Oleg Bogachev
PLC 16 in / 8 rev / an in-out / CAN
Dependencies: PCAL955x mbed mbed-rtos AT45
Diff: src/main.cpp
- Revision:
- 0:d05a7158dbad
- Child:
- 1:3768b56b12e7
diff -r 000000000000 -r d05a7158dbad src/main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/src/main.cpp Sun Feb 07 05:08:51 2021 +0000
@@ -0,0 +1,673 @@
+
+/*** PLC F446RE ***/
+// 512 KB Flash / 128 KB SRAM System / 4 KB SRAM Backup
+
+#include "mbed.h"
+#include "rtos.h"
+#include "AT45.h"
+#include "PCAL9555.h"
+
+#include "can.h"
+#include "config_io.h"
+#include "ext_vars.h"
+#include "set_vars.h"
+
+#include "task_ob.h"
+
+#define CAN_BAUD 50000 // скорость
+#define UART_BAUD 9600 // скорость
+#define MAX_SERL 30 // макс. длинна строки из usb/uart
+
+
+
+
+/******* создание локальных переменных *************************/
+
+int busin = 0;
+int t_sys = 0 ;
+
+char pc_buffer [MAX_SERL+2];
+int pc_i=0;
+int pc_im=0;
+
+float st_start=0.0;
+float st_end=0.0;
+float st_old=0.0;
+float st_cycl=0.0;
+float st_task=0.0;
+
+int new_outs=0;
+
+/********** прототипы локальных функций **********************/
+void read_inputs();
+void write_outs();
+void save_stat();
+void logic_tasks();
+void can_rw();
+void timers();
+void pc_rd();
+int read_val();
+
+/************** Threads **************************************/
+Thread read_uart;
+Thread work_can;
+RtosTimer t_10msec(&logic_tasks);
+
+
+/*************** старт программы PLC **************************/
+int main()
+{
+ led=1;
+ st.start();
+
+ // ----- настраиваем CAN ------
+ can.frequency(CAN_BAUD);
+
+ //----- настраиваем порт USB ------
+ pc.baud(UART_BAUD);
+ pc.printf( "\r\n> START PLC \r\n");
+ pc.printf(">CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+
+
+ //------ проверка FLASH ----------
+ pc.printf("> flash size: %d bytes \n", spif.device_size());
+
+
+ //------- запускаем потоки Thread ------
+ work_can.start(can_rw); // обмен информ. по CAN
+ read_uart.start(pc_rd); // чтение UART
+
+
+ //--- запускаем логич.задач по таймеру 10msec ------
+ t_10msec.start(10);
+
+
+ /*** обработка команд по USB ***/
+ while (true) {
+
+ if(t_sys<500){led=1;}else{led=0;}
+ led_r=led;
+
+ // проверяем usb
+ if (pc_i>1 && pc_i==pc_im){
+ pc_i = 0;
+ //pc.printf("usb:%s",pc_buffer);
+ //led = !led;
+
+
+ // --- устанавливаем значение переменных ----
+ if(strstr(pc_buffer,"=")){
+
