Diff: main.cpp

Revision:

6:3fca0ca1949e

Parent:

5:3b95bbfe2dc9

Child:

7:c9fd242538d9

--- a/main.cpp	Wed Jul 04 05:51:03 2018 +0000
+++ b/main.cpp	Thu Jul 05 16:30:54 2018 +0000
@@ -130,6 +130,7 @@
         speedTimer.reset();
         pulseRised=1;
         oldTractorSpeedRead=1;
+        spazioCoperto+= pulseDistance;
     }
     speedFilter.reset();
     speedClock=1;
@@ -190,9 +191,6 @@
     }else{
         intraPickDistance = seedPerimeter/25.0f;        // 25 è il numero di fori presenti nel disco di semina
     }
-    if (anticipoMax > ((360.0f/pickNumber)-(avvioGradi+16.0f))){
-        anticipoMax=(360.0f/pickNumber)-(avvioGradi+16.0f);
-    }
 }
 //*******************************************************
 void cambiaTB(double perio){
@@ -250,7 +248,6 @@
     avvioGradi = costante da terminale tritecnica
     TBdeltaStep=(fixedStepGiroSD/pickNumber)-(stepGrado*avvioGradi);
     TBfaseStep = (stepGrado*angoloFase); 
-    anticipoMax = valore in gradi del massimo anticipo proporzionale alla velocità della ruota di semina
     */
 
     if ((tractorSpeed_MtS_timed>0.01f)){
@@ -651,6 +648,47 @@
                 mast2_Sinc = mast2_Sinc + ((uint32_t) rxMsg.data[7]);
                 canDataCheck=1;
             }
+            if (rxMsg.id==RX_Configure){
+                uint8_t flags = rxMsg.data[0];
+                uint16_t steps = (uint32_t) rxMsg.data[1]*0xFF00;
+                steps = steps + ((uint32_t)rxMsg.data[2]);
+                cellsCountSet = rxMsg.data[3];
+                if ((flags&0x01)==0x01){
+                    encoder=true;
+                }else{
+                    encoder=false;
+                }
+                if ((flags&0x02)==0x02){
+                    tankLevelEnable=true;
+                }else{
+                    tankLevelEnable=false;
+                }
+                if ((flags&0x04)==0x04){
+                    seedSensorEnable=true;
+                }else{
+                    seedSensorEnable=false;
+                }
+                if ((flags&0x08)==0x08){
+                    stendiNylonEnable=true;
+                }else{
+                    stendiNylonEnable=false;
+                }
+                if ((flags&0x10)==0x10){
+                    canDataCheckEnable=true;
+                }else{
+                    canDataCheckEnable=false;
+                }
+                if ((flags&0x20)==0x20){
+                    tamburoStandard=1;
+                }else{
+                    tamburoStandard=0;
+                }
+                if ((flags&0x40)==0x40){
+                    currentCheckEnable=true;
+                }else{
+                    currentCheckEnable=false;
+                }
+            }
         } 
     #endif
     #if defined(overWriteCanSimulation)
@@ -1128,8 +1166,8 @@
                     if(speedForCorrection >= speedOfSeedWheel){
                         fase1=TBdeltaStep;
                     }else{
-                        //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/1.25f)*(TBfaseStep));
-                        fase1=(TBdeltaStep)-(((speedOfSeedWheel)/1.25f)*(TBfaseStep));
+                        //fase1=(TBdeltaStep)-(((speedOfSeedWheel-speedForCorrection)/maxWorkSpeed)*(TBfaseStep));
+                        fase1=(TBdeltaStep)-(((speedOfSeedWheel)/maxWorkSpeed)*(TBfaseStep));
                     }
                     if (fase1 > limite){
                         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)
@@ -1275,7 +1313,7 @@
                 // torna indietro per sbloccare il tamburo
                 if ((TBmotorDirecti==1)&&(erroreTamburo==1)){
                     cntCellsForReload++;
-                    if (cntCellsForReload > 2){
+                    if (cntCellsForReload >= cellsCountSet){
                         TBmotorDirecti=0;
                         erroreTamburo=0;
                     }    
@@ -1396,6 +1434,10 @@
                 tractorSpeed_MtS_timed = 0.0f;
                 enableSpeed=0;
             }
+            // esegue il controllo di velocità massima
+            if ((double)speedTimer.read_ms()<=minIntervalPulse){
+                tractorSpeed_MtS_timed = 4.5f;
+            }
     //***************************************************************************************************************
     // cycle logic control section
     //***************************************************************************************************************
@@ -1427,7 +1469,7 @@
                             dutyTeorico = tabComan[ii+1];
                         }
                     }
-                    if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/1.25f;}
+                    if (tractorSpeed_MtS_timed > tabSpeed[16]){dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;}
                     #if !defined(speedMaster)
                         quinCalc();
                     #endif
@@ -1498,23 +1540,23 @@
                         #endif
                     }
                     // introduce il controllo di corrente
-                    if (incrementCurrent){
-                        boostDcOut +=0.005f;
-                    }
-                    if (reduceCurrent){
-                        boostDcOut -=0.005f;
+                    if (currentCheckEnable==true){
+                        if (incrementCurrent){
+                            boostDcOut +=0.005f;
+                        }
+                        if (reduceCurrent){
+                            boostDcOut -=0.005f;
+                        }
+                        if (boostDcOut >= 0.2f){
+                            boostDcOut=0.2f;
+                            all_genericals=1;
+                        }
+                        if (boostDcOut <=-0.2f){
+                            boostDcOut=-0.2f;
+                            all_genericals=1;
+                        }   
+                        correzione += boostDcOut;
                     }
-                    if (boostDcOut >= 0.2f){
-                        boostDcOut=0.2f;
-                        all_genericals=1;
-                    }
-                    if (boostDcOut <=-0.2f){
-                        boostDcOut=-0.2f;
-                        all_genericals=1;
-                    }   
-
-                    //correzione += boostDcOut;
-
                     DC_brake=0;
                     DC_forward=1;
                     DC_prepare();
@@ -1588,7 +1630,7 @@
                                 }else{
                                     ritardoMassimo = (double)timeIntraPick;
                                 }
-                                int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/1.25f)*ritardoMassimo))));         //
+                                int tempoDiSincro = (int)((double)(ritardoMassimo - ((tempoBecco/2.0f)+((speedOfSeedWheel/maxWorkSpeed)*ritardoMassimo))));         //
                                 if (tempoDiSincro <= 1){tempoDiSincro=1;}                                
                                 if ((sincroTimer.read_ms()>= tempoDiSincro)){
                                     if (tractorSpeed_MtS_timed >= minWorkSpeed){startCicloTB=1;}