Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019

new

Dependencies:   mbed CANMsg

main.cpp@5:3b95bbfe2dc9, 2018-07-04 (annotated)

Committer:
nerit
Date:
Wed Jul 04 05:51:03 2018 +0000
Revision:
5:3b95bbfe2dc9
Parent:
4:d32258ec411f
Child:
6:3fca0ca1949e
Quinconce gestito con doppio sincro da master e versione installata nella macchina per Olanda a 3 elementi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 1:e88bf5011af6 1
nerit 1:e88bf5011af6 2 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 3 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 4 // FIRMWARE SEMINATRICE MODULA
nerit 0:1e09cd7d66b4 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 0:1e09cd7d66b4 6 // V4 - ATTENZIONE - LA VERSIONE V4 HA IL DRIVER STEPPER LV8727
nerit 0:1e09cd7d66b4 7 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 0:1e09cd7d66b4 8 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 0:1e09cd7d66b4 9 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 0:1e09cd7d66b4 10 // FIRST RELEASE OF BOARD DEC 2017
nerit 0:1e09cd7d66b4 11 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 0:1e09cd7d66b4 12 //
nerit 0:1e09cd7d66b4 13 // THIS RELEASE: 09 JULY 2018
nerit 0:1e09cd7d66b4 14 //
nerit 0:1e09cd7d66b4 15 // APPLICATION: MODULA CON DISTRIBUTORE ZUCCA OPPURE RISO E PUO' FUNZIONARE ANCHE CON SENSORE A 25 FORI SUL DISCO O
nerit 0:1e09cd7d66b4 16 // ENCODER MOTORE SETTANDO GLI APPOSITI FLAGS
nerit 0:1e09cd7d66b4 17 //
nerit 0:1e09cd7d66b4 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 0:1e09cd7d66b4 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 0:1e09cd7d66b4 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 0:1e09cd7d66b4 22 // ENCODER
nerit 0:1e09cd7d66b4 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 0:1e09cd7d66b4 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 0:1e09cd7d66b4 25 //
nerit 0:1e09cd7d66b4 26 /********************
nerit 0:1e09cd7d66b4 27 IL FIRMWARE SI COMPONE DI 7 FILES:
nerit 0:1e09cd7d66b4 28 - main.cpp
nerit 0:1e09cd7d66b4 29 - main.hpp
nerit 0:1e09cd7d66b4 30 - iodefinition.hpp
nerit 0:1e09cd7d66b4 31 - canbus.hpp
nerit 0:1e09cd7d66b4 32 - parameters.hpp
nerit 0:1e09cd7d66b4 33 - timeandtick.hpp
nerit 0:1e09cd7d66b4 34 - variables.hpp
nerit 0:1e09cd7d66b4 35 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU' UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 36 *********************
nerit 0:1e09cd7d66b4 37 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 0:1e09cd7d66b4 38 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 0:1e09cd7d66b4 39 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 40 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 41 *********************
nerit 0:1e09cd7d66b4 42 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 0:1e09cd7d66b4 43 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 0:1e09cd7d66b4 44 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 45 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 0:1e09cd7d66b4 46 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 47 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 48 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 49 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 0:1e09cd7d66b4 50 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 51 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 0:1e09cd7d66b4 52 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 53 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 0:1e09cd7d66b4 54 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 55 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 0:1e09cd7d66b4 56 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 0:1e09cd7d66b4 57 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 0:1e09cd7d66b4 58 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 0:1e09cd7d66b4 59 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 0:1e09cd7d66b4 60 **********************
nerit 0:1e09cd7d66b4 61 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 62 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 0:1e09cd7d66b4 63 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 0:1e09cd7d66b4 64 **********************
nerit 0:1e09cd7d66b4 65 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 66 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 0:1e09cd7d66b4 67 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 68 **********************
nerit 0:1e09cd7d66b4 69 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 70 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 73 **********************
nerit 0:1e09cd7d66b4 74 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 75 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 76 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 77 */
nerit 0:1e09cd7d66b4 78 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 79 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 80
nerit 0:1e09cd7d66b4 81 #include "main.hpp"
nerit 0:1e09cd7d66b4 82 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 83 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 84 #include "watchdog.h"
nerit 0:1e09cd7d66b4 85 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 86 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 87 #include "variables.hpp"
nerit 0:1e09cd7d66b4 88 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 89 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 90 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 91 // TASK SECTION
nerit 0:1e09cd7d66b4 92 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 93 //************************************************************************
nerit 3:c0f11ca4df02 94 //************************************************************************
nerit 0:1e09cd7d66b4 95 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 96 void sd25Fall(){
nerit 0:1e09cd7d66b4 97 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 98 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 99 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 100 metalTimer.reset();
nerit 0:1e09cd7d66b4 101 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 102 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 103 }
nerit 0:1e09cd7d66b4 104 }
nerit 5:3b95bbfe2dc9 105 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 106 void encoRise(){
nerit 5:3b95bbfe2dc9 107 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 108 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 109 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 110 metalTimer.reset();
nerit 5:3b95bbfe2dc9 111 if (encoder==true){
nerit 5:3b95bbfe2dc9 112 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 5:3b95bbfe2dc9 113 }
nerit 5:3b95bbfe2dc9 114 }
nerit 0:1e09cd7d66b4 115 //**************************************************
nerit 0:1e09cd7d66b4 116 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 117 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 118 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 119 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 120 speedTimer.reset();
nerit 0:1e09cd7d66b4 121 pulseRised=1;
nerit 0:1e09cd7d66b4 122 }
nerit 0:1e09cd7d66b4 123 //*******************************************************
nerit 0:1e09cd7d66b4 124 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 125 //*******************************************************
nerit 0:1e09cd7d66b4 126 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 127 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 128 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 129 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 130 speedTimer.reset();
nerit 0:1e09cd7d66b4 131 pulseRised=1;
nerit 0:1e09cd7d66b4 132 oldTractorSpeedRead=1;
nerit 0:1e09cd7d66b4 133 }
nerit 0:1e09cd7d66b4 134 speedFilter.reset();
nerit 0:1e09cd7d66b4 135 speedClock=1;
nerit 0:1e09cd7d66b4 136 }
nerit 0:1e09cd7d66b4 137 //*******************************************************
nerit 0:1e09cd7d66b4 138 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 139 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 140 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 141 if (enableSimula==1){
nerit 0:1e09cd7d66b4 142 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 143 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 144 }
nerit 0:1e09cd7d66b4 145 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 146 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 147 }
nerit 0:1e09cd7d66b4 148
nerit 0:1e09cd7d66b4 149 //*******************************************************
nerit 0:1e09cd7d66b4 150 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 151 //*******************************************************
nerit 0:1e09cd7d66b4 152 //*******************************************************
nerit 0:1e09cd7d66b4 153 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 154 SDactualPosition++;
nerit 0:1e09cd7d66b4 155 prePosSD++;
nerit 5:3b95bbfe2dc9 156 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 157 posForQuinc++;
nerit 5:3b95bbfe2dc9 158 #endif
nerit 0:1e09cd7d66b4 159 }
nerit 0:1e09cd7d66b4 160 //*******************************************************
nerit 0:1e09cd7d66b4 161 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 162 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 163 if (TBmotorStepOut==0){
nerit 0:1e09cd7d66b4 164 TBactualPosition++;
nerit 0:1e09cd7d66b4 165 }
nerit 0:1e09cd7d66b4 166 }
nerit 0:1e09cd7d66b4 167 //*******************************************************
nerit 0:1e09cd7d66b4 168 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 169 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 170 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 171 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 172 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 173 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 174 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 175 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 176 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 177 K_TBfrequency = (TBmotorSteps*TBreductionRatio)/240.0f;
nerit 0:1e09cd7d66b4 178 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 179 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 180 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 181 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 182 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 183 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 184 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 185 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 186 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 187 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 0:1e09cd7d66b4 188 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 189 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 190 }else{
nerit 0:1e09cd7d66b4 191 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 192 }
nerit 0:1e09cd7d66b4 193 if (anticipoMax > ((360.0f/pickNumber)-(avvioGradi+16.0f))){
nerit 0:1e09cd7d66b4 194 anticipoMax=(360.0f/pickNumber)-(avvioGradi+16.0f);
nerit 0:1e09cd7d66b4 195 }
nerit 0:1e09cd7d66b4 196 }
nerit 0:1e09cd7d66b4 197 //*******************************************************
nerit 0:1e09cd7d66b4 198 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 199 // update TB frequency
nerit 0:1e09cd7d66b4 200 double TBper=0.0f;
nerit 0:1e09cd7d66b4 201 if (aspettaStart==0){
nerit 0:1e09cd7d66b4 202 if (perio<250.0f){perio=500.0f;}
nerit 0:1e09cd7d66b4 203 double scala =0.0f;
nerit 0:1e09cd7d66b4 204 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 205 scala =2.0f;
