Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019

new

Dependencies:   mbed CANMsg

main.cpp@10:d85ed006056e, 2018-12-27 (annotated)

Committer:
nerit
Date:
Thu Dec 27 13:43:31 2018 +0000
Revision:
10:d85ed006056e
Parent:
9:503e2aba047c
Child:
11:21e990eb31d0
Hardware Versione 5 su elementi del 27-12-18

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 1:e88bf5011af6 1
nerit 1:e88bf5011af6 2 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 3 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 4 // FIRMWARE SEMINATRICE MODULA
nerit 0:1e09cd7d66b4 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 0:1e09cd7d66b4 6 // V4 - ATTENZIONE - LA VERSIONE V4 HA IL DRIVER STEPPER LV8727
nerit 0:1e09cd7d66b4 7 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 0:1e09cd7d66b4 8 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 0:1e09cd7d66b4 9 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 0:1e09cd7d66b4 10 // FIRST RELEASE OF BOARD DEC 2017
nerit 0:1e09cd7d66b4 11 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 0:1e09cd7d66b4 12 //
nerit 0:1e09cd7d66b4 13 // THIS RELEASE: 09 JULY 2018
nerit 0:1e09cd7d66b4 14 //
nerit 0:1e09cd7d66b4 15 // APPLICATION: MODULA CON DISTRIBUTORE ZUCCA OPPURE RISO E PUO' FUNZIONARE ANCHE CON SENSORE A 25 FORI SUL DISCO O
nerit 0:1e09cd7d66b4 16 // ENCODER MOTORE SETTANDO GLI APPOSITI FLAGS
nerit 0:1e09cd7d66b4 17 //
nerit 0:1e09cd7d66b4 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 0:1e09cd7d66b4 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 0:1e09cd7d66b4 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 0:1e09cd7d66b4 22 // ENCODER
nerit 0:1e09cd7d66b4 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 0:1e09cd7d66b4 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 0:1e09cd7d66b4 25 //
nerit 0:1e09cd7d66b4 26 /********************
nerit 0:1e09cd7d66b4 27 IL FIRMWARE SI COMPONE DI 7 FILES:
nerit 0:1e09cd7d66b4 28 - main.cpp
nerit 0:1e09cd7d66b4 29 - main.hpp
nerit 0:1e09cd7d66b4 30 - iodefinition.hpp
nerit 0:1e09cd7d66b4 31 - canbus.hpp
nerit 0:1e09cd7d66b4 32 - parameters.hpp
nerit 0:1e09cd7d66b4 33 - timeandtick.hpp
nerit 0:1e09cd7d66b4 34 - variables.hpp
nerit 0:1e09cd7d66b4 35 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU' UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 36 *********************
nerit 0:1e09cd7d66b4 37 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 0:1e09cd7d66b4 38 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 0:1e09cd7d66b4 39 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 40 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 41 *********************
nerit 0:1e09cd7d66b4 42 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 0:1e09cd7d66b4 43 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 0:1e09cd7d66b4 44 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 45 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 0:1e09cd7d66b4 46 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 47 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 48 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 49 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 0:1e09cd7d66b4 50 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 51 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 0:1e09cd7d66b4 52 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 53 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 0:1e09cd7d66b4 54 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 55 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 0:1e09cd7d66b4 56 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 0:1e09cd7d66b4 57 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 0:1e09cd7d66b4 58 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 0:1e09cd7d66b4 59 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 0:1e09cd7d66b4 60 **********************
nerit 0:1e09cd7d66b4 61 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 62 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 0:1e09cd7d66b4 63 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 0:1e09cd7d66b4 64 **********************
nerit 0:1e09cd7d66b4 65 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 66 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 0:1e09cd7d66b4 67 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 68 **********************
nerit 0:1e09cd7d66b4 69 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 70 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 73 **********************
nerit 0:1e09cd7d66b4 74 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 75 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 76 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 77 */
nerit 0:1e09cd7d66b4 78 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 79 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 80
nerit 0:1e09cd7d66b4 81 #include "main.hpp"
nerit 0:1e09cd7d66b4 82 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 83 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 84 #include "watchdog.h"
nerit 0:1e09cd7d66b4 85 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 86 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 87 #include "variables.hpp"
nerit 0:1e09cd7d66b4 88 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 89 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 90 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 91 // TASK SECTION
nerit 0:1e09cd7d66b4 92 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 93 //************************************************************************
nerit 3:c0f11ca4df02 94 //************************************************************************
nerit 0:1e09cd7d66b4 95 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 96 void sd25Fall(){
nerit 0:1e09cd7d66b4 97 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 98 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 99 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 100 metalTimer.reset();
nerit 0:1e09cd7d66b4 101 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 102 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 103 }
nerit 0:1e09cd7d66b4 104 }
nerit 5:3b95bbfe2dc9 105 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 106 void encoRise(){
nerit 5:3b95bbfe2dc9 107 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 108 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 109 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 110 metalTimer.reset();
nerit 5:3b95bbfe2dc9 111 if (encoder==true){
nerit 5:3b95bbfe2dc9 112 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 7:c9fd242538d9 113 pulseRised2=1;
nerit 5:3b95bbfe2dc9 114 }
nerit 5:3b95bbfe2dc9 115 }
nerit 7:c9fd242538d9 116 // rise of seed presence sensor
nerit 7:c9fd242538d9 117 void seedSensorTask(){
nerit 7:c9fd242538d9 118 seedSee=1;
nerit 7:c9fd242538d9 119 }
nerit 0:1e09cd7d66b4 120 //**************************************************
nerit 0:1e09cd7d66b4 121 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 122 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 123 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 124 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 125 speedTimer.reset();
nerit 0:1e09cd7d66b4 126 pulseRised=1;
nerit 7:c9fd242538d9 127 speedFilter.reset();
nerit 0:1e09cd7d66b4 128 }
nerit 0:1e09cd7d66b4 129 //*******************************************************
nerit 0:1e09cd7d66b4 130 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 131 //*******************************************************
nerit 0:1e09cd7d66b4 132 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 133 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 134 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 135 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 136 speedTimer.reset();
nerit 0:1e09cd7d66b4 137 pulseRised=1;
nerit 0:1e09cd7d66b4 138 oldTractorSpeedRead=1;
nerit 6:3fca0ca1949e 139 spazioCoperto+= pulseDistance;
nerit 0:1e09cd7d66b4 140 }
nerit 0:1e09cd7d66b4 141 speedFilter.reset();
nerit 0:1e09cd7d66b4 142 speedClock=1;
nerit 0:1e09cd7d66b4 143 }
nerit 0:1e09cd7d66b4 144 //*******************************************************
nerit 0:1e09cd7d66b4 145 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 146 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 147 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 148 if (enableSimula==1){
nerit 0:1e09cd7d66b4 149 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 150 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 151 }
nerit 0:1e09cd7d66b4 152 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 153 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 154 }
nerit 0:1e09cd7d66b4 155
nerit 0:1e09cd7d66b4 156 //*******************************************************
nerit 0:1e09cd7d66b4 157 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 158 //*******************************************************
nerit 0:1e09cd7d66b4 159 //*******************************************************
nerit 0:1e09cd7d66b4 160 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 161 SDactualPosition++;
nerit 0:1e09cd7d66b4 162 prePosSD++;
nerit 5:3b95bbfe2dc9 163 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 164 posForQuinc++;
nerit 5:3b95bbfe2dc9 165 #endif
nerit 0:1e09cd7d66b4 166 }
nerit 0:1e09cd7d66b4 167 //*******************************************************
nerit 0:1e09cd7d66b4 168 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 169 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 170 if (TBmotorStepOut==0){
nerit 9:503e2aba047c 171 if (TBmotorDirecti==1){
nerit 9:503e2aba047c 172 TBactualPosition++;
nerit 9:503e2aba047c 173 }else{
nerit 9:503e2aba047c 174 TBactualPosition--;
nerit 9:503e2aba047c 175 }
nerit 0:1e09cd7d66b4 176 }
nerit 0:1e09cd7d66b4 177 }
nerit 0:1e09cd7d66b4 178 //*******************************************************
nerit 0:1e09cd7d66b4 179 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 180 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 181 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 182 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 183 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 184 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 185 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 186 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 187 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 188 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 189 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 190 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 191 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 192 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 193 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 194 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 195 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 196 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 197 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 7:c9fd242538d9 198 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 7:c9fd242538d9 199 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 200 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 201 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 202 }else{
nerit 0:1e09cd7d66b4 203 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 204 }
nerit 0:1e09cd7d66b4 205 }
nerit 0:1e09cd7d66b4 206 //*******************************************************
nerit 0:1e09cd7d66b4 207 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 208 // update TB frequency
nerit 0:1e09cd7d66b4 209 double TBper=0.0f;
nerit 0:1e09cd7d66b4 210 if (aspettaStart==0){
nerit 0:1e09cd7d66b4 211 if (perio<250.0f){perio=500.0f;}
nerit 10:d85ed006056e 212 double scala =1.0f;
nerit 0:1e09cd7d66b4 213 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 214 scala =2.0f;
nerit 0:1e09cd7d66b4 215 }else{
nerit 0:1e09cd7d66b4 216 scala =1.8f;
nerit 0:1e09cd7d66b4 217 }
nerit 0:1e09cd7d66b4 218 TBper=perio/scala;
nerit 0:1e09cd7d66b4 219 if (oldPeriodoTB!=TBper){
nerit 0:1e09cd7d66b4 220 if (TBper >= 250.0f){
nerit 0:1e09cd7d66b4 221 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 222 }else{
nerit 0:1e09cd7d66b4 223 TBticker.detach();
nerit 0:1e09cd7d66b4 224 }
nerit 0:1e09cd7d66b4 225 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 226 }
nerit 0:1e09cd7d66b4 227 }
