#include "global.h"

#if PENG_WEI_CHANG_MACHINE

void JSKL_CheckStart(void);
void JSKL_Motor(void);
void JSKL_ManualAction(void);
void JSKL_AutoAction(void);
void JSKL_FD_Action(void);
void JSKL_Check(void);
unsigned char cJSKL_CheckLTimes =0;
unsigned char cJSKL_CheckRTimes =0;
unsigned char cStopFlg          =0;
unsigned char cCheckOkLFlg       = 0;
unsigned char cCheckOkRFlg       = 0;
unsigned char cBackFDFlag        = 0;
unsigned char cJSKL_left_enable  = 0;
unsigned char cJSKL_right_enable  = 0;
unsigned char cManPJStep = 0;
unsigned char cErrorLflg,cErrorRflg;
//故障报警
void JSKL_SetAlarmCode(unsigned alarm_code)
{
    SetAlarmCode(JSKL_ALARM_ADDR,alarm_code);
    JSKL_bAlarmStop = 1;	
}

void JSKL_InitAction(void)
{
    float length_buff,pulse_buff;
    
    length_buff = 2480;
    pulse_buff  = 1600;
    XGearRatio  = pulse_buff/length_buff;
    CalFreqTab_X_Free(14);
    JSKL_SZ_OUT = 1;
   cJSKL_left_enable = JSKL_PARAM_LEFT_ENABLE;
   cJSKL_right_enable = JSKL_PARAM_RIGHT_ENABLE;
}

void JSKL_Action(void)
{
    JSKL_CheckStart();  //启动
    JSKL_Check();       
    JSKL_Motor();			//拖带控制
    JSKL_FD_Action();
    JSKL_ManualAction();
    JSKL_AutoAction();	
}


void JSKL_ManualAction(void)
{
      //清总产量
      if(JSKL_bClear)         //清总产量
      {
          JSKL_bClear = 0;
          ClrcToTal(JSKL_TOTAL_ADDR);		    		
      }

      
      if(bRunning == 0) ////手动 
      {                
          if(JSKL_bGZ)
          {
             JSKL_bGZ = 0;
             JSKL_GZ_VAVLE = ~JSKL_GZ_VAVLE;
          }
          
          if(JSKL_bFD)
          {
             JSKL_bFD = 0;
             JSKL_FD_VAVLE = ~JSKL_FD_VAVLE;
          }
          
          if(JSKL_bXM)
          {
             JSKL_bXM = 0;
             
             if(JSKL_XM_VAVLE)
             {
                 if(!JSKL_SM_LIMIT_IN)JSKL_XM_VAVLE = 0;
                 else
                    JSKL_SM_VAVLE = 0;
             }
             else
                 JSKL_XM_VAVLE = 1;
          }
          
          if(JSKL_bSM)
          {
             JSKL_bSM = 0;
             JSKL_SM_VAVLE = ~JSKL_SM_VAVLE;
          }
          
          if(JSKL_bTL)
          {
             JSKL_bTL = 0;
             if(JSKL_cMotorStep==0)JSKL_cMotorStep=20;
          }
 
          if(JSKL_bPJ)
          {
             JSKL_bPJ = 0;
             cManPJStep = 1;
          }
          switch(cManPJStep)
          {
              case 1: 
                    JSKL_PJ_VAVLE = 1;
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                    cManPJStep  = 2;          
              break;
              case 2:
              {
                    if(JSKL_PJ_LIMIT_IN)
                    {
                        JSKL_cFDDelay = dwTickCount + JSKL_PARAM_PJ_DELAYBACK;
                        cManPJStep  = 3;
                    }
                    else if(dwTickCount >= JSKL_cFDDelay)
                        JSKL_SetAlarmCode(JSKL_PJ_LIMIT_ALARM);  
              }break;
              case 3:
              {
                    if(dwTickCount >= JSKL_cFDDelay)
                    {
                        JSKL_PJ_VAVLE = 0;
                        cManPJStep  = 0;
                    }
              }break;
          }
 /*         if(JSKL_bZDP)
          {
              JSKL_bZDP = 0;
              JSKL_ZDP_VAVLE =~JSKL_ZDP_VAVLE;
          }*/
          
          if(JSKL_bLTM)
          {
              JSKL_bLTM = 0;
              JSKL_LTM_VAVLE =~JSKL_LTM_VAVLE;
          }
          
          if(JSKL_bRTM)
          {
              JSKL_bRTM = 0;
              JSKL_RTM_VAVLE =~JSKL_RTM_VAVLE;
          }
          
          if(JSKL_bMotor)
          {
              JSKL_SZ_OUT   = 0;
              if(!X_DRV)MoveAction_Const_AccDec(X_AXIS, JSKL_DIR_P, 5,5,10,10);
          }
          else
          {
              if(JSKL_cMotorStep == 0)
              {
                  if(X_DRV)AxisDecStop(X_AXIS);
              }
          }
      }
      if(JSKL_PARAM_ZDP_ENABLE)
        JSKL_ZDP_VAVLE = 1;
      else
        JSKL_ZDP_VAVLE = 0;
}

unsigned char  JSKL_SingleLeftWork(void)
{
    if(JSKL_PARAM_SINGLE_MODE)
    {
        return 1;
    }
    else
    {
        if(cJSKL_left_enable)return 1;
        else return 0;
    }
}

unsigned char  JSKL_SingleRightWork(void)
{
    if(JSKL_PARAM_SINGLE_MODE)
    {
        return 1;
    }
    else
    {
        if(cJSKL_right_enable)return 1;
        else return 0;
    }
}
void JSKL_AutoAction(void)
{   
    if(bRunning)
    {        
        switch(JSKL_cAutoStep)
        {
            case 0:
                    break;
            case 1:
                    if(dwTickCount >= JSKL_cAutoDelay)
                    {
                        JSKL_cAutoStep = 2;
                        JSKL_cMotorStep = 1;   //启动拖带 
                    }     			
                    break;
            case 2:
                    //拖带已经完成
                    if(JSKL_cMotorStep == 0)
                    {
                        JSKL_cAutoStep = 3;