nerit 0:1e09cd7d66b4 206 }else{
nerit 0:1e09cd7d66b4 207 scala =1.8f;
nerit 0:1e09cd7d66b4 208 }
nerit 0:1e09cd7d66b4 209 TBper=perio/scala;
nerit 0:1e09cd7d66b4 210 if (oldPeriodoTB!=TBper){
nerit 0:1e09cd7d66b4 211 if (TBper >= 250.0f){
nerit 0:1e09cd7d66b4 212 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 213 }else{
nerit 0:1e09cd7d66b4 214 TBticker.detach();
nerit 0:1e09cd7d66b4 215 }
nerit 0:1e09cd7d66b4 216 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 217 }
nerit 0:1e09cd7d66b4 218 }
nerit 0:1e09cd7d66b4 219 }
nerit 0:1e09cd7d66b4 220 //*******************************************************
nerit 0:1e09cd7d66b4 221 void seedCorrect(){
nerit 0:1e09cd7d66b4 222 /*
nerit 0:1e09cd7d66b4 223 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 224 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 225 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 226 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 227 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 228 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 229 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 230 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 231 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 232 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 233 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 234 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 235 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 236 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 237 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 238 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 239 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 240
nerit 0:1e09cd7d66b4 241 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 242 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 243 */
nerit 0:1e09cd7d66b4 244 /*
nerit 0:1e09cd7d66b4 245 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 246 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 247 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 248 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 249 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 250 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 251 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 252 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 253 anticipoMax = valore in gradi del massimo anticipo proporzionale alla velocità della ruota di semina
nerit 0:1e09cd7d66b4 254 */
nerit 0:1e09cd7d66b4 255
nerit 0:1e09cd7d66b4 256 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 257 if (inhibit==0){
nerit 0:1e09cd7d66b4 258 double posError =0.0f;
nerit 0:1e09cd7d66b4 259 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 260 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 261 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 262 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 263 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 264 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 265 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 266 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 267 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 268 }
nerit 0:1e09cd7d66b4 269 }
nerit 0:1e09cd7d66b4 270 }
nerit 4:d32258ec411f 271 }
nerit 4:d32258ec411f 272 }
nerit 4:d32258ec411f 273 //*******************************************************
nerit 4:d32258ec411f 274 void videoUpdate(){
nerit 4:d32258ec411f 275 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 276 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 277 totalSpeed=0.0f;
nerit 4:d32258ec411f 278 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 279 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 280 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 281 #if defined(SDreset)
nerit 0:1e09cd7d66b4 282 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 283 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 284 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 285 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 286 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 287 #endif
nerit 0:1e09cd7d66b4 288 #endif
nerit 0:1e09cd7d66b4 289 }
nerit 0:1e09cd7d66b4 290 //*******************************************************
nerit 0:1e09cd7d66b4 291 void ciclaTB(){
nerit 0:1e09cd7d66b4 292 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 293 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 294 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 295 startCicloTB=0;
nerit 0:1e09cd7d66b4 296 }
nerit 0:1e09cd7d66b4 297 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 298 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 299 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 300 stopCicloTB=0;
nerit 0:1e09cd7d66b4 301 }
nerit 0:1e09cd7d66b4 302 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 303 TBticker.detach();
nerit 0:1e09cd7d66b4 304 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 305 stopCicloTB=0;
nerit 0:1e09cd7d66b4 306 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 307 loadDaCan=0;
nerit 0:1e09cd7d66b4 308 }
nerit 0:1e09cd7d66b4 309 }
nerit 0:1e09cd7d66b4 310 //*******************************************************
nerit 0:1e09cd7d66b4 311 void allarmi(){
nerit 0:1e09cd7d66b4 312 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 313 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 314 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 315
nerit 0:1e09cd7d66b4 316 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 317 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 318 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 319 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 320 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 321 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 322 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 0:1e09cd7d66b4 323 //alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 0:1e09cd7d66b4 324
nerit 0:1e09cd7d66b4 325 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 326 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 327 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 328 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 329 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 330 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 331 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 332 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 333 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 334 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 335 }
nerit 0:1e09cd7d66b4 336
nerit 0:1e09cd7d66b4 337 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 338 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 339 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 340 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 341 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 342 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 343 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 344 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 345 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 346 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 347 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 348 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 349 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 350 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 351 #endif
nerit 0:1e09cd7d66b4 352 #endif
nerit 0:1e09cd7d66b4 353 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 354 all_pickSignal=0;
nerit 0:1e09cd7d66b4 355 all_cellSignal=0;
nerit 0:1e09cd7d66b4 356 all_lowBattery=0;
nerit 0:1e09cd7d66b4 357 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 358 all_stopSistem=0;
nerit 0:1e09cd7d66b4 359 all_upElements=0;
nerit 0:1e09cd7d66b4 360 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 361 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 362 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 363 all_noStepRota=0;
nerit 0:1e09cd7d66b4 364 all_speedError=0;
nerit 0:1e09cd7d66b4 365 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 366 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 367 all_genericals=0;
nerit 0:1e09cd7d66b4 368 }
nerit 0:1e09cd7d66b4 369 //*******************************************************
nerit 0:1e09cd7d66b4 370 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 371 void upDateSincro(){
nerit 0:1e09cd7d66b4 372 char val1[8]={0,0,0,0,0,0,0,0};
nerit 5:3b95bbfe2dc9 373 val1[0]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 5:3b95bbfe2dc9 374 val1[1]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 375 val1[2]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 376 val1[3]=posForQuinc & 0x000000FF;
nerit 5:3b95bbfe2dc9 377 double pass = tractorSpeed_MtS_timed*100.0f;
nerit 5:3b95bbfe2dc9 378 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 379 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 380 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 381 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 382 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 383 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 384 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 385 checkState=0;
nerit 0:1e09cd7d66b4 386 }
nerit 0:1e09cd7d66b4 387 #endif
nerit 0:1e09cd7d66b4 388 #endif
nerit 0:1e09cd7d66b4 389 }
nerit 0:1e09cd7d66b4 390 #endif
nerit 0:1e09cd7d66b4 391 //*******************************************************
nerit 0:1e09cd7d66b4 392 void upDateSpeed(){
nerit 0:1e09cd7d66b4 393 /*
nerit 0:1e09cd7d66b4 394 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 395 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 396 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 397 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 398 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 399 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 400 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 401 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 402 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 403 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 404 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 405 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 406 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 407 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 408 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 409 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 410 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 411 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 412 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 413 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 414 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 415 bit 1= sensore celle
nerit 0:1e09cd7d66b4 416 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 417 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 418 bit 4= motore DC
nerit 0:1e09cd7d66b4 419 bit 5= controller
nerit 0:1e09cd7d66b4 420 bit 6= motore stepper
nerit 0:1e09cd7d66b4 421 */
nerit 0:1e09cd7d66b4 422 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 423
nerit 0:1e09cd7d66b4 424 val1[3]=0;
nerit 0:1e09cd7d66b4 425 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 426 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 0:1e09cd7d66b4 427 val1[3]=val1[3]+(ElementPosition*0x04);
nerit 3:c0f11ca4df02 428 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 429 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 430 if (buttonUser==0){