nerit 0:1e09cd7d66b4 228 }
nerit 0:1e09cd7d66b4 229 //*******************************************************
nerit 0:1e09cd7d66b4 230 void seedCorrect(){
nerit 0:1e09cd7d66b4 231 /*
nerit 0:1e09cd7d66b4 232 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 233 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 234 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 235 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 236 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 237 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 238 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 239 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 240 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 241 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 242 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 243 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 244 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 245 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 246 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 247 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 248 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 249
nerit 0:1e09cd7d66b4 250 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 251 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 252 */
nerit 0:1e09cd7d66b4 253 /*
nerit 0:1e09cd7d66b4 254 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 255 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 256 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 257 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 258 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 259 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 260 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 261 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 262 */
nerit 0:1e09cd7d66b4 263
nerit 0:1e09cd7d66b4 264 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 265 if (inhibit==0){
nerit 0:1e09cd7d66b4 266 double posError =0.0f;
nerit 0:1e09cd7d66b4 267 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 268 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 269 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 270 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 271 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 272 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 273 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 274 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 275 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 276 }
nerit 0:1e09cd7d66b4 277 }
nerit 0:1e09cd7d66b4 278 }
nerit 4:d32258ec411f 279 }
nerit 4:d32258ec411f 280 }
nerit 4:d32258ec411f 281 //*******************************************************
nerit 4:d32258ec411f 282 void videoUpdate(){
nerit 4:d32258ec411f 283 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 284 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 285 totalSpeed=0.0f;
nerit 4:d32258ec411f 286 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 287 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 288 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 289 #if defined(SDreset)
nerit 0:1e09cd7d66b4 290 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 291 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 292 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 293 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 294 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 295 #endif
nerit 0:1e09cd7d66b4 296 #endif
nerit 0:1e09cd7d66b4 297 }
nerit 0:1e09cd7d66b4 298 //*******************************************************
nerit 0:1e09cd7d66b4 299 void ciclaTB(){
nerit 0:1e09cd7d66b4 300 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 301 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 302 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 303 startCicloTB=0;
nerit 0:1e09cd7d66b4 304 }
nerit 0:1e09cd7d66b4 305 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 306 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 307 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 308 stopCicloTB=0;
nerit 0:1e09cd7d66b4 309 }
nerit 0:1e09cd7d66b4 310 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 311 TBticker.detach();
nerit 0:1e09cd7d66b4 312 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 313 stopCicloTB=0;
nerit 0:1e09cd7d66b4 314 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 315 loadDaCan=0;
nerit 0:1e09cd7d66b4 316 }
nerit 0:1e09cd7d66b4 317 }
nerit 7:c9fd242538d9 318 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 7:c9fd242538d9 319 void stepSetting(){
nerit 7:c9fd242538d9 320 // Stepper driver init and set
nerit 7:c9fd242538d9 321 TBmotorRst=1; // reset stepper driver
nerit 9:503e2aba047c 322 if (tractorSpeed_MtS_timed==0.0f){
nerit 9:503e2aba047c 323 TBmotorDirecti=1; // reset stepper direction
nerit 9:503e2aba047c 324 }
nerit 7:c9fd242538d9 325 // M1 M2 M3 RESOLUTION
nerit 7:c9fd242538d9 326 // 0 0 0 1/2
nerit 7:c9fd242538d9 327 // 1 0 0 1/8
nerit 7:c9fd242538d9 328 // 0 1 0 1/16
nerit 7:c9fd242538d9 329 // 1 1 0 1/32
nerit 7:c9fd242538d9 330 // 0 0 1 1/64
nerit 7:c9fd242538d9 331 // 1 0 1 1/128
nerit 7:c9fd242538d9 332 // 0 1 1 1/10
nerit 7:c9fd242538d9 333 // 1 1 1 1/20
nerit 10:d85ed006056e 334 if (TBmotorSteps==400.0f){
nerit 10:d85ed006056e 335 TBmotor_M1=0;
nerit 10:d85ed006056e 336 TBmotor_M2=0;
nerit 10:d85ed006056e 337 TBmotor_M3=0;
nerit 10:d85ed006056e 338 }else if (TBmotorSteps==1600.0f){
nerit 10:d85ed006056e 339 TBmotor_M1=0;
nerit 10:d85ed006056e 340 TBmotor_M2=0;
nerit 10:d85ed006056e 341 TBmotor_M3=1;
nerit 10:d85ed006056e 342 }else if (TBmotorSteps==3200.0f){
nerit 10:d85ed006056e 343 TBmotor_M1=0;
nerit 10:d85ed006056e 344 TBmotor_M2=1;
nerit 10:d85ed006056e 345 TBmotor_M3=0;
nerit 10:d85ed006056e 346 }else if (TBmotorSteps==6400.0f){
nerit 7:c9fd242538d9 347 TBmotor_M1=1;
nerit 7:c9fd242538d9 348 TBmotor_M2=1;
nerit 10:d85ed006056e 349 TBmotor_M3=0;
nerit 10:d85ed006056e 350 }else if (TBmotorSteps==12800.0f){
nerit 7:c9fd242538d9 351 TBmotor_M1=0;
nerit 10:d85ed006056e 352 TBmotor_M2=0;
nerit 7:c9fd242538d9 353 TBmotor_M3=1;
nerit 10:d85ed006056e 354 }else if (TBmotorSteps==25600.0f){
nerit 7:c9fd242538d9 355 TBmotor_M1=1;
nerit 7:c9fd242538d9 356 TBmotor_M2=0;
nerit 7:c9fd242538d9 357 TBmotor_M3=1;
nerit 10:d85ed006056e 358 }else if (TBmotorSteps==2000.0f){
nerit 7:c9fd242538d9 359 TBmotor_M1=0;
nerit 10:d85ed006056e 360 TBmotor_M2=1;
nerit 7:c9fd242538d9 361 TBmotor_M3=1;
nerit 10:d85ed006056e 362 }else if (TBmotorSteps==4000.0f){
nerit 7:c9fd242538d9 363 TBmotor_M1=1;
nerit 7:c9fd242538d9 364 TBmotor_M2=1;
nerit 10:d85ed006056e 365 TBmotor_M3=1;
nerit 10:d85ed006056e 366 }else{
nerit 10:d85ed006056e 367 // set dei 1600 passi
nerit 7:c9fd242538d9 368 TBmotor_M1=1;
nerit 7:c9fd242538d9 369 TBmotor_M2=0;
nerit 7:c9fd242538d9 370 TBmotor_M3=0;
nerit 7:c9fd242538d9 371 }
nerit 7:c9fd242538d9 372 TBmotorRst=0;
nerit 7:c9fd242538d9 373 }
nerit 7:c9fd242538d9 374 //****************************************
nerit 7:c9fd242538d9 375 void dcSetting(){
nerit 7:c9fd242538d9 376 if ((speedFromPick==0)&&(encoder==false)){
nerit 7:c9fd242538d9 377 DcEncoder.rise(&sd25Fall);
nerit 7:c9fd242538d9 378 }
nerit 7:c9fd242538d9 379 if (encoder==true){
nerit 7:c9fd242538d9 380 DcEncoder.rise(&encoRise);
nerit 7:c9fd242538d9 381 //ElementPosition.fall(&encoRise);
nerit 7:c9fd242538d9 382 }
nerit 7:c9fd242538d9 383 }
nerit 0:1e09cd7d66b4 384 //*******************************************************
nerit 0:1e09cd7d66b4 385 void allarmi(){
nerit 0:1e09cd7d66b4 386 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 387 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 388 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 389
nerit 0:1e09cd7d66b4 390 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 391 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 392 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 393 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 394 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 395 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 396 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 7:c9fd242538d9 397 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 398 alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 7:c9fd242538d9 399 }
nerit 0:1e09cd7d66b4 400
nerit 0:1e09cd7d66b4 401 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 402 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 403 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 404 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 405 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 406 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 407 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 408 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 409 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 410 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 411 }
nerit 0:1e09cd7d66b4 412
nerit 0:1e09cd7d66b4 413 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 414 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 415 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 416 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 417 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 418 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 419 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 420 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 421 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 422 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 423 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 424 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 425 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 426 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 427 #endif
nerit 0:1e09cd7d66b4 428 #endif
nerit 0:1e09cd7d66b4 429 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 430 all_pickSignal=0;
nerit 0:1e09cd7d66b4 431 all_cellSignal=0;
nerit 0:1e09cd7d66b4 432 all_lowBattery=0;
nerit 0:1e09cd7d66b4 433 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 434 all_stopSistem=0;
nerit 0:1e09cd7d66b4 435 all_upElements=0;
nerit 0:1e09cd7d66b4 436 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 437 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 438 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 439 all_noStepRota=0;
nerit 0:1e09cd7d66b4 440 all_speedError=0;
nerit 0:1e09cd7d66b4 441 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 442 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 443 all_genericals=0;
nerit 0:1e09cd7d66b4 444 }
nerit 0:1e09cd7d66b4 445 //*******************************************************
nerit 0:1e09cd7d66b4 446 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 447 void upDateSincro(){
nerit 0:1e09cd7d66b4 448 char val1[8]={0,0,0,0,0,0,0,0};
nerit 10:d85ed006056e 449 val1[0]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 10:d85ed006056e 450 val1[1]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 10:d85ed006056e 451 val1[2]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 10:d85ed006056e 452 val1[3]=posForQuinc & 0x000000FF;
nerit 7:c9fd242538d9 453 //double pass = tractorSpeed_MtS_timed*100.0f;
nerit 7:c9fd242538d9 454 double pass = speedOfSeedWheel*100.0f;
nerit 5:3b95bbfe2dc9 455 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 456 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 457 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 458 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 459 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 460 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 461 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 462 checkState=0;
nerit 0:1e09cd7d66b4 463 }
nerit 0:1e09cd7d66b4 464 #endif
nerit 0:1e09cd7d66b4 465 #endif
nerit 0:1e09cd7d66b4 466 }
nerit 0:1e09cd7d66b4 467 #endif
nerit 0:1e09cd7d66b4 468 //*******************************************************
nerit 0:1e09cd7d66b4 469 void upDateSpeed(){
nerit 0:1e09cd7d66b4 470 /*