                    }
                    break;	
            case 3:
                    {	
                        if(JSKL_cFDStep == 0)   
                        {
                           JSKL_cFDStep   = 1;  //分带动作启动
                           JSKL_cAutoStep = 4;
                        }
                    }
                    break;
            case 4:
                    if(JSKL_cFDStep == 0)
                    {
                        JSKL_cAutoStep = 5;	
                    }
                    break;
            case 5:            
                    {

                        JSKL_cAutoStep = 6;
                    }
                    break;		
            case 6:
                    {
                        JSKL_cAutoStep = 7;
                    }
                    break;	
            case 7:
                    {
                        {                           
                           JSKL_cAutoDelay = dwTickCount + JSKL_PARAM_DELAY_START;
                           AddToTal(JSKL_TOTAL_ADDR);
                           CalProSP(JSKL_PROSPEED_ADDR);
                           cJSKL_left_enable = JSKL_PARAM_LEFT_ENABLE;
                           cJSKL_right_enable = JSKL_PARAM_RIGHT_ENABLE;
                           JSKL_cAutoStep = 1;	
                        }
                    }	
                    break;		                     
        }		         
    }
}

// 检测是否踏了脚踏开关
void JSKL_CheckStart(void)
{          
    DISPLAY_DATA0 = JSKL_cAutoStep;
    DISPLAY_DATA1 = JSKL_cMotorStep;
    DISPLAY_DATA2 = JSKL_cFDStep;
    DISPLAY_DATA3 = JSKL_cCheckLStep;
    DISPLAY_DATA4 = JSKL_cCheckRStep;
    DISPLAY_DATA5 = cJSKL_CheckLTimes;
    DISPLAY_DATA6 = cJSKL_CheckRTimes;
    DISPLAY_DATA7 = 0-dwRealPos;//dwRealPos;
    static unsigned short Fd_flg =0;
    static unsigned short Tm_flg = 0;
    if((START_IN_UP || JSKL_bStart || JSKL_bGZStart || JSKL_bOnceStart) && !bRunning && (JSKL_cAutoStep==0))
    {
        if(JSKL_FD_IN)
            JSKL_SetAlarmCode(JSKL_FD_LIMIT_ALARM);
        else if(!JSKL_XM_ORIGIN_IN)
            JSKL_SetAlarmCode(JSKL_XM_ORIGIN_ALARM);
        else if(!JSKL_PJ_ORIGIN_IN)
            JSKL_SetAlarmCode(JSKL_PJ_ORIGIN_ALARM);
        else if(JSKL_SM_LIMIT_IN)
            JSKL_SetAlarmCode(JSKL_SM_LIMIT_ALARM);
        else
        {        
            if(JSKL_bStart || JSKL_bOnceStart || JSKL_bStart || START_IN_UP)
            {
                JSKL_bStart = 0;
                JSKL_cAutoStep = 1;
                bRunning = 1;
                cJSKL_CheckRTimes = 0;
                cJSKL_CheckLTimes = 0;
                cJSKL_left_enable = JSKL_PARAM_LEFT_ENABLE;
                cJSKL_right_enable = JSKL_PARAM_RIGHT_ENABLE;
                Fd_flg = 0;
                 cBackFDFlag = 0; 
            }
            if(JSKL_bGZStart)
            {
                JSKL_bGZStart = 0;
                JSKL_cAutoStep = 2;
                JSKL_cMotorStep = 40;
                bRunning = 1;
                cJSKL_CheckRTimes = 0;
                cJSKL_CheckLTimes = 0;
                cJSKL_left_enable = JSKL_PARAM_LEFT_ENABLE;
                cJSKL_right_enable = JSKL_PARAM_RIGHT_ENABLE;  
                Fd_flg = 0;
                 cBackFDFlag = 0; 
            }
            if(JSKL_bOnceStart)
            {
                JSKL_bOnceStart = 0;
                JSKL_cAutoStep = 2;
                JSKL_cMotorStep = 40;
                SingOneFlg      = 1;
                bRunning = 1;
                cJSKL_CheckRTimes = 0;
                cJSKL_CheckLTimes = 0;
                cJSKL_left_enable = JSKL_PARAM_LEFT_ENABLE;
                cJSKL_right_enable = JSKL_PARAM_RIGHT_ENABLE;  
                Fd_flg = 0;
                cBackFDFlag = 0; 
            }
            else
              SingOneFlg      = 0;
            
