#include "global.h"

#if FU_XIAO_WEI_MACHINE

void DK_InitAction(void);
void DK_ChuiQi(void);
void DK_Action(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;
}

void DK_InitAction(void)
{   
    float buff_pulse,buff_dist;
       
    buff_pulse  = DK_PARAM_CYCLE_PULSE;
    buff_dist   = DK_PARAM_CYCLE_LENGTH;
    XGearRatio  =  buff_pulse/buff_dist;
}

void DK_ChuiQi(void)
{ 
   if(DK_XC_ORIGIN_IN_UP)
   {
       DK_CQ_VAVLE = 1;
       DK_CQ_Delay = dwTickCount + DK_PARAM_CQ_TIME;
   }
  
   if(DK_CQ_VAVLE && (dwTickCount >= DK_CQ_Delay))
   {
       DK_CQ_VAVLE = 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_N);
        }

        if(DK_bBackMotor)
        {
            if(!X_DRV)AxisContinueMove(X_AXIS,DK_PARAM_HIGH_SPEED,DK_DIR_P);
        }
        
        if(!DK_bMotor && !DK_bBackMotor)
        {
            if(X_DRV)AxisDecStop(X_AXIS);
        }
        
        if(DK_bCQ)
        {
           DK_bCQ = 0;
           DK_CQ_VAVLE = 1;
           DK_CQ_Delay = dwTickCount + DK_PARAM_CQ_TIME;
        }
        
        
        if(DK_bManXiaChong || (DK_MANAL_XC_IN && !DK_MANAL_XC_IN_UP))
        {
            DK_bManXiaChong = 0;
            
            if(DK_XiaChongStep == 0)
            {
                DK_XiaChongStep = 1;
            }
        }
        
        
    }
}


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

//下冲动作
void DK_XiaChong(void)
{
    if(DK_XiaChongStep == 1)
    {
         if(DK_bRunning)DK_XiaChongDelay = dwTickCount + DK_PARAM_XC_DELAY + 50;
         else
             DK_XiaChongDelay = dwTickCount + 50;
         
         DK_SC_VAVLE     = 0;
         DK_XiaChongStep = 2;
    }
    else if((DK_XiaChongStep == 2) && (dwTickCount >= DK_XiaChongDelay))
    {
         DK_XC_MOTOR = 1;
         if(DK_bRunning)DK_XiaChongDelay = dwTickCount + DK_PARAM_XC_ALARM_TIME;
         else
             DK_XiaChongDelay = dwTickCount + 5000;
           
         DK_XiaChongStep = 3;
    }
    else if(DK_XiaChongStep == 3)
    {
        if(DK_XC_ORIGIN_IN_UP)
        {
            DK_XC_MOTOR = 0;
            if(DK_bRunning)DK_XiaChongDelay = dwTickCount + DK_PARAM_XC_DELAY_STOP_TIME;
            else
               DK_XiaChongDelay = dwTickCount + 10;
            DK_XiaChongStep = 4;
        }
        else if(dwTickCount >= DK_XiaChongDelay)
        {
            DK_SC_VAVLE  = 1;
            DK_XC_MOTOR  = 0;
            DK_SetAlarmCode(DK_XM_LIMIT_ALARM);
        }
    }
    else if((DK_XiaChongStep == 4) && (dwTickCount >= DK_XiaChongDelay))
    {
        DK_SC_VAVLE     = 1;
        DK_XiaChongStep = 0;
    }
    else if((DK_XiaChongStep == 5) && (dwTickCount >= DK_XiaChongDelay))
    {
        DK_SC_VAVLE     = 0;
        DK_XiaChongStep = 0;
    }
}

//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_CQ_VAVLE       = 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:
                        if(!X_DRV)AxisMoveTwoPos(X_AXIS,DK_PARAM_HIGH_SPEED,(DK_PARAM_ZIPRER_LENGTH - DK_PARAM_LOWSPEED_LENGTH),DK_PARAM_LOW_SPEED,DK_PARAM_LOWSPEED_LENGTH,DK_DIR_N);
                        QD_MotorStep = 3;            
			break;
		case 3:
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                        }   
                        break;
                case 10:                     
                        QD_MotorStep = 11;            
			break;
                case 11:                     
                        QD_MotorStep = 12;     
                        if(!X_DRV)AxisMovePos(X_AXIS,DK_PARAM_HIGH_SPEED,-DK_PARAM_BACK_LENGTH);
			break;
                case 12:                     
                        if(!X_DRV)
                        {
                            QD_MotorStep   = 0;
                        }            
			break;
	}

}

//自动运行动作
void DK_AutoRunStep(void)
{    
    if(DK_bRunning)
    {
        if(DK_AutoStep == 1)
        {
            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(QD_MotorStep == 0)QD_MotorStep = 10;
            DK_AutoStep  = 5;       
        }   
        else if(DK_AutoStep == 5)
        {
            if(QD_MotorStep == 0)
            {
                DK_AutoStep  = 6;            
            }  
        }   
        else if(DK_AutoStep == 6)
        {
            if(DK_XiaChongStep == 0)
            {
                DK_XiaChongStep = 1;
                DK_XiaChongDelay = dwTickCount + DK_PARAM_XC_DELAY;
            }
            DK_AutoStep     = 7;      
        }
        else if(DK_AutoStep == 7)
        {
            if(DK_XiaChongStep == 0)
            {
                DK_AutoStep = 8;
            }
        }       
        else if(DK_AutoStep == 8)
        {
             AddToTal(DK_TOTAL_ADDR);
             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