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control.c
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control.c
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//test on my personal laptops
#include <iom1280v.h>
#include "B1404_LIB.h"
#include "Common.h"
extern unsigned char _SampSW;
unsigned char _LEDSTATE = 0; //0表示测试过程是红灯，1表示测试过程是绿灯
typedef struct _MOTOR_POSITION{
unsigned char defPosNum; // 预定义位置
int stepPos; // 步进数位置
}MOTOR_POSITION;
extern unsigned char ControlModel;
extern unsigned char WorkProcessStep; // 工作进程号
unsigned char (*EvenPosChangeProcess)(INFO_EVENT * pInfoEvent);
unsigned char (*EvenLiquidProcess)(INFO_EVENT * pInfoEvent);
unsigned char (*EvenCardStoreProcess)(INFO_EVENT * pInfoEvent);
MOTOR_POSITIONs MotorPosition[SLAVE_NUM];
unsigned char MotModulePhoSta[SLAVE_NUM][2]; // 电机模块光藕状态信息
unsigned char LiquidState[4][2]; // 液路状态和参数
unsigned char StoreHumi; // 片仓湿度
unsigned char StoreTemp; // 片仓温度
unsigned char _RingPieceState[RING_QUEUE_NUM]; // 转盘干片状态, 0:空, 1:存在, 255:无效
// 数据初始化
void InitControlLayerData(void){
unsigned char i;
for(i=0; i<SLAVE_NUM; i++){
MotorPosition[i].defPosNum = 0xf0;
MotorPosition[i].stepPos = 0x7fff;
}
EvenPosChangeProcess = 0;
EvenLiquidProcess = 0;
EvenCardStoreProcess = 0;
}
unsigned int time;
unsigned int uart1ReceiveOutTime;
unsigned char GetRingPieceState(unsigned char n){
if(n>=RING_QUEUE_NUM)
return 0xff;
return _RingPieceState[n];
}
// 温湿度
unsigned char GetStoreHumi(void){
return StoreHumi;
}
unsigned char GetStoreTemp(void){
return StoreTemp;
}
// 电机位置
void SetMotPosIdle(unsigned char slaveNum)
{
MotorPosition[slaveNum].defPosNum = 0xf0;
// MotorPosition[slaveNum].stepPos = 0x7fff;
}
unsigned char GetMotPositionOfSite(unsigned char slaveNum){
return MotorPosition[slaveNum].defPosNum;
}
int GetMotPositionOfStep(unsigned char slaveNum){
return MotorPosition[slaveNum].stepPos;
}
// 获取液路状态
unsigned char GetLiquidMonitorState(unsigned char num){
if(num>3)
num = 3;
return LiquidState[num][0];
}
unsigned char GetLiquidMonitorStatePam(unsigned char num){
if(num>3)
num = 3;
return LiquidState[num][1];
}
// 注册位置改变自动处理函数
unsigned char RegisterPosChangeEvenProcess(void * proc){
EvenPosChangeProcess = proc;
}
void CleanPosChangeEvenProcess(void){
EvenPosChangeProcess = 0;
}
// 注册液路事件处理函数
unsigned char RegisterLiquidEvenProcess(void * proc){
EvenLiquidProcess = proc;
}
void CleanLiquidEvenProcess(void){
EvenLiquidProcess = 0;
}
// 注册片仓事件处理函数
unsigned char RegisterCardStoreEvenProcess(void * proc)
{
EvenCardStoreProcess = proc;
}
void CleanPosCardStoreProcess(void)
{
EvenCardStoreProcess = 0;
}
// 上传指定传感器状态信息
extern unsigned char CardSurplusState[6]; // 卡片剩余状态
extern unsigned char CardStoretate[6]; // 片仓状态
void UpLoadingModuleSensorState(unsigned char slaveNum, unsigned char num){