+ if(strstr (pc_buffer,"vr000")) { vr000=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr001")) { vr001=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr002")) { vr002=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr003")) { vr003=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr004")) { vr004=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr005")) { vr005=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr007")) { vr007=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr008")) { vr008=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr009")) { vr009=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr010")) { vr010=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr011")) { vr011=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr012")) { vr012=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"vr013")) { vr013=read_val(); pc.printf( "ok\n"); }
+
+ if(strstr (pc_buffer,"al001")) { al001=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al002")) { al002=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al003")) { al003=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al004")) { al004=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al005")) { al005=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al006")) { al006=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al007")) { al007=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al008")) { al008=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al009")) { al009=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al010")) { al010=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al011")) { al011=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al012")) { al012=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al013")) { al013=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"al014")) { al014=read_val(); pc.printf( "ok\n"); }
+
+ if(strstr (pc_buffer,"pr001")) { pr001=read_val(); pc.printf( "ok\n"); }
+ if(strstr (pc_buffer,"pr002")) { pr002=read_val(); pc.printf( "ok\n"); }
+
+ }
+
+ // --- проверка значения переменных -----
+ if(strstr(pc_buffer,"?")){
+
+ if(strstr (pc_buffer,"vr000")) { pc.printf( "vr000:%d\n", vr000); }
+ if(strstr (pc_buffer,"vr001")) { pc.printf( "vr001:%d\n", vr001); }
+ if(strstr (pc_buffer,"vr002")) { pc.printf( "vr002:%d\n", vr002); }
+ if(strstr (pc_buffer,"vr003")) { pc.printf( "vr003:%d\n", vr003); }
+ if(strstr (pc_buffer,"vr004")) { pc.printf( "vr004:%d\n", vr004); }
+ if(strstr (pc_buffer,"vr005")) { pc.printf( "vr005:%d\n", vr005); }
+ if(strstr (pc_buffer,"vr007")) { pc.printf( "vr007:%d\n", vr007); }
+ if(strstr (pc_buffer,"vr008")) { pc.printf( "vr008:%d\n", vr008); }
+ if(strstr (pc_buffer,"vr009")) { pc.printf( "vr009:%d\n", vr009); }
+ if(strstr (pc_buffer,"vr010")) { pc.printf( "vr010:%d\n", vr010); }
+ if(strstr (pc_buffer,"vr011")) { pc.printf( "vr011:%d\n", vr011); }
+ if(strstr (pc_buffer,"vr012")) { pc.printf( "vr012:%d\n", vr012); }
+ if(strstr (pc_buffer,"vr013")) { pc.printf( "vr013:%d\n", vr013); }
+
+ if(strstr (pc_buffer,"al001")) { pc.printf( "al001:%d\n", al001); }
