#include "global.h" #if (LOCAL_INPUT_BITS_NUMBER < IO_PIN_INPUT_NUMBER) #undef LOCAL_INPUT_BITS_NUMBER #define LOCAL_INPUT_BITS_NUMBER IO_PIN_INPUT_NUMBER #endif #if (LOCAL_OUTPUT_BITS_NUMBER < IO_PIN_OUTPUT_NUMBER) #undef LOCAL_OUTPUT_BITS_NUMBER #define LOCAL_OUTPUT_BITS_NUMBER IO_PIN_OUTPUT_NUMBER #endif #define IO_FILTER_H 10 //IO滤波高通计数 #define IO_FILTER_L 2 //IO滤波低通计数 #define IO_FILTER_JIFTTER 1000 //IO滤波间隔，单位是微秒 int io_inputs_buffer[IO_PIN_INPUT_NUMBER]; //#if USE_EXTEND_INOUTPUT byte_bits_t io_inputs[(LOCAL_INPUT_BITS_NUMBER + EXTEND_IO_INPUT_NUMBER + 7)>> 3]; byte_bits_t io_inputs_old[(LOCAL_INPUT_BITS_NUMBER + EXTEND_IO_INPUT_NUMBER + 7)>> 3]; byte_bits_t io_outputs[(LOCAL_OUTPUT_BITS_NUMBER + EXTEND_IO_OUTPUT_NUMBER + 7)>> 3]; //#else //byte_bits_t io_inputs[(LOCAL_INPUT_BITS_NUMBER + 7)>> 3]; //byte_bits_t io_inputs_old[(LOCAL_INPUT_BITS_NUMBER + 7)>> 3]; //byte_bits_t io_outputs[(LOCAL_OUTPUT_BITS_NUMBER + 7)>> 3]; //#endif static sw_timer_t filter_timer; /** * IO应用初始化函数 * * @author lxz (2019/5/29/周三) */ void io_app_init(void) { memset(io_inputs, 0, sizeof(io_inputs)); memset(io_inputs_old, 0, sizeof(io_inputs_old)); memset(io_outputs, 0, sizeof(io_outputs)); sw_timer_start(&filter_timer, 0, 0); hw_io_output_disable(); } /** * IO滤波输入 * * @author lxz (2019/5/29/周三) */ void io_app_read_input(void) { int index = 0; //读取输 memcpy(io_inputs_old, io_inputs, sizeof(io_inputs)); { //保存上一次的IO状态 for (index = 0; index < IO_PIN_INPUT_NUMBER; index++) { // #if() if(1)//(index != 14) || (JIAO_YA_DIN_CUN_CONFIG == 0)) { if (hw_io_pin_input(index)) { if (io_inputs_buffer[index] < IO_FILTER_H) { io_inputs_buffer[index]++; } else { io_inputs[index >> 3].bytes[0] |= 1 << (index & 0x07); } } else if (io_inputs_buffer[index] > IO_FILTER_L) { io_inputs_buffer[index]--; } else { io_inputs[index >> 3].bytes[0] &= ~(1 << (index & 0x07)); } } else { if (hw_io_pin_input(index)) { if (io_inputs_buffer[index] < IO_FILTER_H) { io_inputs_buffer[index]++; } else { io_inputs[index >> 3].bytes[0] |= 1 << (index & 0x07); } } else if (io_inputs_buffer[index] > (IO_FILTER_L)) { io_inputs_buffer[index]--; } else { io_inputs[index >> 3].bytes[0] &= ~(1 << (index & 0x07)); } } } } //IO数据挂到通讯变量，其实这个也可以不这么干 memcpy(&middle_coils[(160 + 7) >> 3], io_inputs, (IO_PIN_INPUT_NUMBER+7)>>3); } /** * 主动输出 * * @author lxz (2019/5/29/周三) */ void io_app_write_ouput(void) { int index = 0; for (index = 0; index < IO_PIN_OUTPUT_NUMBER; index++) { hw_io_pin_output(index, (io_outputs[index >> 3].bytes[0] & (1 << (index & 0x07))) != 0); } //IO数据挂到通讯变量，其实这个也可以不这么干 memcpy(&middle_coils[(240 + 7) >> 3], io_outputs, (IO_PIN_OUTPUT_NUMBER+7)>>3); } void InitTestAction(void) { user_datas[256] = 0; } unsigned char JiaoYan(void) { unsigned short i; for(i=0;i<127;i++) { if(GetData32bits(i*2) != i) { user_datas[256] = 0; return 0; } } return 1; } /** * IO应用行函数执 * * @author lxz (2019/5/29/周三) */ void TestAction(void) { #if TESTACITON_CONFIG