Diff: main.cpp

Revision:

13:0ae23132a2b6

Parent:

12:5bfbccfb3cf4

Child:

14:24c5d58e8bc6

--- a/main.cpp	Sat Dec 29 08:07:25 2018 +0000
+++ b/main.cpp	Tue Jan 08 07:47:07 2019 +0000
@@ -504,10 +504,10 @@
 #if defined(speedMaster)
     void upDateSincro(){
         char val1[8]={0,0,0,0,0,0,0,0};
-        val1[0]=(posForQuinc /0x00FF0000)&0x000000FF;
-        val1[1]=(posForQuinc /0x0000FF00)&0x000000FF;
-        val1[2]=(posForQuinc /0x000000FF)&0x000000FF;
-        val1[3]=posForQuinc & 0x000000FF;
+        val1[3]=(posForQuinc /0x00FF0000)&0x000000FF;
+        val1[2]=(posForQuinc /0x0000FF00)&0x000000FF;
+        val1[1]=(posForQuinc /0x000000FF)&0x000000FF;
+        val1[0]=posForQuinc & 0x000000FF;
         //double pass = tractorSpeed_MtS_timed*100.0f;
         double pass = speedOfSeedWheel*100.0f;
         val1[4]=(uint8_t)(pass)&0x000000FF;
@@ -702,6 +702,11 @@
                     speedWheelDiameter = ((rxMsg.data[6]*0xFF)+rxMsg.data[5])/10000.0f;     // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
                     speedWheelPulse = rxMsg.data[7];          // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
                     aggiornaParametri();
+                    #if defined(pcSerial)
+                        #if defined(quinca)
+                            pc.printf("pick %f cells %f deep %f \n",pickNumber, cellsNumber,deepOfSeed);
+                        #endif
+                    #endif
                 }
             }
             if (rxMsg.id==RX_AngoloPh){
@@ -711,6 +716,11 @@
                         aggiornaParametri();
                     #endif
                     #if defined(M2)
+                        #if defined(pcSerial)
+                            #if defined(canDataReceivedR)
+                                pc.printf("AngoloFase M2\n");
+                            #endif
+                        #endif
                         angoloPh = (double) rxMsg.data[1] ;
                         aggiornaParametri();
                     #endif
@@ -739,6 +749,11 @@
                         aggiornaParametri();
                     #endif
                     #if defined(M2)
+                        #if defined(pcSerial)
+                            #if defined(canDataReceivedR)
+                                pc.printf("AngoloAvvio M2\n");
+                            #endif
+                        #endif
                         angoloAv = (double) rxMsg.data[1] ;
                         aggiornaParametri();
                     #endif
@@ -769,6 +784,11 @@
                     quincLIMplus = (uint8_t) rxMsg.data[4];      
                     quincSector = (uint8_t) rxMsg.data[5];
                     aggiornaParametri();
+                    #if defined(pcSerial)
+                        #if defined(canDataReceivedR)
+                            pc.printf("Quinconce Active %d M2\n",quinconceActive);
+                        #endif
+                    #endif
                 }
             }
             if (rxMsg.id==RX_QuincSinc){
@@ -819,6 +839,11 @@
                 }
                 if ((flags&0x10)==0x10){
                     canDataCheckEnable=true;
+                    #if defined(pcSerial)
+                        #if defined(canDataReceivedR)
+                            pc.printf("Datacheck ON\n");
+                        #endif
+                    #endif
                 }else{
                     canDataCheckEnable=false;
                 }
@@ -1157,8 +1182,8 @@
 
     #if defined(provaStepper)
        TBmotorRst=0;
-       TBticker.attach_us(&step_TBPulseOut,500.0f);  // clock time are seconds and attach seed motor stepper controls
-       TBpTicker.attach(&inverti,0.5f);
+       TBticker.attach_us(&step_TBPulseOut,250.0f);  // clock time are seconds and attach seed motor stepper controls
+       //TATicker.attach(&inverti,2.5f);
     #endif // end prova stepper
     
     #if defined(canbusActive)
@@ -1535,7 +1560,7 @@
                     if (oldZeroCycle!=zeroRequestBuf){
                         zeroCycle=1;
                         zeroCycleEnd=0;
-                        SDzeroed=0;
+                        SDzeroed=1;
                         TBzeroed=0;
                         zeroTrigger=0;
                         oldZeroCycle = zeroRequestBuf;
@@ -1961,7 +1986,7 @@
                     ritardoComandoStop.stop();
                     timeOutZeroSD.stop();
                     timeOutZeroSD.reset();
-                    noSDzeroRequest=0;
+                    //noSDzeroRequest=0;
                 }
                 if (TBzeroCyclePulse==1){
                     TBticker.detach();
@@ -1978,13 +2003,14 @@
                     runRequestBuf=1;
                     zeroRequestBuf=0;
                     cycleStopRequest=0;
-                    SDzeroed=0;
+                    SDzeroed=1;
                     TBzeroed=0;
                     timeOutZeroSD.stop();
                     timeOutZeroSD.reset();
                     DC_brake=1;
                     DC_prepare();
                     SDzeroed=1;
+                    noSDzeroRequest=0;
                 }
             }