📄 main_soft_run.c
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wr_lcd(comm,0x88);
EXCHANGE=23;
}
else if(EXCHANGE==37)
{
wr_lcd(comm,0x94);
EXCHANGE=38;
}
else if(LCD_jingei_staus==7)
{
if(ADDR==0)
wr_lcd(comm,0x0C);
LCD_jingei_staus=0;
}
else if(y_distance_staus==6) //y_distance_refresh
{
wr_lcd(comm,0x0C);
y_distance_staus=0;
}
else if(y_totallength_staus==7) //y_totallength_refresh
{
j=4;
number(j);
y_totallength_staus=8;
}
}
else if(xx_photo==2)
{
if(EXCHANGE==7)
{
chn_disp4(tab4);
// j=0;
// wr_lcd(dat,chn4[j]);
EXCHANGE=8;
}
else if(EXCHANGE==22)
{
chn_disp6(tab6);
// j=1;
// wr_lcd(dat,chn6[j]);
EXCHANGE=23;
}
else if(EXCHANGE==37)
{
j=2;
number(j);
EXCHANGE=38;
}
else if(guangmo_times_staus==7)
{
if(ADDR==0)
wr_lcd(comm,0x0C);
guangmo_times_staus=0;
}
else if(z_waitpostion_staus==7)
{
j=4;
number(j);
z_waitpostion_staus=8;
}
}
else if(xx_photo==3)
{
if(EXCHANGE==7)
{
chn_disp7(tab7);
// j=0;
// wr_lcd(dat,chn7[j]);
EXCHANGE=8;
}
else if(EXCHANGE==22)
{
chn_disp9(tab9);
// j=3;
// wr_lcd(dat,chn9[j]);
EXCHANGE=23;
}
else if(EXCHANGE==37)
{
j=5;
number(j);
EXCHANGE=38;
}
else if(y_postion_staus==7)
{
j=4;
number(j);
y_postion_staus=8;
}
else if(z_postion_staus==7)
{
j=4;
number(j);
z_postion_staus=8;
}
}
else if(xx_photo==4)
{
if(EXCHANGE==7)
{
chn_disp10(tab10);
// j=0;
// wr_lcd(dat,chn10[j]);
EXCHANGE=8;
}
else if(EXCHANGE==22)
{
chn_disp12(tab12);
// j=1;
// wr_lcd(dat,chn12[j]);
EXCHANGE=23;
}
else if(EXCHANGE==37)
{
j=8;
number(j);
EXCHANGE=38;
}
else if(z_up_speed_staus==7)
{
j=4;
number(j);
z_up_speed_staus=8;
}
else if(z_down_speed_staus==7)
{
j=4;
number(j);
z_down_speed_staus=8;
}
}
}
Cont.bits.W_OUTPUT1_MANAGE=0;
}
if(Cont.bits.W_OUTPUT1==1)
{
// DelayUmSec(5);
Back_xx_photo=xx_photo;//back xx_photo
chk_busy();
if(!BUSY)
{
TRISB=0X00;
TRISD=0X00;
_TRISE8=0;
PORTD=0X01; //138 Y1=OUT1_EN
_RE8=0;
Nop();
Nop();
LATB=out;//out_buffer;
_RD3=1;
Nop();
Nop();
_RD3=0;
}
//**********************************************
chk_busy();
if(!BUSY)
{
if(KR_input==8)
{ //j=5;
if(!KR0)chn_disp15(tab15); //x left limit
else if(!KR1)chn_disp16(tab16); // x right limit
else if(!KR2)chn_disp17(tab17); //z up limit
else if(!KR4)chn_disp13(tab13); //y first limit
else if(KR5)chn_disp14(tab14); //y back limit
KR_input=9;
}
}
//**********************************
chk_busy();
if(!BUSY)
{
if(xx_photo==1)
{
if(EXCHANGE==8)
{
chn_disp1(tab1);
// j=1;
// wr_lcd(dat,chn1[j]);
EXCHANGE=9;
}
else if(EXCHANGE==23)
{
chn_disp3(tab3);
// j=0;
// wr_lcd(dat,chn3[j]);
EXCHANGE=24;
}
else if(EXCHANGE==38)
{
j=1;
number(j);
EXCHANGE=39;
}
else if(y_totallength_staus==8) //y_distance_refresh
{
wr_lcd(comm,0x0C);
y_totallength_staus=0;
}
}
else if(xx_photo==2)
{
if(EXCHANGE==8)
{
chn_disp4(tab4);
// j=1;
// wr_lcd(dat,chn4[j]);
EXCHANGE=9;
}
else if(EXCHANGE==23)
{
chn_disp6(tab6);
// j=2;
// wr_lcd(dat,chn6[j]);