nerit 0:1e09cd7d66b4 431 val1[1]=0x02;
nerit 0:1e09cd7d66b4 432 }else{
nerit 0:1e09cd7d66b4 433 val1[1]=0x00;
nerit 0:1e09cd7d66b4 434 }
nerit 0:1e09cd7d66b4 435 val1[3]=valore;
nerit 0:1e09cd7d66b4 436 valore+=1;
nerit 0:1e09cd7d66b4 437 if(valore>50){
nerit 0:1e09cd7d66b4 438 valore=0;
nerit 0:1e09cd7d66b4 439 }
nerit 0:1e09cd7d66b4 440 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 441 #endif
nerit 0:1e09cd7d66b4 442 allarmi();
nerit 0:1e09cd7d66b4 443 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 444 val1[0]=valore;
nerit 0:1e09cd7d66b4 445 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 446 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 447 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 448 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 449 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 450 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 451 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 452 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 453 checkState=0;
nerit 0:1e09cd7d66b4 454 }
nerit 0:1e09cd7d66b4 455 #endif
nerit 0:1e09cd7d66b4 456 }
nerit 0:1e09cd7d66b4 457 //*******************************************************
nerit 0:1e09cd7d66b4 458 void leggiCAN(){
nerit 0:1e09cd7d66b4 459 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 460 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 461 if (firstStart==1){
nerit 0:1e09cd7d66b4 462 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 463 sincUpdate.attach(&upDateSincro,0.009f);
nerit 0:1e09cd7d66b4 464 #endif
nerit 5:3b95bbfe2dc9 465 canUpdate.attach(&upDateSpeed,0.21f);
nerit 0:1e09cd7d66b4 466 firstStart=0;
nerit 0:1e09cd7d66b4 467 }
nerit 0:1e09cd7d66b4 468
nerit 0:1e09cd7d66b4 469 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 470 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 471 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 472 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 473 #endif
nerit 0:1e09cd7d66b4 474 #endif
nerit 0:1e09cd7d66b4 475 }
nerit 0:1e09cd7d66b4 476 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 477 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 478 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 479 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 480 #endif
nerit 0:1e09cd7d66b4 481 #endif
nerit 0:1e09cd7d66b4 482 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 483 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 484 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 485 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 486 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 487 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 488 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 489 pc.printf("Comandi: %x\n",comandiDaCan);
nerit 0:1e09cd7d66b4 490 #endif
nerit 0:1e09cd7d66b4 491 #endif
nerit 0:1e09cd7d66b4 492 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 493 case 1:
nerit 0:1e09cd7d66b4 494 case 3:
nerit 0:1e09cd7d66b4 495 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 496 resetComandi=0x01;
nerit 0:1e09cd7d66b4 497 comandiDaCan=0;
nerit 0:1e09cd7d66b4 498 break;
nerit 0:1e09cd7d66b4 499 case 2:
nerit 0:1e09cd7d66b4 500 loadDaCan=1;
nerit 0:1e09cd7d66b4 501 resetComandi=0x02;
nerit 0:1e09cd7d66b4 502 comandiDaCan=0;
nerit 0:1e09cd7d66b4 503 break;
nerit 0:1e09cd7d66b4 504 default:
nerit 0:1e09cd7d66b4 505 comandiDaCan=0;
nerit 0:1e09cd7d66b4 506 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 507 break;
nerit 0:1e09cd7d66b4 508 }
nerit 0:1e09cd7d66b4 509 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 510 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 511 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 512 #endif
nerit 0:1e09cd7d66b4 513 #endif
nerit 0:1e09cd7d66b4 514 if (speedSimula>45){
nerit 0:1e09cd7d66b4 515 speedSimula=45;
nerit 0:1e09cd7d66b4 516 }
nerit 0:1e09cd7d66b4 517 // modulo 1
nerit 0:1e09cd7d66b4 518 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 519 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 520 simOk=1;
nerit 0:1e09cd7d66b4 521 }else{
nerit 0:1e09cd7d66b4 522 simOk=0;
nerit 0:1e09cd7d66b4 523 }
nerit 0:1e09cd7d66b4 524 }
nerit 0:1e09cd7d66b4 525 // modulo 2
nerit 0:1e09cd7d66b4 526 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 527 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 528 simOk=1;
nerit 0:1e09cd7d66b4 529 }else{
nerit 0:1e09cd7d66b4 530 simOk=0;
nerit 0:1e09cd7d66b4 531 }
nerit 0:1e09cd7d66b4 532 }
nerit 0:1e09cd7d66b4 533 // modulo 3
nerit 0:1e09cd7d66b4 534 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 535 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 536 simOk=1;
nerit 0:1e09cd7d66b4 537 }else{
nerit 0:1e09cd7d66b4 538 simOk=0;
nerit 0:1e09cd7d66b4 539 }
nerit 0:1e09cd7d66b4 540 }
nerit 0:1e09cd7d66b4 541 // modulo 4
nerit 0:1e09cd7d66b4 542 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 543 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 544 simOk=1;
nerit 0:1e09cd7d66b4 545 }else{
nerit 0:1e09cd7d66b4 546 simOk=0;
nerit 0:1e09cd7d66b4 547 }
nerit 0:1e09cd7d66b4 548 }
nerit 0:1e09cd7d66b4 549 // modulo 5
nerit 0:1e09cd7d66b4 550 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 551 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 552 simOk=1;
nerit 0:1e09cd7d66b4 553 }else{
nerit 0:1e09cd7d66b4 554 simOk=0;
nerit 0:1e09cd7d66b4 555 }
nerit 0:1e09cd7d66b4 556 }
nerit 0:1e09cd7d66b4 557
nerit 0:1e09cd7d66b4 558 }
nerit 0:1e09cd7d66b4 559 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 560 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 561 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 562 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 563 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 564 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 565 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 566 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 567 aggiornaParametri();
nerit 0:1e09cd7d66b4 568 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 569 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 570 pc.printf("Seed wheel diameter %f \n",seedWheelDiameter);
nerit 0:1e09cd7d66b4 571 pc.printf("Speed wheel diameter %f \n",speedWheelDiameter);
nerit 0:1e09cd7d66b4 572 #endif
nerit 0:1e09cd7d66b4 573 #endif
nerit 0:1e09cd7d66b4 574 }
nerit 0:1e09cd7d66b4 575 }
nerit 0:1e09cd7d66b4 576 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 577 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 578 #if defined(M1)
nerit 0:1e09cd7d66b4 579 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 580 aggiornaParametri();
nerit 0:1e09cd7d66b4 581 #endif
nerit 0:1e09cd7d66b4 582 #if defined(M2)
nerit 0:1e09cd7d66b4 583 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 584 aggiornaParametri();
nerit 0:1e09cd7d66b4 585 #endif
nerit 0:1e09cd7d66b4 586 #if defined(M3)
nerit 0:1e09cd7d66b4 587 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 588 aggiornaParametri();
nerit 0:1e09cd7d66b4 589 #endif
nerit 0:1e09cd7d66b4 590 #if defined(M4)
nerit 0:1e09cd7d66b4 591 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 592 aggiornaParametri();
nerit 0:1e09cd7d66b4 593 #endif
nerit 0:1e09cd7d66b4 594 #if defined(M5)
nerit 0:1e09cd7d66b4 595 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 596 aggiornaParametri();
nerit 0:1e09cd7d66b4 597 #endif
nerit 0:1e09cd7d66b4 598 #if defined(M6)
nerit 0:1e09cd7d66b4 599 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 600 aggiornaParametri();
nerit 0:1e09cd7d66b4 601 #endif
nerit 0:1e09cd7d66b4 602 }
nerit 0:1e09cd7d66b4 603 }
nerit 0:1e09cd7d66b4 604 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 605 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 606 #if defined(M1)
nerit 0:1e09cd7d66b4 607 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 608 aggiornaParametri();
nerit 0:1e09cd7d66b4 609 #endif
nerit 0:1e09cd7d66b4 610 #if defined(M2)
nerit 0:1e09cd7d66b4 611 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 612 aggiornaParametri();
nerit 0:1e09cd7d66b4 613 #endif
nerit 0:1e09cd7d66b4 614 #if defined(M3)
nerit 0:1e09cd7d66b4 615 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 616 aggiornaParametri();
nerit 0:1e09cd7d66b4 617 #endif
nerit 0:1e09cd7d66b4 618 #if defined(M4)
nerit 0:1e09cd7d66b4 619 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 620 aggiornaParametri();
nerit 0:1e09cd7d66b4 621 #endif
nerit 0:1e09cd7d66b4 622 #if defined(M5)
nerit 0:1e09cd7d66b4 623 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 624 aggiornaParametri();
nerit 0:1e09cd7d66b4 625 #endif
nerit 0:1e09cd7d66b4 626 #if defined(M6)
nerit 0:1e09cd7d66b4 627 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 628 aggiornaParametri();
nerit 0:1e09cd7d66b4 629 #endif
nerit 0:1e09cd7d66b4 630 }
nerit 0:1e09cd7d66b4 631 }
nerit 0:1e09cd7d66b4 632 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 633 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 634 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 635 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 636 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 637 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 638 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 639 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 640 aggiornaParametri();
nerit 0:1e09cd7d66b4 641 }
nerit 0:1e09cd7d66b4 642 }
nerit 0:1e09cd7d66b4 643 if (rxMsg.id==RX_QuincSinc){
nerit 0:1e09cd7d66b4 644 masterSinc = (uint32_t) rxMsg.data[0] * 0x00FF0000;
nerit 0:1e09cd7d66b4 645 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x0000FF00);
nerit 0:1e09cd7d66b4 646 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x000000FF);
nerit 0:1e09cd7d66b4 647 masterSinc = masterSinc + ((uint32_t) rxMsg.data[3]);
nerit 5:3b95bbfe2dc9 648 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 649 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 650 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 651 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 652 canDataCheck=1;
nerit 0:1e09cd7d66b4 653 }
nerit 0:1e09cd7d66b4 654 }
nerit 0:1e09cd7d66b4 655 #endif
nerit 0:1e09cd7d66b4 656 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 657 enableSimula=1;
nerit 0:1e09cd7d66b4 658 speedSimula=25;
nerit 0:1e09cd7d66b4 659 avviaSimula=1;
nerit 0:1e09cd7d66b4 660 simOk=1;
nerit 0:1e09cd7d66b4 661 #endif
nerit 0:1e09cd7d66b4 662
nerit 0:1e09cd7d66b4 663 }
nerit 0:1e09cd7d66b4 664
nerit 0:1e09cd7d66b4 665 //*******************************************************
nerit 0:1e09cd7d66b4 666 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 667
nerit 0:1e09cd7d66b4 668 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 669 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 670
nerit 0:1e09cd7d66b4 671 //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 672 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 673 // Analog reading
nerit 0:1e09cd7d66b4 674 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 675 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 676 timeout.detach();
nerit 0:1e09cd7d66b4 677 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 678 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 679 }
nerit 0:1e09cd7d66b4 680 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 681 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 682 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 683 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 684 }
nerit 0:1e09cd7d66b4 685 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 686 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 687 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 688 }
