GC19038/Machine/ChangShengGeiLiMachine/GLJiaoYaDinCun.c

#include "global.h"

#if CHANG_SHENG_GEI_LI_MACHINE==1

unsigned char cSeBiaoStep = 0;        
unsigned long dwSeBiaoDelayCnt = 0;
unsigned long JY_cycletime,JY_TDtime,JY_XiaCongtime;

//
typedef struct
{
   unsigned short runstep;
   unsigned short count_mode;
   unsigned long up_time;
   unsigned long Down_time;
   unsigned long up_cycle_time;
   unsigned long down_cycle_time;
   unsigned long cycle_time;
   unsigned long prv_cycle_time;
   unsigned long up_pulse_time;
   unsigned long down_pulse_time;
   unsigned short prv_up_pulse_time;
   unsigned short prv_down_pulse_time;   
   unsigned short countnum;
   unsigned short counterronum;
} Exti_Count_t;
Exti_Count_t Exti_Count;

unsigned long GetToothNum(unsigned long zipper_length);
unsigned long JYDC_ToothGetLength(unsigned long tooth_num);
unsigned char cJHJYStopNum;
unsigned char MotorRunLengthFlag=0;
unsigned char kadaibegin = 0;

#define CHUDAI_MAX_LENGTH   12000
#define CHUDAI_MIN_LENGTH   100
unsigned long Cur_chudai_length,Cur_DC_length,Cur_CC_length;
unsigned long Cur_DC_Num=0;
unsigned short JYDC_LinkStep,JYDC_STARTFLAG;

unsigned short CCJ_STARTFLAG;
unsigned long Cur_CC_Num=0;
unsigned char Link_TB_FLG=0,Link_TB_Set=0;
unsigned char link_DC_OVER_FLG;

void JYDC_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JYDC_ALARM_ADDR,alarm_code);
    JYDC_bAlarmStop = 1;
}
void JYDC_DelayAction(void)
{
}
void JYDC_LinkAction(void)
{
    unsigned long length_tmp;
    if((JYDC_bRunning&&CCJ_bRunning))//联机
    {
        length_tmp=JYDC_ToothGetLength(JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY);
        Cur_DC_length=length_tmp*Cur_DC_Num+dwXRealPos;
        Cur_CC_length=length_tmp*Cur_CC_Num+dwYRealPos;
        Cur_chudai_length=CHUDAI_MAX_LENGTH+Cur_DC_length-Cur_CC_length;
        if(JYDC_STARTFLAG==0)link_DC_OVER_FLG=1;
        if(CCJ_STARTFLAG==0)Link_TB_Set=1;
        switch(JYDC_LinkStep)
        {
        case 1:
            if(JYDC_Wait_IN)//定寸到位，定寸停，启动下止,
            {                
                JYDC_STARTFLAG=0;
                CCJ_STARTFLAG=1;
                JYDC_LinkStep=2;                
            }
            else//否则启动定寸
            {
                JYDC_STARTFLAG=1;
                CCJ_STARTFLAG=0;
                JYDC_LinkStep=20;
            } 
            Link_TB_FLG=0;
            //Link_TB_Set=0;
            break;
        case 2://离开定寸位置，
            if(!JYDC_Wait_IN)
            {
                Cur_DC_Num=0;
                Cur_CC_Num=0;
                JYDC_LinkStep=3;
            }
            break;
        case 3: //离开一定位置后，启动定寸       
            if(Cur_CC_length>=4000)
            {        
                JYDC_STARTFLAG=1;  //启动定寸  
                //Link_TB_Set=1;
                JYDC_LinkStep=4;
                //link_DC_OVER_FLG=1;
                Link_TB_Set=1;
            }
            break;
        case 4://同步
            Link_TB_FLG=1;
            //安全保护      
            if(CCJ_Wait_IN)
            {          
                if(CCJ_MotorStep == 2)
                {
                    CCJ_AutoStep=2; 
                    CCJ_MotorStep=0;
                    AxisEgmStop(Y_AXIS);
                }                
                CCJ_STARTFLAG=0;
                JYDC_STARTFLAG=1;
                Cur_DC_Num=0;
                Link_TB_FLG=0;
                JYDC_LinkStep=20;
            }
            if(JYDC_Wait_IN)
            {
                if(JYDC_cMotorStep == 62)
                {                   
                    JYDC_cMotorStep=65;                    
                }
                CCJ_STARTFLAG=1;
                JYDC_STARTFLAG=0;
                
                Cur_CC_Num=0;
                Link_TB_FLG=0;
                JYDC_LinkStep=2;
            } 
            break;
        case 20: 
            if(JYDC_Wait_IN)//||Cur_DC_length>=8000
            {
                Cur_DC_Num=0;
                Cur_CC_Num=0;
                if(JYDC_Wait_IN)
                {
                    JYDC_LinkStep=21;
                    JYDC_STARTFLAG=0;
                    CCJ_STARTFLAG=1;                    
                }
                else
                {
                    JYDC_LinkStep=3;
                    CCJ_STARTFLAG=1;
                }
            }
            break;
        case 21:        
            JYDC_LinkStep=2;
            break;
            
