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Copy pathMAIN2.C
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MAIN2.C
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#include "znc.h"
#include <dos.h>
#include <conio.h>
#include <stdlib.h>
#include <stdio.h>
/*电源 油泵 声音 归零 中心 参数 高度 组别 坐标*/
/*睡眠 上升 校模 油位 速度 锁定 讯 反加工 关机*/
/*清时 XY保护 深孔 火警 积炭时 积炭高 积炭 钢蚀钢 口令 修底*/
extern struct Dis_position{
char XYZ;
char Position_S;
long Position_H;
long Position_E;
long Position_V;
}DIS;
extern char LoranFlag;
void OpenPower(void); /*打开副电源*/
void ClosePower(void); /*关闭副电源*/
void Open_Pump(void); /*开油泵*/
void Close_Pump(void); /*关油泵*/
void OpenSound(void); /*打开声音*/
void CloseSound(void); /*关闭声音*/
void StopF5();
void P2(void); /*清时*/
void P3(void); /*XY保护*/
void P5(void); /*火警*/
void P6(void); /*积炭时*/
void P7(void); /*积炭高*/
void P8(void); /*积炭*/
void P9(void); /*钢蚀钢*/
void P10(void); /*口令*/
void P11(void); /*修底*/
void F2(void); /*电源*/
void F3(void); /*泵浦*/
void F4(void); /*声音*/
void F5(char flag); /*归零*/
void F6(void); /*中心*/
void F7(char flag); /*参数*/
void F8(char flag); /*高度*/
void F9(void); /*组*/
void F10(void); /*坐标*/
void K2(void); /*睡眠*/
void K3(void); /*上升*/
void K4(void); /*校模*/
void K5(void); /*油位*/
void K6(void); /*速度*/
void K7(void); /*锁定*/
void K8(void); /*讯息*/
void K9(void); /*反加工*/
void K10(void); /*关机*/
long ReadRegisterValue_W(char cLowReg);
long ReadRegisterValue_V(char cLowReg);
long XP[1000],YP[1000];
int temp[1000];
void TestRunArc()
{
static int flag_1 = 0,p,s = 20,QD;
static long x0,y0,last,last1,R;
long x,y;
double sqr,qf;
char test[10];
switch(flag_1)
{
case 0:
R = 200;
x0 = XPosi(0);y0 = YPosi(0);
Profile_x(0,20,x0 + R)
sqr = (double)R;
sqr = (sqr*sqrt(2))/(double)2;
qf = s*((R - sqr)/sqr);
q = (int)qf;
flag_1++;
break;
case 1:
if(XPosi(0) >= x0 + 200)
flag_1++;
case 2:
x = XPosi(0);
y = YPosi(0);
if(y>=y0&&x>=x0)
QD=1;
else if(y>=y0&&x<x0)
QD=2;
else if(y<y0&&x<=x0)
QD=3;
else
QD=4;
switch(QD)
{
case 1:
}
}
}
void InitKABT(){
set_PIDZ(8,0,4,0x10);
set_PIDX(8,0,4,0x10);
set_PIDY(8,0,4,0x10);
}
void Init_IO(void)
{
OTPS1=0xbb;
OTPS0=0x00;
IOZ1=0x8;
IOZ0=0xf0;
OTPBX0=0xe0;
OTPBX1=0x00;
OTPBY0=0xe0;
OTPBY1=0x00;
IO0=0x10; /*开24V*/
IO1=0x80;
IO2=0x00;
IO3=0x00; /*开高压*/
IO4=0x00;
outb(Address_Z,0x13);
outb(Address_Z+1,IOZ0);
outb(Address_Z,0x14);
outb(Address_Z+1,IOZ1);
outb(ICYaddr,0x13);
outb(ICYaddr+1,OTPBY0);
outb(ICYaddr,0x14);
outb(ICYaddr+1,OTPBY1);
outb(ICXaddr,0x13);
outb(ICXaddr+1,OTPBX0);
outb(ICXaddr,0x14);
outb(ICXaddr+1,OTPBX1);