nerit 0:1e09cd7d66b4 689 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 690 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 691 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 692 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 693 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 694 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 695 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 696 #endif
nerit 0:1e09cd7d66b4 697 #endif
nerit 0:1e09cd7d66b4 698 reduceCurrent=false;
nerit 0:1e09cd7d66b4 699 incrementCurrent=false;
nerit 0:1e09cd7d66b4 700 /*
nerit 0:1e09cd7d66b4 701 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 702 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 703 all_lowBattery=1;
nerit 0:1e09cd7d66b4 704 #endif
nerit 0:1e09cd7d66b4 705 incrementCurrent=true;
nerit 0:1e09cd7d66b4 706 }
nerit 0:1e09cd7d66b4 707 */
nerit 4:d32258ec411f 708 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 709 timeCurr.start();
nerit 4:d32258ec411f 710 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 711 #if defined(canbusActive)
nerit 4:d32258ec411f 712 all_overCurrDC=1;
nerit 4:d32258ec411f 713 #endif
nerit 4:d32258ec411f 714 reduceCurrent=true;
nerit 4:d32258ec411f 715 timeCurr.reset();
nerit 4:d32258ec411f 716 }
nerit 4:d32258ec411f 717 }else{
nerit 4:d32258ec411f 718 timeCurr.stop();
nerit 0:1e09cd7d66b4 719 }
nerit 0:1e09cd7d66b4 720 //}
nerit 0:1e09cd7d66b4 721 }
nerit 0:1e09cd7d66b4 722 //*******************************************************
nerit 0:1e09cd7d66b4 723 void DC_prepare(){
nerit 0:1e09cd7d66b4 724 // direction or brake preparation
nerit 0:1e09cd7d66b4 725 if (DC_brake==1){SDmotorInA=1;SDmotorInB=1;}else{if (DC_forward==1){SDmotorInA=1;SDmotorInB=0;}else{SDmotorInA=0;SDmotorInB=1;}}
nerit 0:1e09cd7d66b4 726 // fault reading
nerit 0:1e09cd7d66b4 727 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 728 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 729 }
nerit 0:1e09cd7d66b4 730 //*******************************************************
nerit 0:1e09cd7d66b4 731 void startDelay(){
nerit 0:1e09cd7d66b4 732 int ritardo =0;
nerit 0:1e09cd7d66b4 733 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 734 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 735 }
nerit 0:1e09cd7d66b4 736 //*******************************************************
nerit 4:d32258ec411f 737 void quincTrigon(){
nerit 4:d32258ec411f 738 quincClock=true;
nerit 4:d32258ec411f 739 }
nerit 4:d32258ec411f 740 void quincTrigof(){
nerit 4:d32258ec411f 741 quincClock=false;
nerit 0:1e09cd7d66b4 742 }
nerit 0:1e09cd7d66b4 743 //*******************************************************
nerit 2:d9c7430ae953 744 void quinCalc(){
nerit 0:1e09cd7d66b4 745 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 746 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 747 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 748 oldQuincIn=1;
nerit 0:1e09cd7d66b4 749 if (quincStart==0){
nerit 5:3b95bbfe2dc9 750 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 751 quincTime.reset();
nerit 0:1e09cd7d66b4 752 quincStart=1;
nerit 0:1e09cd7d66b4 753 }
nerit 0:1e09cd7d66b4 754 }
nerit 2:d9c7430ae953 755 if(quincClock==false){
nerit 0:1e09cd7d66b4 756 oldQuincIn=0;
nerit 0:1e09cd7d66b4 757 }
nerit 2:d9c7430ae953 758 #else
nerit 2:d9c7430ae953 759 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 760 oldQuincIn=1;
nerit 0:1e09cd7d66b4 761 if (quincStart==0){
nerit 5:3b95bbfe2dc9 762 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 763 quincTime.reset();
nerit 0:1e09cd7d66b4 764 quincStart=1;
nerit 0:1e09cd7d66b4 765 }
nerit 0:1e09cd7d66b4 766 }
nerit 4:d32258ec411f 767 if (quinconceActive==0){
nerit 4:d32258ec411f 768 if (quincClock==false){
nerit 4:d32258ec411f 769 oldQuincIn=0;
nerit 4:d32258ec411f 770 }
nerit 4:d32258ec411f 771 }else{
nerit 4:d32258ec411f 772 if (quincClock==true){
nerit 4:d32258ec411f 773 oldQuincIn=0;
nerit 4:d32258ec411f 774 }
nerit 0:1e09cd7d66b4 775 }
nerit 2:d9c7430ae953 776 #endif
nerit 5:3b95bbfe2dc9 777 //****************************************************************************************
nerit 5:3b95bbfe2dc9 778 if (quincCnt>=6){
nerit 5:3b95bbfe2dc9 779 if (countPicks==0){
nerit 5:3b95bbfe2dc9 780 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 781 // decelera
nerit 5:3b95bbfe2dc9 782 countPicks=1;
nerit 4:d32258ec411f 783 }
nerit 5:3b95bbfe2dc9 784 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 785 // accelera
nerit 5:3b95bbfe2dc9 786 countPicks=2;
nerit 4:d32258ec411f 787 }
nerit 4:d32258ec411f 788 }
nerit 5:3b95bbfe2dc9 789
nerit 5:3b95bbfe2dc9 790 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 791 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 792 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 793 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 794 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 5:3b95bbfe2dc9 795 percento -= ((double)quincPIDminus/1000.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 796 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 797 #if defined(laq)
nerit 5:3b95bbfe2dc9 798 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 799 #endif
nerit 5:3b95bbfe2dc9 800 #endif
nerit 5:3b95bbfe2dc9 801 }
nerit 5:3b95bbfe2dc9 802 if (scostamento <10.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 803 }
nerit 5:3b95bbfe2dc9 804 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 805 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 806 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 807 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 5:3b95bbfe2dc9 808 percento += ((double)quincPIDplus/1000.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 809 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 810 #if defined(laq)
nerit 5:3b95bbfe2dc9 811 pc.printf(
nerit 5:3b95bbfe2dc9 812 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 813 #endif
nerit 5:3b95bbfe2dc9 814 #endif
nerit 5:3b95bbfe2dc9 815 }
nerit 5:3b95bbfe2dc9 816 if (scostamento <10.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 817 }
nerit 5:3b95bbfe2dc9 818 sincroQui=0;
nerit 5:3b95bbfe2dc9 819 quincStart=0;
nerit 5:3b95bbfe2dc9 820 countPicks=0;
nerit 5:3b95bbfe2dc9 821 }
nerit 5:3b95bbfe2dc9 822
nerit 5:3b95bbfe2dc9 823 //*******************************************************************
nerit 5:3b95bbfe2dc9 824 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 825 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 826 canDataCheck=0;
nerit 5:3b95bbfe2dc9 827 double parametro = SDsectorStep/5.0f;
nerit 5:3b95bbfe2dc9 828 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 829 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 830 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 831 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 832 }else{
nerit 5:3b95bbfe2dc9 833 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 834 }
nerit 5:3b95bbfe2dc9 835 #else
nerit 5:3b95bbfe2dc9 836 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 837 #endif
nerit 5:3b95bbfe2dc9 838 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 839 double diffPerc = differenza / parametro;
nerit 5:3b95bbfe2dc9 840 percento += ((double)quincPIDplus/1000.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 841 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 842 #if defined(quinca)
nerit 5:3b95bbfe2dc9 843 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 844 #endif
nerit 5:3b95bbfe2dc9 845 #endif
nerit 5:3b95bbfe2dc9 846 }
nerit 5:3b95bbfe2dc9 847 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 848 double diffPerc = (double)differenza / parametro;
nerit 5:3b95bbfe2dc9 849 percento -= ((double)quincPIDminus/1000.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 850 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 851 #if defined(quinca)
nerit 5:3b95bbfe2dc9 852 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 853 #endif
nerit 5:3b95bbfe2dc9 854 #endif
nerit 5:3b95bbfe2dc9 855 }
nerit 5:3b95bbfe2dc9 856 }
nerit 5:3b95bbfe2dc9 857 }
nerit 5:3b95bbfe2dc9 858
nerit 5:3b95bbfe2dc9 859 }
nerit 5:3b95bbfe2dc9 860 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 861 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 862 }
nerit 5:3b95bbfe2dc9 863 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 864 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 865 }
nerit 0:1e09cd7d66b4 866 }
nerit 0:1e09cd7d66b4 867 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 868 // MAIN SECTION
nerit 3:c0f11ca4df02 869 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 870
nerit 0:1e09cd7d66b4 871 int main()
nerit 0:1e09cd7d66b4 872 {
nerit 5:3b95bbfe2dc9 873 //wait(1.0f);
nerit 0:1e09cd7d66b4 874 wd.Configure(2); //watchdog set at xx seconds
nerit 0:1e09cd7d66b4 875
nerit 0:1e09cd7d66b4 876 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 877 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 878 }
nerit 0:1e09cd7d66b4 879
nerit 0:1e09cd7d66b4 880 // Stepper driver init and set
nerit 0:1e09cd7d66b4 881 TBmotorRst=0; // reset stepper driver
nerit 0:1e09cd7d66b4 882 TBmotorDirecti=0; // reset stepper direction
nerit 0:1e09cd7d66b4 883 // M1 M2 M3 RESOLUTION
nerit 0:1e09cd7d66b4 884 // 0 0 0 1/2
nerit 0:1e09cd7d66b4 885 // 1 0 0 1/8
nerit 0:1e09cd7d66b4 886 // 0 1 0 1/16
nerit 0:1e09cd7d66b4 887 // 1 1 0 1/32
nerit 0:1e09cd7d66b4 888 // 0 0 1 1/64
nerit 0:1e09cd7d66b4 889 // 1 0 1 1/128
nerit 0:1e09cd7d66b4 890 // 0 1 1 1/10
nerit 0:1e09cd7d66b4 891 // 1 1 1 1/20
nerit 0:1e09cd7d66b4 892 if (TBmotorSteps==400){
nerit 0:1e09cd7d66b4 893 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 894 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 895 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 896 }else if (TBmotorSteps==1600){
nerit 0:1e09cd7d66b4 897 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 898 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 899 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 900 }else if (TBmotorSteps==3200){
nerit 0:1e09cd7d66b4 901 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 902 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 903 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 904 }else if (TBmotorSteps==6400){
nerit 0:1e09cd7d66b4 905 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 906 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 907 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 908 }else if (TBmotorSteps==12800){
nerit 0:1e09cd7d66b4 909 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 910 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 911 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 912 }else if (TBmotorSteps==25600){
nerit 0:1e09cd7d66b4 913 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 914 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 915 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 916 }else if (TBmotorSteps==2000){
nerit 0:1e09cd7d66b4 917 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 918 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 919 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 920 }else if (TBmotorSteps==4000){
nerit 0:1e09cd7d66b4 921 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 922 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 923 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 924 }
nerit 0:1e09cd7d66b4 925 TBmotorRst=1;
nerit 0:1e09cd7d66b4 926
nerit 0:1e09cd7d66b4 927 // DC reset ad set
nerit 0:1e09cd7d66b4 928 int decima = 100;
nerit 0:1e09cd7d66b4 929 wait_ms(200);
