Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V6_R2_DE_2019

new

Dependencies:   mbed CANMsg

main.cpp@6:3fca0ca1949e, 2018-07-05 (annotated)

Committer:
nerit
Date:
Thu Jul 05 16:30:54 2018 +0000
Revision:
6:3fca0ca1949e
Parent:
5:3b95bbfe2dc9
Child:
7:c9fd242538d9
Introdotto parametri per il setting degli elementi, del tamburo, ed alcune funzioni di programma.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 1:e88bf5011af6 1
nerit 1:e88bf5011af6 2 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 3 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 4 // FIRMWARE SEMINATRICE MODULA
nerit 0:1e09cd7d66b4 5 // VERSIONE PER SCHEDA DI CONTROLLO CON DRIVER INTEGRATI
nerit 0:1e09cd7d66b4 6 // V4 - ATTENZIONE - LA VERSIONE V4 HA IL DRIVER STEPPER LV8727
nerit 0:1e09cd7d66b4 7 // IL MOTORE DC E' GESTITO CON IL DRIVER VNH3SP30-E E CON LA LETTURA
nerit 0:1e09cd7d66b4 8 // DELLA CORRENTE ASSORBITA TRAMITE IL CONVERTITORE MLX91210-CAS102 CON 50A FONDOSCALA
nerit 0:1e09cd7d66b4 9 // CHE FORNISCE UNA TENSIONE DI USCITA PARI A 40mV/A
nerit 0:1e09cd7d66b4 10 // FIRST RELEASE OF BOARD DEC 2017
nerit 0:1e09cd7d66b4 11 // FIRST RELEASE OF FIRMWARE JAN 2018
nerit 0:1e09cd7d66b4 12 //
nerit 0:1e09cd7d66b4 13 // THIS RELEASE: 09 JULY 2018
nerit 0:1e09cd7d66b4 14 //
nerit 0:1e09cd7d66b4 15 // APPLICATION: MODULA CON DISTRIBUTORE ZUCCA OPPURE RISO E PUO' FUNZIONARE ANCHE CON SENSORE A 25 FORI SUL DISCO O
nerit 0:1e09cd7d66b4 16 // ENCODER MOTORE SETTANDO GLI APPOSITI FLAGS
nerit 0:1e09cd7d66b4 17 //
nerit 0:1e09cd7d66b4 18 // 29 05 2018 - INSERITO SECONDO ENCODER VIRTUALE PER LA GESTIONE DEL SINCRONISMO TRA TAMBURO E RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 19 // IN PRATICA IL PRIMO ENCODER è SINCRONO CON IL SEGNALE DEI BECCHI E VIENE AZZERATO DA QUESTI, MENTRE
nerit 0:1e09cd7d66b4 20 // IL SECONDO E' INCREMENTATO IN SINCRONO CON IL PRIMO MA AZZERATO DALLA FASE. IL SUO VALORE E' POI DIVISO
nerit 0:1e09cd7d66b4 21 // PER IL RAPPORTO RUOTE E LA CORREZIONE AGISCE SULLA VELOCITA' DEL TAMBURO PER MANTENERE LA FASE DEL SECONDO
nerit 0:1e09cd7d66b4 22 // ENCODER
nerit 0:1e09cd7d66b4 23 // 05 06 2018 - INSERITO IL CONTROLLO DI GESTIONE DEL QUINCONCE SENZA ENCODER
nerit 0:1e09cd7d66b4 24 // 09 06 2018 - INSERITO CONTROLLO DI FASE CON ENCODER MASTER PER QUINCONCE - DATO SCAMBIATO IN CAN
nerit 0:1e09cd7d66b4 25 //
nerit 0:1e09cd7d66b4 26 /********************
nerit 0:1e09cd7d66b4 27 IL FIRMWARE SI COMPONE DI 7 FILES:
nerit 0:1e09cd7d66b4 28 - main.cpp
nerit 0:1e09cd7d66b4 29 - main.hpp
nerit 0:1e09cd7d66b4 30 - iodefinition.hpp
nerit 0:1e09cd7d66b4 31 - canbus.hpp
nerit 0:1e09cd7d66b4 32 - parameters.hpp
nerit 0:1e09cd7d66b4 33 - timeandtick.hpp
nerit 0:1e09cd7d66b4 34 - variables.hpp
nerit 0:1e09cd7d66b4 35 ED UTILIZZA LE LIBRERIE STANDARD MBED PIU' UNA LIBRERIA MODIFICATA E DEDICATA PER IL CAN
nerit 0:1e09cd7d66b4 36 *********************
nerit 0:1e09cd7d66b4 37 LA MACCHINA UTILIZZA SEMPRE 2 SOLI SENSORI; UNO PER SENTIRE LE CELLE DI CARICO SEME ED UNO PER SENTIRE I BECCHI DI SEMINA.
nerit 0:1e09cd7d66b4 38 GLI AZIONAMENTI SONO COMPOSTI DA DUE MOTORI; UN DC PER IL CONTROLLO DELLA RUOTA DI SEMINA ED UNO STEPPER PER IL CONTROLLO DEL TAMBURO
nerit 0:1e09cd7d66b4 39 UN SENSORE AGGIUNTIVO SULL'ELEMENTO MASTER RILEVA LA VELOCITA' DI AVANZAMENTO
nerit 0:1e09cd7d66b4 40 UN SENSORE AGGIUNTIVO SULLA RUOTA DI SEMINA RILEVA LA ROTAZIONE DELLA RUOTA STESSA ATTRAVERSO FORI PRESENTI SUL DISCO DI SEMINA
nerit 0:1e09cd7d66b4 41 *********************
nerit 0:1e09cd7d66b4 42 LA LOGICA GENERALE PREVEDE CHE IL DC DELLA RUOTA DI SEMINA VENGA COMANDATO IN FUNZIONE DELLA VELOCITA' LETTA DAL SENSORE DI AVANZAMAENTO DEL MASTER
nerit 0:1e09cd7d66b4 43 IL PROBLEMA PRINCIPALE E' CHE QUANDO I BECCHI SONO INSERITI NEL TERRENO NON VI E' RETROAZIONE REALE SULLA VELOCITA' DI ROTAZIONE DELLA RUOTA STESSA
nerit 0:1e09cd7d66b4 44 PROPRIO PERCHE' L'AVANZAMANETO NEL TERRENO IMPRIME UNA VELOCITA' PROPRIA AL BECCO E QUINDI ANCHE ALLA RUOTA.
nerit 0:1e09cd7d66b4 45 PER OVVIARE A QUESTO PROBLEMA SI E' INSERITO UN CONTROLLO DI CORRENTE ASSORBITA DAL DC; SE E' BASSA DEVO ACCELERARE, SE E' ALTA DEVO RALLENTARE
nerit 0:1e09cd7d66b4 46 IL VALORE DI RIFERIMENTO DELL'ANALOGICA DI INGRESSO VIENE AGGIORNATO OGNI VOLTA CHE LA RUOTA DI SEMINA E' FERMA
nerit 0:1e09cd7d66b4 47 IL TAMBURO SEGUE LA RUOTA DI SEMINA RILEVANDONE LA VELOCITA' E RICALCOLANDO LA PROPRIA IN FUNZIONE DELLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA
nerit 0:1e09cd7d66b4 48 LA FASE VIENE DETERMINATA DAL PASSAGGIO DEI BECCHI SUL SENSORE RELATIVO.
nerit 0:1e09cd7d66b4 49 IL PROBLEMA PRINCIPALE NEL MANTENERE LA FASE DEL TAMBURO E' DATO DAL FATTO CHE LA SINCRONIZZAZIONE DELLA FASE SOLO SULL'IMPULSO DEL BECCO NON E' SUFFICIENTE
nerit 0:1e09cd7d66b4 50 SOPRATUTTO QUANDO I BECCHI SONO MOLTO DISTANZIATI.
nerit 0:1e09cd7d66b4 51 PER OVVIARE A QUESTO PROBLEMA SI SONO INSERITI DUE ENCODER VIRTUALI CHE SEZIONANO LA RUOTA DI SEMINA IN 9000 PARTI. ENTRAMBI VENGONO GESTITI DA UN GENERATORE DINAMICO DI CLOCK INTERNO
nerit 0:1e09cd7d66b4 52 TARATO SULLA REALE VELOCITA' DI ROTAZIONE DELLA RUOTA DI SEMINA.
nerit 0:1e09cd7d66b4 53 IL PRIMO ENCODER VIRTUALE SI OCCUPA DI DETERMINARE LA POSIZIONE FISICA DELLA RUOTA DI SEMINA E SI AZZERA AL PASSAGGIO DI OGNI BECCO.
nerit 0:1e09cd7d66b4 54 IL SECONDO VIENE AZZERATO DALL'IMPULSO DI FASE DEL PRIMO ENCODER DETERMINATO DAI VALORI IMPOSTI SUL TERMINALE TRITECNICA
nerit 0:1e09cd7d66b4 55 IL SECONDO ENCODER VIENE CONFRONTATO CON LA POSIZIONE ASSOLUTA DEL TAMBURO (DETERMINATA DAL NUMERO DI STEP EMESSI DAL CONTROLLO), RAPPORTATA TRA CELLE E BECCHI.
nerit 0:1e09cd7d66b4 56 IL CONFRONTO DETERMINA LA POSIZIONE RELATIVA DELLA SINGOLA CELLA RISPETTO AL SINGOLO BECCO. IL MANTENIMENTO DELLA SINCRONIZZAZIONE DI FASE, DETERMINA IL SINCRO CELLA/BECCO.
nerit 0:1e09cd7d66b4 57 LA SINCRONIZZAZIONE VIENE PERO' E' A SUA VOLTA RICALCOLATA SHIFTANDO LA POSIZIONE DI AZZERAMENTO DEL SECONDO ENCODER IN FUNZIONE DELLA VELOCITA' DI ROTAZIONE GENERALE AL FINE
nerit 0:1e09cd7d66b4 58 DI CAMBIARE L'ANGOLO DI ANTICIPO DI RILASCIO DEL SEME IN FUNZIONE DELLA VELOCITA' E RECUPERARE COSI' IL TEMPO DI VOLO DEL SEME.
nerit 0:1e09cd7d66b4 59 IL TAMBURO HA DUE TIPI DI FUNZIONAMENTO: CONTINUO E AD IMPULSI. E' SELEZIONABILE IN FUNZIONE DELLA VELOCITA' E DEL TIPO DI DISTRIBUTORE MONTATO.
nerit 0:1e09cd7d66b4 60 **********************
nerit 0:1e09cd7d66b4 61 TUTTI I VALORI, CELLE, BECCHI, IMPULSI VELOCITA', ANCGOLO DI AVVIO, FASE DI SEMINA, ECC.. SONO IMPOSTABILI DA PANNELLO OPERATORE
nerit 0:1e09cd7d66b4 62 I DATI SONO SCAMBIATI CON IL PANNELLO OPERATORE E CON GLI ALTRI MODULI ATTRAVERSO RETE CAN CON PROTOCOLLO FREESTYLE ATTRAVERSO INDIRIZZAMENTI DEDICATI
nerit 0:1e09cd7d66b4 63 AL MOMENTO NON E' POSSIBILE ATTRIBUIRE L'INIDIRIZZO BASE DELL'ELEMENTO DA TERMINALE OPERATORE MA SOLO IN FASE DI COMPILAZIONE DEL FIRMWARE.
nerit 0:1e09cd7d66b4 64 **********************
nerit 0:1e09cd7d66b4 65 ALTRE SEZIONI RIGUARDANO LA GENERAZIONE DEGLI ALLARMI, LA COMUNICAZIONE CAN, LA SIMULAZIONE DI LAVORO, LA GESTIONE DELLA DIAGNOSI ECC..
nerit 0:1e09cd7d66b4 66 IL MOTORE DC E' CONTROLLATO DA DIVERSE ROUTINE; LE PRIORITA' SONO (DALLA PIU' BASSA ALLA PIU' ALTA): CALCOLO TEORICO, RICALCOLO REALE, CONTROLLO DI FASE QUINCONCE, CONTROLLO DI CORRENTE.
nerit 0:1e09cd7d66b4 67 LO STEPPER SEGUE IL DC.
nerit 0:1e09cd7d66b4 68 **********************
nerit 0:1e09cd7d66b4 69 IN FASE DI ACCENSIONE ED OGNI QUALVOLTA SI ARRIVA A VELOCITA' ZERO, LA MACCHINA ESEGUE UN CICLO DI AZZERAMENTO
nerit 0:1e09cd7d66b4 70 NON ESISTE PULSANTE DI MARCIA/STOP; E' SEMPRE ATTIVA.
nerit 0:1e09cd7d66b4 71 **********************
nerit 0:1e09cd7d66b4 72 NEL PROGRAMMA E' PRESENTE UNA SEZIONE DI TEST FISICO DELLA SCHEDA ATTIVABILE SOLO IN FASE DI COMPILAZIONE
nerit 0:1e09cd7d66b4 73 **********************
nerit 0:1e09cd7d66b4 74 ALTRE FUNZIONI: PRECARICAMENTO DEL TAMBURO
nerit 0:1e09cd7d66b4 75 AZZERAMENTO MANUALE
nerit 0:1e09cd7d66b4 76 STATISTICA DI SEMINA (CONTA LE CELLE)
nerit 0:1e09cd7d66b4 77 */
nerit 0:1e09cd7d66b4 78 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 79 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 80
nerit 0:1e09cd7d66b4 81 #include "main.hpp"
nerit 0:1e09cd7d66b4 82 #include "timeandtick.hpp"
nerit 0:1e09cd7d66b4 83 #include "canbus.hpp"
nerit 0:1e09cd7d66b4 84 #include "watchdog.h"
nerit 0:1e09cd7d66b4 85 #include "iodefinition.hpp"
nerit 0:1e09cd7d66b4 86 #include "parameters.hpp"
nerit 0:1e09cd7d66b4 87 #include "variables.hpp"
nerit 0:1e09cd7d66b4 88 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 89 //********************************************************************************************************************
nerit 0:1e09cd7d66b4 90 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 91 // TASK SECTION
nerit 0:1e09cd7d66b4 92 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 93 //************************************************************************
nerit 3:c0f11ca4df02 94 //************************************************************************
nerit 0:1e09cd7d66b4 95 // rise of seed speed 25 pulse sensor
nerit 0:1e09cd7d66b4 96 void sd25Fall(){
nerit 0:1e09cd7d66b4 97 timeHole=metalTimer.read_ms();
nerit 0:1e09cd7d66b4 98 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 0:1e09cd7d66b4 99 memoTimeHole = timeHole;
nerit 0:1e09cd7d66b4 100 metalTimer.reset();
nerit 0:1e09cd7d66b4 101 if (speedFromPick==0){
nerit 0:1e09cd7d66b4 102 speedOfSeedWheel=((seedPerimeter/25.0f)/(double)memo_TimeHole)*1000.0f; //mtS
nerit 0:1e09cd7d66b4 103 }
nerit 0:1e09cd7d66b4 104 }
nerit 5:3b95bbfe2dc9 105 // rise of seed speed motor encoder
nerit 5:3b95bbfe2dc9 106 void encoRise(){
nerit 5:3b95bbfe2dc9 107 timeHole=metalTimer.read_us();
nerit 5:3b95bbfe2dc9 108 int memo_TimeHole= (memoTimeHole + timeHole)/ (int)2;
nerit 5:3b95bbfe2dc9 109 memoTimeHole = timeHole;
nerit 5:3b95bbfe2dc9 110 metalTimer.reset();
nerit 5:3b95bbfe2dc9 111 if (encoder==true){
nerit 5:3b95bbfe2dc9 112 speedOfSeedWheel=((seedPerimeter/((SDreductionRatio*25.5f)))/(double)memo_TimeHole)*1000000.0f; //mtS
nerit 5:3b95bbfe2dc9 113 }
nerit 5:3b95bbfe2dc9 114 }
nerit 0:1e09cd7d66b4 115 //**************************************************
nerit 0:1e09cd7d66b4 116 // generate speed clock when speed is simulated from Tritecnica display
nerit 0:1e09cd7d66b4 117 void speedSimulationClock(){
nerit 0:1e09cd7d66b4 118 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 119 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 120 speedTimer.reset();
nerit 0:1e09cd7d66b4 121 pulseRised=1;
nerit 0:1e09cd7d66b4 122 }
nerit 0:1e09cd7d66b4 123 //*******************************************************
nerit 0:1e09cd7d66b4 124 // interrupt task for tractor speed reading
nerit 0:1e09cd7d66b4 125 //*******************************************************
nerit 0:1e09cd7d66b4 126 void tractorReadSpeed(){
nerit 0:1e09cd7d66b4 127 if ((oldTractorSpeedRead==0)){
nerit 0:1e09cd7d66b4 128 lastPulseRead=speedTimer.read_us();
nerit 0:1e09cd7d66b4 129 oldLastPulseRead=lastPulseRead;
nerit 0:1e09cd7d66b4 130 speedTimer.reset();
nerit 0:1e09cd7d66b4 131 pulseRised=1;
nerit 0:1e09cd7d66b4 132 oldTractorSpeedRead=1;
nerit 6:3fca0ca1949e 133 spazioCoperto+= pulseDistance;
nerit 0:1e09cd7d66b4 134 }
nerit 0:1e09cd7d66b4 135 speedFilter.reset();
nerit 0:1e09cd7d66b4 136 speedClock=1;
nerit 0:1e09cd7d66b4 137 }
nerit 0:1e09cd7d66b4 138 //*******************************************************
nerit 0:1e09cd7d66b4 139 void speedMediaCalc(){
nerit 0:1e09cd7d66b4 140 double lastPd=(double) lastPulseRead/1000.0f;
nerit 0:1e09cd7d66b4 141 pulseSpeedInterval = (mediaSpeed[0]+lastPd)/2.0f;
nerit 0:1e09cd7d66b4 142 if (enableSimula==1){
nerit 0:1e09cd7d66b4 143 double TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 144 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 145 }
nerit 0:1e09cd7d66b4 146 mediaSpeed[0]=lastPd;
nerit 0:1e09cd7d66b4 147 OLDpulseSpeedInterval=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 148 }
nerit 0:1e09cd7d66b4 149
nerit 0:1e09cd7d66b4 150 //*******************************************************
nerit 0:1e09cd7d66b4 151 // clocked task for manage virtual encoder of seed wheel i/o
nerit 0:1e09cd7d66b4 152 //*******************************************************
nerit 0:1e09cd7d66b4 153 //*******************************************************
nerit 0:1e09cd7d66b4 154 void step_SDPulseOut(){
nerit 0:1e09cd7d66b4 155 SDactualPosition++;
nerit 0:1e09cd7d66b4 156 prePosSD++;
nerit 5:3b95bbfe2dc9 157 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 158 posForQuinc++;
nerit 5:3b95bbfe2dc9 159 #endif
nerit 0:1e09cd7d66b4 160 }
nerit 0:1e09cd7d66b4 161 //*******************************************************
nerit 0:1e09cd7d66b4 162 void step_TBPulseOut(){
nerit 0:1e09cd7d66b4 163 TBmotorStepOut=!TBmotorStepOut;
nerit 0:1e09cd7d66b4 164 if (TBmotorStepOut==0){
nerit 0:1e09cd7d66b4 165 TBactualPosition++;
nerit 0:1e09cd7d66b4 166 }
nerit 0:1e09cd7d66b4 167 }
nerit 0:1e09cd7d66b4 168 //*******************************************************
nerit 0:1e09cd7d66b4 169 // aggiornamento parametri di lavoro fissi e da Tritecnica
nerit 0:1e09cd7d66b4 170 void aggiornaParametri(){
nerit 0:1e09cd7d66b4 171 speedPerimeter = Pi * speedWheelDiameter ; // perimeter of speed wheel
nerit 0:1e09cd7d66b4 172 pulseDistance = (speedPerimeter / speedWheelPulse)*1000.0f; // linear space between speed wheel pulse
nerit 0:1e09cd7d66b4 173 seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f)); // perimeter of seed wheel
nerit 0:1e09cd7d66b4 174 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 175 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina
nerit 0:1e09cd7d66b4 176 K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f; // calcola il K per la frequenza di comando del motore di semina
nerit 0:1e09cd7d66b4 177 rapportoRuote = pickNumber/cellsNumber; // calcola il rapporto tra il numero di becchi ed il numero di celle
nerit 0:1e09cd7d66b4 178 K_TBfrequency = (TBmotorSteps*TBreductionRatio)/240.0f;
nerit 0:1e09cd7d66b4 179 K_percentuale = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 180 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 181 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 182 KcorT = (SDsectorStep/TBsectorStep);///2.0f;
nerit 0:1e09cd7d66b4 183 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 184 avvioGradi=angoloAv;
nerit 0:1e09cd7d66b4 185 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 186 TBdeltaStep=(fixedStepGiroSD/pickNumber)+(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 187 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 188 K_WheelRPM = 60.0f/seedPerimeter; // calcola il K per i giri al minuto della ruota di semina 25.4 25,40
nerit 0:1e09cd7d66b4 189 if (speedFromPick==1) {
nerit 0:1e09cd7d66b4 190 intraPickDistance = seedPerimeter/pickNumber;
nerit 0:1e09cd7d66b4 191 }else{
nerit 0:1e09cd7d66b4 192 intraPickDistance = seedPerimeter/25.0f; // 25 è il numero di fori presenti nel disco di semina
nerit 0:1e09cd7d66b4 193 }
nerit 0:1e09cd7d66b4 194 }
nerit 0:1e09cd7d66b4 195 //*******************************************************
nerit 0:1e09cd7d66b4 196 void cambiaTB(double perio){
nerit 0:1e09cd7d66b4 197 // update TB frequency
nerit 0:1e09cd7d66b4 198 double TBper=0.0f;
nerit 0:1e09cd7d66b4 199 if (aspettaStart==0){
nerit 0:1e09cd7d66b4 200 if (perio<250.0f){perio=500.0f;}
nerit 0:1e09cd7d66b4 201 double scala =0.0f;
nerit 0:1e09cd7d66b4 202 if (lowSpeed==1){
nerit 0:1e09cd7d66b4 203 scala =2.0f;
nerit 0:1e09cd7d66b4 204 }else{
nerit 0:1e09cd7d66b4 205 scala =1.8f;
nerit 0:1e09cd7d66b4 206 }
nerit 0:1e09cd7d66b4 207 TBper=perio/scala;
nerit 0:1e09cd7d66b4 208 if (oldPeriodoTB!=TBper){
nerit 0:1e09cd7d66b4 209 if (TBper >= 250.0f){
nerit 0:1e09cd7d66b4 210 TBticker.attach_us(&step_TBPulseOut,TBper); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 211 }else{
nerit 0:1e09cd7d66b4 212 TBticker.detach();
nerit 0:1e09cd7d66b4 213 }
nerit 0:1e09cd7d66b4 214 oldPeriodoTB=TBper;
nerit 0:1e09cd7d66b4 215 }
nerit 0:1e09cd7d66b4 216 }
nerit 0:1e09cd7d66b4 217 }
nerit 0:1e09cd7d66b4 218 //*******************************************************
nerit 0:1e09cd7d66b4 219 void seedCorrect(){
nerit 0:1e09cd7d66b4 220 /*
nerit 0:1e09cd7d66b4 221 posError determina la posizione relativa di TB rispetto ad SD
nerit 0:1e09cd7d66b4 222 la reale posizione di SD viene modificata in funzione della velocità per
nerit 0:1e09cd7d66b4 223 traslare la posizione relativa di TB. All'aumentare della velocità la posizione
nerit 0:1e09cd7d66b4 224 di SD viene incrementata così che TB acceleri per raggiungerla in modo da rilasciare il seme prima
nerit 0:1e09cd7d66b4 225 La taratura del sistema avviene determinando prima il valore di angoloFase alla minima velocità,
nerit 0:1e09cd7d66b4 226 poi, alla massima velocità, dovrebbe spostarsi la posizione relativa con una variabile proporzionale alla velocità, ma c'è un però.