char s[2][2] = {"0","1"};
unsigned char i;
switch(slaveNum){
case 0: // 主控制板上的信号
switch(num){
case 0: // J4 取片检测开关信号
i = (PINL & 0x04);
if(i!=0)
i = 1;
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
break;
case 1: // J7 转盘干片检测光藕信号
i = PINK & 0x01;
if(i!=0)
i = 1;
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
break;
case 2: // J8 废片盒开关信号
if(GetwasteCardState() == 0)// 废片仓功能开启
{
i = PINK & 0x02;
if(i!=0)
i = 1;
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
}
break;
case 3: // J10 液面传感器信号
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%4d\r\n",strM4201, slaveNum, num, getLiqDetADC(NeedleChannel));
Uart0ReEnable;
break;
case 4: // J12 吸样开关信号
i = PINJ & 0x40;
if(i!=0)
i = 1;
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
break;
}
break;
case MOT_TURN_PLATE:
case MOT_SAMP_TRUN:
case MOT_SAMP_NEEDLE:
case MOT_CARD_LOAD:
case MOT_CARD_UNLOAD:
case MOT_STORE_CARD_MOVE:
case MOT_SAMP_PUMP:
if(num>1)
num = 1;
i = MotModulePhoSta[slaveNum][num];
if(i!=0)
i = 1;
// 发送电机模块光藕信号
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
break;
case LIQUID_CONTROL:
if(num>2)
num = 2;
// 发送液路状态信号
if(LiquidState[num][0] == INFO_LIQ_FULL)
i = 1;
else
i = 0;
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%c\r\n",strM4201, slaveNum, num, s[i][0]);
Uart0ReEnable;
break;
case STORE_MONITOR:
if(num>4)
num = 4;
if(CardStoretate[num] == INFO_STORE_OPEN)
{
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%4d\r\n",strM4201, slaveNum, num, CardStoretate[num]);
Uart0ReEnable;
}
else
{
Uart0ReUnable;
uart_Printf("%s $%2d $%2d $%4d\r\n",strM4201, slaveNum, num, CardSurplusState[num]);
Uart0ReEnable;
}
break;
default:
break;
}
}
//delet one block commet here 2017/08/23
signed char GetMotorMonitorState(unsigned char slave,unsigned char num)
{
if(slave == 0 || slave == 6 || slave == 7)
return -1;
if(num > 1)
num = 1;
Uart0ReUnable;
uart_Printf("%s",strM3175);
switch(slave)
{
case 1:uart_Printf(":MOT_TURN_PLATE");break;
case 2:uart_Printf(":MOT_SAMP_TRUN");break;
case 3:uart_Printf(":MOT_SAMP_NEEDLE");break;
case 4:uart_Printf(":MOT_CARD_LOAD");break;
case 5:uart_Printf(":MOT_CARD_UNLOAD");break;
case 8:uart_Printf(":MOT_STORE_CARD_MOVE");break;
case 9:uart_Printf(":MOT_DILUENT");break;
case 10:uart_Printf(":MOT_FLUID");break;
case 11:uart_Printf(":MOT_EFFLUENT");break;
case 12:uart_Printf(":MOT_SAMP_PUMP");break;
case 13:uart_Printf(":LIQUID_CONTROL");break;
case 14:uart_Printf(":STORE_MONITOR");break;
default:break;
}
uart_Printf("$%2d $%2d\r\n",num,MotModulePhoSta[slave][num]);
//uart_Printf("%s:%s.%s $%2d\r\n",strM3175,SlaveID[slave],Monitor[num],MotModulePhoSta[MOT_TURN_PLATE][num]);
Uart0ReEnable;
return MotModulePhoSta[slave][num];
}
// 上传所有传感器信息
void UpLoadingAllSensorState(void){
