerit 0:1e09cd7d66b4 1781
nerit 4:d32258ec411f 1782 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1783 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1784 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1785 }else{
nerit 4:d32258ec411f 1786 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1787 }
nerit 0:1e09cd7d66b4 1788 }else{
nerit 0:1e09cd7d66b4 1789 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1790 }
nerit 7:c9fd242538d9 1791 if (dcActualDuty <=0.0f){dcActualDuty=0.05f;}
nerit 7:c9fd242538d9 1792 if (dcActualDuty > 0.95f){dcActualDuty = 0.95f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1793 if (olddcActualDuty!=dcActualDuty){
nerit 7:c9fd242538d9 1794 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 4:d32258ec411f 1795 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1796 }
nerit 0:1e09cd7d66b4 1797 // allarme
nerit 0:1e09cd7d66b4 1798 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1799 if (firstStart==0){
nerit 0:1e09cd7d66b4 1800 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1801 }
nerit 0:1e09cd7d66b4 1802 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1803 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1804 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1805 #endif
nerit 0:1e09cd7d66b4 1806 #endif
nerit 0:1e09cd7d66b4 1807
nerit 0:1e09cd7d66b4 1808 }
nerit 0:1e09cd7d66b4 1809
nerit 0:1e09cd7d66b4 1810 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1811 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1812 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1813 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1814 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1815 syncroCheck=0;
nerit 0:1e09cd7d66b4 1816 lockStart=1;
nerit 0:1e09cd7d66b4 1817 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1818 if (aspettaStart==0){cambiaTB(periodo);}
nerit 0:1e09cd7d66b4 1819 }
nerit 0:1e09cd7d66b4 1820 // controllo di stop
nerit 0:1e09cd7d66b4 1821 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1822 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1823 syncroCheck=0;
nerit 0:1e09cd7d66b4 1824 aspettaStart=1;
nerit 0:1e09cd7d66b4 1825 countCicli=0;
nerit 0:1e09cd7d66b4 1826 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1827 }
nerit 0:1e09cd7d66b4 1828 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1829 syncroCheck=0;
nerit 0:1e09cd7d66b4 1830 lockStart=0;
nerit 0:1e09cd7d66b4 1831 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1832 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1833 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1834 if (encoder==false){
nerit 5:3b95bbfe2dc9 1835 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1836 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1837 }else{
nerit 5:3b95bbfe2dc9 1838 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1839 }
nerit 5:3b95bbfe2dc9 1840 }else{
nerit 0:1e09cd7d66b4 1841 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1842 }
nerit 6:3fca0ca1949e 1843 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1844 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1845 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1846 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1847 beccoPronto=0;
nerit 0:1e09cd7d66b4 1848 }
nerit 0:1e09cd7d66b4 1849 }else{
nerit 0:1e09cd7d66b4 1850 // tamburo per zucca
nerit 0:1e09cd7d66b4 1851 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1852 beccoPronto=0;
nerit 0:1e09cd7d66b4 1853 }
nerit 0:1e09cd7d66b4 1854 }
nerit 0:1e09cd7d66b4 1855 ciclaTB();
nerit 0:1e09cd7d66b4 1856 }
nerit 0:1e09cd7d66b4 1857 //*************************************************************
nerit 0:1e09cd7d66b4 1858 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1859 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1860 SDwheelTimer.reset();
nerit 7:c9fd242538d9 1861 #if defined(seedSensor)
nerit 7:c9fd242538d9 1862 resetDelay();
nerit 7:c9fd242538d9 1863 #endif
nerit 0:1e09cd7d66b4 1864 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1865 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1866 aspettaStart=1;
nerit 0:1e09cd7d66b4 1867 countCicli=0;
nerit 0:1e09cd7d66b4 1868 startCycle=0;
nerit 0:1e09cd7d66b4 1869 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1870 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1871 correzione=0.0f;
nerit 0:1e09cd7d66b4 1872 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1873 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1874 cntTbError=0;
nerit 0:1e09cd7d66b4 1875 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1876 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1877 zeroDelay.start();
