#include "global.h"

#if JIA_CHENG_WEI_YE_MACHINE

void DK_InitAction(void);
void DK_Action(void);

void DK_XM_ChuiQi(void);
void DK_FL_ChuiQi(void);
void DK_ChaoSheng(void);
void DK_XiaChong(void);
void DK_SetAlarmCode(unsigned alarm_code);
void DK_StartStopAction(void);
void DK_AutoRunStep(void);
void DK_Motor(void);



void DK_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(DK_ALARM_ADDR,alarm_code);
    DK_bAlarmStop = 1;
    
/*    switch(alarm_code)
    {
        case DK_KADAI_ALARM:AlarmMessageSave(DK_ALARM_ADDR);break;
        case DK_XIACHONG_ARRIVE_ALARM:AlarmMessageSave(DK_ALARM_ADDR);break;
        case DK_XM_LIMIT_ALARM:AlarmMessageSave(DK_ALARM_ADDR);break;
        case DK_SM_LIMIT_ALARM:AlarmMessageSave(DK_ALARM_ADDR);break;
        case DK_GUOLIAN_ALARM:AlarmMessageSave(DK_ALARM_ADDR);break;
        default:;
    }*/
}

void DK_InitAction(void)
{   
    XGearRatio = 1;
}

void DK_XM_ChuiQi(void)
{
   if(DK_XMCQ_VAVLE && (dwTickCount >= DK_XMCQ_Delay))
   {
       DK_XMCQ_VAVLE = 0;
   }
}
void DK_FL_ChuiQi(void)
{
   if(DK_FLCQ_VAVLE && (dwTickCount >= DK_FLCQ_Delay))
   {
       DK_FLCQ_VAVLE = 0;
   }
}
void DK_ChaoSheng(void)
{
   if(DK_CS_OUT && (dwTickCount >= DK_CS_Delay))
   {
       DK_CS_OUT = 0;
   }
}

//手动动作
void DK_ManualAction(void)
{                  
    if(!DK_bRunning)
    {     
          //警告跳出
        if(bClearTotal)
        {
            bClearTotal       = 0;
            ClrcToTal(DK_TOTAL_ADDR);
        }
        if(DK_bMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,DK_PARAM_HIGH_SPEED,DK_DIR_P);   
        }
        else 
        {
            if(X_DRV)AxisDecStop(X_AXIS);  
        }
      
        if(DK_bGouZhen)
        {
            DK_bGouZhen = 0;
            DK_GZ_VAVLE = ~DK_GZ_VAVLE;
        }
        
        if(DK_bYaDai)
        {
            DK_bYaDai = 0;
            DK_YD_VAVLE = ~DK_YD_VAVLE;
        }
        
        if(DK_bSM)
        {
            DK_bSM = 0;
            DK_SM_VAVLE = ~DK_SM_VAVLE;
        }
        
        if(DK_bXM)
        {
            DK_bXM = 0;
            DK_XM_VAVLE = ~DK_XM_VAVLE;
        }
        
        if(DK_bCS)
        {
            DK_bCS = 0;
            DK_CS_OUT = 1;
            DK_CS_Delay = dwTickCount + DK_PARAM_CS_TIME;
        }
        
        if(DK_bXMCQ)
        {
            DK_bXMCQ = 0;
            DK_XMCQ_VAVLE = 1;
            DK_XMCQ_Delay = dwTickCount + DK_PARAM_XMCQ_TIME;
        }
        
        if(DK_bFLCQ)
        {
            DK_bFLCQ = 0;
            DK_FLCQ_VAVLE = 1;
            DK_FLCQ_Delay = dwTickCount + DK_PARAM_FLCQ_TIME;
        }
        
        if(DK_bChuDai)
        {
            DK_bChuDai = 0;
            DK_CD_MOTOR = ~DK_CD_MOTOR;
        }
        
        if(DK_bManXiaChong)
        {
            DK_bManXiaChong = 0;
            
            if(DK_XiaChongStep == 0)
            {
                DK_XiaChongStep = 1;
            }
        }
    }
}


//打孔动作
void DK_Action(void)
{	
    DISPLAY_DATA0 = GetEncodeCount();
    DK_ManualAction();
    DK_XM_ChuiQi();
    DK_FL_ChuiQi();
    DK_ChaoSheng();
    DK_XiaChong();
    DK_StartStopAction();     
    DK_AutoRunStep();
    DK_Motor();
}

