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2025-01-07 16:07:58 +09:00
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105
Arduino_PLC/Arduino_PLC.ino Normal file
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/*
Name: B_FVI_AGV.ino
Created: 2022-11-16 오전 13:32:00
Author: KIMCHK
*/
#include "motor.h"
#include "IO.h"
#include "HmiClass.h"
#include "UtilClass.h"
#include "VarClass.h"
#include "VarClass.h"
#include <SPI.h>
int debugportvalue = 0;
String version = "22.11.16.1716";
String debugmessage = "";
void(*resetFunc)(void) = 0;
unsigned long timesyncvalue = 0;
unsigned long startTime = 0;
void setup()
{
Serial.begin(57600); //디버그 및 업로드 포트
Serial1.begin(57600); //통신 포트
/*while (!Serial)
true;
while (!Serial1)
true;*/
pinMode(13,OUTPUT);
var.eeprom_load(); //플래그 우선 복원
io.Setup();
hmi.Setup(); //HMI 초기화
var.Setup();
mot.Setup();
hmi.SendMessage(F("##:SETUP:OK"),false);
hmi.SendMessage(String("##:VERSION:") + String(version), false);
//TCCR1B = TCCR1B & B11111000 | B00000001; // set timer 1 divisor to 1 for PWM frequency of 31372.55 Hz
TCCR1B = TCCR1B & B11111000 | B00000010; // set timer 1 divisor to 8 for PWM frequency of 3921.16 Hz
TCNT1 = 0x0000;
//TCCR1B = TCCR1B & B11111000 | B00000011; // set timer 1 divisor to 64 for PWM frequency of 490.20 Hz
PrintDebugCommand();
}
void loop()
{
io.Update(); //DIO 상태 학인;
var.Update(); //가변변수 업데이트
mot.Update(); // 모터제어
hmi.Update(); //HMI Events
//초기화
if (var.runReset)
{
Serial.println("** RESET **");
var.eeprom_incResetCount();
var.runReset = false;
resetFunc();
delay(2000);
}
//경과시간
unsigned long runtime = millis() - startTime;
if (runtime > 60000) var.runtime = 60000;
else var.runtime = (uint16_t)runtime;
startTime = millis();
if(startTime % 500 == 0)
{
if(digitalRead(13)==HIGH)
digitalWrite(13,LOW);
else
digitalWrite(13,HIGH);
}
}
void UpdateTime()
{
//시간정보를 조회한다. 190319
timesyncvalue = millis();
}
void PrintDebugCommand()
{
String data = "";
data += String("====================================\n");
data += String("## AGV Z-Motor Controller\n");
data += String("## Version "+ version + "\n" );
data += String("## Created by ATK4-EET-1P\n");
data += String("====================================\n");
data += String(">> ZUP (z-axis move up)\n");
data += String(">> ZUP (z-axis move up)\n");
data += String(">> ZUP (z-axis move up)\n");
data += String(">> ZUP (z-axis move up)\n");
data += String(">> ZUP (z-axis move up)\n");
data += String(">> ZUP (z-axis move up)\n");
data += String("====================================\n");
Serial.println(data);
}

120
Arduino_PLC/FontList.txt Normal file
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//16
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ġ<EFBFBD>˻<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ظ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>±ػ<EFBFBD><EFBFBD>뿬<EFBFBD>Ἥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ð<EFBFBD>Ŀ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʒ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD><EFBFBD><EFBFBD><EFBFBD>к<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϸ<EFBFBD><EFBFBD>ʱ<EFBFBD>ȭ(#%).-:/><_<><5F><EFBFBD>¸<EFBFBD><C2B8><EFBFBD><EFBFBD>ͽý<CDBD><C3BD>ۼ<EFBFBD><DBBC><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD>I/O<><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ȭ01234456789SNOVRDCNSTLIMITHOMECHRGALIGNPAUSEMAGFMAGBXBEERFIDABCDEFTIME<4D><45><EFBFBD><EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ITEMONTAKEABCDEFGHIJKLMNOPQRSTUVWXYZv<5A><76><EFBFBD><EFBFBD><EFBFBD>Ӱ谪<D3B0>Ѱ谨<D1B0><E8B0A8>ms=
//80
QCA0123456789H<EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//40
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ư<EFBFBD><EFBFBD><EFBFBD>پ<EFBFBD>ȣQCAzZ<EFBFBD><EFBFBD>%<25><><EFBFBD>ø<EFBFBD><C3B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-=_MHPACKINGQCQARFIDXBEE<45><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ġã<C4A1><C3A3><EFBFBD>߿Ϸ<DFBF><CFB7>Ǿ<EFBFBD><C7BE><EFBFBD><EFBFBD>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʿ<EFBFBD><CABF>մϴ<D5B4><CFB4><EFBFBD><EFBFBD>ۻ<EFBFBD><DBBB><EFBFBD><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʿ<EFBFBD><CABF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ε<EFBFBD><CEB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڷ¼<DAB7><C2BC><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD>Ų<EFBFBD><C5B2><EFBFBD>()[#]<5D><><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5>¿<EFBFBD>CW0123456789.vLOADING<4E><47><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ּ<EFBFBD><D6BC><EFBFBD><EFBFBD><EFBFBD>ġã<C4A1><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ġ<EFBFBD>˻<EFBFBD><CBBB>غ<EFBFBD><D8BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(va0.val==0)
{
msg.txt="<22><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va3.val==0)
{
msg.txt="RFID <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va4.val==0)
{
msg.txt="XBEE <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va6.val==0)
{
msg.txt="<22>ڷ¼<DAB7><C2BC><EFBFBD>(<28><>) <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va7.val==0)
{
msg.txt="<22>ڷ¼<DAB7><C2BC><EFBFBD>(<28><>) <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va8.val>0)
{
msg.txt="<22><><EFBFBD><EFBFBD> <20><>"
tbco.val=63846
}else if(va1.val>0)
{
msg.txt="<22><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>"
tbco.val=63846
}else if(va5.val>0)
{
msg.txt="(Z<><5A>) <20><><EFBFBD><EFBFBD><EFBFBD>ε<EFBFBD>"
tbco.val=63846
}else if(va2.val==0)
{
tbco.val=64520
if(varmc.val==0)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD>"
}else if(varmc.val==1)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD>"
}else if(varmc.val==2)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
}else if(varmc.val==3)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD>"
}else if(varmc.val==4)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD>"
}else if(varmc.val==5)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20>̵<EFBFBD>(Ȩ)"
}else if(varmc.val==6)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20>̵<EFBFBD>(<28><><EFBFBD><EFBFBD>)"
}else if(varmc.val==16)
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>"
}else
{
msg.txt="(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) <20>˼<EFBFBD> <20><><EFBFBD><EFBFBD>"
}
}else
{
//autorun mode : parse message
tbco.val=1048
if(varmc.val==0)
{
msg.txt="[#1] Ŀ<><C4BF><EFBFBD><EFBFBD> <20>÷<EFBFBD> <20>ּ<EFBFBD><D6BC><EFBFBD>" //mcodevalue
}else if(varmc.val==1)
{
msg.txt="[#2] <20>̵<EFBFBD><CCB5><EFBFBD>(<28><><EFBFBD><EFBFBD>)" //mcodevalue
}else if(varmc.val==2)
{
msg.txt="[#3] <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ʿ<EFBFBD><CABF>մϴ<D5B4>" //mcodevalue
}else if(varmc.val==3)
{
msg.txt="[#4] <20>̵<EFBFBD><CCB5><EFBFBD>(Ȩ)" //mcodevalue
}else if(varmc.val==4)
{
msg.txt="[#5] <20>̵<EFBFBD> <20><>(<28><><EFBFBD><EFBFBD>)" //mcodevalue
}else if(varmc.val==5)
{
msg.txt="[#6] <20>̵<EFBFBD> <20><>(<28><><EFBFBD><EFBFBD>)" //mcodevalue
}else if(varmc.val==6)
{
msg.txt="[#7] <20><><EFBFBD><EFBFBD>" //mcodevalue
}else if(varmc.val==7)
{
msg.txt="[#8] Ŀ<><C4BF><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20>ּ<EFBFBD><D6BC><EFBFBD>" //mcodevalue
}else if(varmc.val==8)
{
msg.txt="[#9] <20><><EFBFBD><EFBFBD> <20><>ġ ã<><C3A3> <20><>" //mcodevalue
}else if(varmc.val==9)
{
msg.txt="[#10] <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ġ ã<><C3A3> <20><>" //mcodevalue
}else if(varmc.val==10)
{
msg.txt="[#11] <20><><EFBFBD><EFBFBD> <20>غ<EFBFBD>" //mcodevalue
}else if(varmc.val==11)
{
msg.txt="[#12] <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>" //mcodevalue
}else
{
msg.txt="[#99] <20>˼<EFBFBD> <20><><EFBFBD><EFBFBD>"
}
}
if(tbmsg.txt!=msg.txt)
{
tbmsg.txt=msg.txt
tbmsg.bco=tbco.val
}

569
Arduino_PLC/HmiClass.cpp Normal file
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#include "IO.h"
#include "VarClass.h"
#include "HmiClass.h"
#include "UtilClass.h"
#include "motor.h"
#include "arduino.h"
unsigned long errtime = 0;
unsigned long eruntime = 0;
void HmiClass::Setup()
{
hmi.SendMessage("##:HMI:SETUP", false);
updatetime = millis();
ClearTempBuffer0();
ClearTempBuffer1();
}
void HmiClass::Update()
{
//데이터는 일정 주기로 전송한다.
