Francesco Pistone
new
Diff: main.cpp
- Revision:
- 15:2af7ca4c5eb9
- Parent:
- 14:24c5d58e8bc6
--- a/main.cpp Thu Jan 10 10:40:27 2019 +0000
+++ b/main.cpp Tue Jan 29 07:05:20 2019 +0000
@@ -143,7 +143,7 @@
speedTimer.reset();
pulseRised=1;
oldTractorSpeedRead=1;
- spazioCoperto+= pulseDistance;
+ //spazioCoperto+= pulseDistance;
}
speedFilter.reset();
speedClock=1;
@@ -332,7 +332,7 @@
}
}
// ------------------------------------------------------------------------------------------------------------------------------------------------------------------
-void stepSetting(){
+/*void stepSetting(){
// Stepper driver init and set
TBmotorRst=1; // reset stepper driver
TBmotorDirecti=1; // reset stepper direction
@@ -352,7 +352,7 @@
}else if (TBmotorSteps==1600){
TBmotor_M1=0;
TBmotor_M2=1;
- TBmotor_M3=0;
+ TBmotor_M3=1;
}else if (TBmotorSteps==3200){
TBmotor_M1=1;
TBmotor_M2=0;
@@ -380,7 +380,8 @@
}
TBmotorRst=0;
}
-/*void stepSetting(){
+*/
+void stepSetting(){
// Stepper driver init and set
TBmotorRst=1; // reset stepper driver
TBmotorDirecti=1; // reset stepper direction
@@ -393,47 +394,110 @@
// 1 0 1 1/128
// 0 1 1 1/10
// 1 1 1 1/20
+ #if defined(provaStepSet)
+ switch (changeStep){
+ case 0:
+ TBmotorSteps=400.0f;
+ changeStep++;
+ break;
+ case 1:
+ TBmotorSteps=1600.0f;
+ changeStep++;
+ break;
+ case 2:
+ TBmotorSteps=3200.0f;
+ changeStep++;
+ break;
+ case 3:
+ TBmotorSteps=6400.0f;
+ changeStep++;
+ break;
+ case 4:
+ TBmotorSteps=12800.0f;
+ changeStep++;
+ break;
+ case 5:
+ TBmotorSteps=25600.0f;
+ changeStep++;
+ break;
+ case 6:
+ TBmotorSteps=2000.0f;
+ changeStep++;
+ break;
+ case 7:
+ TBmotorSteps=4000.0f;
+ changeStep=0;
+ break;
+ }
+ #endif
if (TBmotorSteps==400.0f){
- TBmotor_M1=0;
- TBmotor_M2=0;
- TBmotor_M3=0;
+ TBmotor_M1=1;//0;
+ TBmotor_M2=1;//0;
+ TBmotor_M3=1;//0;
+ #if defined(pcSerial)
+ pc.printf("Steps 400\n");
+ #endif
}else if (TBmotorSteps==1600.0f){
- TBmotor_M1=0;
- TBmotor_M2=0;
- TBmotor_M3=1;
+ TBmotor_M1=0;//0;
+ TBmotor_M2=1;//1;
+ TBmotor_M3=1;//1;
+ #if defined(pcSerial)
+ pc.printf("Steps 1600\n");
+ #endif
}else if (TBmotorSteps==3200.0f){
- TBmotor_M1=0;
- TBmotor_M2=1;
- TBmotor_M3=0;
+ TBmotor_M1=1;//0;
+ TBmotor_M2=0;//1;
+ TBmotor_M3=1;//0;
+ #if defined(pcSerial)
+ pc.printf("Steps 3200\n");
+ #endif
}else if (TBmotorSteps==6400.0f){
- TBmotor_M1=1;
- TBmotor_M2=1;
- TBmotor_M3=0;
+ TBmotor_M1=0;//1;
+ TBmotor_M2=0;//1;
+ TBmotor_M3=1;//0;
+ #if defined(pcSerial)
+ pc.printf("Steps 6400\n");
+ #endif
}else if (TBmotorSteps==12800.0f){
- TBmotor_M1=0;
- TBmotor_M2=0;
- TBmotor_M3=1;
+ TBmotor_M1=1;//0;
+ TBmotor_M2=1;//0;
+ TBmotor_M3=0;//1;
+ #if defined(pcSerial)
+ pc.printf("Steps 12800\n");
+ #endif
}else if (TBmotorSteps==25600.0f){
- TBmotor_M1=1;
- TBmotor_M2=0;
- TBmotor_M3=1;
+ TBmotor_M1=0;//1;
+ TBmotor_M2=1;//0;
+ TBmotor_M3=0;//1;
+ #if defined(pcSerial)
+ pc.printf("Steps 25600\n");
+ #endif
}else if (TBmotorSteps==2000.0f){