nerit 0:1e09cd7d66b4 471 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 472 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 473 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 474 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 475 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 476 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 477 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 478 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 479 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 480 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 481 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 482 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 483 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 484 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 485 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 486 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 487 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 488 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 489 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 490 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 491 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 492 bit 1= sensore celle
nerit 0:1e09cd7d66b4 493 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 494 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 495 bit 4= motore DC
nerit 0:1e09cd7d66b4 496 bit 5= controller
nerit 0:1e09cd7d66b4 497 bit 6= motore stepper
nerit 0:1e09cd7d66b4 498 */
nerit 0:1e09cd7d66b4 499 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 500
nerit 0:1e09cd7d66b4 501 val1[3]=0;
nerit 0:1e09cd7d66b4 502 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 503 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 7:c9fd242538d9 504 val1[3]=val1[3]+(DcEncoder*0x04);
nerit 3:c0f11ca4df02 505 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 506 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 507 if (buttonUser==0){
nerit 0:1e09cd7d66b4 508 val1[1]=0x02;
nerit 0:1e09cd7d66b4 509 }else{
nerit 0:1e09cd7d66b4 510 val1[1]=0x00;
nerit 0:1e09cd7d66b4 511 }
nerit 0:1e09cd7d66b4 512 val1[3]=valore;
nerit 0:1e09cd7d66b4 513 valore+=1;
nerit 0:1e09cd7d66b4 514 if(valore>50){
nerit 0:1e09cd7d66b4 515 valore=0;
nerit 0:1e09cd7d66b4 516 }
nerit 0:1e09cd7d66b4 517 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 518 #endif
nerit 0:1e09cd7d66b4 519 allarmi();
nerit 0:1e09cd7d66b4 520 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 521 val1[0]=valore;
nerit 0:1e09cd7d66b4 522 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 523 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 524 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 525 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 526 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 527 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 528 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 529 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 530 checkState=0;
nerit 0:1e09cd7d66b4 531 }
nerit 0:1e09cd7d66b4 532 #endif
nerit 0:1e09cd7d66b4 533 }
nerit 0:1e09cd7d66b4 534 //*******************************************************
nerit 0:1e09cd7d66b4 535 void leggiCAN(){
nerit 0:1e09cd7d66b4 536 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 537 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 538 if (firstStart==1){
nerit 0:1e09cd7d66b4 539 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 540 sincUpdate.attach(&upDateSincro,0.009f);
nerit 7:c9fd242538d9 541 canUpdate.attach(&upDateSpeed,0.21f);
nerit 7:c9fd242538d9 542 #else
nerit 7:c9fd242538d9 543 canUpdate.attach(&upDateSpeed,0.407f);
nerit 0:1e09cd7d66b4 544 #endif
nerit 0:1e09cd7d66b4 545 firstStart=0;
nerit 0:1e09cd7d66b4 546 }
nerit 0:1e09cd7d66b4 547
nerit 0:1e09cd7d66b4 548 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 549 #if defined(pcSerial)
nerit 7:c9fd242538d9 550 #if defined(canDataReceiveda)
nerit 0:1e09cd7d66b4 551 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 552 #endif
nerit 0:1e09cd7d66b4 553 #endif
nerit 0:1e09cd7d66b4 554 }
nerit 0:1e09cd7d66b4 555 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 556 #if defined(pcSerial)
nerit 7:c9fd242538d9 557 #if defined(canDataReceivedb)
nerit 0:1e09cd7d66b4 558 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 559 #endif
nerit 0:1e09cd7d66b4 560 #endif
nerit 0:1e09cd7d66b4 561 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 562 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 563 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 564 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 565 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 566 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 567 #if defined(canDataReceived)
nerit 7:c9fd242538d9 568 pc.printf("Speed simula %d \n",speedSimula);
nerit 0:1e09cd7d66b4 569 #endif
nerit 0:1e09cd7d66b4 570 #endif
nerit 0:1e09cd7d66b4 571 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 572 case 1:
nerit 0:1e09cd7d66b4 573 case 3:
nerit 0:1e09cd7d66b4 574 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 575 resetComandi=0x01;
nerit 0:1e09cd7d66b4 576 comandiDaCan=0;
nerit 0:1e09cd7d66b4 577 break;
nerit 0:1e09cd7d66b4 578 case 2:
nerit 0:1e09cd7d66b4 579 loadDaCan=1;
nerit 0:1e09cd7d66b4 580 resetComandi=0x02;
nerit 0:1e09cd7d66b4 581 comandiDaCan=0;
nerit 0:1e09cd7d66b4 582 break;
nerit 0:1e09cd7d66b4 583 default:
nerit 0:1e09cd7d66b4 584 comandiDaCan=0;
nerit 0:1e09cd7d66b4 585 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 586 break;
nerit 0:1e09cd7d66b4 587 }
nerit 0:1e09cd7d66b4 588 #if defined(pcSerial)
nerit 7:c9fd242538d9 589 #if defined(canDataReceivedR)
nerit 0:1e09cd7d66b4 590 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 591 #endif
nerit 0:1e09cd7d66b4 592 #endif
nerit 0:1e09cd7d66b4 593 if (speedSimula>45){
nerit 0:1e09cd7d66b4 594 speedSimula=45;
nerit 0:1e09cd7d66b4 595 }
nerit 0:1e09cd7d66b4 596 // modulo 1
nerit 0:1e09cd7d66b4 597 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 598 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 599 simOk=1;
nerit 0:1e09cd7d66b4 600 }else{
nerit 0:1e09cd7d66b4 601 simOk=0;
nerit 0:1e09cd7d66b4 602 }
nerit 0:1e09cd7d66b4 603 }
nerit 0:1e09cd7d66b4 604 // modulo 2
nerit 0:1e09cd7d66b4 605 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 606 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 607 simOk=1;
nerit 0:1e09cd7d66b4 608 }else{
nerit 0:1e09cd7d66b4 609 simOk=0;
nerit 0:1e09cd7d66b4 610 }
nerit 0:1e09cd7d66b4 611 }
nerit 0:1e09cd7d66b4 612 // modulo 3
nerit 0:1e09cd7d66b4 613 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 614 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 615 simOk=1;
nerit 0:1e09cd7d66b4 616 }else{
nerit 0:1e09cd7d66b4 617 simOk=0;
nerit 0:1e09cd7d66b4 618 }
nerit 0:1e09cd7d66b4 619 }
nerit 0:1e09cd7d66b4 620 // modulo 4
nerit 0:1e09cd7d66b4 621 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 622 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 623 simOk=1;
nerit 0:1e09cd7d66b4 624 }else{
nerit 0:1e09cd7d66b4 625 simOk=0;
nerit 0:1e09cd7d66b4 626 }
nerit 0:1e09cd7d66b4 627 }
nerit 0:1e09cd7d66b4 628 // modulo 5
nerit 0:1e09cd7d66b4 629 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 630 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 631 simOk=1;
nerit 0:1e09cd7d66b4 632 }else{
nerit 0:1e09cd7d66b4 633 simOk=0;
nerit 0:1e09cd7d66b4 634 }
nerit 0:1e09cd7d66b4 635 }
nerit 0:1e09cd7d66b4 636
nerit 0:1e09cd7d66b4 637 }
nerit 0:1e09cd7d66b4 638 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 639 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 640 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 641 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 642 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 643 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 644 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 645 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 646 aggiornaParametri();
nerit 0:1e09cd7d66b4 647 }
nerit 0:1e09cd7d66b4 648 }
nerit 0:1e09cd7d66b4 649 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 650 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 651 #if defined(M1)
nerit 0:1e09cd7d66b4 652 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 653 aggiornaParametri();
nerit 0:1e09cd7d66b4 654 #endif
nerit 0:1e09cd7d66b4 655 #if defined(M2)
nerit 0:1e09cd7d66b4 656 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 657 aggiornaParametri();
nerit 0:1e09cd7d66b4 658 #endif
nerit 0:1e09cd7d66b4 659 #if defined(M3)
nerit 0:1e09cd7d66b4 660 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 661 aggiornaParametri();
nerit 0:1e09cd7d66b4 662 #endif
nerit 0:1e09cd7d66b4 663 #if defined(M4)
nerit 0:1e09cd7d66b4 664 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 665 aggiornaParametri();
nerit 0:1e09cd7d66b4 666 #endif
nerit 0:1e09cd7d66b4 667 #if defined(M5)
nerit 0:1e09cd7d66b4 668 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 669 aggiornaParametri();
nerit 0:1e09cd7d66b4 670 #endif
nerit 0:1e09cd7d66b4 671 #if defined(M6)
nerit 0:1e09cd7d66b4 672 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 673 aggiornaParametri();
nerit 0:1e09cd7d66b4 674 #endif
nerit 0:1e09cd7d66b4 675 }
nerit 0:1e09cd7d66b4 676 }
nerit 0:1e09cd7d66b4 677 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 678 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 679 #if defined(M1)
nerit 0:1e09cd7d66b4 680 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 681 aggiornaParametri();
nerit 0:1e09cd7d66b4 682 #endif
nerit 0:1e09cd7d66b4 683 #if defined(M2)
nerit 0:1e09cd7d66b4 684 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 685 aggiornaParametri();
nerit 0:1e09cd7d66b4 686 #endif
nerit 0:1e09cd7d66b4 687 #if defined(M3)
nerit 0:1e09cd7d66b4 688 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 689 aggiornaParametri();
nerit 0:1e09cd7d66b4 690 #endif
nerit 0:1e09cd7d66b4 691 #if defined(M4)
nerit 0:1e09cd7d66b4 692 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 693 aggiornaParametri();
nerit 0:1e09cd7d66b4 694 #endif
nerit 0:1e09cd7d66b4 695 #if defined(M5)
nerit 0:1e09cd7d66b4 696 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 697 aggiornaParametri();
nerit 0:1e09cd7d66b4 698 #endif
nerit 0:1e09cd7d66b4 699 #if defined(M6)
nerit 0:1e09cd7d66b4 700 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 701 aggiornaParametri();
nerit 0:1e09cd7d66b4 702 #endif
nerit 0:1e09cd7d66b4 703 }
nerit 0:1e09cd7d66b4 704 }
nerit 0:1e09cd7d66b4 705 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 706 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 707 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 708 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 709 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 710 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 711 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 712 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 713 aggiornaParametri();
nerit 0:1e09cd7d66b4 714 }
nerit 0:1e09cd7d66b4 715 }
nerit 0:1e09cd7d66b4 716 if (rxMsg.id==RX_QuincSinc){
nerit 7:c9fd242538d9 717 masterSinc = (uint32_t) rxMsg.data[3] * 0x00FF0000;
nerit 7:c9fd242538d9 718 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x0000FF00);
nerit 7:c9fd242538d9 719 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x000000FF);
nerit 7:c9fd242538d9 720 masterSinc = masterSinc + ((uint32_t) rxMsg.data[0]);
nerit 5:3b95bbfe2dc9 721 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 722 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 723 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 724 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 725 canDataCheck=1;
nerit 0:1e09cd7d66b4 726 }
nerit 6:3fca0ca1949e 727 if (rxMsg.id==RX_Configure){
nerit 6:3fca0ca1949e 728 uint8_t flags = rxMsg.data[0];
nerit 10:d85ed006056e 729 uint16_t steps = (uint32_t) rxMsg.data[1]*0x000000FF;
nerit 6:3fca0ca1949e 730 steps = steps + ((uint32_t)rxMsg.data[2]);
nerit 10:d85ed006056e 731 TBmotorSteps =steps;
nerit 10:d85ed006056e 732 //stepSetting();
nerit 6:3fca0ca1949e 733 cellsCountSet = rxMsg.data[3];
nerit 6:3fca0ca1949e 734 if ((flags&0x01)==0x01){
nerit 7:c9fd242538d9 735 if (encoder==false){
nerit 7:c9fd242538d9 736 encoder=true;
nerit 7:c9fd242538d9 737 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 738 dcSetting();
nerit 7:c9fd242538d9 739 }
nerit 6:3fca0ca1949e 740 }else{
nerit 7:c9fd242538d9 741 if (encoder==true){
nerit 7:c9fd242538d9 742 encoder=false;
nerit 7:c9fd242538d9 743 DcEncoder.rise(NULL);
nerit 7:c9fd242538d9 744 dcSetting();