unsigned long runtime = millis() - updatetime;
uint8_t loopterm = var._eep_iosendinterval;
loopterm = 500;
//설정 중에는 통신속도를 초당 10번으로 고정한다
if (var.getFlag(FLAG_SETUP) == true) loopterm = 100;
if (runtime > loopterm)
{
//IO상태전송
SendIOStatus();
//설정모드에서는 계속 전송 한다
if (var.getFlag(FLAG_SETUP) == true)
{
//EEP정보 전송
SendSetupInfo();
}
updatetime = millis();
}
//입력값 감지 190319
CheckReceiveS0();
CheckReceiveS1();
}
void HmiClass::SendIOStatus()
{
//전송데이터처리
byte payload[29]; //IO4바이트(uint32), A0~A3 A는 각 2바이트(uint16)
byte payidx = 0;
payload[payidx++] = '@'; //@
payload[payidx++] = '@'; //@
payload[payidx++] = 10; //데이터 길이
payload[payidx++] = 'I'; //49=I(IO)
payload[payidx++] = (byte)(var.IOData >> 0); //INPUT(16)
payload[payidx++] = (byte)(var.IOData >> 8); //OUTPUT(16)
payload[payidx++] = (byte)(var.IOData >> 16);
payload[payidx++] = (byte)(var.IOData >> 24);
uint32_t flagValue = var.getFlagValue();
payload[payidx++] = (byte)(flagValue >> 0); //FLAG (0~31)
payload[payidx++] = (byte)(flagValue >> 8);
payload[payidx++] = (byte)(flagValue >> 16);
payload[payidx++] = (byte)(flagValue >> 24);
//쓰레드진행시간
payload[payidx++] = (byte)var.runtime;
//checksum
byte checksum = 0;
for (int i = 3; i < payidx; i++)
checksum = checksum ^ payload[i];
payload[payidx++] = checksum;
payload[payidx++] = 0x0D;
payload[payidx++] = 0x0A;
//Serial.print("Send Payload len=");
//Serial.println(payidx);
hmiSerial.write(payload, payidx);
hmiSerial.flush();
//20190325 - 1번포트로 미러링
//dbgSerial.write(payload, sizeof(payload));
//dbgSerial.flush();
}
void HmiClass::SendSetupInfo()
{
//전송데이터처리
byte payload[19]; //IO4바이트(uint32), A0~A3 A는 각 2바이트(uint16)
byte payidx = 0;
payload[payidx++] = '@'; //@
payload[payidx++] = '@'; //@
payload[payidx++] = 5; //데이터 길이
payload[payidx++] = 'S'; //49=I(IO),T=TEXT,S=SETUP
payload[payidx++] = var._eep_iosendinterval;
payload[payidx++] = var._eep_resetcount;
payload[payidx++] = var._eep_pindir_iH;
payload[payidx++] = var._eep_pindir_iL;
//checksum
byte checksum = 0;
for (int i = 3; i < payidx; i++)
checksum = checksum ^ payload[i];
payload[payidx++] = checksum;
payload[payidx++] = 0x0D;
payload[payidx++] = 0x0A;
//Serial.print("Send Payload len=");
//Serial.println(sizeof(payload));
hmiSerial.write(payload, sizeof(payload));
hmiSerial.flush();
//20190325 - 1번포트로 미러링
//dbgSerial.write(payload, sizeof(payload));
//dbgSerial.flush();
}
void HmiClass::CheckReceiveS0()
{
//수신데이터가 있는경우에만 처리함
//bool newdata = hmiSerial.available() > 0;
//if (newdata) sprint(F("HMI Received Data ["));
while (hmiSerial.available() > 0) {
incomingByte0 = (char)(hmiSerial.read());
if (STX1S0 == false)
{
if (incomingByte0 != '@')
{
STX2S0 = false;
ETX1S0 = false;
SendMessage(F("ERROR:STX1"), true);
continue;
}
else
{
STX1S0 = true;
ClearTempBuffer0();
Tempbuffer1[bufferIndex0++] = incomingByte0; //Tempbuffer1 += incomingByte;
}
}
else if (STX2S0 == false)
{
if (bufferIndex0 != 1 || bufferIndex0 < 1 || Tempbuffer1[0] != '@' || incomingByte0 != '@')
{
STX1S0 = false;
ETX1S0 = false;
SendMessage(F("ERROR:STX2"), true);
continue;
}
else
{
STX2S0 = true;
Tempbuffer1[bufferIndex0++] = incomingByte0; //Tempbuffer1 += incomingByte;
}
}
else
{
Tempbuffer1[bufferIndex0++] = incomingByte0; //Tempbuffer1 += incomingByte;
//여기서부터는무조건 누적한다.
if (bufferIndex0 == 3)
{
if (Tempbuffer1[0] != 0x40 || Tempbuffer1[1] != '@')
{
STX1S0 = false;
STX2S0 = false;
ETX1S0 = false;
bufferIndex0 = 0; // = "";
}
else LEN1 = incomingByte0; //데이터 길이가온다
}
else if (bufferIndex0 == LEN1 + 2 + 1 + 1) //체크섬이 왔다
{
CHK1 = incomingByte0;
}
else if (bufferIndex0 == LEN1 + 2 + 1 + 1 + 1) //ETX1
{
if (incomingByte0 != 0x0D)
{
//ETX가 와야하는데 다른데이터가 왔다
STX1S0 = false;
STX2S0 = false;
ETX1S0 = false;
bufferIndex0 = 0;//
SendMessage(F("ERROR:STX3"), true);
}
}
else if (bufferIndex0 == LEN1 + 2 + 1 + 1 + 1 + 1)
{
//전체길이를 만족햇다.
if (incomingByte0 != 0x0A)
{
//ETX가 와야하는데 다른데이터가 왔다
STX1S0 = false;
STX2S0 = false;
ETX1S0 = false;
//Console.WriteLine("에러 모두 파기");
bufferIndex0 = 0;// == "";//.Clear();
SendMessage(F("ERROR:STX4"), true);
}
else
{
STX1S0 = false;
STX2S0 = false;
ETX1S0 = false;
//임시버퍼의 데이터를 수신데이터 변수에 넣는다
//memcpy(buffer.c_str(), Tempbuffer1.c_str(), sizeof(Tempbuffer1));
//Tempbuffer1.toCharArray()
//buffer = Tempbuffer1;
Parser(bufferIndex0);
bufferIndex0 = 0;
//Tempbuffer1[0] = 0; //첫비트에 nullstring 을 넣는다
//var.runCommand( parser(buffer1, addMsg1, 0);
}
}
}
////stx ,etx 는 hex 처리하고 번호와 값을 ascii처리함
//if (incomingByte == 0x02) buffer = "";
//else if (incomingByte == 0x03)
//{
// //ETX값이나 전체 길이가 4가아니라면 추가해야함
// uint8_t butNo = (uint8_t)(buffer.substring(0, 3).toInt());
// uint8_t butValue = (uint8_t)(buffer.substring(3, 4).toInt());
// //remote 명령과 공유하기 위해서 util로 이동
// var.runCommand((eCommand)butNo, butValue,0); //NewMsgEvent(butNo, butValue);
// break;
//}
//else{
// buffer += (char)incomingByte; //문자를 누적시킨다.