nerit 0:1e09cd7d66b4 227 Il problema è che il momento di avvio determina una correzione dell'angolo di partenza del tamburo
nerit 0:1e09cd7d66b4 228 angolo che viene rideterminato ogni volta che il sensore becchi legge un transito.
nerit 0:1e09cd7d66b4 229 Di fatto c'è una concorrenza tra l'angolo di avvio determinato e la correzione di posizione relativa
nerit 0:1e09cd7d66b4 230 del tamburo. E' molto probabile che convenga modificare solo la posizione relativa e non anche l'angolo di avvio
nerit 0:1e09cd7d66b4 231 Ancora di più se viene eliminata la parte gestita da ciclata.
nerit 0:1e09cd7d66b4 232 In questo modo dovrebbe esserci solo un andamento in accelerazione di TB che viene poi eventualmente decelerato
nerit 0:1e09cd7d66b4 233 dal passaggio sul sensore di TB. Funzione corretta perchè il sincronismo tra i sensori genera l'inibizione della correzione
nerit 0:1e09cd7d66b4 234 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 235 Appena il sensore di TB viene impegnato allora viene abilitato il controllo di fase del tamburo.
nerit 0:1e09cd7d66b4 236 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 237 il tamburo non risenta della condizione di reset della posizione di SD mentre lui è ancora nella fase precedente. Si fermerebbe.
nerit 0:1e09cd7d66b4 238
nerit 0:1e09cd7d66b4 239 // La considerazione finale è che mantenendo l'angolo di avvio fisso e regolato sulla bassa velocità, intervenendo solo sulla correzione
nerit 0:1e09cd7d66b4 240 // di posizione in questa routine, dovrebbe essere possibile seminare correttamente a tutte le velocità regolando solo 2 parametri.
nerit 0:1e09cd7d66b4 241 */
nerit 0:1e09cd7d66b4 242 /*
nerit 0:1e09cd7d66b4 243 SDsectorStep = (double)fixedStepGiroSD / (double)pickNumber;
nerit 0:1e09cd7d66b4 244 TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
nerit 0:1e09cd7d66b4 245 KcorT = (SDsectorStep/TBsectorStep);
nerit 0:1e09cd7d66b4 246 angoloFase=angoloPh;
nerit 0:1e09cd7d66b4 247 stepGrado=fixedStepGiroSD/360.0f;
nerit 0:1e09cd7d66b4 248 avvioGradi = costante da terminale tritecnica
nerit 0:1e09cd7d66b4 249 TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
nerit 0:1e09cd7d66b4 250 TBfaseStep = (stepGrado*angoloFase);
nerit 0:1e09cd7d66b4 251 */
nerit 0:1e09cd7d66b4 252
nerit 0:1e09cd7d66b4 253 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 254 if (inhibit==0){
nerit 0:1e09cd7d66b4 255 double posError =0.0f;
nerit 0:1e09cd7d66b4 256 double posSD=((double)SDactualPosition)/KcorT;
nerit 0:1e09cd7d66b4 257 posError = posSD - (double)TBactualPosition;
nerit 0:1e09cd7d66b4 258 // interviene sulla velocità di TB per raggiungere la corretta posizione relativa
nerit 0:1e09cd7d66b4 259 if((lowSpeed==0)&&(aspettaStart==0)){
nerit 0:1e09cd7d66b4 260 if (posError>50.0f){posError=50.0f;}
nerit 0:1e09cd7d66b4 261 if (posError<-50.0f){posError=-50.0f;}
nerit 0:1e09cd7d66b4 262 if ((posError >=1.0f)||(posError<=-1.0f)){
nerit 0:1e09cd7d66b4 263 ePpos = periodo /(1.0f+ ((posError/100.0f)));
nerit 0:1e09cd7d66b4 264 cambiaTB(ePpos);
nerit 0:1e09cd7d66b4 265 }
nerit 0:1e09cd7d66b4 266 }
nerit 0:1e09cd7d66b4 267 }
nerit 4:d32258ec411f 268 }
nerit 4:d32258ec411f 269 }
nerit 4:d32258ec411f 270 //*******************************************************
nerit 4:d32258ec411f 271 void videoUpdate(){
nerit 4:d32258ec411f 272 for(int aa=0;aa<4;aa++){speedForDisplay[aa]=speedForDisplay[aa+1];}
nerit 4:d32258ec411f 273 speedForDisplay[4]=tractorSpeed_MtS_timed;
nerit 4:d32258ec411f 274 totalSpeed=0.0f;
nerit 4:d32258ec411f 275 for (int aa=0; aa<5; aa++){totalSpeed += speedForDisplay[aa];}
nerit 4:d32258ec411f 276 totalSpeed = totalSpeed / 5.0f;
nerit 0:1e09cd7d66b4 277 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 278 #if defined(SDreset)
nerit 0:1e09cd7d66b4 279 pc.printf("Fase: %d",fase);
nerit 0:1e09cd7d66b4 280 pc.printf(" PrePosSD: %d",prePosSD);
nerit 0:1e09cd7d66b4 281 pc.printf(" PosSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 282 pc.printf(" speed: %f",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 283 pc.printf(" Trigger: %d \n", trigRepos);
nerit 0:1e09cd7d66b4 284 #endif
nerit 0:1e09cd7d66b4 285 #endif
nerit 0:1e09cd7d66b4 286 }
nerit 0:1e09cd7d66b4 287 //*******************************************************
nerit 0:1e09cd7d66b4 288 void ciclaTB(){
nerit 0:1e09cd7d66b4 289 if ((startCicloTB==1)&&(cicloTbinCorso==0)){
nerit 0:1e09cd7d66b4 290 TBticker.attach_us(&step_TBPulseOut,TBperiod/2.5f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 291 cicloTbinCorso = 1;
nerit 0:1e09cd7d66b4 292 startCicloTB=0;
nerit 0:1e09cd7d66b4 293 }
nerit 0:1e09cd7d66b4 294 if ((loadDaCan==1)&&(loadDaCanInCorso==0)){
nerit 0:1e09cd7d66b4 295 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 296 loadDaCanInCorso=1;
nerit 0:1e09cd7d66b4 297 stopCicloTB=0;
nerit 0:1e09cd7d66b4 298 }
nerit 0:1e09cd7d66b4 299 if ((stopCicloTB==1)&&(TBactualPosition>5)){
nerit 0:1e09cd7d66b4 300 TBticker.detach();
nerit 0:1e09cd7d66b4 301 cicloTbinCorso = 0;
nerit 0:1e09cd7d66b4 302 stopCicloTB=0;
nerit 0:1e09cd7d66b4 303 loadDaCanInCorso=0;
nerit 0:1e09cd7d66b4 304 loadDaCan=0;
nerit 0:1e09cd7d66b4 305 }
nerit 0:1e09cd7d66b4 306 }
nerit 0:1e09cd7d66b4 307 //*******************************************************
nerit 0:1e09cd7d66b4 308 void allarmi(){
nerit 0:1e09cd7d66b4 309 uint8_t alarmLowRegister1=0x00;
nerit 0:1e09cd7d66b4 310 alarmLowRegister=0x00;
nerit 0:1e09cd7d66b4 311 alarmHighRegister=0x80;
nerit 0:1e09cd7d66b4 312
nerit 0:1e09cd7d66b4 313 //alarmLowRegister=alarmLowRegister+(all_semiFiniti*0x01); // manca il sensore
nerit 0:1e09cd7d66b4 314 alarmLowRegister=alarmLowRegister+(all_pickSignal*0x02); // fatto
nerit 0:1e09cd7d66b4 315 alarmLowRegister=alarmLowRegister+(all_cellSignal*0x04); // fatto
nerit 0:1e09cd7d66b4 316 alarmLowRegister=alarmLowRegister+(all_lowBattery*0x08); // fatto
nerit 0:1e09cd7d66b4 317 alarmLowRegister=alarmLowRegister+(all_overCurrDC*0x10); // fatto
nerit 0:1e09cd7d66b4 318 alarmLowRegister=alarmLowRegister+(all_stopSistem*0x20); // verificarne la necessità
nerit 0:1e09cd7d66b4 319 //alarmLowRegister=alarmLowRegister+(all_upElements*0x40); // manca il sensore
nerit 0:1e09cd7d66b4 320 //alarmLowRegister=alarmLowRegister+(all_noSeedOnCe*0x80); // manca il sensore
nerit 0:1e09cd7d66b4 321
nerit 0:1e09cd7d66b4 322 //alarmLowRegister1=alarmLowRegister1+(all_cfgnErrors*0x01); // da scrivere
nerit 0:1e09cd7d66b4 323 alarmLowRegister1=alarmLowRegister1+(all_noDcRotati*0x02); // fatto
nerit 0:1e09cd7d66b4 324 alarmLowRegister1=alarmLowRegister1+(all_noStepRota*0x04); // fatto
nerit 0:1e09cd7d66b4 325 alarmLowRegister1=alarmLowRegister1+(all_speedError*0x08); // fatto
nerit 0:1e09cd7d66b4 326 alarmLowRegister1=alarmLowRegister1+(all_noSpeedSen*0x10); // fatto
nerit 0:1e09cd7d66b4 327 alarmLowRegister1=alarmLowRegister1+(all_no_Zeroing*0x20); // fatto
nerit 0:1e09cd7d66b4 328 alarmLowRegister1=alarmLowRegister1+(all_genericals*0x40);
nerit 0:1e09cd7d66b4 329 if (alarmLowRegister1 > 0){
nerit 0:1e09cd7d66b4 330 alarmHighRegister = 0x81;
nerit 0:1e09cd7d66b4 331 alarmLowRegister = alarmLowRegister1;
nerit 0:1e09cd7d66b4 332 }
nerit 0:1e09cd7d66b4 333
nerit 0:1e09cd7d66b4 334 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 335 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 336 if (all_pickSignal==1){pc.printf("AllarmeBecchi\n");}
nerit 0:1e09cd7d66b4 337 if (all_cellSignal==1){pc.printf("AllarmeCelle\n");}
nerit 0:1e09cd7d66b4 338 if (all_lowBattery==1){pc.printf("AllarmeBassaCorrente\n");}
nerit 0:1e09cd7d66b4 339 if (all_overCurrDC==1){pc.printf("AllarmeAltaCorrente\n");}
nerit 0:1e09cd7d66b4 340 if (all_stopSistem==1){pc.printf("AllarmeStop\n");}
nerit 0:1e09cd7d66b4 341 if (all_noDcRotati==1){pc.printf("AllarmeDCnoRotation\n");}
nerit 0:1e09cd7d66b4 342 if (all_noStepRota==1){pc.printf("AllarmeNoStepRotation\n");}
nerit 0:1e09cd7d66b4 343 if (all_speedError==1){pc.printf("AllarmeSpeedError\n");}
nerit 0:1e09cd7d66b4 344 if (all_noSpeedSen==1){pc.printf("AllarmeNoSpeedSensor\n");}
nerit 0:1e09cd7d66b4 345 if (all_no_Zeroing==1){pc.printf("AllarmeNoZero\n");}
nerit 0:1e09cd7d66b4 346 if (all_genericals==1){pc.printf("AllarmeGenerico\n");}
nerit 0:1e09cd7d66b4 347 pc.printf("Code: 0x%x%x\n",alarmHighRegister,alarmLowRegister);
nerit 0:1e09cd7d66b4 348 #endif
nerit 0:1e09cd7d66b4 349 #endif
nerit 0:1e09cd7d66b4 350 all_semiFiniti=0;
nerit 0:1e09cd7d66b4 351 all_pickSignal=0;
nerit 0:1e09cd7d66b4 352 all_cellSignal=0;
nerit 0:1e09cd7d66b4 353 all_lowBattery=0;
nerit 0:1e09cd7d66b4 354 all_overCurrDC=0;
nerit 0:1e09cd7d66b4 355 all_stopSistem=0;
nerit 0:1e09cd7d66b4 356 all_upElements=0;
nerit 0:1e09cd7d66b4 357 all_noSeedOnCe=0;
nerit 0:1e09cd7d66b4 358 all_cfgnErrors=0;
nerit 0:1e09cd7d66b4 359 all_noDcRotati=0;
nerit 0:1e09cd7d66b4 360 all_noStepRota=0;
nerit 0:1e09cd7d66b4 361 all_speedError=0;
nerit 0:1e09cd7d66b4 362 all_noSpeedSen=0;
nerit 0:1e09cd7d66b4 363 all_no_Zeroing=0;
nerit 0:1e09cd7d66b4 364 all_genericals=0;
nerit 0:1e09cd7d66b4 365 }
nerit 0:1e09cd7d66b4 366 //*******************************************************
nerit 0:1e09cd7d66b4 367 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 368 void upDateSincro(){
nerit 0:1e09cd7d66b4 369 char val1[8]={0,0,0,0,0,0,0,0};
nerit 5:3b95bbfe2dc9 370 val1[0]=(posForQuinc /0x00FF0000)&0x000000FF;
nerit 5:3b95bbfe2dc9 371 val1[1]=(posForQuinc /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 372 val1[2]=(posForQuinc /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 373 val1[3]=posForQuinc & 0x000000FF;
nerit 5:3b95bbfe2dc9 374 double pass = tractorSpeed_MtS_timed*100.0f;
nerit 5:3b95bbfe2dc9 375 val1[4]=(uint8_t)(pass)&0x000000FF;
nerit 5:3b95bbfe2dc9 376 val1[5]=(prePosSD /0x0000FF00)&0x000000FF;
nerit 5:3b95bbfe2dc9 377 val1[6]=(prePosSD /0x000000FF)&0x000000FF;
nerit 5:3b95bbfe2dc9 378 val1[7]=prePosSD & 0x000000FF;
nerit 0:1e09cd7d66b4 379 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 380 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 381 if(can1.write(CANMessage(TX_SI, *&val1,8))){
nerit 0:1e09cd7d66b4 382 checkState=0;
nerit 0:1e09cd7d66b4 383 }
nerit 0:1e09cd7d66b4 384 #endif
nerit 0:1e09cd7d66b4 385 #endif
nerit 0:1e09cd7d66b4 386 }
nerit 0:1e09cd7d66b4 387 #endif
nerit 0:1e09cd7d66b4 388 //*******************************************************
nerit 0:1e09cd7d66b4 389 void upDateSpeed(){
nerit 0:1e09cd7d66b4 390 /*
nerit 0:1e09cd7d66b4 391 aggiorna dati OPUSA3
nerit 0:1e09cd7d66b4 392 val1[0] contiene il dato di velocità
nerit 0:1e09cd7d66b4 393 val1[1] contiene il byte basso della tabella allarmi
nerit 0:1e09cd7d66b4 394 uint8_t all_semiFiniti = 0; // semi finiti (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 395 uint8_t all_pickSignal = 0; // errore segnale becchi (generato dal tempo tra un becco ed il successivo)
nerit 0:1e09cd7d66b4 396 uint8_t all_cellSignal = 0; // errore segnale celle (generato dal sensore tamburo )
nerit 0:1e09cd7d66b4 397 uint8_t all_lowBattery = 0; // allarme batteria (valore interno di tritecnica)
nerit 0:1e09cd7d66b4 398 uint8_t all_overCurrDC = 0; // sovracorrente motore DC (generato dal sensore di corrente)
nerit 0:1e09cd7d66b4 399 uint8_t all_stopSistem = 0; // sistema in stop (a tempo con ruota ferma)
nerit 0:1e09cd7d66b4 400 uint8_t all_upElements = 0; // elementi sollevati (generato dal relativo sensore)
nerit 0:1e09cd7d66b4 401 uint8_t all_noSeedOnCe = 0; // fallanza di semina (manca il seme nella cella)
nerit 0:1e09cd7d66b4 402 uint8_t all_cfgnErrors = 0; // errore di configurazione (incongruenza dei parametri impostati)
nerit 0:1e09cd7d66b4 403 uint8_t all_noDcRotati = 0; // ruota di semina bloccata (arriva la velocità ma non i becchi)
nerit 0:1e09cd7d66b4 404 uint8_t all_noStepRota = 0; // tamburo di semina bloccato (comando il tamburo ma non ricevo il sensore)
nerit 0:1e09cd7d66b4 405 uint8_t all_speedError = 0; // errore sensore velocità (tempo impulsi non costante)
nerit 0:1e09cd7d66b4 406 uint8_t all_noSpeedSen = 0; // mancanza segnale di velocità (sento i becchi ma non la velocita)
nerit 0:1e09cd7d66b4 407 uint8_t all_no_Zeroing = 0; // mancato azzeramento sistema (generato dal timeout del comando motore DC)
nerit 0:1e09cd7d66b4 408 uint8_t all_genericals = 0; // allarme generico
nerit 0:1e09cd7d66b4 409 val1[2] contiene il byte alto della tabella di allarmi
nerit 0:1e09cd7d66b4 410 val1[3] contiene i segnali per la diagnostica
nerit 0:1e09cd7d66b4 411 bit 0= sensore ruota fonica
nerit 0:1e09cd7d66b4 412 bit 1= sensore celle
nerit 0:1e09cd7d66b4 413 bit 2= sensore posizione
nerit 0:1e09cd7d66b4 414 bit 3= sensore becchi
nerit 0:1e09cd7d66b4 415 bit 4= motore DC