nerit 7:c9fd242538d9 745 }
nerit 6:3fca0ca1949e 746 }
nerit 6:3fca0ca1949e 747 if ((flags&0x02)==0x02){
nerit 6:3fca0ca1949e 748 tankLevelEnable=true;
nerit 6:3fca0ca1949e 749 }else{
nerit 6:3fca0ca1949e 750 tankLevelEnable=false;
nerit 6:3fca0ca1949e 751 }
nerit 6:3fca0ca1949e 752 if ((flags&0x04)==0x04){
nerit 6:3fca0ca1949e 753 seedSensorEnable=true;
nerit 6:3fca0ca1949e 754 }else{
nerit 6:3fca0ca1949e 755 seedSensorEnable=false;
nerit 6:3fca0ca1949e 756 }
nerit 6:3fca0ca1949e 757 if ((flags&0x08)==0x08){
nerit 6:3fca0ca1949e 758 stendiNylonEnable=true;
nerit 6:3fca0ca1949e 759 }else{
nerit 6:3fca0ca1949e 760 stendiNylonEnable=false;
nerit 6:3fca0ca1949e 761 }
nerit 6:3fca0ca1949e 762 if ((flags&0x10)==0x10){
nerit 6:3fca0ca1949e 763 canDataCheckEnable=true;
nerit 6:3fca0ca1949e 764 }else{
nerit 6:3fca0ca1949e 765 canDataCheckEnable=false;
nerit 6:3fca0ca1949e 766 }
nerit 6:3fca0ca1949e 767 if ((flags&0x20)==0x20){
nerit 6:3fca0ca1949e 768 tamburoStandard=1;
nerit 6:3fca0ca1949e 769 }else{
nerit 6:3fca0ca1949e 770 tamburoStandard=0;
nerit 6:3fca0ca1949e 771 }
nerit 6:3fca0ca1949e 772 if ((flags&0x40)==0x40){
nerit 6:3fca0ca1949e 773 currentCheckEnable=true;
nerit 6:3fca0ca1949e 774 }else{
nerit 6:3fca0ca1949e 775 currentCheckEnable=false;
nerit 6:3fca0ca1949e 776 }
nerit 6:3fca0ca1949e 777 }
nerit 0:1e09cd7d66b4 778 }
nerit 0:1e09cd7d66b4 779 #endif
nerit 0:1e09cd7d66b4 780 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 781 enableSimula=1;
nerit 0:1e09cd7d66b4 782 speedSimula=25;
nerit 0:1e09cd7d66b4 783 avviaSimula=1;
nerit 0:1e09cd7d66b4 784 simOk=1;
nerit 0:1e09cd7d66b4 785 #endif
nerit 0:1e09cd7d66b4 786
nerit 0:1e09cd7d66b4 787 }
nerit 0:1e09cd7d66b4 788
nerit 0:1e09cd7d66b4 789 //*******************************************************
nerit 0:1e09cd7d66b4 790 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 791
nerit 0:1e09cd7d66b4 792 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 793 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 794
nerit 0:1e09cd7d66b4 795 //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 796 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 797 // Analog reading
nerit 0:1e09cd7d66b4 798 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 799 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 800 timeout.detach();
nerit 0:1e09cd7d66b4 801 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 802 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 803 }
nerit 0:1e09cd7d66b4 804 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 805 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 806 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 807 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 808 }
nerit 0:1e09cd7d66b4 809 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 810 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 811 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 812 }
nerit 0:1e09cd7d66b4 813 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 814 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 815 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 816 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 817 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 818 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 819 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 820 #endif
nerit 0:1e09cd7d66b4 821 #endif
nerit 0:1e09cd7d66b4 822 reduceCurrent=false;
nerit 0:1e09cd7d66b4 823 incrementCurrent=false;
nerit 0:1e09cd7d66b4 824 /*
nerit 0:1e09cd7d66b4 825 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 826 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 827 all_lowBattery=1;
nerit 0:1e09cd7d66b4 828 #endif
nerit 0:1e09cd7d66b4 829 incrementCurrent=true;
nerit 0:1e09cd7d66b4 830 }
nerit 0:1e09cd7d66b4 831 */
nerit 4:d32258ec411f 832 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 833 timeCurr.start();
nerit 4:d32258ec411f 834 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 835 #if defined(canbusActive)
nerit 4:d32258ec411f 836 all_overCurrDC=1;
nerit 4:d32258ec411f 837 #endif
nerit 4:d32258ec411f 838 reduceCurrent=true;
nerit 4:d32258ec411f 839 timeCurr.reset();
nerit 4:d32258ec411f 840 }
nerit 4:d32258ec411f 841 }else{
nerit 4:d32258ec411f 842 timeCurr.stop();
nerit 0:1e09cd7d66b4 843 }
nerit 0:1e09cd7d66b4 844 //}
nerit 0:1e09cd7d66b4 845 }
nerit 0:1e09cd7d66b4 846 //*******************************************************
nerit 0:1e09cd7d66b4 847 void DC_prepare(){
nerit 0:1e09cd7d66b4 848 // direction or brake preparation
nerit 7:c9fd242538d9 849 if (DC_brake==1){
nerit 7:c9fd242538d9 850 SDmotorInA=1;
nerit 7:c9fd242538d9 851 SDmotorInB=1;
nerit 7:c9fd242538d9 852 }else{
nerit 7:c9fd242538d9 853 if (DC_forward==0){
nerit 7:c9fd242538d9 854 SDmotorInA=1;
nerit 7:c9fd242538d9 855 SDmotorInB=0;
nerit 7:c9fd242538d9 856 }else{
nerit 7:c9fd242538d9 857 SDmotorInA=0;
nerit 7:c9fd242538d9 858 SDmotorInB=1;
nerit 7:c9fd242538d9 859 }
nerit 7:c9fd242538d9 860 }
nerit 0:1e09cd7d66b4 861 // fault reading
nerit 0:1e09cd7d66b4 862 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 863 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 864 }
nerit 0:1e09cd7d66b4 865 //*******************************************************
nerit 0:1e09cd7d66b4 866 void startDelay(){
nerit 0:1e09cd7d66b4 867 int ritardo =0;
nerit 0:1e09cd7d66b4 868 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 869 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 870 }
nerit 0:1e09cd7d66b4 871 //*******************************************************
nerit 4:d32258ec411f 872 void quincTrigon(){
nerit 4:d32258ec411f 873 quincClock=true;
nerit 4:d32258ec411f 874 }
nerit 4:d32258ec411f 875 void quincTrigof(){
nerit 4:d32258ec411f 876 quincClock=false;
nerit 0:1e09cd7d66b4 877 }
nerit 0:1e09cd7d66b4 878 //*******************************************************
nerit 2:d9c7430ae953 879 void quinCalc(){
nerit 0:1e09cd7d66b4 880 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 881 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 882 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 883 oldQuincIn=1;
nerit 0:1e09cd7d66b4 884 if (quincStart==0){
nerit 5:3b95bbfe2dc9 885 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 886 quincTime.reset();
nerit 8:0e643ea7834f 887 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 888 quincStart=1;
nerit 0:1e09cd7d66b4 889 }
nerit 0:1e09cd7d66b4 890 }
nerit 2:d9c7430ae953 891 if(quincClock==false){
nerit 0:1e09cd7d66b4 892 oldQuincIn=0;
nerit 0:1e09cd7d66b4 893 }
nerit 2:d9c7430ae953 894 #else
nerit 2:d9c7430ae953 895 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 896 oldQuincIn=1;
nerit 0:1e09cd7d66b4 897 if (quincStart==0){
nerit 5:3b95bbfe2dc9 898 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 899 quincTime.reset();
nerit 0:1e09cd7d66b4 900 quincStart=1;
nerit 0:1e09cd7d66b4 901 }
nerit 0:1e09cd7d66b4 902 }
nerit 4:d32258ec411f 903 if (quinconceActive==0){
nerit 4:d32258ec411f 904 if (quincClock==false){
nerit 4:d32258ec411f 905 oldQuincIn=0;
nerit 4:d32258ec411f 906 }
nerit 4:d32258ec411f 907 }else{
nerit 4:d32258ec411f 908 if (quincClock==true){
nerit 4:d32258ec411f 909 oldQuincIn=0;
nerit 4:d32258ec411f 910 }
nerit 0:1e09cd7d66b4 911 }
nerit 2:d9c7430ae953 912 #endif
nerit 5:3b95bbfe2dc9 913 //****************************************************************************************
nerit 7:c9fd242538d9 914 if (quincCnt>=4){
nerit 5:3b95bbfe2dc9 915 if (countPicks==0){
nerit 5:3b95bbfe2dc9 916 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 917 // decelera
nerit 5:3b95bbfe2dc9 918 countPicks=1;
nerit 4:d32258ec411f 919 }
nerit 5:3b95bbfe2dc9 920 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 921 // accelera
nerit 5:3b95bbfe2dc9 922 countPicks=2;
nerit 4:d32258ec411f 923 }
nerit 4:d32258ec411f 924 }
nerit 5:3b95bbfe2dc9 925 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 926 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 927 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 928 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 929 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 930 percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 931 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 932 #if defined(laq)
nerit 5:3b95bbfe2dc9 933 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 934 #endif
nerit 5:3b95bbfe2dc9 935 #endif
nerit 5:3b95bbfe2dc9 936 }
nerit 7:c9fd242538d9 937 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 938 }
nerit 5:3b95bbfe2dc9 939 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 940 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 941 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 942 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 7:c9fd242538d9 943 percento += ((double)quincPIDplus/100.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 944 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 945 #if defined(laq)
nerit 5:3b95bbfe2dc9 946 pc.printf(
nerit 5:3b95bbfe2dc9 947 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 948 #endif
nerit 5:3b95bbfe2dc9 949 #endif
nerit 5:3b95bbfe2dc9 950 }
nerit 7:c9fd242538d9 951 //if (scostamento <15.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 952 }
nerit 5:3b95bbfe2dc9 953 sincroQui=0;
nerit 5:3b95bbfe2dc9 954 quincStart=0;
nerit 5:3b95bbfe2dc9 955 countPicks=0;
nerit 7:c9fd242538d9 956 #if !defined(speedMaster)
nerit 8:0e643ea7834f 957 if (quincCnt>=3){
nerit 7:c9fd242538d9 958 if (speedFromMaster>0.0f){
nerit 8:0e643ea7834f 959 if (enableSimula==0){
nerit 8:0e643ea7834f 960 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 961 }
nerit 7:c9fd242538d9 962 }
nerit 7:c9fd242538d9 963 }
nerit 7:c9fd242538d9 964 #endif
nerit 5:3b95bbfe2dc9 965 }
nerit 5:3b95bbfe2dc9 966
nerit 5:3b95bbfe2dc9 967 //*******************************************************************
nerit 5:3b95bbfe2dc9 968 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 969 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 970 canDataCheck=0;
nerit 7:c9fd242538d9 971 double parametro = SDsectorStep/3.0f;
nerit 5:3b95bbfe2dc9 972 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 973 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 974 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 975 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 976 }else{
nerit 5:3b95bbfe2dc9 977 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 978 }
nerit 5:3b95bbfe2dc9 979 #else
nerit 5:3b95bbfe2dc9 980 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 981 #endif
nerit 5:3b95bbfe2dc9 982 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 983 double diffPerc = differenza / parametro;
nerit 7:c9fd242538d9 984 percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 985 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 986 #if defined(quinca)
nerit 5:3b95bbfe2dc9 987 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 988 #endif
nerit 5:3b95bbfe2dc9 989 #endif
nerit 5:3b95bbfe2dc9 990 }
nerit 5:3b95bbfe2dc9 991 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 992 double diffPerc = (double)differenza / parametro;
nerit 7:c9fd242538d9 993 percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 994 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 995 #if defined(quinca)
nerit 5:3b95bbfe2dc9 996 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 997 #endif
nerit 5:3b95bbfe2dc9 998 #endif
nerit 5:3b95bbfe2dc9 999 }
nerit 7:c9fd242538d9 1000
nerit 7:c9fd242538d9 1001 #if !defined(speedMaster)
nerit 8:0e643ea7834f 1002 if (quincCnt>=3){
nerit 7:c9fd242538d9 1003 if (speedFromMaster>0.0f){
nerit 10:d85ed006056e 1004 //Questo
nerit 8:0e643ea7834f 1005 if (enableSimula==0){
nerit 8:0e643ea7834f 1006 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 8:0e643ea7834f 1007 }
nerit 7:c9fd242538d9 1008 }
nerit 7:c9fd242538d9 1009 }
nerit 7:c9fd242538d9 1010 #endif
nerit 5:3b95bbfe2dc9 1011 }
nerit 5:3b95bbfe2dc9 1012 }
nerit 5:3b95bbfe2dc9 1013
nerit 5:3b95bbfe2dc9 1014 }
nerit 5:3b95bbfe2dc9 1015 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 1016 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 1017 }
nerit 5:3b95bbfe2dc9 1018 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 1019 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 1020 }
nerit 0:1e09cd7d66b4 1021 }
nerit 7:c9fd242538d9 1022 // ----------------------------------------