nerit 0:1e09cd7d66b4 1878 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1879 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1880 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1881 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1882 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1883 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1884 zeroCycle=1;
nerit 0:1e09cd7d66b4 1885 zeroTrigger=0;
nerit 8:0e643ea7834f 1886 noSDzeroRequest=1;
nerit 0:1e09cd7d66b4 1887 }
nerit 0:1e09cd7d66b4 1888 }
nerit 0:1e09cd7d66b4 1889 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1890 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1891 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1892 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1893 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1894 DC_forward=1;
nerit 0:1e09cd7d66b4 1895 DC_brake=1;
nerit 0:1e09cd7d66b4 1896 DC_prepare();
nerit 0:1e09cd7d66b4 1897 frenata=0;
nerit 0:1e09cd7d66b4 1898 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1899 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1900 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1901 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1902 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1903 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1904 }
nerit 0:1e09cd7d66b4 1905 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1906 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1907 accensione=0;
nerit 0:1e09cd7d66b4 1908 avvicinamento=1;
nerit 0:1e09cd7d66b4 1909 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1910 avvicinamentoOn.start();
nerit 7:c9fd242538d9 1911 SDmotorPWM.write(1.0f-0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1912 DC_forward=1;
nerit 0:1e09cd7d66b4 1913 DC_brake=0;
nerit 0:1e09cd7d66b4 1914 DC_prepare();
nerit 0:1e09cd7d66b4 1915 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1916 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1917 }
nerit 0:1e09cd7d66b4 1918 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1919 if(avvicinamentoOn.read_ms()>300){
nerit 7:c9fd242538d9 1920 SDmotorPWM.write(1.0f-0.7f);
nerit 0:1e09cd7d66b4 1921 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1922 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1923 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1924 }
nerit 0:1e09cd7d66b4 1925 if(avvicinamentoOff.read_ms()>100){
nerit 7:c9fd242538d9 1926 SDmotorPWM.write(1.0f-0.32f);
nerit 0:1e09cd7d66b4 1927 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1928 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1929 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1930 }
nerit 0:1e09cd7d66b4 1931 }else{
nerit 0:1e09cd7d66b4 1932 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1933 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1934 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1935 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1936 }
nerit 0:1e09cd7d66b4 1937 if (frenata==0){
nerit 0:1e09cd7d66b4 1938 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1939 SDticker.detach();
nerit 0:1e09cd7d66b4 1940 frenata=1;
nerit 0:1e09cd7d66b4 1941 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1942 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1943 ritardoStop.start();
nerit 0:1e09cd7d66b4 1944 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1945 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1946 }
nerit 0:1e09cd7d66b4 1947 }else{
nerit 7:c9fd242538d9 1948 #if defined(mezzo)
nerit 7:c9fd242538d9 1949 if (quinconceActive==0){
nerit 7:c9fd242538d9 1950 if (SDzeroCyclePulse==1){
nerit 7:c9fd242538d9 1951 avvicinamento=0;
nerit 7:c9fd242538d9 1952 DC_brake=1;
nerit 7:c9fd242538d9 1953 DC_prepare();
nerit 7:c9fd242538d9 1954 SDzeroed=1;
nerit 7:c9fd242538d9 1955 ritardoStop.reset();
nerit 7:c9fd242538d9 1956 ritardoStop.stop();
nerit 7:c9fd242538d9 1957 }
nerit 7:c9fd242538d9 1958 }else{
nerit 7:c9fd242538d9 1959 if (quincTimeSet.read_ms()>700){
nerit 7:c9fd242538d9 1960 avvicinamento=0;
nerit 7:c9fd242538d9 1961 DC_brake=1;
nerit 7:c9fd242538d9 1962 DC_prepare();
nerit 7:c9fd242538d9 1963 SDzeroed=1;
nerit 7:c9fd242538d9 1964 ritardoStop.reset();
nerit 7:c9fd242538d9 1965 ritardoStop.stop();
nerit 7:c9fd242538d9 1966 quincTimeSet.stop();
nerit 7:c9fd242538d9 1967 }
nerit 7:c9fd242538d9 1968 }
nerit 7:c9fd242538d9 1969 #else
nerit 0:1e09cd7d66b4 1970 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1971 avvicinamento=0;
nerit 0:1e09cd7d66b4 1972 DC_brake=1;