EXCHANGE=24;
}
else if(EXCHANGE==38)
{
j=3;
number(j);
EXCHANGE=39;
}
else if(z_waitpostion_staus==8)
{
j=5;
number(j);
z_waitpostion_staus=9;
}
}
else if(xx_photo==3)
{
if(EXCHANGE==8)
{
chn_disp7(tab7);
// j=1;
// wr_lcd(dat,chn7[j]);
EXCHANGE=9;
}
else if(EXCHANGE==23)
{
array(y_postion,1000);
EXCHANGE=24;
}
else if(EXCHANGE==38)
{
j=6;
number(j);
EXCHANGE=39;
}
else if(y_postion_staus==8)
{
wr_lcd(comm,0x0C);
y_postion_staus=0;
}
else if(z_postion_staus==8)
{
j=5;
number(j);
z_postion_staus=9;
}
}
else if(xx_photo==4)
{
if(EXCHANGE==8)
{
chn_disp10(tab10);
// j=1;
// wr_lcd(dat,chn10[j]);
EXCHANGE=9;
}
else if(EXCHANGE==23)
{
chn_disp12(tab12);
// j=2;
// wr_lcd(dat,chn12[j]);
EXCHANGE=24;
}
else if(EXCHANGE==38)
{
array(z_down_speed,1000);
EXCHANGE=39;
}
else if(z_up_speed_staus==8)
{
if(ADDR==0)
wr_lcd(comm,0x0C);
z_up_speed_staus=0;
}
else if(z_down_speed_staus==8)
{
if(ADDR==0)
wr_lcd(comm,0x0C);
z_down_speed_staus=0;
}
}
}
Cont.bits.W_OUTPUT1=0;
}
if(Cont.bits.W_OUTPUT2_MANAGE==1)
{
/// DelayUmSec(5);
Back_xx_photo=xx_photo;//back xx_photo
out_buffer=0x00;
out_buffer=LR_num.bits.LR15;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR14;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR13;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR12;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR11;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR10;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR11;
out_buffer<<=1;
out_buffer|=LR_num.bits.LR9;
Nop();
//***********************************************
chk_busy();
if(!BUSY)
{
if(KR_input==9)
{ //j=6;
if(!KR0)chn_disp15(tab15); //x left limit
else if(!KR1)chn_disp16(tab16); // x right limit
else if(!KR2)chn_disp17(tab17); //z up limit
else if(!KR4)chn_disp13(tab13); //y first limit
else if(!KR5)chn_disp14(tab14); //y back limit
KR_input=10;
}
}
//**************************************
chk_busy();
if(!BUSY)
{
if(xx_photo==1)
{
if(EXCHANGE==9)
{
chn_disp1(tab1);
// j=2;
// wr_lcd(dat,chn1[j]);
EXCHANGE=10;
}
else if(EXCHANGE==24)
{
chn_disp3(tab3);
// j=1;
// wr_lcd(dat,chn3[j]);
EXCHANGE=25;
}
else if(EXCHANGE==39)
{
j=2;
number(j);
EXCHANGE=40;
}
}
else if(xx_photo==2)
{
if(EXCHANGE==9)
{
chn_disp4(tab4);
// j=2;
// wr_lcd(dat,chn4[j]);
EXCHANGE=10;
}
else if(EXCHANGE==24)
{
chn_disp6(tab6);
// j=3;
// wr_lcd(dat,chn6[j]);
EXCHANGE=25;
}
else if(EXCHANGE==39)
{
j=4;
number(j);
EXCHANGE=40;
}
else if(z_waitpostion_staus==9)
{
j=6;
number(j);
z_waitpostion_staus=10;
}
}
else if(xx_photo==3)
{
if(EXCHANGE==9)
{
chn_disp7(tab7);
// j=2;
// wr_lcd(dat,chn7[j]);
EXCHANGE=10;
}
else if(EXCHANGE==24)
{
wr_lcd(comm,0x30);
EXCHANGE=25;
}
else if(EXCHANGE==39)
{
j=7;
number(j);
EXCHANGE=40;
}
else if(z_postion_staus==9)
{
j=6;
number(j);
z_postion_staus=10;
}
}
else if(xx_photo==4)
{
if(EXCHANGE==9)
{
chn_disp10(tab10);
// j=2;
