新增变倍时间输出，统一CMD_H文件。
This commit is contained in:
TAO Cheng
@@ -1,352 +1,350 @@
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#ifndef _CMD_H_H_
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#define _CMD_H_H_
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enum FUN_CMD
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{
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CT_FUN,
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CT_MOTOR,
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CT_SCALE,
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CT_LIGHT,
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CT_INT,
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CT_DATA
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CT_FUN,
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CT_MOTOR,
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CT_SCALE,
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CT_LIGHT,
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CT_INT,
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CT_DATA
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};
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enum MOTOR_CMD
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{
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CT_MOVEX,
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CT_MOVEY,
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CT_MOVEZ,
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CT_MOVEX,
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CT_MOVETOX,
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CT_MOVETOY,
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CT_MOVETOZ,
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CT_MOVEY,
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CT_MOVETOFX,
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CT_MOVETOFY,
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CT_MOVETOFZ,
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CT_MOVEZ,
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CT_MOVETOSX,
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CT_MOVETOSY,
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CT_MOVETOSZ,
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CT_MOVETOAX,
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CT_MOVETOAY,
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CT_MOVETOAZ,
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CT_MOVETOX,
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CT_MOVETOY,
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CT_MOVETOZ,
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CT_MOVETOASX,
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CT_MOVETOASY,
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CT_MOVETOASZ,
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CT_MOVETOFX,
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CT_MOVETOFY,
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CT_MOVETOFZ,
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CT_MOVETOAFX,
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CT_MOVETOAFY,
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CT_MOVETOAFZ,
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CT_MOVETOSX,
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CT_MOVETOSY,
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CT_MOVETOSZ,
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CT_RESETXYZ,
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CT_RESETX,
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CT_RESETY,
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CT_RESETZ,
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CT_MOVETOAX,
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CT_MOVETOAY,
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CT_MOVETOAZ,
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CT_STOPA,
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CT_STOPX,
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CT_STOPY,
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CT_STOPZ,
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CT_MOVETOASX,
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CT_MOVETOASY,
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CT_MOVETOASZ,
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CT_STOPFA,
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CT_STOPFX,
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CT_STOPFY,
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CT_STOPFZ,
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CT_MOVETOAFX,
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CT_MOVETOAFY,
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CT_MOVETOAFZ,
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CT_SET_SPEEDX,
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CT_SET_SPEEDY,
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CT_SET_SPEEDZ,
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CT_RESETXYZ,
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CT_RESETX,
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CT_RESETY,
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CT_RESETZ,
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CT_READ_SPEEDX,
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CT_READ_SPEEDY,
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CT_READ_SPEEDZ,
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CT_STOPA,
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CT_STOPX,
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CT_STOPY,
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CT_STOPZ,
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CT_SET_PRECISIONX,
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CT_SET_PRECISIONY,