nerit 0:1e09cd7d66b4 930 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 931 wait_ms(2);
nerit 0:1e09cd7d66b4 932 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 933 wait_ms(1);
nerit 0:1e09cd7d66b4 934 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 935 wait_ms(3);
nerit 0:1e09cd7d66b4 936 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 937 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 938 wait_ms(100);
nerit 0:1e09cd7d66b4 939 DC_prepare();
nerit 0:1e09cd7d66b4 940
nerit 0:1e09cd7d66b4 941 speedTimer.start(); // speed pulse timer
nerit 5:3b95bbfe2dc9 942 if (encoder==true){
nerit 5:3b95bbfe2dc9 943 intraEncoTimer.start();
nerit 5:3b95bbfe2dc9 944 }
nerit 0:1e09cd7d66b4 945 intraPickTimer.start();
nerit 0:1e09cd7d66b4 946 speedTimeOut.start();
nerit 0:1e09cd7d66b4 947 speedFilter.start();
nerit 0:1e09cd7d66b4 948 seedFilter.start();
nerit 0:1e09cd7d66b4 949 TBfilter.start();
nerit 0:1e09cd7d66b4 950 sincroTimer.start();
nerit 0:1e09cd7d66b4 951 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 952 metalTimer.start();
nerit 0:1e09cd7d66b4 953 quincTime.start();
nerit 1:e88bf5011af6 954 quincTimeSD.start();
nerit 0:1e09cd7d66b4 955
nerit 0:1e09cd7d66b4 956 //*******************************************************
nerit 0:1e09cd7d66b4 957 // controls for check DC motor current
nerit 0:1e09cd7d66b4 958 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 959
nerit 0:1e09cd7d66b4 960 if (inProva==0){
nerit 0:1e09cd7d66b4 961 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 962 #if !defined(speedMaster)
nerit 4:d32258ec411f 963 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 964 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 965 #endif
nerit 5:3b95bbfe2dc9 966 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 967 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 968 #endif
nerit 0:1e09cd7d66b4 969 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 5:3b95bbfe2dc9 970 if ((speedFromPick==0)&&(encoder==false)){
nerit 0:1e09cd7d66b4 971 ElementPosition.rise(&sd25Fall);
nerit 0:1e09cd7d66b4 972 }
nerit 5:3b95bbfe2dc9 973 if (encoder==true){
nerit 5:3b95bbfe2dc9 974 ElementPosition.rise(&encoRise);
nerit 5:3b95bbfe2dc9 975 //ElementPosition.fall(&encoRise);
nerit 5:3b95bbfe2dc9 976 }
nerit 0:1e09cd7d66b4 977 }else{
nerit 0:1e09cd7d66b4 978 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 979 }
nerit 0:1e09cd7d66b4 980
nerit 0:1e09cd7d66b4 981 aggiornaParametri();
nerit 0:1e09cd7d66b4 982
nerit 0:1e09cd7d66b4 983 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 0:1e09cd7d66b4 984 SDmotorPWM.write(0.0f); // duty cycle = stop
nerit 0:1e09cd7d66b4 985 TBmotorDirecti=0; // tb motor direction set
nerit 0:1e09cd7d66b4 986
nerit 0:1e09cd7d66b4 987 #if defined(provaStepper)
nerit 0:1e09cd7d66b4 988 TBmotorRst=1;
nerit 0:1e09cd7d66b4 989 TBticker.attach_us(&step_TBPulseOut,3000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 990 #endif // end prova stepper
nerit 0:1e09cd7d66b4 991
nerit 0:1e09cd7d66b4 992 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 993 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 994 #endif
nerit 0:1e09cd7d66b4 995
nerit 0:1e09cd7d66b4 996 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 997 // MAIN LOOP
nerit 0:1e09cd7d66b4 998 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 999 while (true){
nerit 0:1e09cd7d66b4 1000 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1001 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1002
nerit 0:1e09cd7d66b4 1003 // inversione segnali ingressi
nerit 4:d32258ec411f 1004 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1005 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1006 #else
nerit 4:d32258ec411f 1007 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1008 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1009 }
nerit 4:d32258ec411f 1010 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1011 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1012 }
nerit 4:d32258ec411f 1013 #endif
nerit 0:1e09cd7d66b4 1014 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1015
nerit 0:1e09cd7d66b4 1016 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1017 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1018 if (seedWheelZeroPinInput==1){
nerit 0:1e09cd7d66b4 1019 quinconceOut=1;
nerit 0:1e09cd7d66b4 1020 }
nerit 5:3b95bbfe2dc9 1021 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 0:1e09cd7d66b4 1022 quinconceOut=0;
nerit 5:3b95bbfe2dc9 1023 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 1024 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1025 }
nerit 0:1e09cd7d66b4 1026 }
nerit 0:1e09cd7d66b4 1027 #endif
nerit 0:1e09cd7d66b4 1028
nerit 0:1e09cd7d66b4 1029 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1030 leggiCAN();
nerit 0:1e09cd7d66b4 1031 #endif
nerit 0:1e09cd7d66b4 1032
nerit 0:1e09cd7d66b4 1033 // simulazione velocita
nerit 0:1e09cd7d66b4 1034 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1035 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1036 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1037 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1038 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1039 }else{
nerit 0:1e09cd7d66b4 1040 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1041 }
nerit 0:1e09cd7d66b4 1042 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1043 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 0:1e09cd7d66b4 1044 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1045 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1046 }
nerit 0:1e09cd7d66b4 1047 }else{
nerit 0:1e09cd7d66b4 1048 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1049 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1050 }
nerit 0:1e09cd7d66b4 1051 }else{
nerit 0:1e09cd7d66b4 1052 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1053 }
nerit 0:1e09cd7d66b4 1054
nerit 0:1e09cd7d66b4 1055 //*******************************************************
nerit 0:1e09cd7d66b4 1056 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1057 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1058 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1059 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1060 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1061 }
nerit 0:1e09cd7d66b4 1062 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1063 }else{
nerit 0:1e09cd7d66b4 1064 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1065 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1066 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1067 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1068 }
nerit 0:1e09cd7d66b4 1069 }
nerit 0:1e09cd7d66b4 1070
nerit 0:1e09cd7d66b4 1071 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1072 lowSpeed=1;
nerit 0:1e09cd7d66b4 1073 }else{
nerit 0:1e09cd7d66b4 1074 lowSpeed=0;
nerit 0:1e09cd7d66b4 1075 }
nerit 0:1e09cd7d66b4 1076
nerit 0:1e09cd7d66b4 1077
nerit 0:1e09cd7d66b4 1078 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1079 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1080 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1081 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1082 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1083
nerit 0:1e09cd7d66b4 1084 if (inProva==0){
nerit 0:1e09cd7d66b4 1085 if ((startCycleSimulation==0)&&(enableSimula==0)){zeroRequestBuf=1;runRequestBuf=0;enableCycle=1;
nerit 0:1e09cd7d66b4 1086 }else{zeroRequestBuf=1;runRequestBuf=0;enableCycle=1;}
nerit 0:1e09cd7d66b4 1087 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){oldTractorSpeedRead=0;}
nerit 0:1e09cd7d66b4 1088 // ----------------------------------------
nerit 0:1e09cd7d66b4 1089 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1090 // ----------------------------------------
nerit 4:d32258ec411f 1091 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1092 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1093 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1094 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1095 }
nerit 0:1e09cd7d66b4 1096 }
nerit 0:1e09cd7d66b4 1097 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1098 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1099 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1100 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1101 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1102 seedFilter.reset();
nerit 0:1e09cd7d66b4 1103 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1104 oldSeedWheelZeroPinInput=1;
nerit 1:e88bf5011af6 1105 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1106 SDzeroDebounced=1;
nerit 4:d32258ec411f 1107 sincroQui=1;
nerit 0:1e09cd7d66b4 1108 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1109 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1110 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1111 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1112 }
nerit 5:3b95bbfe2dc9 1113 #endif
nerit 0:1e09cd7d66b4 1114 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1115 quincCnt++;
nerit 0:1e09cd7d66b4 1116 }
nerit 0:1e09cd7d66b4 1117 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1118 beccoPronto=1;
nerit 0:1e09cd7d66b4 1119 }
nerit 0:1e09cd7d66b4 1120 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1121 lockStart=0;
nerit 0:1e09cd7d66b4 1122 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1123 forzaFase=0;
nerit 0:1e09cd7d66b4 1124 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1125 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1126 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1127 }else{
nerit 0:1e09cd7d66b4 1128 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1129 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1130 }else{
nerit 0:1e09cd7d66b4 1131 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/1.25f)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1132 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/1.25f)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1133 }
nerit 0:1e09cd7d66b4 1134 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1135 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 1136 //forzaFase=1;
nerit 0:1e09cd7d66b4 1137 }
nerit 0:1e09cd7d66b4 1138 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1139 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1140 forzaFase=1;
nerit 0:1e09cd7d66b4 1141 }
nerit 0:1e09cd7d66b4 1142 trigRepos=1;
nerit 0:1e09cd7d66b4 1143 }
nerit 0:1e09cd7d66b4 1144 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1145 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1146 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1147 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1148 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1149 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1150 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1151 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1152 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1153 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1154 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1155 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1156 #endif
nerit 0:1e09cd7d66b4 1157 #endif
nerit 0:1e09cd7d66b4 1158 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1159 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1160 if (firstStart==0){
nerit 0:1e09cd7d66b4 1161 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1162 }
nerit 0:1e09cd7d66b4 1163 }
nerit 0:1e09cd7d66b4 1164 }