        }
    }
    else
    {
        JYDC_STARTFLAG=1;
        CCJ_STARTFLAG=1;
        link_DC_OVER_FLG=1;
        Link_TB_Set=1;
        //Link_TB_Set=1;
        Link_TB_FLG=1;
        
        if( CCJ_Wait_IN && CCJ_bRunning)
        {
            if(CCJ_MotorStep == 2)
            {                
                CCJ_AutoStep = 0; 
                CCJ_MotorStep = 0;
                AxisEgmStop(Y_AXIS);
                CCJ_bRunning = 0;
            }
            else
                CCJ_SingOneFlg = 1;
        }
    }
    
}


//模具选择
void ModeSelect(void)
{
    switch(MODE_SELECT)   //模具选择
    {
    case 0:   //3#模具
        JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU1;//基准长度对应齿数
        JY_JIZHUN_LEN     = JY_JIZHUN_LEN1;//基准长度
        SET_DAOKOU_JY     = SET_DAOKOU_JY1;   //机械模具刀口
        break;
    case 1:	//5#模具
        JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU2;//基准长度对应齿数
        JY_JIZHUN_LEN     = JY_JIZHUN_LEN2;//基准长度
        SET_DAOKOU_JY     = SET_DAOKOU_JY2;   //机械模具刀口
        break;
    case 2:	//8#模具
        JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU3;//基准长度对应齿数
        JY_JIZHUN_LEN     = JY_JIZHUN_LEN3;//基准长度
        SET_DAOKOU_JY     = SET_DAOKOU_JY3;   //机械模具刀口
        break;
    default: //特殊模具
        JY_JIZHUN_CISHU   = JY_JIZHUN_CISHU4;//基准长度对应齿数
        JY_JIZHUN_LEN     = JY_JIZHUN_LEN4;//基准长度
        SET_DAOKOU_JY     = SET_DAOKOU_JY4;   //机械模具刀口
        
        break;	
    }
    //基准齿数或长度为0时
    if((JY_JIZHUN_CISHU == 0) || (JY_JIZHUN_LEN == 0))
    {
        JY_JIZHUN_CISHU = 49;
        JY_JIZHUN_LEN = 1250;
        SET_DAOKOU_JY = 10;
    }	
}
//手动动作
void JYDC_ManualAction(void)
{  
    unsigned long ch;            
    //产量清零
    if(bClearTotal)
    {
        bClearTotal       = 0;
        ClrcToTal(JYDC_TOTAL_ADDR);
    }    
    if(!JYDC_bRunning)
    {
        //齿数加
        if(JYDC_bAddTooth)
        {
            JYDC_bAddTooth = 0; 
            //JYDC_PARAM_REVICHISHU++;
            ch = GetData32bits(SET_LEN_ADDR_JY);
            ch++;
            SetData32bits(SET_LEN_ADDR_JY,ch);            
        }
        //齿数减      
        if(JYDC_bDecTooth)
        {
            JYDC_bDecTooth = 0; 
            //if(JYDC_PARAM_REVICHISHU)JYDC_PARAM_REVICHISHU--;            
            ch = GetData32bits(SET_LEN_ADDR_JY);
            if(ch)
               ch--;
            SetData32bits(SET_LEN_ADDR_JY,ch);         
        }
        //手动下冲       
        if(JYDC_bManXiaChong || JYDC_ManXiaChong_UP)
        {
            JYDC_bManXiaChong = 0;            
            if(JYDC_cXiaChongStep == 0)
            {
                JYDC_cXiaChongStep = 1;
            }
        }
        //手动锁齿
        if(JYDC_bManSuoChi)
        {
            JYDC_bManSuoChi = 0;       
            JYDC_SuoChi_VAVLE = ~JYDC_SuoChi_VAVLE; 
        }
        //手动吹气
        if(JYDC_bManChuiQi)
        {
            JYDC_bManChuiQi = 0;  
            JYDC_ChuiQi_VAVLE = 1;
            JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;
        }
        //改变尺寸重新算
        if(JYDC_bChangeLength)
        {
            JYDC_bChangeLength = 0;    
            ModeSelect();            
            SetData32bits(31,CalInch(SET_ZIPPER_LENGTH));            
            SetData32bits(SET_LEN_ADDR_JY, GetToothNum(SET_ZIPPER_LENGTH)); //对就齿数
                      