            SetAlarmCode(JSKL_ALARM_ADDR,JSKL_NO_ALARM);
        }
    }
    
    if(GetAlarmCode(JSKL_ALARM_ADDR) != 0)JSKL_FMQ_OUT = 1;
    else
      JSKL_FMQ_OUT = 0;
 //停止
    if(STOP_IN_UP || JSKL_bStop)
    { 
        JSKL_cAutoStep = 0;
        JSKL_cMotorStep = 0;
 //       JSKL_cCheckLStep = 0;
 //       JSKL_cCheckRStep = 0;
        JSKL_cFDStep    = 0;
        bRunning   = 0;
        JSKL_bStop = 0;
        JSKL_FMQ_OUT = 0;
        JSKL_SM_VAVLE  = 0;
           
        if(JSKL_XM_VAVLE)
        {
            cBackFDFlag = 1; 
            JSKL_FD_VAVLE = 1;
               
            if(JSKL_L_QL_IN)cErrorLflg = 1;
            else
              cErrorLflg = 0;
            if(JSKL_R_QL_IN)cErrorRflg = 1;
            else
              cErrorRflg = 0;
            if(cJSKL_left_enable)
            {
                if(cErrorLflg)
                {
                    cErrorLflg = 0;
                    JSKL_LTM_VAVLE = 0;
                }
                else
                {
                    if(JSKL_cCheckLStep==0)
                    {
                          JSKL_cCheckLStep=2;
                          JSKL_LTM_VAVLE = 1;
                          JSKL_cCheckLDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
                       
                    }
                }
            }
            else
            {
                if(JSKL_cCheckLStep==0)
                {
                      JSKL_cCheckLStep=2;
                      JSKL_LTM_VAVLE = 1;
                      JSKL_cCheckLDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
                   
                }            
            }

            
            if(cJSKL_right_enable)
            {
                if(cErrorRflg)
                {
                    cErrorRflg = 0;
                    JSKL_RTM_VAVLE = 0;
                }
                else
                {
                    if(JSKL_cCheckRStep==0)
                    {
                        JSKL_cCheckRStep=2;
                        JSKL_RTM_VAVLE = 1;
                        JSKL_cCheckRDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
                    }
                }
            }   
            else
            {
                if(JSKL_cCheckRStep==0)
                {
                    JSKL_cCheckRStep=2;
                    JSKL_RTM_VAVLE = 1;
                    JSKL_cCheckRDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
                }            
            }
           if(!cJSKL_left_enable || !cJSKL_right_enable)
           {
               JSKL_cFDDelay = dwTickCount + JSKL_PARAM_DELAY_ALL_BACK + JSKL_PARAM_DELAY_FD_BACK2;
           }
           else
           { 
               JSKL_cFDDelay = dwTickCount + JSKL_PARAM_DELAY_FD_BACK2;                     
           }
        }
        else
        {
 /* 
          if(JSKL_SingleLeftWork())
            {
              if(!cCheckOkLFlg)JSKL_LTM_VAVLE = 1;
            }
            if(JSKL_SingleRightWork())
            {
              if(!cCheckOkRFlg)JSKL_RTM_VAVLE = 1;
            }
*/
           cStopFlg       = 1;
        }
 //       if(!JSKL_SM_LIMIT_IN )JSKL_XM_VAVLE = 0;
        JSKL_PJ_VAVLE  = 0;
        JSKL_SZ_OUT    = 1;
        SingOneFlg      = 0;
        cStopFlg       = 1;
        SetAlarmCode(JSKL_ALARM_ADDR,JSKL_NO_ALARM);

    }
    if(Fd_flg)
    {       
        if(dwTickCount >= JSKL_cFDDelay)
        {
            Fd_flg = 0;  
            JSKL_FD_VAVLE = 0;
            JSKL_GZ_VAVLE = 0;
        }
    }
    if(cStopFlg)
    {
       if(JSKL_XM_ORIGIN_IN)
       {
          cStopFlg = 0;
          if(cJSKL_left_enable)
          {
              if((JSKL_cCheckLStep==0))
              {
                  JSKL_LTM_VAVLE = 1;
                  JSKL_cCheckLStep=2;
                  JSKL_cCheckLDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
              }
          }
          else 
          {
              JSKL_LTM_VAVLE = 0;
          }
          if(cJSKL_right_enable)
          {
              
              if((JSKL_cCheckRStep==0))
              {
                    JSKL_RTM_VAVLE = 1;
                    JSKL_cCheckRStep=2;
                    JSKL_cCheckRDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
              }
          }          
          else
          {
              JSKL_RTM_VAVLE = 0;
          }
          Fd_flg  = 1;  
          JSKL_cFDDelay = dwTickCount + 50; 

       }
    }
    
    if(cBackFDFlag)
    {
        if(SingOneFlg)
        {
              cBackFDFlag = 0;
              JSKL_XM_VAVLE  = 0;  
              Tm_flg      = 1;
              SingOneFlg  = 0;
        }
        else
        {
          if(JSKL_FD_IN)
          {
              cBackFDFlag = 0;
              JSKL_XM_VAVLE  = 0;
              Tm_flg      = 1;
                       
          }
        }

    }
    
    if(Tm_flg)
    {
        if(!JSKL_XM_LIMIT_IN)
        {
            Tm_flg = 0;
            JSKL_LTM_VAVLE = 0;
            JSKL_RTM_VAVLE = 0;
        }
    }
    if(JSKL_bAlarmStop)
    {
        JSKL_bAlarmStop = 0;
        JSKL_cFDStep    = 0;
        JSKL_cCheckLStep = 0;
        JSKL_cCheckRStep = 0;
    	bRunning = 0;
        JSKL_cAutoStep = 0;
        JSKL_cMotorStep = 0;
        SingOneFlg      = 0;
    }     	
 }   
//高速输入X31/X17外部色标信号中断
void JSKL_ExtiActionX31(void)
{