nerit 0:1e09cd7d66b4 1165 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1166 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1167 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1168 #if defined(pcSerial)
nerit 4:d32258ec411f 1169 #if defined(Qnca)
nerit 4:d32258ec411f 1170 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1171 #endif
nerit 0:1e09cd7d66b4 1172 #endif
nerit 0:1e09cd7d66b4 1173 }
nerit 4:d32258ec411f 1174 #if defined(speedMaster)
nerit 4:d32258ec411f 1175 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1176 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1177 all_noSpeedSen=1;
nerit 4:d32258ec411f 1178 }
nerit 4:d32258ec411f 1179 #if defined(pcSerial)
nerit 4:d32258ec411f 1180 #if defined(canDataReceived)
nerit 4:d32258ec411f 1181 pc.printf("allarme no speed sensor");
nerit 4:d32258ec411f 1182 #endif
nerit 4:d32258ec411f 1183 #endif
nerit 4:d32258ec411f 1184 }
nerit 4:d32258ec411f 1185 #endif
nerit 0:1e09cd7d66b4 1186 pulseRised2=1;
nerit 0:1e09cd7d66b4 1187 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1188 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1189 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1190 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1191 all_speedError =1;
nerit 0:1e09cd7d66b4 1192 }
nerit 0:1e09cd7d66b4 1193 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1194 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1195 pc.printf("allarme errore speed sensor");
nerit 0:1e09cd7d66b4 1196 #endif
nerit 0:1e09cd7d66b4 1197 #endif
nerit 0:1e09cd7d66b4 1198
nerit 0:1e09cd7d66b4 1199 }
nerit 0:1e09cd7d66b4 1200 #endif
nerit 0:1e09cd7d66b4 1201 //*******************************************
nerit 0:1e09cd7d66b4 1202 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1203 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1204 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1205 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1206 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1207 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1208 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1209 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1210 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1211 rapportoRuote = pickNumber/cellsNumber; // 0.67 calcola il rapporto tra il numero di becchi ed il numero di celle 0.8 1,00
nerit 0:1e09cd7d66b4 1212 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1213 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 1214 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 1215 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1216 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1217 }
nerit 0:1e09cd7d66b4 1218 // ----------------------------------------
nerit 0:1e09cd7d66b4 1219 // check SD fase
nerit 0:1e09cd7d66b4 1220 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1221 forzaFase=0;
nerit 0:1e09cd7d66b4 1222 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1223 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1224 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1225 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1226 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1227 if (trigTB==0){
nerit 0:1e09cd7d66b4 1228 inhibit=1;
nerit 0:1e09cd7d66b4 1229 trigSD=1;
nerit 0:1e09cd7d66b4 1230 }else{
nerit 0:1e09cd7d66b4 1231 inhibit=0;
nerit 0:1e09cd7d66b4 1232 trigTB=0;
nerit 0:1e09cd7d66b4 1233 trigSD=0;
nerit 0:1e09cd7d66b4 1234 }
nerit 0:1e09cd7d66b4 1235 trigRepos=0;
nerit 0:1e09cd7d66b4 1236 }
nerit 0:1e09cd7d66b4 1237 }else{
nerit 0:1e09cd7d66b4 1238 trigCicli=0;
nerit 0:1e09cd7d66b4 1239 }
nerit 0:1e09cd7d66b4 1240 // ----------------------------------------
nerit 0:1e09cd7d66b4 1241 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1242 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1243 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1244 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1245 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1246 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1247 startCicloTB=0;
nerit 0:1e09cd7d66b4 1248 }
nerit 0:1e09cd7d66b4 1249 TBfilter.reset();
nerit 0:1e09cd7d66b4 1250 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1251 TBactualPosition=0;
nerit 0:1e09cd7d66b4 1252 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1253 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1254 }else{
nerit 0:1e09cd7d66b4 1255 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1256 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1257 }
nerit 0:1e09cd7d66b4 1258 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1259 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1260 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1261 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1262 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1263 }
nerit 0:1e09cd7d66b4 1264 }else{
nerit 0:1e09cd7d66b4 1265 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1266 }
nerit 0:1e09cd7d66b4 1267 if (trigSD==0){
nerit 0:1e09cd7d66b4 1268 inhibit=1;
nerit 0:1e09cd7d66b4 1269 trigTB=1;
nerit 0:1e09cd7d66b4 1270 }else{
nerit 0:1e09cd7d66b4 1271 inhibit=0;
nerit 0:1e09cd7d66b4 1272 trigTB=0;
nerit 0:1e09cd7d66b4 1273 trigSD=0;
nerit 0:1e09cd7d66b4 1274 }
nerit 0:1e09cd7d66b4 1275 // torna indietro per sbloccare il tamburo
nerit 0:1e09cd7d66b4 1276 if ((TBmotorDirecti==1)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1277 cntCellsForReload++;
nerit 5:3b95bbfe2dc9 1278 if (cntCellsForReload > 2){
nerit 0:1e09cd7d66b4 1279 TBmotorDirecti=0;
nerit 0:1e09cd7d66b4 1280 erroreTamburo=0;
nerit 0:1e09cd7d66b4 1281 }
nerit 0:1e09cd7d66b4 1282 }
nerit 0:1e09cd7d66b4 1283 }
nerit 0:1e09cd7d66b4 1284 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)){
nerit 0:1e09cd7d66b4 1285 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1286 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1287 all_cellSignal=1;
nerit 5:3b95bbfe2dc9 1288 }
nerit 0:1e09cd7d66b4 1289 }
nerit 0:1e09cd7d66b4 1290 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1291 erroreTamburo=1;
nerit 0:1e09cd7d66b4 1292 TBmotorDirecti=1;
nerit 0:1e09cd7d66b4 1293 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1294 cntTbError++;
nerit 0:1e09cd7d66b4 1295 }
nerit 0:1e09cd7d66b4 1296 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1297 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1298 pc.printf("allarme error cells");
nerit 0:1e09cd7d66b4 1299 #endif
nerit 0:1e09cd7d66b4 1300 #endif
nerit 0:1e09cd7d66b4 1301 }
nerit 5:3b95bbfe2dc9 1302 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1303 if (firstStart==0){
nerit 0:1e09cd7d66b4 1304 all_noStepRota=1;
nerit 0:1e09cd7d66b4 1305 }
nerit 0:1e09cd7d66b4 1306 cntTbError=0;
nerit 0:1e09cd7d66b4 1307 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1308 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1309 pc.printf("allarme no cells sensor");
nerit 0:1e09cd7d66b4 1310 #endif
nerit 0:1e09cd7d66b4 1311 #endif
nerit 0:1e09cd7d66b4 1312 }
nerit 0:1e09cd7d66b4 1313 // ----------------------------------------
nerit 0:1e09cd7d66b4 1314 // read and manage joystick
nerit 0:1e09cd7d66b4 1315 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1316 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1317 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1318 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1319 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1320 startCycle=1;
nerit 0:1e09cd7d66b4 1321 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1322 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1323 }
nerit 0:1e09cd7d66b4 1324 }
nerit 0:1e09cd7d66b4 1325 }else{
nerit 0:1e09cd7d66b4 1326 startCycle=0;
nerit 0:1e09cd7d66b4 1327 pntMedia=0;
nerit 0:1e09cd7d66b4 1328 }
nerit 0:1e09cd7d66b4 1329 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1330 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1331 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1332 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1333 }
nerit 0:1e09cd7d66b4 1334 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1335 }
nerit 0:1e09cd7d66b4 1336 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1337 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1338 ciclaTB();
nerit 0:1e09cd7d66b4 1339 }
nerit 0:1e09cd7d66b4 1340 }
nerit 0:1e09cd7d66b4 1341 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1342 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1343 zeroCycle=1;
nerit 0:1e09cd7d66b4 1344 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1345 SDzeroed=0;
nerit 0:1e09cd7d66b4 1346 TBzeroed=0;
nerit 0:1e09cd7d66b4 1347 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1348 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1349 }
nerit 0:1e09cd7d66b4 1350 }
nerit 0:1e09cd7d66b4 1351 }else{
nerit 0:1e09cd7d66b4 1352 startCycle=0;
nerit 0:1e09cd7d66b4 1353 zeroCycle=0;
nerit 0:1e09cd7d66b4 1354 }
nerit 0:1e09cd7d66b4 1355
nerit 0:1e09cd7d66b4 1356 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1357 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1358 //
nerit 0:1e09cd7d66b4 1359 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1360 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1361 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1362 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1363 pulseRised=0;
nerit 5:3b95bbfe2dc9 1364 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1365 speedMediaCalc();
nerit 0:1e09cd7d66b4 1366 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1367 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1368 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 0:1e09cd7d66b4 1369 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 5:3b95bbfe2dc9 1370 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1371 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1372 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1373 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1374 }
nerit 5:3b95bbfe2dc9 1375 }
nerit 5:3b95bbfe2dc9 1376 #endif
nerit 0:1e09cd7d66b4 1377 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1378 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1379 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1380 }
nerit 0:1e09cd7d66b4 1381 }
nerit 0:1e09cd7d66b4 1382 }
nerit 0:1e09cd7d66b4 1383 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1384 }else{
nerit 0:1e09cd7d66b4 1385 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1386 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1387 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1388 pntMedia=0;
nerit 0:1e09cd7d66b4 1389 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1390 enableSpeed=0;
nerit 0:1e09cd7d66b4 1391 quincCnt=0;
nerit 0:1e09cd7d66b4 1392 }
nerit 0:1e09cd7d66b4 1393 }
nerit 0:1e09cd7d66b4 1394 // esegue il controllo di velocità minima
nerit 4:d32258ec411f 1395 if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1396 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1397 enableSpeed=0;
nerit 0:1e09cd7d66b4 1398 }
nerit 0:1e09cd7d66b4 1399 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1400 // cycle logic control section
nerit 0:1e09cd7d66b4 1401 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1402 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1403 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1404 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1405 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1406 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 1407 if (encoder==false){
nerit 5:3b95bbfe2dc9 1408 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1409 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1410 }else{
