GC23005/User/io_app.c

#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
}