R3IO例子.doc

///////////////////////////////////////////////////////////////////// // Beckhoff Automation // TwinCAT? I/O sample program ///////////////////////////////////////////////////////////////////// #include stdio.h #include conio.h #include windows.h #include mmsystem.h #include TCatIoApi.h // header file shipped with TwinCAT? I/O #include Task1ms.h // TwinCAT? System Manager generated #include Task10ms.h // TwinCAT? System Manager generated #define IOERR_IOSTATEBUSY 0x2075 #define TASK1MS_DELAY 1 // ms #define TASK10MS_DELAY 10 // ms #define DELAY_IN_100NS(x) (x*10000) PTask1ms_Outputs pT1msOut; PTask1ms_Inputs pT1msIn; PTask10ms_Outputs pT10msOut; PTask10ms_Inputs pT10msIn; ///////////////////////////////////////////////////////////////////// void CALLBACK TimerProc1( UINT uID, UINT uMsg, DWORD dwUser, DWORD dw1, DWORD dw2 ) { static int i=0; long nError; static __int64 nLastCpuTime=0, nActCpuTime=0; TCatIoGetCpuTime( nActCpuTime ); // 0.5 ms, filter extra events if ( (nActCpuTime - nLastCpuTime) (DELAY_IN_100NS(TASK1MS_DELAY)/2) ) { nLastCpuTime =nActCpuTime; // first try to get the inputs and test if input update succeeded if ( (nError = TCatIoInputUpdate( TASK1MS_PORTNUMBER )) == 0 ) { // do your calculation and logic pT1msOut-AnalogOut = pT1msIn-AnalogIn; // start the I/O update and field bus cycle TCatIoOutputUpdate( TASK1MS_PORTNUMBER ); } else printf( TCatInputUpdate(%d) %d failed with 0x%x !\n, TASK1MS_PORTNUMBER, i++, nError ); } } /////////////////////////////////////////////////////////////////////////////// void CALLBACK TimerProc2( UINT uID, UINT uMsg, DWORD dwUser, DWORD dw1, DWORD dw2 ) { static int i=0; long nError; static __int64 nLastCpuTime=0, nActCpuTime=0; TCatIoGetCpuTime( nActCpuTime ); // 5 ms, filter extra events if ( (nActCpuTime - nLastCpuTime) (DELAY_IN_100NS(TASK10MS_DELAY)/2) ) { nLastCpuTime = nActCpuTime; // try to get