// if (buffer.length() > 10) {
// sprintln(F("HMI buffer Over error"));
// buffer = "";
// }
//}
}
//if (newdata) sprintln("]");
}
void HmiClass::CheckReceiveS1()
{
//수신데이터가 있는경우에만 처리함
//bool newdata = dbgSerial.available() > 0;
//if (newdata) sprint(F("HMI Received Data ["));
while (dbgSerial.available() > 0) {
incomingByte1 = (char)(dbgSerial.read());
if(incomingByte1 == 0x0A) //if newline
{
String cmd = "";
for(int i = 0 ; i < bufferIndex1;i++)
{
cmd += String((char)Tempbuffer1[i]);
}
if(cmd.equals("UP")||cmd.equals("up"))
{
Serial.println("User command : z-up");
mot.SetZRun(ZRUN_UP);
}
else if(cmd.equals("DN")||cmd.equals("dn"))
{
Serial.println("User command : z-down");
mot.SetZRun(ZRUN_DN);
}
else if(cmd.equals("STOP")||cmd.equals("stop"))
{
Serial.println("User command : z-stop");
mot.SetZRun(ZRUN_STOP);
}
else{
Serial.print("Unknown Command : ");
Serial.println(cmd);
}
bufferIndex1 = 0;
}
else if(bufferIndex1 > 99)
{
Serial.println(F("recv1 length error(>99"));
bufferIndex1 = 0;
}
else {
Tempbuffer1[bufferIndex1++] = incomingByte1; //Tempbuffer1 += incomingByte;
}
}
//if (newdata) sprintln("]");
}
/*
void HmiClass::CheckReceiveS1_Backup_221117()
{
//수신데이터가 있는경우에만 처리함
bool newdata = dbgSerial.available() > 0;
//if (newdata) sprint(F("HMI Received Data ["));
while (dbgSerial.available() > 0) {
incomingByte1 = (char)(dbgSerial.read());
if (STX1S1 == false)
{
if (incomingByte1 != '@')
{
STX2S1 = false;
ETX1S1 = false;
SendMessage(F("ERROR:STX1"), true);
continue;
}
else
{
STX1S1 = true;
ClearTempBuffer1();
Tempbuffer1[bufferIndex1++] = incomingByte1; //Tempbuffer1 += incomingByte;
}
}
else if (STX2S1 == false)
{
if (bufferIndex1 != 1 || bufferIndex1 < 1 || Tempbuffer1[0] != '@' || incomingByte1 != '@')
{
STX1S1 = false;
ETX1S1 = false;
SendMessage(F("ERROR:STX2"), true);
continue;
}
else
{
STX2S1 = true;
Tempbuffer1[bufferIndex1++] = incomingByte1; //Tempbuffer1 += incomingByte;
}
}
else
{
Tempbuffer1[bufferIndex1++] = incomingByte1; //Tempbuffer1 += incomingByte;
//여기서부터는무조건 누적한다.
if (bufferIndex1 == 3)
{
if (Tempbuffer1[0] != 0x40 || Tempbuffer1[1] != '@')
{
STX1S1 = false;
STX2S1 = false;
ETX1S1 = false;
bufferIndex1 = 0; // = "";
}
else LEN1 = incomingByte1; //데이터 길이가온다
}
else if (bufferIndex1 == LEN1 + 2 + 1 + 1) //체크섬이 왔다
{
CHK1 = incomingByte1;
}
else if (bufferIndex1 == LEN1 + 2 + 1 + 1 + 1) //ETX1
{
if (incomingByte1 != 0x0D)
{
//ETX가 와야하는데 다른데이터가 왔다
STX1S1 = false;
STX2S1 = false;
ETX1S1 = false;
bufferIndex1 = 0;//
SendMessage(F("ERROR:STX3"), true);
}
}
else if (bufferIndex1 == LEN1 + 2 + 1 + 1 + 1 + 1)
{
//전체길이를 만족햇다.
if (incomingByte1 != 0x0A)
{
//ETX가 와야하는데 다른데이터가 왔다
STX1S1 = false;
STX2S1 = false;
ETX1S1 = false;
//Console.WriteLine("에러 모두 파기");
bufferIndex1 = 0;// == "";//.Clear();
SendMessage(F("ERROR:STX4"), true);
}
else
{
STX1S1 = false;
STX2S1 = false;
ETX1S1 = false;
//임시버퍼의 데이터를 수신데이터 변수에 넣는다
//memcpy(buffer.c_str(), Tempbuffer1.c_str(), sizeof(Tempbuffer1));
//Tempbuffer1.toCharArray()
//buffer = Tempbuffer1;
Parser(bufferIndex1);
bufferIndex1 = 0;
//Tempbuffer1[0] = 0; //첫비트에 nullstring 을 넣는다
//var.runCommand( parser(buffer1, addMsg1, 0);
}
}
}
////stx ,etx 는 hex 처리하고 번호와 값을 ascii처리함
//if (incomingByte == 0x02) buffer = "";
//else if (incomingByte == 0x03)
//{
// //ETX값이나 전체 길이가 4가아니라면 추가해야함
// uint8_t butNo = (uint8_t)(buffer.substring(0, 3).toInt());
// uint8_t butValue = (uint8_t)(buffer.substring(3, 4).toInt());
// //remote 명령과 공유하기 위해서 util로 이동
// var.runCommand((eCommand)butNo, butValue,0); //NewMsgEvent(butNo, butValue);
// break;
//}
//else{
// buffer += (char)incomingByte; //문자를 누적시킨다.
// if (buffer.length() > 10) {
// sprintln(F("HMI buffer Over error"));
// buffer = "";
// }
//}
}
//if (newdata) sprintln("]");
}
*/
void HmiClass::Parser(byte bufferIndex)
{
Serial.println("Remote Command Parse");
//데이터를 분석해야 함
if (Tempbuffer1[0] == '@' && Tempbuffer1[1] == '@' &&
Tempbuffer1[bufferIndex - 2] == 0x0D && Tempbuffer1[bufferIndex - 1] == 0x0A)
{
byte len = Tempbuffer1[2];
byte chk = Tempbuffer1[len + 3];
if (bufferIndex != len + 6)
{
String msg = ("===>Frame length error len=");
msg += String(bufferIndex);
msg += (",receive=");
msg += String(len + 6);
SendMessage(msg, true);
}
else {
//체크섬확인
byte cs = 0;
for (int i = 3; i < (3 + len); i++)
cs = cs ^ Tempbuffer1[i];
if (chk != cs)
{
String msg = ("===>checksum error calc=");
msg.concat( String(cs));
msg.concat("receive=");
msg.concat(String(chk));
SendMessage(msg, true);
}
else {
//체크섬일치
byte command = Tempbuffer1[3];
byte param1 = Tempbuffer1[4];
byte param2 = Tempbuffer1[5];
var.runCommand((eCommand)command, param1, param2);
}
}
}
else {
//프레임이 이상하다.
//sprintln("===>Frame error stx, etx");
SendMessage("==>Frame error no stx,etx", true);
}
}
void HmiClass::ClearTempBuffer0()
{
LEN0 = 0;
bufferIndex0 = 0;
memcpy(Tempbuffer0, 0, sizeof(Tempbuffer0));
}
void HmiClass::ClearTempBuffer1()
{
LEN1 = 0;
bufferIndex1 = 0;
memcpy(Tempbuffer1, 0, sizeof(Tempbuffer1));
}
void HmiClass::SendMessage(String message, bool isError)
{
if(message.equals(hmimessage))
{
//동일메세지가 왓다면 1초이내로 다시 전송하지 못하게 한다.