outb(OSC,0x13);
outportb(OSC+1,OTPS0);
outb(OSC,0x14);
outportb(OSC+1,OTPS1);
outportb(IO,IO0);
outportb(IO+1,IO1);
outportb(IO+2,IO2);
outportb(IO+3,IO3);
outportb(IO+4,IO4);
}
void main(int argc,char *argv[]){
register unsigned i;
char far *pi;
long ll,lt;
long xll,yll;
static long fla=0;
unsigned char a;
char test[10];
BMP=_BMP_();
LN02A=BMP+10000; /*len 18000*/
LN034A=BMP;/*len 9600*/
LN04A=BMP+10000;/*len 10000*/
LN05A=FFN;
EDITA=BMP;
PROCONA=BMP+0x8000;
COMPL01=BMP+29000;
for(i=0;i<100;i++)tabprocon[i]=(struct _TAB_ *)((char far *)PROCONA+i*(tablen.tablen)+1);
FFileLN(BNCStr,BFFN);
FFileLN(NCStr,LN05A);
FFileLN(PNCStr,PFFN);
Argc=argc-1;
if(argc)Argv=argv[0];
CreatTempFile();
Init_IO();
InitKABT();
/* Position_control_z(ZPosi(0));
Speed1100_z(Elect_speed);
Position_control_x(XPosi(0));
Position_control_y(YPosi(0)); */
Speed1100_x(Elect_speed);
Speed1100_y(Elect_speed);
ResetXYZ();
Read_Table(Group);
CheckTab();
SetTable(Dis_lines);
InitScr256(3);
setfillstyle(1,BKCR0);
bar(0,0,800-1,600-1);
OpenFileM();
ListHM(0);
ListF12();
/*ListHF0(HM[0],0);*/
/* ListHT(0,"华烽HF华烽");*/
ListHT(1,"华烽HF01234567890123456789012345678");
ListXYZ00(0);
ListZB00(0);
ListZB(0,0,100);
ListZB(0,1,9999999);
ListZB(0,2,-9999999);
ListG92();
ListMess1("0123abc中文ABC");
ListCRT1("0123456789012345678901234567890123456789012345");
for(i=0;i<=12;i++)ListStatus(i);
ListStatus(0x83);
ListVol(120);
Close_OCSF();
Signal_1100X();
Signal_1100Y();
Signal_1100();
outb(OSC,0xbf);
outportb(OSC+1,0x3d);
outb(OSC,0xdf);
outportb(OSC+1,0x7c);
Opens_V(soundV);
ShowXYZ();
ShowFlag(0);
for(;;){
lt=ReadRegisterValue_X(0);
ltoa(lt,test,10);
ListMess1(test);
lt=ReadRegisterValue_Y(0);
ltoa(lt,test,10);
ListCRT1(test);
lt=ReadRegisterValue_Z(0);
ltoa(lt,test,10);
ListHT(1,test);
lt=ReadRegisterValue_W(0);
ListZB(0,0,lt);
lt=ReadRegisterValue_V(0);
ListZB(0,1,lt);
if(ProTime()){
ShowTime(1);
V=Voltage();
A=Current();
/* if(V<10)WriteRAM(0x1f,0,0);*/
/* Ck8255();*/
/* Key();*/
KeyBoard();
if(!Scr_flag &&ProtectTime>18*540)CloseScr(0);
if(Scr_flag<2&&ProtectTime>18*600)CloseScr(1);
/* if(Testflag){ShowMess(34);F11();}
else
if(DIS_OK!=1&&DIS_OK1!=1){ShowMess(33);if(Dis_flag)F11();}ABS();
*/
}
/*if(F[4])Zero();*/
switch(LoranFlag){
case 1:if(Dis_flag){lock_x=0;lock_y=0;Loran_01(1);}break;
case 2:if(Dis_flag){lock_x=0;lock_y=0;Loran_02(1);}break;
case 3:if(Dis_flag){lock_x=0;lock_y=0;Loran_03(1);}break;
case 4:if(Dis_flag){lock_x=0;lock_y=0;Loran_04(1);}break;
