#include "global.h"

#if XI_DONG_MACHINE

void HL_InitAction(void);
void HL_Action(void);

void HL_SetAlarmCode(unsigned alarm_code);
void HL_StartStopAction(void);
void HL_AutoRunStep(void);
void HL_Motor(void);
void HL_Step(void);

unsigned char cDWflg=0,cZCXflg=0,cHLflg=0,HL_StopFlg;
short *offset_length_buff;
unsigned char HL_X02_IN_FLAG,HL_X02_IN_FLAG_OLD;
unsigned short HL_X02_FILTER;
void HL_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(HL_ALARM_ADDR,alarm_code);
    HL_bAlarmStop = 1;
}

void HL_InitAction(void)
{   
    CalFreqTab_X_Free(14);
    XGearRatio = 1;
    HL_X02_IN_FLAG = HL_GUO_LIAN_IN;
    HL_X02_IN_FLAG_OLD = HL_X02_IN_FLAG;
}

//手动动作
void HL_ManualAction(void)
{                  
    if(!HL_bRunning)
    {     
          //警告跳出
        if(bClearTotal)
        {
            bClearTotal       = 0;
            ClrcToTal(HL_TOTAL_ADDR);
            HL_bSetWorkData   = 1;
        }
        
        if(HL_bAdd)
        {
            HL_bAdd = 0;
            HL_PARAM_DELAY_STOP += 10;
        }

        if(HL_bDec)
        {
            HL_bDec = 0;
            if(HL_PARAM_DELAY_STOP >= 10)HL_PARAM_DELAY_STOP -= 10;
        }        
        if(HL_bHM)
        {
            HL_bHM = 0;
            HL_HM_VAVLE = ~HL_HM_VAVLE;
        }

        if(HL_bTFK)
        {
            HL_bTFK = 0;
            HL_TFK_VAVLE = ~HL_TFK_VAVLE;
        }

        if(HL_bBB)
        {
            HL_bBB = 0;
            HL_BB_VAVLE = ~HL_BB_VAVLE;
        }

        if(HL_bJD)
        {
            HL_bJD = 0;
            HL_JD_VAVLE = ~HL_JD_VAVLE;
        }

        if(HL_bCCX)
        {
            HL_bCCX = 0;
            HL_CCX_VAVLE = ~HL_CCX_VAVLE;
        } 
        
        if(HL_bSL)
        {
            HL_bSL = 0;
            HL_SL_MOTOR = ~HL_SL_MOTOR;
        } 
        
        if(HL_bDK)
        {
            HL_bDK = 0;
            HL_DK_VAVLE = ~HL_DK_VAVLE;
        }  

        if(HL_bMotor)
        {
            SetEn(X_AXIS,HL_MOTOR_EN);
            if(!X_DRV)AxisContinueMove(X_AXIS,10,HL_DIR_P);   
        }
        else 
        {
            if(X_DRV)AxisDecStop(X_AXIS);  
        }
    }
}

//合链动作
void HL_Action(void)
{	
    HL_ManualAction();
    HL_StartStopAction();     
    HL_Motor();   
    HL_Step();
    HL_AutoRunStep();
}

//启动停止故障停止动作
void HL_StartStopAction(void)
{
    static unsigned long dwstop_cnt = 0;
    if((START_IN_UP || HL_bStart || HL_bSingStart || HL_bDW || HL_bZCX || HL_bHL) && !HL_bRunning && (HL_AutoStep ==0))
    {
        if(!HL_CCX_LIMIT_IN)HL_SetAlarmCode(HL_CCX_LIMIT_ALARM);
        else if(!HL_CCX_ORIGIN_IN)HL_SetAlarmCode(HL_CCX_ORIGIN_ALARM);
        else
        {      
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            HL_bRunning = 1;
            HL_StopFlg  = 0;
            dwZipCnt    = 0;
            if(HL_bSingStart)
            {
                HL_bSingStart = 0;
                SingOneFlg    = 1;
            }
            
            if(HL_bDW)
            {
                cDWflg = 1;
                dwZipCnt = 1;
            }
            if(HL_bZCX)cZCXflg = 1;
            if(HL_bHL)cHLflg = 1;
            
            if(HL_bZCX)HL_AutoStep = 4;
            else if(HL_bHL)HL_AutoStep = 1;
            else HL_AutoStep = 1;
            