char s[2][2] = {"0","1"};
unsigned char i,n, f;
Uart0ReUnable;
uart_Printf("%s",strM4202); // 发送开始
Uart0ReEnable;
// 发送电机模块光藕信息
for(i=1; i<=12; i++)
{
if(i==6 || i==7)
continue;
for(n=0; n<2; n++)
{
f = MotModulePhoSta[i][n];
if(f!=0)
f = 1;
// 发送电机模块光藕信号
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
}
}
// 发送液路模块信息
i = 13;
for(n=0; n<3; n++)
{
if(LiquidState[n][0] == INFO_LIQ_FULL)
f = 1;
else
f = 0;
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
}
// 发送片仓模块信息
i = 14;
for(n=0; n<5; n++){
if(CardStoretate[n] == INFO_STORE_OPEN)
{
Uart0ReUnable;
uart_Printf(" $%2d",CardStoretate[n]);
Uart0ReEnable;
}
else
{
Uart0ReUnable;
uart_Printf(" $%2d",CardSurplusState[n]);
Uart0ReEnable;
}
}
//发送其它模块信息
i = 0;
for(n=0; n<5; n++){
switch(n){
case 0: // J4 取片检测开关信号
f = (PINL & 0x04);
if(f!=0)
f = 1;
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
break;
case 1: // J7 转盘干片检测光藕信号
f = PINK & 0x01;
if(f!=0)
f = 1;
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
break;
case 2: // J8 废片盒开关信号
if(GetwasteCardState() == 0)
{
f = PINK & 0x02;
if(f!=0)
f = 1;
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
}
break;
case 3: // J10 液面传感器信号
Uart0ReUnable;
uart_Printf(" $%4d",getLiqDetADC(NeedleChannel));
Uart0ReEnable;
break;
case 4: // J12 吸样开关信号
f = PINJ & 0x40;
if(f!=0)
f = 1;
Uart0ReUnable;
uart_Printf(" $%c",s[f][0]);
Uart0ReEnable;
break;
}
}
uart_Printf("\r\n"); // 发送结束
}
// 从机事件处理和分配
void SlaveEventAssignProcess(INFO_EVENT * pInfoEvent){
// 事件分配处理
unsigned char curSlave, infoLen;
unsigned char * pInfo, *p;
int pos;
unsigned char even;
unsigned char i, j;
static unsigned char pieceState;
curSlave = pInfoEvent->slaveNum;
even = pInfoEvent->event;
pInfo = &(pInfoEvent->info[0]);
switch(even)
{
case STA_CHANGE_POS:
case STA_INFO_POS:
pos = *(pInfo+1);
pos = pos << 8;
pos += *(pInfo+2);
MotorPosition[curSlave].defPosNum = *(pInfo);
MotorPosition[curSlave].stepPos = pos;
if(EvenPosChangeProcess){
i = EvenPosChangeProcess(pInfoEvent);
if(i)
EvenPosChangeProcess = 0;
}
break;
case STA_MOT_PHO: // 电机模块光藕状态改变信息
MotModulePhoSta[curSlave][*(pInfo)] = *(pInfo+1);
break;
case INFO_LIQ_EMPTY: // 液路空
case INFO_LIQ_FULL: // 液路满
i = *pInfo;
if(i<4){
LiquidState[i][0] = even;
LiquidState[i][1] = 0;
}
break;
case INFO_LIQ_BUBBLE: // 有气泡
case INFO_LIQ_FLOW: // 有液段
i = *pInfo;
if(i<4){
LiquidState[i][0] = even;
LiquidState[i][1] = *(pInfo+1);
}
break;
case INFO_LIQ_PHO_ON: // 液路检测光耦检测到液体
case INFO_LIQ_PHO_OFF: // 液路检测光耦检测到空
case INFO_LIQ_PHO_VAL: // 液路光耦输出信号值
case INFO_LIQ_PHO_ADJ: // 液路光耦调整结果
switch(WorkProcessStep){
case 0: // 空闲
break;
case 1: // 机械自检
break;
case 2: // 液路自检
DiluteStartCheck(pInfoEvent);
break;
case 3: // 正常测试
DiluteProcess(pInfoEvent);
break;
case 4: // 调试维护
break;
}
if(EvenLiquidProcess){