nerit 0:1e09cd7d66b4 416 bit 5= controller
nerit 0:1e09cd7d66b4 417 bit 6= motore stepper
nerit 0:1e09cd7d66b4 418 */
nerit 0:1e09cd7d66b4 419 char val1[8]={0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 420
nerit 0:1e09cd7d66b4 421 val1[3]=0;
nerit 0:1e09cd7d66b4 422 val1[3]=val1[3]+(tractorSpeedRead*0x01);
nerit 3:c0f11ca4df02 423 val1[3]=val1[3]+(TBzeroPinInput*0x02);
nerit 0:1e09cd7d66b4 424 val1[3]=val1[3]+(ElementPosition*0x04);
nerit 3:c0f11ca4df02 425 val1[3]=val1[3]+(seedWheelZeroPinInput*0x08);
nerit 0:1e09cd7d66b4 426 #if defined(simulaPerCan)
nerit 0:1e09cd7d66b4 427 if (buttonUser==0){
nerit 0:1e09cd7d66b4 428 val1[1]=0x02;
nerit 0:1e09cd7d66b4 429 }else{
nerit 0:1e09cd7d66b4 430 val1[1]=0x00;
nerit 0:1e09cd7d66b4 431 }
nerit 0:1e09cd7d66b4 432 val1[3]=valore;
nerit 0:1e09cd7d66b4 433 valore+=1;
nerit 0:1e09cd7d66b4 434 if(valore>50){
nerit 0:1e09cd7d66b4 435 valore=0;
nerit 0:1e09cd7d66b4 436 }
nerit 0:1e09cd7d66b4 437 tractorSpeed_MtS_timed=valore;
nerit 0:1e09cd7d66b4 438 #endif
nerit 0:1e09cd7d66b4 439 allarmi();
nerit 0:1e09cd7d66b4 440 valore = totalSpeed*36.0f; // tractorSpeed_MtS_timed*36.0f;
nerit 0:1e09cd7d66b4 441 val1[0]=valore;
nerit 0:1e09cd7d66b4 442 val1[1]=alarmHighRegister; // registro alto allarmi. Parte sempre da 0x80
nerit 0:1e09cd7d66b4 443 val1[2]=alarmLowRegister; // registro basso allarmi
nerit 0:1e09cd7d66b4 444 //val1[3]=val1[3];// registro di stato degli ingressi
nerit 0:1e09cd7d66b4 445 val1[4]=resetComandi;
nerit 0:1e09cd7d66b4 446 val1[5]=cellsCounterLow;
nerit 0:1e09cd7d66b4 447 val1[6]=cellsCounterHig;
nerit 0:1e09cd7d66b4 448 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 449 if(can1.write(CANMessage(TX_ID, *&val1,8))){
nerit 0:1e09cd7d66b4 450 checkState=0;
nerit 0:1e09cd7d66b4 451 }
nerit 0:1e09cd7d66b4 452 #endif
nerit 0:1e09cd7d66b4 453 }
nerit 0:1e09cd7d66b4 454 //*******************************************************
nerit 0:1e09cd7d66b4 455 void leggiCAN(){
nerit 0:1e09cd7d66b4 456 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 457 if(can1.read(rxMsg)) {
nerit 0:1e09cd7d66b4 458 if (firstStart==1){
nerit 0:1e09cd7d66b4 459 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 460 sincUpdate.attach(&upDateSincro,0.009f);
nerit 0:1e09cd7d66b4 461 #endif
nerit 5:3b95bbfe2dc9 462 canUpdate.attach(&upDateSpeed,0.21f);
nerit 0:1e09cd7d66b4 463 firstStart=0;
nerit 0:1e09cd7d66b4 464 }
nerit 0:1e09cd7d66b4 465
nerit 0:1e09cd7d66b4 466 if (rxMsg.id==RX_ID){
nerit 0:1e09cd7d66b4 467 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 468 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 469 pc.printf("Messaggio ricevuto\n");
nerit 0:1e09cd7d66b4 470 #endif
nerit 0:1e09cd7d66b4 471 #endif
nerit 0:1e09cd7d66b4 472 }
nerit 0:1e09cd7d66b4 473 if (rxMsg.id==RX_Broadcast){
nerit 0:1e09cd7d66b4 474 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 475 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 476 pc.printf("BroadCast ricevuto\n");
nerit 0:1e09cd7d66b4 477 #endif
nerit 0:1e09cd7d66b4 478 #endif
nerit 0:1e09cd7d66b4 479 enableSimula= rxMsg.data[0];
nerit 0:1e09cd7d66b4 480 speedSimula = rxMsg.data[1];
nerit 0:1e09cd7d66b4 481 avviaSimula = rxMsg.data[2];
nerit 0:1e09cd7d66b4 482 selezionato = rxMsg.data[3];
nerit 0:1e09cd7d66b4 483 comandiDaCan = rxMsg.data[4];
nerit 0:1e09cd7d66b4 484 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 485 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 486 pc.printf("Comandi: %x\n",comandiDaCan);
nerit 0:1e09cd7d66b4 487 #endif
nerit 0:1e09cd7d66b4 488 #endif
nerit 0:1e09cd7d66b4 489 switch (comandiDaCan){
nerit 0:1e09cd7d66b4 490 case 1:
nerit 0:1e09cd7d66b4 491 case 3:
nerit 0:1e09cd7d66b4 492 azzeraDaCan=1;
nerit 0:1e09cd7d66b4 493 resetComandi=0x01;
nerit 0:1e09cd7d66b4 494 comandiDaCan=0;
nerit 0:1e09cd7d66b4 495 break;
nerit 0:1e09cd7d66b4 496 case 2:
nerit 0:1e09cd7d66b4 497 loadDaCan=1;
nerit 0:1e09cd7d66b4 498 resetComandi=0x02;
nerit 0:1e09cd7d66b4 499 comandiDaCan=0;
nerit 0:1e09cd7d66b4 500 break;
nerit 0:1e09cd7d66b4 501 default:
nerit 0:1e09cd7d66b4 502 comandiDaCan=0;
nerit 0:1e09cd7d66b4 503 resetComandi=0xFF;
nerit 0:1e09cd7d66b4 504 break;
nerit 0:1e09cd7d66b4 505 }
nerit 0:1e09cd7d66b4 506 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 507 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 508 pc.printf("Comandi: %x\n",resetComandi);
nerit 0:1e09cd7d66b4 509 #endif
nerit 0:1e09cd7d66b4 510 #endif
nerit 0:1e09cd7d66b4 511 if (speedSimula>45){
nerit 0:1e09cd7d66b4 512 speedSimula=45;
nerit 0:1e09cd7d66b4 513 }
nerit 0:1e09cd7d66b4 514 // modulo 1
nerit 0:1e09cd7d66b4 515 if (RX_ID==0x100){
nerit 0:1e09cd7d66b4 516 if ((selezionato&0x01)==0x01){
nerit 0:1e09cd7d66b4 517 simOk=1;
nerit 0:1e09cd7d66b4 518 }else{
nerit 0:1e09cd7d66b4 519 simOk=0;
nerit 0:1e09cd7d66b4 520 }
nerit 0:1e09cd7d66b4 521 }
nerit 0:1e09cd7d66b4 522 // modulo 2
nerit 0:1e09cd7d66b4 523 if (RX_ID==0x102){
nerit 0:1e09cd7d66b4 524 if ((selezionato&0x02)==0x02){
nerit 0:1e09cd7d66b4 525 simOk=1;
nerit 0:1e09cd7d66b4 526 }else{
nerit 0:1e09cd7d66b4 527 simOk=0;
nerit 0:1e09cd7d66b4 528 }
nerit 0:1e09cd7d66b4 529 }
nerit 0:1e09cd7d66b4 530 // modulo 3
nerit 0:1e09cd7d66b4 531 if (RX_ID==0x104){
nerit 0:1e09cd7d66b4 532 if ((selezionato&0x04)==0x04){
nerit 0:1e09cd7d66b4 533 simOk=1;
nerit 0:1e09cd7d66b4 534 }else{
nerit 0:1e09cd7d66b4 535 simOk=0;
nerit 0:1e09cd7d66b4 536 }
nerit 0:1e09cd7d66b4 537 }
nerit 0:1e09cd7d66b4 538 // modulo 4
nerit 0:1e09cd7d66b4 539 if (RX_ID==0x106){
nerit 0:1e09cd7d66b4 540 if ((selezionato&0x08)==0x08){
nerit 0:1e09cd7d66b4 541 simOk=1;
nerit 0:1e09cd7d66b4 542 }else{
nerit 0:1e09cd7d66b4 543 simOk=0;
nerit 0:1e09cd7d66b4 544 }
nerit 0:1e09cd7d66b4 545 }
nerit 0:1e09cd7d66b4 546 // modulo 5
nerit 0:1e09cd7d66b4 547 if (RX_ID==0x108){
nerit 0:1e09cd7d66b4 548 if ((selezionato&0x10)==0x10){
nerit 0:1e09cd7d66b4 549 simOk=1;
nerit 0:1e09cd7d66b4 550 }else{
nerit 0:1e09cd7d66b4 551 simOk=0;
nerit 0:1e09cd7d66b4 552 }
nerit 0:1e09cd7d66b4 553 }
nerit 0:1e09cd7d66b4 554
nerit 0:1e09cd7d66b4 555 }
nerit 0:1e09cd7d66b4 556 if (rxMsg.id==RX_Settings){
nerit 0:1e09cd7d66b4 557 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 558 pickNumber = rxMsg.data[0]; // numero di becchi installati sulla ruota di semina
nerit 0:1e09cd7d66b4 559 cellsNumber = rxMsg.data[1]; // numero di celle del tamburo
nerit 0:1e09cd7d66b4 560 deepOfSeed=(rxMsg.data[2]/10000.0f); // deep of seeding
nerit 0:1e09cd7d66b4 561 seedWheelDiameter = ((rxMsg.data[4]*0xFF)+rxMsg.data[3])/10000.0f; // seed wheel diameter setting
nerit 0:1e09cd7d66b4 562 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 563 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 564 aggiornaParametri();
nerit 0:1e09cd7d66b4 565 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 566 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 567 pc.printf("Seed wheel diameter %f \n",seedWheelDiameter);
nerit 0:1e09cd7d66b4 568 pc.printf("Speed wheel diameter %f \n",speedWheelDiameter);
nerit 0:1e09cd7d66b4 569 #endif
nerit 0:1e09cd7d66b4 570 #endif
nerit 0:1e09cd7d66b4 571 }
nerit 0:1e09cd7d66b4 572 }
nerit 0:1e09cd7d66b4 573 if (rxMsg.id==RX_AngoloPh){
nerit 0:1e09cd7d66b4 574 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 575 #if defined(M1)
nerit 0:1e09cd7d66b4 576 angoloPh = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 577 aggiornaParametri();
nerit 0:1e09cd7d66b4 578 #endif
nerit 0:1e09cd7d66b4 579 #if defined(M2)
nerit 0:1e09cd7d66b4 580 angoloPh = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 581 aggiornaParametri();
nerit 0:1e09cd7d66b4 582 #endif
nerit 0:1e09cd7d66b4 583 #if defined(M3)
nerit 0:1e09cd7d66b4 584 angoloPh = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 585 aggiornaParametri();
nerit 0:1e09cd7d66b4 586 #endif
nerit 0:1e09cd7d66b4 587 #if defined(M4)
nerit 0:1e09cd7d66b4 588 angoloPh = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 589 aggiornaParametri();
nerit 0:1e09cd7d66b4 590 #endif
nerit 0:1e09cd7d66b4 591 #if defined(M5)
nerit 0:1e09cd7d66b4 592 angoloPh = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 593 aggiornaParametri();
nerit 0:1e09cd7d66b4 594 #endif
nerit 0:1e09cd7d66b4 595 #if defined(M6)
nerit 0:1e09cd7d66b4 596 angoloPh = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 597 aggiornaParametri();
nerit 0:1e09cd7d66b4 598 #endif
nerit 0:1e09cd7d66b4 599 }
nerit 0:1e09cd7d66b4 600 }
nerit 0:1e09cd7d66b4 601 if (rxMsg.id==RX_AngoloAv){
nerit 0:1e09cd7d66b4 602 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 603 #if defined(M1)
nerit 0:1e09cd7d66b4 604 angoloAv = (double) rxMsg.data[0] ;
nerit 0:1e09cd7d66b4 605 aggiornaParametri();
nerit 0:1e09cd7d66b4 606 #endif
nerit 0:1e09cd7d66b4 607 #if defined(M2)
nerit 0:1e09cd7d66b4 608 angoloAv = (double) rxMsg.data[1] ;
nerit 0:1e09cd7d66b4 609 aggiornaParametri();
nerit 0:1e09cd7d66b4 610 #endif
nerit 0:1e09cd7d66b4 611 #if defined(M3)
nerit 0:1e09cd7d66b4 612 angoloAv = (double) rxMsg.data[2] ;
nerit 0:1e09cd7d66b4 613 aggiornaParametri();
nerit 0:1e09cd7d66b4 614 #endif
nerit 0:1e09cd7d66b4 615 #if defined(M4)
nerit 0:1e09cd7d66b4 616 angoloAv = (double) rxMsg.data[3] ;
nerit 0:1e09cd7d66b4 617 aggiornaParametri();
nerit 0:1e09cd7d66b4 618 #endif
nerit 0:1e09cd7d66b4 619 #if defined(M5)
nerit 0:1e09cd7d66b4 620 angoloAv = (double) rxMsg.data[4] ;
nerit 0:1e09cd7d66b4 621 aggiornaParametri();
nerit 0:1e09cd7d66b4 622 #endif
nerit 0:1e09cd7d66b4 623 #if defined(M6)
nerit 0:1e09cd7d66b4 624 angoloAv = (double) rxMsg.data[5] ;
nerit 0:1e09cd7d66b4 625 aggiornaParametri();
nerit 0:1e09cd7d66b4 626 #endif
nerit 0:1e09cd7d66b4 627 }
nerit 0:1e09cd7d66b4 628 }
nerit 0:1e09cd7d66b4 629 if (rxMsg.id==RX_Quinconce){
nerit 0:1e09cd7d66b4 630 if (tractorSpeed_MtS_timed==0.0f){
nerit 4:d32258ec411f 631 quinconceActive = (uint8_t) rxMsg.data[0];
nerit 5:3b95bbfe2dc9 632 quincPIDminus = (uint8_t) rxMsg.data[1];
nerit 5:3b95bbfe2dc9 633 quincPIDplus = (uint8_t) rxMsg.data[2];
nerit 5:3b95bbfe2dc9 634 quincLIMminus = (uint8_t) rxMsg.data[3];
nerit 5:3b95bbfe2dc9 635 quincLIMplus = (uint8_t) rxMsg.data[4];
nerit 5:3b95bbfe2dc9 636 quincSector = (uint8_t) rxMsg.data[5];
nerit 0:1e09cd7d66b4 637 aggiornaParametri();
nerit 0:1e09cd7d66b4 638 }
nerit 0:1e09cd7d66b4 639 }
nerit 0:1e09cd7d66b4 640 if (rxMsg.id==RX_QuincSinc){
nerit 0:1e09cd7d66b4 641 masterSinc = (uint32_t) rxMsg.data[0] * 0x00FF0000;
nerit 0:1e09cd7d66b4 642 masterSinc = masterSinc + ((uint32_t) rxMsg.data[1] * 0x0000FF00);
nerit 0:1e09cd7d66b4 643 masterSinc = masterSinc + ((uint32_t) rxMsg.data[2] * 0x000000FF);
nerit 0:1e09cd7d66b4 644 masterSinc = masterSinc + ((uint32_t) rxMsg.data[3]);
nerit 5:3b95bbfe2dc9 645 speedFromMaster = (double)rxMsg.data[4]/100.0f;
nerit 5:3b95bbfe2dc9 646 mast2_Sinc = ((uint32_t) rxMsg.data[5] * 0x0000FF00);
nerit 5:3b95bbfe2dc9 647 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[6] * 0x000000FF);
nerit 5:3b95bbfe2dc9 648 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
nerit 5:3b95bbfe2dc9 649 canDataCheck=1;
nerit 0:1e09cd7d66b4 650 }
nerit 6:3fca0ca1949e 651 if (rxMsg.id==RX_Configure){
nerit 6:3fca0ca1949e 652 uint8_t flags = rxMsg.data[0];
nerit 6:3fca0ca1949e 653 uint16_t steps = (uint32_t) rxMsg.data[1]*0xFF00;
nerit 6:3fca0ca1949e 654 steps = steps + ((uint32_t)rxMsg.data[2]);
nerit 6:3fca0ca1949e 655 cellsCountSet = rxMsg.data[3];
nerit 6:3fca0ca1949e 656 if ((flags&0x01)==0x01){
nerit 6:3fca0ca1949e 657 encoder=true;
nerit 6:3fca0ca1949e 658 }else{
nerit 6:3fca0ca1949e 659 encoder=false;
nerit 6:3fca0ca1949e 660 }
nerit 6:3fca0ca1949e 661 if ((flags&0x02)==0x02){
nerit 6:3fca0ca1949e 662 tankLevelEnable=true;
nerit 6:3fca0ca1949e 663 }else{
nerit 6:3fca0ca1949e 664 tankLevelEnable=false;
nerit 6:3fca0ca1949e 665 }
nerit 6:3fca0ca1949e 666 if ((flags&0x04)==0x04){
nerit 6:3fca0ca1949e 667 seedSensorEnable=true;
nerit 6:3fca0ca1949e 668 }else{
nerit 6:3fca0ca1949e 669 seedSensorEnable=false;
nerit 6:3fca0ca1949e 670 }
nerit 6:3fca0ca1949e 671 if ((flags&0x08)==0x08){
nerit 6:3fca0ca1949e 672 stendiNylonEnable=true;
nerit 6:3fca0ca1949e 673 }else{
nerit 6:3fca0ca1949e 674 stendiNylonEnable=false;
nerit 6:3fca0ca1949e 675 }
nerit 6:3fca0ca1949e 676 if ((flags&0x10)==0x10){
nerit 6:3fca0ca1949e 677 canDataCheckEnable=true;
nerit 6:3fca0ca1949e 678 }else{
nerit 6:3fca0ca1949e 679 canDataCheckEnable=false;
nerit 6:3fca0ca1949e 680 }
nerit 6:3fca0ca1949e 681 if ((flags&0x20)==0x20){
nerit 6:3fca0ca1949e 682 tamburoStandard=1;
nerit 6:3fca0ca1949e 683 }else{
nerit 6:3fca0ca1949e 684 tamburoStandard=0;
nerit 6:3fca0ca1949e 685 }
nerit 6:3fca0ca1949e 686 if ((flags&0x40)==0x40){