        }
        HL_bDW        = 0;
        HL_bZCX       = 0;
        HL_bHL        = 0;
        HL_bSingStart = 0;
        HL_bStart   = 0;
    }
     
    if(!HL_bMotor && !X_DRV && !HL_bRunning && (HL_MotorStep==0))SetEn(X_AXIS,HL_MOTOR_DISEN);
    
    if(HL_bStop)
    {
        HL_bStop = 0;
        if(HL_bRunning)  
            SingOneFlg = 1;
        else
        {
            HL_HM_VAVLE       = 0;           
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_DK_VAVLE       = 0;
            HL_SL_MOTOR       = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            SingOneFlg        = 0;
            HL_bMotor         = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            AxisEgmStop(X_AXIS);    
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            HL_StopFlg        = 1;
        }
    }
    

    if(STOP_IN_UP)
    {
        if(HL_bRunning)
        {
            HL_bStop = 0;
            HL_DK_VAVLE       = 0;
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_SL_MOTOR       = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            HL_HLStep         = 0;
            SingOneFlg        = 0;
            HL_bMotor         = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            AxisEgmStop(X_AXIS);
        }
        else
        {
            HL_bStop = 0;
            HL_DK_VAVLE       = 0;
            HL_JD_VAVLE       = 0;
            HL_CCX_VAVLE      = 0;
            HL_SL_MOTOR       = 0;
            HL_bRunning       = 0;
            HL_AutoStep       = 0;
            HL_MotorStep      = 0;
            HL_HLStep         = 0;
            SingOneFlg        = 0;
            HL_bMotor         = 0;
            cDWflg            = 0;
            cZCXflg           = 0;
            cHLflg            = 0; 
            SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
            AxisEgmStop(X_AXIS);            
            HL_HM_VAVLE       = 0;
            HL_StopFlg        = 1;
        }
    }
    
    if(HL_StopFlg)
    {
        if(!HL_SM_LIMIT_IN && !HL_XM_LIMIT_IN)
        {
           HL_BB_VAVLE       = 0;
           HL_TFK_VAVLE      = 0;
           HL_StopFlg        = 0;
        }
    }
    if(HL_bAlarmStop)
    {
        HL_bAlarmStop   = 0;              
        AxisEgmStop(X_AXIS);
        HL_AutoStep     = 0;
        HL_ManDKStep      = 0;
        HL_MotorStep    = 0;
        HL_HLStep       = 0;
        HL_bRunning     = 0;
        SingOneFlg      = 0;
        cDWflg            = 0;
        cZCXflg           = 0;
        cHLflg            = 0; 
    }
    
    if(HL_KA_DAI_IN)
    {
        HL_SetAlarmCode(HL_KD_ALARM);
    }
    else
    {
     //  if(GetAlarmCode(HL_ALARM_ADDR) == HL_KD_ALARM)SetAlarmCode(HL_ALARM_ADDR,HL_NO_ALARM);
    }
}