i = EvenLiquidProcess(pInfoEvent);
if(i)
EvenLiquidProcess = 0;
}
break;
case INFO_STORE_OPEN: // 片仓打开
case INFO_STORE_CLOSE: // 片仓关闭
case INFO_STORE_FULL: // 片仓满
case INFO_STORE_LITTLE: // 片仓少量
case INFO_STORE_EMPTY: // 片仓空
case INFO_STORE_ERROR: // 片仓状态错误
case INFO_STORE_CAL: // 片仓光路校准信息
case INFO_STORE_PHO_VOL:
case INFO_STORE_STATE_ALL: // 全部片仓状态信息
case INFO_STORE_STATE_SPC: // 指定片仓状态信息
CardStoreSteteProcess(pInfoEvent);
if(EvenCardStoreProcess)
{
i = EvenCardStoreProcess(pInfoEvent);
if(i)
EvenCardStoreProcess = 0;
}
break;
case INFO_STORE_HUMITURE: // 片仓温湿度
StoreHumi = *pInfo;
StoreTemp = *(pInfo+1);
Uart0ReUnable;
uart_Printf("%s $%4d $%4d\r\n",strM0111, StoreHumi, StoreTemp);
Uart0ReEnable;
break;
case INFO_STORE_OPEN_ERR: // 片仓开启超时错误
Uart0ReUnable;
uart_Printf("%s $%4d\r\n",strE0910, *pInfo);
Uart0ReEnable;
break;
default:
break;
}
}
/*********************************************************************************************/
//add a comment here for new branch test 170823
/****************************************************************************************************/
// 机械运行初始化
/*
unsigned char MachinePositionInit(void){
// 机械位置初始化
static unsigned char mainStep;
static unsigned char waitMotSampTurn,waitMotSampNeedle, waitMotSampPump;
static unsigned char waitMotCardTrolley, waitMotCardLoad, waitMotCardUnLoad, waitMotTurnPlate;
static unsigned char waitMotLifterA, waitMotLifterB;
static unsigned char i, n, m;
if(WaitDelayTime(MOT_SAMP_PUMP)) return 0;
if(WaitDelayTime(MOT_SAMP_TRUN)) return 0;
if(WaitDelayTime(MOT_SAMP_NEEDLE)) return 0;
if(WaitDelayTime(MOT_EFFLUENT)) return 0;
if(waitMotSampTurn){ if(GetMotState(MOT_SAMP_TRUN)!=STA_SLAVE_FREE) return 0; waitMotSampTurn = 0; }
if(waitMotSampNeedle){ if(GetMotState(MOT_SAMP_NEEDLE)!=STA_SLAVE_FREE) return 0; waitMotSampNeedle = 0; }
if(waitMotSampPump){ if(GetMotState(MOT_SAMP_PUMP)!=STA_SLAVE_FREE) return 0; waitMotSampPump = 0; }
if(waitMotCardLoad){ if(GetMotState(MOT_CARD_LOAD)!=STA_SLAVE_FREE) return 0; waitMotCardLoad = 0; }
if(waitMotCardUnLoad){ if(GetMotState(MOT_CARD_UNLOAD)!=STA_SLAVE_FREE) return 0; waitMotCardUnLoad = 0; }
if(waitMotTurnPlate){ if(GetMotState(MOT_TURN_PLATE)!=STA_SLAVE_FREE) return 0; waitMotTurnPlate = 0; }
if(waitMotCardTrolley){ if(GetMotState(MOT_STORE_CARD_MOVE)!=STA_SLAVE_FREE) return 0; waitMotCardTrolley = 0; }
switch(mainStep){
case 0: // 设置运行参数
SetMotRunPam(MOT_SAMP_NEEDLE,240,10,CURRENT_SAMP_NEEDLE);
SetMotRunPam(MOT_CARD_LOAD,160,20,CURRENT_CARD_LOAD);
SetMotRunPam(MOT_CARD_UNLOAD,160,20,CURRENT_CARD_UNLOAD);
SetMotRunPam(MOT_SAMP_PUMP,180,10,CURRENT_SAMP_PUMP);
MotInitCheck(MOT_SAMP_NEEDLE);
MotInitCheck(MOT_CARD_UNLOAD);
MotInitCheck(MOT_CARD_LOAD);
MotInitCheck(MOT_SAMP_PUMP);
SetCardTrolleyState(0);