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CT_SET_PRECISIONZ,
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CT_STOPFA,
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CT_STOPFX,
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CT_STOPFY,
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CT_STOPFZ,
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CT_SET_DEFAULTX,
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CT_SET_DEFAULTY,
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CT_SET_DEFAULTZ,
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CT_SET_SPEEDX,
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CT_READ_PRECISIONX,
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CT_READ_PRECISIONY,
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CT_READ_PRECISIONZ,
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CT_RESET,
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CT_MOVEV,
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CT_MOVETOV,
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CT_RESETV,
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CT_STOPV,
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CT_SET_SPEEDV,
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CT_READ_SPEEDV,
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CT_SET_DEFAULTV,
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CT_TESTV,
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CT_TSTOPV,
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CT_TEST_STOP,
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CT_READ_V,
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CT_SET_SPEEDY,
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CT_M_SPEED,
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CT_M_DIS,
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CT_M_FRESH,
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CT_M_CMD,
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CT_M_READ_DAT,
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CT_SET_MOTOR_CAL,
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CT_M_SWITCH_START,
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CT_M_SWITCH_CLOSE,
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CT_M_SWITCH_TOP,
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CT_M_SWITCH_BOM,
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CT_M_SWITCH_RESET,
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CT_M_SWITCH_VALUE,
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CT_M_RESET_LEFT,
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CT_M_RESET_RIGHT,
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CT_SET_SPEEDZ,
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CT_READ_SPEEDX,
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CT_READ_SPEEDY,
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CT_READ_SPEEDZ,
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CT_SET_PRECISIONX,
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CT_SET_PRECISIONY,
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CT_SET_PRECISIONZ,
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CT_SET_DEFAULTX,
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CT_SET_DEFAULTY,
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CT_SET_DEFAULTZ,
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CT_READ_PRECISIONX,
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CT_READ_PRECISIONY,
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CT_READ_PRECISIONZ,
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CT_RESET,
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CT_MOVEV,
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CT_MOVETOV,
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CT_RESETV,
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CT_STOPV,
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CT_SET_SPEEDV,
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CT_READ_SPEEDV,
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CT_SET_DEFAULTV,
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CT_TESTV,
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CT_TSTOPV,
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CT_TEST_STOP,
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CT_READ_V,
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CT_M_SPEED,
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CT_M_DIS,
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CT_M_FRESH,
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CT_M_CMD,
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CT_M_READ_DAT,
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CT_SET_MOTOR_CAL,
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CT_M_SWITCH_START,
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CT_M_SWITCH_CLOSE,
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CT_M_SWITCH_TOP,
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CT_M_SWITCH_BOM,
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CT_M_SWITCH_RESET,
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CT_M_SWITCH_VALUE,
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CT_M_RESET_LEFT,
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CT_M_RESET_RIGHT,
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CT_LASE_TIMMER_ON,
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CT_LASE_TIMMER_OFF,
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CT_M_PROBE_ON,
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CT_M_PROBE_OFF,
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CT_MOVETOXYZ,
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CT_MOVETOXYZ_LASE,
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CT_GET_LASE,