void HL_Step(void)
{
        static long hm_save_buff;
        switch(HL_HLStep)
        {    
            case 1:
                   if(HL_GUO_LIAN_IN_UP)
                   {  
                       hm_save_buff = dwRealPos;
                       HL_HLStep   = 2; 
                   }
                    break;
            case 2:
                    if((dwRealPos + HL_PARAM_DELAY_HM_BACK) <= hm_save_buff)
                    {
                        HL_HM_VAVLE = 0;
                        HL_HLDelay  = dwTickCount + HL_VAVLE_ALARM_TIME;
                        HL_HLStep   = 3; 
                    }
                    else if(!X_DRV)HL_SetAlarmCode(HL_HM_BACK_ALARM);  
                    break;
            case 3:
                    if(!HL_SM_LIMIT_IN && !HL_XM_LIMIT_IN)
                   {
                       HL_HLStep   = 4; 
                       HL_HLDelay = dwTickCount + HL_PARAM_DELAY_BB_BACK;
                   }
                   else if(dwTickCount >= HL_HLDelay)
                   {
                       if(HL_SM_LIMIT_IN)HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
                       else HL_SetAlarmCode(HL_XM_LIMIT_ALARM);                          
                   }
                    break;
            case 4:
                   if(dwTickCount >= HL_HLDelay)
                   {
                       HL_HLStep   = 5; 
                       HL_BB_VAVLE = 0;
                       HL_HLDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                   }
                    break;
            case 5:
                   if(!HL_BB_LIMIT_IN)
                   {
                       HL_HLStep   = 0; 
                       if(SingOneFlg)
                       {
                           SingOneFlg = 0;
                           HL_AutoStep    = 0;
                           HL_bRunning    = 0;
                           HL_MotorStep   = 0;
                       }
                      
                       HL_HLDelay = dwTickCount;
                   }
                   else if(dwTickCount >= HL_HLDelay)
                   {
                       HL_SetAlarmCode(HL_BB_LIMIT_ALARM);   
                   }
                    break;
        }
}

//电机动作
void HL_Motor(void)	 //
{
        static long save_buff,hm_save_buff;
        
        DISPLAY_DATA0 = dwRealPos;
        DISPLAY_DATA1 = HL_AutoStep;
        DISPLAY_DATA2 = HL_MotorStep;
        DISPLAY_DATA3 = HL_HLStep;
        
       HL_X02_IN_FLAG_OLD = HL_X02_IN_FLAG;    
   
       if(HL_GUO_LIAN_IN)
       {
           if(HL_X02_FILTER < HL_PARAM_FILTER_TIMES)
           {
               HL_X02_FILTER++;
           }
           else
               HL_X02_IN_FLAG = 1;
       }
       else if(HL_X02_FILTER > (HL_PARAM_FILTER_TIMES/2))
       {
           HL_X02_FILTER--;
       }
       else
           HL_X02_IN_FLAG = 0;
        
        dwRealPos = GetPos(X_AXIS);
	switch(HL_MotorStep)
	{
            case 0:break;
            case 1:   
                    if(GetEn(X_AXIS) == 0)
                    {
                        SetEn(X_AXIS,HL_MOTOR_EN);
                        HL_MotorDelay = dwTickCount + 100;
                    }
                    HL_MotorStep = 2;
                    break;
            case 2:
                   if(dwTickCount >= HL_MotorDelay)
                   {
                        HL_MotorDelay = dwTickCount + HL_PARAM_MOTOR_ALARM_TIME;
                        
                        if(!HL_GUO_LIAN_IN)
                        {
                             MoveAction_Const_AccDec(X_AXIS,HL_DIR_P,HL_PARAM_LOW_SPEED,1,5,1);
                             HL_MotorStep = 4;   
                        }
                        else
                        {
                            if(dwZipCnt == 0)
                                MoveAction_Const_AccDec(X_AXIS,HL_DIR_P,HL_PARAM_HIGH_SPEED/2,1,5,1);
                            else
                                MoveAction_Const_AccDec(X_AXIS,HL_DIR_P,HL_PARAM_HIGH_SPEED,1,5,1);
                            HL_MotorStep = 3;   
                        }
                        