SetEValve(EV1, EV_OPEN);
SetMotRunPam(MOT_EFFLUENT, 180, 2, CURRENT_EFFLUENT);
MotRun(MOT_EFFLUENT, 2500); // 开启废液泵
waitMotCardUnLoad = 1;
mainStep = 1;
break;
case 1: // 转盘位置初始化
SetMotRunPam(MOT_TURN_PLATE,240,20,CURRENT_TURN_PLATE);
MotInitCheck(MOT_TURN_PLATE);
waitMotTurnPlate = 1;
mainStep = 2;
break;
case 2: // 转盘运行到0位
MotRunToSite(MOT_TURN_PLATE,0);
waitMotTurnPlate = 1;
waitMotSampNeedle = 1;
mainStep = 3;
break;
case 3: // 片仓小车运行到起始位
SetMotRunPam(MOT_STORE_CARD_MOVE,200,10,CURRENT_STORE_MOVE);
MotInitCheck(MOT_STORE_CARD_MOVE);
waitMotSampNeedle = 1;
mainStep = 100;
break;
case 100: // 取样针回零经常出现在运转时给出空闲信号, 此处从新运行以避免错误
MotRunTo(MOT_SAMP_NEEDLE, 0);
waitMotSampNeedle = 1;
mainStep = 4;
break;
case 4: // 取样臂回到起始位
SetEValve(EV_ALL, EV_CLOSE);
SetMotRunPam(MOT_SAMP_TRUN,200,5,CURRENT_SAMP_TRUN);
MotInitCheck(MOT_SAMP_TRUN);
SetEValve(EV1, EV_CLOSE);
waitMotSampTurn = 1;
waitMotSampPump = 1;
waitMotTurnPlate = 1;
//mainStep = 5;
mainStep = 7;
i = 0;
break;
case 5: // 取样臂旋转试运行
MotRunTo(MOT_SAMP_TRUN,_POS_SAMPTURN_SAMP+200);
waitMotSampTurn = 1;
mainStep = 6;
break;
case 6:
MotRunTo(MOT_SAMP_TRUN,0);
waitMotSampTurn = 1;
i++;
if(i<1){
mainStep = 5;
SetDelayTime(MOT_SAMP_TRUN, 10);
}
else{
mainStep = 7;
i = 0;
}
break;
case 7: // 扫描转盘上遗留干片 _RingPieceState
i++;
if(i>=RING_QUEUE_NUM)
i = 0;
m = PINK & 0x01;
_RingPieceState[i] = 0;
MotRunToSite(MOT_TURN_PLATE,i);
mainStep = 8;
break;
case 8:
n = PINK & 0x01;
if(m != n)
_RingPieceState[i] = 1;
if(GetMotState(MOT_TURN_PLATE)!=STA_SLAVE_FREE)
break;
if(i==0)
mainStep = 9;
else
mainStep = 7;
break;
case 9: // 扫描转盘
MotRunToSite(MOT_TURN_PLATE,10); // 25 让转盘的0号转到卸片位置
waitMotTurnPlate = 1;
i = 0;
mainStep = 10;
break;
case 10: // 按顺序寻找剩余干片
n = i + 10;
if(n>=RING_QUEUE_NUM)
n -= RING_QUEUE_NUM;
if(GetRingPieceState(i)==1){ // 转盘上有剩余干片
MotRunToSite(MOT_TURN_PLATE,n); // 转盘运行到当前位置
waitMotTurnPlate = 1;
mainStep = 11;
m = 0; // 废片仓打开计时
}
else
mainStep = 14; // 继续查找下一个
break;
case 11: // 开始卸载转盘上的干片
if((PINK & 0x02) == 0){
SetDelayTime(MOT_TURN_PLATE, 10);
m ++;
if(m == 2){
uart_Printf("%s $ 1\r\n",strM0200);
SetBeepWarning();
}
if(m == 25){
SetBeepWarning();
m = 5;
}
break;
}
SetMotRunPam(MOT_CARD_UNLOAD,200,20,CURRENT_CARD_UNLOAD);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_OUT);
waitMotCardUnLoad = 1;
mainStep = 12;
break;
case 12:
SetDelayTime(MOT_SAMP_TRUN, 10);
mainStep = 13;
break;
case 13: // 卸片小车回到起始点
MotRunTo(MOT_CARD_UNLOAD,0);
waitMotCardUnLoad = 1;
mainStep = 14;
break;
case 14:
i++;
if(i < RING_QUEUE_NUM) // 未完继续
mainStep = 10;
else
mainStep = 15; // 检查结束
break;
case 15: // 检查片仓小车上是否有干片
SetMotRunPam(MOT_STORE_CARD_MOVE,64,10,CURRENT_STORE_MOVE);
MotRunTo(MOT_STORE_CARD_MOVE,100);
waitMotCardTrolley = 1;
mainStep = 16;
break;
case 16:
i = PINL & 0x04; // 读取取片检测传感器空闲状态
MotRunTo(MOT_STORE_CARD_MOVE,0); // 取片小车运行到零位
waitMotCardTrolley = 1;
mainStep = 17;
break;
case 17:
n = PINL & 0x04; // 读取取片检测传感器状态
if(i != n){ // 取片小车上有剩余干片
MotRunToSite(MOT_TURN_PLATE,0); // 转盘运行到0号位置
waitMotTurnPlate = 1;
mainStep = 18;
}
else
mainStep = 26; // 取片小车上没有干片, 跳过
break;
case 18: // 干片推入转盘
SetMotRunPam(MOT_CARD_LOAD,160,10,CURRENT_CARD_LOAD);
MotRunTo(MOT_CARD_LOAD,_POS_CARDLOAD_RING); // 装片行程94mm/0.08128 = 1156
waitMotCardLoad = 1;
mainStep = 20;
break;
case 19: // 干片推入转盘步骤2
// SetMotRunPam(MOT_CARD_LOAD,64,2,2);
MotRunTo(MOT_CARD_LOAD,_POS_CARDLOAD_RING); // 装片行程94mm/0.08128 = 1156
waitMotCardLoad = 1;
mainStep = 20;
break;
case 20:
SetDelayTime(MOT_SAMP_TRUN, 10);
mainStep = 21;
break;
case 21: // 干片推入复位
SetMotRunPam(MOT_CARD_LOAD,200,10,CURRENT_CARD_LOAD);
MotRunTo(MOT_CARD_LOAD,0);
waitMotCardLoad = 1;
mainStep = 22;
break;
case 22: // 转盘0号转到卸片位置
// SetMotRunPam(MOT_TURN_PLATE,240,10,2);
MotRunToSite(MOT_TURN_PLATE,25);
waitMotTurnPlate = 1;
mainStep = 23;
break;
case 23: // 开始卸片
SetMotRunPam(MOT_CARD_UNLOAD,200,20,CURRENT_CARD_UNLOAD);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_OUT);
waitMotCardUnLoad = 1;
mainStep = 24;
break;
case 24:
SetDelayTime(MOT_SAMP_TRUN,10);
mainStep = 25;
break;
case 25: // 卸片小车回到起始位
SetMotRunPam(MOT_CARD_UNLOAD,200,20,2);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_HOME);
waitMotCardUnLoad = 1;
mainStep = 26;
break;
case 26: // 转盘运转到初始状态
MotRunToSite(MOT_TURN_PLATE,29);
waitMotTurnPlate = 1;
MotRunTo(MOT_STORE_CARD_MOVE,432);
waitMotCardTrolley = 1;
mainStep = 27;
break;
case 27:
uart_Printf("%s\r\n", strM1101);
mainStep = 0;
return 1;
break;
}
return 0;
}
*/
unsigned char MachinePositionInit(void){
// 机械位置初始化
static unsigned char mainStep;
static unsigned char waitMotSampTurn,waitMotSampNeedle, waitMotSampPump;
static unsigned char waitMotCardTrolley, waitMotCardLoad, waitMotCardUnLoad, waitMotTurnPlate;
static unsigned char waitMotLifterA, waitMotLifterB;
static unsigned char i, n, m;
if(WaitDelayTime(MOT_SAMP_PUMP)) return 0;
if(WaitDelayTime(MOT_SAMP_TRUN)) return 0;
if(WaitDelayTime(MOT_SAMP_NEEDLE)) return 0;
if(WaitDelayTime(MOT_EFFLUENT)) return 0;
if(waitMotSampTurn){ if(GetMotState(MOT_SAMP_TRUN)!=STA_SLAVE_FREE) return 0; waitMotSampTurn = 0; }
if(waitMotSampNeedle){ if(GetMotState(MOT_SAMP_NEEDLE)!=STA_SLAVE_FREE) return 0; waitMotSampNeedle = 0; }
if(waitMotSampPump){ if(GetMotState(MOT_SAMP_PUMP)!=STA_SLAVE_FREE) return 0; waitMotSampPump = 0; }
if(waitMotCardLoad){ if(GetMotState(MOT_CARD_LOAD)!=STA_SLAVE_FREE) return 0; waitMotCardLoad = 0; }
if(waitMotCardUnLoad){ if(GetMotState(MOT_CARD_UNLOAD)!=STA_SLAVE_FREE) return 0; waitMotCardUnLoad = 0; }
if(waitMotTurnPlate){ if(GetMotState(MOT_TURN_PLATE)!=STA_SLAVE_FREE) return 0; waitMotTurnPlate = 0; }