nerit 6:3fca0ca1949e 687 currentCheckEnable=true;
nerit 6:3fca0ca1949e 688 }else{
nerit 6:3fca0ca1949e 689 currentCheckEnable=false;
nerit 6:3fca0ca1949e 690 }
nerit 6:3fca0ca1949e 691 }
nerit 0:1e09cd7d66b4 692 }
nerit 0:1e09cd7d66b4 693 #endif
nerit 0:1e09cd7d66b4 694 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 695 enableSimula=1;
nerit 0:1e09cd7d66b4 696 speedSimula=25;
nerit 0:1e09cd7d66b4 697 avviaSimula=1;
nerit 0:1e09cd7d66b4 698 simOk=1;
nerit 0:1e09cd7d66b4 699 #endif
nerit 0:1e09cd7d66b4 700
nerit 0:1e09cd7d66b4 701 }
nerit 0:1e09cd7d66b4 702
nerit 0:1e09cd7d66b4 703 //*******************************************************
nerit 0:1e09cd7d66b4 704 void DC_CheckCurrent(){
nerit 0:1e09cd7d66b4 705
nerit 0:1e09cd7d66b4 706 // TODO: tabella di riferimento assorbimenti alle varie velocità al fine di gestire
nerit 0:1e09cd7d66b4 707 // gli allarmi e le correzioni di velocità
nerit 0:1e09cd7d66b4 708
nerit 0:1e09cd7d66b4 709 //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 710 //int SD_analogIndex[10]={0,0,0,0,0,0,0,0,0,0};
nerit 0:1e09cd7d66b4 711 // Analog reading
nerit 0:1e09cd7d66b4 712 //number = floor(number * 100) / 100;
nerit 0:1e09cd7d66b4 713 //if (pwmCheck==1){
nerit 0:1e09cd7d66b4 714 timeout.detach();
nerit 0:1e09cd7d66b4 715 for (int ii=1;ii<20;ii++){
nerit 0:1e09cd7d66b4 716 SD_analogMatrix[ii]=SD_analogMatrix[ii+1];
nerit 0:1e09cd7d66b4 717 }
nerit 0:1e09cd7d66b4 718 SD_CurrentAnalog = floor(SDcurrent.read()*100)/100; // valore in ingresso compreso tra 0.00 e 1.00
nerit 0:1e09cd7d66b4 719 SD_analogMatrix[20]=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 720 if (SDmotorPWM==0.0f){
nerit 0:1e09cd7d66b4 721 SD_CurrentStart=SD_CurrentAnalog;
nerit 0:1e09cd7d66b4 722 }
nerit 0:1e09cd7d66b4 723 float sommaTutto=0.0f;
nerit 0:1e09cd7d66b4 724 for (int ii=1;ii<21;ii++){
nerit 0:1e09cd7d66b4 725 sommaTutto=sommaTutto+SD_analogMatrix[ii];
nerit 0:1e09cd7d66b4 726 }
nerit 0:1e09cd7d66b4 727 float SD_CurrentAnalogica=sommaTutto/20.0f;
nerit 0:1e09cd7d66b4 728 SD_CurrentScaled = floor(( (SD_CurrentAnalogica - SD_CurrentStart)*3.3f) / (SD_CurrentFactor/1000.0f)*10)/10;
nerit 0:1e09cd7d66b4 729 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 730 #if defined(correnteAssorbita)
nerit 0:1e09cd7d66b4 731 pc.printf("CorrenteStart: %f ",SD_CurrentStart);
nerit 0:1e09cd7d66b4 732 pc.printf(" CorrenteScaled: %f ",SD_CurrentScaled);
nerit 0:1e09cd7d66b4 733 pc.printf(" CorrenteMedia: %f \n",SD_CurrentAnalogica);
nerit 0:1e09cd7d66b4 734 #endif
nerit 0:1e09cd7d66b4 735 #endif
nerit 0:1e09cd7d66b4 736 reduceCurrent=false;
nerit 0:1e09cd7d66b4 737 incrementCurrent=false;
nerit 0:1e09cd7d66b4 738 /*
nerit 0:1e09cd7d66b4 739 if (SD_CurrentScaled < 3.0f){
nerit 0:1e09cd7d66b4 740 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 741 all_lowBattery=1;
nerit 0:1e09cd7d66b4 742 #endif
nerit 0:1e09cd7d66b4 743 incrementCurrent=true;
nerit 0:1e09cd7d66b4 744 }
nerit 0:1e09cd7d66b4 745 */
nerit 4:d32258ec411f 746 if (SD_CurrentScaled > 10.0f){
nerit 4:d32258ec411f 747 timeCurr.start();
nerit 4:d32258ec411f 748 if (timeCurr.read() > 5.0f){
nerit 4:d32258ec411f 749 #if defined(canbusActive)
nerit 4:d32258ec411f 750 all_overCurrDC=1;
nerit 4:d32258ec411f 751 #endif
nerit 4:d32258ec411f 752 reduceCurrent=true;
nerit 4:d32258ec411f 753 timeCurr.reset();
nerit 4:d32258ec411f 754 }
nerit 4:d32258ec411f 755 }else{
nerit 4:d32258ec411f 756 timeCurr.stop();
nerit 0:1e09cd7d66b4 757 }
nerit 0:1e09cd7d66b4 758 //}
nerit 0:1e09cd7d66b4 759 }
nerit 0:1e09cd7d66b4 760 //*******************************************************
nerit 0:1e09cd7d66b4 761 void DC_prepare(){
nerit 0:1e09cd7d66b4 762 // direction or brake preparation
nerit 0:1e09cd7d66b4 763 if (DC_brake==1){SDmotorInA=1;SDmotorInB=1;}else{if (DC_forward==1){SDmotorInA=1;SDmotorInB=0;}else{SDmotorInA=0;SDmotorInB=1;}}
nerit 0:1e09cd7d66b4 764 // fault reading
nerit 0:1e09cd7d66b4 765 if (SDmotorInA==1){SD_faultA=1;}else{SD_faultA=0;}
nerit 0:1e09cd7d66b4 766 if (SDmotorInB==1){SD_faultB=1;}else{SD_faultB=0;}
nerit 0:1e09cd7d66b4 767 }
nerit 0:1e09cd7d66b4 768 //*******************************************************
nerit 0:1e09cd7d66b4 769 void startDelay(){
nerit 0:1e09cd7d66b4 770 int ritardo =0;
nerit 0:1e09cd7d66b4 771 ritardo = (int)((float)(dcActualDuty*800.0f));
nerit 0:1e09cd7d66b4 772 timeout.attach_us(&DC_CheckCurrent,ritardo);
nerit 0:1e09cd7d66b4 773 }
nerit 0:1e09cd7d66b4 774 //*******************************************************
nerit 4:d32258ec411f 775 void quincTrigon(){
nerit 4:d32258ec411f 776 quincClock=true;
nerit 4:d32258ec411f 777 }
nerit 4:d32258ec411f 778 void quincTrigof(){
nerit 4:d32258ec411f 779 quincClock=false;
nerit 0:1e09cd7d66b4 780 }
nerit 0:1e09cd7d66b4 781 //*******************************************************
nerit 2:d9c7430ae953 782 void quinCalc(){
nerit 0:1e09cd7d66b4 783 // riceve l'impulso di sincro dal master e fa partire il timer di verifica dell'errore
nerit 2:d9c7430ae953 784 #if !defined(mezzo)
nerit 0:1e09cd7d66b4 785 if ((quincClock==true)&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 786 oldQuincIn=1;
nerit 0:1e09cd7d66b4 787 if (quincStart==0){
nerit 5:3b95bbfe2dc9 788 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 789 quincTime.reset();
nerit 0:1e09cd7d66b4 790 quincStart=1;
nerit 0:1e09cd7d66b4 791 }
nerit 0:1e09cd7d66b4 792 }
nerit 2:d9c7430ae953 793 if(quincClock==false){
nerit 0:1e09cd7d66b4 794 oldQuincIn=0;
nerit 0:1e09cd7d66b4 795 }
nerit 2:d9c7430ae953 796 #else
nerit 2:d9c7430ae953 797 if ((((quinconceActive==0)&&(quincClock==true))||((quinconceActive==1)&&(quincClock==false)))&&(oldQuincIn==0)){
nerit 0:1e09cd7d66b4 798 oldQuincIn=1;
nerit 0:1e09cd7d66b4 799 if (quincStart==0){
nerit 5:3b95bbfe2dc9 800 oldQuincTimeSD = (double) quincTimeSD.read_ms();
nerit 0:1e09cd7d66b4 801 quincTime.reset();
nerit 0:1e09cd7d66b4 802 quincStart=1;
nerit 0:1e09cd7d66b4 803 }
nerit 0:1e09cd7d66b4 804 }
nerit 4:d32258ec411f 805 if (quinconceActive==0){
nerit 4:d32258ec411f 806 if (quincClock==false){
nerit 4:d32258ec411f 807 oldQuincIn=0;
nerit 4:d32258ec411f 808 }
nerit 4:d32258ec411f 809 }else{
nerit 4:d32258ec411f 810 if (quincClock==true){
nerit 4:d32258ec411f 811 oldQuincIn=0;
nerit 4:d32258ec411f 812 }
nerit 0:1e09cd7d66b4 813 }
nerit 2:d9c7430ae953 814 #endif
nerit 5:3b95bbfe2dc9 815 //****************************************************************************************
nerit 5:3b95bbfe2dc9 816 if (quincCnt>=6){
nerit 5:3b95bbfe2dc9 817 if (countPicks==0){
nerit 5:3b95bbfe2dc9 818 if ((sincroQui==1)&&(quincStart==0)){
nerit 5:3b95bbfe2dc9 819 // decelera
nerit 5:3b95bbfe2dc9 820 countPicks=1;
nerit 4:d32258ec411f 821 }
nerit 5:3b95bbfe2dc9 822 if ((sincroQui==0)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 823 // accelera
nerit 5:3b95bbfe2dc9 824 countPicks=2;
nerit 4:d32258ec411f 825 }
nerit 4:d32258ec411f 826 }
nerit 5:3b95bbfe2dc9 827
nerit 5:3b95bbfe2dc9 828 if ((sincroQui==1)&&(quincStart==1)){
nerit 5:3b95bbfe2dc9 829 if (countPicks==1){ //decelera
nerit 5:3b95bbfe2dc9 830 scostamento = oldQuincTimeSD;
nerit 5:3b95bbfe2dc9 831 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 832 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 5:3b95bbfe2dc9 833 percento -= ((double)quincPIDminus/1000.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 834 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 835 #if defined(laq)
nerit 5:3b95bbfe2dc9 836 pc.printf("RALL scos2: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 837 #endif
nerit 5:3b95bbfe2dc9 838 #endif
nerit 5:3b95bbfe2dc9 839 }
nerit 5:3b95bbfe2dc9 840 if (scostamento <10.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 841 }
nerit 5:3b95bbfe2dc9 842 if (countPicks==2){ //accelera
nerit 5:3b95bbfe2dc9 843 scostamento = (double)quincTime.read_ms();
nerit 5:3b95bbfe2dc9 844 if (scostamento < (tempoBecchiPerQuinc*0.75f)){
nerit 5:3b95bbfe2dc9 845 double scostPerc = (scostamento/tempoBecchiPerQuinc);
nerit 5:3b95bbfe2dc9 846 percento += ((double)quincPIDplus/1000.0f)*(scostPerc);
nerit 5:3b95bbfe2dc9 847 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 848 #if defined(laq)
nerit 5:3b95bbfe2dc9 849 pc.printf(
nerit 5:3b95bbfe2dc9 850 "ACCE scos1: %f tbpq: %f percento: %f \n",scostamento,tempoBecchiPerQuinc,percento);
nerit 5:3b95bbfe2dc9 851 #endif
nerit 5:3b95bbfe2dc9 852 #endif
nerit 5:3b95bbfe2dc9 853 }
nerit 5:3b95bbfe2dc9 854 if (scostamento <10.0f){percento=0.0f;}
nerit 5:3b95bbfe2dc9 855 }
nerit 5:3b95bbfe2dc9 856 sincroQui=0;
nerit 5:3b95bbfe2dc9 857 quincStart=0;
nerit 5:3b95bbfe2dc9 858 countPicks=0;
nerit 5:3b95bbfe2dc9 859 }
nerit 5:3b95bbfe2dc9 860
nerit 5:3b95bbfe2dc9 861 //*******************************************************************
nerit 5:3b95bbfe2dc9 862 if (canDataCheckEnable==true){
nerit 5:3b95bbfe2dc9 863 if (canDataCheck==1){ // sincro da comunicazione can del valore di posizione del tamburo master
nerit 5:3b95bbfe2dc9 864 canDataCheck=0;
nerit 5:3b95bbfe2dc9 865 double parametro = SDsectorStep/5.0f;
nerit 5:3b95bbfe2dc9 866 double differenza=0.0f;
nerit 5:3b95bbfe2dc9 867 #if defined(mezzo)
nerit 5:3b95bbfe2dc9 868 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 869 differenza = (double)masterSinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 870 }else{
nerit 5:3b95bbfe2dc9 871 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 872 }
nerit 5:3b95bbfe2dc9 873 #else
nerit 5:3b95bbfe2dc9 874 differenza = (double)mast2_Sinc - (double)prePosSD;
nerit 5:3b95bbfe2dc9 875 #endif
nerit 5:3b95bbfe2dc9 876 if ((differenza > 0.0f)&&(differenza < parametro)){
nerit 5:3b95bbfe2dc9 877 double diffPerc = differenza / parametro;
nerit 5:3b95bbfe2dc9 878 percento += ((double)quincPIDplus/1000.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 879 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 880 #if defined(quinca)
nerit 5:3b95bbfe2dc9 881 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 882 #endif
nerit 5:3b95bbfe2dc9 883 #endif
nerit 5:3b95bbfe2dc9 884 }
nerit 5:3b95bbfe2dc9 885 if ((differenza < 0.0f)&&(abs(differenza) < parametro)){
nerit 5:3b95bbfe2dc9 886 double diffPerc = (double)differenza / parametro;
nerit 5:3b95bbfe2dc9 887 percento -= ((double)quincPIDminus/1000.0f)*abs(diffPerc);
nerit 5:3b95bbfe2dc9 888 #if defined(pcSerial)
nerit 5:3b95bbfe2dc9 889 #if defined(quinca)
nerit 5:3b95bbfe2dc9 890 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 891 #endif
nerit 5:3b95bbfe2dc9 892 #endif
nerit 5:3b95bbfe2dc9 893 }
nerit 5:3b95bbfe2dc9 894 }
nerit 5:3b95bbfe2dc9 895 }
nerit 5:3b95bbfe2dc9 896
nerit 5:3b95bbfe2dc9 897 }
nerit 5:3b95bbfe2dc9 898 if ((percento) > ((double) quincLIMplus/100.0f)){
nerit 5:3b95bbfe2dc9 899 percento= (double)quincLIMplus/100.0f;
nerit 5:3b95bbfe2dc9 900 }
nerit 5:3b95bbfe2dc9 901 if ((percento) < (((double)quincLIMminus*-1.0f)/100.0f)){
nerit 5:3b95bbfe2dc9 902 percento=((double)quincLIMminus*-1.0f)/100.0f;
nerit 0:1e09cd7d66b4 903 }
nerit 0:1e09cd7d66b4 904 }
nerit 0:1e09cd7d66b4 905 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 906 // MAIN SECTION
nerit 3:c0f11ca4df02 907 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
nerit 0:1e09cd7d66b4 908
nerit 0:1e09cd7d66b4 909 int main()
nerit 0:1e09cd7d66b4 910 {
nerit 5:3b95bbfe2dc9 911 //wait(1.0f);
nerit 0:1e09cd7d66b4 912 wd.Configure(2); //watchdog set at xx seconds
nerit 0:1e09cd7d66b4 913
nerit 0:1e09cd7d66b4 914 for (int a=0; a<5;a++){
nerit 0:1e09cd7d66b4 915 mediaSpeed[a]=0;
nerit 0:1e09cd7d66b4 916 }
nerit 0:1e09cd7d66b4 917
nerit 0:1e09cd7d66b4 918 // Stepper driver init and set
nerit 0:1e09cd7d66b4 919 TBmotorRst=0; // reset stepper driver
nerit 0:1e09cd7d66b4 920 TBmotorDirecti=0; // reset stepper direction
nerit 0:1e09cd7d66b4 921 // M1 M2 M3 RESOLUTION
nerit 0:1e09cd7d66b4 922 // 0 0 0 1/2
nerit 0:1e09cd7d66b4 923 // 1 0 0 1/8
nerit 0:1e09cd7d66b4 924 // 0 1 0 1/16
nerit 0:1e09cd7d66b4 925 // 1 1 0 1/32
nerit 0:1e09cd7d66b4 926 // 0 0 1 1/64
nerit 0:1e09cd7d66b4 927 // 1 0 1 1/128
nerit 0:1e09cd7d66b4 928 // 0 1 1 1/10
nerit 0:1e09cd7d66b4 929 // 1 1 1 1/20
nerit 0:1e09cd7d66b4 930 if (TBmotorSteps==400){
nerit 0:1e09cd7d66b4 931 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 932 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 933 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 934 }else if (TBmotorSteps==1600){
nerit 0:1e09cd7d66b4 935 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 936 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 937 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 938 }else if (TBmotorSteps==3200){