+ if(strstr (pc_buffer,"al002")) { pc.printf( "al002:%d\n", al002); }
+ if(strstr (pc_buffer,"al003")) { pc.printf( "al003:%d\n", al003); }
+ if(strstr (pc_buffer,"al004")) { pc.printf( "al004:%d\n", al004); }
+ if(strstr (pc_buffer,"al005")) { pc.printf( "al005:%d\n", al005); }
+ if(strstr (pc_buffer,"al006")) { pc.printf( "al006:%d\n", al006); }
+ if(strstr (pc_buffer,"al007")) { pc.printf( "al007:%d\n", al007); }
+ if(strstr (pc_buffer,"al008")) { pc.printf( "al008:%d\n", al008); }
+ if(strstr (pc_buffer,"al009")) { pc.printf( "al009:%d\n", al009); }
+ if(strstr (pc_buffer,"al010")) { pc.printf( "al010:%d\n", al010); }
+ if(strstr (pc_buffer,"al011")) { pc.printf( "al011:%d\n", al011); }
+ if(strstr (pc_buffer,"al012")) { pc.printf( "al012:%d\n", al012); }
+ if(strstr (pc_buffer,"al013")) { pc.printf( "al013:%d\n", al013); }
+ if(strstr (pc_buffer,"al014")) { pc.printf( "al014:%d\n", al014); }
+
+ if(strstr (pc_buffer,"pr001")) { pc.printf( "pr001:%d\n", pr001); }
+ if(strstr (pc_buffer,"pr002")) { pc.printf( "pr002:%d\n", pr002); }
+
+
+ // для контроля состояния
+
+ if(strstr (pc_buffer,"dc_in")) { pc.printf( "\n--- PLC --- \n> inputs:%d%d%d%d%d%d%d%d%d%d%d%d%d%d%d%d\n", x01,x02,x03,x04,x05,x06,x07,x08,x09,x10,x11,x12,x13,x14,x15,x16); }
+ if(strstr (pc_buffer,"dc_out")) { pc.printf( "\n--- PLC --- \n> outputs:%d%d%d%d%d%d%d%d%\n", y01,y02,y03,y04,y05,y06,y07,y08); }
+ if(strstr (pc_buffer,"an_in")) { pc.printf( "\n--- PLC --- \n> an_in1=%f an_in2=%f an_in3=%f an_in4=%f \n", Vin_1, Vin_2, Vin_3, Vin_4 ); }
+ if(strstr (pc_buffer,"an_out")) { pc.printf( "\n--- PLC --- \n> an_out1=%f an_out2=%f \n", Vout_1, Vout_2 ); }
+ if(strstr (pc_buffer,"stime")) { pc.printf( "\n--- PLC --- \n> work cycle %f / using %f sec \n", st_cycl, st_task ); }
+
+ if(strstr (pc_buffer,"sm-1")){ pc.printf( "\n--- modul SM01 adr=1 --- \n> car position-%d moving-%d alarm-%d \n> inputs %d-%d-%d-%d outputs %d-%d \n", sm1_pos, sm1_mov, sm1_alr, a101, a102, a103, a104, b101, b102 ); }
+ if(strstr (pc_buffer,"sm-2")){ pc.printf( "\n--- modul SM01 adr=2 --- \n> car position-%d moving-%d alarm-%d \n> inputs %d-%d-%d-%d outputs %d-%d \n", sm2_pos, sm2_mov, sm2_alr, a201, a202, a203, a204, b201, b202 ); }
+ if(strstr (pc_buffer,"sm-3")){ pc.printf( "\n--- modul SM01 adr=3 --- \n> car position-%d moving-%d alarm-%d \n> inputs %d-%d-%d-%d outputs %d-%d \n", sm3_pos, sm3_mov, sm3_alr, a301, a302, a303, a304, b301, b302 ); }
+ if(strstr (pc_buffer,"sm-4")){ pc.printf( "\n--- modul SM01 adr=4 --- \n> car position-%d moving-%d alarm-%d \n> inputs %d-%d-%d-%d outputs %d-%d \n", sm4_pos, sm4_mov, sm4_alr, a401, a402, a403, a404, b401, b402 ); }
+