if(waitMotCardTrolley){ if(GetMotState(MOT_STORE_CARD_MOVE)!=STA_SLAVE_FREE) return 0; waitMotCardTrolley = 0; }
switch(mainStep)
{
case 0: // 设置运行参数
SetMotRunPam(MOT_SAMP_NEEDLE,240,10,CURRENT_SAMP_NEEDLE);
SetMotRunPam(MOT_CARD_LOAD,160,20,CURRENT_CARD_LOAD);
SetMotRunPam(MOT_CARD_UNLOAD,160,20,CURRENT_CARD_UNLOAD);
SetMotRunPam(MOT_SAMP_PUMP,180,10,CURRENT_SAMP_PUMP);
MotInitCheck(MOT_SAMP_NEEDLE);
MotInitCheck(MOT_CARD_UNLOAD);
MotInitCheck(MOT_CARD_LOAD);
MotInitCheck(MOT_SAMP_PUMP);
SetCardTrolleyState(0);
SetEValve(EV1, EV_OPEN);
SetMotRunPam(MOT_EFFLUENT, 180, 2, CURRENT_EFFLUENT);
MotRun(MOT_EFFLUENT, 2500); // 开启废液泵
waitMotCardUnLoad = 1;
mainStep = 1;
break;
case 1:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2103);
Uart0ReEnable;
mainStep = 2;
break;
case 2: // 转盘位置初始化
SetMotRunPam(MOT_TURN_PLATE,240,20,CURRENT_TURN_PLATE);
MotInitCheck(MOT_TURN_PLATE);
waitMotTurnPlate = 1;
mainStep = 3;
break;
case 3:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2104);
Uart0ReEnable;
mainStep = 4;
break;
case 4: // 转盘运行到0位
MotRunToSite(MOT_TURN_PLATE,0);
waitMotTurnPlate = 1;
waitMotSampNeedle = 1;
mainStep = 5;
break;
case 5:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2107);
Uart0ReEnable;
mainStep = 6;
break;
case 6: // 片仓小车运行到起始位
SetMotRunPam(MOT_STORE_CARD_MOVE,200,10,CURRENT_STORE_MOVE);
MotInitCheck(MOT_STORE_CARD_MOVE);
waitMotSampNeedle = 1;
mainStep = 7;
break;
case 7:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2108);
Uart0ReEnable;
mainStep = 8;
break;
case 8: // 取样针回零经常出现在运转时给出空闲信号, 此处从新运行以避免错误
MotRunTo(MOT_SAMP_NEEDLE, 0);
waitMotSampNeedle = 1;
mainStep = 9;
break;
case 9:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2109);
Uart0ReEnable;
mainStep = 10;
break;
case 10: // 取样臂回到起始位
SetEValve(EV_ALL, EV_CLOSE);
SetMotRunPam(MOT_SAMP_TRUN,200,5,CURRENT_SAMP_TRUN);
MotInitCheck(MOT_SAMP_TRUN);
SetEValve(EV1, EV_CLOSE);
waitMotSampTurn = 1;
waitMotSampPump = 1;
waitMotTurnPlate = 1;
mainStep = 11;
i = 0;
break;
case 11:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2113);
uart_Printf("%s\r\n",strM2118);
Uart0ReEnable;
mainStep = 12;
break;
case 12: // 扫描转盘上遗留干片 _RingPieceState
i++;
if(i >= RING_QUEUE_NUM)
i = 0;
m = PINK & 0x01;
_RingPieceState[i] = 0;
MotRunToSite(MOT_TURN_PLATE,i);
mainStep = 13;
break;
case 13:
n = PINK & 0x01;
if(m != n)
_RingPieceState[i] = 1;
if(GetMotState(MOT_TURN_PLATE)!=STA_SLAVE_FREE)
break;
if(i == 0)
mainStep = 14;
else
mainStep = 12;
break;
case 14: // 扫描转盘
MotRunToSite(MOT_TURN_PLATE,10); // 25 让转盘的0号转到卸片位置
waitMotTurnPlate = 1;
i = 0;
mainStep = 15;
break;
case 15: // 按顺序寻找剩余干片
n = i + 10;
if(n>=RING_QUEUE_NUM)
n -= RING_QUEUE_NUM;
if(GetRingPieceState(i) == 1) // 转盘上有剩余干片
{