nerit 0:1e09cd7d66b4 939 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 940 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 941 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 942 }else if (TBmotorSteps==6400){
nerit 0:1e09cd7d66b4 943 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 944 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 945 TBmotor_M3=0;
nerit 0:1e09cd7d66b4 946 }else if (TBmotorSteps==12800){
nerit 0:1e09cd7d66b4 947 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 948 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 949 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 950 }else if (TBmotorSteps==25600){
nerit 0:1e09cd7d66b4 951 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 952 TBmotor_M2=0;
nerit 0:1e09cd7d66b4 953 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 954 }else if (TBmotorSteps==2000){
nerit 0:1e09cd7d66b4 955 TBmotor_M1=0;
nerit 0:1e09cd7d66b4 956 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 957 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 958 }else if (TBmotorSteps==4000){
nerit 0:1e09cd7d66b4 959 TBmotor_M1=1;
nerit 0:1e09cd7d66b4 960 TBmotor_M2=1;
nerit 0:1e09cd7d66b4 961 TBmotor_M3=1;
nerit 0:1e09cd7d66b4 962 }
nerit 0:1e09cd7d66b4 963 TBmotorRst=1;
nerit 0:1e09cd7d66b4 964
nerit 0:1e09cd7d66b4 965 // DC reset ad set
nerit 0:1e09cd7d66b4 966 int decima = 100;
nerit 0:1e09cd7d66b4 967 wait_ms(200);
nerit 0:1e09cd7d66b4 968 SD_CurrentStart=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 969 wait_ms(2);
nerit 0:1e09cd7d66b4 970 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 971 wait_ms(1);
nerit 0:1e09cd7d66b4 972 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 973 wait_ms(3);
nerit 0:1e09cd7d66b4 974 SD_CurrentStart+=floor(SDcurrent.read()*decima)/decima;
nerit 0:1e09cd7d66b4 975 SD_CurrentStart=(floor((SD_CurrentStart/4.0f)*decima)/decima)-0.01f;
nerit 0:1e09cd7d66b4 976 wait_ms(100);
nerit 0:1e09cd7d66b4 977 DC_prepare();
nerit 0:1e09cd7d66b4 978
nerit 0:1e09cd7d66b4 979 speedTimer.start(); // speed pulse timer
nerit 5:3b95bbfe2dc9 980 if (encoder==true){
nerit 5:3b95bbfe2dc9 981 intraEncoTimer.start();
nerit 5:3b95bbfe2dc9 982 }
nerit 0:1e09cd7d66b4 983 intraPickTimer.start();
nerit 0:1e09cd7d66b4 984 speedTimeOut.start();
nerit 0:1e09cd7d66b4 985 speedFilter.start();
nerit 0:1e09cd7d66b4 986 seedFilter.start();
nerit 0:1e09cd7d66b4 987 TBfilter.start();
nerit 0:1e09cd7d66b4 988 sincroTimer.start();
nerit 0:1e09cd7d66b4 989 rotationTimeOut.start();
nerit 0:1e09cd7d66b4 990 metalTimer.start();
nerit 0:1e09cd7d66b4 991 quincTime.start();
nerit 1:e88bf5011af6 992 quincTimeSD.start();
nerit 0:1e09cd7d66b4 993
nerit 0:1e09cd7d66b4 994 //*******************************************************
nerit 0:1e09cd7d66b4 995 // controls for check DC motor current
nerit 0:1e09cd7d66b4 996 pwmCheck.rise(&startDelay);
nerit 0:1e09cd7d66b4 997
nerit 0:1e09cd7d66b4 998 if (inProva==0){
nerit 0:1e09cd7d66b4 999 tractorSpeedRead.rise(&tractorReadSpeed);
nerit 0:1e09cd7d66b4 1000 #if !defined(speedMaster)
nerit 4:d32258ec411f 1001 quinconceIn.rise(&quincTrigon);
nerit 4:d32258ec411f 1002 quinconceIn.fall(&quincTrigof);
nerit 0:1e09cd7d66b4 1003 #endif
nerit 5:3b95bbfe2dc9 1004 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1005 tftUpdate.attach(&videoUpdate,0.50f);
nerit 5:3b95bbfe2dc9 1006 #endif
nerit 0:1e09cd7d66b4 1007 seedCorrection.attach(&seedCorrect,0.005f); // con 16 becchi a 4,5Kmh ci sono 37mS tra un becco e l'altro, quindi 8 correzioni di tb
nerit 5:3b95bbfe2dc9 1008 if ((speedFromPick==0)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1009 ElementPosition.rise(&sd25Fall);
nerit 0:1e09cd7d66b4 1010 }
nerit 5:3b95bbfe2dc9 1011 if (encoder==true){
nerit 5:3b95bbfe2dc9 1012 ElementPosition.rise(&encoRise);
nerit 5:3b95bbfe2dc9 1013 //ElementPosition.fall(&encoRise);
nerit 5:3b95bbfe2dc9 1014 }
nerit 0:1e09cd7d66b4 1015 }else{
nerit 0:1e09cd7d66b4 1016 tftUpdate.attach(&videoUpdate,0.125f);
nerit 0:1e09cd7d66b4 1017 }
nerit 0:1e09cd7d66b4 1018
nerit 0:1e09cd7d66b4 1019 aggiornaParametri();
nerit 0:1e09cd7d66b4 1020
nerit 0:1e09cd7d66b4 1021 SDmotorPWM.period_us(periodoSD); // frequency 1KHz pilotaggio motore DC
nerit 0:1e09cd7d66b4 1022 SDmotorPWM.write(0.0f); // duty cycle = stop
nerit 0:1e09cd7d66b4 1023 TBmotorDirecti=0; // tb motor direction set
nerit 0:1e09cd7d66b4 1024
nerit 0:1e09cd7d66b4 1025 #if defined(provaStepper)
nerit 0:1e09cd7d66b4 1026 TBmotorRst=1;
nerit 0:1e09cd7d66b4 1027 TBticker.attach_us(&step_TBPulseOut,3000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1028 #endif // end prova stepper
nerit 0:1e09cd7d66b4 1029
nerit 0:1e09cd7d66b4 1030 #if defined(canbusActive)
nerit 0:1e09cd7d66b4 1031 can1.attach(&leggiCAN, CAN::RxIrq);
nerit 0:1e09cd7d66b4 1032 #endif
nerit 0:1e09cd7d66b4 1033
nerit 0:1e09cd7d66b4 1034 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1035 // MAIN LOOP
nerit 0:1e09cd7d66b4 1036 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1037 while (true){
nerit 0:1e09cd7d66b4 1038 // ripetitore segnale di velocità
nerit 0:1e09cd7d66b4 1039 if (tractorSpeedRead==0){speedClock=0;}
nerit 0:1e09cd7d66b4 1040
nerit 0:1e09cd7d66b4 1041 // inversione segnali ingressi
nerit 4:d32258ec411f 1042 #if !defined(simulaBanco)
nerit 4:d32258ec411f 1043 seedWheelZeroPinInput = !seedWheelZeroPinInputRev;
nerit 4:d32258ec411f 1044 #else
nerit 4:d32258ec411f 1045 if ((prePosSD-500) >= SDsectorStep){
nerit 4:d32258ec411f 1046 seedWheelZeroPinInput=1;
nerit 4:d32258ec411f 1047 }
nerit 4:d32258ec411f 1048 if ((prePosSD > 500)&&(prePosSD<580)){
nerit 4:d32258ec411f 1049 seedWheelZeroPinInput=0;
nerit 4:d32258ec411f 1050 }
nerit 4:d32258ec411f 1051 #endif
nerit 0:1e09cd7d66b4 1052 TBzeroPinInput = !TBzeroPinInputRev;
nerit 0:1e09cd7d66b4 1053
nerit 0:1e09cd7d66b4 1054 // se quinconce attivo ed unita' master invia segnale di sincro
nerit 0:1e09cd7d66b4 1055 #if defined(speedMaster)
nerit 0:1e09cd7d66b4 1056 if (seedWheelZeroPinInput==1){
nerit 0:1e09cd7d66b4 1057 quinconceOut=1;
nerit 0:1e09cd7d66b4 1058 }
nerit 5:3b95bbfe2dc9 1059 if (((double)(prePosSD-500) >= (SDsectorStep/((double)quincSector)))&&(quinconceOut=1)){
nerit 0:1e09cd7d66b4 1060 quinconceOut=0;
nerit 5:3b95bbfe2dc9 1061 if (quinconceActive==1){
nerit 5:3b95bbfe2dc9 1062 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1063 }
nerit 0:1e09cd7d66b4 1064 }
nerit 0:1e09cd7d66b4 1065 #endif
nerit 0:1e09cd7d66b4 1066
nerit 0:1e09cd7d66b4 1067 #if defined(overWriteCanSimulation)
nerit 0:1e09cd7d66b4 1068 leggiCAN();
nerit 0:1e09cd7d66b4 1069 #endif
nerit 0:1e09cd7d66b4 1070
nerit 0:1e09cd7d66b4 1071 // simulazione velocita
nerit 0:1e09cd7d66b4 1072 if (enableSimula==1){
nerit 0:1e09cd7d66b4 1073 double TMT = 0.0f;
nerit 0:1e09cd7d66b4 1074 if (speedSimula > 0){
nerit 0:1e09cd7d66b4 1075 TMT = (double)(speedSimula) * 100.0f /3600.0f;
nerit 0:1e09cd7d66b4 1076 pulseSpeedInterval = pulseDistance / TMT;
nerit 0:1e09cd7d66b4 1077 }else{
nerit 0:1e09cd7d66b4 1078 pulseSpeedInterval = 10000.0f;
nerit 0:1e09cd7d66b4 1079 }
nerit 0:1e09cd7d66b4 1080 if (avviaSimula==1){
nerit 0:1e09cd7d66b4 1081 if(oldSimulaSpeed!=pulseSpeedInterval){
nerit 0:1e09cd7d66b4 1082 spedSimclock.attach_us(&speedSimulationClock,pulseSpeedInterval);
nerit 0:1e09cd7d66b4 1083 oldSimulaSpeed=pulseSpeedInterval;
nerit 0:1e09cd7d66b4 1084 }
nerit 0:1e09cd7d66b4 1085 }else{
nerit 0:1e09cd7d66b4 1086 oldSimulaSpeed=10000.0f;
nerit 0:1e09cd7d66b4 1087 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1088 }
nerit 0:1e09cd7d66b4 1089 }else{
nerit 0:1e09cd7d66b4 1090 spedSimclock.detach();
nerit 0:1e09cd7d66b4 1091 }
nerit 0:1e09cd7d66b4 1092
nerit 0:1e09cd7d66b4 1093 //*******************************************************
nerit 0:1e09cd7d66b4 1094 // determina se sono in bassa velocità per il controllo di TB
nerit 0:1e09cd7d66b4 1095 if (speedOfSeedWheel<=minSeedSpeed){
nerit 0:1e09cd7d66b4 1096 if (lowSpeedRequired==0){
nerit 0:1e09cd7d66b4 1097 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1098 ritardaLowSpeed.start();
nerit 0:1e09cd7d66b4 1099 }
nerit 0:1e09cd7d66b4 1100 lowSpeedRequired=1;
nerit 0:1e09cd7d66b4 1101 }else{
nerit 0:1e09cd7d66b4 1102 if (lowSpeedRequired==1){
nerit 0:1e09cd7d66b4 1103 lowSpeedRequired=0;
nerit 0:1e09cd7d66b4 1104 ritardaLowSpeed.reset();
nerit 0:1e09cd7d66b4 1105 ritardaLowSpeed.stop();
nerit 0:1e09cd7d66b4 1106 }
nerit 0:1e09cd7d66b4 1107 }
nerit 0:1e09cd7d66b4 1108
nerit 0:1e09cd7d66b4 1109 if (ritardaLowSpeed.read_ms()> 2000){
nerit 0:1e09cd7d66b4 1110 lowSpeed=1;
nerit 0:1e09cd7d66b4 1111 }else{
nerit 0:1e09cd7d66b4 1112 lowSpeed=0;
nerit 0:1e09cd7d66b4 1113 }
nerit 0:1e09cd7d66b4 1114
nerit 0:1e09cd7d66b4 1115
nerit 0:1e09cd7d66b4 1116 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1117 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1118 // LOGICAL CONTROLS
nerit 0:1e09cd7d66b4 1119 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1120 //**************************************************************************************************************
nerit 0:1e09cd7d66b4 1121
nerit 0:1e09cd7d66b4 1122 if (inProva==0){
nerit 0:1e09cd7d66b4 1123 if ((startCycleSimulation==0)&&(enableSimula==0)){zeroRequestBuf=1;runRequestBuf=0;enableCycle=1;
nerit 0:1e09cd7d66b4 1124 }else{zeroRequestBuf=1;runRequestBuf=0;enableCycle=1;}
nerit 0:1e09cd7d66b4 1125 if ((tractorSpeedRead==0)&&(speedFilter.read_ms()>3)){oldTractorSpeedRead=0;}
nerit 0:1e09cd7d66b4 1126 // ----------------------------------------
nerit 0:1e09cd7d66b4 1127 // filtra il segnale dei becchi per misurare il tempo di intervallo tra loro
nerit 0:1e09cd7d66b4 1128 // ----------------------------------------
nerit 4:d32258ec411f 1129 if ((seedWheelZeroPinInput==0)&&(oldSeedWheelZeroPinInput==1)){
nerit 0:1e09cd7d66b4 1130 if(seedFilter.read_ms()>=4){
nerit 0:1e09cd7d66b4 1131 oldSeedWheelZeroPinInput=0;
nerit 0:1e09cd7d66b4 1132 SDzeroDebounced=0;
nerit 0:1e09cd7d66b4 1133 }
nerit 0:1e09cd7d66b4 1134 }
nerit 0:1e09cd7d66b4 1135 if ((seedWheelZeroPinInput==1)&&(oldSeedWheelZeroPinInput==0)){
nerit 5:3b95bbfe2dc9 1136 timeIntraPick = (double)intraPickTimer.read_ms();
nerit 0:1e09cd7d66b4 1137 prePosSD=500; // preposizionamento SD
nerit 0:1e09cd7d66b4 1138 intraPickTimer.reset();
nerit 0:1e09cd7d66b4 1139 rotationTimeOut.reset();
nerit 0:1e09cd7d66b4 1140 seedFilter.reset();
nerit 0:1e09cd7d66b4 1141 sincroTimer.reset();
nerit 0:1e09cd7d66b4 1142 oldSeedWheelZeroPinInput=1;
nerit 1:e88bf5011af6 1143 quincTimeSD.reset();
nerit 0:1e09cd7d66b4 1144 SDzeroDebounced=1;
nerit 4:d32258ec411f 1145 sincroQui=1;
nerit 0:1e09cd7d66b4 1146 SDwheelTimer.reset();
nerit 5:3b95bbfe2dc9 1147 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1148 if (quinconceActive==0){
nerit 5:3b95bbfe2dc9 1149 posForQuinc=500;
nerit 5:3b95bbfe2dc9 1150 }
nerit 5:3b95bbfe2dc9 1151 #endif
nerit 0:1e09cd7d66b4 1152 if (quincCnt<10){
nerit 0:1e09cd7d66b4 1153 quincCnt++;
nerit 0:1e09cd7d66b4 1154 }
nerit 0:1e09cd7d66b4 1155 if ((aspettaStart==0)&&(lowSpeed==1)){
nerit 0:1e09cd7d66b4 1156 beccoPronto=1;
nerit 0:1e09cd7d66b4 1157 }
nerit 0:1e09cd7d66b4 1158 SDzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1159 lockStart=0;
nerit 0:1e09cd7d66b4 1160 double fase1=0.0f;
nerit 0:1e09cd7d66b4 1161 forzaFase=0;
nerit 0:1e09cd7d66b4 1162 double limite=fixedStepGiroSD/pickNumber;
nerit 0:1e09cd7d66b4 1163 if (tamburoStandard==0){
nerit 0:1e09cd7d66b4 1164 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1165 }else{
nerit 0:1e09cd7d66b4 1166 if(speedForCorrection >= speedOfSeedWheel){
nerit 0:1e09cd7d66b4 1167 fase1=TBdeltaStep;
nerit 0:1e09cd7d66b4 1168 }else{
nerit 6:3fca0ca1949e 1169 //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
nerit 6:3fca0ca1949e 1170 fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
nerit 0:1e09cd7d66b4 1171 }
nerit 0:1e09cd7d66b4 1172 if (fase1 > limite){
nerit 0:1e09cd7d66b4 1173 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 1174 //forzaFase=1;
nerit 0:1e09cd7d66b4 1175 }
nerit 0:1e09cd7d66b4 1176 if ((fase1 > (limite -20.0f))&&(fase1<(limite +5.0f))){
nerit 0:1e09cd7d66b4 1177 fase1 = limite -20.0f; // se la fase è molto vicina al limite interpone uno spazio minimo di lavoro del sincronismo
nerit 0:1e09cd7d66b4 1178 forzaFase=1;
nerit 0:1e09cd7d66b4 1179 }
nerit 0:1e09cd7d66b4 1180 trigRepos=1;
nerit 0:1e09cd7d66b4 1181 }
nerit 0:1e09cd7d66b4 1182 fase = (uint32_t)fase1+500;
nerit 0:1e09cd7d66b4 1183 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1184 #if defined(inCorre)
nerit 0:1e09cd7d66b4 1185 pc.printf(" limite %f", limite);
nerit 0:1e09cd7d66b4 1186 pc.printf(" delta %f", TBdeltaStep);