        }
        //输入英寸
        if(JYDC_bSetInch)
        {
            JYDC_bSetInch = 0;           
            SetData32bits(SET_LEN_ADDR,CalLengthCM(SET_ZIPPER_LENGTH_INCH));
            JYDC_bChangeLength = 1;
        }
        //设定齿数算长度
        if(JYDC_bSetTooth)
        {
            JYDC_bSetTooth = 0;
            SetData32bits(SET_LEN_ADDR,JYDC_ToothGetLength(JYDC_PARAM_REVICHISHU));
            JYDC_bChangeLength = 1;
        }
        //铣齿电机
        if(JYDC_bManXiChiMotor)
        {
            JYDC_bManXiChiMotor = 0;
            JYDC_XiChi_MOTOR    = ~JYDC_XiChi_MOTOR;
        }    
        if(JYDC_bManMotor)
        {
            if(!X_DRV)
            {
                JYDC_SuoChi_VAVLE = 0; 
                AxisContinueMove(X_AXIS,10,JHJY_DIR_P);
            }
        }
        else if(!JYDC_bManGuaChiMotor && !JYDC_cCSStopStep)
        {
            if(X_DRV)
            {
                AxisEgmStop(X_AXIS);
            }
        }
    }
}
//高速输入X30/X16定时器中断
void JYDC_ExtiActionX30(unsigned char up_down)
{
    static unsigned char jy_num=0;
    sw_timer_t now;
    sw_timer_now(&now); 
   
    if(JYDC_bRunning)
    {
        //下降沿检测
        if((Exti_Count.runstep==1)&&(up_down&&Exti_Count.count_mode||!up_down&&!Exti_Count.count_mode))//第一次上升沿
        {
          Exti_Count.up_time=hw_read_us();
          Exti_Count.up_pulse_time=0;
          Exti_Count.up_cycle_time=0;
          Exti_Count.down_pulse_time=0;
          //Exti_Count.countnum++; 
          Exti_Count.runstep=2;        
        }
        else if((Exti_Count.runstep==2)&&(!up_down&&Exti_Count.count_mode||up_down&&!Exti_Count.count_mode))
        {
          Exti_Count.prv_up_pulse_time=Exti_Count.up_pulse_time;
          Exti_Count.up_pulse_time=hw_read_us()-Exti_Count.up_time;
          Exti_Count.Down_time=hw_read_us();    
          
          if(Exti_Count.up_pulse_time>=JYDC_HLEVEL_TIME)//&&Exti_Count.up_pulse_time>=Exti_Count.prv_up_pulse_time/3)//高电平脉冲大于400us
          {
            
            Exti_Count.runstep=3;
            Exti_Count.countnum++;            
            if(Exti_Count.countnum>=JYDC_CURJY_SET)
            {
               //AxisEgmStop(X_AXIS);
               DISPLAY_DATA2=jy_num;
               Exti_Count.runstep=0;
               jy_num=0;
               if(SET_STOP_PLUS)
                  axis_plus_stop(axis_x,SET_STOP_PLUS);//多走几个脉冲停机
               else 
                 AxisEgmStop(X_AXIS);
            }

          }
          else
          {
            Exti_Count.counterronum++;
            //SingOneFlg=1;
            JYDC_Check_HERRO=1;
            DISPLAY_DATA1=Exti_Count.countnum;            
            //DISPLAY_DATA3=Exti_Count.up_pulse_time;
          }          
          if(jy_num>=80)jy_num=0;
          {
            if(!JYDC_Check_HL)
                user_datas[130+jy_num]=Exti_Count.up_pulse_time;
            else
               user_datas[130+jy_num]=Exti_Count.down_pulse_time;
          }
          jy_num++;          
        }
        else if((Exti_Count.runstep==3)&&(up_down&&Exti_Count.count_mode||!up_down&&!Exti_Count.count_mode))
        {
           //周期，低电平脉宽  
           Exti_Count.prv_down_pulse_time=Exti_Count.down_pulse_time;
           Exti_Count.down_pulse_time=hw_read_us()-Exti_Count.Down_time;
           //记录上升沿发生时间
           Exti_Count.up_time=hw_read_us();
           Exti_Count.runstep=2;
           //判断
          if(Exti_Count.down_pulse_time>=JYDC_LLEVEL_TIME)//&&Exti_Count.down_pulse_time>=Exti_Count.prv_down_pulse_time/3)//高电平脉冲大于400us
          {
             Exti_Count.runstep=2; 
           }
           else
           {
              Exti_Count.counterronum++;
              JYDC_Check_LERRO=1;
              DISPLAY_DATA1=Exti_Count.countnum; 
           }  
        }    
    } 
    else
    {
         if(up_down)//上升沿
        {  
          //记录当前值周期，下降沿计数是，才有的上次的下降沿-本次的下降沿
          Exti_Count.up_cycle_time=hw_read_us()-Exti_Count.up_time;
          if(Exti_Count.up_cycle_time>10000)Exti_Count.up_cycle_time=10000;          
          Exti_Count.up_time=hw_read_us();               