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CT_MOVETOXYZV,
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CT_M_LASE_ON,
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CT_M_LASE_OFF,
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CT_M_BCL_ON,
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CT_M_BCL_OFF,
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CT_MOVETOXYZ_JM,
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CT_READ_MOTOR_CAL,
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CT_END
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CT_LASE_TIMMER_ON,
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CT_LASE_TIMMER_OFF,
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CT_M_PROBE_ON,
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CT_M_PROBE_OFF,
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CT_MOVETOXYZ,
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CT_MOVETOXYZ_LASE,
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CT_GET_LASE,
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CT_MOVETOXYZV,
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CT_M_LASE_ON,
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CT_M_LASE_OFF,
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CT_M_BCL_ON,
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CT_M_BCL_OFF,
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CT_MOVETOXYZ_JM,
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CT_READ_MOTOR_CAL,
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CT_MOVEXY,
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CT_GET_INTERRUPT_MSG,
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CT_SET_INTERRUPT_MSG,
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CT_SET_GETINTERRUPTMSG_METHOD,
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CT_END
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};
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enum SCALE_CMD
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{
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CT_SEC_FLAG,
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CT_SEC_FLAG,
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CT_SCALEX,
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CT_SCALEY,
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CT_SCALEZ,
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CT_SCALEX,
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CT_SCALEY,
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CT_SCALEZ,
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CT_SECTIONX,
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CT_SECTIONY,
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CT_SECTIONZ,
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CT_SECTIONX,
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CT_SECTIONY,
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CT_SECTIONZ,
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CT_SET_AXISX,
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CT_SET_AXISY,
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CT_SET_AXISZ,
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CT_SET_AXISX,
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CT_SET_AXISY,
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CT_SET_AXISZ,
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CT_SET_SECTIONX,
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CT_SET_SECTIONY,
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CT_SET_SECTIONZ,
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CT_SET_SECTIONX,
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CT_SET_SECTIONY,
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CT_SET_SECTIONZ,
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CT_X_BEGIN,
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CT_Y_BEGIN,
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CT_Z_BEGIN,
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CT_X_BEGIN,
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CT_Y_BEGIN,
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CT_Z_BEGIN,
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CT_X_SECTION_END,
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CT_Y_SECTION_END,
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CT_Z_SECTION_END,
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CT_X_SECTION_END,
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CT_Y_SECTION_END,
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CT_Z_SECTION_END,
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CT_X_SECTION_DEC,
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CT_Y_SECTION_DEC,
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CT_Z_SECTION_DEC,
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CT_X_SECTION_DEC,
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CT_Y_SECTION_DEC,
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CT_Z_SECTION_DEC,
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CT_SET_SECTION_X,
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CT_SET_SECTION_Y,
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CT_SET_SECTION_Z,
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CT_SET_SECTION_X,
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CT_SET_SECTION_Y,
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CT_SET_SECTION_Z,
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CT_PROBE_FLAG,
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CT_SET_LINE_X,
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CT_SET_LINE_Y,
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CT_SET_LINE_Z,
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CT_SET_PROBE_LINE,
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CT_SET_PROBE_SECTION,