if(hmimessagerepeat == 0 || hmimessagerepeat > millis())
hmimessagerepeat = millis();
hmimessagetime = millis()-hmimessagerepeat;
if(hmimessagetime < 999) return;
} else{
hmimessagerepeat = millis();
hmimessage = message;
}
// test = len 4 , totals 4+4=8
// @ @ 6 T 0 t e s t chk \r \n
byte totalLength = message.length() + 8;
byte payload[100]; //IO4바이트(uint32), A0~A3 A는 각 2바이트(uint16)
byte payidx = 0;
payload[payidx++] = '@'; //@
payload[payidx++] = '@'; //@
payload[payidx++] = message.length() + 2; //데이터 길이
payload[payidx++] = 'T';
payload[payidx++] = isError; //오류여부
for (int i = 0; i < message.length(); i++)
{
payload[payidx++] = message[i];
}
//checksum
byte checksum = 0;
for (int i = 3; i < (3 + message.length() + 2); i++)
checksum = checksum ^ payload[i];
payload[payidx++] = checksum;
payload[payidx++] = 0x0D;
payload[payidx++] = 0x0A;
hmiSerial.write(payload, totalLength);
hmiSerial.flush();
//20190325 - 1번포트로 미러링
dbgSerial.println(message);
//dbgSerial.write(message, message.length);
//dbgSerial.flush();
}
bool HmiClass::SendValue(char msg, uint32_t value)
{
byte totalLength = 11;
byte payload[100]; //IO4바이트(uint32), A0~A3 A는 각 2바이트(uint16)
byte payidx = 0;
payload[payidx++] = '@'; //@
payload[payidx++] = '@'; //@
payload[payidx++] = 6; //데이터 길이
payload[payidx++] = 'V';
payload[payidx++] = msg; //값종류
payload[payidx++] = (byte)(value >> 0);
payload[payidx++] = (byte)(value >> 8);
payload[payidx++] = (byte)(value >> 16);
payload[payidx++] = (byte)(value >> 24);
//checksum
byte checksum = 0;
for (int i = 3; i < (3 + 4 + 2); i++)
checksum = checksum ^ payload[i];
payload[payidx++] = checksum;
payload[payidx++] = 0x0D;
payload[payidx++] = 0x0C;
hmiSerial.write(payload, totalLength);
hmiSerial.flush();
//20190325 - 1번포트로 미러링
dbgSerial.write(payload, totalLength);
dbgSerial.flush();
}
HmiClass hmi;

59
Arduino_PLC/HmiClass.h Normal file
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#ifndef _HMICLASS_H_
#define _HMICLASS_H_
#include "arduino.h"
#define hmiSerial Serial1
#define dbgSerial Serial
class HmiClass
{
public:
void Setup();
void Update();
void SendIOStatus();
void SendSetupInfo();
void SendMessage(String message, bool isError);
bool SendValue(char msg, uint32_t value);
bool showDebug = false;
private:
void ClearTempBuffer0();
void ClearTempBuffer1();
byte Tempbuffer0[100];
byte Tempbuffer1[100];
byte bufferIndex0 = 0;
byte bufferIndex1 = 0;
unsigned long updatetime = 100; //데이터 전송 간격 측정을 위한 변수
void CheckReceiveS0(); //Serial0
void CheckReceiveS1(); //Serial1
char incomingByte0; //수신버퍼에서 읽은 데이터를 임시 저장
char incomingByte1; //수신버퍼에서 읽은 데이터를 임시 저장
//String buffer = ""; //수신버퍼 임시 저장 공간
//String Tempbuffer1 = "";
bool STX1S0 = false;
bool STX2S0 = false;
bool ETX1S0 = false;
bool STX1S1 = false;
bool STX2S1 = false;
bool ETX1S1 = false;
byte LEN1;
byte CHK1;
byte LEN0;
byte CHK0;
unsigned long hmimessagerepeat=0;
unsigned long hmimessagetime =0;
String hmimessage="";
void Parser(byte bufferIndex);
};
extern HmiClass hmi;
#endif

386
Arduino_PLC/IO.cpp Normal file
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#include "IO.h"
#include "VarClass.h"
#include "motor.h"
#include "HmiClass.h"
#include "UtilClass.h"
void IoClass::Setup()
{
hmi.SendMessage("##:IO:SETUP", false);
byte DIPins[] = { 30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45 };
byte DOPins[] = { 22,23,24,25,26,27,28,29 };
//입력포트 설정
for (int i = 0; i < sizeof(DIPins); i++)
pinMode(DIPins[i], INPUT);
//출력포트설정
for (int i = 0; i < sizeof(DOPins); i++)
pinMode(DOPins[i], OUTPUT);
//MAF 초기화
for (int i = 0; i < MAF_SIZE; i++)
{
bufferF[i] = 0;
bufferB[i] = 0;
}
}
void IoClass::Update()
{
//Read DigitalInput
bool diValue[16]; int idx = 0;
diValue[idx++] = digitalRead(PINI_EMG); //B접이다
diValue[idx++] = digitalRead(PINI_BTN_1);
diValue[idx++] = digitalRead(PINI_BTN_2);
diValue[idx++] = digitalRead(PINI_BTN_3);
diValue[idx++] = digitalRead(PINI_BTN_4);
diValue[idx++] = digitalRead(PINI_OVERLOADL1);
diValue[idx++] = digitalRead(PINI_OVERLOADL2);
diValue[idx++] = digitalRead(PINI_OVERLOADR1);
diValue[idx++] = digitalRead(PINI_OVERLOADR2);
diValue[idx++] = digitalRead(PINI_EMPTY_38);
diValue[idx++] = digitalRead(PINI_BTN_ZUP);
diValue[idx++] = digitalRead(PINI_BTN_ZDN);
diValue[idx++] = digitalRead(PINI_LIMIT_LU);
diValue[idx++] = digitalRead(PINI_LIMIT_LD);
diValue[idx++] = digitalRead(PINI_LIMIT_RU);
diValue[idx++] = digitalRead(PINI_LIMIT_RD);
diValue[idx++] = digitalRead(PINI_STOP);
//비상정지 반전
diValue[IDXI_EMG] = !diValue[IDXI_EMG];
//오버로드센서 반전
diValue[IDXI_OVERLOADL] = !diValue[IDXI_OVERLOADL];
diValue[IDXI_OVERLOADR] = !diValue[IDXI_OVERLOADR];
diValue[IDXI_EMPTY7] = !diValue[IDXI_EMPTY7];
diValue[IDXI_EMPTY8] = !diValue[IDXI_EMPTY8];
//오버로드센서를 합친다 5+6=>5, 7+8=>6
diValue[IDXI_OVERLOADL] = diValue[IDXI_OVERLOADL] || diValue[IDXI_OVERLOADR];
diValue[IDXI_OVERLOADR] = diValue[IDXI_EMPTY7] || diValue[IDXI_EMPTY8];
diValue[IDXI_EMPTY7]= false;
diValue[IDXI_EMPTY8]= false;
//리밋센서도 반전
diValue[IDXI_LIMIT_LU] = !diValue[IDXI_LIMIT_LU];
diValue[IDXI_LIMIT_LD] = !diValue[IDXI_LIMIT_LD];
diValue[IDXI_LIMIT_RU] = !diValue[IDXI_LIMIT_RU];
diValue[IDXI_LIMIT_RD] = !diValue[IDXI_LIMIT_RD];
//리버스 체크 200325
//입력값은 Reverse 하지 않는다
/*
var._eep_pindir_iL = 0;
var._eep_pindir_iH = 0;
for (int i = 0; i < 16; i++)
{
if (i < 8)
{
if (bitRead(var._eep_pindir_iL, i) == true)
diValue[i] = !diValue[i];
}
else {
if (bitRead(var._eep_pindir_iH, i - 8) == true)
diValue[i] = !diValue[i];
}
}*/
for (int i = 0; i < idx; i++)
{
//이 값의 변화를 체크한다.
bool oldValue = bitRead(var.IOData, i);
bool isNewValue = false;
if (oldValue != diValue[i]) isNewValue = true;
bitWrite(var.IOData, i, diValue[i]);//0번부터 기록한다
//값이 변화했따
if (isNewValue) IOValueChanged(false, i, diValue[i]);
}
//read output
bool doValue[8]; idx = 0;
doValue[idx++] = digitalRead(PINO_GUIDEMOTOR_LDIR);
doValue[idx++] = digitalRead(PINO_GUIDEMOTOR_LRUN);
doValue[idx++] = digitalRead(PINO_GUIDEMOTOR_RDIR);
doValue[idx++] = digitalRead(PINO_GUIDEMOTOR_RRUN);
doValue[idx++] = digitalRead(PINO_EMPTY_26);
doValue[idx++] = digitalRead(PINO_EMPTY_27);
doValue[idx++] = digitalRead(PINO_EMPTY_28);
doValue[idx++] = digitalRead(PINO_EMPTY_29);
for (int i = 0; i < idx; i++)
{
bool oldValue = bitRead(var.IOData, i + 16);
bool isNewValue = false;
if (oldValue != doValue[i]) isNewValue = true;
bitWrite(var.IOData, i + 16, doValue[i]);//0번부터 기록한다
//값이 변화했따
if (isNewValue) IOValueChanged(true, i, !oldValue);
}
//Read Analog (마그넷 센서 값만 확인한다)
idx = 0;
//원본값은 그대로 저장한다
var.ANData[idx++] = analogRead(PINAI_0);
var.ANData[idx++] = analogRead(PINAI_1);
var.ANData[idx++] = analogRead(PINAI_2);
var.ANData[idx++] = analogRead(PINAI_3);
idx = 0;
var.AOData[idx++] = 0;
var.AOData[idx++] = 0;
var.AOData[idx++] = 0;
var.AOData[idx++] = 0;
//파워체크
if (IsPowerLoss() == true) var.setFlag(FLAG_POWERLOSS, true, "IOUpdate");
else var.setFlag(FLAG_POWERLOSS, false, "IOUpdate");
}
//메인전원이 OFF되어있는지 확인합니다.(리밋센서의OFF여부로 체크함)
bool IoClass::IsPowerLoss()
{
//얘들은 B접점이라서. 항상 ON 이 되어있는 애들이다.