        }
        else //下降沿
        {
          //记录当前值周期，下降沿计数是，才有的上次的下降沿-本次的下降沿
          Exti_Count.down_cycle_time=hw_read_us()-Exti_Count.Down_time;
          if(Exti_Count.down_cycle_time>10000)Exti_Count.down_cycle_time=10000;
          Exti_Count.Down_time=hw_read_us();     
        }
        if(Exti_Count.count_mode)Exti_Count.cycle_time=Exti_Count.up_cycle_time;
        else Exti_Count.cycle_time=Exti_Count.down_cycle_time; 
        if((Exti_Count.count_mode==0&&up_down||Exti_Count.count_mode&&up_down==0)){
        if((Exti_Count.cycle_time>=10000))Exti_Count.countnum++; 
          
      }
    }
}
int  GetJYChishu(void)
{
  return Exti_Count.countnum;
}
void SetJYChishu(int num)
{
  Exti_Count.countnum=num;
}
//高速输入X31/X17外部色标信号中断
void JYDC_ExtiActionX31(void)
{
 
}
//输入拉链长度返回所输入拉链长度所对应的齿数
unsigned long GetToothNum(unsigned long zipper_length)
{
    float length_buff1,tooth_buff,length_buff2;
    length_buff1 = zipper_length;
    tooth_buff   = JY_JIZHUN_CISHU;
    length_buff2 = JY_JIZHUN_LEN;
    return (unsigned long)round(length_buff1 * tooth_buff / length_buff2);
}
//输入齿数返回拉链长度
unsigned long JYDC_ToothGetLength(unsigned long tooth_num)
{
    float toothbuff1,tooth_buff,length_buff2;
    toothbuff1   = tooth_num;
    tooth_buff   = JY_JIZHUN_CISHU;
    length_buff2 = JY_JIZHUN_LEN*10;    
    return (unsigned long)round((toothbuff1 * length_buff2 / tooth_buff));
}

//吹气动作
void JYDC_ChuiQi(void)
{
    if(JYDC_XiaChong_IN_DW)
    {
        JYDC_ChuiQi_VAVLE = 1;
        JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;		
    }
    
    if(JYDC_ChuiQi_VAVLE)
    {
        if(JYDC_ChuiQiDelay < dwTickCount)JYDC_ChuiQi_VAVLE = 0;			
    }
    
    if(JYDC_XiChiChuiQi_VAVLE)
    {
        if(JYDC_XiChiChuiQiDelay < dwTickCount)JYDC_XiChiChuiQi_VAVLE = 0;
    }
}
//下冲动作
void JYDC_XiaChong(void)
{
    switch(JYDC_cXiaChongStep)
    {  
    case 1:
        cJHJYStopNum = 0;
        JYDC_ShaChe_VAVLE = 0;         
        JYDC_SuoChi_VAVLE = 1; //手动下冲锁齿输出
        if(JYDC_bRunning)
            JYDC_XiaChongDelay = dwTickCount + XIACONG_DELAY_TIME + 5;
        else
            JYDC_XiaChongDelay = dwTickCount + 15;
        JYDC_cXiaChongStep = 2;
        break;
    case 2:
        if(dwTickCount >= JYDC_XiaChongDelay)
        {
            JYDC_XiaChong_MOTOR = 1;
            