nerit 7:c9fd242538d9 1023 #if defined(seedSensor)
nerit 7:c9fd242538d9 1024 void resetDelay(){
nerit 7:c9fd242538d9 1025 delaySeedCheck.reset();
nerit 7:c9fd242538d9 1026 delaySeedCheck.stop();
nerit 7:c9fd242538d9 1027 }
nerit 7:c9fd242538d9 1028 #endif
nerit 0:1e09cd7d66b4 1029 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1030 // MAIN SECTION
nerit 3:c0f11ca4df02 1031 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 1032
nerit 0:1e09cd7d66b4 1033 int main()
nerit 0:1e09cd7d66b4 1034 {
nerit 5:3b95bbfe2dc9 1035 //wait(1.0f);
nerit 0:1e09cd7d66b4 1036 wd.Configure(2); //watchdog set at xx seconds
nerit 7:c9fd242538d9 1037
nerit 7:c9fd242538d9 1038 stepSetting();
nerit 7:c9fd242538d9 1039
nerit 0:1e09cd7d66b4 1040 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 1041 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 1042 }
nerit 0:1e09cd7d66b4 1043
nerit 0:1e09cd7d66b4 1044
nerit 0:1e09cd7d66b4 1045 // DC reset ad set
nerit 0:1e09cd7d66b4 1046 int decima = 100;
nerit 0:1e09cd7d66b4 1047 wait_ms(200);
nerit 0:1e09cd7d66b4 1048 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1049 wait_ms(2);
nerit 0:1e09cd7d66b4 1050 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1051 wait_ms(1);
nerit 0:1e09cd7d66b4 1052 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1053 wait_ms(3);
nerit 0:1e09cd7d66b4 1054 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 1055 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 1056 wait_ms(100);
nerit 0:1e09cd7d66b4 1057 DC_prepare();
nerit 0:1e09cd7d66b4 1058
nerit 0:1e09cd7d66b4 1059 speedTimer.start(); // speed pulse timer
nerit 0:1e09cd7d66b4 1060 intraPickTimer.start();
nerit 0:1e09cd7d66b4 1061 speedTimeOut.start();
nerit 0:1e09cd7d66b4 1062 speedFilter.start();
nerit 0:1e09cd7d66b4 1063 seedFilter.start();
nerit 0:1e09cd7d66b4 1064 TBfilter.start();
nerit 0:1e09cd7d66b4 1065 sincroTimer.start();
nerit 0:1e09cd7d66b4 1066 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 1067 metalTimer.start();
nerit 0:1e09cd7d66b4 1068 quincTime.start();
nerit 1:e88bf5011af6 1069 quincTimeSD.start();
nerit 7:c9fd242538d9 1070 //intraEncoTimer.start();
nerit 0:1e09cd7d66b4 1071
nerit 0:1e09cd7d66b4 1072 //*******************************************************
nerit 0:1e09cd7d66b4 1073 // controls for check DC motor current
nerit 0:1e09cd7d66b4 1074 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 1075
nerit 0:1e09cd7d66b4 1076 if (inProva==0){
nerit 0:1e09cd7d66b4 1077 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 1078 #if !defined(speedMaster)
nerit 4:d32258ec411f 1079 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 1080 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 1081 #endif
nerit 5:3b95bbfe2dc9 1082 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1083 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 1084 #endif
nerit 0:1e09cd7d66b4 1085 seedCorrection.attach(&seedCorrect,0.005f); // con 16 becchi a 4,5Kmh ci sono 37mS tra un becco e l'altro, quindi 8 correzioni di tb
nerit 7:c9fd242538d9 1086 dcSetting();
nerit 7:c9fd242538d9 1087 #if defined(seedSensor)
nerit 8:0e643ea7834f 1088 seedCheck.fall(&seedSensorTask);
nerit 7:c9fd242538d9 1089 #endif
nerit 0:1e09cd7d66b4 1090 }else{
nerit 0:1e09cd7d66b4 1091 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 1092 }
nerit 0:1e09cd7d66b4 1093
nerit 0:1e09cd7d66b4 1094 aggiornaParametri();
nerit 0:1e09cd7d66b4 1095
nerit 0:1e09cd7d66b4 1096 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 7:c9fd242538d9 1097 SDmotorPWM.write(1.0f); // duty cycle = stop
nerit 7:c9fd242538d9 1098 TBmotorDirecti=1; // tb motor direction set
nerit 0:1e09cd7d66b4 1099
nerit 0:1e09cd7d66b4 1100 #if defined(provaStepper)
nerit 7:c9fd242538d9 1101 TBmotorRst=0;
nerit 10:d85ed006056e 1102 TBticker.attach_us(&step_TBPulseOut,500.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1103 #endif // end prova stepper
nerit 0:1e09cd7d66b4 1104
nerit 0:1e09cd7d66b4 1105 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 1106 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 1107 #endif
nerit 0:1e09cd7d66b4 1108
nerit 0:1e09cd7d66b4 1109 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1110 // MAIN LOOP
nerit 0:1e09cd7d66b4 1111 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1112 while (true){
nerit 0:1e09cd7d66b4 1113 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1114 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1115
nerit 0:1e09cd7d66b4 1116 // inversione segnali ingressi
nerit 4:d32258ec411f 1117 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1118 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1119 #else
nerit 4:d32258ec411f 1120 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1121 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1122 }
nerit 4:d32258ec411f 1123 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1124 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1125 }
nerit 4:d32258ec411f 1126 #endif
nerit 0:1e09cd7d66b4 1127 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1128
nerit 0:1e09cd7d66b4 1129 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1130 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1131 if (seedWheelZeroPinInput==1){
nerit 7:c9fd242538d9 1132 quinconceOut=0;
nerit 0:1e09cd7d66b4 1133 }
nerit 5:3b95bbfe2dc9 1134 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 7:c9fd242538d9 1135 quinconceOut=1;
nerit 7:c9fd242538d9 1136 }
nerit 7:c9fd242538d9 1137 if (quinconceActive==1){
nerit 7:c9fd242538d9 1138 if ((quinconceOut==1)&&(oldQuinconceOut==1)){
nerit 5:3b95bbfe2dc9 1139 posForQuinc=500;
nerit 7:c9fd242538d9 1140 oldQuinconceOut=0;
nerit 7:c9fd242538d9 1141 }
nerit 7:c9fd242538d9 1142 if (((double)posForQuinc-500.0f)> (SDsectorStep-200)){
nerit 7:c9fd242538d9 1143 oldQuinconceOut=1;
nerit 7:c9fd242538d9 1144 }
nerit 7:c9fd242538d9 1145 }
nerit 0:1e09cd7d66b4 1146 #endif
nerit 0:1e09cd7d66b4 1147
nerit 0:1e09cd7d66b4 1148 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1149 leggiCAN();
nerit 0:1e09cd7d66b4 1150 #endif
nerit 0:1e09cd7d66b4 1151
nerit 0:1e09cd7d66b4 1152 // simulazione velocita
nerit 0:1e09cd7d66b4 1153 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1154 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1155 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1156 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1157 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1158 }else{
nerit 0:1e09cd7d66b4 1159 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1160 }
nerit 0:1e09cd7d66b4 1161 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1162 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 7:c9fd242538d9 1163 #if defined(pcSerial)
nerit 7:c9fd242538d9 1164 #if defined(canDataReceived)
nerit 7:c9fd242538d9 1165 pc.printf("Pulseinterval %f \n",pulseSpeedInterval);
nerit 7:c9fd242538d9 1166 #endif
nerit 7:c9fd242538d9 1167 #endif
nerit 0:1e09cd7d66b4 1168 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1169 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1170 }
nerit 0:1e09cd7d66b4 1171 }else{
nerit 0:1e09cd7d66b4 1172 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1173 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1174 }
nerit 0:1e09cd7d66b4 1175 }else{
nerit 0:1e09cd7d66b4 1176 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1177 }
nerit 0:1e09cd7d66b4 1178
nerit 0:1e09cd7d66b4 1179 //*******************************************************
nerit 0:1e09cd7d66b4 1180 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1181 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1182 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1183 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1184 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1185 }
nerit 0:1e09cd7d66b4 1186 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1187 }else{
nerit 0:1e09cd7d66b4 1188 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1189 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1190 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1191 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1192 }
nerit 0:1e09cd7d66b4 1193 }
nerit 0:1e09cd7d66b4 1194
nerit 0:1e09cd7d66b4 1195 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1196 lowSpeed=1;
nerit 0:1e09cd7d66b4 1197 }else{
nerit 0:1e09cd7d66b4 1198 lowSpeed=0;
nerit 0:1e09cd7d66b4 1199 }
nerit 0:1e09cd7d66b4 1200
nerit 0:1e09cd7d66b4 1201
nerit 0:1e09cd7d66b4 1202 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1203 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1204 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1205 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1206 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1207
nerit 0:1e09cd7d66b4 1208 if (inProva==0){
nerit 7:c9fd242538d9 1209 if ((startCycleSimulation==0)&&(enableSimula==0)){
nerit 7:c9fd242538d9 1210 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1211 runRequestBuf=0;
nerit 7:c9fd242538d9 1212 enableCycle=1;
nerit 7:c9fd242538d9 1213 }else{
nerit 7:c9fd242538d9 1214 zeroRequestBuf=1;
nerit 7:c9fd242538d9 1215 runRequestBuf=0;
nerit 7:c9fd242538d9 1216 enableCycle=1;
nerit 7:c9fd242538d9 1217 }
nerit 7:c9fd242538d9 1218 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){
nerit 7:c9fd242538d9 1219 oldTractorSpeedRead=0;
nerit 7:c9fd242538d9 1220 }
nerit 0:1e09cd7d66b4 1221 // ----------------------------------------
nerit 0:1e09cd7d66b4 1222 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1223 // ----------------------------------------
nerit 4:d32258ec411f 1224 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1225 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1226 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1227 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1228 }
nerit 0:1e09cd7d66b4 1229 }
nerit 0:1e09cd7d66b4 1230 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1231 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1232 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1233 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1234 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1235 seedFilter.reset();
nerit 0:1e09cd7d66b4 1236 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1237 oldSeedWheelZeroPinInput=1;
nerit 8:0e643ea7834f 1238 quincTime.reset();
nerit 1:e88bf5011af6 1239 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1240 SDzeroDebounced=1;
nerit 4:d32258ec411f 1241 sincroQui=1;
nerit 0:1e09cd7d66b4 1242 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1243 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1244 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1245 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1246 }
nerit 5:3b95bbfe2dc9 1247 #endif
nerit 0:1e09cd7d66b4 1248 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1249 quincCnt++;
nerit 0:1e09cd7d66b4 1250 }
nerit 0:1e09cd7d66b4 1251 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1252 beccoPronto=1;
nerit 0:1e09cd7d66b4 1253 }
nerit 0:1e09cd7d66b4 1254 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1255 lockStart=0;
nerit 0:1e09cd7d66b4 1256 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1257 forzaFase=0;
nerit 0:1e09cd7d66b4 1258 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1259 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1260 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1261 }else{
nerit 0:1e09cd7d66b4 1262 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1263 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1264 }else{
nerit 6:3fca0ca1949e 1265 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
nerit 6:3fca0ca1949e 1266 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1267 }
nerit 0:1e09cd7d66b4 1268 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1269 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 1270 //forzaFase=1;
nerit 0:1e09cd7d66b4 1271 }
nerit 0:1e09cd7d66b4 1272 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1273 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1274 forzaFase=1;
nerit 0:1e09cd7d66b4 1275 }
nerit 0:1e09cd7d66b4 1276 trigRepos=1;
nerit 0:1e09cd7d66b4 1277 }