+ if(strstr (pc_buffer,"dm-1")){ pc.printf( "\n--- modul DM0806 adr=1 --- \n> inputs:%d%d%d%d%d%d%d%d% \n> outputs:%d%d%d%d%d%d% \n", x101,x102,x103,x104,x105,x106,x107,x108, y101,y102,y103,y104,y105,y106 ); }
+ if(strstr (pc_buffer,"dm-2")){ pc.printf( "\n--- modul DM0806 adr=2 --- \n> inputs:%d%d%d%d%d%d%d%d% \n> outputs:%d%d%d%d%d%d% \n", x201,x202,x203,x204,x205,x206,x207,x208, y201,y202,y203,y204,y205,y206 ); }
+ if(strstr (pc_buffer,"dm-3")){ pc.printf( "\n--- modul DM0806 adr=3 --- \n> inputs:%d%d%d%d%d%d%d%d% \n> outputs:%d%d%d%d%d%d% \n", x301,x302,x303,x304,x305,x306,x307,x308, y301,y302,y303,y304,y305,y306 ); }
+ if(strstr (pc_buffer,"dm-4")){ pc.printf( "\n--- modul DM0806 adr=4 --- \n> inputs:%d%d%d%d%d%d%d%d% \n> outputs:%d%d%d%d%d%d% \n", x401,x402,x403,x404,x405,x406,x407,x408, y401,y402,y403,y404,y405,y406 ); }
+
+ }
+
+ if(strstr (pc_buffer,"reset")) { NVIC_SystemReset() ; }
+
+
+
+ }
+
+ pc_im=pc_i;
+ Thread::wait(100);
+ }
+
+}
+
+
+/**************** дополнительные функции **********************/
+
+// логические задачи. вызываются для выполнения
+// каждые 10 мсек
+void logic_tasks(){
+ // чтение сист.таймера
+ st_start=st.read();
+
+
+ // подготовка входн.информации
+ timers();
+ read_inputs();
+
+ // логичкские задачи
+ task_ob();
+
+ // формирование выходн.информации
+ write_outs();
+ save_stat();
+
+ // определяем реальное время цикла/использ.время
+ st_end=st.read();
+ st_task=st_end-st_start;
+ st_cycl=st_start-st_old;
+ st_old=st_start;
+
+}
+
+
+//----------------------------------------
+// установка выходов контроллера
+// в соответствии значения преременным
+void write_outs(){
+ // устанавливаем локальные выходы ПЛК
+ y_1=y01; y_5=y05;
+ y_2=y02; y_6=y06;
+ y_3=y03; y_7=y07;
+ y_4=y04; y_8=y08;
+
+ anout1=Vout_1;
+ anout2=Vout_2;
+
+ // упаковываем выходы для DM0806 ADR=1
+ dm1_outs = 0;
+ if(y106==1){dm1_outs = dm1_outs |1;} // y106
+ dm1_outs = dm1_outs << 1;
+ if(y105==1){dm1_outs = dm1_outs |1;} // y105
+ dm1_outs = dm1_outs << 1;
+ if(y104==1){dm1_outs = dm1_outs |1;} // y104
+ dm1_outs = dm1_outs << 1;
+ if(y103==1){dm1_outs = dm1_outs |1;} // y103
+ dm1_outs = dm1_outs << 1;
+ if(y102==1){dm1_outs = dm1_outs |1;} // y102
+ dm1_outs = dm1_outs << 1;
+ if(y101==1){dm1_outs = dm1_outs |1;} // y101
+
+ // упаковываем выходы для DM0806 ADR=2
+ dm2_outs = 0;
+ if(y206==1){dm2_outs = dm2_outs |1;} // y206
+ dm2_outs = dm2_outs << 1;
+ if(y205==1){dm2_outs = dm2_outs |1;} // y205
+ dm2_outs = dm2_outs << 1;
+ if(y204==1){dm2_outs = dm2_outs |1;} // y204
+ dm2_outs = dm2_outs << 1;
+ if(y203==1){dm2_outs = dm2_outs |1;} // y203
+ dm2_outs = dm2_outs << 1;
+ if(y202==1){dm2_outs = dm2_outs |1;} // y202
+ dm2_outs = dm2_outs << 1;
+ if(y201==1){dm2_outs = dm2_outs |1;} // y201
+