nerit 5:3b95bbfe2dc9 1411 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1412 }
nerit 0:1e09cd7d66b4 1413 }else{
nerit 5:3b95bbfe2dc9 1414 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 1415 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1416 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1417 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1418 #endif
nerit 5:3b95bbfe2dc9 1419 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1420 }
nerit 0:1e09cd7d66b4 1421 //*******************************************
nerit 0:1e09cd7d66b4 1422 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1423 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1424 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1425 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1426 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1427 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1428 }
nerit 0:1e09cd7d66b4 1429 }
nerit 0:1e09cd7d66b4 1430 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/1.25f;}
nerit 2:d9c7430ae953 1431 #if !defined(speedMaster)
nerit 4:d32258ec411f 1432 quinCalc();
nerit 2:d9c7430ae953 1433 #endif
nerit 5:3b95bbfe2dc9 1434 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1435 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1436 if(encoder==false){
nerit 5:3b95bbfe2dc9 1437 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1438 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1439 }else{
nerit 5:3b95bbfe2dc9 1440 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 1441 }
nerit 0:1e09cd7d66b4 1442 }else{
nerit 5:3b95bbfe2dc9 1443 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 1444 }
nerit 0:1e09cd7d66b4 1445 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1446 double k3=0.0f;
nerit 1:e88bf5011af6 1447 double k4=0.0f;
nerit 1:e88bf5011af6 1448 double k5=0.0f;
nerit 4:d32258ec411f 1449 double k6=0.0f;
nerit 4:d32258ec411f 1450 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1451 k3=1.030f;
nerit 4:d32258ec411f 1452 k4=5.103f;
nerit 4:d32258ec411f 1453 k5=10.00f;
nerit 4:d32258ec411f 1454 k6=20.50f;
nerit 4:d32258ec411f 1455 }else{*/
nerit 4:d32258ec411f 1456 k3=0.050f;
nerit 4:d32258ec411f 1457 k4=2.103f;
nerit 4:d32258ec411f 1458 k5=20.00f;
nerit 4:d32258ec411f 1459 k6=30.50f;
nerit 4:d32258ec411f 1460 //}
nerit 4:d32258ec411f 1461 double L1 = 0.025f;
nerit 4:d32258ec411f 1462 double L_1=-0.025f;
nerit 4:d32258ec411f 1463 double L2 = 0.100f;
nerit 4:d32258ec411f 1464 double L_2=-0.100f;
nerit 4:d32258ec411f 1465 double L3 = 0.401f;
nerit 4:d32258ec411f 1466 double L_3=-0.401f;
nerit 4:d32258ec411f 1467 double k1=0.0f;
nerit 4:d32258ec411f 1468 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1469 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1470 }
nerit 4:d32258ec411f 1471 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1472 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1473 }
nerit 4:d32258ec411f 1474 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1475 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1476 }
nerit 4:d32258ec411f 1477 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1478 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1479 }
nerit 4:d32258ec411f 1480 double memoCorrezione = k1;
nerit 4:d32258ec411f 1481 if (quincCnt >= 2){
nerit 4:d32258ec411f 1482 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1483 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1484 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1485 }
nerit 4:d32258ec411f 1486 pulseRised1=0;
nerit 4:d32258ec411f 1487 pulseRised2=0;
nerit 1:e88bf5011af6 1488 #if defined(pcSerial)
nerit 4:d32258ec411f 1489 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1490 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1491 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 1492 #endif
nerit 1:e88bf5011af6 1493 #endif
nerit 4:d32258ec411f 1494 #if defined(pcSerial)
nerit 4:d32258ec411f 1495 #if defined(Qncb)
nerit 4:d32258ec411f 1496 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1497 #endif
nerit 4:d32258ec411f 1498 #endif
nerit 0:1e09cd7d66b4 1499 }
nerit 0:1e09cd7d66b4 1500 // introduce il controllo di corrente
nerit 0:1e09cd7d66b4 1501 if (incrementCurrent){
nerit 0:1e09cd7d66b4 1502 boostDcOut +=0.005f;
nerit 0:1e09cd7d66b4 1503 }
nerit 0:1e09cd7d66b4 1504 if (reduceCurrent){
nerit 0:1e09cd7d66b4 1505 boostDcOut -=0.005f;
nerit 0:1e09cd7d66b4 1506 }
nerit 0:1e09cd7d66b4 1507 if (boostDcOut >= 0.2f){
nerit 0:1e09cd7d66b4 1508 boostDcOut=0.2f;
nerit 0:1e09cd7d66b4 1509 all_genericals=1;
nerit 0:1e09cd7d66b4 1510 }
nerit 0:1e09cd7d66b4 1511 if (boostDcOut <=-0.2f){
nerit 0:1e09cd7d66b4 1512 boostDcOut=-0.2f;
nerit 0:1e09cd7d66b4 1513 all_genericals=1;
nerit 0:1e09cd7d66b4 1514 }
nerit 4:d32258ec411f 1515
nerit 1:e88bf5011af6 1516 //correzione += boostDcOut;
nerit 4:d32258ec411f 1517
nerit 1:e88bf5011af6 1518 DC_brake=0;
nerit 1:e88bf5011af6 1519 DC_forward=1;
nerit 1:e88bf5011af6 1520 DC_prepare();
nerit 0:1e09cd7d66b4 1521
nerit 0:1e09cd7d66b4 1522 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1523 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1524 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1525 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1526 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1527 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1528 }
nerit 0:1e09cd7d66b4 1529
nerit 4:d32258ec411f 1530 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1531 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1532 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1533 }else{
nerit 4:d32258ec411f 1534 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1535 }
nerit 0:1e09cd7d66b4 1536 }else{
nerit 0:1e09cd7d66b4 1537 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1538 }
nerit 4:d32258ec411f 1539 if (dcActualDuty <=0.0f){dcActualDuty=0.10f;}
nerit 4:d32258ec411f 1540 if (dcActualDuty > 0.90f){dcActualDuty = 0.90f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1541 if (olddcActualDuty!=dcActualDuty){
nerit 4:d32258ec411f 1542 SDmotorPWM.write(dcActualDuty);
nerit 4:d32258ec411f 1543 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1544 }
nerit 0:1e09cd7d66b4 1545 // allarme
nerit 0:1e09cd7d66b4 1546 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1547 if (firstStart==0){
nerit 0:1e09cd7d66b4 1548 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1549 }
nerit 0:1e09cd7d66b4 1550 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1551 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1552 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1553 #endif
nerit 0:1e09cd7d66b4 1554 #endif
nerit 0:1e09cd7d66b4 1555
nerit 0:1e09cd7d66b4 1556 }
nerit 0:1e09cd7d66b4 1557
nerit 0:1e09cd7d66b4 1558 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1559 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1560 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1561 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1562 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1563 syncroCheck=0;
nerit 0:1e09cd7d66b4 1564 lockStart=1;
nerit 0:1e09cd7d66b4 1565 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1566 if (aspettaStart==0){cambiaTB(periodo);}
nerit 0:1e09cd7d66b4 1567 }
nerit 0:1e09cd7d66b4 1568 // controllo di stop
nerit 0:1e09cd7d66b4 1569 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1570 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1571 syncroCheck=0;
nerit 0:1e09cd7d66b4 1572 aspettaStart=1;
nerit 0:1e09cd7d66b4 1573 countCicli=0;
nerit 0:1e09cd7d66b4 1574 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1575 }
nerit 0:1e09cd7d66b4 1576 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1577 syncroCheck=0;
nerit 0:1e09cd7d66b4 1578 lockStart=0;
nerit 0:1e09cd7d66b4 1579 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1580 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1581 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1582 if (encoder==false){
nerit 5:3b95bbfe2dc9 1583 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1584 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1585 }else{
nerit 5:3b95bbfe2dc9 1586 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1587 }
nerit 5:3b95bbfe2dc9 1588 }else{
nerit 0:1e09cd7d66b4 1589 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1590 }
nerit 0:1e09cd7d66b4 1591 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/1.25f)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1592 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1593 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1594 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1595 beccoPronto=0;
nerit 0:1e09cd7d66b4 1596 }
nerit 0:1e09cd7d66b4 1597 }else{
nerit 0:1e09cd7d66b4 1598 // tamburo per zucca
nerit 0:1e09cd7d66b4 1599 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1600 beccoPronto=0;
nerit 0:1e09cd7d66b4 1601 }
nerit 0:1e09cd7d66b4 1602 }
nerit 0:1e09cd7d66b4 1603 ciclaTB();
nerit 0:1e09cd7d66b4 1604 }
nerit 0:1e09cd7d66b4 1605 //*************************************************************
nerit 0:1e09cd7d66b4 1606 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1607 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1608 SDwheelTimer.reset();
nerit 0:1e09cd7d66b4 1609 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1610 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1611 aspettaStart=1;
nerit 0:1e09cd7d66b4 1612 countCicli=0;
nerit 0:1e09cd7d66b4 1613 startCycle=0;
nerit 0:1e09cd7d66b4 1614 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1615 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1616 correzione=0.0f;
nerit 0:1e09cd7d66b4 1617 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1618 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1619 cntTbError=0;
nerit 0:1e09cd7d66b4 1620 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1621 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1622 zeroDelay.start();
nerit 0:1e09cd7d66b4 1623 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1624 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1625 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1626 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1627 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1628 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1629 zeroCycle=1;
nerit 0:1e09cd7d66b4 1630 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1631 }
nerit 0:1e09cd7d66b4 1632 }
nerit 0:1e09cd7d66b4 1633 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1634 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1635 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1636 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1637 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1638 DC_forward=1;
nerit 0:1e09cd7d66b4 1639 DC_brake=1;
nerit 0:1e09cd7d66b4 1640 DC_prepare();
nerit 0:1e09cd7d66b4 1641 frenata=0;
nerit 0:1e09cd7d66b4 1642 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1643 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1644 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1645 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1646 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1647 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1648 }
nerit 0:1e09cd7d66b4 1649 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1650 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1651 accensione=0;
nerit 0:1e09cd7d66b4 1652 avvicinamento=1;