//전원이 OFF되면 모든 센서가 LOW 상태가 된다
//하지만 신호를 반전(!) 시켜두었으므로 모두 켜진다면 OFF 된 경우이다)
bool b1 = bitRead(var.IOData, IDXI_LIMIT_LD);
bool b2 = bitRead(var.IOData, IDXI_LIMIT_LU);
bool b3 = bitRead(var.IOData, IDXI_LIMIT_RU);
bool b4 = bitRead(var.IOData, IDXI_LIMIT_RD);
if (b1 == true && b2 == true && b3 == true && b4 == true) return true;
return false;
}
//IO상태값이 변화되었을때 동작한다
void IoClass::IOValueChanged(bool isout, uint8_t index, bool newValue)
{
if (isout == false) //입력포트
{
if (index == IDXI_BTN_1)
{
if (newValue == true)
{
hmi.SendMessage("button 1 pressed", false);
}
}
if (index == IDXI_BTN_2)
{
if (newValue == true)
{
hmi.SendMessage("button 2 pressed", false);
}
}
if (index == IDXI_BTN_3)
{
if (newValue == true)
{
hmi.SendMessage("button 3 pressed", false);
}
}
if (index == IDXI_BTN_4)
{
if (newValue == true)
{
hmi.SendMessage("button 4 pressed", false);
}
}
//양쪽면의 z축 UP/DN 버튼 할당
if (index == IDXI_BTN_ZUP)
{
if (newValue == true)
{
if (mot.GetZDirL() == ZDIR_CW && mot.IsMoveZ() == true)
{
hmi.SendMessage("z-stop by h/w button", false);
mot.SetZRun(ZRUN_STOP);
}
if (mot.GetZDirL() == ZDIR_CCW && mot.IsMoveZ() == true)
{
hmi.SendMessage("z-stop by h/w button", false);
mot.SetZRun(ZRUN_STOP);
}
else {
mot.SetZRun(ZRUN_UP);
hmi.SendMessage("Z-Up by H/W Button", false);
}
}
}
else if (index == IDXI_BTN_ZDN)
{
if (newValue == true)
{
if (mot.GetZDirL() == ZDIR_CCW && mot.IsMoveZ() == true)
{
hmi.SendMessage("z-stop by h/w button", false);
mot.SetZRun(ZRUN_STOP);
}
if (mot.GetZDirL() == ZDIR_CW && mot.IsMoveZ() == true)
{
hmi.SendMessage("z-stop by h/w button", false);
mot.SetZRun(ZRUN_STOP);
}
else {
mot.SetZRun(ZRUN_DN);
hmi.SendMessage("Z-Dn by H/W Button", false);
}
}
}
else if (index == IDXI_EMG) //비상정지 혹은 범퍼센서가 감지된경우
{
if (newValue == true)
{
hmi.SendMessage("EMG Stop Detected", false);
mot.SetZRun(ZRUN_STOP);
}
}
//일반적으로 Rising 상태일때에만 동작시킨다.
if (newValue == true)
{
//하단센서2개가 들어왔다면 FLAG를 설정한다
if (index == IDXI_LIMIT_LD || index == IDXI_LIMIT_RD)
{
if (index == IDXI_LIMIT_LD )
{
if (var.getFlag(FLAG_LIMITLOWL) == false)
{
var.setFlag(FLAG_LIMITLOWL, true, "IO:Limit Sensor(LD) Changed");
hmi.SendMessage(F("SET:FLAG:LOW_LIMITL:1"), false);
}
}
else if (index == IDXI_LIMIT_RD )
{
if (var.getFlag(FLAG_LIMITLOWR) == false)
{
var.setFlag(FLAG_LIMITLOWR, true, "IO:Limit Sensor(RD) Changed");
hmi.SendMessage(F("SET:FLAG:LOW_LIMITR:1"), false);
}
}
else {
bool b1 = bitRead(var.IOData, IDXI_LIMIT_LD);
bool b2 = bitRead(var.IOData, IDXI_LIMIT_RD);
if (b1 == false && var.getFlag(FLAG_LIMITLOWL) == true)
{
var.setFlag(FLAG_LIMITLOWL, false, "IO:Limit Sensor(LD) Changed");
hmi.SendMessage(F("SET:FLAG:LOW_LIMITL:0"), false);
}
if (b2 == false && var.getFlag(FLAG_LIMITLOWR) == true)
{
var.setFlag(FLAG_LIMITLOWR, false, "IO:Limit Sensor(RD) Changed");
hmi.SendMessage(F("SET:FLAG:LOW_LIMITR:0"), false);
}
}
}
if (index == IDXI_LIMIT_LU || index == IDXI_LIMIT_RU)
{
if (index == IDXI_LIMIT_LU || var.getFlag(FLAG_LIMITHIGHL) == false)
{
var.setFlag(FLAG_LIMITHIGHL, true, "IO:Limit Sensor(LU) Changed");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMITL:1"), false);
}
else if (index == IDXI_LIMIT_RU || var.getFlag(FLAG_LIMITHIGHR) == false)
{
var.setFlag(FLAG_LIMITHIGHR, true, "IO:Limit Sensor(RU) Changed");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMITR:1"), false);
}
else {
bool b1 = bitRead(var.IOData, IDXI_LIMIT_LU);
bool b2 = bitRead(var.IOData, IDXI_LIMIT_RU);
if (b1 == false && var.getFlag(FLAG_LIMITHIGHL) == true)
{
var.setFlag(FLAG_LIMITHIGHL, false, "IO:Limit Sensor(LU) Changed");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMITL:0"), false);
}
if (b2 == false && var.getFlag(FLAG_LIMITHIGHR) == true)
{
var.setFlag(FLAG_LIMITHIGHR, false, "IO:Limit Sensor(RU) Changed");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMITR:0"), false);
}
}
}
//오버로드 플래그 활성화
if (index == IDXI_OVERLOADL)
{
mot.SetZRun(ZRUN_STOP);
hmi.SendMessage(F("All Mot Stop by OverloadL"), false);
}
else if (index == IDXI_OVERLOADR)
{
mot.SetZRun(ZRUN_STOP);
hmi.SendMessage(F("All Mot Stop by OverloadR"), false);
}
}
else //해당값이 OFF 되었다
{
//대상이 리밋센서라면 플래그를 설정 해준다
if (index == IDXI_LIMIT_LD)
{
hmi.SendMessage("Limit Sensor(LD) Change " + String(index) + "=" + String(newValue), false);
if (var.getFlag(FLAG_LIMITLOWL) == true)
{
var.setFlag(FLAG_LIMITLOWL, false, "IO:Limit Sensor Changed(LD)");
hmi.SendMessage(F("SET:FLAG:LOW_LIMIT:0"), false);
}
}
else if (index == IDXI_LIMIT_RD)
{
hmi.SendMessage("Limit Sensor(RD) Change " + String(index) + "=" + String(newValue), false);
if (var.getFlag(FLAG_LIMITLOWR) == true)
{
var.setFlag(FLAG_LIMITLOWR, false, "IO:Limit Sensor Changed(RD)");
hmi.SendMessage(F("SET:FLAG:LOW_LIMIT:0"), false);
}
}
else if (index == IDXI_LIMIT_LU )
{
hmi.SendMessage("Limit Sensor(LU) Change " + String(index) + "=" + String(newValue), false);
if (var.getFlag(FLAG_LIMITHIGHL) == true)
{
var.setFlag(FLAG_LIMITHIGHL, false, "IO:Limit Sensor Changed(LU)");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMIT:0"), false);
}
}
else if (index == IDXI_LIMIT_RU)
{
hmi.SendMessage("Limit Sensor(RU) Change " + String(index) + "=" + String(newValue), false);
if (var.getFlag(FLAG_LIMITHIGHR) == true)
{
var.setFlag(FLAG_LIMITHIGHR, false, "IO:Limit Sensor Changed(RU)");
hmi.SendMessage(F("SET:FLAG:HIGH_LIMIT:0"), false);
}
}
}
}
else //출력포트
{
//일반적으로 Rising 상태일때에만 동작시킨다.