+ // упаковываем выходы для DM0806 ADR=3
+ dm3_outs = 0;
+ if(y306==1){dm3_outs = dm3_outs |1;} // y306
+ dm3_outs = dm3_outs << 1;
+ if(y305==1){dm3_outs = dm3_outs |1;} // y305
+ dm3_outs = dm3_outs << 1;
+ if(y304==1){dm3_outs = dm3_outs |1;} // y304
+ dm3_outs = dm3_outs << 1;
+ if(y303==1){dm3_outs = dm3_outs |1;} // y303
+ dm3_outs = dm3_outs << 1;
+ if(y302==1){dm3_outs = dm3_outs |1;} // y302
+ dm3_outs = dm3_outs << 1;
+ if(y301==1){dm3_outs = dm3_outs |1;} // y301
+
+
+ // упаковываем выходы для DM0806 ADR=4
+ dm4_outs = 0;
+ if(y406==1){dm4_outs = dm4_outs |1;} // y406
+ dm4_outs = dm4_outs << 1;
+ if(y405==1){dm4_outs = dm4_outs |1;} // y405
+ dm4_outs = dm4_outs << 1;
+ if(y404==1){dm4_outs = dm4_outs |1;} // y404
+ dm4_outs = dm4_outs << 1;
+ if(y403==1){dm4_outs = dm4_outs |1;} // y403
+ dm4_outs = dm4_outs << 1;
+ if(y402==1){dm4_outs = dm4_outs |1;} // y402
+ dm4_outs = dm4_outs << 1;
+ if(y401==1){dm4_outs = dm4_outs |1;} // y401
+
+
+ // при изменении по DM0806 посылаем в CAN
+ if(dm1_outs!=mdm1_outs || dm2_outs!=mdm2_outs || dm3_outs!=mdm3_outs || dm4_outs!=mdm4_outs){
+ int _id=50;
+ char _b1= dm1_outs;
+ char _b2= dm2_outs ;
+ char _b3= dm3_outs ;
+ char _b4= dm4_outs ;
+ can_save_wr(_id,_b1,_b2,_b3,_b4);
+ }
+
+
+ // упаковываем выходы для SM01 ADR=1-4
+ sm_outs=0;
+ if(b402==1){sm_outs = sm_outs |1;} // b402
+ sm_outs = sm_outs << 1;
+ if(b401==1){sm_outs = sm_outs |1;} // b401
+ sm_outs = sm_outs << 1;
+ if(b302==1){sm_outs = sm_outs |1;} // b302
+ sm_outs = sm_outs << 1;
+ if(b301==1){sm_outs = sm_outs |1;} // b301
+ sm_outs = sm_outs << 1;
+ if(b202==1){sm_outs = sm_outs |1;} // b202
+ sm_outs = sm_outs << 1;
+ if(b201==1){sm_outs = sm_outs |1;} // b201
+ sm_outs = sm_outs << 1;
+ if(b102==1){sm_outs = sm_outs |1;} // b102
+ sm_outs = sm_outs << 1;
+ if(b101==1){sm_outs = sm_outs |1;} // b101
+
+
+ // при изменении по SM01 посылаем в CAN
+ if(sm_outs != msm_outs || sm_position != msm_position){
+ int _id=60;
+ char _b1=dm1_outs;
+ char _b2= sm_position / 100 ;
+ char _b3= (sm_position - _b2*100) / 10 ;
+ char _b4= (sm_position - _b2*100 - _b3*10) ;
+ can_save_wr(_id,_b1,_b2,_b3,_b4);
+ }
+
+
+}
+
+
+//----------------------------------------
+// формирование значения переменных
+// в соответствии с сигналами на входах контроллера
+// и принятой по CAN информацией
+void read_inputs(){
+ // считываем локальные выходы ПЛК
+ busin=inps;
+ if(busin & 1){ x01=0; }else{ x01=1;}
+ if(busin & 2){ x02=0; }else{ x02=1;}
+ if(busin & 4){ x03=0; }else{ x03=1;}
+ if(busin & 8){ x04=0; }else{ x04=1;}
+ if(busin & 16){ x05=0; }else{ x05=1;}
+ if(busin & 32){ x06=0; }else{ x06=1;}
+ if(busin & 64){ x07=0; }else{ x07=1;}
+ if(busin & 128){ x08=0; }else{ x08=1;}