nerit 0:1e09cd7d66b4 1973 DC_prepare();
nerit 0:1e09cd7d66b4 1974 SDzeroed=1;
nerit 0:1e09cd7d66b4 1975 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1976 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1977 }
nerit 7:c9fd242538d9 1978 #endif
nerit 0:1e09cd7d66b4 1979 }
nerit 0:1e09cd7d66b4 1980 // azzera tutto in time out
nerit 8:0e643ea7834f 1981 if ((timeOutZeroSD.read_ms()>=10000)||(noSDzeroRequest==1)){
nerit 8:0e643ea7834f 1982 if ((firstStart==0)&&(noSDzeroRequest==0)){
nerit 0:1e09cd7d66b4 1983 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1984 }
nerit 0:1e09cd7d66b4 1985 avvicinamento=0;
nerit 0:1e09cd7d66b4 1986 DC_brake=1;
nerit 0:1e09cd7d66b4 1987 DC_prepare();
nerit 0:1e09cd7d66b4 1988 SDzeroed=1;
nerit 0:1e09cd7d66b4 1989 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1990 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1991 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1992 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1993 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1994 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1995 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1996 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1997 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1998 timeOutZeroSD.reset();
nerit 13:0ae23132a2b6 1999 //noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 2000 }
nerit 0:1e09cd7d66b4 2001 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 2002 TBticker.detach();
nerit 0:1e09cd7d66b4 2003 TBzeroed=1;
nerit 0:1e09cd7d66b4 2004 }
nerit 0:1e09cd7d66b4 2005 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 2006 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 2007 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 2008 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 2009 ritardoStop.stop();
nerit 0:1e09cd7d66b4 2010 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 2011 zeroCycle=0;
nerit 0:1e09cd7d66b4 2012 zeroTrigger=0;
nerit 0:1e09cd7d66b4 2013 runRequestBuf=1;
nerit 0:1e09cd7d66b4 2014 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 2015 cycleStopRequest=0;
nerit 13:0ae23132a2b6 2016 SDzeroed=1;
nerit 0:1e09cd7d66b4 2017 TBzeroed=0;
nerit 0:1e09cd7d66b4 2018 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 2019 timeOutZeroSD.reset();
nerit 10:d85ed006056e 2020 DC_brake=1;
nerit 10:d85ed006056e 2021 DC_prepare();
nerit 10:d85ed006056e 2022 SDzeroed=1;
nerit 13:0ae23132a2b6 2023 noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 2024 }
nerit 0:1e09cd7d66b4 2025 }
nerit 0:1e09cd7d66b4 2026
nerit 0:1e09cd7d66b4 2027 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2028 if (enableCycle==0){
nerit 0:1e09cd7d66b4 2029 zeroTrigger=0;
nerit 0:1e09cd7d66b4 2030 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 2031 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2032 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2033 }
nerit 0:1e09cd7d66b4 2034 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 2035 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 2036 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2037 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 2038 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2039 // task di prova della scheda
nerit 0:1e09cd7d66b4 2040 //*************************************************************************************************
nerit 0:1e09cd7d66b4 2041 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 2042 clocca++;
nerit 0:1e09cd7d66b4 2043 //led = !led;
nerit 0:1e09cd7d66b4 2044 //txMsg.clear();
nerit 0:1e09cd7d66b4 2045 //txMsg << clocca;
nerit 0:1e09cd7d66b4 2046 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 2047 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 2048 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 2049 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 2050 #endif
nerit 0:1e09cd7d66b4 2051 //}
nerit 0:1e09cd7d66b4 2052 switch (clocca){
nerit 0:1e09cd7d66b4 2053 case 1:
nerit 0:1e09cd7d66b4 2054 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 2055 break;
nerit 0:1e09cd7d66b4 2056 case 2:
nerit 0:1e09cd7d66b4 2057 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2058 break;
nerit 0:1e09cd7d66b4 2059 case 3:
nerit 0:1e09cd7d66b4 2060 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 2061 break;
nerit 0:1e09cd7d66b4 2062 case 4:
nerit 0:1e09cd7d66b4 2063 break;
nerit 0:1e09cd7d66b4 2064 case 5:
nerit 0:1e09cd7d66b4 2065 SDmotorInA=1;
nerit 0:1e09cd7d66b4 2066 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2067 break;
nerit 0:1e09cd7d66b4 2068 case 6:
nerit 0:1e09cd7d66b4 2069 break;
nerit 0:1e09cd7d66b4 2070 case 7:
nerit 0:1e09cd7d66b4 2071 break;
nerit 0:1e09cd7d66b4 2072 case 8:
nerit 0:1e09cd7d66b4 2073 break;
nerit 0:1e09cd7d66b4 2074 case 9:
nerit 0:1e09cd7d66b4 2075 break;
nerit 0:1e09cd7d66b4 2076 case 10:
nerit 0:1e09cd7d66b4 2077 break;
nerit 0:1e09cd7d66b4 2078 case 11:
nerit 0:1e09cd7d66b4 2079 break;
nerit 0:1e09cd7d66b4 2080 case 12:
nerit 0:1e09cd7d66b4 2081 break;
nerit 0:1e09cd7d66b4 2082 case 13:
nerit 0:1e09cd7d66b4 2083 break;
nerit 0:1e09cd7d66b4 2084 case 14:
nerit 0:1e09cd7d66b4 2085 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2086 break;
nerit 0:1e09cd7d66b4 2087 case 15:
nerit 0:1e09cd7d66b4 2088 break;
nerit 0:1e09cd7d66b4 2089 case 16:
nerit 0:1e09cd7d66b4 2090 case 17:
nerit 0:1e09cd7d66b4 2091 break;
nerit 0:1e09cd7d66b4 2092 case 18:
nerit 0:1e09cd7d66b4 2093 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 2094 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2095 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 2096 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2097 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2098 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2099 break;
nerit 0:1e09cd7d66b4 2100 default:
nerit 0:1e09cd7d66b4 2101 clocca=0;
nerit 0:1e09cd7d66b4 2102 break;
nerit 0:1e09cd7d66b4 2103 }
nerit 0:1e09cd7d66b4 2104 wait_ms(100);
nerit 0:1e09cd7d66b4 2105 #endif // end prova scheda
nerit 0:1e09cd7d66b4 2106
nerit 0:1e09cd7d66b4 2107 #if defined(provaDC)
nerit 0:1e09cd7d66b4 2108 int rampa=1000;
nerit 0:1e09cd7d66b4 2109 int pausa=3000;
nerit 0:1e09cd7d66b4 2110 switch (clocca){
nerit 0:1e09cd7d66b4 2111 case 0:
nerit 0:1e09cd7d66b4 2112 DC_brake=0;
nerit 0:1e09cd7d66b4 2113 DC_forward=1;
nerit 0:1e09cd7d66b4 2114 duty_DC+=0.01f;
nerit 7:c9fd242538d9 2115 if (duty_DC>=1.0f){
nerit 7:c9fd242538d9 2116 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2117 clocca=1;
nerit 0:1e09cd7d66b4 2118 }
nerit 0:1e09cd7d66b4 2119 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2120 break;
nerit 0:1e09cd7d66b4 2121 case 1:
nerit 0:1e09cd7d66b4 2122 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 2123 clocca=2;
nerit 0:1e09cd7d66b4 2124 break;
nerit 0:1e09cd7d66b4 2125 case 2:
nerit 0:1e09cd7d66b4 2126 DC_brake=0;
nerit 0:1e09cd7d66b4 2127 DC_forward=1;
nerit 0:1e09cd7d66b4 2128 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2129 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2130 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2131 clocca=3;
nerit 0:1e09cd7d66b4 2132 }
nerit 0:1e09cd7d66b4 2133 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2134 break;
nerit 0:1e09cd7d66b4 2135 case 3:
nerit 0:1e09cd7d66b4 2136 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2137 clocca=4;
nerit 0:1e09cd7d66b4 2138 break;
nerit 0:1e09cd7d66b4 2139 case 4:
nerit 0:1e09cd7d66b4 2140 DC_brake=0;
nerit 0:1e09cd7d66b4 2141 DC_forward=1;
nerit 0:1e09cd7d66b4 2142 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 2143 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 2144 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2145 clocca=5;
nerit 0:1e09cd7d66b4 2146 }
nerit 0:1e09cd7d66b4 2147 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2148 break;
nerit 0:1e09cd7d66b4 2149 case 5:
nerit 0:1e09cd7d66b4 2150 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2151 clocca=6;
nerit 0:1e09cd7d66b4 2152 break;
nerit 0:1e09cd7d66b4 2153 case 6:
nerit 0:1e09cd7d66b4 2154 DC_brake=0;
nerit 0:1e09cd7d66b4 2155 DC_forward=1;
nerit 0:1e09cd7d66b4 2156 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2157 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2158 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2159 clocca=7;
nerit 0:1e09cd7d66b4 2160 }
nerit 0:1e09cd7d66b4 2161 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2162 break;
nerit 0:1e09cd7d66b4 2163 case 7:
nerit 0:1e09cd7d66b4 2164 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2165 clocca=0;
nerit 0:1e09cd7d66b4 2166 break;
nerit 0:1e09cd7d66b4 2167 default:
nerit 0:1e09cd7d66b4 2168 break;
nerit 0:1e09cd7d66b4 2169 }
nerit 0:1e09cd7d66b4 2170 if (oldDuty_DC != duty_DC){
nerit 7:c9fd242538d9 2171 SDmotorPWM.write(1.0f-duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 2172 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 2173 DC_prepare();
nerit 0:1e09cd7d66b4 2174 }
nerit 0:1e09cd7d66b4 2175 #endif
nerit 0:1e09cd7d66b4 2176 }//end in prova
nerit 0:1e09cd7d66b4 2177 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 2178 } // end while
nerit 0:1e09cd7d66b4 2179 }// end main
nerit 0:1e09cd7d66b4 2180