                        if(HL_HM_VAVLE)
                        {
                            *offset_length_buff = 0;
                            if(HL_HLStep == 0)HL_HLStep = 1;
                        }
                        else
                        {
                            *offset_length_buff = 0;
                          //  offset_length_buff = &user_datas[22];
                        }
                   }
                    break;
            case 3:
                   if(HL_GUO_LIAN_IN_DW)
                   {
                       AxisChangeSpeed(X_AXIS,HL_PARAM_LOW_SPEED);
                       HL_MotorDelay = dwTickCount + HL_VAVLE_ALARM_TIME;
                       HL_MotorStep   = 4;
                   }
                   else if((dwTickCount >= HL_MotorDelay) || HL_GUO_LIAN_IN_UP)
                       HL_SetAlarmCode(HL_GUOLIAN_ALARM);
                    break;
            case 4:
                   if((HL_X02_IN_FLAG && !HL_X02_IN_FLAG_OLD))
                   {
                       save_buff      = dwRealPos;
                       HL_MotorStep   = 5;
                   }
                   else if(dwTickCount >= HL_MotorDelay)
                       HL_SetAlarmCode(HL_GUOLIAN_ALARM);
                    break;
            case 5:
                    if((dwRealPos + HL_PARAM_DELAY_STOP) <= save_buff)
                    {
                        AxisEgmStop(X_AXIS); 
                        HL_MotorStep   = 6;
                    }                    
                    break;   
            case 6:
                    if(!X_DRV && (HL_HLStep == 0))
                    {
                        HL_MotorStep   = 0; 
                        HL_MotorDelay = dwTickCount;
                    }
                    break;
	}