nerit 0:1e09cd7d66b4 1187 pc.printf(" faseStep %f", TBfaseStep);
nerit 0:1e09cd7d66b4 1188 pc.printf(" fase %d",fase);
nerit 0:1e09cd7d66b4 1189 pc.printf(" forzaFase %d",forzaFase);
nerit 0:1e09cd7d66b4 1190 pc.printf(" trigRepos %d", trigRepos);
nerit 0:1e09cd7d66b4 1191 pc.printf(" ActualSD: %d",SDactualPosition);
nerit 0:1e09cd7d66b4 1192 pc.printf(" SpeedWheel: %f",speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1193 pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
nerit 0:1e09cd7d66b4 1194 #endif
nerit 0:1e09cd7d66b4 1195 #endif
nerit 0:1e09cd7d66b4 1196 if (timeIntraPick >= (memoIntraPick*2)){
nerit 0:1e09cd7d66b4 1197 if ((aspettaStart==0)&&(zeroRequestBuf==0)){
nerit 0:1e09cd7d66b4 1198 if (firstStart==0){
nerit 0:1e09cd7d66b4 1199 all_pickSignal=1;
nerit 0:1e09cd7d66b4 1200 }
nerit 0:1e09cd7d66b4 1201 }
nerit 0:1e09cd7d66b4 1202 }
nerit 0:1e09cd7d66b4 1203 memoIntraPick = timeIntraPick;
nerit 5:3b95bbfe2dc9 1204 if ((speedFromPick==1)&&(encoder==false)){
nerit 0:1e09cd7d66b4 1205 speedOfSeedWheel=((seedPerimeter / pickNumber)/timeIntraPick)*1000.0f;
nerit 0:1e09cd7d66b4 1206 #if defined(pcSerial)
nerit 4:d32258ec411f 1207 #if defined(Qnca)
nerit 4:d32258ec411f 1208 pc.printf("perim: %f pickN: %f sped: %f\n", seedPerimeter, pickNumber,speedOfSeedWheel);
nerit 0:1e09cd7d66b4 1209 #endif
nerit 0:1e09cd7d66b4 1210 #endif
nerit 0:1e09cd7d66b4 1211 }
nerit 4:d32258ec411f 1212 #if defined(speedMaster)
nerit 4:d32258ec411f 1213 if ((tractorSpeed_MtS_timed==0.0f)&&(zeroCycle==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1214 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 4:d32258ec411f 1215 all_noSpeedSen=1;
nerit 4:d32258ec411f 1216 }
nerit 4:d32258ec411f 1217 #if defined(pcSerial)
nerit 4:d32258ec411f 1218 #if defined(canDataReceived)
nerit 4:d32258ec411f 1219 pc.printf("allarme no speed sensor");
nerit 4:d32258ec411f 1220 #endif
nerit 4:d32258ec411f 1221 #endif
nerit 4:d32258ec411f 1222 }
nerit 4:d32258ec411f 1223 #endif
nerit 0:1e09cd7d66b4 1224 pulseRised2=1;
nerit 0:1e09cd7d66b4 1225 #if defined(speedMaster)
nerit 5:3b95bbfe2dc9 1226 double oldLastPr = (double)oldLastPulseRead*1.5f;
nerit 0:1e09cd7d66b4 1227 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1228 if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1229 all_speedError =1;
nerit 0:1e09cd7d66b4 1230 }
nerit 0:1e09cd7d66b4 1231 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1232 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1233 pc.printf("allarme errore speed sensor");
nerit 0:1e09cd7d66b4 1234 #endif
nerit 0:1e09cd7d66b4 1235 #endif
nerit 0:1e09cd7d66b4 1236
nerit 0:1e09cd7d66b4 1237 }
nerit 0:1e09cd7d66b4 1238 #endif
nerit 0:1e09cd7d66b4 1239 //*******************************************
nerit 0:1e09cd7d66b4 1240 // esegue calcolo clock per la generazione della posizione teorica
nerit 0:1e09cd7d66b4 1241 // la realtà in base al segnale di presenza del becco
nerit 0:1e09cd7d66b4 1242 realSpeed = speedOfSeedWheel;
nerit 0:1e09cd7d66b4 1243 realGiroSD = seedPerimeter / realSpeed;
nerit 0:1e09cd7d66b4 1244 tempoBecco = (realGiroSD/360.0f)*16000.0f;
nerit 0:1e09cd7d66b4 1245 frequenzaReale = fixedStepGiroSD/realGiroSD;
nerit 0:1e09cd7d66b4 1246 semiPeriodoReale = (1000000.0f/frequenzaReale);
nerit 0:1e09cd7d66b4 1247 tempoTraBecchi_mS = 0.0f;
nerit 0:1e09cd7d66b4 1248 seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ; // calcola i giri al minuto della ruota di semina 7.37 31,75
nerit 0:1e09cd7d66b4 1249 rapportoRuote = pickNumber/cellsNumber; // 0.67 calcola il rapporto tra il numero di becchi ed il numero di celle 0.8 1,00
nerit 0:1e09cd7d66b4 1250 TBrpm = seedWheelRPM*rapportoRuote; // 5.896 31,75
nerit 0:1e09cd7d66b4 1251 TBgiroStep = TBmotorSteps*TBreductionRatio;
nerit 0:1e09cd7d66b4 1252 K_TBfrequency = TBgiroStep/60.0f; // 1600 * 1.65625f /60 = 44 44,00
nerit 0:1e09cd7d66b4 1253 TBfrequency = (TBrpm*K_TBfrequency); // 130Hz a 0,29Mts 1397,00 a 1,25mt/s con 15 becchi e 15 celle
nerit 0:1e09cd7d66b4 1254 TBperiod=1000000.0f/TBfrequency; // 715uS
nerit 0:1e09cd7d66b4 1255 }
nerit 0:1e09cd7d66b4 1256 // ----------------------------------------
nerit 0:1e09cd7d66b4 1257 // check SD fase
nerit 0:1e09cd7d66b4 1258 if ((prePosSD >= fase)||(forzaFase==1)){//&&(prePosSD < (fase +30))){
nerit 0:1e09cd7d66b4 1259 forzaFase=0;
nerit 0:1e09cd7d66b4 1260 if (trigRepos==1){
nerit 0:1e09cd7d66b4 1261 SDactualPosition=0;
nerit 0:1e09cd7d66b4 1262 if ((countCicli<30)&&(trigCicli==0)){countCicli++;trigCicli=1;}
nerit 0:1e09cd7d66b4 1263 if(countCicli>=cicliAspettaStart){aspettaStart=0;}
nerit 0:1e09cd7d66b4 1264 if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)){syncroCheck=1;beccoPronto=0;}
nerit 0:1e09cd7d66b4 1265 if (trigTB==0){
nerit 0:1e09cd7d66b4 1266 inhibit=1;
nerit 0:1e09cd7d66b4 1267 trigSD=1;
nerit 0:1e09cd7d66b4 1268 }else{
nerit 0:1e09cd7d66b4 1269 inhibit=0;
nerit 0:1e09cd7d66b4 1270 trigTB=0;
nerit 0:1e09cd7d66b4 1271 trigSD=0;
nerit 0:1e09cd7d66b4 1272 }
nerit 0:1e09cd7d66b4 1273 trigRepos=0;
nerit 0:1e09cd7d66b4 1274 }
nerit 0:1e09cd7d66b4 1275 }else{
nerit 0:1e09cd7d66b4 1276 trigCicli=0;
nerit 0:1e09cd7d66b4 1277 }
nerit 0:1e09cd7d66b4 1278 // ----------------------------------------
nerit 0:1e09cd7d66b4 1279 // filtra il segnale del tamburo per lo stop in fase del tamburo stesso
nerit 0:1e09cd7d66b4 1280 if (TBzeroPinInput==0){if (TBfilter.read_ms()>=5){oldTBzeroPinInput=0;}}
nerit 0:1e09cd7d66b4 1281 if ((TBzeroPinInput==1)&&(oldTBzeroPinInput==0)){
nerit 0:1e09cd7d66b4 1282 oldTBzeroPinInput=1;
nerit 0:1e09cd7d66b4 1283 if (loadDaCanInCorso==0){
nerit 0:1e09cd7d66b4 1284 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1285 startCicloTB=0;
nerit 0:1e09cd7d66b4 1286 }
nerit 0:1e09cd7d66b4 1287 TBfilter.reset();
nerit 0:1e09cd7d66b4 1288 TBzeroCyclePulse=1;
nerit 0:1e09cd7d66b4 1289 TBactualPosition=0;
nerit 0:1e09cd7d66b4 1290 if (cellsCounterLow < 0xFF){
nerit 0:1e09cd7d66b4 1291 cellsCounterLow++;
nerit 0:1e09cd7d66b4 1292 }else{
nerit 0:1e09cd7d66b4 1293 cellsCounterHig++;
nerit 0:1e09cd7d66b4 1294 cellsCounterLow=0;
nerit 0:1e09cd7d66b4 1295 }
nerit 0:1e09cd7d66b4 1296 if (loadDaCanInCorso==1){
nerit 0:1e09cd7d66b4 1297 cntCellsForLoad++;
nerit 0:1e09cd7d66b4 1298 if (cntCellsForLoad >= 5){
nerit 0:1e09cd7d66b4 1299 stopCicloTB=1;
nerit 0:1e09cd7d66b4 1300 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1301 }
nerit 0:1e09cd7d66b4 1302 }else{
nerit 0:1e09cd7d66b4 1303 cntCellsForLoad=0;
nerit 0:1e09cd7d66b4 1304 }
nerit 0:1e09cd7d66b4 1305 if (trigSD==0){
nerit 0:1e09cd7d66b4 1306 inhibit=1;
nerit 0:1e09cd7d66b4 1307 trigTB=1;
nerit 0:1e09cd7d66b4 1308 }else{
nerit 0:1e09cd7d66b4 1309 inhibit=0;
nerit 0:1e09cd7d66b4 1310 trigTB=0;
nerit 0:1e09cd7d66b4 1311 trigSD=0;
nerit 0:1e09cd7d66b4 1312 }
nerit 0:1e09cd7d66b4 1313 // torna indietro per sbloccare il tamburo
nerit 0:1e09cd7d66b4 1314 if ((TBmotorDirecti==1)&&(erroreTamburo==1)){
nerit 0:1e09cd7d66b4 1315 cntCellsForReload++;
nerit 6:3fca0ca1949e 1316 if (cntCellsForReload >= cellsCountSet){
nerit 0:1e09cd7d66b4 1317 TBmotorDirecti=0;
nerit 0:1e09cd7d66b4 1318 erroreTamburo=0;
nerit 0:1e09cd7d66b4 1319 }
nerit 0:1e09cd7d66b4 1320 }
nerit 0:1e09cd7d66b4 1321 }
nerit 0:1e09cd7d66b4 1322 if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.2f)){
nerit 0:1e09cd7d66b4 1323 if (firstStart==0){
nerit 5:3b95bbfe2dc9 1324 if (cntTbError>2){
nerit 5:3b95bbfe2dc9 1325 all_cellSignal=1;
nerit 5:3b95bbfe2dc9 1326 }
nerit 0:1e09cd7d66b4 1327 }
nerit 0:1e09cd7d66b4 1328 if (erroreTamburo==0){
nerit 0:1e09cd7d66b4 1329 erroreTamburo=1;
nerit 0:1e09cd7d66b4 1330 TBmotorDirecti=1;
nerit 0:1e09cd7d66b4 1331 cntCellsForReload=0;
nerit 0:1e09cd7d66b4 1332 cntTbError++;
nerit 0:1e09cd7d66b4 1333 }
nerit 0:1e09cd7d66b4 1334 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1335 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1336 pc.printf("allarme error cells");
nerit 0:1e09cd7d66b4 1337 #endif
nerit 0:1e09cd7d66b4 1338 #endif
nerit 0:1e09cd7d66b4 1339 }
nerit 5:3b95bbfe2dc9 1340 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)){
nerit 0:1e09cd7d66b4 1341 if (firstStart==0){
nerit 0:1e09cd7d66b4 1342 all_noStepRota=1;
nerit 0:1e09cd7d66b4 1343 }
nerit 0:1e09cd7d66b4 1344 cntTbError=0;
nerit 0:1e09cd7d66b4 1345 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1346 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1347 pc.printf("allarme no cells sensor");
nerit 0:1e09cd7d66b4 1348 #endif
nerit 0:1e09cd7d66b4 1349 #endif
nerit 0:1e09cd7d66b4 1350 }
nerit 0:1e09cd7d66b4 1351 // ----------------------------------------
nerit 0:1e09cd7d66b4 1352 // read and manage joystick
nerit 0:1e09cd7d66b4 1353 // WARNING - ENABLE CYCLE IS SOFTWARE ALWAYS ACTIVE
nerit 0:1e09cd7d66b4 1354 if (enableCycle==1){
nerit 0:1e09cd7d66b4 1355 if(runRequestBuf==1){
nerit 0:1e09cd7d66b4 1356 if (OldStartCycle!=runRequestBuf){
nerit 0:1e09cd7d66b4 1357 if((startCycle==0)&&(zeroCycleEnd==1)){
nerit 0:1e09cd7d66b4 1358 startCycle=1;
nerit 0:1e09cd7d66b4 1359 OldStartCycle = runRequestBuf;
nerit 0:1e09cd7d66b4 1360 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1361 }
nerit 0:1e09cd7d66b4 1362 }
nerit 0:1e09cd7d66b4 1363 }else{
nerit 0:1e09cd7d66b4 1364 startCycle=0;
nerit 0:1e09cd7d66b4 1365 pntMedia=0;
nerit 0:1e09cd7d66b4 1366 }
nerit 0:1e09cd7d66b4 1367 if (azzeraDaCan==1){
nerit 0:1e09cd7d66b4 1368 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1369 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1370 oldZeroCycle=0;
nerit 0:1e09cd7d66b4 1371 }
nerit 0:1e09cd7d66b4 1372 azzeraDaCan=0;
nerit 0:1e09cd7d66b4 1373 }
nerit 0:1e09cd7d66b4 1374 if (loadDaCan==1){
nerit 0:1e09cd7d66b4 1375 if (tractorSpeed_MtS_timed==0.0f){
nerit 0:1e09cd7d66b4 1376 ciclaTB();
nerit 0:1e09cd7d66b4 1377 }
nerit 0:1e09cd7d66b4 1378 }
nerit 0:1e09cd7d66b4 1379 if ((zeroRequestBuf==1)){
nerit 0:1e09cd7d66b4 1380 if (oldZeroCycle!=zeroRequestBuf){
nerit 0:1e09cd7d66b4 1381 zeroCycle=1;
nerit 0:1e09cd7d66b4 1382 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1383 SDzeroed=0;
nerit 0:1e09cd7d66b4 1384 TBzeroed=0;
nerit 0:1e09cd7d66b4 1385 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1386 oldZeroCycle = zeroRequestBuf;
nerit 0:1e09cd7d66b4 1387 }
nerit 0:1e09cd7d66b4 1388 }
nerit 0:1e09cd7d66b4 1389 }else{
nerit 0:1e09cd7d66b4 1390 startCycle=0;
nerit 0:1e09cd7d66b4 1391 zeroCycle=0;
nerit 0:1e09cd7d66b4 1392 }
nerit 0:1e09cd7d66b4 1393
nerit 0:1e09cd7d66b4 1394 //***************************************************************************************************
nerit 0:1e09cd7d66b4 1395 // pulseRised define the event of speed wheel pulse occurs
nerit 0:1e09cd7d66b4 1396 //
nerit 0:1e09cd7d66b4 1397 double maxInterval = pulseDistance/minWorkSpeed;
nerit 0:1e09cd7d66b4 1398 double minIntervalPulse = pulseDistance/maxWorkSpeed;
nerit 0:1e09cd7d66b4 1399 if (pulseRised==1){
nerit 0:1e09cd7d66b4 1400 if (enableSpeed<10){enableSpeed++;}
nerit 5:3b95bbfe2dc9 1401 pulseRised=0;
nerit 5:3b95bbfe2dc9 1402 pulseRised1=1;
nerit 5:3b95bbfe2dc9 1403 speedMediaCalc();
nerit 0:1e09cd7d66b4 1404 // calcola velocità trattore
nerit 0:1e09cd7d66b4 1405 if(enableSpeed>=2){
nerit 0:1e09cd7d66b4 1406 if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){
nerit 0:1e09cd7d66b4 1407 tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval
nerit 5:3b95bbfe2dc9 1408 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1409 if (quincCnt>=5){
nerit 5:3b95bbfe2dc9 1410 if (speedFromMaster>0.0f){
nerit 5:3b95bbfe2dc9 1411 tractorSpeed_MtS_timed = speedFromMaster + percento;
nerit 5:3b95bbfe2dc9 1412 }
nerit 5:3b95bbfe2dc9 1413 }
nerit 5:3b95bbfe2dc9 1414 #endif
nerit 0:1e09cd7d66b4 1415 if (checkSDrotation==0){
nerit 0:1e09cd7d66b4 1416 checkSDrotation=1;
nerit 0:1e09cd7d66b4 1417 SDwheelTimer.start();
nerit 0:1e09cd7d66b4 1418 }
nerit 0:1e09cd7d66b4 1419 }
nerit 0:1e09cd7d66b4 1420 }
nerit 0:1e09cd7d66b4 1421 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1422 }else{
nerit 0:1e09cd7d66b4 1423 double oldLastPr = (double)oldLastPulseRead*1.7f;
nerit 0:1e09cd7d66b4 1424 if((double)speedTimeOut.read_us()> (oldLastPr)){
nerit 0:1e09cd7d66b4 1425 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1426 pntMedia=0;
nerit 0:1e09cd7d66b4 1427 speedTimeOut.reset();
nerit 0:1e09cd7d66b4 1428 enableSpeed=0;
nerit 0:1e09cd7d66b4 1429 quincCnt=0;
nerit 0:1e09cd7d66b4 1430 }
nerit 0:1e09cd7d66b4 1431 }
nerit 0:1e09cd7d66b4 1432 // esegue il controllo di velocità minima
nerit 4:d32258ec411f 1433 if ((double)speedTimer.read_ms()>=maxInterval){
nerit 4:d32258ec411f 1434 tractorSpeed_MtS_timed = 0.0f;
nerit 0:1e09cd7d66b4 1435 enableSpeed=0;