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CT_SET_VERNO,
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CT_SET_RESET_FLAG,
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CT_GET_RESET_FLAG
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CT_PROBE_FLAG,
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CT_SET_LINE_X,
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CT_SET_LINE_Y,
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CT_SET_LINE_Z,
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CT_SET_PROBE_LINE,
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CT_SET_PROBE_SECTION,
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CT_SET_VERNO,
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CT_SET_RESET_FLAG,
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CT_GET_RESET_FLAG,
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CT_GET_SYSTEM_VER_INFO,
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CT_SCALE_TOTAL=255
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};
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enum LIGHT_CMD
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{
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CT_LIGHT1_SIZE,
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CT_LIGHT2_SIZE,
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CT_LIGHT3_SIZE,
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CT_LIGHT4_SIZE,
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CT_LIGHT1_SIZE,
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CT_LIGHT2_SIZE,
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CT_LIGHT3_SIZE,
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CT_LIGHT4_SIZE,
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CT_LIGHT1_SWITCH,
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CT_LIGHT2_SWITCH,
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CT_LIGHT3_SWITCH,
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CT_LIGHT4_SWITCH,
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CT_LIGHT5_SWITCH,
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CT_LIGHT_CMD
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CT_LIGHT1_SWITCH,
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CT_LIGHT2_SWITCH,
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CT_LIGHT3_SWITCH,
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CT_LIGHT4_SWITCH,
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CT_LIGHT5_SWITCH,
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CT_LIGHT_CMD
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};
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enum INT_CMD
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{
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CT_STOPMX,
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CT_STOPMY,
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CT_STOPMZ,
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CT_STOPXYZ,
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CT_STOPMX,
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CT_STOPMY,
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CT_STOPMZ,
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CT_STOPXYZ,
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CT_ENDXYZ,
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CT_ENDXYZ,
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CT_SWITCHX,
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CT_SWITCHY,
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CT_SWITCHZ,
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CT_SWITCHX,
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CT_SWITCHY,
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CT_SWITCHZ,
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CT_PROBE,
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CT_PROBE_SWITCH,
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CT_XYZLASE,
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CT_SEND_XYZLASE,
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CT_END1
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CT_PROBE,
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CT_PROBE_SWITCH,
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CT_XYZLASE,
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CT_SEND_XYZLASE,
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CT_END1
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};
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enum PRO_DATA
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{
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CT_READ_AXISXYZ,
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CT_READ_AXISX,
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CT_READ_AXISY,
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CT_READ_AXISZ,
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CT_READ_AXISXYZ,
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CT_READ_AXISX,
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CT_READ_AXISY,
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CT_READ_AXISZ,
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CT_READ_PROBEXYZ,
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CT_READ_PROBEX,
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CT_READ_PROBEY,
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CT_READ_PROBEZ,
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CT_READ_PROBEXYZ,
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CT_READ_PROBEX,
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CT_READ_PROBEY,
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CT_READ_PROBEZ,
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CT_SAVE_MOTORX1,
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CT_SAVE_MOTORX2,