+ if(busin & 256){ x09=0; }else{ x09=1;}
+ if(busin & 512){ x10=0; }else{ x10=1;}
+ if(busin & 1024){ x11=0; }else{ x11=1;}
+ if(busin & 2048){ x12=0; }else{ x12=1;}
+ if(busin & 4096){ x13=0; }else{ x13=1;}
+ if(busin & 8192){ x14=0; }else{ x14=1;}
+ if(busin & 16384){ x15=0; }else{ x15=1;}
+ if(busin & 32768){ x16=0; }else{ x16=1;}
+
+ Vin_1 = aninp1;
+ Vin_2 = aninp2;
+ Vin_3 = aninp3;
+ Vin_4 = aninp4;
+
+ // проверяем принятые посылки CAN
+ int resalt=1;
+ while(resalt==1){
+ resalt=can_select_rd();
+ if(resalt==1){
+
+ // inps from DM ADR=1
+ if(r_id==51){
+ if( r_b1&1 ){ x101=1; } else { x101=0; }
+ if((r_b1>>1)&1){ x102=1; } else { x102=0; }
+ if((r_b1>>2)&1){ x103=1; } else { x103=0; }
+ if((r_b1>>3)&1){ x104=1; } else { x104=0; }
+ if((r_b1>>4)&1){ x105=1; } else { x105=0; }
+ if((r_b1>>5)&1){ x106=1; } else { x106=0; }
+ if((r_b1>>6)&1){ x107=1; } else { x107=0; }
+ if((r_b1>>7)&1){ x108=1; } else { x108=0; }
+ }
+
+ // inps from DM ADR=2
+ if(r_id==52){
+ if( r_b1&1 ){ x201=1; } else { x201=0; }
+ if((r_b1>>1)&1){ x202=1; } else { x202=0; }
+ if((r_b1>>2)&1){ x203=1; } else { x203=0; }
+ if((r_b1>>3)&1){ x204=1; } else { x204=0; }
+ if((r_b1>>4)&1){ x205=1; } else { x205=0; }
+ if((r_b1>>5)&1){ x206=1; } else { x206=0; }
+ if((r_b1>>6)&1){ x207=1; } else { x207=0; }
+ if((r_b1>>7)&1){ x208=1; } else { x208=0; }
+ }
+
+ // inps from DM ADR=3
+ if(r_id==53){
+ if( r_b1&1 ){ x301=1; } else { x301=0; }
+ if((r_b1>>1)&1){ x302=1; } else { x302=0; }
+ if((r_b1>>2)&1){ x303=1; } else { x303=0; }
+ if((r_b1>>3)&1){ x304=1; } else { x304=0; }
+ if((r_b1>>4)&1){ x305=1; } else { x305=0; }
+ if((r_b1>>5)&1){ x306=1; } else { x306=0; }
+ if((r_b1>>6)&1){ x307=1; } else { x307=0; }
+ if((r_b1>>7)&1){ x308=1; } else { x308=0; }
+ }
+
+ // inps from DM ADR=4
+ if(r_id==54){
+ if( r_b1&1 ){ x401=1; } else { x401=0; }
+ if((r_b1>>1)&1){ x402=1; } else { x402=0; }
+ if((r_b1>>2)&1){ x403=1; } else { x403=0; }
+ if((r_b1>>3)&1){ x404=1; } else { x404=0; }
+ if((r_b1>>4)&1){ x405=1; } else { x405=0; }
+ if((r_b1>>5)&1){ x406=1; } else { x406=0; }
+ if((r_b1>>6)&1){ x407=1; } else { x407=0; }
+ if((r_b1>>7)&1){ x408=1; } else { x408=0; }
+ }
+
+ // inps from SM ADR=1
+ if(r_id==61){
+ if(r_b1 & 4) { a101=1; } else{ a101=0; }
+ if(r_b1 & 8) { a102=1; } else{ a102=0; }
+ if(r_b1 & 16){ a103=1; } else{ a103=0; }
+ if(r_b1 & 32){ a104=1; } else{ a104=0; }
+ if(r_b1 & 64){ sm1_mov=1; } else{ sm1_mov=0; }
+ if(r_b1 & 128){ sm1_alr=1; } else{ sm1_alr=0; }
+ sm1_pos = r_b2*100+r_b3*10+r_b4;
+ }
+
+ // inps from SM ADR=2
+ if(r_id==62){
+ if(r_b1 & 4) { a201=1; } else{ a201=0; }
+ if(r_b1 & 8) { a202=1; } else{ a202=0; }
+ if(r_b1 & 16){ a203=1; } else{ a203=0; }
+ if(r_b1 & 32){ a204=1; } else{ a204=0; }