}

 long  JSKL_GetMod(long dist0,long dist1)
 {
     if(dist0 > dist1)return(dist0-dist1);
     else return(dist1-dist0);
 }

void  JSKL_Motor(void)
{
    static long save_dist;
    dwRealPos = GetPos(X_AXIS);
    switch(JSKL_cMotorStep) 
    {
        case 0:break;
        case 1:
                if(JSKL_SZ_OUT)
                {
                    JSKL_SZ_OUT = 0;
                    JSKL_cMotorDelay = dwTickCount + 100;
                }        
                JSKL_cMotorStep = 2;         
        break;
        case 2:
                if(dwTickCount >= JSKL_cMotorDelay)
                {
                    if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,JSKL_DIR_P,JSKL_PARAM_HIGH_SPEED,1,10,1);
                    JSKL_cMotorDelay = dwTickCount + JSKL_PARAM_ZIPPER_TIME+200;
                    JSKL_cMotorStep = 3;  
                }
        break;
        case 40:
                if(JSKL_SZ_OUT)
                {
                    JSKL_SZ_OUT = 0;
                    JSKL_cMotorDelay = dwTickCount + 100;
                }        
                JSKL_cMotorStep = 41;         
        break;
        case 41:
                if(dwTickCount >= JSKL_cMotorDelay)
                {
                    if(!X_DRV)MoveAction_Const_AccDec(X_AXIS,JSKL_DIR_P,JSKL_PARAM_HIGH_SPEED,1,10,1);
                    JSKL_cMotorStep = 4;  
                }
        break;
        case 3:
                if(JSKL_GuoLian_IN_DW)
                {
                    JSKL_cMotorDelay = dwTickCount + JSKL_PARAM_GZ_DELAY;
                    JSKL_cMotorStep = 4;  
                }
                else if(dwTickCount >= JSKL_cMotorDelay)
                    JSKL_SetAlarmCode(JSKL_GUOLIAN_ALARM);
          break;
         case 4:
                if(dwTickCount >= JSKL_cMotorDelay)
                {
                      JSKL_GZ_VAVLE = 1;
                      JSKL_cMotorDelay = dwTickCount + 3000;
                      JSKL_cGLCheckDelay = dwTickCount + JSKL_PARAM_DELAY_CHECK;
                      JSKL_cMotorStep = 5;  
                }
          break;
         case 5:
          {
                if(JSKL_GZ_ORIGIN_IN_DW)
                {
                    if(X_DRV)MoveChangSpeed(X_AXIS,JSKL_PARAM_LOW_SPEED);
                    JSKL_cMotorDelay = dwTickCount + 3000;
                    JSKL_cMotorStep = 6;  
                }
                else if((dwTickCount >= JSKL_cMotorDelay)  || ((JSKL_GuoLian_IN_UP || JSKL_GuoLian_IN_DW) && (dwTickCount >= JSKL_cGLCheckDelay)))
                   JSKL_SetAlarmCode(JSKL_GZ_ALARM);
          }break;
          case 6:
          {
                if(!JSKL_GZ_IN)
                {
                   save_dist = dwRealPos;
                   
                   if(JSKL_PARAM_STOP_DELAY==0)
                   {
                       AxisEgmStop(X_AXIS);
                       JSKL_cMotorStep = 8;  
                   }
                   else
                       JSKL_cMotorStep = 7;  
                }
                else if((dwTickCount >= JSKL_cMotorDelay) || ((JSKL_GuoLian_IN_UP || JSKL_GuoLian_IN_DW) && (dwTickCount >= JSKL_cGLCheckDelay)))
                   JSKL_SetAlarmCode(JSKL_GZ_ALARM);
          }break;
          case 7:
          {//位置是负
                if(JSKL_GetMod(save_dist,dwRealPos) >= JSKL_PARAM_STOP_DELAY)
                {
                    AxisEgmStop(X_AXIS); 
                    JSKL_cMotorStep = 8;  
                }
          }break;
         case 8:
          {
                if(!X_DRV)
                {  
                   JSKL_cMotorStep = 0;  
                   JSKL_cMotorDelay = dwTickCount;
                }
          }break;
        case 20:
               {
                    if(JSKL_SZ_OUT)
                    {
                        JSKL_SZ_OUT = 0;
                        JSKL_cMotorDelay = dwTickCount + 130;
                    }  
                    else
                        JSKL_cMotorDelay = dwTickCount;
                    JSKL_cMotorStep   = 21;
               }
                break;
        case 21:	
               if(dwTickCount >= JSKL_cMotorDelay)
               {
                    if(!X_DRV)AxisMovePosAccDec(X_AXIS,20,JSKL_PARAM_FZ_LENGTH,1,10,10);
                    JSKL_cMotorDelay = dwTickCount + 5000;
                    JSKL_cMotorStep   = 22;                          
               }
                break;
        case 22:  
            //  if(JSKL_GZ_ORIGIN_IN)JSKL_SetAlarmCode(JSKL_TL_ALARM);
              
              if(JSKL_GZ_ORIGIN_IN)
              {
                   JSKL_LTM_VAVLE = 0;
                   JSKL_RTM_VAVLE = 0;
                    JSKL_cMotorStep   = 0;
                    JSKL_cMotorDelay = dwTickCount;
              }
              else if(dwTickCount >= JSKL_cMotorDelay)
                    JSKL_SetAlarmCode(JSKL_GZ_ALARM);
                break;
        default:;
    } 
 