//下冲动作
void DK_XiaChong(void)
{
    if(DK_XiaChongStep == 1)
    {
         DK_XiaChongDelay = dwTickCount + DK_PARAM_XC_DELAY;
         DK_XiaChongStep = 2;
    }
    else if((DK_XiaChongStep == 2) && (dwTickCount >= DK_XiaChongDelay))
    {
         DK_XM_VAVLE = 1;
         DK_XiaChongDelay = dwTickCount + VAVLE_ALARM_TIME;
         DK_XiaChongStep = 3;
    }
    else if(DK_XiaChongStep == 3)
    {
        if(DK_XM_LIMIT_IN)
        {
            DK_SM_VAVLE = 1;
            DK_XiaChongDelay = dwTickCount + VAVLE_ALARM_TIME;
            DK_XiaChongStep = 4;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
        {
            DK_SetAlarmCode(DK_XM_LIMIT_ALARM);
        }
    }
    else if(DK_XiaChongStep == 4)
    {
        if(DK_SM_LIMIT_IN)
        {
            DK_SM_VAVLE = 1;
            DK_XiaChongDelay = dwTickCount + DK_PARAM_DELAY_CS;
            DK_XiaChongStep = 5;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
        {
            DK_SetAlarmCode(DK_SM_LIMIT_ALARM);
        }
    }
    else if((DK_XiaChongStep == 5) && (dwTickCount >= DK_XiaChongDelay))
    {
        DK_CS_OUT = 1;
        DK_CS_Delay = dwTickCount + DK_PARAM_CS_TIME;
        DK_XiaChongStep = 6;
    }
    else if((DK_XiaChongStep == 6) && (DK_CS_OUT == 0))
    {
        DK_XiaChongDelay = dwTickCount + DK_PARAM_COLD_TIME;
        DK_XiaChongStep = 7;
    }
    else if((DK_XiaChongStep == 7) && (dwTickCount >= DK_XiaChongDelay))
    {
        DK_SM_VAVLE = 0;
        DK_XM_VAVLE = 0;
        DK_XiaChongDelay = dwTickCount + VAVLE_ALARM_TIME;
        DK_XiaChongStep = 8;
    }
    else if(DK_XiaChongStep == 8)
    {
        if(!DK_SM_LIMIT_IN && !DK_XM_LIMIT_IN)
        {
            DK_XiaChongStep = 0;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
        {
            if(DK_SM_LIMIT_IN)DK_SetAlarmCode(DK_SM_LIMIT_ALARM);
            else if (DK_XM_LIMIT_IN)DK_SetAlarmCode(DK_XM_LIMIT_ALARM);
        }
    }
}

//启动停止故障停止动作
void DK_StartStopAction(void)
{
    if((START_IN_UP || DK_bStart) && !DK_bRunning && (DK_AutoStep ==0))
    {
        if(GetTotal(DK_TOTAL_ADDR) >= SET_TOTAL)DK_SetAlarmCode(DK_TOTAL_ALARM);
        else
        {                      
            DK_AutoStep = 1;
            DK_bRunning = 1;
            DK_AutoDelay = 0;
        }
        DK_bStart   = 0;
    }
    
    if(DK_KaDai_IN && (GetAlarmCode(DK_ALARM_ADDR) == 0))
    {
        DK_SetAlarmCode(DK_KADAI_ALARM);        
    }

            
    if(STOP_IN_UP || DK_bStop)
    {
        DK_bStop = 0;
        if(DK_bRunning && (SingOneFlg == 0))
        {
            SingOneFlg = 1;
        }
        else
        {
             DK_GZ_VAVLE        = 0;
             DK_YD_VAVLE        = 0;
             DK_XM_VAVLE        = 0;
             DK_XMCQ_VAVLE      = 0;
             DK_SM_VAVLE        = 0;
             DK_FLCQ_VAVLE      = 0;
             DK_CS_OUT          = 0;
             DK_CD_MOTOR        = 0;
             