if (newValue == true)
{
}
}
}
IoClass io;

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#ifndef _IO_H_
#define _IO_H_
#include "Arduino.h"
class IoClass
{
public:
//input pin
#define PINI_EMG 30
#define PINI_BTN_1 31
#define PINI_BTN_2 32
#define PINI_BTN_3 33
#define PINI_BTN_4 34
#define PINI_OVERLOADL1 35
#define PINI_OVERLOADL2 36
#define PINI_OVERLOADR1 37
#define PINI_OVERLOADR2 38
#define PINI_EMPTY_38 39
#define PINI_BTN_ZUP 40
#define PINI_BTN_ZDN 41
#define PINI_LIMIT_LU 42
#define PINI_LIMIT_LD 43
#define PINI_LIMIT_RU 44
#define PINI_LIMIT_RD 45
#define PINI_STOP 46
//send data index
#define IDXI_EMG 0
#define IDXI_BTN_1 1
#define IDXI_BTN_2 2
#define IDXI_BTN_3 3
#define IDXI_BTN_4 4
#define IDXI_OVERLOADL 5
#define IDXI_OVERLOADR 6
#define IDXI_EMPTY7 7
#define IDXI_EMPTY8 8
#define IDXI_BTN_ZUP 9
#define IDXI_BTN_ZDN 10
#define IDXI_LIMIT_LU 11
#define IDXI_LIMIT_LD 12
#define IDXI_LIMIT_RU 13
#define IDXI_LIMIT_RD 14
#define IDXI_STOP 15
//output
#define PINO_GUIDEMOTOR_LDIR 22 //Guide Motor Direction
#define PINO_GUIDEMOTOR_LRUN 23 //Guide Motor Start
#define PINO_GUIDEMOTOR_RDIR 24 //
#define PINO_GUIDEMOTOR_RRUN 25 //Guide Motor Run(STA<54><41> <20><><EFBFBD><EFBFBD>ȭ<EFBFBD><C8AD> [IO.cpp:Update()] )
#define PINO_EMPTY_26 26
#define PINO_EMPTY_27 27
#define PINO_EMPTY_28 28
#define PINO_EMPTY_29 29
#define IDXO_GUIDEMOTOR_LDIR 0 //Guide Motor Direction
#define IDXO_GUIDEMOTOR_LRUN 1 //Guide Motor Start
#define IDXO_GUIDEMOTOR_RDIR 2 //
#define IDXO_GUIDEMOTOR_RRUN 3 //Guide Motor Run(STA<54><41> <20><><EFBFBD><EFBFBD>ȭ<EFBFBD><C8AD> [IO.cpp:Update()] )
#define IDXO_EMPTY_04 4
#define IDXO_EMPTY_05 5
#define IDXO_EMPTY_06 6
#define IDXO_EMPTY_07 7
#define IDXO_EMPTY_08 8
#define IDXO_CHARGE_ON 9
#define IDXO_MOT_POWER_L 10
#define IDXO_MOT_POWER_R 11
#define IDXO_EMPTY_42 12
#define IDXO_EMPTY_43 13
#define IDXO_EMPTY_44 14
#define IDXO_EMPTY_45 15
//<2F>Ƴ<EFBFBD><C6B3>α<EFBFBD><CEB1>Է<EFBFBD>(<28>ɹ<EFBFBD>ȣ)
#define PINAI_0 A0 //<2F><><EFBFBD>׳ݼ<D7B3><DDBC><EFBFBD>(FRONT) <20><>ġ <20><>
#define PINAI_1 A1 //<2F><><EFBFBD>׳ݼ<D7B3><DDBC><EFBFBD>(REAR) <20><>ġ <20><>
#define PINAI_2 A2 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define PINAI_3 A3 //<2F><><EFBFBD>͸<EFBFBD> <20><><EFBFBD><EFBFBD> <20>б<EFBFBD>
//<2F>Ƴ<EFBFBD><C6B3>α<EFBFBD> <20>Է<EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ε<EFBFBD><CEB5><EFBFBD>)
#define IDXAI_0 0
#define IDXAI_1 1
#define IDXAI_2 2
#define IDXAI_3 3
//<2F>Ƴ<EFBFBD><C6B3>α<EFBFBD><CEB1><EFBFBD><EFBFBD>(PWM)
#define PINAO_4 A4 //Z<><5A> <20><><EFBFBD><EFBFBD> <20>ӵ<EFBFBD>
#define PINAO_5 A5 //<2F><><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD> <20>ӵ<EFBFBD>
#define PINAO_6 A6 //<2F><><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD> <20>ӵ<EFBFBD>
#define PINAO_7 A7 //<2F><><EFBFBD><EFBFBD><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD> <20>ӵ<EFBFBD>
//<2F>Ƴ<EFBFBD><C6B3>α<EFBFBD><CEB1><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ε<EFBFBD><CEB5><EFBFBD>)
#define IDXAO_0 0 //Z<><5A> <20><><EFBFBD><EFBFBD> <20>ӵ<EFBFBD>
#define IDXAO_1 1 //(<28><>+<2B><>) <20><><EFBFBD><EFBFBD>
#define IDXAO_2 2 //<2F><><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD> <20>ӵ<EFBFBD>
#define IDXAO_3 3 //<2F><><EFBFBD><EFBFBD><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD> <20>ӵ<EFBFBD>
#define MAF_SIZE 30
void Setup();
void Update();
bool IsPowerLoss();
private:
int bufferF[MAF_SIZE];
int indexF = 0;
int countF = 0;
int iF;
int sumF = 0;
int tempF;
float avgF;
int bufferB[MAF_SIZE];
int indexB = 0;
int countB = 0;
int iB;
int sumB = 0;
int tempB;
float avgB;
long tm_gateoutOn = 0;
long tm_gateoutOf = 0;
long tm_markOn = 0;
long tm_markOff = 0;
unsigned long runtime = 0;
void IOValueChanged(bool isout, uint8_t index, bool newValue);
};
extern IoClass io;
#endif

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221116 B라인용 소스 정리 작업 진행

0
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#include "UtilClass.h"
#include "VarClass.h"
#include "arduino.h"
uint32_t UtilClass::b2i(bool Value)
{
if (Value == true) return 1;
else return 0;
}
uint8_t UtilClass::spdConvPercToValue(uint8_t perc)
{
uint8_t retval = map(perc, 0, 100, 0, 255); // perc / 100 * 255;
return retval; //,0,255,0,100));
}
void UtilClass::copy(byte* src, byte* dst, byte len) {
memcpy(dst, src, sizeof(src[0])*len);
}
UtilClass util;

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#ifndef _UTILCLASS_H_
#define _UTILCLASS_H_
#include "arduino.h"
class UtilClass
{
public:
void copy(byte* src, byte* dst, byte len);
uint32_t b2i(bool Value);
uint8_t spdConvPercToValue(uint8_t perc);
//void debug(char *str, ...);
};
extern UtilClass util;
#endif

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#include "VarClass.h"
#include "motor.h"
#include "IO.h"
#include "HmiClass.h"
void VarClass::Setup()
{
hmi.SendMessage("##:VAR:SETUP", false);
for(int i = 0 ; i < 4;i++)
{
ANData[i] = 0;
AOData[i] = 0;
}
}
void VarClass::Update()
{
/*
if (var.getFlag(FLAG_CHARGEONM) == true)
{
//<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6> <20>ڵ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>¸<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD>
if (var.getFlag(FLAG_AUTORUN) == true)
var.setFlag(FLAG_AUTORUN, false, "Manual Charge Mode");
}
*/
}
/* <20>ܺθ<DCBA><CEB8><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>մϴ<D5B4>. HMI<4D><49> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>̳<EFBFBD> RS232<33><32> REMOTE <20><>ɿ<EFBFBD> <20><><EFBFBD><EFBFBD> */
void VarClass::runCommand(eCommand cmd, uint8_t p1, uint8_t p2)
{
/*String msg = ("RunCommand ");
msg += String(cmd);
msg += (":");
msg += String(p1);
msg += (":");
msg += String(p2);
hmi.SendMessage(msg, false);*/
//display data
var.pingtime = millis();
bool newValue = false;
if (cmd == LOAD)
{
var.eeprom_load();
}
else if (cmd == SAVE)
{
var.eeprom_save();
}
else if (cmd == RESET)
{
var.runReset = true;
}
else if (cmd == SET_PINMODE)
{
pinMode(p1, p2); //<2F>ش<EFBFBD><D8B4><EFBFBD><EFBFBD><EFBFBD> IO<49><4F>带 <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD>
}
else if (cmd == SET_DOUTPUT)
{
String msg = ("Remote:Output:");
msg += String(p1);
msg += ',';
msg += String(p2);
hmi.SendMessage(msg, false);
digitalWrite(p1, p2);
}
else if (cmd == SET_AOUTPUT)
{
if (p1 == 11) var.AOData[0] = p2;
else if (p1 == 12) var.AOData[1] = p2;
analogWrite(p1, p2);
String msg = ("Set PWM Out:");
msg += String(p1);
msg += ',';
msg += String(p2);
hmi.SendMessage(msg, false);
}
else if (cmd == SET_FLAG)
{
String msg = ("@FLAG|");
msg += String(p1);
msg += ',';
msg += String(p2);
hmi.SendMessage(msg, false);
if (p2 == 1) var.setFlag(p1, true, "Remote");
else var.setFlag(p1, false, "Remote");
if (p2 == 1 && p1 == FLAG_SETUP)
{
hmi.SendMessage("Entering Setup Mode", false);
}
}
else if (cmd == SET_EEPROM)
{
if (p1 == EEP_IOINTERVAL) {
var._eep_iosendinterval = p2;
hmi.SendMessage("(EEP) I/O Interval = " + String(p2), false);
}
else if (p1 == EEP_RESETCOUNT) {
hmi.SendMessage("(EEP) EEP_RESETCOUNT = " + String(p2), false);
}
else hmi.SendMessage("Set_ErrpRom p1 error", false);
//var.eeprom_save();
}
else if (cmd == GET_SETTING)
{
//<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ѵ<EFBFBD>
//<2F>̰DZ<CCB0><C7B1><EFBFBD><EFBFBD>ؾ<EFBFBD><D8BE><EFBFBD>
}
else if (cmd == GUIDE_MOT)
{
if (p1 == 'L') //left
{
if (p2 == 'P')
{
mot.SetZDir(ZDIR_CW);
mot.SetZRunL(true);
}
else if (p2 == 'N')
{
mot.SetZDir(ZDIR_CCW);
mot.SetZRunL(true);
}
else if (p2 == 'S')
{
mot.SetZRunL(false);
}
}
else if (p1 == 'R') //right
{
if (p2 == 'P')
{
mot.SetZDir(ZDIR_CW);
mot.SetZRunR(true);
}
else if (p2 == 'N')
{
mot.SetZDir(ZDIR_CCW);
mot.SetZRunR(true);
}
else if (p2 == 'S')
{
mot.SetZRunR(false);
}
}
else if (p1 == 'A') //all
{
if (p2 == 'P')
{
mot.SetZRun(ZRUN_UP);
}
else if (p2 == 'N')
{
mot.SetZRun(ZRUN_DN);
}
else if (p2 == 'S')
{
mot.SetZRun(ZRUN_STOP);
}
}
}
else if (cmd == PINGCHK)
{
//<2F>ƹ<EFBFBD><C6B9>͵<EFBFBD> ó<><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ʴ´<CAB4>.