}

void JSKL_Check(void)
{
    switch(JSKL_cCheckLStep)
    {
        case 0:break;
        case 1:
        {
           if(JSKL_SingleLeftWork())JSKL_LTM_VAVLE = 1;
           JSKL_cCheckLDelay = dwTickCount + JSKL_PARAM_TM_TIME; 
           JSKL_cCheckLStep = 2;
        }break;
        case 2:
        {
            if(dwTickCount >= JSKL_cCheckLDelay)
            {
                JSKL_LTM_VAVLE = 0;
                JSKL_cCheckLDelay = dwTickCount  + JSKL_PARAM_DELAY_TM_BACK;   
                JSKL_cCheckLStep = 3;
            }           
        }break;       
        case 3:
        {
            if((dwTickCount >= JSKL_cCheckLDelay))
            {
                JSKL_cCheckLStep = 0;
            }           
        }break;
    }
    
    switch(JSKL_cCheckRStep)
    {
        case 0:break;
        case 1:
        {
            if(JSKL_SingleRightWork())JSKL_RTM_VAVLE = 1;
            JSKL_cCheckRDelay = dwTickCount + JSKL_PARAM_TM_TIME;
            JSKL_cCheckRStep = 2;
        }break;
        case 2:
        {
            if(dwTickCount >= JSKL_cCheckRDelay)
            {
                JSKL_RTM_VAVLE = 0;
                JSKL_cCheckRDelay = dwTickCount + JSKL_PARAM_DELAY_TM_BACK;   
                JSKL_cCheckRStep = 3;
            }           
        }break;
        case 3:
        {
            if(dwTickCount >= JSKL_cCheckRDelay)
            {
                JSKL_cCheckRStep = 0;
            }
        }
        break;
    }  
}

void JSKL_FD_Action(void)
{
    unsigned short length_buff;
    static unsigned short xm_times = 0;
    static unsigned char jl_flg;
    static unsigned char tm_flg;
    
    
    
    if(JSKL_XM_LIMIT_IN_UP) JSKL_SM_VAVLE = 1;
    if(JSKL_SM_LIMIT_IN_DW)JSKL_XM_VAVLE = 0;
    
    
    if(tm_flg)
    {
        if(JSKL_XM_ORIGIN_IN)
        {
            if(cJSKL_left_enable)JSKL_LTM_VAVLE = 1;
            if(cJSKL_right_enable)JSKL_RTM_VAVLE = 1;
            tm_flg  = 0;
        }
    }
    
    if(jl_flg)
    {
      if(JSKL_XM_ORIGIN_IN && !JSKL_XM_VAVLE)      //X07   下模退到位
        {
             jl_flg   = 0;
             if(!cJSKL_left_enable)JSKL_LTM_VAVLE = 0;
             else
             {
                 if(JSKL_cCheckLStep == 0)JSKL_cCheckLStep = 1;                 
             }
             if(!cJSKL_right_enable)JSKL_RTM_VAVLE = 0;
             else
             {
                 if(JSKL_cCheckRStep == 0)JSKL_cCheckRStep = 1;
             }
        }
    }
    switch(JSKL_cFDStep)
    {
          case 0:break;
          case 1:
          {
                JSKL_cFDDelay = dwTickCount + JSKL_PARAM_FD_DELAY;
                JSKL_cFDStep  = 2;
          }break;
          case 2:
          {
                if(dwTickCount >= JSKL_cFDDelay)
                {
                     if(JSKL_PARAM_FD_ENABLE)JSKL_FD_VAVLE = 1;
                     JSKL_cXMDelay =  dwTickCount + JSKL_PARAM_DELAY_TM_BACK;
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                     JSKL_cFDStep  = 3;
                }
          }break;
          case 3:
          { 
                if((JSKL_FD_IN || (JSKL_PARAM_FD_ENABLE==0)))// && (dwTickCount >= JSKL_cXMDelay))    //分带到位
                {
                    if((JSKL_cCheckLStep == 0) && (JSKL_cCheckRStep == 0))
                    {

                       JSKL_XM_VAVLE = 1;      // 下模Y03
                        cCheckOkLFlg    = 0;
                       cCheckOkRFlg    = 0;
                        JSKL_cFDDelay = dwTickCount + 1000;
                       JSKL_cFDStep  = 4;
                    }
                }
                else if(dwTickCount >= JSKL_cFDDelay) 
                {  
                    JSKL_SetAlarmCode(JSKL_FD_LIMIT_ALARM);
                }    
          }break;      
           case 4:
          {
/*            
                if(!cJSKL_left_enable && !cJSKL_right_enable )   //双边同时不选择
                {
  //                 if(JSKL_SingleLeftWork())JSKL_LTM_VAVLE = 1;    //左入料Y06
    //               if(JSKL_SingleRightWork())JSKL_RTM_VAVLE = 1;   //右入料Y07
                    JSKL_LTM_VAVLE = 0;    //左入料Y06
                    JSKL_RTM_VAVLE = 0;   //右入料Y07
                    cCheckOkLFlg    = 1;
                    cCheckOkRFlg    = 1;
                }
                else if(cJSKL_left_enable && !cJSKL_right_enable)
                {
                    cCheckOkRFlg    = 1;
                    if(JSKL_L_QL_IN)    //左有料检测   X13
                    {
                        JSKL_LTM_VAVLE = 0;
                        cCheckOkLFlg    = 1;
                        cJSKL_CheckLTimes = 0;
                    }
                    else if(cJSKL_CheckLTimes >= JSKL_PARAM_TM_TIMES)  //检测次数
                    {
                        JSKL_SetAlarmCode(JSKL_TM_LEFT_ALARM);  
                    }