             DK_XiaChongStep    = 0;
            DK_bRunning       = 0;
            DK_AutoStep       = 0;
            AxisEgmStop(X_AXIS);
        }
    }
    
    if(DK_bAlarmStop)
    {
        DK_bAlarmStop        = 0;              
        AxisEgmStop(X_AXIS);
        DK_AutoStep     = 0;
        DK_XiaChongStep    = 0;
        DK_bRunning          = 0;
        SingOneFlg    = 0;
    }
}

//电机动作
void DK_Motor(void)	 //
{
        static long save_buff,length_buff;
   
	switch(DK_MotorStep)
	{
		case 0:
			break;
                case 1:   
                        QD_MotorStep = 2;
                        break;
                case 2:
                            save_buff = GetPos(X_AXIS);
                            if(dwZipCnt <= 1)
                            {
                                AxisContinueMove(X_AXIS,DK_PARAM_LOW_SPEED,DK_DIR_P);         //第一条走低速
                            }
                            else 
                            {                                
                                AxisMoveTwoPos(X_AXIS,DK_PARAM_HIGH_SPEED,(length_buff - DK_PARAM_LOWSPEED_LENGTH),DK_PARAM_LOW_SPEED,0xFFFFFF,DK_DIR_P);//第二条开始走两段速
                            }
                            
                            DK_MotorDelay = dwTickCount + GUO_LIAN_OVER_TIME;  
                            QD_MotorStep = 3;            
			break;
		case 3:
                            if(DK_GUO_LIAN_IN_UP)
                            {
                                QD_MotorStep = 4;     
                                DK_MotorDelay = dwTickCount + DK_PARAM_DELAY_GZ;  
                            }
                            else if(dwTickCount >= DK_MotorDelay)
                            {
                                
                            }
                            
                            if(DK_GZ_IN)
                            {   
                                AxisEgmStop(X_AXIS);
                                QD_MotorStep   = 6;
                            }
			break;
		case 4:
                        if(dwTickCount >= DK_MotorDelay)
                        {
                            DK_GZ_VAVLE    = 1;
                            QD_MotorStep   = 5;
                        }    
                        
                        if(DK_GZ_IN)
                        {   
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 6;
                        }
			break;
		case 5:
                        if(DK_GZ_IN)
                        {   
                            AxisEgmStop(X_AXIS);
                            QD_MotorStep   = 6;
                        }
			break;   
		case 6:
                        if(!X_DRV)
                        {
                            if(dwZipCnt == 1)length_buff = GetPos(X_AXIS) - save_buff; //以第二条测量出来的长度为准来做减速
                            QD_MotorStep   = 0;
                        }   
                        break;
	}

}

//自动运行动作
void DK_AutoRunStep(void)
{    
    if(DK_bRunning)
    {
        if(DK_AutoStep == 1)
        {
            dwZipCnt        = 0;
            DK_AutoStep     = 2;
        }
        else if((DK_AutoStep == 2) && (dwTickCount >= DK_AutoDelay))
        {       
            if(QD_MotorStep == 0)QD_MotorStep = 1;
            DK_AutoStep     = 3;
        }
        else if(DK_AutoStep == 3)
        {
            if(QD_MotorStep == 0)
            {
                DK_AutoStep  = 4;            
            }
        }
        else if(DK_AutoStep == 4)
        {
            if(DK_XiaChongStep == 0)DK_XiaChongStep = 1;
            DK_AutoStep     = 5;      
        }
        else if(DK_AutoStep == 5)
        {
            if(DK_XiaChongStep == 0)
            {
                DK_AutoStep = 6;
            }
        }       
        else if(DK_AutoStep == 6)
        {
             AddToTal(DK_TOTAL_ADDR);
             dwZipCnt++;
             if((GetTotal(DK_TOTAL_ADDR) >= DK_PARAM_SET_TOTAL) || SingOneFlg)
             {
                  if(SingOneFlg)
                  {
                      DK_AutoStep = 0;
                      DK_bRunning = 0; 
                      SingOneFlg    = 0;
                  }
                  else
                  {
                      DK_SetAlarmCode(DK_TOTAL_ALARM);             
                  }
             }    
             else
             {
                  DK_AutoStep = 2;
                  DK_AutoDelay = DK_PARAM_CYCLE_DELAY + dwTickCount;
                  CalProSP(DK_PROSPEED_ADDR);
             }
        }    
    }
}


#endif