}
else {
hmi.SendMessage(F("Unknown Command"), true);
}
}
void VarClass::eeprom_save()
{
//param
EEPROM.write(EEP_IOINTERVAL, var._eep_iosendinterval);
EEPROM.write(EEP_RESETCOUNT, var._eep_resetcount);
EEPROM.write(EEP_DIREVH, var._eep_pindir_iH);
EEPROM.write(EEP_DIREVL, var._eep_pindir_iL);
//<2F>ɼǰ<C9BC> <20><><EFBFBD><EFBFBD>
bool opt1 = var.getFlag(FLAG_ENABLE_AD4INVERT);
bool opt2 = var.getFlag(FLAG_ENABLE_LOG_SPEED);
//bool opt3 = var.getFlag(FLAG_ENABLE_BALANCE);
//bool opt4 = var.getFlag(FLAG_ENABLE_LIDARSTOP);
//bool opt5 = var.getFlag(FLAG_ENABLE_GATEOUT);
bitWrite(var._eep_option, FLAG_ENABLE_AD4INVERT - 24, opt1);
bitWrite(var._eep_option, FLAG_ENABLE_LOG_SPEED - 24, opt2);
//bitWrite(var._eep_option, FLAG_ENABLE_BALANCE - 24, opt3);
//bitWrite(var._eep_option, FLAG_ENABLE_LIDARSTOP - 24, opt4);
//bitWrite(var._eep_option, FLAG_ENABLE_GATEOUT - 24, opt5);
//hmi.SendMessage("Option Store Value=" + String(var._eep_option), false);
EEPROM.write(EEP_OPTION, var._eep_option); //<2F><><EFBFBD><EFBFBD> 200402
hmi.SendMessage("@SET|SAVE:" + String(var._eep_option), false);
}
void VarClass::eeprom_load()
{
//hmi.SendMessage("##:EEPROM:LOAD:BEGIN", false);
var._eep_iosendinterval = EEPROM.read(EEP_IOINTERVAL);
var._eep_resetcount = EEPROM.read(EEP_RESETCOUNT);
var._eep_pindir_iH = EEPROM.read(EEP_DIREVH);
var._eep_pindir_iL = EEPROM.read(EEP_DIREVL);
var._eep_option = EEPROM.read(EEP_OPTION); //<2F>ɼǰ<C9BC><C7B0><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>س<EFBFBD><D8B3><EFBFBD> <20><><EFBFBD><EFBFBD>Ѵ<EFBFBD>
//<2F>ɼǰ<C9BC> <20><><EFBFBD><EFBFBD>
bool opt1 = bitRead(var._eep_option, FLAG_ENABLE_AD4INVERT - 24);
bool opt2 = bitRead(var._eep_option, FLAG_ENABLE_LOG_SPEED - 24);
if (var._eep_iosendinterval == 0 || var._eep_iosendinterval == 0xFF)
var._eep_iosendinterval = 50;
hmi.SendMessage("@SET|LOAD:" + String(var._eep_option), false);
}
void VarClass::eeprom_incResetCount()
{
EEPROM.write(EEP_RESETCOUNT, _eep_resetcount);
hmi.SendMessage(F("Increase Reset Count"), false);
}
/*
system flag
*/
void VarClass::setFlag(uint8_t pos, bool value, String Readson)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȯ<EFBFBD><C8AE>
bool oldValue = bitRead(var.flag, pos);
//#####################################
// 값이 변경된 경우에 처리
//#####################################
if (oldValue != value)
{
bitWrite(var.flag, pos, value);
if (pos == FLAG_AUTORUN)
{
if (value == true)
{
}
}
else if (pos == FLAG_STOPZ)
{
hmi.SendMessage("Z-Stop Condition => " + String(value) + ": " + Readson, false);
}
}
}
bool VarClass::getFlag(uint8_t pos)
{
return bitRead(var.flag, pos);
}
uint32_t VarClass::getFlagValue()
{
return var.flag;
}
VarClass var;

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#ifndef _VAR_H_
#define _VAR_H_
#define DEBUG
#define sprint(...) Serial1.print(__VA_ARGS__)
#define sprintln(...) Serial1.println(__VA_ARGS__)
#ifdef DEBUG
#define dprint(...) Serial1.print(__VA_ARGS__)
#define dprintln(...) Serial1.println(__VA_ARGS__)
#else
#define dprint(...)
#define dprint(...)
#endif
#include "arduino.h"
#include <EEPROM.h>
#include "UtilClass.h"
//모든 사용가능한 커맨드를 넣는다(이 파일은 서브PLC파일)
enum eCommand
{
LOAD = 0, //EEPROM 불러오기
SAVE, //EEPROM 저장
RESET, //초기화
PINGCHK,
SET_PINMODE, //PINMODE 설정
SET_DOUTPUT, //디지털출력설정(포트번호,값[1,0])
SET_AOUTPUT, //아날로그출력설정(포트GET_SETTING = 50, //셋팅값 요청
SET_FLAG,
SET_EEPROM,
SET_MANUALSPEED,
GET_SETTING = 50,
GUIDE_MOT= 90, //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
SET_EEP_DIREV,
};
//asci 0=48,1=49,2=50
enum eEEPAddress
{
EEP_IOINTERVAL = 0,
EEP_RESETCOUNT,
EEP_DIREVH,
EEP_DIREVL,
EEP_OPTION,
EEP_UPTIME,
};
//플래그 총 32개 모두 다씀
enum eFlag
{
FLAG_STOPZ= 0,
FLAG_SETUP,
FLAG_WAIT,
FLAG_AUTORUN,
FLAG_MANUALRUN,
FLAG_LIMITHIGHL,
FLAG_LIMITHIGHR,
FLAG_LIMITLOWL,
FLAG_LIMITLOWR,
FLAG_POWERLOSS,
FLAG_DIR,
FLAG_LEFT_RUN,
FLAG_RIGHT_RUN,
FLAG_RUN_CMD,
FLAG_GO_CHAGER = 26,
FLAG_ENABLE_AD4INVERT=27,
FLAG_ENABLE_LOG_SPEED = 28,
};
class VarClass
{
public:
unsigned long serialprinttime = 0;
uint16_t runtime = 0;
long pingtime = 0;
//SUB
uint32_t IOData = 0; //IO데이터가 있으며 DI : Low 16bit, DO : High 16bit
uint8_t ANData[4]; //A0 ~ A3
uint8_t AOData[4]; //A4 ~ A6
void Setup();
void Update();
void runCommand(eCommand cmd, uint8_t p1, uint8_t p2);
uint8_t _eep_resetcount = 0; //장치초기화 횟수
uint8_t _eep_iosendinterval = 0;
uint8_t _eep_option = 0; //옵션값(이 값은 FLAG와 연결됨)
uint8_t _eep_pindir_iH = 0; //Input High
uint8_t _eep_pindir_iL = 0; //Input Low
uint8_t manual_speed = 0; //속도고정값
void eeprom_save(); //EEPROM 쓰기
void eeprom_load(); //EEPROM 읽기
void eeprom_incResetCount(); //초기화횟수증가 및 저장
void setFlag(uint8_t pos, bool value, String Readson); //플래그쓰기
bool getFlag(uint8_t pos); //플래그읽기
uint32_t getFlagValue(); //플래그값확인
bool runReset = false; //이값을 설정하면 Project.Ino 에서 초기화를 수행함
private:
uint32_t flag = 0; //시스템플래그
uint32_t flag_ = 0;
//void FlagValueChanged(uint8_t index, bool newValue);
};
extern VarClass var;
#endif

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#include "motor.h"
#include "IO.h"
#include "VarClass.h"
#include "UtilClass.h"
#include "HmiClass.h"
void motor::Setup()
{
hmi.SendMessage("##:MOT:SETUP", false);
//Z축 멈춤
SetZRun(ZRUN_STOP);
}
void motor::Update()
{
//##########################
// 사용자추가코드
//##########################
if (var.pingtime == 0 || var.pingtime > millis()) var.pingtime = millis();
long runtime = millis() - var.pingtime;
//중지조건 체크
//(충전중, 비상정지, 오버로드, 설정화면)
bool bStop1 = var.getFlag(FLAG_SETUP);
bool bStop2L = bitRead(var.IOData, IDXI_OVERLOADL);
bool bStop2R = bitRead(var.IOData, IDXI_OVERLOADR);
bool bStop3 = bitRead(var.IOData, IDXI_EMG);
bool bStop4 = bitRead(var.IOData, IDXI_STOP);
//중지조건이 활성화되었다면 처리
String stpReason = "";
//Z축 중지는 오버로드만 확읺ㄴ다.