case 5:if(Dis_flag){lock_x=0;lock_y=0;Loran_05(1);}break;
}
switch(C[8]){
/*case 0:if(Dis_flag){if(!K[8])F12();else F13();}break; */
case 1:/*if(Dis_flag)F11();*/break;
case 2:RunCode(0);break;
case 3:RunLine();break;
case 4:RunCircle();break;
case 5:RunArc();break;
case 6:RunBar();break;
}
SaveXYZ(1);
ShowTime(0);
ShowTimeD(0);
ListXYZ00(1);
}
}
void P2(void){ /*清时*/
if(P[1]){
if(KeyN!=0x7FFFFFFF){
if(KeyN==3140)ShowTimeD(0x80);
if(KeyN==321000)position_t=0;
if(KeyN==8888000)PassWordF=0;
}
P[1]=0;
ShowInput(0);
}
else{
ClearKey(0);ShowMess(29);MaxL=7;MaxN=9999999;MinN=-9999999;P[1]=1;
}
}
void P3(void){ /*XY保护*/
ClearKey(0);
if(P[2])P[2]=0;
else P[2]=1;
}
void P4(void){ /*深孔*/
ClearKey(0);
if(P[3])P[3]=0;
else P[3]=1;
}
void P5(void){ /*火警*/
ClearKey(0);
if(P[4])P[4]=0;
else P[4]=1;
ShowTB(0x17);
}
void P6(void){ /*积炭时*/
AI_time=0;
if(P[5]==2){ClearKey(0);P[5]=0;return;}
if(P[5]==1){P[5]=2;
if(KeyN!=0x7fffffff)AI_time=KeyN;
if(!AI_time){P[5]=0;}ClearKey(0);
}
else{ClearKey(0);ShowMess(38);P[5]=1;MaxL=3;MaxN=999;MinN=1;}
}
void P7(void){ /*积炭高*/
AI_high=0;
if(P[6]==2){ClearKey(0);P[6]=0;return;}
if(P[6]==1){P[6]=2;
if(KeyN!=0x7fffffff)AI_high=KeyN;
if(!AI_high){P[6]=0;}ClearKey(0);
}
else{ClearKey(0);ShowMess(39);P[6]=1;MaxL=3;MaxN=999;MinN=1;}
}
void P8(void){ /*积炭开关*/
ClearKey(0);
if(P[7]==2)P[7]=0;
else{if(!P[6]&&!P[5]){P[6]=2;AI_high=250/DZC;} P[7]++;}
if(Dis_flag){if(AI)ClearAI(1);}
}
void P9(void){ /*钢蚀钢*/
steel=0;
Steel_flag=0;
if(P[8]==2){ClearKey(0);P[8]=0;if(Dis_flag)JiXin(JX=Table.Jixin[Dis_lines]);/*ShowSteel();*/return;}
if(P[8]==1){P[8]=2;
if(KeyN!=0x7fffffff)Steel_flag=KeyN;
if(!Steel_flag){P[8]=0;}ClearKey(0);
}
else{ClearKey(0);ShowMess(21);P[8]=1;MaxL=2;MaxN=99;MinN=1;}
/*ShowSteel();*/
}
void P10(void){ /*口令*/
long l;
l=KeyN;
if(PassWordF==0x6d)return;
if(P[9]){
P[9]=0;ShowInput(0);
if(l!=0x7FFFFFFF){
if(l==3140){l=321000;Initsystem=1;}
if(l==(long)321000){SetPass(0,0);KEYL=8;
ShowMess(0);return;}
else{ShowMess(30);}
}else{ShowMess(0);}
}
else{
ClearKey(0);
if(Dis_flag){ShowMess(15);return;}
else if(F[1])F2();
ShowMess(29);MaxL=7;MaxN=9999999;MinN=-9999999;P[9]=1;
}
}
void P11(void){ /*修底*/
ClearKey(0);
if(P[10])P[10]=0;
else P[10]=1;
}
void F2(void){
ClearKey(0);
if(F[1]&&C[8]>1){ShowMess(15);return;}
if(F[1]){if(Dis_flag||F[4]){F11();}ClosePower();F[1]=0;}
else if(!ExitTime){OpenPower();F[1]=1;}
ShowFlag(1);
}
void OpenPower(void){ /*打开副电源*/
IO1|=0x80;
outb(IO+1,IO1);
}
void ClosePower(void){ /*关闭副电源*/
IO1&=0x7f;
outb(IO+1,IO1);
}
void F3(void){
ClearKey(0);