                }
                else if(!cJSKL_left_enable && cJSKL_right_enable)
                {
                    cCheckOkLFlg    = 1;
                    if(JSKL_R_QL_IN)   //右有料检测  X14
                    {
                        JSKL_RTM_VAVLE = 0;
                        cCheckOkRFlg    = 1;
                        cJSKL_CheckRTimes = 0;
                    }
                    else if(cJSKL_CheckRTimes >= JSKL_PARAM_TM_TIMES) 
                    {
                        JSKL_SetAlarmCode(JSKL_TM_RIGHT_ALARM);  
                        
                    }
                }
                else                       
                {
                    if(JSKL_L_QL_IN)
                    {
                        JSKL_LTM_VAVLE = 0;
                        cCheckOkLFlg    = 1;
                        cJSKL_CheckLTimes = 0;
                    }
                    else if(cJSKL_CheckLTimes >= JSKL_PARAM_TM_TIMES)
                    {
                        JSKL_SetAlarmCode(JSKL_TM_LEFT_ALARM); 
                        
                    }
                    if(JSKL_R_QL_IN)
                    {
                        JSKL_RTM_VAVLE = 0;
                        cCheckOkRFlg    = 1;
                        cJSKL_CheckRTimes = 0;
                    }
                    else if(cJSKL_CheckRTimes >= JSKL_PARAM_TM_TIMES) 
                    {
                        JSKL_SetAlarmCode(JSKL_TM_RIGHT_ALARM);  
                        
                    }
                }
 */           
 
                //下模到位X06         锁模到位  X10    
                if(JSKL_XM_LIMIT_IN && JSKL_SM_LIMIT_IN)
                {   
                  
 
                if(!cJSKL_left_enable && !cJSKL_right_enable )   //双边同时不选择
                {
  //                 if(JSKL_SingleLeftWork())JSKL_LTM_VAVLE = 1;    //左入料Y06
    //               if(JSKL_SingleRightWork())JSKL_RTM_VAVLE = 1;   //右入料Y07
                    JSKL_LTM_VAVLE = 0;    //左入料Y06
                    JSKL_RTM_VAVLE = 0;   //右入料Y07
                    cCheckOkLFlg    = 1;
                    cCheckOkRFlg    = 1;
                }
                else if(cJSKL_left_enable && !cJSKL_right_enable)
                {
                    cCheckOkRFlg    = 1;
                    if(JSKL_L_QL_IN)    //左有料检测   X13
                    {
                        JSKL_LTM_VAVLE = 0;
                        cCheckOkLFlg    = 1;
                        cJSKL_CheckLTimes = 0;
                    }
                    else if(cJSKL_CheckLTimes >= JSKL_PARAM_TM_TIMES)  //检测次数
                    {
                        JSKL_SetAlarmCode(JSKL_TM_LEFT_ALARM);  
                        break;
                    }

                }
                else if(!cJSKL_left_enable && cJSKL_right_enable)
                {
                    cCheckOkLFlg    = 1;
                    if(JSKL_R_QL_IN)   //右有料检测  X14
                    {
                        JSKL_RTM_VAVLE = 0;
                        cCheckOkRFlg    = 1;
                        cJSKL_CheckRTimes = 0;
                    }
                    else if(cJSKL_CheckRTimes >= JSKL_PARAM_TM_TIMES) 
                    {
                        JSKL_SetAlarmCode(JSKL_TM_RIGHT_ALARM);  
                        break;
                    }
                }
                else                       
                {
                    if(JSKL_L_QL_IN)
                    {
                        JSKL_LTM_VAVLE = 0;
                        cCheckOkLFlg    = 1;
                        cJSKL_CheckLTimes = 0;
                    }
                    else if(cJSKL_CheckLTimes >= JSKL_PARAM_TM_TIMES)
                    {
                        JSKL_SetAlarmCode(JSKL_TM_LEFT_ALARM); 
                        break;
                    }
                    if(JSKL_R_QL_IN)
                    {
                        JSKL_RTM_VAVLE = 0;
                        cCheckOkRFlg    = 1;
                        cJSKL_CheckRTimes = 0;
                    }
                    else if(cJSKL_CheckRTimes >= JSKL_PARAM_TM_TIMES) 
                    {
                        JSKL_SetAlarmCode(JSKL_TM_RIGHT_ALARM);  
                        break;
                    }
                }
                  
                 
                  
                    xm_times = 0;
                    if(cCheckOkLFlg && cCheckOkRFlg)   //两边同时OK
                    {                    
                       if(cJSKL_left_enable && !cJSKL_right_enable)
                        {
                           if(JSKL_SingleRightWork()) JSKL_RTM_VAVLE = 1;    //
                        }
                        else if(!cJSKL_left_enable && cJSKL_right_enable)
                        {
                            if(JSKL_SingleLeftWork())JSKL_LTM_VAVLE = 1;
  
                        }
                        JSKL_cFDDelay = dwTickCount + JSKL_PARAM_DELAY_FD_BACK;         //
                        JSKL_cFDStep  = 5;                     
                    }
                    else
                    {
                             