            if(JYDC_XiaChong_IN)  //如是在感应上就先走下降延
            {
                JYDC_cXiaChongStep = 3;
                JYDC_XiaChongDelay = dwTickCount + 3000; 
            }
            else
            { 
                JYDC_cXiaChongStep = 4;
                JYDC_XiaChongDelay = dwTickCount + 35;   
            }
        }
        break;
    case 3:
        if(JYDC_XiaChong_IN_DW)
        {
            JYDC_cXiaChongStep = 4;
            JYDC_XiaChongDelay = dwTickCount + 35; 
        }
        else if(dwTickCount >= JYDC_XiaChongDelay)//下冲警告
        {
            JYDC_SetAlarmCode(JYDC_XIACHONG_ARRIVE_ALARM);
            JYDC_XiaChong_MOTOR = 0;
            JYDC_cXiaChongStep   = 6;
        }
        break;
    case 4:    
        if(dwTickCount >= JYDC_XiaChongDelay)
        {
            JYDC_cXiaChongStep = 5;
            JYDC_XiaChongDelay = dwTickCount + 3000;//JYDC_PARAM_XC_ALARM_TIME;
        }
        break;           
    case 5:         
        if(JYDC_XiaChong_IN_UP)
        {
            JYDC_XiaChong_MOTOR = 0;
            JYDC_XiaChongDelay = dwTickCount + JYDC_PARAM_SHACHE_DELAY_TIME;//延时刹车
            JYDC_cXiaChongStep = 6;
        }
        else if(dwTickCount >= JYDC_XiaChongDelay)//下冲警告
        {
            JYDC_SetAlarmCode(JYDC_XIACHONG_ARRIVE_ALARM);
            JYDC_XiaChong_MOTOR = 0;
            JYDC_cXiaChongStep   = 6;
        }
        break;
    case 6:    
        if(dwTickCount >= JYDC_XiaChongDelay)  //延时刹车
        {
            JYDC_ShaChe_VAVLE = 1;
            JYDC_cXiaChongStep = 0;
            //齿数清零
            axispostion=0;
            SetPos(X_AXIS,0);
            SetJYChishu(0);
            if(!JYDC_bRunning)
            {                 
               SetPos(X_AXIS, 0);                
            }
            JYDC_XiaChongDelay = dwTickCount + JYDC_PARAM_SHACHE_TIME;
        }
        break;
    }               
    if(JYDC_ShaChe_VAVLE && (dwTickCount >= JYDC_XiaChongDelay))
    {
        JYDC_ShaChe_VAVLE = 0;
    }
}
//启动停止故障停止动作
void JYDC_StartStopAction(void)
{
    static unsigned long long_time_delay,Dw_StopInTime;
    if((JYDC_START_IN_UP || JYDC_bStart||JYDC_bSingleONE) && !JYDC_bRunning && (JYDC_cAutoStep ==0))
    {    
        //产量对比
        if(JYDC_bSingleONE)SingOneFlg=1;
        JYDC_bSingleONE=0;
        if(GetTotal(JYDC_TOTAL_ADDR) >= JYDC_SET_TOTAL)
            JYDC_SetAlarmCode(JYDC_TOTAL_ALARM);
        else
        {           
                   
            JYDC_cAutoStep = 1;
            JYDC_bRunning = 1;
            JYDC_SuoChi_VAVLE = 0;          
            JYDC_cAutoDelay = dwTickCount + 300;
            cJHJYStopNum = 0;
            MotorRunLengthFlag=0;
            kadaibegin=0;
            JYDC_cCSStopStep = 0;
            Exti_Count.counterronum=0;
            JYDC_LinkStep=1;
            link_DC_OVER_FLG=1;
            SingOneFlg=0;
        }
        JYDC_bStart   = 0;
    }
    //卡带 
    if(JYDC_KaDai_IN)
    {
        if(!X_DRV)
        {
            JYDC_SuoChi_VAVLE = 1;
            JYDC_bRunning = 0;
            JYDC_cAutoStep     = 0;
            SetAlarmCode(JYDC_ALARM_ADDR,JYDC_KADAI_ALARM);
        }
        else
        {
            if(!JYDC_cCSStopStep)//在运行过程中，卡带的动作？
            {                 
                JYDC_cCSStopStep = 1;
            }
        }
    }
 
    if(JYDC_STOP_IN_UP || JYDC_bStop)
    {
        JYDC_bStop = 0;
        Dw_StopInTime = dwTickCount + 70;
        cJHJYStopNum++;
         //吹气
        JYDC_ChuiQi_VAVLE = 1;
        JYDC_ChuiQiDelay = dwTickCount + JYDC_PARAM_CHUIQI_TIME * 10;
        JYDC_cAutoDelay  = dwTickCount;
        //停机            
        //JYDC_bRunning       = 0;
        JYDC_cAutoStep       = 0;
        if(X_DRV)//在运行过程中
        {
             if(cJHJYStopNum >= 2)
             {
               JYDC_cCSStopStep = 0;
               JYDC_bRunning       = 0; 
               AxisEgmStop(X_AXIS); 
               JYDC_cAutoStep     = 0;
               JYDC_cMotorStep=0;
             }
             else
             {
               JYDC_cCSStopStep = 1;
             }
        }
        else
        { 
            SingOneFlg = 1;
            if(cJHJYStopNum >= 2)
            {
                JYDC_SuoChi_VAVLE = 0;
                JYDC_bRunning       = 0;                
                AxisEgmStop(X_AXIS); 
                JYDC_cAutoStep     = 0;
                JYDC_cMotorStep=0;
                JYDC_cCSStopStep = 0;
            }
        }        
        JYDC_bManGuaChiMotor = 0;
        JYDC_XiChi_MOTOR=0;
        