+ if(r_b1 & 64){ sm2_mov=1; } else{ sm2_mov=0; }
+ if(r_b1 & 128){ sm2_alr=1; } else{ sm2_alr=0; }
+ sm2_pos = r_b2*100+r_b3*10+r_b4;
+ }
+
+ // inps from SM ADR=3
+ if(r_id==63){
+ if(r_b1 & 4) { a301=1; } else{ a301=0; }
+ if(r_b1 & 8) { a302=1; } else{ a302=0; }
+ if(r_b1 & 16){ a303=1; } else{ a303=0; }
+ if(r_b1 & 32){ a304=1; } else{ a304=0; }
+ if(r_b1 & 64){ sm3_mov=1; } else{ sm3_mov=0; }
+ if(r_b1 & 128){ sm3_alr=1; } else{ sm3_alr=0; }
+ sm3_pos = r_b2*100+r_b3*10+r_b4;
+ }
+
+ // inps from SM ADR=4
+ if(r_id==64){
+ if(r_b1 & 4) { a401=1; } else{ a401=0; }
+ if(r_b1 & 8) { a402=1; } else{ a402=0; }
+ if(r_b1 & 16){ a403=1; } else{ a403=0; }
+ if(r_b1 & 32){ a404=1; } else{ a404=0; }
+ if(r_b1 & 64){ sm4_mov=1; } else{ sm4_mov=0; }
+ if(r_b1 & 128){ sm4_alr=1; } else{ sm4_alr=0; }
+ sm4_pos = r_b2*100+r_b3*10+r_b4;
+ }
+
+
+
+ }
+ }
+
+}
+
+//----------------------------------------
+// сохранение значения переменных для обработки
+// в след.цикле (установка, сброс)
+void save_stat(){
+
+ mx01=x01; mx02=x02; mx03=x03; mx04=x04;
+ mx05=x05; mx06=x06; mx07=x07; mx08=x08;
+ mx09=x09; mx10=x10; mx11=x11; mx12=x12;
+ mx13=x13; mx14=x14; mx15=x15; mx16=x16;
+ my01=y01; my02=y02; my03=y03; my04=y04;
+ my05=y05; my06=y06; my07=y07; my08=y08;
+
+ mx101=x101; mx102=x102; mx103=x103; mx104=x104;
+ mx105=x105; mx106=x106; mx107=x107; mx108=x108;
+ mx201=x201; mx202=x202; mx203=x103; mx204=x104;
+ mx205=x205; mx206=x206; mx207=x107; mx208=x108;
+ mx301=x301; mx302=x302; mx303=x303; mx304=x304;
+ mx305=x305; mx306=x306; mx307=x307; mx308=x308;
+ mx401=x401; mx402=x402; mx403=x403; mx404=x404;
+ mx405=x405; mx406=x406; mx407=x407; mx408=x408;
+ my101=y101; my102=y102; my103=y103;
+ my104=y104; my105=y105; my106=y106;
+ my201=y201; my202=y202; my203=y203;
+ my204=y204; my205=y205; my206=y206;
+ my301=y301; my302=y302; my303=y303;
+ my304=y304; my305=y305; my306=y306;
+ my401=y401; my402=y402; my403=y403;
+ my404=y404; my405=y405; my406=y406;
+
+ ma101=a101; ma102=a102; ma103=a103; ma104=a104;
+ ma201=a201; ma202=a202; ma203=a203; ma204=a204;
+ ma301=a301; ma302=a302; ma303=a303; ma304=a304;
+ ma401=a401; ma402=a402; ma403=a403; ma404=a404;
+ mb101=b101; mb102=b102; mb201=b201; mb202=b202;
+ mb301=b301; mb302=b302; mb401=b401; mb402=b402;
+
+ msm_outs=sm_outs;
+ msm_position=sm_position;
+
+ mdm1_outs=dm1_outs;
+ mdm2_outs=dm2_outs;
+ mdm3_outs=dm3_outs;
+ mdm4_outs=dm4_outs;
+
+
+
+}
+
+//----------------------------------------
+// изменение значения секундных и милисекундных таймеров
+// (дискретность 10 мсек)
+void timers(){
+
+ int i = 10 ; // время цикла в 10мсек
+ int max1=30000; // макс. значение для мсек таймеров (30мин)
+ int max2=18000; // макс. значение для сек таймеров (5час)