                        JSKL_SM_VAVLE = 0;      //Y04     锁模关
                        JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                        if(cJSKL_left_enable && !cJSKL_right_enable)  //选择左边，
                        {
                            //if(JSKL_SingleRightWork())
                              JSKL_LTM_VAVLE = 1;
                            JSKL_RTM_VAVLE = 1;
                            JSKL_cFDStep  = 40;
                        }
                        else if(!cJSKL_left_enable && cJSKL_right_enable)       //选择右边
                        {
                           // if(JSKL_SingleLeftWork())JSKL_LTM_VAVLE = 1;
                            JSKL_LTM_VAVLE = 1;
                            JSKL_RTM_VAVLE = 1;
                            JSKL_cFDStep  = 50;
                        }
                        else    //两边选择
                        {
                              JSKL_cFDStep  = 60;
                              if(!cCheckOkLFlg)
                                  JSKL_LTM_VAVLE = 1;
                              if(!cCheckOkRFlg)
                                 JSKL_RTM_VAVLE = 1; 
                        }
                      
                    }
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                {
                    if(xm_times >= JSKL_PARAM_TM_TIMES)
                    {
                       JSKL_SetAlarmCode(JSKL_XM_LIMIT_ALARM);  
                    }
                    else
                    {
                        xm_times++;
                        JSKL_XM_VAVLE = 0; 
                        JSKL_cFDStep = 70;
                        JSKL_cXMDelay =  dwTickCount + 250;
                    }
                    
                }
          }break; 
           case 70:
                 if(JSKL_XM_ORIGIN_IN && (dwTickCount >= JSKL_cXMDelay))
                 {
                     if(JSKL_cCheckLStep == 0)JSKL_cCheckLStep = 1;
                     if(JSKL_cCheckRStep == 0)JSKL_cCheckRStep = 1;
                     JSKL_cFDStep = 3;
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                 }
             break;
           case 40: 
            
                if(JSKL_XM_LIMIT_IN_DW)
                    JSKL_RTM_VAVLE = 0;              
                if(JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 41;
                    if(JSKL_cCheckLStep == 0)JSKL_cCheckLStep = 1;
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                  JSKL_SetAlarmCode(JSKL_XM_ORIGIN_ALARM);   
             
             break;
           case 41:
                if(JSKL_cCheckLStep == 0)
                {
                    JSKL_XM_VAVLE = 1; 
                    cJSKL_CheckLTimes++;
                    JSKL_cFDStep  = 42;
                }
             break;
           case 42:
                if(!JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 4;
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                }
             break;
           case 50:
             
                 if(JSKL_XM_LIMIT_IN_DW)
                    JSKL_LTM_VAVLE = 0;
                if(JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 51;
                    if(JSKL_cCheckRStep == 0)JSKL_cCheckRStep = 1;
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                  JSKL_SetAlarmCode(JSKL_XM_ORIGIN_ALARM);    
             break;
           case 51:
                if(JSKL_cCheckRStep == 0)
                {
                    JSKL_XM_VAVLE = 1; 
                    cJSKL_CheckRTimes++;
                    JSKL_cFDStep  = 52;
                }
             break;
            case 52:
                if(!JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 4;
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                }
             break;
           case 60: 
                if(JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 61;
                    
                    if(!cCheckOkRFlg)
                    {
                        if(JSKL_cCheckRStep == 0)JSKL_cCheckRStep = 1;
                         cJSKL_CheckRTimes++;
                    }
                    
                    if(!cCheckOkLFlg)
                    {
                        if(JSKL_cCheckLStep == 0)JSKL_cCheckLStep = 1;
                         cJSKL_CheckLTimes++;
                    }
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                  JSKL_SetAlarmCode(JSKL_XM_ORIGIN_ALARM);    
             break;
           case 61:
                if((JSKL_cCheckRStep == 0) && (JSKL_cCheckLStep == 0))
                {
                    JSKL_XM_VAVLE = 1;          
                    JSKL_cFDStep  = 62;
                }
             break;
            case 62:
                if(!JSKL_XM_ORIGIN_IN)
                {
                    JSKL_cFDStep  = 4;
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                }
             break;
           case 5:
             if(dwTickCount >= JSKL_cFDDelay)
             {
               
                   JSKL_FD_VAVLE = 0;          //Y02分带退
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                    JSKL_cFDStep  = 6;
             }
           break;
           case 6:
          {
                if(!JSKL_FD_IN)           //分带到位信号离开
                {
                    if(!X_DRV)AxisMovePosAccDec(X_AXIS,20,-JSKL_PARAM_FD_GO_LENGTH,1,10,10);
                    JSKL_cFDDelay = dwTickCount + JSKL_PARAM_FZ_DELAY;   //P05延时反转
                    JSKL_cPJDelay = dwTickCount +  JSKL_PARAM_PJ_DELAY;
                    JSKL_cFDStep   = 7;
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_FD_LIMIT_ALARM);   
          }break;  
           case 7:
          {
                if((dwTickCount >= JSKL_cFDDelay) && !X_DRV)
                {
                    JSKL_cMotorStep   = 20;                   
                    JSKL_cFDStep     = 8;
                }
          }break;  
           case 8:
          {
              
                if(((X_DRV) || (JSKL_cMotorStep == 0)) && (dwTickCount >= JSKL_cPJDelay))
                {
                      if(SingOneFlg && bRunning)
                      {
                  
                         JSKL_cAutoStep = 0;
                         JSKL_cFDStep  = 0;
                         bRunning = 0;
                      }
                      else
                      {                        
                          JSKL_cFDStep  = 100;  
 //                         JSKL_cFDDelay = dwTickCount + JSKL_PARAM_PJ_DELAY;
                      }
                }
          }break;  
          case 100: 
          if(dwTickCount >= JSKL_cFDDelay)  
          {
                JSKL_PJ_VAVLE = 1;

                JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                JSKL_cFDStep  = 9;     
                
          }
          break;
          case 9:
          {
                if(JSKL_PJ_ORIGIN_IN)JSKL_cPJDelay = dwTickCount +  40;
                
                if((dwTickCount >= JSKL_cPJDelay) && !JSKL_PJ_ORIGIN_IN)
                {
                     JSKL_LTM_VAVLE = 0;
                     JSKL_RTM_VAVLE = 0;
                } 
                if(JSKL_PJ_LIMIT_IN)
                {
                    AxisEgmStop(X_AXIS); 
                    JSKL_cMotorDelay = dwTickCount;
                    JSKL_cMotorStep = 0;  
                    JSKL_cFDDelay = dwTickCount + JSKL_PARAM_PJ_DELAYBACK;
                    JSKL_cFDStep  = 10;
                    
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_PJ_LIMIT_ALARM);  
          }break;
          case 10:
          {
                if(dwTickCount >= JSKL_cFDDelay)
                {
                    JSKL_PJ_VAVLE = 0;  //迫紧关
                    

                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                    JSKL_cFDStep  = 11;
                    if(JSKL_PARAM_PJ_PUSH_LENGTH > JSKL_PARAM_FZ_LENGTH)length_buff = JSKL_PARAM_FZ_LENGTH- 10;
                    else length_buff = JSKL_PARAM_PJ_PUSH_LENGTH;
                    if(!X_DRV)AxisMovePosAccDec(X_AXIS,20,-length_buff,1,10,10);
                    JSKL_FD_VAVLE = 1;  //分带输出
                    JSKL_LTM_VAVLE = 1;//左进料打开
                    JSKL_RTM_VAVLE = 1;//右进料打开
                    
                    
                }
          }break;
          case 11:
          {
                if(!JSKL_PJ_LIMIT_IN)
                {                              
                    JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                    JSKL_cFDStep  = 12;
                    JSKL_SM_VAVLE = 0;  //锁模关
                }
                else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_PJ_LIMIT_ALARM);  
          }break; 
          case 12:
           {
                 if(JSKL_PJ_ORIGIN_IN&&!X_DRV)
                 {                            
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                     JSKL_cFDStep  = 13;
                 }
                 else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_PJ_ORIGIN_ALARM);  
          }break;  
          case 13:
                 if(JSKL_FD_IN)
                 {                   
                     JSKL_cFDStep  = 14;
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                 }
                 else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_FD_LIMIT_ALARM); 
                                
            break;
          case 14:
           {
                 if(!JSKL_SM_LIMIT_IN)
                 {
                     JSKL_XM_VAVLE = 0;
                     jl_flg        = 1;         //由下模退到位启动进料时间
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                     JSKL_cFDStep  = 15;
                 }
                 else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_SM_LIMIT_ALARM); 
          }break; 
           case 15:
           {
                 if(!JSKL_XM_LIMIT_IN)
                 {
                   JSKL_FD_VAVLE = 0;  //分带关
                   tm_flg        = 1;
                   JSKL_LTM_VAVLE = 0;
                   JSKL_RTM_VAVLE = 0;
                     if(!cJSKL_left_enable || !cJSKL_right_enable)
                     {
                         JSKL_cFDStep  = 16;  
                         JSKL_cFDDelay = dwTickCount + JSKL_PARAM_DELAY_ALL_BACK+JSKL_PARAM_DELAY_FD_BACK2;
                     }
                     else
                     {
                         JSKL_cFDStep  = 17;  
                         JSKL_cFDDelay = dwTickCount + JSKL_PARAM_DELAY_FD_BACK2;                     
                     }
                 }
                 else if(dwTickCount >= JSKL_cFDDelay)
                    JSKL_SetAlarmCode(JSKL_XM_LIMIT_ALARM); 
          }break;
          case 16:
                 if((dwTickCount >= JSKL_cFDDelay))
                 {
                 //     if(!cJSKL_left_enable)JSKL_LTM_VAVLE = 0;   //不选择就关闭
                 //    if(!cJSKL_right_enable)JSKL_RTM_VAVLE = 0;  //不选择就关闭
                     JSKL_FD_VAVLE = 0;
                     JSKL_GZ_VAVLE = 0;
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                     JSKL_cFDStep  = 18;
                 }
            break;
            case 17:
           {
                 if(dwTickCount >= JSKL_cFDDelay)
                 {
                  //    if(!cJSKL_left_enable)JSKL_LTM_VAVLE = 0;   //不选择就关闭
                 //   if(!cJSKL_right_enable)JSKL_RTM_VAVLE = 0;  //不选择就关闭
                     JSKL_FD_VAVLE = 0;
                     JSKL_GZ_VAVLE = 0;
                     JSKL_cFDDelay = dwTickCount + JSKL_VAVLE_ALARM_TIME;
                     JSKL_cFDStep  = 18;
                 } 
          }break; 
           case 18:
           {
                 if(!JSKL_FD_IN)
                 {
                     JSKL_cFDStep  = 0;
                     JSKL_cFDDelay = dwTickCount;
                 }
                 else if(dwTickCount >= JSKL_cFDDelay)
                 {
                     JSKL_SetAlarmCode(JSKL_FD_LIMIT_ALARM); 
                 }
          }break; 
        default:;
    }
}


#endif