    }
    if(JYDC_STOP_IN_DW)Dw_StopInTime = dwTickCount + 70;        
    //长时间按停止时锁带关      
    if(JYDC_STOP_IN)
    {  
        if(dwTickCount>=long_time_delay)
        {
            JYDC_SuoChi_VAVLE = 0; 
            AxisEgmStop(X_AXIS);
            JYDC_cCSStopStep = 0;
        }
    }
    else
    {
        long_time_delay = dwTickCount+1300;        
    }   
    if(JYDC_bAlarmStop)
    {
        JYDC_bAlarmStop = 0;  
        JYDC_cAutoStep= 0;
        if(X_DRV)//在运行过程中
        {
             JYDC_cCSStopStep = 1;
        }
        else
        {
          JYDC_bRunning=0;
          JYDC_SuoChi_VAVLE = 1;
        }
        JYDC_cAutoDelay  = dwTickCount;
        SingOneFlg = 0;
        JYDC_bManGuaChiMotor = 0;
        JYDC_XiChi_MOTOR=0;
    }
}
unsigned char CheckMaxLowSpeed(unsigned char cspeed)
{
    if(cspeed > JYDC_PARAM_SET_SPEED) 
        return JYDC_PARAM_SET_SPEED;
    else 
        return cspeed;
}
//自动运行动作
void JYDC_AutoAction(void)
{
  DISPLAY_DATA0 = Link_TB_Set;//Exti_Count.counterronum;
  //DISPLAY_DATA1 = JYDC_cMotorStep;
  //DISPLAY_DATA2 = JYDC_cAutoStep;
  //DISPLAY_DATA3 = JYDC_cXiaChongStep;
  //DISPLAY_DATA4 = JY_TDtime;//JYDC_cCheckLengthOk;
  DISPLAY_DATA5 = JYDC_cMotorStep;//JYDC_cValveStep;
  DISPLAY_DATA6 = dwXRealPos;
  //DISPLAY_DATA6 = JYDC_LinkStep;
  //DISPLAY_DATA7=  link_DC_OVER_FLG;//JY_XiaCongtime;
  //铣齿电机开关
    if(JYDC_bRunning)
    {         
        switch(JYDC_cAutoStep)
        {
            case 0:
              break;
            case 1:
              if(dwTickCount >= JYDC_cAutoDelay)
              {
                JY_cycletime=dwTickCount;
                JYDC_CRUKONGWEILENGTH=0;
                JYDC_cAutoStep = 2;
              }
              break;
            case 2://拖带              
              if(dwTickCount >= JYDC_cAutoDelay)//左右分针要退到位，过链到位要离开
              {
                if(JYDC_XICHI_MOTOR_MODE)
                    JYDC_XiChi_MOTOR = 1;
                 else 
                    JYDC_XiChi_MOTOR = 0;
                JYDC_cAutoStep = 3;
                JY_TDtime=dwTickCount;
                switch(JYDC_DC_MODE)
                {                   
                    case JYDC_DC_GD_MODE:JYDC_cMotorStep = 60; break;    //光电
                    case JYDC_DC_SB_MODE:JYDC_cMotorStep = 20; break;    //色标
                    case JYDC_DC_GZ_MODE:JYDC_cMotorStep = 1; break;     //钩针                 
                }               
              }     			
              break;
           case 3://拖带完成，延时锁齿             
              if(JYDC_cMotorStep == 0)
              {
                JY_TDtime=dwTickCount-JY_TDtime;
                JYDC_cAutoDelay = dwTickCount + 0;  
                JYDC_cAutoStep = 4;
              }
              break;
           case 4://锁齿          
              if(dwTickCount >= JYDC_cAutoDelay)
              {
                JYDC_SuoChi_VAVLE=1;
                Exti_Count.runstep=0;                
                JYDC_cAutoStep = 5;
              }
              break;
            case 5://下冲              
              if((dwTickCount >= JYDC_cAutoDelay))
              { 
                JY_TDtime=dwTickCount-JY_TDtime;
                if(JYDC_cXiaChongStep == 0)
                {
                    if(!JYDC_bTest)JYDC_cXiaChongStep = 1;                        
                    else 
                    {