// wr_lcd(dat,chn10[j]);
EXCHANGE=10;
}
else if(EXCHANGE==24)
{
chn_disp12(tab12);
// j=3;
// wr_lcd(dat,chn12[j]);
EXCHANGE=25;
}
else if(EXCHANGE==39)
{
wr_lcd(comm,0x30);
EXCHANGE=40;
}
}
}
}
if(Cont.bits.W_OUTPUT2==1)
{
// DelayUmSec(5);
Back_xx_photo=xx_photo;//back xx_photo
chk_busy();
if(!BUSY)
{
TRISB=0X00;
TRISD=0X00;
_TRISE8=0;
PORTD=0X02; //138 Y2=OUT2_EN
_RE8=0;
LATB=out_buffer;
_RD3=1;
Nop();
Nop();
_RD3=0;
}
//******************************************
chk_busy();
if(!BUSY)
{
if(KR_input==10)
{ //j=7;
if(!KR0)
{
chn_disp15(tab15); //x left limit
limit_staus=10;
}
else if(!KR1)
{
chn_disp16(tab16); // x right limit
limit_staus=1;
}
else if(!KR2)
{
chn_disp17(tab17); //z up limit
limit_staus=2;
}
else if(!KR4)
{
chn_disp13(tab13); //y first limit
limit_staus=4;
}
else if(KR5)
{
chn_disp14(tab14); //y back limit
limit_staus=5;
}
KR_input=11;
}
}
//*****************************************
chk_busy();
if(!BUSY)
{
if(xx_photo==1)
{
if(EXCHANGE==10)
{
chn_disp1(tab1);
// j=3;
// wr_lcd(dat,chn1[j]);
EXCHANGE=11;
}
else if(EXCHANGE==25)
{
chn_disp3(tab3);
// j=2;
// wr_lcd(dat,chn3[j]);
EXCHANGE=26;
}
else if(EXCHANGE==40)
{
j=3;
number(j);
EXCHANGE=41;
}
}
else if(xx_photo==2)
{
if(EXCHANGE==10)
{
chn_disp4(tab4);
// j=3;
// wr_lcd(dat,chn4[j]);
EXCHANGE=11;
}
else if(EXCHANGE==25)
{
chn_disp6(tab6);
// j=4;
// wr_lcd(dat,chn6[j]);
EXCHANGE=26;
}
else if(EXCHANGE==40)
{
j=5;
number(j);
EXCHANGE=41;
}
else if(z_waitpostion_staus==10)
{
j=7;
number(j);
z_waitpostion_staus=11;
}
}
else if(xx_photo==3)
{
if(EXCHANGE==10)
{
chn_disp7(tab7);
// j=3;
// wr_lcd(dat,chn7[j]);
EXCHANGE=11;
}
else if(EXCHANGE==25)
{
wr_lcd(comm,0x93);
EXCHANGE=26;
}
else if(EXCHANGE==40)
{
j=8;
number(j);
EXCHANGE=41;
}
else if(z_postion_staus==10)
{
j=7;
number(j);
z_postion_staus=11;
}
}
else if(xx_photo==4)
{
if(EXCHANGE==10)
{
chn_disp10(tab10);
// j=3;
// wr_lcd(dat,chn10[j]);
EXCHANGE=11;
}
else if(EXCHANGE==25)
{
chn_disp12(tab12);
// j=4;
// wr_lcd(dat,chn12[j]);
EXCHANGE=26;
}
else if(EXCHANGE==40)
{
wr_lcd(comm,0x8C);
EXCHANGE=41;
}
}
}
Cont.bits.W_OUTPUT2=0;
}
if(Cont.bits.W_LED1_MANAGE==1)
{
// DelayUmSec(5);
Back_xx_photo=xx_photo;//back xx_photo
out_buffer=0x00;
out_buffer=LED_num.bits.LED7;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED6;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED5;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED4;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED3;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED2;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED1;
out_buffer<<=1;
out_buffer|=LED_num.bits.LED0;
chk_busy();
if(!BUSY)
{
if (KR_input==11)
{
wr_lcd(comm,0x0C);
KR_input=0;
switch (limit_staus)
{
case 4:
if(!KR4) KR_staus=0;//y front limit
else KR_staus=1;
break;
case 5: //y back limit
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