nerit 0:1e09cd7d66b4 1653 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1654 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1655 SDmotorPWM.write(0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1656 DC_forward=1;
nerit 0:1e09cd7d66b4 1657 DC_brake=0;
nerit 0:1e09cd7d66b4 1658 DC_prepare();
nerit 0:1e09cd7d66b4 1659 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1660 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1661 }
nerit 0:1e09cd7d66b4 1662 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1663 if(avvicinamentoOn.read_ms()>300){
nerit 0:1e09cd7d66b4 1664 SDmotorPWM.write(0.7f);
nerit 0:1e09cd7d66b4 1665 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1666 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1667 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1668 }
nerit 0:1e09cd7d66b4 1669 if(avvicinamentoOff.read_ms()>100){
nerit 0:1e09cd7d66b4 1670 SDmotorPWM.write(0.32f);
nerit 0:1e09cd7d66b4 1671 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1672 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1673 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1674 }
nerit 0:1e09cd7d66b4 1675 }else{
nerit 0:1e09cd7d66b4 1676 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1677 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1678 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1679 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1680 }
nerit 0:1e09cd7d66b4 1681 if (frenata==0){
nerit 0:1e09cd7d66b4 1682 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1683 SDticker.detach();
nerit 0:1e09cd7d66b4 1684 frenata=1;
nerit 0:1e09cd7d66b4 1685 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1686 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1687 ritardoStop.start();
nerit 0:1e09cd7d66b4 1688 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1689 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1690 }
nerit 0:1e09cd7d66b4 1691 }else{
nerit 0:1e09cd7d66b4 1692 if (quinconceActive==0){
nerit 0:1e09cd7d66b4 1693 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1694 avvicinamento=0;
nerit 0:1e09cd7d66b4 1695 DC_brake=1;
nerit 0:1e09cd7d66b4 1696 DC_prepare();
nerit 0:1e09cd7d66b4 1697 SDzeroed=1;
nerit 0:1e09cd7d66b4 1698 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1699 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1700 }
nerit 0:1e09cd7d66b4 1701 }else{
nerit 0:1e09cd7d66b4 1702 if (quincTimeSet.read_ms()>500){
nerit 0:1e09cd7d66b4 1703 avvicinamento=0;
nerit 0:1e09cd7d66b4 1704 DC_brake=1;
nerit 0:1e09cd7d66b4 1705 DC_prepare();
nerit 0:1e09cd7d66b4 1706 SDzeroed=1;
nerit 0:1e09cd7d66b4 1707 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1708 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1709 quincTimeSet.stop();
nerit 0:1e09cd7d66b4 1710 }
nerit 0:1e09cd7d66b4 1711 }
nerit 0:1e09cd7d66b4 1712 }
nerit 0:1e09cd7d66b4 1713 // azzera tutto in time out
nerit 0:1e09cd7d66b4 1714 if (timeOutZeroSD.read_ms()>=10000){
nerit 0:1e09cd7d66b4 1715 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1716 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1717 pc.printf("allarme no zero");
nerit 0:1e09cd7d66b4 1718 #endif
nerit 0:1e09cd7d66b4 1719 #endif
nerit 0:1e09cd7d66b4 1720 if (firstStart==0){
nerit 0:1e09cd7d66b4 1721 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1722 }
nerit 0:1e09cd7d66b4 1723 avvicinamento=0;
nerit 0:1e09cd7d66b4 1724 DC_brake=1;
nerit 0:1e09cd7d66b4 1725 DC_prepare();
nerit 0:1e09cd7d66b4 1726 SDzeroed=1;
nerit 0:1e09cd7d66b4 1727 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1728 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1729 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1730 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1731 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1732 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1733 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1734 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1735 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1736 timeOutZeroSD.reset();
nerit 0:1e09cd7d66b4 1737 }
nerit 0:1e09cd7d66b4 1738 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1739 TBticker.detach();
nerit 0:1e09cd7d66b4 1740 TBzeroed=1;
nerit 0:1e09cd7d66b4 1741 }
nerit 0:1e09cd7d66b4 1742 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 1743 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1744 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1745 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1746 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1747 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 1748 zeroCycle=0;
nerit 0:1e09cd7d66b4 1749 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1750 runRequestBuf=1;
nerit 0:1e09cd7d66b4 1751 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 1752 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1753 SDzeroed=0;
nerit 0:1e09cd7d66b4 1754 TBzeroed=0;
nerit 0:1e09cd7d66b4 1755 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1756 timeOutZeroSD.reset();
nerit 0:1e09cd7d66b4 1757 }
nerit 0:1e09cd7d66b4 1758 }
nerit 0:1e09cd7d66b4 1759
nerit 0:1e09cd7d66b4 1760 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1761 if (enableCycle==0){
nerit 0:1e09cd7d66b4 1762 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1763 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 1764 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1765 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1766 }
nerit 0:1e09cd7d66b4 1767 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1768 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1769 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1770 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 1771 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1772 // task di prova della scheda
nerit 0:1e09cd7d66b4 1773 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1774 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 1775 clocca++;
nerit 0:1e09cd7d66b4 1776 //led = !led;
nerit 0:1e09cd7d66b4 1777 //txMsg.clear();
nerit 0:1e09cd7d66b4 1778 //txMsg << clocca;
nerit 0:1e09cd7d66b4 1779 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 1780 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 1781 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1782 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 1783 #endif
nerit 0:1e09cd7d66b4 1784 //}
nerit 0:1e09cd7d66b4 1785 switch (clocca){
nerit 0:1e09cd7d66b4 1786 case 1:
nerit 0:1e09cd7d66b4 1787 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1788 break;
nerit 0:1e09cd7d66b4 1789 case 2:
nerit 0:1e09cd7d66b4 1790 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1791 break;
nerit 0:1e09cd7d66b4 1792 case 3:
nerit 0:1e09cd7d66b4 1793 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 1794 break;
nerit 0:1e09cd7d66b4 1795 case 4:
nerit 0:1e09cd7d66b4 1796 break;
nerit 0:1e09cd7d66b4 1797 case 5:
nerit 0:1e09cd7d66b4 1798 SDmotorInA=1;
nerit 0:1e09cd7d66b4 1799 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1800 break;
nerit 0:1e09cd7d66b4 1801 case 6:
nerit 0:1e09cd7d66b4 1802 break;
nerit 0:1e09cd7d66b4 1803 case 7:
nerit 0:1e09cd7d66b4 1804 break;
nerit 0:1e09cd7d66b4 1805 case 8:
nerit 0:1e09cd7d66b4 1806 break;
nerit 0:1e09cd7d66b4 1807 case 9:
nerit 0:1e09cd7d66b4 1808 break;
nerit 0:1e09cd7d66b4 1809 case 10:
nerit 0:1e09cd7d66b4 1810 break;
nerit 0:1e09cd7d66b4 1811 case 11:
nerit 0:1e09cd7d66b4 1812 break;
nerit 0:1e09cd7d66b4 1813 case 12:
nerit 0:1e09cd7d66b4 1814 break;
nerit 0:1e09cd7d66b4 1815 case 13:
nerit 0:1e09cd7d66b4 1816 break;
nerit 0:1e09cd7d66b4 1817 case 14:
nerit 0:1e09cd7d66b4 1818 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1819 break;
nerit 0:1e09cd7d66b4 1820 case 15:
nerit 0:1e09cd7d66b4 1821 break;
nerit 0:1e09cd7d66b4 1822 case 16:
nerit 0:1e09cd7d66b4 1823 case 17:
nerit 0:1e09cd7d66b4 1824 break;
nerit 0:1e09cd7d66b4 1825 case 18:
nerit 0:1e09cd7d66b4 1826 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1827 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1828 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 1829 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1830 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1831 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1832 break;
nerit 0:1e09cd7d66b4 1833 default:
nerit 0:1e09cd7d66b4 1834 clocca=0;
nerit 0:1e09cd7d66b4 1835 break;
nerit 0:1e09cd7d66b4 1836 }
nerit 0:1e09cd7d66b4 1837 wait_ms(100);
nerit 0:1e09cd7d66b4 1838 #endif // end prova scheda
nerit 0:1e09cd7d66b4 1839
nerit 0:1e09cd7d66b4 1840 #if defined(provaDC)
nerit 0:1e09cd7d66b4 1841 int rampa=1000;
nerit 0:1e09cd7d66b4 1842 int pausa=3000;
nerit 0:1e09cd7d66b4 1843 switch (clocca){
nerit 0:1e09cd7d66b4 1844 case 0:
nerit 0:1e09cd7d66b4 1845 DC_brake=0;
nerit 0:1e09cd7d66b4 1846 DC_forward=1;
nerit 0:1e09cd7d66b4 1847 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 1848 if (duty_DC>=0.2f){
nerit 0:1e09cd7d66b4 1849 duty_DC=0.2f;
nerit 0:1e09cd7d66b4 1850 clocca=1;
nerit 0:1e09cd7d66b4 1851 }
nerit 0:1e09cd7d66b4 1852 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1853 break;
nerit 0:1e09cd7d66b4 1854 case 1:
nerit 0:1e09cd7d66b4 1855 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 1856 clocca=2;
nerit 0:1e09cd7d66b4 1857 break;
nerit 0:1e09cd7d66b4 1858 case 2:
nerit 0:1e09cd7d66b4 1859 DC_brake=0;
nerit 0:1e09cd7d66b4 1860 DC_forward=1;
nerit 0:1e09cd7d66b4 1861 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 1862 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 1863 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 1864 clocca=3;
nerit 0:1e09cd7d66b4 1865 }
nerit 0:1e09cd7d66b4 1866 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1867 break;
nerit 0:1e09cd7d66b4 1868 case 3:
nerit 0:1e09cd7d66b4 1869 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1870 clocca=4;
nerit 0:1e09cd7d66b4 1871 break;
nerit 0:1e09cd7d66b4 1872 case 4:
nerit 0:1e09cd7d66b4 1873 DC_brake=0;
nerit 0:1e09cd7d66b4 1874 DC_forward=1;
nerit 0:1e09cd7d66b4 1875 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 1876 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 1877 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 1878 clocca=5;
nerit 0:1e09cd7d66b4 1879 }
nerit 0:1e09cd7d66b4 1880 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1881 break;
nerit 0:1e09cd7d66b4 1882 case 5:
nerit 0:1e09cd7d66b4 1883 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1884 clocca=6;
nerit 0:1e09cd7d66b4 1885 break;
nerit 0:1e09cd7d66b4 1886 case 6:
nerit 0:1e09cd7d66b4 1887 DC_brake=0;
nerit 0:1e09cd7d66b4 1888 DC_forward=1;
nerit 0:1e09cd7d66b4 1889 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 1890 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 1891 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 1892 clocca=7;
nerit 0:1e09cd7d66b4 1893 }
nerit 0:1e09cd7d66b4 1894 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1895 break;
nerit 0:1e09cd7d66b4 1896 case 7:
nerit 0:1e09cd7d66b4 1897 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1898 clocca=0;
nerit 0:1e09cd7d66b4 1899 break;
nerit 0:1e09cd7d66b4 1900 default:
nerit 0:1e09cd7d66b4 1901 break;
nerit 0:1e09cd7d66b4 1902 }
nerit 0:1e09cd7d66b4 1903 if (oldDuty_DC != duty_DC){
nerit 0:1e09cd7d66b4 1904 SDmotorPWM.write(duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 1905 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 1906 DC_prepare();
nerit 0:1e09cd7d66b4 1907 }
nerit 0:1e09cd7d66b4 1908 #endif
nerit 0:1e09cd7d66b4 1909 }//end in prova
nerit 0:1e09cd7d66b4 1910 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 1911 } // end while
nerit 0:1e09cd7d66b4 1912 }// end main
nerit 0:1e09cd7d66b4 1913