if(F[2]){Close_Pump();F[2]=0;}
else{Open_Pump();F[2]=1;}
ShowFlag(2);
}
void Open_Pump(void){ /*开油泵*/
IO1|=0x08;
outb(IO+1,IO1);
Pump_flag=1;
}
void Close_Pump(void){ /*关油泵*/
IO1&=0xf7;
outb(IO+1,IO1);
Pump_flag=0;
}
void F4(void){
ClearKey(0);
if(F[3]){CloseSound();F[3]=0;}
else{F[3]=1;}
}
void OpenSound(void){ /*打开声音*/
if(F[3])
{
IO0|=0x08;
outb(IO,IO0);
Sound_flag=1;
}
ProtectTime=0;
if(Scr_flag){OpenScr();}
}
void Opens_V(unsigned v){ /*声音大小*/
if(F[3])
{
IO0&=0xf0;
v&=0x07;
IO0|=v;
outb(IO,IO0);
}
ProtectTime=0;
if(Scr_flag){OpenScr();}
}
void CloseSound(void){ /*关闭声音*/
outb(IO,IO0&0xf7);Sound_flag=0;
}
void OpenScr(void){
disable();
outportb(0x3C4,1);
outportb(0x3C5,inportb(0x3C5)&0xd7);
enable();
Scr_flag=0;
if(FireFlag&&!(Ck8255_flag&0x80))FireFlag++;
if(KeyPress())KeyAss();
InitKey(1);
}
void CloseScr(char flag){
disable();
outportb(0x3C4,1);
if(!flag)
outportb(0x3C5,inportb(0x3C5)|0x20);
else
outportb(0x3C5,inportb(0x3C5)|0x08);
enable();
Scr_flag++;
}
void F5(char flag){
register int i;
int j;
i=Ck8255_flag;
ClearKey(0);
j=F[4];
StopF5();
if(j==flag){
if(F[4]==1||F[4]==2)Speed1100_x(Elect_speed);
if(F[4]==3||F[4]==4)Speed1100_y(Elect_speed);
if(F[4]==5||F[4]==6)Speed1100_z(Elect_speed);
}
else{
if((flag==1&&i&0x01)||(flag==2&&i&0x02)||
(flag==3&&i&0x04)||(flag==4&&i&0x08)||
(flag==5&&i&0x10)||(flag==6&&i&0x20)||
Dis_flag||!F[1]){ShowMess(15);return;}
if(Voltage()<10){
switch(flag){
case 1:
case 2:
if(MOVEXYZ!=1&&MOVEXYZ!=2){ShowTB(0xb);return;}
if(MOVEXYZ==1){Position_control_x(XPosi(0)-50/DZC);}
if(MOVEXYZ==2){Position_control_x(XPosi(0)+50/DZC);}
break;
case 3:
case 4:
if(MOVEXYZ!=3&&MOVEXYZ!=4){ShowTB(0xb);return;}
if(MOVEXYZ==3)Position_control_y(YPosi(0)-50/DZC);
if(MOVEXYZ==4)Position_control_y(YPosi(0)+50/DZC);
break;
case 5:
case 6:
if(MOVEXYZ!=5&&MOVEXYZ!=6){ShowTB(0xb);return;}
if(MOVEXYZ==5)Position_control_z(ZPosi(0)-50/DZC);
if(MOVEXYZ==6)Position_control_z(ZPosi(0)+50/DZC);
break;
}
}
if(flag==1||flag==2)Speed1100_x(20);
if(flag==3||flag==4)Speed1100_y(20);
if(flag==5||flag==6)Speed1100_z(20);
F[4]=flag;
}
}
int CkErrZero(){
delay(0x100);
if(Voltage()<10){
ShowMess(50);MOVEXYZ=0x10;F5(F[4]);return 1;
}return 0;
}
void Zero(){
static char byte_2159=0,byte_215A=0,zerofirst=0;
if(!F[4]){byte_2159=0;byte_215A=0;zerofirst=0;return;}
if(!zerofirst){
if(!PositionEndXYZ(0)){
zerofirst=1;
if(CkErrZero())return;
}
}
if(F[4]==1||F[4]==2)lock_x=0;
if(F[4]==3||F[4]==4)lock_y=0;
if(F[4]==5||F[4]==6)lock_z=0;
offset_ds=0;ZeroFlag=0;