if (bStop3== true)
{
if (var.getFlag(FLAG_STOPZ) == false)
{
dbgSerial.println("Set Flag On: flag_stopz by EMG");
var.setFlag(FLAG_STOPZ, true, "MotUpdate");
}
}
else if (bStop2L == true)
{
if (var.getFlag(FLAG_STOPZ) == false)
{
dbgSerial.println("Set Flag On: flag_stopz by OverloadL");
var.setFlag(FLAG_STOPZ, true, "MotUpdate_OVLL");
}
}
else if (bStop2R == true)
{
if (var.getFlag(FLAG_STOPZ) == false)
{
dbgSerial.println("Set Flag On: flag_stopz by OverloadR");
var.setFlag(FLAG_STOPZ, true, "MotUpdate_OVLR");
}
}
else if (var.getFlag(FLAG_STOPZ) == true)
{
dbgSerial.println("Set Flag Off");
var.setFlag(FLAG_STOPZ, false, "MotUpdate");
}
//가이드 모터 동작시 Limit 센서 체크
ZLimit_AutoStop();
if (var.getFlag(FLAG_STOPZ) == true)
{
if (IsMoveZ() == true)
{
Serial.println("Z-Axis Auto Stop by 'STOP-Z' Condition");
mot.SetZRun(ZRUN_STOP);
}
}
//Serial.println("motor update");
}
//Z축이 동작죽이라면 리밋센서값을 보고 자동으로 멈춥니다
void motor::ZLimit_AutoStop()
{
if (mot.IsMoveZ() == true)
{
//정방향이동시(올라간다)
if (mot.GetZDirL() == ZDIR_CW)
{
if (bitRead(var.IOData, IDXI_OVERLOADL) == true ) //오버로드 활성화시 멈춤
{
mot.SetZRun(ZRUN_STOP);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis Auto Stop by OverloadL", false);
}
else if (bitRead(var.IOData, IDXI_OVERLOADR) == true ) //오버로드 활성화시 멈춤
{
mot.SetZRun(ZRUN_STOP);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis Auto Stop by OverloadR", false);
}
else {
//상단센서가 하나라도 동작하면 멈춘다
if (mot.IsMoveZL() == true && bitRead(var.IOData, IDXI_LIMIT_LU) == true)
{
mot.SetZRunL(false);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis (Left) Auto Stop by Upper Limit", false);
}
if (mot.IsMoveZR() == true && bitRead(var.IOData, IDXI_LIMIT_RU) == true)
{
mot.SetZRunR(false);
if (var.getFlag(FLAG_SETUP) == false)hmi.SendMessage("Z-Axis (Right) Auto Stop by Upper Limit", false);
}
}
}
else //역방향이동(내려간다)
{
//하단센서가 하나라도 동작하면 멈춘다
if (mot.IsMoveZL() == true && bitRead(var.IOData, IDXI_LIMIT_LD) == true)
{
mot.SetZRunL(false);
if (var.getFlag(FLAG_SETUP) == false)hmi.SendMessage("Z-Axis (Left) Auto Stop by Lower Limit", false);
}
if (mot.IsMoveZR() == true && bitRead(var.IOData, IDXI_LIMIT_RD) == true)
{
mot.SetZRunR(false);
if (var.getFlag(FLAG_SETUP) == false)hmi.SendMessage("Z-Axis (Right) Auto Stop by Lower Limit", false);
}
}
}
}
//가이드 모터 진행방향을 반환(CW:Up, CCW:Down)
ZDirection motor::GetZDirL()
{
bool value = bitRead(var.IOData, IDXO_GUIDEMOTOR_LDIR + 16);
if (value == false) return ZDIR_CW;
else return ZDIR_CCW;
}
ZDirection motor::GetZDirR()
{
bool value = bitRead(var.IOData, IDXO_GUIDEMOTOR_RDIR + 16);
if (value == false) return ZDIR_CW;
else return ZDIR_CCW;
}
//가이드 모터(좌+우) 동작 여부
bool motor::IsMoveZ()
{
if (IsMoveZL() == true) return true;
else if (IsMoveZR() == true) return true;
else return false;
}
//가이드 모터(좌) 동작 여부
bool motor::IsMoveZL()
{
bool v1 = bitRead(var.IOData, IDXO_GUIDEMOTOR_LRUN + 16);
//bool v2 = bitRead(var.IOData, IDXO_GUIDEMOTOR_LEFT + 16);
return v1 ;
}
//가이드 모터(우) 동작 여부
bool motor::IsMoveZR()
{
bool v1 = bitRead(var.IOData, IDXO_GUIDEMOTOR_RRUN + 16);
//bool v2 = bitRead(var.IOData, IDXO_GUIDEMOTOR_RIGHT + 16);
return v1 ;
}
//가이드모터 진행방향 결정(True:정방향, False:역방향)
void motor::SetZDir(ZDirection direction)
{
if (direction == ZDIR_CW) {
digitalWrite(PINO_GUIDEMOTOR_LDIR, LOW);
digitalWrite(PINO_GUIDEMOTOR_RDIR, LOW);
}
else {
digitalWrite(PINO_GUIDEMOTOR_LDIR, HIGH);
digitalWrite(PINO_GUIDEMOTOR_RDIR, HIGH);
}
}
void motor::SetZRun(ZRunMode runMode) {
bool bEmg = var.getFlag(FLAG_STOPZ); //Z축이 움직이면 안되는 조건이므로 처리하지 않는다.
if (runMode == ZRUN_UP)
{
if (bEmg) {
hmi.SendMessage("[Ignore] Z-Run by Stop-Z Flag", true);
return;
}
SetZDir(ZDIR_CW);
SetZRunL(true);
SetZRunR(true);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Guide Up", false);
}
else if (runMode == ZRUN_DN)
{
if (bEmg) {
hmi.SendMessage("[Ignore] Run by Stop-Z Flag", true);
return;
}
SetZDir(ZDIR_CCW);
SetZRunL(true);
SetZRunR(true);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Guide Dn", false);
}
else if (runMode == ZRUN_STOP)
{
SetZRunL(false);
SetZRunR(false);
if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Guid Stop", false);
//digitalWrite(PINO_GUIDEMOTOR_RUN, LOW);
}
}
void motor::SetZRunL(bool run) {
if (run == true)
{
//if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis Left Run", false);
digitalWrite(PINO_GUIDEMOTOR_LRUN, HIGH);
//digitalWrite(PINO_GUIDEMOTOR_RUN, HIGH);
}
else {
digitalWrite(PINO_GUIDEMOTOR_LRUN, LOW);
//L,R둘다 꺼져있다면 STA도 끈다
//if (bitRead(var.IOData, IDXO_GUIDEMOTOR_RIGHT + 16) == false)
//{
// if (var.getFlag(FLAG_SETUP) == false)hmi.SendMessage("Z-Axis Sta Off by Right", false);
// digitalWrite(PINO_GUIDEMOTOR_RUN, LOW);
//}
}
}
void motor::SetZRunR(bool run) {
if (run == true)
{
//if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis Right Run", false);
digitalWrite(PINO_GUIDEMOTOR_RRUN, HIGH);
//digitalWrite(PINO_GUIDEMOTOR_RUN, HIGH);
}
else {
digitalWrite(PINO_GUIDEMOTOR_RRUN, LOW);
//L,R둘다 꺼져있다면 STA도 끈다
//if (bitRead(var.IOData, IDXO_GUIDEMOTOR_LEFT + 16) == false)
//{
// if (var.getFlag(FLAG_SETUP) == false) hmi.SendMessage("Z-Axis Sta Off by Right", false);
// digitalWrite(PINO_GUIDEMOTOR_RUN, LOW);
//}
}
}
motor mot;

52
Arduino_PLC/motor.h Normal file
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#ifndef _MOTOR_H_
#define _MOTOR_H_
#include "arduino.h"
#include "VarClass.h"
enum ZRunMode
{
ZRUN_STOP = 0,
ZRUN_UP,
ZRUN_DN
};
enum ZDirection
{
ZDIR_CW = 0,
ZDIR_CCW
};
class motor {
public:
void Setup();
void Update();
void SetSpeedZ(uint8_t value);
ZDirection GetZDirL(); //Z축 진행방향을 표시합니다. True 일경우, 정방향(위로), False일경우 역방향(아래로)
ZDirection GetZDirR(); //Z축 진행방향을 표시합니다. True 일경우, 정방향(위로), False일경우 역방향(아래로)
void SetZDir(ZDirection direction); //1=정방향, 0=역방향
void SetZRun(ZRunMode run);
void SetZRunL(bool run);
void SetZRunR(bool run);
bool IsMoveZ(); //현재 이동중인가?
private:
void SetPowerL(bool on);
void SetPowerR(bool on);
bool IsMoveZL();
bool IsMoveZR();
void ZLimit_AutoStop(); //Z축 리밋센서에 의한 동작 정지
};
extern motor mot;
#endif