nerit 0:1e09cd7d66b4 1436 }
nerit 6:3fca0ca1949e 1437 // esegue il controllo di velocità massima
nerit 6:3fca0ca1949e 1438 if ((double)speedTimer.read_ms()<=minIntervalPulse){
nerit 6:3fca0ca1949e 1439 tractorSpeed_MtS_timed = 4.5f;
nerit 6:3fca0ca1949e 1440 }
nerit 0:1e09cd7d66b4 1441 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1442 // cycle logic control section
nerit 0:1e09cd7d66b4 1443 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1444 if (enableSimula==1){if(simOk==0){tractorSpeed_MtS_timed=0.0f;}}
nerit 0:1e09cd7d66b4 1445 if ((tractorSpeed_MtS_timed>0.01f)){
nerit 0:1e09cd7d66b4 1446 cycleStopRequest=1;
nerit 0:1e09cd7d66b4 1447 // calcola il tempo teorico di passaggio becchi sulla base della velocità del trattore
nerit 0:1e09cd7d66b4 1448 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 1449 if (encoder==false){
nerit 5:3b95bbfe2dc9 1450 if (speedFromPick==1) {
nerit 5:3b95bbfe2dc9 1451 tempoTraBecchi_mS = (tempoGiroSD / pickNumber)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1452 }else{
nerit 5:3b95bbfe2dc9 1453 tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f; // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
nerit 5:3b95bbfe2dc9 1454 }
nerit 0:1e09cd7d66b4 1455 }else{
nerit 5:3b95bbfe2dc9 1456 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 1457 double pippo=0.0f;
nerit 5:3b95bbfe2dc9 1458 #if !defined(speedMaster)
nerit 5:3b95bbfe2dc9 1459 pippo = seedPerimeter / speedFromMaster;
nerit 5:3b95bbfe2dc9 1460 #endif
nerit 5:3b95bbfe2dc9 1461 tempoBecchiPerQuinc = (pippo / pickNumber)*1000.0f;
nerit 0:1e09cd7d66b4 1462 }
nerit 0:1e09cd7d66b4 1463 //*******************************************
nerit 0:1e09cd7d66b4 1464 // segue calcolo duty cycle comando motore DC per allinearsi con la velocità del trattore
nerit 0:1e09cd7d66b4 1465 double dutyTeorico = 0.00;
nerit 0:1e09cd7d66b4 1466 if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])){dutyTeorico = tabComan[0];}
nerit 0:1e09cd7d66b4 1467 for (int ii = 0;ii<16;ii++){
nerit 0:1e09cd7d66b4 1468 if ((tractorSpeed_MtS_timed>=tabSpeed[ii])&&(tractorSpeed_MtS_timed<tabSpeed[ii+1])){
nerit 0:1e09cd7d66b4 1469 dutyTeorico = tabComan[ii+1];
nerit 0:1e09cd7d66b4 1470 }
nerit 0:1e09cd7d66b4 1471 }
nerit 6:3fca0ca1949e 1472 if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
nerit 2:d9c7430ae953 1473 #if !defined(speedMaster)
nerit 4:d32258ec411f 1474 quinCalc();
nerit 2:d9c7430ae953 1475 #endif
nerit 5:3b95bbfe2dc9 1476 if ((enableSpeed>3)&&(pulseRised2==1)&&(quincCnt>=2)){
nerit 0:1e09cd7d66b4 1477 double erroreTempo = 0.0f;
nerit 5:3b95bbfe2dc9 1478 if(encoder==false){
nerit 5:3b95bbfe2dc9 1479 if(speedFromPick==1){
nerit 3:c0f11ca4df02 1480 erroreTempo = (double)timeIntraPick - tempoTraBecchi_mS;
nerit 5:3b95bbfe2dc9 1481 }else{
nerit 5:3b95bbfe2dc9 1482 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 1483 }
nerit 0:1e09cd7d66b4 1484 }else{
nerit 5:3b95bbfe2dc9 1485 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 1486 }
nerit 0:1e09cd7d66b4 1487 double errorePercentuale = erroreTempo / tempoTraBecchi_mS;
nerit 1:e88bf5011af6 1488 double k3=0.0f;
nerit 1:e88bf5011af6 1489 double k4=0.0f;
nerit 1:e88bf5011af6 1490 double k5=0.0f;
nerit 4:d32258ec411f 1491 double k6=0.0f;
nerit 4:d32258ec411f 1492 /*if (tractorSpeed_MtS_timed <= minSeedSpeed){
nerit 4:d32258ec411f 1493 k3=1.030f;
nerit 4:d32258ec411f 1494 k4=5.103f;
nerit 4:d32258ec411f 1495 k5=10.00f;
nerit 4:d32258ec411f 1496 k6=20.50f;
nerit 4:d32258ec411f 1497 }else{*/
nerit 4:d32258ec411f 1498 k3=0.050f;
nerit 4:d32258ec411f 1499 k4=2.103f;
nerit 4:d32258ec411f 1500 k5=20.00f;
nerit 4:d32258ec411f 1501 k6=30.50f;
nerit 4:d32258ec411f 1502 //}
nerit 4:d32258ec411f 1503 double L1 = 0.025f;
nerit 4:d32258ec411f 1504 double L_1=-0.025f;
nerit 4:d32258ec411f 1505 double L2 = 0.100f;
nerit 4:d32258ec411f 1506 double L_2=-0.100f;
nerit 4:d32258ec411f 1507 double L3 = 0.401f;
nerit 4:d32258ec411f 1508 double L_3=-0.401f;
nerit 4:d32258ec411f 1509 double k1=0.0f;
nerit 4:d32258ec411f 1510 if ((errorePercentuale > L3)||(errorePercentuale < L_3)){
nerit 4:d32258ec411f 1511 k1=errorePercentuale*k6;
nerit 1:e88bf5011af6 1512 }
nerit 4:d32258ec411f 1513 if (((errorePercentuale >= L2)&&(errorePercentuale<=L3))||((errorePercentuale <= L_2)&&(errorePercentuale>=L_3))){
nerit 1:e88bf5011af6 1514 k1=errorePercentuale*k5;
nerit 1:e88bf5011af6 1515 }
nerit 4:d32258ec411f 1516 if (((errorePercentuale < L2)&&(errorePercentuale>L1))||((errorePercentuale > L_2)&&(errorePercentuale<L_1))){
nerit 1:e88bf5011af6 1517 k1=errorePercentuale*k4;
nerit 1:e88bf5011af6 1518 }
nerit 4:d32258ec411f 1519 if ((errorePercentuale < L1)||(errorePercentuale > L_1)){
nerit 1:e88bf5011af6 1520 k1=errorePercentuale*k3;
nerit 1:e88bf5011af6 1521 }
nerit 4:d32258ec411f 1522 double memoCorrezione = k1;
nerit 4:d32258ec411f 1523 if (quincCnt >= 2){
nerit 4:d32258ec411f 1524 correzione = correzione + memoCorrezione;
nerit 4:d32258ec411f 1525 if (correzione > (1.0f - dutyTeorico)){correzione = (1.0f - dutyTeorico);}
nerit 4:d32258ec411f 1526 if ((correzione < 0.0f)&&(dutyTeorico+correzione<0.0f)){correzione = -1.0f*dutyTeorico;}
nerit 4:d32258ec411f 1527 }
nerit 4:d32258ec411f 1528 pulseRised1=0;
nerit 4:d32258ec411f 1529 pulseRised2=0;
nerit 1:e88bf5011af6 1530 #if defined(pcSerial)
nerit 4:d32258ec411f 1531 #if defined(Qnca)
nerit 5:3b95bbfe2dc9 1532 pc.printf("ErTem: %f K1: %f Corr: %f MemoCorr:%f DutyTeo: %f \n",erroreTempo, k1,correzione, memoCorrezione, dutyTeorico);
nerit 4:d32258ec411f 1533 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 1534 #endif
nerit 1:e88bf5011af6 1535 #endif
nerit 4:d32258ec411f 1536 #if defined(pcSerial)
nerit 4:d32258ec411f 1537 #if defined(Qncb)
nerit 4:d32258ec411f 1538 pc.printf("TsP: %f SpW: %f InPic: %f EPerc: %f Duty:%f \n",tractorSpeed_MtS_timed,speedOfSeedWheel,timeIntraPick, errorePercentuale, dcActualDuty);
nerit 4:d32258ec411f 1539 #endif
nerit 4:d32258ec411f 1540 #endif
nerit 0:1e09cd7d66b4 1541 }
nerit 0:1e09cd7d66b4 1542 // introduce il controllo di corrente
nerit 6:3fca0ca1949e 1543 if (currentCheckEnable==true){
nerit 6:3fca0ca1949e 1544 if (incrementCurrent){
nerit 6:3fca0ca1949e 1545 boostDcOut +=0.005f;
nerit 6:3fca0ca1949e 1546 }
nerit 6:3fca0ca1949e 1547 if (reduceCurrent){
nerit 6:3fca0ca1949e 1548 boostDcOut -=0.005f;
nerit 6:3fca0ca1949e 1549 }
nerit 6:3fca0ca1949e 1550 if (boostDcOut >= 0.2f){
nerit 6:3fca0ca1949e 1551 boostDcOut=0.2f;
nerit 6:3fca0ca1949e 1552 all_genericals=1;
nerit 6:3fca0ca1949e 1553 }
nerit 6:3fca0ca1949e 1554 if (boostDcOut <=-0.2f){
nerit 6:3fca0ca1949e 1555 boostDcOut=-0.2f;
nerit 6:3fca0ca1949e 1556 all_genericals=1;
nerit 6:3fca0ca1949e 1557 }
nerit 6:3fca0ca1949e 1558 correzione += boostDcOut;
nerit 0:1e09cd7d66b4 1559 }
nerit 1:e88bf5011af6 1560 DC_brake=0;
nerit 1:e88bf5011af6 1561 DC_forward=1;
nerit 1:e88bf5011af6 1562 DC_prepare();
nerit 0:1e09cd7d66b4 1563
nerit 0:1e09cd7d66b4 1564 // il semiperiodoreale è calcolato sulla lettura del passaggio becchi reale
nerit 5:3b95bbfe2dc9 1565 seedWheelPeriod = semiPeriodoReale;
nerit 0:1e09cd7d66b4 1566 if (seedWheelPeriod < 180.0f){seedWheelPeriod = 180.0f;}
nerit 0:1e09cd7d66b4 1567 if ((oldSeedWheelPeriod!=seedWheelPeriod)&&(seedWheelPeriod >=180.0f )){
nerit 0:1e09cd7d66b4 1568 SDticker.attach_us(&step_SDPulseOut,seedWheelPeriod); // clock time are milliseconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1569 oldSeedWheelPeriod=seedWheelPeriod;
nerit 0:1e09cd7d66b4 1570 }
nerit 0:1e09cd7d66b4 1571
nerit 4:d32258ec411f 1572 if((quincCnt>=3)){
nerit 0:1e09cd7d66b4 1573 if (correzioneAttiva==1){
nerit 0:1e09cd7d66b4 1574 dcActualDuty = dutyTeorico + correzione;
nerit 4:d32258ec411f 1575 }else{
nerit 4:d32258ec411f 1576 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1577 }
nerit 0:1e09cd7d66b4 1578 }else{
nerit 0:1e09cd7d66b4 1579 dcActualDuty = dutyTeorico;
nerit 0:1e09cd7d66b4 1580 }
nerit 4:d32258ec411f 1581 if (dcActualDuty <=0.0f){dcActualDuty=0.10f;}
nerit 4:d32258ec411f 1582 if (dcActualDuty > 0.90f){dcActualDuty = 0.90f;}//dcMaxSpeed;}
nerit 4:d32258ec411f 1583 if (olddcActualDuty!=dcActualDuty){
nerit 4:d32258ec411f 1584 SDmotorPWM.write(dcActualDuty);
nerit 4:d32258ec411f 1585 olddcActualDuty=dcActualDuty;
nerit 4:d32258ec411f 1586 }
nerit 0:1e09cd7d66b4 1587 // allarme
nerit 0:1e09cd7d66b4 1588 if (SDwheelTimer.read_ms()>4000){
nerit 0:1e09cd7d66b4 1589 if (firstStart==0){
nerit 0:1e09cd7d66b4 1590 all_noDcRotati=1;
nerit 0:1e09cd7d66b4 1591 }
nerit 0:1e09cd7d66b4 1592 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1593 #if defined(VediAllarmi)
nerit 0:1e09cd7d66b4 1594 pc.printf("allarme no DC rotation");
nerit 0:1e09cd7d66b4 1595 #endif
nerit 0:1e09cd7d66b4 1596 #endif
nerit 0:1e09cd7d66b4 1597
nerit 0:1e09cd7d66b4 1598 }
nerit 0:1e09cd7d66b4 1599
nerit 0:1e09cd7d66b4 1600 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1601 // CONTROLLA TAMBURO
nerit 0:1e09cd7d66b4 1602 //***************************************************************************************************************
nerit 0:1e09cd7d66b4 1603 if(lowSpeed==0){
nerit 0:1e09cd7d66b4 1604 if (syncroCheck==1){
nerit 0:1e09cd7d66b4 1605 syncroCheck=0;
nerit 0:1e09cd7d66b4 1606 lockStart=1;
nerit 0:1e09cd7d66b4 1607 periodo = TBperiod;
nerit 0:1e09cd7d66b4 1608 if (aspettaStart==0){cambiaTB(periodo);}
nerit 0:1e09cd7d66b4 1609 }
nerit 0:1e09cd7d66b4 1610 // controllo di stop
nerit 0:1e09cd7d66b4 1611 double memoIntraP = (double)memoIntraPick*1.8f;
nerit 0:1e09cd7d66b4 1612 if ((double)rotationTimeOut.read_ms()> (memoIntraP)){
nerit 0:1e09cd7d66b4 1613 syncroCheck=0;
nerit 0:1e09cd7d66b4 1614 aspettaStart=1;
nerit 0:1e09cd7d66b4 1615 countCicli=0;
nerit 0:1e09cd7d66b4 1616 if (TBzeroCyclePulse==1){TBticker.detach();}
nerit 0:1e09cd7d66b4 1617 }
nerit 0:1e09cd7d66b4 1618 }else{ // fine ciclo fuori da low speed
nerit 0:1e09cd7d66b4 1619 syncroCheck=0;
nerit 0:1e09cd7d66b4 1620 lockStart=0;
nerit 0:1e09cd7d66b4 1621 if (beccoPronto==1){
nerit 0:1e09cd7d66b4 1622 if (tamburoStandard==1){
nerit 0:1e09cd7d66b4 1623 double ritardoMassimo = 0.0f;
nerit 5:3b95bbfe2dc9 1624 if (encoder==false){
nerit 5:3b95bbfe2dc9 1625 if(speedFromPick==1){
nerit 5:3b95bbfe2dc9 1626 ritardoMassimo = (double)timeIntraPick;
nerit 5:3b95bbfe2dc9 1627 }else{
nerit 5:3b95bbfe2dc9 1628 ritardoMassimo = (double)memoTimeHole;
nerit 5:3b95bbfe2dc9 1629 }
nerit 5:3b95bbfe2dc9 1630 }else{
nerit 0:1e09cd7d66b4 1631 ritardoMassimo = (double)timeIntraPick;
nerit 0:1e09cd7d66b4 1632 }
nerit 6:3fca0ca1949e 1633 int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo)))); //
nerit 0:1e09cd7d66b4 1634 if (tempoDiSincro <= 1){tempoDiSincro=1;}
nerit 0:1e09cd7d66b4 1635 if ((sincroTimer.read_ms()>= tempoDiSincro)){
nerit 0:1e09cd7d66b4 1636 if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1637 beccoPronto=0;
nerit 0:1e09cd7d66b4 1638 }
nerit 0:1e09cd7d66b4 1639 }else{
nerit 0:1e09cd7d66b4 1640 // tamburo per zucca
nerit 0:1e09cd7d66b4 1641 if (speedOfSeedWheel >= minWorkSpeed){startCicloTB=1;}
nerit 0:1e09cd7d66b4 1642 beccoPronto=0;
nerit 0:1e09cd7d66b4 1643 }
nerit 0:1e09cd7d66b4 1644 }
nerit 0:1e09cd7d66b4 1645 ciclaTB();
nerit 0:1e09cd7d66b4 1646 }
nerit 0:1e09cd7d66b4 1647 //*************************************************************
nerit 0:1e09cd7d66b4 1648 }else{ // fine ciclo con velocita maggiore di 0
nerit 0:1e09cd7d66b4 1649 SDwheelTimer.stop();
nerit 0:1e09cd7d66b4 1650 SDwheelTimer.reset();
nerit 0:1e09cd7d66b4 1651 checkSDrotation=0;
nerit 0:1e09cd7d66b4 1652 oldFaseLavoro=0;
nerit 0:1e09cd7d66b4 1653 aspettaStart=1;
nerit 0:1e09cd7d66b4 1654 countCicli=0;
nerit 0:1e09cd7d66b4 1655 startCycle=0;
nerit 0:1e09cd7d66b4 1656 oldSeedWheelPeriod=0.0f;
nerit 0:1e09cd7d66b4 1657 oldPeriodoTB=0.0f;
nerit 0:1e09cd7d66b4 1658 correzione=0.0f;
nerit 0:1e09cd7d66b4 1659 OLDpulseSpeedInterval=1000.01f;
nerit 0:1e09cd7d66b4 1660 cicloTbinCorso=0;
nerit 0:1e09cd7d66b4 1661 cntTbError=0;
nerit 0:1e09cd7d66b4 1662 if (cycleStopRequest==1){
nerit 0:1e09cd7d66b4 1663 zeroDelay.reset();
nerit 0:1e09cd7d66b4 1664 zeroDelay.start();
nerit 0:1e09cd7d66b4 1665 runRequestBuf=0;
nerit 0:1e09cd7d66b4 1666 zeroRequestBuf=1;
nerit 0:1e09cd7d66b4 1667 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1668 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1669 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1670 zeroCycleEnd=0;
nerit 0:1e09cd7d66b4 1671 zeroCycle=1;
nerit 0:1e09cd7d66b4 1672 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1673 }
nerit 0:1e09cd7d66b4 1674 }
nerit 0:1e09cd7d66b4 1675 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1676 // ciclo di azzeramento motori