if(byte_2159==0){
ShowTB(0x1b);
Signal_1100();
if(F[4]==1){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_x(0xff80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_x(0x5);
/* Delay1(180);*/
}else Velocity_control_x(0xA);
}
if(F[4]==2){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_x(0x80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_x(0xFFFd);
/* Delay1(180);*/
}else Velocity_control_x(0xFFF8);
}
if(F[4]==3){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_y(0xff80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_y(0x5);
/* Delay1(180);*/
}else Velocity_control_y(0xA);
}
if(F[4]==4){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_y(0x80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_y(0xFFFd);
/* Delay1(180);*/
}else Velocity_control_y(0xFFF8);
}
if(F[4]==5){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_z(0xff80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_z(0x5);
/* Delay1(180);*/
}else Velocity_control_z(0xA);
}
if(F[4]==6){
if(Voltage()<10&&MOVEXYZ==F[4]){
Velocity_control_z(0x80);
byte_215A=1;
if(CkErrZero())return;
Velocity_control_z(0xFFFd);
/* Delay1(180);*/
}else Velocity_control_z(0xFFF8);
}
byte_2159=1;
MOVEXYZ=F[4];
}else{
if(byte_215A==0){
if(Voltage()<10){
if(F[4]==1){
Velocity_control_x(0xff80);
byte_215A=1;
delay(0x180);
Velocity_control_x(0x5);
}
if(F[4]==2){
Velocity_control_x(0x80);
byte_215A=1;
delay(0x180);
Velocity_control_x(0xFFFd);
}
if(F[4]==3){
Velocity_control_y(0xff80);
byte_215A=1;
delay(0x180);
Velocity_control_y(0x5);
}
if(F[4]==4){
Velocity_control_y(0x80);
byte_215A=1;
delay(0x180);
Velocity_control_y(0xFFFd);
}
if(F[4]==5){
Velocity_control_z(0xff80);
byte_215A=1;
delay(0x180);
Velocity_control_z(0x5);
}
if(F[4]==6){
Velocity_control_z(0x80);
byte_215A=1;
delay(0x180);
Velocity_control_z(0xFFFd);
}
}
}else
if(Voltage()<=1){
MOVEXYZ=F[4];
ZeroFlag= 1;
StopF5();
SoundTime=0x7f;
byte_2159=0;
byte_215A=0;
ShowTB(0xb);
XYPosition();
if(F[4]==1&&F[4]==2)
Speed1100_x(Elect_speed);
if(F[4]==3&&F[4]==4)
Speed1100_y(Elect_speed);
if(F[4]==5&&F[4]==6){
position_d=position_z;
offset_d=position_z-offset_z;
Speed1100_z(Elect_speed);
}
ZeroFlag=1;
}
}
}
void StopF5(void){ /* 停止归零 */
Stop_x(0);
Stop_y(0);
Stop_z(0);
F[4]=0;
Zero();
ShortSound();
if(KEYL==10)ShowKey(9,0);
}
void Position_control_z(long position){
/* Position control mode */
unsigned char far *pi;
long l;
if(K[6])return;
position-=ZPosi(0);
pi=(char far *)&position;
IOZ1&=0x18;
outb((Address_Z),0x14);