}

//自动运行动作
void HL_AutoRunStep(void)
{    
    if(HL_bRunning)
    {
        if(HL_AutoStep == 1)
        {
            HL_AutoStep     = 2;
        }
        else if((HL_AutoStep == 2) && (dwTickCount >= HL_AutoDelay))
        {       
            if(HL_MotorStep == 0)
            {
                HL_AutoStep     = 3;
                HL_MotorStep    = 1;
            }
        }
        else if(HL_AutoStep == 3)
        {
            if(HL_MotorStep == 0)
            {
                if(cDWflg | cHLflg)
                {
                    cDWflg       = 0; 
                    cHLflg       = 0;
                    HL_AutoStep  = 0;
                    HL_bRunning  = 0;
                }
                else
                {
                    HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_TFK;
                    HL_AutoStep  = 4; 
                }
            }
        }
        else if((HL_AutoStep == 4) && (dwTickCount >= HL_AutoDelay))
        {
            HL_TFK_VAVLE    = 0;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_AutoStep  = 5;            
        }
        else if(HL_AutoStep == 5)
        {
            if(HL_TFK_LIMIT_IN)
            {
                HL_AutoStep = 6;
                HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_HM;
            }
            else if(dwTickCount >= HL_AutoDelay)
            {
               HL_SetAlarmCode(HL_TFK_LIMIT_ALARM);
            }    
        }
        else if((HL_AutoStep == 6) && (dwTickCount >= HL_AutoDelay))
        {
            HL_HM_VAVLE     = 1;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_AutoStep = 7;
        }   
        else if(HL_AutoStep == 7)
        {
            if(HL_SM_LIMIT_IN && HL_XM_LIMIT_IN)
            {
                HL_AutoStep = 8;
                HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_TFK_BACK;
            }
            else if(dwTickCount >= HL_AutoDelay)
            {
                if(!HL_SM_LIMIT_IN)
                    HL_SetAlarmCode(HL_SM_LIMIT_ALARM);
                else
                    HL_SetAlarmCode(HL_XM_LIMIT_ALARM);
            }
        }
        else if((HL_AutoStep == 8) && (dwTickCount >= HL_AutoDelay))
        {
            HL_AutoStep = 9;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_TFK_VAVLE = 1;
        }
        else if(HL_AutoStep == 9)
        {
            if(HL_TFK_ORIGIN_IN)
            {
               HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_DK;
               HL_AutoStep = 10;
            }
            else if(dwTickCount >= HL_AutoDelay)
                HL_SetAlarmCode(HL_TFK_ORIGIN_ALARM);
        }
        else if((HL_AutoStep == 10) && (dwTickCount >= HL_AutoDelay))
        {
            HL_AutoStep = 11;
        }
        else if(HL_AutoStep == 11)
        {
            HL_DK_VAVLE = 1;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_AutoStep = 12;
        }
        else if(HL_AutoStep == 12)
        {
            if(HL_DK_LIMIT_IN)
            {
                 HL_AutoDelay    = dwTickCount +  HL_PARAM_DELAY_BB;
                 HL_AutoStep = 13;
            }
            else if(dwTickCount >= HL_AutoDelay)
                HL_SetAlarmCode(HL_DK_LIMIT_ALARM);
        }
        else if((HL_AutoStep == 13) && (dwTickCount >= HL_AutoDelay))
        {          
            HL_BB_VAVLE = 1; 
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_AutoStep = 14;
        }
        else if(HL_AutoStep == 14)
        {
            if(HL_BB_LIMIT_IN)
            {               
                HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_JD;
                HL_AutoStep = 15;
            }
            else if(dwTickCount >= HL_AutoDelay)
                HL_SetAlarmCode(HL_BB_LIMIT_ALARM);
        }
        else if((HL_AutoStep == 15) && (dwTickCount >= HL_AutoDelay))
        {
            HL_JD_VAVLE = 1;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_AutoStep = 16;
        }
        else if(HL_AutoStep == 16)
        {
            if(HL_JD_LIMIT_IN)
            {
                HL_AutoDelay    = dwTickCount + HL_PARAM_DELAY_CCX;
                HL_AutoStep = 17;            
            }  
            else if(dwTickCount >= HL_AutoDelay)
                HL_SetAlarmCode(HL_JD_LIMIT_ALARM);
        }
        else if((HL_AutoStep == 17) && (dwTickCount >= HL_AutoDelay))
        {
            HL_CCX_VAVLE = 1;
            HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
            HL_CheckDelay   = dwTickCount + HL_PARAM_DELAY_CHECK_CCX;
            HL_AutoStep = 18;
        }
        else if((HL_AutoStep == 18) && (dwTickCount >= HL_CheckDelay))
        {
            if(HL_CCX_LIMIT_IN)
            {        
                if(!X_DRV)AxisMovePosAccDec(X_AXIS,HL_PARAM_LOW_SPEED,HL_PARAM_CCX_LENGTH,1,5,5);
                HL_JD_VAVLE     = 0;
                HL_DK_VAVLE  = 0;
                HL_AutoDelay    = dwTickCount + HL_VAVLE_ALARM_TIME;
                HL_AutoStep = 19;
            }
            else if(dwTickCount >= HL_AutoDelay)
                HL_SetAlarmCode(HL_CCX_LIMIT_ALARM);
        }
        else if(HL_AutoStep == 19)
        {
            if(HL_DK_ORIGIN_IN && !HL_JD_LIMIT_IN && !X_DRV)
            {  
                HL_CCX_VAVLE    = 0;
                HL_AutoStep = 20;
            }
            else if(dwTickCount >= HL_AutoDelay)
            {
                if(!HL_DK_ORIGIN_IN)
                   HL_SetAlarmCode(HL_DK_ORIGIN_ALARM);
                else 
                   HL_SetAlarmCode(HL_CCX_ORIGIN_ALARM);
            }
        }
        else if(HL_AutoStep == 20)
        { 
            HL_AutoStep = 21;     
        }
        else if(HL_AutoStep == 21)
        {
            HL_AutoStep = 22;
        }
        else if(HL_AutoStep == 22)
        {
            HL_AutoStep = 23;
        }
        else if(HL_AutoStep == 23)
        {
            HL_AutoDelay    = dwTickCount;
            HL_AutoStep = 24;
        } 
        else if(HL_AutoStep == 24)
        {
            if(cZCXflg)
            {
                cZCXflg       = 0;  
                HL_AutoStep  = 0;
                HL_bRunning  = 0;
            }
            else
            { 
                HL_AutoStep = 25;
            }
        }
        else  if(HL_AutoStep == 25)
        {
           AddToTal(HL_TOTAL_ADDR);
           dwZipCnt++;
            HL_AutoStep = 2;
            HL_AutoDelay = HL_PARAM_CYCLE_DELAY + dwTickCount;
            CalProSP(HL_PROSPEED_ADDR);
        }    
    }
}



#endif