nerit 0:1e09cd7d66b4 1677 if ((zeroCycleEnd==0)&&(zeroCycle==1)){//&&(zeroDelay.read_ms()>10000)){
nerit 0:1e09cd7d66b4 1678 if (zeroTrigger==0){
nerit 0:1e09cd7d66b4 1679 TBticker.attach_us(&step_TBPulseOut,1000.0f); // clock time are seconds and attach seed motor stepper controls
nerit 0:1e09cd7d66b4 1680 DC_forward=1;
nerit 0:1e09cd7d66b4 1681 DC_brake=1;
nerit 0:1e09cd7d66b4 1682 DC_prepare();
nerit 0:1e09cd7d66b4 1683 frenata=0;
nerit 0:1e09cd7d66b4 1684 zeroTrigger=1;
nerit 0:1e09cd7d66b4 1685 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1686 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1687 ritardoComandoStop.start();
nerit 0:1e09cd7d66b4 1688 timeOutZeroSD.start();
nerit 0:1e09cd7d66b4 1689 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1690 }
nerit 0:1e09cd7d66b4 1691 int tempoFrenata=300;
nerit 0:1e09cd7d66b4 1692 if (((ritardoStop.read_ms()>tempoFrenata)&&(SDzeroDebounced==0))||(accensione==1)||(ritardoComandoStop.read_ms()>400)){
nerit 0:1e09cd7d66b4 1693 accensione=0;
nerit 0:1e09cd7d66b4 1694 avvicinamento=1;
nerit 0:1e09cd7d66b4 1695 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1696 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1697 SDmotorPWM.write(0.32f); // duty cycle = 60% of power
nerit 0:1e09cd7d66b4 1698 DC_forward=1;
nerit 0:1e09cd7d66b4 1699 DC_brake=0;
nerit 0:1e09cd7d66b4 1700 DC_prepare();
nerit 0:1e09cd7d66b4 1701 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1702 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1703 }
nerit 0:1e09cd7d66b4 1704 if (avvicinamento==1){
nerit 0:1e09cd7d66b4 1705 if(avvicinamentoOn.read_ms()>300){
nerit 0:1e09cd7d66b4 1706 SDmotorPWM.write(0.7f);
nerit 0:1e09cd7d66b4 1707 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1708 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1709 avvicinamentoOff.start();
nerit 0:1e09cd7d66b4 1710 }
nerit 0:1e09cd7d66b4 1711 if(avvicinamentoOff.read_ms()>100){
nerit 0:1e09cd7d66b4 1712 SDmotorPWM.write(0.32f);
nerit 0:1e09cd7d66b4 1713 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1714 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1715 avvicinamentoOn.start();
nerit 0:1e09cd7d66b4 1716 }
nerit 0:1e09cd7d66b4 1717 }else{
nerit 0:1e09cd7d66b4 1718 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1719 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1720 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1721 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1722 }
nerit 0:1e09cd7d66b4 1723 if (frenata==0){
nerit 0:1e09cd7d66b4 1724 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1725 SDticker.detach();
nerit 0:1e09cd7d66b4 1726 frenata=1;
nerit 0:1e09cd7d66b4 1727 quincTimeSet.reset();
nerit 0:1e09cd7d66b4 1728 quincTimeSet.start();
nerit 0:1e09cd7d66b4 1729 ritardoStop.start();
nerit 0:1e09cd7d66b4 1730 //ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1731 //ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1732 }
nerit 0:1e09cd7d66b4 1733 }else{
nerit 0:1e09cd7d66b4 1734 if (quinconceActive==0){
nerit 0:1e09cd7d66b4 1735 if (SDzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1736 avvicinamento=0;
nerit 0:1e09cd7d66b4 1737 DC_brake=1;
nerit 0:1e09cd7d66b4 1738 DC_prepare();
nerit 0:1e09cd7d66b4 1739 SDzeroed=1;
nerit 0:1e09cd7d66b4 1740 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1741 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1742 }
nerit 0:1e09cd7d66b4 1743 }else{
nerit 0:1e09cd7d66b4 1744 if (quincTimeSet.read_ms()>500){
nerit 0:1e09cd7d66b4 1745 avvicinamento=0;
nerit 0:1e09cd7d66b4 1746 DC_brake=1;
nerit 0:1e09cd7d66b4 1747 DC_prepare();
nerit 0:1e09cd7d66b4 1748 SDzeroed=1;
nerit 0:1e09cd7d66b4 1749 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1750 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1751 quincTimeSet.stop();
nerit 0:1e09cd7d66b4 1752 }
nerit 0:1e09cd7d66b4 1753 }
nerit 0:1e09cd7d66b4 1754 }
nerit 0:1e09cd7d66b4 1755 // azzera tutto in time out
nerit 0:1e09cd7d66b4 1756 if (timeOutZeroSD.read_ms()>=10000){
nerit 0:1e09cd7d66b4 1757 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1758 #if defined(canDataReceived)
nerit 0:1e09cd7d66b4 1759 pc.printf("allarme no zero");
nerit 0:1e09cd7d66b4 1760 #endif
nerit 0:1e09cd7d66b4 1761 #endif
nerit 0:1e09cd7d66b4 1762 if (firstStart==0){
nerit 0:1e09cd7d66b4 1763 all_no_Zeroing=1;
nerit 0:1e09cd7d66b4 1764 }
nerit 0:1e09cd7d66b4 1765 avvicinamento=0;
nerit 0:1e09cd7d66b4 1766 DC_brake=1;
nerit 0:1e09cd7d66b4 1767 DC_prepare();
nerit 0:1e09cd7d66b4 1768 SDzeroed=1;
nerit 0:1e09cd7d66b4 1769 ritardoStop.reset();
nerit 0:1e09cd7d66b4 1770 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1771 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1772 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1773 avvicinamentoOn.reset();
nerit 0:1e09cd7d66b4 1774 avvicinamentoOff.reset();
nerit 0:1e09cd7d66b4 1775 ritardoComandoStop.reset();
nerit 0:1e09cd7d66b4 1776 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1777 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1778 timeOutZeroSD.reset();
nerit 0:1e09cd7d66b4 1779 }
nerit 0:1e09cd7d66b4 1780 if (TBzeroCyclePulse==1){
nerit 0:1e09cd7d66b4 1781 TBticker.detach();
nerit 0:1e09cd7d66b4 1782 TBzeroed=1;
nerit 0:1e09cd7d66b4 1783 }
nerit 0:1e09cd7d66b4 1784 if ((SDzeroed==1)&&(TBzeroed==1)){
nerit 0:1e09cd7d66b4 1785 avvicinamentoOn.stop();
nerit 0:1e09cd7d66b4 1786 avvicinamentoOff.stop();
nerit 0:1e09cd7d66b4 1787 ritardoComandoStop.stop();
nerit 0:1e09cd7d66b4 1788 ritardoStop.stop();
nerit 0:1e09cd7d66b4 1789 zeroCycleEnd=1;
nerit 0:1e09cd7d66b4 1790 zeroCycle=0;
nerit 0:1e09cd7d66b4 1791 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1792 runRequestBuf=1;
nerit 0:1e09cd7d66b4 1793 zeroRequestBuf=0;
nerit 0:1e09cd7d66b4 1794 cycleStopRequest=0;
nerit 0:1e09cd7d66b4 1795 SDzeroed=0;
nerit 0:1e09cd7d66b4 1796 TBzeroed=0;
nerit 0:1e09cd7d66b4 1797 timeOutZeroSD.stop();
nerit 0:1e09cd7d66b4 1798 timeOutZeroSD.reset();
nerit 0:1e09cd7d66b4 1799 }
nerit 0:1e09cd7d66b4 1800 }
nerit 0:1e09cd7d66b4 1801
nerit 0:1e09cd7d66b4 1802 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1803 if (enableCycle==0){
nerit 0:1e09cd7d66b4 1804 zeroTrigger=0;
nerit 0:1e09cd7d66b4 1805 SDmotorPWM=0;
nerit 0:1e09cd7d66b4 1806 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1807 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1808 }
nerit 0:1e09cd7d66b4 1809 SDzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1810 TBzeroCyclePulse=0;
nerit 0:1e09cd7d66b4 1811 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1812 }else{//end ciclo normale
nerit 0:1e09cd7d66b4 1813 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1814 // task di prova della scheda
nerit 0:1e09cd7d66b4 1815 //*************************************************************************************************
nerit 0:1e09cd7d66b4 1816 #if defined(provaScheda)
nerit 0:1e09cd7d66b4 1817 clocca++;
nerit 0:1e09cd7d66b4 1818 //led = !led;
nerit 0:1e09cd7d66b4 1819 //txMsg.clear();
nerit 0:1e09cd7d66b4 1820 //txMsg << clocca;
nerit 0:1e09cd7d66b4 1821 //test.printf("aogs \n");
nerit 0:1e09cd7d66b4 1822 //if(can1.write(txMsg)){
nerit 0:1e09cd7d66b4 1823 #if defined(pcSerial)
nerit 0:1e09cd7d66b4 1824 pc.printf("Can write OK \n");
nerit 0:1e09cd7d66b4 1825 #endif
nerit 0:1e09cd7d66b4 1826 //}
nerit 0:1e09cd7d66b4 1827 switch (clocca){
nerit 0:1e09cd7d66b4 1828 case 1:
nerit 0:1e09cd7d66b4 1829 TBmotorStepOut=1; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1830 break;
nerit 0:1e09cd7d66b4 1831 case 2:
nerit 0:1e09cd7d66b4 1832 SDmotorPWM=1; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1833 break;
nerit 0:1e09cd7d66b4 1834 case 3:
nerit 0:1e09cd7d66b4 1835 speedClock=1; // define input of
nerit 0:1e09cd7d66b4 1836 break;
nerit 0:1e09cd7d66b4 1837 case 4:
nerit 0:1e09cd7d66b4 1838 break;
nerit 0:1e09cd7d66b4 1839 case 5:
nerit 0:1e09cd7d66b4 1840 SDmotorInA=1;
nerit 0:1e09cd7d66b4 1841 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1842 break;
nerit 0:1e09cd7d66b4 1843 case 6:
nerit 0:1e09cd7d66b4 1844 break;
nerit 0:1e09cd7d66b4 1845 case 7:
nerit 0:1e09cd7d66b4 1846 break;
nerit 0:1e09cd7d66b4 1847 case 8:
nerit 0:1e09cd7d66b4 1848 break;
nerit 0:1e09cd7d66b4 1849 case 9:
nerit 0:1e09cd7d66b4 1850 break;
nerit 0:1e09cd7d66b4 1851 case 10:
nerit 0:1e09cd7d66b4 1852 break;
nerit 0:1e09cd7d66b4 1853 case 11:
nerit 0:1e09cd7d66b4 1854 break;
nerit 0:1e09cd7d66b4 1855 case 12:
nerit 0:1e09cd7d66b4 1856 break;
nerit 0:1e09cd7d66b4 1857 case 13:
nerit 0:1e09cd7d66b4 1858 break;
nerit 0:1e09cd7d66b4 1859 case 14:
nerit 0:1e09cd7d66b4 1860 SDmotorPWM=1; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1861 break;
nerit 0:1e09cd7d66b4 1862 case 15:
nerit 0:1e09cd7d66b4 1863 break;
nerit 0:1e09cd7d66b4 1864 case 16:
nerit 0:1e09cd7d66b4 1865 case 17:
nerit 0:1e09cd7d66b4 1866 break;
nerit 0:1e09cd7d66b4 1867 case 18:
nerit 0:1e09cd7d66b4 1868 TBmotorStepOut=0; // define step command for up down motor driver
nerit 0:1e09cd7d66b4 1869 SDmotorPWM=0; // define step command for seeding whell motor driver
nerit 0:1e09cd7d66b4 1870 speedClock=0; // define input of
nerit 0:1e09cd7d66b4 1871 SDmotorInA=0;
nerit 0:1e09cd7d66b4 1872 SDmotorInB=0;
nerit 0:1e09cd7d66b4 1873 SDmotorPWM=0; // power mosfet 2 command out
nerit 0:1e09cd7d66b4 1874 break;
nerit 0:1e09cd7d66b4 1875 default:
nerit 0:1e09cd7d66b4 1876 clocca=0;
nerit 0:1e09cd7d66b4 1877 break;
nerit 0:1e09cd7d66b4 1878 }
nerit 0:1e09cd7d66b4 1879 wait_ms(100);
nerit 0:1e09cd7d66b4 1880 #endif // end prova scheda
nerit 0:1e09cd7d66b4 1881
nerit 0:1e09cd7d66b4 1882 #if defined(provaDC)
nerit 0:1e09cd7d66b4 1883 int rampa=1000;
nerit 0:1e09cd7d66b4 1884 int pausa=3000;
nerit 0:1e09cd7d66b4 1885 switch (clocca){
nerit 0:1e09cd7d66b4 1886 case 0:
nerit 0:1e09cd7d66b4 1887 DC_brake=0;
nerit 0:1e09cd7d66b4 1888 DC_forward=1;
nerit 0:1e09cd7d66b4 1889 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 1890 if (duty_DC>=0.2f){
nerit 0:1e09cd7d66b4 1891 duty_DC=0.2f;
nerit 0:1e09cd7d66b4 1892 clocca=1;
nerit 0:1e09cd7d66b4 1893 }
nerit 0:1e09cd7d66b4 1894 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1895 break;
nerit 0:1e09cd7d66b4 1896 case 1:
nerit 0:1e09cd7d66b4 1897 wait_ms(pausa*4);
nerit 0:1e09cd7d66b4 1898 clocca=2;
nerit 0:1e09cd7d66b4 1899 break;
nerit 0:1e09cd7d66b4 1900 case 2:
nerit 0:1e09cd7d66b4 1901 DC_brake=0;
nerit 0:1e09cd7d66b4 1902 DC_forward=1;
nerit 0:1e09cd7d66b4 1903 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 1904 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 1905 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 1906 clocca=3;
nerit 0:1e09cd7d66b4 1907 }
nerit 0:1e09cd7d66b4 1908 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1909 break;
nerit 0:1e09cd7d66b4 1910 case 3:
nerit 0:1e09cd7d66b4 1911 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1912 clocca=4;
nerit 0:1e09cd7d66b4 1913 break;
nerit 0:1e09cd7d66b4 1914 case 4:
nerit 0:1e09cd7d66b4 1915 DC_brake=0;
nerit 0:1e09cd7d66b4 1916 DC_forward=1;
nerit 0:1e09cd7d66b4 1917 duty_DC+=0.01f;
nerit 0:1e09cd7d66b4 1918 if (duty_DC>=1.0f){
nerit 0:1e09cd7d66b4 1919 duty_DC=1.0f;
nerit 0:1e09cd7d66b4 1920 clocca=5;
nerit 0:1e09cd7d66b4 1921 }
nerit 0:1e09cd7d66b4 1922 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1923 break;
nerit 0:1e09cd7d66b4 1924 case 5:
nerit 0:1e09cd7d66b4 1925 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1926 clocca=6;
nerit 0:1e09cd7d66b4 1927 break;
nerit 0:1e09cd7d66b4 1928 case 6:
nerit 0:1e09cd7d66b4 1929 DC_brake=0;
nerit 0:1e09cd7d66b4 1930 DC_forward=1;
nerit 0:1e09cd7d66b4 1931 duty_DC-=0.01f;
nerit 0:1e09cd7d66b4 1932 if (duty_DC<=0.0f){
nerit 0:1e09cd7d66b4 1933 duty_DC=0.0f;
nerit 0:1e09cd7d66b4 1934 clocca=7;
nerit 0:1e09cd7d66b4 1935 }
nerit 0:1e09cd7d66b4 1936 wait_ms(rampa);
nerit 0:1e09cd7d66b4 1937 break;
nerit 0:1e09cd7d66b4 1938 case 7:
nerit 0:1e09cd7d66b4 1939 wait_ms(pausa);
nerit 0:1e09cd7d66b4 1940 clocca=0;
nerit 0:1e09cd7d66b4 1941 break;
nerit 0:1e09cd7d66b4 1942 default:
nerit 0:1e09cd7d66b4 1943 break;
nerit 0:1e09cd7d66b4 1944 }
nerit 0:1e09cd7d66b4 1945 if (oldDuty_DC != duty_DC){
nerit 0:1e09cd7d66b4 1946 SDmotorPWM.write(duty_DC); // duty cycle = stop
nerit 0:1e09cd7d66b4 1947 oldDuty_DC=duty_DC;
nerit 0:1e09cd7d66b4 1948 DC_prepare();
nerit 0:1e09cd7d66b4 1949 }
nerit 0:1e09cd7d66b4 1950 #endif
nerit 0:1e09cd7d66b4 1951 }//end in prova
nerit 0:1e09cd7d66b4 1952 wd.Service(); // kick the dog before the timeout
nerit 0:1e09cd7d66b4 1953 } // end while
nerit 0:1e09cd7d66b4 1954 }// end main
nerit 0:1e09cd7d66b4 1955