                      JYDC_cXiaChongStep = 0; 
                      axispostion=0;
                      SetPos(X_AXIS,0);
                      SetJYChishu(0);
                    }
                    JYDC_cAutoStep = 6;
                }   
              }
              break;
            case 6:  //下冲已完成,判断除齿长度，是否多刀
              if((JYDC_cXiaChongStep == 0))
              {
                JY_XiaCongtime=dwTickCount-JY_XiaCongtime;    
                //除齿判断
                if(JYDC_CRUKONGWEILENGTH>=JYDC_PARAM_KONG_WEI_LENGTH)
                {
                  JYDC_CRUKONGWEILENGTH=0;                   
                  if(JYDC_cGZDW_CNT < 3)JYDC_cGZDW_CNT++;
                  AddToTal(JYDC_TOTAL_ADDR);	 //计数增加和保存
                  CalProSP(JYDC_PROSPEED_ADDR);                  
                  JYDC_cAutoStep = 7;  
                }
                else
                {                        
                    JYDC_cAutoStep = 2; 
                }
              }
              break;		
            case 7: 
              if(GetTotal(JYDC_TOTAL_ADDR) >= JYDC_SET_TOTAL)
              {
                JYDC_SetAlarmCode(JYDC_TOTAL_ALARM); 
                CCJ_SingOneFlg=1;
              }
              JYDC_cAutoStep = 8;
              break;	
            case 8:
              JYDC_cAutoDelay = dwTickCount + 0;//JYDC_PARAM_CYCLE_DELAY;    
              JYDC_cAutoStep = 1;
              link_DC_OVER_FLG=1;
              JY_cycletime=dwTickCount-JY_cycletime;
              if(SingOneFlg||JYDC_bTest)
              {
                JYDC_cGZDW_CNT=0;
                dwZipCnt   = 0;
                SingOneFlg = 0;
                JYDC_cAutoStep = 0;
                JYDC_bRunning = 0; 
                JYDC_XiChi_MOTOR=0;
              }              
              break;		                     
        }		         
    }
}
void  JYDC_Motor(void)
{
  static unsigned long zipper_length,low_length;
  //实时显示行程总长
  //JYDC_All_LENTH =  JYDC_SET_ZIPPER_LENGTH + JYDC_SET_REVISE_ZIPPER_LENGTH + JYDC_PARAM_KONG_WEI_LENGTH;
  dwXRealPos = GetPos(X_AXIS);
  JYDC_dwEncPos = GetJYChishu();//获取胶牙齿数
  axis_position_encode=(long)(JYDC_ToothGetLength(JYDC_dwEncPos)*XGearRatio);//(long)(JYDC_dwEncPos*XGearRatio); //由齿数获取长度
  switch(JYDC_cMotorStep)
  {
  case 0:
    break;
  case 1:
    break;
  case 2:
    break;	
  case 3:
    break;	
  case 4:     
   break;
  case 5:
    break;
  case 8:       
    break;	
  case 9:
    break;	
  case 10:    
    break;
  case 11:	
    break;
  case 20:
    break;
  case 21: 
    break;
  case 22:           
    break;
  case 60: 
    if(JYDC_STARTFLAG&&(Link_TB_Set||!CCJ_bRunning)&& (!JYDC_Wait_IN||!CCJ_bRunning))
    {
        Link_TB_Set=0;
        if(JYDC_dwEncPos>=JYDC_PARAM_REVICHISHU+SET_DAOKOU_JY&&JYDC_CRUKONGWEILENGTH==0)
        {
          JYDC_cMotorStep = 64;
          JYDC_CRUKONGWEILENGTH=SET_DAOKOU_JY;
          JYDC_cMotorDelay = dwTickCount + NO_TOOTHCOUT_TIME; 
        }
        else 
        {
          JYDC_cMotorStep = 61;
          JYDC_SuoChi_VAVLE = 0;  //锁齿阀关
          JYDC_cAutoDelay    = dwTickCount + 40;
          //if(jydc_use_x30)
          //  EXTI30Enable();
          //if(jydc_use_x20)
          //  EXTI20Enable();
        } 
    }
    break;
  case 61:
    if((dwTickCount >= JYDC_cMotorDelay))                
    {
      if(JYDC_CRUKONGWEILENGTH==0)
      { 
                 