nerit 0:1e09cd7d66b4 1278 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1279 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1280 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1281 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1282 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1283 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1284 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1285 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1286 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1287 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1288 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1289 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1290 #endif
nerit 0:1e09cd7d66b4 1291 #endif
nerit 0:1e09cd7d66b4 1292 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1293 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1294 if (firstStart==0){
nerit 0:1e09cd7d66b4 1295 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1296 }
nerit 0:1e09cd7d66b4 1297 }
nerit 0:1e09cd7d66b4 1298 }
nerit 0:1e09cd7d66b4 1299 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1300 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1301 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1302 #if defined(pcSerial)
nerit 4:d32258ec411f 1303 #if defined(Qnca)
nerit 4:d32258ec411f 1304 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1305 #endif
nerit 0:1e09cd7d66b4 1306 #endif
nerit 0:1e09cd7d66b4 1307 }
nerit 7:c9fd242538d9 1308 if (encoder==false){
nerit 7:c9fd242538d9 1309 pulseRised2=1;
nerit 7:c9fd242538d9 1310 }
nerit 4:d32258ec411f 1311 #if defined(speedMaster)
nerit 4:d32258ec411f 1312 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1313 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1314 all_noSpeedSen=1;
nerit 4:d32258ec411f 1315 }
nerit 4:d32258ec411f 1316 }
nerit 5:3b95bbfe2dc9 1317 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1318 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1319 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1320 all_speedError =1;
nerit 0:1e09cd7d66b4 1321 }
nerit 0:1e09cd7d66b4 1322 }
nerit 0:1e09cd7d66b4 1323 #endif
nerit 0:1e09cd7d66b4 1324 //*******************************************
nerit 0:1e09cd7d66b4 1325 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1326 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1327 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1328 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1329 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1330 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1331 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1332 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1333 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1334 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1335 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1336 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1337 }
nerit 0:1e09cd7d66b4 1338 // ----------------------------------------
nerit 0:1e09cd7d66b4 1339 // check SD fase
nerit 0:1e09cd7d66b4 1340 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1341 forzaFase=0;
nerit 0:1e09cd7d66b4 1342 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1343 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1344 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1345 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1346 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1347 if (trigTB==0){
nerit 0:1e09cd7d66b4 1348 inhibit=1;
nerit 0:1e09cd7d66b4 1349 trigSD=1;
nerit 0:1e09cd7d66b4 1350 }else{
nerit 0:1e09cd7d66b4 1351 inhibit=0;
nerit 0:1e09cd7d66b4 1352 trigTB=0;
nerit 0:1e09cd7d66b4 1353 trigSD=0;
nerit 0:1e09cd7d66b4 1354 }
nerit 0:1e09cd7d66b4 1355 trigRepos=0;
nerit 0:1e09cd7d66b4 1356 }
nerit 0:1e09cd7d66b4 1357 }else{
nerit 0:1e09cd7d66b4 1358 trigCicli=0;
nerit 0:1e09cd7d66b4 1359 }
nerit 0:1e09cd7d66b4 1360 // ----------------------------------------
nerit 0:1e09cd7d66b4 1361 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1362 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1363 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1364 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1365 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1366 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1367 startCicloTB=0;
nerit 0:1e09cd7d66b4 1368 }
nerit 0:1e09cd7d66b4 1369 TBfilter.reset();
nerit 0:1e09cd7d66b4 1370 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1371 TBactualPosition=0;
nerit 9:503e2aba047c 1372 if (cntTbError>0){
nerit 9:503e2aba047c 1373 cntCellsCorrect++;
nerit 9:503e2aba047c 1374 }
nerit 9:503e2aba047c 1375 if (cntCellsCorrect>3){
nerit 9:503e2aba047c 1376 cntTbError=0;
nerit 9:503e2aba047c 1377 cntCellsCorrect=0;
nerit 9:503e2aba047c 1378 }
nerit 9:503e2aba047c 1379 // conteggio celle erogate
nerit 0:1e09cd7d66b4 1380 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1381 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1382 }else{
nerit 0:1e09cd7d66b4 1383 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1384 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1385 }
nerit 9:503e2aba047c 1386 // ciclo conteggio celle per carico manuale
nerit 0:1e09cd7d66b4 1387 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1388 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1389 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1390 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1391 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1392 }
nerit 0:1e09cd7d66b4 1393 }else{
nerit 0:1e09cd7d66b4 1394 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1395 }
nerit 9:503e2aba047c 1396 // inibizione controllo di sincro per fuori fase
nerit 0:1e09cd7d66b4 1397 if (trigSD==0){
nerit 0:1e09cd7d66b4 1398 inhibit=1;
nerit 0:1e09cd7d66b4 1399 trigTB=1;
nerit 0:1e09cd7d66b4 1400 }else{
nerit 0:1e09cd7d66b4 1401 inhibit=0;
nerit 0:1e09cd7d66b4 1402 trigTB=0;
nerit 0:1e09cd7d66b4 1403 trigSD=0;
nerit 0:1e09cd7d66b4 1404 }
nerit 9:503e2aba047c 1405 // conta le celle indietro per sbloccare il tamburo
nerit 7:c9fd242538d9 1406 if ((TBmotorDirecti==0)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1407 cntCellsForReload++;
nerit 6:3fca0ca1949e 1408 if (cntCellsForReload >= cellsCountSet){
nerit 9:503e2aba047c 1409 TBmotorDirecti=1; // rotazione normale
nerit 0:1e09cd7d66b4 1410 erroreTamburo=0;
nerit 9:503e2aba047c 1411 cntCellsCorrect=0;
nerit 0:1e09cd7d66b4 1412 }
nerit 0:1e09cd7d66b4 1413 }
nerit 7:c9fd242538d9 1414 #if defined(seedSensor)
nerit 7:c9fd242538d9 1415 resetDelay();
nerit 7:c9fd242538d9 1416 delaySeedCheck.start();
nerit 7:c9fd242538d9 1417 #endif
nerit 0:1e09cd7d66b4 1418 }
nerit 9:503e2aba047c 1419 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)&&(erroreTamburo==0)){
nerit 0:1e09cd7d66b4 1420 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1421 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1422 all_cellSignal=1;
nerit 7:c9fd242538d9 1423 #if defined(seedSensor)
nerit 7:c9fd242538d9 1424 resetDelay();
nerit 7:c9fd242538d9 1425 #endif
nerit 5:3b95bbfe2dc9 1426 }
nerit 0:1e09cd7d66b4 1427 }
nerit 0:1e09cd7d66b4 1428 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1429 erroreTamburo=1;
nerit 9:503e2aba047c 1430 TBmotorDirecti=0; // rotazione inversa
nerit 0:1e09cd7d66b4 1431 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1432 cntTbError++;
nerit 7:c9fd242538d9 1433 #if defined(seedSensor)
nerit 7:c9fd242538d9 1434 resetDelay();
nerit 7:c9fd242538d9 1435 #endif
nerit 0:1e09cd7d66b4 1436 }
nerit 0:1e09cd7d66b4 1437 }
nerit 5:3b95bbfe2dc9 1438 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1439 if (firstStart==0){
nerit 0:1e09cd7d66b4 1440 all_noStepRota=1;
nerit 7:c9fd242538d9 1441 #if defined(seedSensor)
nerit 7:c9fd242538d9 1442 resetDelay();
nerit 7:c9fd242538d9 1443 #endif
nerit 0:1e09cd7d66b4 1444 }
nerit 0:1e09cd7d66b4 1445 cntTbError=0;
nerit 0:1e09cd7d66b4 1446 }
nerit 0:1e09cd7d66b4 1447 // ----------------------------------------
nerit 0:1e09cd7d66b4 1448 // read and manage joystick
nerit 0:1e09cd7d66b4 1449 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1450 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1451 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1452 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1453 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1454 startCycle=1;
nerit 0:1e09cd7d66b4 1455 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1456 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1457 }
nerit 0:1e09cd7d66b4 1458 }
nerit 0:1e09cd7d66b4 1459 }else{
nerit 0:1e09cd7d66b4 1460 startCycle=0;
nerit 0:1e09cd7d66b4 1461 pntMedia=0;
nerit 0:1e09cd7d66b4 1462 }
nerit 0:1e09cd7d66b4 1463 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1464 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1465 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1466 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1467 }
nerit 0:1e09cd7d66b4 1468 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1469 }
nerit 0:1e09cd7d66b4 1470 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1471 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1472 ciclaTB();
nerit 0:1e09cd7d66b4 1473 }
nerit 0:1e09cd7d66b4 1474 }
nerit 0:1e09cd7d66b4 1475 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1476 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1477 zeroCycle=1;
nerit 0:1e09cd7d66b4 1478 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1479 SDzeroed=0;
nerit 0:1e09cd7d66b4 1480 TBzeroed=0;
nerit 0:1e09cd7d66b4 1481 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1482 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1483 }
nerit 0:1e09cd7d66b4 1484 }
nerit 0:1e09cd7d66b4 1485 }else{
nerit 0:1e09cd7d66b4 1486 startCycle=0;
nerit 0:1e09cd7d66b4 1487 zeroCycle=0;
nerit 0:1e09cd7d66b4 1488 }
nerit 0:1e09cd7d66b4 1489
nerit 0:1e09cd7d66b4 1490 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1491 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1492 //
nerit 0:1e09cd7d66b4 1493 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1494 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1495 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1496 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1497 pulseRised=0;
nerit 5:3b95bbfe2dc9 1498 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1499 speedMediaCalc();
nerit 0:1e09cd7d66b4 1500 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1501 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1502 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 8:0e643ea7834f 1503 if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){
nerit 7:c9fd242538d9 1504 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 7:c9fd242538d9 1505 }
nerit 7:c9fd242538d9 1506 /*#if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1507 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1508 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1509 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1510 }
nerit 5:3b95bbfe2dc9 1511 }
nerit 7:c9fd242538d9 1512 #endif*/
nerit 0:1e09cd7d66b4 1513 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1514 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1515 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1516 }
nerit 0:1e09cd7d66b4 1517 }
nerit 0:1e09cd7d66b4 1518 }
nerit 0:1e09cd7d66b4 1519 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1520 }else{
nerit 0:1e09cd7d66b4 1521 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1522 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1523 tractorSpeed_MtS_timed = 0.0f;
nerit 7:c9fd242538d9 1524 #if defined(seedSensor)
nerit 7:c9fd242538d9 1525 resetDelay();
nerit 7:c9fd242538d9 1526 #endif
nerit 0:1e09cd7d66b4 1527 pntMedia=0;
nerit 0:1e09cd7d66b4 1528 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1529 enableSpeed=0;
nerit 0:1e09cd7d66b4 1530 quincCnt=0;
nerit 0:1e09cd7d66b4 1531 }
nerit 0:1e09cd7d66b4 1532 }
nerit 7:c9fd242538d9 1533
nerit 7:c9fd242538d9 1534 #if defined(seedSensor)
nerit 7:c9fd242538d9 1535 if (seedSensorEnable==true){
nerit 7:c9fd242538d9 1536 if (delaySeedCheck.read_ms()>100){
nerit 7:c9fd242538d9 1537 if (seedSee==0){
nerit 7:c9fd242538d9 1538 all_noSeedOnCe=1;
nerit 7:c9fd242538d9 1539 }
nerit 7:c9fd242538d9 1540 resetDelay();
nerit 7:c9fd242538d9 1541 }
nerit 7:c9fd242538d9 1542 }
nerit 7:c9fd242538d9 1543 #endif
nerit 0:1e09cd7d66b4 1544 // esegue il controllo di velocità minima
nerit 7:c9fd242538d9 1545 /*if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1546 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1547 enableSpeed=0;