MotRunToSite(MOT_TURN_PLATE,n); // 转盘运行到当前位置
waitMotTurnPlate = 1;
mainStep = 16;
m = 0; // 废片仓打开计时
}
else
mainStep = 19; // 继续查找下一个
break;
case 16: // 开始卸载转盘上的干片
if(GetwasteCardState() == 0)
{
if((PINK & 0x02) == 0)
{
SetDelayTime(MOT_TURN_PLATE, 10);
m ++;
if(m == 2)
{
Uart0ReUnable;
uart_Printf("%s $ 1\r\n",strM0200);
Uart0ReEnable;
SetBeepWarning();
}
if(m == 25)
{
SetBeepWarning();
m = 5;
}
break;
}
}
SetMotRunPam(MOT_CARD_UNLOAD,200,20,CURRENT_CARD_UNLOAD);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_OUT);
waitMotCardUnLoad = 1;
mainStep = 17;
break;
case 17:
SetDelayTime(MOT_SAMP_TRUN, 10);
mainStep = 18;
break;
case 18: // 卸片小车回到起始点
MotRunTo(MOT_CARD_UNLOAD,0);
waitMotCardUnLoad = 1;
mainStep = 19;
break;
case 19:
i++;
if(i < RING_QUEUE_NUM) // 未完继续
mainStep = 15;
else
{
mainStep = 20; // 检查结束
Uart0ReUnable;
uart_Printf("%s\r\n",strM2114);
Uart0ReEnable;
}
break;
case 20: // 检查片仓小车上是否有干片
SetMotRunPam(MOT_STORE_CARD_MOVE,64,10,CURRENT_STORE_MOVE);
MotRunTo(MOT_STORE_CARD_MOVE,100);
waitMotCardTrolley = 1;
mainStep = 21;
break;
case 21:
i = PINL & 0x04; // 读取取片检测传感器空闲状态
MotRunTo(MOT_STORE_CARD_MOVE,0); // 取片小车运行到零位
waitMotCardTrolley = 1;
mainStep = 22;
break;
case 22:
n = PINL & 0x04; // 读取取片检测传感器状态
if(i != n) // 取片小车上有剩余干片
{
MotRunToSite(MOT_TURN_PLATE,0); // 转盘运行到0号位置
waitMotTurnPlate = 1;
mainStep = 23;
Uart0ReUnable;
uart_Printf("%s\r\n",strM2115);
Uart0ReEnable;
}
else
mainStep = 31; // 取片小车上没有干片, 跳过
break;
case 23: // 干片推入转盘
SetMotRunPam(MOT_CARD_LOAD,160,10,CURRENT_CARD_LOAD);
MotRunTo(MOT_CARD_LOAD,_POS_CARDLOAD_RING); // 装片行程94mm/0.08128 = 1156
waitMotCardLoad = 1;
mainStep = 24;
break;
case 24:
SetDelayTime(MOT_SAMP_TRUN, 10);
mainStep = 25;
break;
case 25: // 干片推入复位
SetMotRunPam(MOT_CARD_LOAD,200,10,CURRENT_CARD_LOAD);
MotRunTo(MOT_CARD_LOAD,0);
waitMotCardLoad = 1;
mainStep = 26;
break;
case 26: // 转盘0号转到卸片位置
// SetMotRunPam(MOT_TURN_PLATE,240,10,2);
MotRunToSite(MOT_TURN_PLATE,25);
waitMotTurnPlate = 1;
mainStep = 27;
break;
case 27: // 开始卸片
SetMotRunPam(MOT_CARD_UNLOAD,200,20,CURRENT_CARD_UNLOAD);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_OUT);
waitMotCardUnLoad = 1;
mainStep = 28;
break;
case 28:
SetDelayTime(MOT_SAMP_TRUN,10);
mainStep = 29;
break;
case 29: // 卸片小车回到起始位
SetMotRunPam(MOT_CARD_UNLOAD,200,20,2);
MotRunTo(MOT_CARD_UNLOAD,_POS_UNLOAD_HOME);
waitMotCardUnLoad = 1;
mainStep = 30;
break;
case 30:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2116);
Uart0ReEnable;
mainStep = 31;
break;
case 31: // 转盘运转到初始状态
MotRunToSite(MOT_TURN_PLATE,29);
waitMotTurnPlate = 1;
MotRunTo(MOT_STORE_CARD_MOVE,432);
waitMotCardTrolley = 1;
mainStep = 32;
break;
case 32:
Uart0ReUnable;
uart_Printf("%s\r\n",strM2117);
Uart0ReEnable;
mainStep = 33;
break;
case 33:
Uart0ReUnable;