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CT_SAVE_MOTORX3,
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CT_SAVE_MOTORX4,
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CT_SAVE_MOTORX5,
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CT_SAVE_MOTORX1,
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CT_SAVE_MOTORX2,
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CT_SAVE_MOTORX3,
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CT_SAVE_MOTORX4,
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CT_SAVE_MOTORX5,
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CT_SAVE_MOTORY1,
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CT_SAVE_MOTORY2,
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CT_SAVE_MOTORY3,
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CT_SAVE_MOTORY4,
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CT_SAVE_MOTORY5,
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CT_SAVE_MOTORY1,
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CT_SAVE_MOTORY2,
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CT_SAVE_MOTORY3,
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CT_SAVE_MOTORY4,
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CT_SAVE_MOTORY5,
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CT_SAVE_MOTORZ1,
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CT_SAVE_MOTORZ2,
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CT_SAVE_MOTORZ3,
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CT_SAVE_MOTORZ4,
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CT_SAVE_MOTORZ5,
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CT_SAVE_MOTORZ1,
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CT_SAVE_MOTORZ2,
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CT_SAVE_MOTORZ3,
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CT_SAVE_MOTORZ4,
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CT_SAVE_MOTORZ5,
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CT_READ_MOTORX1,
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CT_READ_MOTORX2,
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CT_READ_MOTORX3,
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CT_READ_MOTORX4,
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CT_READ_MOTORX5,
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CT_READ_MOTORX1,
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CT_READ_MOTORX2,
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CT_READ_MOTORX3,
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CT_READ_MOTORX4,
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CT_READ_MOTORX5,
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CT_READ_MOTORY1,
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CT_READ_MOTORY2,
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CT_READ_MOTORY3,
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CT_READ_MOTORY4,
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CT_READ_MOTORY5,
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CT_READ_MOTORY1,
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CT_READ_MOTORY2,
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CT_READ_MOTORY3,
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CT_READ_MOTORY4,
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CT_READ_MOTORY5,
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CT_READ_MOTORZ1,
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CT_READ_MOTORZ2,
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CT_READ_MOTORZ3,
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CT_READ_MOTORZ4,
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CT_READ_MOTORZ5,
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CT_READ_MOTORZ1,
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CT_READ_MOTORZ2,
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CT_READ_MOTORZ3,
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CT_READ_MOTORZ4,
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CT_READ_MOTORZ5,
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CT_SAVE_SCALEX,
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CT_SAVE_SCALEY,
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CT_SAVE_SCALEZ,
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CT_SAVE_SCALEX,
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CT_SAVE_SCALEY,
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CT_SAVE_SCALEZ,
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CT_READ_SCALEX,
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CT_READ_SCALEY,
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CT_READ_SCALEZ,
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CT_READ_SCALEX,
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CT_READ_SCALEY,
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CT_READ_SCALEZ,
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CT_SAVE_SECTION_FLAGX,
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CT_SAVE_SECTION_FLAGY,
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CT_SAVE_SECTION_FLAGZ,
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CT_SAVE_SECTION_FLAGX,
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CT_SAVE_SECTION_FLAGY,
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CT_SAVE_SECTION_FLAGZ,
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CT_READ_SECTION_FLAGX,
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CT_READ_SECTION_FLAGY,
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CT_READ_SECTION_FLAGZ,
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CT_READ_SECTION_FLAGX,
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CT_READ_SECTION_FLAGY,
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CT_READ_SECTION_FLAGZ,
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CT_SAVE_PROBE,