outb((Address_Z+1),IOZ1);
outb(Address_Z,0x41);
outb((Address_Z+1),*pi);
outb(Address_Z,0x42);
outb((Address_Z+1),*(pi+1));
outb(Address_Z,0x43);
outb((Address_Z+1),*(pi+2));
outb((Address_Z),0x44);
}
void Velocity_control_z(int v){ /* proportional velocity control mode */
if(K[6])return;
IOZ1&=0x18;
IOZ1|=0x01;
outb((Address_Z),0x14);
outb((Address_Z+1),IOZ1);
outb(Address_Z,0x51);
outb(Address_Z+1,(unsigned )v&0xff);
outb(Address_Z,0x52);
outb(Address_Z+1,(unsigned)v>>8);
outb(Address_Z,0x53);
}
void Profile_z(char MaxVelocity,int Acceleration,long position){
unsigned char far *pi;
position-=ZPosi(0);
pi=(unsigned char far *)&position;
IOZ1&=0xf8;
IOZ1|=0x02;
outb((Address_Z),0x14);
outb((Address_Z+1),IOZ1);
outb(Address_Z,0x41);
outb((Address_Z+1),*pi);
outb(Address_Z,0x42);
outb((Address_Z+1),*(pi+1));
outb(Address_Z,0x43);
outb((Address_Z+1),*(pi+2));
outb(Address_Z,0x51);
outb(Address_Z+1,(unsigned )Acceleration&0xff);
outb(Address_Z,0x52);
outb(Address_Z+1,(unsigned)Acceleration>>8);
}
void Position_control_x(long position){
unsigned char far *pi;
if(K[6])return;
position-=XPosi(0);
pi=(char far *)&position;
OTPBX1&=0x18;
outb((ICXaddr),0x14);
outb((ICXaddr+1),OTPBX1);
outb(ICXaddr,0x41);
outb((ICXaddr+1),*pi);
outb(ICXaddr,0x42);
outb((ICXaddr+1),*(pi+1));
outb(ICXaddr,0x43);
outb((ICXaddr+1),*(pi+2));
outb(ICXaddr,0x44);
}
void Velocity_control_x(int v){ /* proportional velocity control mode */
if(K[6])return;
OTPBX1&=0x18;
OTPBX1|=0x01;
outb((ICXaddr),0x14);
outb((ICXaddr+1),OTPBX1);
outb(ICXaddr,0x51);
outb(ICXaddr+1,(unsigned )v&0xff);
outb(ICXaddr,0x52);
outb(ICXaddr+1,(unsigned)v>>8);
outb((ICXaddr),0x53);
}
void Position_control_y(long position){
unsigned char far *pi;
if(K[6])return;
position-=YPosi(0);
pi=(char far *)&position;
OTPBY1&=0x18;
outb((ICYaddr),0x14);
outb((ICYaddr+1),OTPBY1);
outb(ICYaddr,0x41);
outb((ICYaddr+1),*pi);
outb(ICYaddr,0x42);
outb((ICYaddr+1),*(pi+1));
outb(ICYaddr,0x43);
outb((ICYaddr+1),*(pi+2));
outb(ICYaddr,0x44);
}
void Velocity_control_y(int v){ /* proportional velocity control mode*/
if(K[6])return;
OTPBY1&=0x18;
OTPBY1|=0x01;
outb((ICYaddr),0x14);
outb((ICYaddr+1),OTPBY1);
outb(ICYaddr,0x51);
outb(ICYaddr+1,(unsigned )v&0xff);
outb(ICYaddr,0x52);
outb(ICYaddr+1,(unsigned)v>>8);
outb((ICYaddr),0x53);
}
void Profile_x(char MaxVelocity,int Acceleration,long position){
unsigned char far *pi;
position-=XPosi(0);
pi=(unsigned char far *)&position;
OTPBX1&=0xf8;
OTPBX1|=0x02;
outb((ICXaddr),0x14);