+
+ // timers, 10ms
+ if(t_sys<1000){
+ t_sys=t_sys+i;
+ }else{
+ t_sys = 0;
+ if(t101<max2){t101=t101+1;}
+ if(t102<max2){t102=t102+1;}
+ if(t103<max2){t103=t103+1;}
+ if(t104<max2){t104=t104+1;}
+ if(t105<max2){t105=t105+1;}
+ if(t106<max2){t106=t106+1;}
+ if(t107<max2){t107=t107+1;}
+ if(t108<max2){t108=t108+1;}
+ if(t109<max2){t109=t109+1;}
+ if(t110<max2){t110=t110+1;}
+ }
+
+ if(t01<max1){t01=t01+i;}
+ if(t02<max1){t02=t02+i;}
+ if(t03<max1){t03=t03+i;}
+ if(t04<max1){t04=t04+i;}
+ if(t05<max1){t05=t05+i;}
+ if(t06<max1){t06=t06+i;}
+ if(t07<max1){t07=t07+i;}
+ if(t08<max1){t08=t08+i;}
+ if(t09<max1){t09=t09+i;}
+ if(t10<max1){t10=t10+i;}
+
+}
+
+//----------------------------------------
+// прием и отправка посылок
+// по CAN шине
+void can_rw()
+{
+ CANMessage msg_w;
+ CANMessage msg_r;
+
+ for(int i=0; i<=10; i++){ r_mess_id[i]=0; w_mess_id[i]=0; }
+ for(int i=0; i<=40; i++){ r_mess_data[i]=0; w_mess_data[i]=0; }
+
+
+ while (true){
+
+ // проверяем, если есть новая посылка
+ // то помещаем в очередь can_save_rd()
+ if(can.read(msg_r)){
+ int id = msg_r.id;
+ char b1 = msg_r.data[0];
+ char b2 = msg_r.data[1];
+ char b3 = msg_r.data[2];
+ char b4 = msg_r.data[3];
+ can_save_rd(id,b1,b2,b3,b4);
+ led_b = !led_b;
+ }
+
+
+ // проверяем очередь на отправку can_select_wr()
+ // и если есть , то отправляем
+ if(can_select_wr()){
+ msg_w.len = 4;
+ msg_w.id = w_id;
+ msg_w.data[0] = w_b1;
+ msg_w.data[1] = w_b2;
+ msg_w.data[2] = w_b3;
+ msg_w.data[3] = w_b4;
+ can.write(msg_w);
+
+ if(can.tderror()){ led_b = !led_b; w_alr=1; } else { w_alr=0; }
+
+ }
+
+
+ Thread::wait(2);
+ }
+
+}
+
+//----------------------------------------
+// посимвольный прием из USB и сохранение
+// информации в буфере, обрабатывается после того как все принято
+void pc_rd()
+{
+ sprintf(pc_buffer, "buff_ok");
+ while(1)
+ {
+ if( pc.readable() )
+ {
+ pc_buffer[pc_i] = pc.getc();
+ if(pc_i<MAX_SERL){pc_i++; }
+ pc_buffer[pc_i]=0;
+ }
+ }
+}
+
+//----------------------------------------
+// поиск и чтение значения из строки
+// возвращает целое число.
+int read_val() {
+ char inp_c[10];
+ int val=0;
+ int i=0;
+ int p=0;
+
+ while(p<MAX_SERL){
+ if(pc_buffer[p]=='='){ break ; }
+ p++;
+ }
+
+ p++;
+ i=0; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ i=1; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ i=2; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ i=3; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ i=4; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ i=5; if(pc_buffer[p+i]>=48 && pc_buffer[p+i]<=57){ inp_c[i]=pc_buffer[p+i]; } else {inp_c[i]=0 ; }
+ inp_c[6]=0 ;
+
+ val = atoi(inp_c);
+ return val;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+