         zipper_length =JYDC_ToothGetLength(JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY-JYDC_dwEncPos);
         JYDC_CURJY_SET=JYDC_PARAM_REVICHISHU + SET_DAOKOU_JY-JYDC_dwEncPos;
         //DISPLAY_DATA0=zipper_length;
         //DISPLAY_DATA1=JYDC_PARAM_REVICHISHU;
         //DISPLAY_DATA2=SET_DAOKOU_JY;
         
         JYDC_CRUKONGWEILENGTH=SET_DAOKOU_JY;
      }
      else if(JYDC_PARAM_KONG_WEI_LENGTH-JYDC_CRUKONGWEILENGTH>=SET_DAOKOU_JY)
      {
         zipper_length=JYDC_ToothGetLength(SET_DAOKOU_JY);
         JYDC_CURJY_SET=SET_DAOKOU_JY;
         JYDC_CRUKONGWEILENGTH+=SET_DAOKOU_JY;
      }
      else
      {
         zipper_length=JYDC_ToothGetLength(JYDC_PARAM_KONG_WEI_LENGTH-JYDC_CRUKONGWEILENGTH);
         JYDC_CURJY_SET=JYDC_PARAM_KONG_WEI_LENGTH-JYDC_CRUKONGWEILENGTH;
         JYDC_CRUKONGWEILENGTH+=JYDC_PARAM_KONG_WEI_LENGTH-JYDC_CRUKONGWEILENGTH;
      }
      low_length=JYDC_ToothGetLength(JYDC_PARAM_LOW_LENGTH);
      if(zipper_length<1400)
      {
         AxisMovePosAccDecNotStop(X_AXIS,JYDC_PARAM_SET_SPEED*3/4+600,zipper_length,1200,JYDC_PARAM_LOW_SPEED,150,150,low_length);
      }
      else if(zipper_length<2400)
      {
         AxisMovePosAccDecNotStop(X_AXIS,JYDC_PARAM_SET_SPEED*7/8,zipper_length,1200,JYDC_PARAM_LOW_SPEED,150,150,low_length);
      }
      else
      {
         AxisMovePosAccDecNotStop(X_AXIS,JYDC_PARAM_SET_SPEED,zipper_length,1200,JYDC_PARAM_LOW_SPEED,150,150,low_length);
      }
      DISPLAY_DATA7=low_length;
      JYDC_cMotorDelay = dwTickCount + NO_TOOTHCOUT_TIME;
      //吹气
      JYDC_XiChiChuiQi_VAVLE = 1;
      JYDC_XiChiChuiQiDelay = dwTickCount + 200;
      JYDC_cMotorStep = 64;
      Exti_Count.runstep=1;
      Exti_Count.countnum=0;
    }	
    break;	
  case 64:	
    if(!X_DRV)
    {
        JYDC_cMotorStep = 0; 
        Cur_DC_Num++;
        Exti_Count.runstep=0;
        JYDC_cMotorDelay = dwTickCount;      
    }
    else if(dwTickCount >= JYDC_cMotorDelay)
    {
      JYDC_SetAlarmCode(JYDC_COUNT_ALARM);
      AxisEgmStop(X_AXIS);
    }
    break;
   case 65:	
        if(dwXRealPos<=zipper_length-500)//剩余长度小于5CM
        {
            AxisMovePosAccDec(X_AXIS,1000,300,600,600,20,20,0);
            JYDC_cMotorStep = 66;
        }
       else
       {
           JYDC_cMotorStep = 62;
       }
       break;
     case 66:	
        if(!X_DRV)
        {
           JYDC_cAutoStep=2; 
           JYDC_cMotorStep=0;
           JYDC_CRUKONGWEILENGTH=0;
        }
       break;	
  }
}
//按齿数暂停
void JYDC_ChiShuStop(void)
{
    switch(JYDC_cCSStopStep)
    {
    case 1:
        JYDC_cCSStopStep = 2;
        AxisContinueMoveChangeSpeed(X_AXIS,JYDC_PARAM_LOW_SPEED,JYDC_PARAM_LOW_SPEED/2,20,40);
        break;
    case 2:
        if(GetCurSpeed(X_AXIS) <= (JYDC_PARAM_LOW_SPEED*3/2))
        {            
            JYDC_cCSStopStep = 3;
            if(GetJYChishu() + 3 < JYDC_CURJY_SET)JYDC_CURJY_SET = GetJYChishu() + 3;
            JYDC_ShuChiStopDelay = dwTickCount + NO_TOOTHCOUT_TIME;
              
        }
        break;
    case 3:
        if(!X_DRV)//(GetCurSpeed(X_AXIS)<=  (JYDC_PARAM_LOW_SPEED + 50)) &&
        {
            JYDC_cMotorDelay = dwTickCount + 100;
            JYDC_cCSStopStep = 4;
        }
        else if(dwTickCount >= JYDC_ShuChiStopDelay)
        {
            JYDC_bRunning = 0;
            JYDC_cCSStopStep = 0;
            AxisEgmStop(X_AXIS);
        }
        break;
    case 4:
        if(dwTickCount>=JYDC_cMotorDelay)
        {
            JYDC_cCSStopStep = 0;
            JYDC_bRunning = 0;
            JYDC_SuoChi_VAVLE = 1;            
        }
        break;
    }
}
void JYDC_InitAction(void)
{   
    float length_buff,pulse_buff;    
    length_buff = JYDC_CYCLE_LENGTH;
    pulse_buff  = JYDC_CYCLE_PULSE;
    XGearRatio  = pulse_buff/length_buff; 
    if(MODE_SELECT > 3)
        MODE_SELECT = 0;
    ModeSelect();
    //当前齿数
    SetData32bits(CUR_LEN_ADDR_JY,0);
    cJHJYStopNum = 0;
    SetDirReverse(X_AXIS, 0);
    //EXTI30Enable();
    EXTI20Enable();
    
    //光电方式传感器采用类似编码器方式进行数齿
   // if(JYDC_DC_MODE == JYDC_DC_GD_MODE)
   //     axis_set_parameter(axis_x,AXIS_USE_ENCODE,1);
   // else
        axis_set_parameter(axis_x,AXIS_USE_ENCODE,0);
    
}
//胶牙定寸动作
void JYDC_Action(void)
{	
    Exti_Count.count_mode=user_datas[34];
    JYDC_ManualAction();
    JYDC_ChuiQi();
    JYDC_XiaChong();
    JYDC_StartStopAction();     
    JYDC_AutoAction();
    JYDC_Motor();
    JYDC_ChiShuStop();
    JYDC_LinkAction();
    SetData32bits(CUR_LEN_ADDR_JY,JYDC_dwEncPos);  //当前齿数给值
}
#endif