nerit 7:c9fd242538d9 1548 }*/
nerit 6:3fca0ca1949e 1549 // esegue il controllo di velocità massima
nerit 7:c9fd242538d9 1550 /*if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 6:3fca0ca1949e 1551 tractorSpeed_MtS_timed = 4.5f;
nerit 7:c9fd242538d9 1552 }*/
nerit 0:1e09cd7d66b4 1553 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1554 // cycle logic control section
nerit 0:1e09cd7d66b4 1555 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1556 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1557 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1558 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1559 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1560 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 1561 if (encoder==false){
nerit 5:3b95bbfe2dc9 1562 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1563 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1564 }else{
nerit 5:3b95bbfe2dc9 1565 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1566 }
nerit 0:1e09cd7d66b4 1567 }else{
nerit 5:3b95bbfe2dc9 1568 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 1569 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1570 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1571 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1572 #endif
nerit 5:3b95bbfe2dc9 1573 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1574 }
nerit 0:1e09cd7d66b4 1575 //*******************************************
nerit 0:1e09cd7d66b4 1576 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1577 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1578 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1579 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1580 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1581 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1582 }
nerit 0:1e09cd7d66b4 1583 }
nerit 6:3fca0ca1949e 1584 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
nerit 2:d9c7430ae953 1585 #if !defined(speedMaster)
nerit 4:d32258ec411f 1586 quinCalc();
nerit 2:d9c7430ae953 1587 #endif
nerit 5:3b95bbfe2dc9 1588 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1589 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1590 if(encoder==false){
nerit 5:3b95bbfe2dc9 1591 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1592 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1593 }else{
nerit 5:3b95bbfe2dc9 1594 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 1595 }
nerit 0:1e09cd7d66b4 1596 }else{
nerit 5:3b95bbfe2dc9 1597 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 1598 }
nerit 0:1e09cd7d66b4 1599 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1600 double k3=0.0f;
nerit 1:e88bf5011af6 1601 double k4=0.0f;
nerit 1:e88bf5011af6 1602 double k5=0.0f;
nerit 4:d32258ec411f 1603 double k6=0.0f;
nerit 4:d32258ec411f 1604 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1605 k3=1.030f;
nerit 4:d32258ec411f 1606 k4=5.103f;
nerit 4:d32258ec411f 1607 k5=10.00f;
nerit 4:d32258ec411f 1608 k6=20.50f;
nerit 4:d32258ec411f 1609 }else{*/
nerit 8:0e643ea7834f 1610 #if defined(speedMaster)
nerit 8:0e643ea7834f 1611 k3=0.010f;
nerit 8:0e643ea7834f 1612 #else
nerit 8:0e643ea7834f 1613 k3=0.050f;
nerit 8:0e643ea7834f 1614 #endif
nerit 7:c9fd242538d9 1615 k4=1.103f;
nerit 7:c9fd242538d9 1616 k5=10.00f;
nerit 7:c9fd242538d9 1617 k6=20.50f;
nerit 4:d32258ec411f 1618 //}
nerit 7:c9fd242538d9 1619 double L1 = 0.045f;
nerit 7:c9fd242538d9 1620 double L_1=-0.045f;
nerit 7:c9fd242538d9 1621 double L2 = 0.150f;
nerit 7:c9fd242538d9 1622 double L_2=-0.150f;
nerit 7:c9fd242538d9 1623 double L3 = 0.301f;
nerit 7:c9fd242538d9 1624 double L_3=-0.301f;
nerit 4:d32258ec411f 1625 double k1=0.0f;
nerit 4:d32258ec411f 1626 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1627 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1628 }
nerit 4:d32258ec411f 1629 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1630 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1631 }
nerit 4:d32258ec411f 1632 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1633 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1634 }
nerit 4:d32258ec411f 1635 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1636 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1637 }
nerit 4:d32258ec411f 1638 double memoCorrezione = k1;
nerit 4:d32258ec411f 1639 if (quincCnt >= 2){
nerit 4:d32258ec411f 1640 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1641 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1642 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1643 }
nerit 4:d32258ec411f 1644 pulseRised1=0;
nerit 4:d32258ec411f 1645 pulseRised2=0;
nerit 1:e88bf5011af6 1646 #if defined(pcSerial)
nerit 4:d32258ec411f 1647 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1648 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1649 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 1650 #endif
nerit 1:e88bf5011af6 1651 #endif
nerit 4:d32258ec411f 1652 #if defined(pcSerial)
nerit 4:d32258ec411f 1653 #if defined(Qncb)
nerit 4:d32258ec411f 1654 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1655 #endif
nerit 4:d32258ec411f 1656 #endif
nerit 0:1e09cd7d66b4 1657 }
nerit 0:1e09cd7d66b4 1658 // introduce il controllo di corrente
nerit 6:3fca0ca1949e 1659 if (currentCheckEnable==true){
nerit 6:3fca0ca1949e 1660 if (incrementCurrent){
nerit 6:3fca0ca1949e 1661 boostDcOut +=0.005f;
nerit 6:3fca0ca1949e 1662 }
nerit 6:3fca0ca1949e 1663 if (reduceCurrent){
nerit 6:3fca0ca1949e 1664 boostDcOut -=0.005f;
nerit 6:3fca0ca1949e 1665 }
nerit 6:3fca0ca1949e 1666 if (boostDcOut >= 0.2f){
nerit 6:3fca0ca1949e 1667 boostDcOut=0.2f;
nerit 6:3fca0ca1949e 1668 all_genericals=1;
nerit 6:3fca0ca1949e 1669 }
nerit 6:3fca0ca1949e 1670 if (boostDcOut <=-0.2f){
nerit 6:3fca0ca1949e 1671 boostDcOut=-0.2f;
nerit 6:3fca0ca1949e 1672 all_genericals=1;
nerit 6:3fca0ca1949e 1673 }
nerit 6:3fca0ca1949e 1674 correzione += boostDcOut;
nerit 0:1e09cd7d66b4 1675 }
nerit 1:e88bf5011af6 1676 DC_brake=0;
nerit 1:e88bf5011af6 1677 DC_forward=1;
nerit 1:e88bf5011af6 1678 DC_prepare();
nerit 0:1e09cd7d66b4 1679
nerit 0:1e09cd7d66b4 1680 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1681 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1682 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1683 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1684 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1685 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1686 }
nerit 0:1e09cd7d66b4 1687
nerit 4:d32258ec411f 1688 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1689 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1690 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1691 }else{
nerit 4:d32258ec411f 1692 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1693 }
nerit 0:1e09cd7d66b4 1694 }else{
nerit 0:1e09cd7d66b4 1695 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1696 }
nerit 7:c9fd242538d9 1697 if (dcActualDuty <=0.0f){dcActualDuty=0.05f;}
nerit 7:c9fd242538d9 1698 if (dcActualDuty > 0.95f){dcActualDuty = 0.95f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1699 if (olddcActualDuty!=dcActualDuty){
nerit 7:c9fd242538d9 1700 SDmotorPWM.write(1.0f-dcActualDuty);
nerit 4:d32258ec411f 1701 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1702 }
nerit 0:1e09cd7d66b4 1703 // allarme
nerit 0:1e09cd7d66b4 1704 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1705 if (firstStart==0){
nerit 0:1e09cd7d66b4 1706 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1707 }
nerit 0:1e09cd7d66b4 1708 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1709 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1710 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1711 #endif
nerit 0:1e09cd7d66b4 1712 #endif
nerit 0:1e09cd7d66b4 1713
nerit 0:1e09cd7d66b4 1714 }
nerit 0:1e09cd7d66b4 1715
nerit 0:1e09cd7d66b4 1716 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1717 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1718 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1719 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1720 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1721 syncroCheck=0;
nerit 0:1e09cd7d66b4 1722 lockStart=1;
nerit 0:1e09cd7d66b4 1723 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1724 if (aspettaStart==0){cambiaTB(periodo);}
nerit 0:1e09cd7d66b4 1725 }
nerit 0:1e09cd7d66b4 1726 // controllo di stop
nerit 0:1e09cd7d66b4 1727 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1728 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1729 syncroCheck=0;
nerit 0:1e09cd7d66b4 1730 aspettaStart=1;
nerit 0:1e09cd7d66b4 1731 countCicli=0;
nerit 0:1e09cd7d66b4 1732 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1733 }
nerit 0:1e09cd7d66b4 1734 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1735 syncroCheck=0;
nerit 0:1e09cd7d66b4 1736 lockStart=0;
nerit 0:1e09cd7d66b4 1737 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1738 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1739 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1740 if (encoder==false){
nerit 5:3b95bbfe2dc9 1741 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1742 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1743 }else{
nerit 5:3b95bbfe2dc9 1744 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1745 }
nerit 5:3b95bbfe2dc9 1746 }else{
nerit 0:1e09cd7d66b4 1747 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1748 }
nerit 6:3fca0ca1949e 1749 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1750 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1751 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1752 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1753 beccoPronto=0;
nerit 0:1e09cd7d66b4 1754 }
nerit 0:1e09cd7d66b4 1755 }else{
nerit 0:1e09cd7d66b4 1756 // tamburo per zucca
nerit 0:1e09cd7d66b4 1757 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1758 beccoPronto=0;
nerit 0:1e09cd7d66b4 1759 }
nerit 0:1e09cd7d66b4 1760 }
nerit 0:1e09cd7d66b4 1761 ciclaTB();
nerit 0:1e09cd7d66b4 1762 }
nerit 0:1e09cd7d66b4 1763 //*************************************************************
nerit 0:1e09cd7d66b4 1764 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1765 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1766 SDwheelTimer.reset();
nerit 7:c9fd242538d9 1767 #if defined(seedSensor)
nerit 7:c9fd242538d9 1768 resetDelay();
nerit 7:c9fd242538d9 1769 #endif
nerit 0:1e09cd7d66b4 1770 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1771 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1772 aspettaStart=1;
nerit 0:1e09cd7d66b4 1773 countCicli=0;
nerit 0:1e09cd7d66b4 1774 startCycle=0;
nerit 0:1e09cd7d66b4 1775 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1776 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1777 correzione=0.0f;
nerit 0:1e09cd7d66b4 1778 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1779 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1780 cntTbError=0;
nerit 0:1e09cd7d66b4 1781 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1782 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1783 zeroDelay.start();
nerit 0:1e09cd7d66b4 1784 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1785 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1786 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1787 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1788 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1789 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1790 zeroCycle=1;
nerit 0:1e09cd7d66b4 1791 zeroTrigger=0;
nerit 8:0e643ea7834f 1792 noSDzeroRequest=1;
nerit 0:1e09cd7d66b4 1793 }
nerit 0:1e09cd7d66b4 1794 }
nerit 0:1e09cd7d66b4 1795 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1796 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1797 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1798 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1799 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1800 DC_forward=1;
nerit 0:1e09cd7d66b4 1801 DC_brake=1;
nerit 0:1e09cd7d66b4 1802 DC_prepare();
nerit 0:1e09cd7d66b4 1803 frenata=0;
nerit 0:1e09cd7d66b4 1804 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1805 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1806 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1807 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1808 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1809 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1810 }