- TBmotor_M1=0;
- TBmotor_M2=1;
- TBmotor_M3=1;
+ TBmotor_M1=1;//0;
+ TBmotor_M2=0;//1;
+ TBmotor_M3=0;//1;
+ #if defined(pcSerial)
+ pc.printf("Steps 2000\n");
+ #endif
}else if (TBmotorSteps==4000.0f){
- TBmotor_M1=1;
- TBmotor_M2=1;
- TBmotor_M3=1;
+ TBmotor_M1=0;//1;
+ TBmotor_M2=0;//1;
+ TBmotor_M3=0;//1;
+ #if defined(pcSerial)
+ pc.printf("Steps 4000\n");
+ #endif
}else{
// set dei 1600 passi
TBmotor_M1=1;
TBmotor_M2=0;
TBmotor_M3=0;
+ #if defined(pcSerial)
+ pc.printf("Step standard\n");
+ #endif
}
TBmotorRst=0;
}
-*/
+
//****************************************
void dcSetting(){
if ((speedFromPick==0)&&(encoder==false)){
@@ -809,9 +873,9 @@
}
if (rxMsg.id==RX_Configure){
uint8_t flags = rxMsg.data[0];
- uint16_t steps = (uint32_t) rxMsg.data[1]*0x000000FF;
- steps = steps + ((uint32_t)rxMsg.data[2]);
- //TBmotorSteps =steps;
+ uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
+ steps = steps + ((uint32_t)rxMsg.data[1]);
+ TBmotorSteps =steps;
stepSetting();
cellsCountSet = rxMsg.data[3];
if ((flags&0x01)==0x01){
@@ -1089,7 +1153,6 @@
#if !defined(speedMaster)
if (quincCnt>=3){
if (speedFromMaster>0.0f){
- //Questo
if (enableSimula==0){
tractorSpeed_MtS_timed = speedFromMaster + percento;
}
@@ -1123,7 +1186,9 @@
//wait(1.0f);
wd.Configure(2); //watchdog set at xx seconds
- stepSetting();
+ #if !defined(provaStepSet)
+ stepSetting();
+ #endif
for (int a=0; a<5;a++){
mediaSpeed[a]=0;
@@ -1191,6 +1256,12 @@
TATicker.attach(&inverti,2.0f);
#endif // end prova stepper
+ #if defined(provaStepSet)
+ TBmotorRst=0;
+ TBticker.attach_us(&step_TBPulseOut,500.0f); // clock time are seconds and attach seed motor stepper controls
+ TATicker.attach(&stepSetting,2.0f);
+ #endif
+
#if defined(canbusActive)
can1.attach(&leggiCAN, CAN::RxIrq);
#endif
@@ -1199,7 +1270,7 @@
// MAIN LOOP
//**************************************************************************************************************
while (true){
- // ripetitore segnale di velocità
+ // ripetitore segnale di velocità. Il set a 1 è nella task ad interrupt
if (tractorSpeedRead==0){speedClock=0;}
// inversione segnali ingressi
@@ -1584,8 +1655,8 @@
//***************************************************************************************************
// pulseRised define the event of speed wheel pulse occurs
//
- double maxInterval = pulseDistance/minWorkSpeed;
- double minIntervalPulse = pulseDistance/maxWorkSpeed;
+ //double maxInterval = pulseDistance/minWorkSpeed;
+ //double minIntervalPulse = pulseDistance/maxWorkSpeed;
if (pulseRised==1){
if (enableSpeed<10){enableSpeed++;}
pulseRised=0;
@@ -1597,13 +1668,6 @@
if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){
tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
}
- /*#if !defined(speedMaster)
- if (quincCnt>=5){
- if (speedFromMaster>0.0f){
- tractorSpeed_MtS_timed = speedFromMaster + percento;
- }
- }
- #endif*/
if (checkSDrotation==0){
checkSDrotation=1;
SDwheelTimer.start();