outb((ICXaddr+1),OTPBX1);
outb(ICXaddr,0x41);
outb((ICXaddr+1),*pi);
outb(ICXaddr,0x42);
outb((ICXaddr+1),*(pi+1));
outb(ICXaddr,0x43);
outb((ICXaddr+1),*(pi+2));
outb(ICXaddr,0x51);
outb(ICXaddr+1,(unsigned)Acceleration&0xff);
outb(ICXaddr,0x52);
outb(ICXaddr+1,(unsigned)Acceleration>>8);
}
void Profile_y(char MaxVelocity,int Acceleration,long position){
unsigned char far *pi;
position-=YPosi(0);
pi=(unsigned char far *)&position;
OTPBY1&=0xf8;
OTPBY1|=0x02;
outb((ICYaddr),0x14);
outb((ICYaddr+1),OTPBY1);
outb(ICYaddr,0x41);
outb((ICYaddr+1),*pi);
outb(ICYaddr,0x42);
outb((ICYaddr+1),*(pi+1));
outb(ICYaddr,0x43);
outb((ICYaddr+1),*(pi+2));
outb(ICYaddr,0x51);
outb(ICYaddr+1,(unsigned )Acceleration&0xff);
outb(ICYaddr,0x52);
outb(ICYaddr+1,(unsigned)Acceleration>>8);
}
int KeyPress(void){
struct REGPACK iintr;
iintr.r_ax=0x1100;
intr(0x16,&iintr);
iintr.r_flags=~iintr.r_flags;
return iintr.r_flags&0x40;
}
int KeyAss(void){
int ak,ak1;
ak=bioskey(0x10);
Fx=0;
ak1=ak&0xff;
if(!ak1||ak1==0xe0){
ak>>=8;
Fx=1;
}
return ak&0xff;
}
void Speed1100_z(char speed)
{
set_PIDZ(speed,0,4,0x10);
}
void Speed1100_x(char speed)
{
set_PIDX(speed,0,4,0x10);
}
void Speed1100_y(char speed)
{
set_PIDY(speed,0,4,0x10);
}
void Signal_1100(void){ /*发放HTCL-1100信号*/
IOZ0&=0xfc;
outb(Address_Z,0x01);
outb(Address_Z+1,IOZ0);
}
void Signal_Jianxi(char flag){
if(!flag){IOZ0|=0x0c;IOZ0&=0xfe;}
else {IOZ0|=0x04;IOZ0&=0xf4;}
outb(Address_Z,0x01);
outb(Address_Z+1,IOZ0);
}
void Signal_1100X(void){ /*发放HTCL-1100信号*/
OTPBX0&=0xfc;
outb(ICXaddr,0x01);
outb(ICXaddr+1,OTPBX0);
}
void Signal_JianxiX(char flag){
if(!flag){OTPBX0|=0x0c;OTPBX0&=0xfe;}
else {OTPBX0|=0x04;OTPBX0&=0xf4;}
outb(ICXaddr,0x01);
outb(ICXaddr+1,OTPBX0);
}
void Signal_1100Y(void){ /*发放HTCL-1100信号*/
OTPBY0&=0xfc;
outb(ICYaddr,0x01);
outb(ICYaddr+1,OTPBY0);
}
void Signal_JianxiY(char flag){
if(!flag){OTPBY0|=0x0c;OTPBY0&=0xfe;}
else {OTPBY0|=0x04;OTPBY0&=0xf4;}
outb(ICYaddr,0x01);
outb(ICYaddr+1,OTPBY0);
}
void ShortSound(void){
OpenSound();
SoundTime=SoundTIME*2;
}
long ReadRegisterValue_X(char cLowReg){
unsigned char i0,i1,i2,i3;
long ll;
outb(ICXaddr,0x81);
i0=inportb(ICXaddr+1);
outb(ICXaddr,0x82);
i1=inportb(ICXaddr+1);
outb(ICXaddr,0x83);
i2=inportb(ICXaddr+1);
if(i2&0x80)i3=0xff;
else i3=0;
ll=i3;ll<<=8;ll+=i2;ll<<=8;ll+=i1;ll<<=8;ll+=i0;
if(ll>9999999||ll<-9999999)return 0;
return ll;
}
long ReadRegisterValue_Y(char cLowReg){
unsigned char i0,i1,i2,i3;
long ll;
outb(ICYaddr,0x81);
i0=inportb(ICYaddr+1);
outb(ICYaddr,0x82);