static unsigned long dwOutTime = 0,dwMotorTime; static unsigned char index = 0; unsigned short i; if(dwTickCount > dwOutTime) { dwOutTime = dwTickCount + 200; if(index++ > 25)index = 0; } if(dwTickCount >= dwMotorTime) { if(X_DRV) { AxisDecStop(X_AXIS); } else { if(GetDir(X_AXIS)) { AxisContinueMove(X_AXIS,20,0); dwMotorTime = dwTickCount + 1000; } else { AxisContinueMove(X_AXIS,20,1); dwMotorTime = dwTickCount + 1000; } } } if((io_inputs[0].value == 0) && (io_inputs[1].value == 0) && (io_inputs[2].value == 0) && (io_inputs[3].value == 0) && (io_inputs[4].value == 0)) { switch(index) { case 0: io_outputs[0].value = 0; io_outputs[1].value = 0; io_outputs[2].value = 0; io_outputs[3].value = 0; break; case 1: Y00 = 1; break; case 2: Y01 = 1; break; case 3: Y02 = 1; break; case 4: Y03 = 1; break; case 5: Y04 = 1; break; case 6: Y05 = 1; break; case 7: Y06 = 1; break; case 8: Y07 = 1; break; case 9: Y10 = 1; break; case 10: Y11 = 1; break; case 11: Y12 = 1; break; case 12: Y13 = 1; break; case 13: Y14 = 1; break; case 14: Y15 = 1; break; case 15: Y16 = 1; break; case 16: Y17 = 1; break; case 17: Y20 = 1; break; case 18: Y21 = 1; break; case 19: Y22 = 1; break; case 20: Y23 = 1; break; case 21: Y24 = 1; break; case 22: Y25 = 1; break; case 23: Y26 = 1; break; case 24: Y27 = 1; break; case 25: Y30 = 1; break; } } else { Y00 = X00 | X23; Y01 = X01; Y02 = X02; Y03 = X03; Y04 = X04; Y05 = X05; Y06 = X06; Y07 = X07; Y10 = X10; Y11 = X11; Y12 = X12; Y13 = X13; Y14 = X14; Y15 = X15; Y16 = X16; Y17 = X17; Y20 = X20; Y21 = X21; Y22 = X22; Y23 = X24 | X32; Y24 = X25 | X33; Y25 = X26; Y26 = X27; Y27 = X30; Y30 = X31; index = 30; } if(M0000) { M0000 = 0; for(i=0;i<127;i++) { SetData32bits(i*2,i); } user_datas[256] = 1; } if(M0001) { M0001 = 0; hw_flash_data_read(POWEROFF_BACKUP_ADDRESS, user_datas, POWEROFF_SAVE_BLOCK_SIZE); /* if(user_datas[256] != 1) { if(JiaoYan()) { for(i=0;i<127;i++) { SetData32bits(i*2,0); } user_datas[256] = 2; } else { user_datas[256] = 0; } }*/ } #endif } /** * IO应用行函数执 * * @author lxz (2019/5/29/周三) */ static sw_timer_t iotimer; #define TEST_APP void io_app_run(void) { int index = 0; #ifdef TEST_APP int flag = 0; static int status = 1; for (index = 0; index<(LOCAL_INPUT_BITS_NUMBER + 6 + 7)>> 3; index++) { io_outputs[index].bytes[0] = io_inputs[index].bytes[0]; flag += io_inputs[index].bytes[0]; } if(flag == 0) { if (sw_timer_expire(&iotimer)) { status <<= 1; sw_timer_start(&iotimer, 0, 500000); } if(status==0x2000000) status=1; io_outputs[0].bytes[0] = status; io_outputs[1].bytes[0] = status>>8; io_outputs[2].bytes[0] = status>>16; io_outputs[3].bytes[0] = status>>24; } else { sw_timer_start(&iotimer, 0, 500000); } #else for (index = 0; index<(LOCAL_OUTPUT_BITS_NUMBER + 7)>> 3; index++) { if (middle_coils[(200 >> 3) + index].bytes[0] != 0) { io_outputs[index].bytes[0] ^= middle_coils[(200 >> 3) + index].bytes[0]; middle_coils[(200 >> 3) + index].bytes[0] = 0; } } #endif }