nerit 0:1e09cd7d66b4 1811 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1812 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1813 accensione=0;
nerit 0:1e09cd7d66b4 1814 avvicinamento=1;
nerit 0:1e09cd7d66b4 1815 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1816 avvicinamentoOn.start();
nerit 7:c9fd242538d9 1817 SDmotorPWM.write(1.0f-0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1818 DC_forward=1;
nerit 0:1e09cd7d66b4 1819 DC_brake=0;
nerit 0:1e09cd7d66b4 1820 DC_prepare();
nerit 0:1e09cd7d66b4 1821 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1822 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1823 }
nerit 0:1e09cd7d66b4 1824 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1825 if(avvicinamentoOn.read_ms()>300){
nerit 7:c9fd242538d9 1826 SDmotorPWM.write(1.0f-0.7f);
nerit 0:1e09cd7d66b4 1827 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1828 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1829 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1830 }
nerit 0:1e09cd7d66b4 1831 if(avvicinamentoOff.read_ms()>100){
nerit 7:c9fd242538d9 1832 SDmotorPWM.write(1.0f-0.32f);
nerit 0:1e09cd7d66b4 1833 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1834 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1835 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1836 }
nerit 0:1e09cd7d66b4 1837 }else{
nerit 0:1e09cd7d66b4 1838 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1839 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1840 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1841 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1842 }
nerit 0:1e09cd7d66b4 1843 if (frenata==0){
nerit 0:1e09cd7d66b4 1844 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1845 SDticker.detach();
nerit 0:1e09cd7d66b4 1846 frenata=1;
nerit 0:1e09cd7d66b4 1847 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1848 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1849 ritardoStop.start();
nerit 0:1e09cd7d66b4 1850 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1851 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1852 }
nerit 0:1e09cd7d66b4 1853 }else{
nerit 7:c9fd242538d9 1854 #if defined(mezzo)
nerit 7:c9fd242538d9 1855 if (quinconceActive==0){
nerit 7:c9fd242538d9 1856 if (SDzeroCyclePulse==1){
nerit 7:c9fd242538d9 1857 avvicinamento=0;
nerit 7:c9fd242538d9 1858 DC_brake=1;
nerit 7:c9fd242538d9 1859 DC_prepare();
nerit 7:c9fd242538d9 1860 SDzeroed=1;
nerit 7:c9fd242538d9 1861 ritardoStop.reset();
nerit 7:c9fd242538d9 1862 ritardoStop.stop();
nerit 7:c9fd242538d9 1863 }
nerit 7:c9fd242538d9 1864 }else{
nerit 7:c9fd242538d9 1865 if (quincTimeSet.read_ms()>700){
nerit 7:c9fd242538d9 1866 avvicinamento=0;
nerit 7:c9fd242538d9 1867 DC_brake=1;
nerit 7:c9fd242538d9 1868 DC_prepare();
nerit 7:c9fd242538d9 1869 SDzeroed=1;
nerit 7:c9fd242538d9 1870 ritardoStop.reset();
nerit 7:c9fd242538d9 1871 ritardoStop.stop();
nerit 7:c9fd242538d9 1872 quincTimeSet.stop();
nerit 7:c9fd242538d9 1873 }
nerit 7:c9fd242538d9 1874 }
nerit 7:c9fd242538d9 1875 #else
nerit 0:1e09cd7d66b4 1876 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1877 avvicinamento=0;
nerit 0:1e09cd7d66b4 1878 DC_brake=1;
nerit 0:1e09cd7d66b4 1879 DC_prepare();
nerit 0:1e09cd7d66b4 1880 SDzeroed=1;
nerit 0:1e09cd7d66b4 1881 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1882 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1883 }
nerit 7:c9fd242538d9 1884 #endif
nerit 0:1e09cd7d66b4 1885 }
nerit 0:1e09cd7d66b4 1886 // azzera tutto in time out
nerit 8:0e643ea7834f 1887 if ((timeOutZeroSD.read_ms()>=10000)||(noSDzeroRequest==1)){
nerit 8:0e643ea7834f 1888 if ((firstStart==0)&&(noSDzeroRequest==0)){
nerit 0:1e09cd7d66b4 1889 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1890 }
nerit 0:1e09cd7d66b4 1891 avvicinamento=0;
nerit 0:1e09cd7d66b4 1892 DC_brake=1;
nerit 0:1e09cd7d66b4 1893 DC_prepare();
nerit 0:1e09cd7d66b4 1894 SDzeroed=1;
nerit 0:1e09cd7d66b4 1895 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1896 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1897 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1898 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1899 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1900 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1901 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1902 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1903 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1904 timeOutZeroSD.reset();
nerit 8:0e643ea7834f 1905 noSDzeroRequest=0;
nerit 0:1e09cd7d66b4 1906 }
nerit 0:1e09cd7d66b4 1907 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1908 TBticker.detach();
nerit 0:1e09cd7d66b4 1909 TBzeroed=1;
nerit 0:1e09cd7d66b4 1910 }
nerit 0:1e09cd7d66b4 1911 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 1912 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1913 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1914 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1915 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1916 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 1917 zeroCycle=0;
nerit 0:1e09cd7d66b4 1918 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1919 runRequestBuf=1;
nerit 0:1e09cd7d66b4 1920 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 1921 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1922 SDzeroed=0;
nerit 0:1e09cd7d66b4 1923 TBzeroed=0;
nerit 0:1e09cd7d66b4 1924 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1925 timeOutZeroSD.reset();
nerit 10:d85ed006056e 1926 DC_brake=1;
nerit 10:d85ed006056e 1927 DC_prepare();
nerit 10:d85ed006056e 1928 SDzeroed=1;
nerit 0:1e09cd7d66b4 1929 }
nerit 0:1e09cd7d66b4 1930 }
nerit 0:1e09cd7d66b4 1931
nerit 0:1e09cd7d66b4 1932 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1933 if (enableCycle==0){
nerit 0:1e09cd7d66b4 1934 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1935 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 1936 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1937 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1938 }
nerit 0:1e09cd7d66b4 1939 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1940 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1941 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1942 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 1943 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1944 // task di prova della scheda
nerit 0:1e09cd7d66b4 1945 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1946 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 1947 clocca++;
nerit 0:1e09cd7d66b4 1948 //led = !led;
nerit 0:1e09cd7d66b4 1949 //txMsg.clear();
nerit 0:1e09cd7d66b4 1950 //txMsg << clocca;
nerit 0:1e09cd7d66b4 1951 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 1952 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 1953 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1954 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 1955 #endif
nerit 0:1e09cd7d66b4 1956 //}
nerit 0:1e09cd7d66b4 1957 switch (clocca){
nerit 0:1e09cd7d66b4 1958 case 1:
nerit 0:1e09cd7d66b4 1959 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1960 break;
nerit 0:1e09cd7d66b4 1961 case 2:
nerit 0:1e09cd7d66b4 1962 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1963 break;
nerit 0:1e09cd7d66b4 1964 case 3:
nerit 0:1e09cd7d66b4 1965 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 1966 break;
nerit 0:1e09cd7d66b4 1967 case 4:
nerit 0:1e09cd7d66b4 1968 break;
nerit 0:1e09cd7d66b4 1969 case 5:
nerit 0:1e09cd7d66b4 1970 SDmotorInA=1;
nerit 0:1e09cd7d66b4 1971 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1972 break;
nerit 0:1e09cd7d66b4 1973 case 6:
nerit 0:1e09cd7d66b4 1974 break;
nerit 0:1e09cd7d66b4 1975 case 7:
nerit 0:1e09cd7d66b4 1976 break;
nerit 0:1e09cd7d66b4 1977 case 8:
nerit 0:1e09cd7d66b4 1978 break;
nerit 0:1e09cd7d66b4 1979 case 9:
nerit 0:1e09cd7d66b4 1980 break;
nerit 0:1e09cd7d66b4 1981 case 10:
nerit 0:1e09cd7d66b4 1982 break;
nerit 0:1e09cd7d66b4 1983 case 11:
nerit 0:1e09cd7d66b4 1984 break;
nerit 0:1e09cd7d66b4 1985 case 12:
nerit 0:1e09cd7d66b4 1986 break;
nerit 0:1e09cd7d66b4 1987 case 13:
nerit 0:1e09cd7d66b4 1988 break;
nerit 0:1e09cd7d66b4 1989 case 14:
nerit 0:1e09cd7d66b4 1990 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1991 break;
nerit 0:1e09cd7d66b4 1992 case 15:
nerit 0:1e09cd7d66b4 1993 break;
nerit 0:1e09cd7d66b4 1994 case 16:
nerit 0:1e09cd7d66b4 1995 case 17:
nerit 0:1e09cd7d66b4 1996 break;
nerit 0:1e09cd7d66b4 1997 case 18:
nerit 0:1e09cd7d66b4 1998 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1999 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 2000 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 2001 SDmotorInA=0;
nerit 0:1e09cd7d66b4 2002 SDmotorInB=0;
nerit 0:1e09cd7d66b4 2003 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 2004 break;
nerit 0:1e09cd7d66b4 2005 default:
nerit 0:1e09cd7d66b4 2006 clocca=0;
nerit 0:1e09cd7d66b4 2007 break;
nerit 0:1e09cd7d66b4 2008 }
nerit 0:1e09cd7d66b4 2009 wait_ms(100);
nerit 0:1e09cd7d66b4 2010 #endif // end prova scheda
nerit 0:1e09cd7d66b4 2011
nerit 0:1e09cd7d66b4 2012 #if defined(provaDC)
nerit 0:1e09cd7d66b4 2013 int rampa=1000;
nerit 0:1e09cd7d66b4 2014 int pausa=3000;
nerit 0:1e09cd7d66b4 2015 switch (clocca){
nerit 0:1e09cd7d66b4 2016 case 0:
nerit 0:1e09cd7d66b4 2017 DC_brake=0;
nerit 0:1e09cd7d66b4 2018 DC_forward=1;
nerit 0:1e09cd7d66b4 2019 duty_DC+=0.01f;
nerit 7:c9fd242538d9 2020 if (duty_DC>=1.0f){
nerit 7:c9fd242538d9 2021 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2022 clocca=1;
nerit 0:1e09cd7d66b4 2023 }
nerit 0:1e09cd7d66b4 2024 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2025 break;
nerit 0:1e09cd7d66b4 2026 case 1:
nerit 0:1e09cd7d66b4 2027 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 2028 clocca=2;
nerit 0:1e09cd7d66b4 2029 break;
nerit 0:1e09cd7d66b4 2030 case 2:
nerit 0:1e09cd7d66b4 2031 DC_brake=0;
nerit 0:1e09cd7d66b4 2032 DC_forward=1;
nerit 0:1e09cd7d66b4 2033 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2034 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2035 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2036 clocca=3;
nerit 0:1e09cd7d66b4 2037 }
nerit 0:1e09cd7d66b4 2038 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2039 break;
nerit 0:1e09cd7d66b4 2040 case 3:
nerit 0:1e09cd7d66b4 2041 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2042 clocca=4;
nerit 0:1e09cd7d66b4 2043 break;
nerit 0:1e09cd7d66b4 2044 case 4:
nerit 0:1e09cd7d66b4 2045 DC_brake=0;
nerit 0:1e09cd7d66b4 2046 DC_forward=1;
nerit 0:1e09cd7d66b4 2047 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 2048 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 2049 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 2050 clocca=5;
nerit 0:1e09cd7d66b4 2051 }
nerit 0:1e09cd7d66b4 2052 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2053 break;
nerit 0:1e09cd7d66b4 2054 case 5:
nerit 0:1e09cd7d66b4 2055 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2056 clocca=6;
nerit 0:1e09cd7d66b4 2057 break;
nerit 0:1e09cd7d66b4 2058 case 6:
nerit 0:1e09cd7d66b4 2059 DC_brake=0;
nerit 0:1e09cd7d66b4 2060 DC_forward=1;
nerit 0:1e09cd7d66b4 2061 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 2062 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 2063 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 2064 clocca=7;
nerit 0:1e09cd7d66b4 2065 }
nerit 0:1e09cd7d66b4 2066 wait_ms(rampa);
nerit 0:1e09cd7d66b4 2067 break;
nerit 0:1e09cd7d66b4 2068 case 7:
nerit 0:1e09cd7d66b4 2069 wait_ms(pausa);
nerit 0:1e09cd7d66b4 2070 clocca=0;
nerit 0:1e09cd7d66b4 2071 break;
nerit 0:1e09cd7d66b4 2072 default:
nerit 0:1e09cd7d66b4 2073 break;
nerit 0:1e09cd7d66b4 2074 }
nerit 0:1e09cd7d66b4 2075 if (oldDuty_DC != duty_DC){
nerit 7:c9fd242538d9 2076 SDmotorPWM.write(1.0f-duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 2077 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 2078 DC_prepare();
nerit 0:1e09cd7d66b4 2079 }
nerit 0:1e09cd7d66b4 2080 #endif
nerit 0:1e09cd7d66b4 2081 }//end in prova
nerit 0:1e09cd7d66b4 2082 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 2083 } // end while
nerit 0:1e09cd7d66b4 2084 }// end main
nerit 0:1e09cd7d66b4 2085