i1=inportb(ICYaddr+1);
outb(ICYaddr,0x83);
i2=inportb(ICYaddr+1);
if(i2&0x80)i3=0xff;
else i3=0;
ll=i3;ll<<=8;ll+=i2;ll<<=8;ll+=i1;ll<<=8;ll+=i0;
if(ll>9999999||ll<-9999999)return 0;
return ll;
}
long ReadRegisterValue_Z(char cLowReg)
{
unsigned char i0,i1,i2,i3;
long ll;
outb(ICYaddr,0x61);
i0=inportb(ICYaddr+1);
outb(ICYaddr,0x62);
i1=inportb(ICYaddr+1);
outb(ICYaddr,0x63);
i2=inportb(ICYaddr+1);
if(i2&0x80)i3=0xff;
else i3=0;
ll=i3;ll<<=8;ll+=i2;ll<<=8;ll+=i1;ll<<=8;ll+=i0;
if(ll>9999999||ll<-9999999)return 0;
return ll;
}
long ReadRegisterValue_W(char cLowReg)
{
unsigned char i0,i1,i2,i3;
long ll;
outb(ICYaddr,0x41);
i0=inportb(ICYaddr+1);
outb(ICYaddr,0x42);
i1=inportb(ICYaddr+1);
outb(ICYaddr,0x43);
i2=inportb(ICYaddr+1);
if(i2&0x80)i3=0xff;
else i3=0;
ll=i3;ll<<=8;ll+=i2;ll<<=8;ll+=i1;ll<<=8;ll+=i0;
if(ll>9999999||ll<-9999999)return 0;
return ll;
}
long ReadRegisterValue_V(char cLowReg)
{
unsigned char i0,i1,i2,i3;
long ll;
outb(ICYaddr,0x71);
i0=inportb(ICYaddr+1);
outb(ICYaddr,0x72);
i1=inportb(ICYaddr+1);
outb(ICYaddr,0x73);
i2=inportb(ICYaddr+1);
if(i2&0x80)i3=0xff;
else i3=0;
ll=i3;ll<<=8;ll+=i2;ll<<=8;ll+=i1;ll<<=8;ll+=i0;
if(ll>9999999||ll<-9999999)return 0;
return ll;
}
int PositionEndXYZ(unsigned char flags){
long l;
register long l1=0;
int i=0;
unsigned char flag;
flag=flags&0x7f;
if(flag==1||!flag){
l=XPosi(0)-l1;
if(flags<0x80){if(l<-5/DZC||l>5/DZC)i++;}
else if(l<-1||l>1)i++;
}
if(flag==2||!flag){
l1=YPosi(1);
l=YPosi(0)-l1;
if(flags<0x80){if(l<-5/DZC||l>5/DZC)i++;}
else if(l<-1||l>1)i++;
}
if(flag==3||!flag){
l1=ZPosi(1);
l=ZPosi(0)-l1;
if(flags<0x80){if(l<-5/DZC||l>5/DZC)i++;}
else if(l<-1||l>1)i++;
}
if(4==flag)
{
l=XPosi(0);
if(l!=Gposition_x)
i++;
l=YPosi(0);
if(l!=Gposition_y)
i++;
l=ZPosi(0);
if(l!=Gposition_z)
i++;
}
return i;
}
int PositionEnd(void){
long l;
if(!Position_flag){
l=ZPosi(0);
l-=ZPosi(1);
Position_flag=0;
l=labs(l);
}
if(l<5/DZC)return 1;
else return 0;
}
void F6(void){
long l;
/* ClearKey(0);*/
F[5]=1;
if(XYZ[0]){
offset_x=position_x/2-XPosi(0);
XYZ[0]=0;
}
if(XYZ[1]){
offset_y=position_y/2-YPosi(0);
XYZ[1]=0;
}
if(XYZ[2]&&!Dis_flag){
l=position_z/2-ZPosi(0);
offset_d-=offset_z-l;
offset_ds=0;
position_d-=offset_z-l;
offset_z=l;
XYZ[2]=0;
}
SaveXYZ(0);
ClearKey(0);
F[5]=0;
}
void F7(char flag){
int i,j;
if(!flag)ClearKey(0);
if(!F[6]){
XX=0;YY=0;ShowMess(XX+1);
ClearF7();F[6]=1;
DelLine();
ShowTable(YY+1);
/*ShowKey(0x70,0);*/}
else{if(!flag)F[6]=0;groupindex[Group]=1;
WriteRAM(0,Group+0x80,1);