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CT_READ_PROBE,
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CT_SAVE_PROBE,
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CT_READ_PROBE,
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CT_SAVE_SEC_REALX,
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CT_SAVE_SEC_INTX,
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CT_SAVE_SEC_SCALEX,
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CT_SAVE_SEC_REALX,
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CT_SAVE_SEC_INTX,
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CT_SAVE_SEC_SCALEX,
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CT_SAVE_SEC_REALY,
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CT_SAVE_SEC_INTY,
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CT_SAVE_SEC_SCALEY,
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CT_SAVE_SEC_REALY,
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CT_SAVE_SEC_INTY,
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CT_SAVE_SEC_SCALEY,
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CT_SAVE_SEC_REALZ,
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CT_SAVE_SEC_INTZ,
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CT_SAVE_SEC_SCALEZ,
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CT_SAVE_SEC_REALZ,
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CT_SAVE_SEC_INTZ,
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CT_SAVE_SEC_SCALEZ,
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CT_READ_SEC_REALX,
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CT_READ_SEC_INTX,
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CT_READ_SEC_SCALEX,
|
||||
CT_READ_SEC_REALX,
|
||||
CT_READ_SEC_INTX,
|
||||
CT_READ_SEC_SCALEX,
|
||||
|
||||
CT_READ_SEC_REALY,
|
||||
CT_READ_SEC_INTY,
|
||||
CT_READ_SEC_SCALEY,
|
||||
CT_READ_SEC_REALY,
|
||||
CT_READ_SEC_INTY,
|
||||
CT_READ_SEC_SCALEY,
|
||||
|
||||
CT_READ_SEC_REALZ,
|
||||
CT_READ_SEC_INTZ,
|
||||
CT_READ_SEC_SCALEZ,
|
||||
CT_READ_SEC_REALZ,
|
||||
CT_READ_SEC_INTZ,
|
||||
CT_READ_SEC_SCALEZ,
|
||||
|
||||
CT_READ_SYSTEM,
|
||||
CT_READ_XSECTION_INT,
|
||||
CT_READ_XSECTION_REAL,
|
||||
CT_READ_XSECTION_SCALE,
|
||||
CT_READ_SYSTEM,
|
||||
CT_READ_XSECTION_INT,
|
||||
CT_READ_XSECTION_REAL,
|
||||
CT_READ_XSECTION_SCALE,
|
||||
|
||||
CT_READ_YSECTION_INT,
|
||||
CT_READ_YSECTION_REAL,
|
||||
CT_READ_YSECTION_SCALE,
|
||||
CT_READ_YSECTION_INT,
|
||||
CT_READ_YSECTION_REAL,
|
||||
CT_READ_YSECTION_SCALE,
|
||||
|
||||
CT_READ_ZSECTION_INT,
|
||||
CT_READ_ZSECTION_REAL,
|
||||
CT_READ_ZSECTION_SCALE,
|
||||
CT_READ_ZSECTION_INT,
|
||||
CT_READ_ZSECTION_REAL,
|
||||
CT_READ_ZSECTION_SCALE,
|
||||
|
||||
|
||||
CT_WRITE_SYSTEM,
|
||||
CT_WRITE_XSECTION_INT,
|
||||
CT_WRITE_XSECTION_REAL,
|
||||
CT_WRITE_XSECTION_SCALE,
|
||||
CT_WRITE_SYSTEM,
|
||||
CT_WRITE_XSECTION_INT,
|
||||
CT_WRITE_XSECTION_REAL,
|
||||
CT_WRITE_XSECTION_SCALE,
|
||||
|
||||
CT_WRITE_YSECTION_INT,
|
||||
CT_WRITE_YSECTION_REAL,
|
||||
CT_WRITE_YSECTION_SCALE,
|
||||
CT_WRITE_YSECTION_INT,
|
||||
CT_WRITE_YSECTION_REAL,
|
||||
CT_WRITE_YSECTION_SCALE,
|
||||
|
||||
CT_WRITE_ZSECTION_INT,
|
||||
CT_WRITE_ZSECTION_REAL,
|
||||
CT_WRITE_ZSECTION_SCALE,
|
||||
CT_WRITE_ZSECTION_INT,
|
||||
CT_WRITE_ZSECTION_REAL,
|
||||
CT_WRITE_ZSECTION_SCALE,
|
||||
|
||||
CT_READ_AXISV,
|
||||
CT_READ_ADC,
|
||||
CT_READ_ADC_INDEX,
|
||||
CT_READ_AXISV,
|
||||
CT_READ_ADC,
|
||||
CT_READ_ADC_INDEX,
|
||||
|
||||
CT_PRO_DAT_END,
|
||||
CT_CLEAR_PROBE_FLAG,
|
||||
|
||||
CT_READ_IO_DAT,
|
||||
CT_WRITE_IO_DAT
|
||||
CT_PRO_DAT_END,
|
||||
CT_CLEAR_PROBE_FLAG,
|
||||
|
||||
CT_READ_IO_DAT,
|
||||
CT_WRITE_IO_DAT,
|
||||
|
||||
|
||||
CT_DATA_TOTAL=255
|
||||
};
|
||||
|
||||
enum EHOME_MODE
|
||||
@@ -360,4 +358,25 @@ enum EHOME_MODE
|
||||
CT_HOME_YZ,
|
||||
|
||||
CT_HOME_TOATAL=255
|
||||
};
|
||||
};
|
||||
|
||||
enum E_GET_INTERRUPT_MSG_METHOD
|
||||
{
|
||||
E_GET_INTERRUPT_MSG_INTERRUPT=0,
|
||||
E_GET_INTERRUPT_MSG_INQUIRY,
|
||||
|
||||
E_GET_INTERRUPT_MSG_TOATAL=255
|
||||
};
|
||||
enum E_INTERRUPT_MSG
|
||||
{
|
||||
EMSG_STOPXYZ_1_MOVETOXYZ=0,
|
||||
EMSG_STOPXYZ_6_MOVETOV,
|
||||
EMSG_STOPXYZ_7_TESTV,//Home V
|
||||
EMSG_XYZLASE_1_MOVETOXYZ_LASE,
|
||||
EMSG_SEND_XYZLASE_1_GET_LASE,
|
||||
EMSG_PROBE_SWITCH_1,
|
||||
EMSG_PROBE_1,
|
||||
EMSG_FINISHED_TYPE_TOATAL=20
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -200,6 +200,10 @@ void CSO7_Proto::_process_rcv_transfer_data(int iEP)
|
||||
case CT_TEST_STOP:
|
||||
_process_SO7_CMD_READ_ZOOM_MOTION_STATUS();
|
||||
break;
|
||||
case CT_GET_INTERRUPT_MSG:
|
||||
_process_SO7_CMD_GET_INTERRUPT_MSG(ep_buff[EP_02_CMD_IDX]._save_send_cmd1);
|
||||
break;
|
||||
|
||||
default:
|
||||
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
|
||||
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
|
||||
@@ -250,7 +254,9 @@ void CSO7_Proto::_process_rcv_transfer_data(int iEP)
|
||||
case CT_GET_RESET_FLAG:
|
||||
_process_SO7_CMD_GET_GET_RESET_FLAG();
|
||||
break;
|
||||
|
||||
case CT_GET_SYSTEM_VER_INFO:
|
||||
_process_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
|
||||
break;
|
||||
default:
|
||||
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_02_CMD_IDX]._save_send_cmd : %X \r\n", ep_buff[EP_02_CMD_IDX]._save_send_cmd);
|
||||
TRACE1("_process_rcv_transfer_data() : Unknown ep_buff[EP_81_DATA_IDX]._buffer[0] : %X \r\n", ep_buff[EP_81_DATA_IDX]._buffer[0]);
|
||||
@@ -448,6 +454,15 @@ CSO7_Proto::CSO7_Proto()
|
||||
ep_buff[i]._hProtoPending = false;
|
||||
ep_buff[i]._event = NULL;
|
||||
};
|
||||
for (int i=0;i<20;i++)
|
||||
{
|
||||
for (int j=0;j<2;j++)
|
||||
{
|
||||
g_machine.GetInterruptMsg[i][j]=0;
|
||||
}
|
||||
}
|
||||
g_machine.GetInterruptMsgMethod=E_GET_INTERRUPT_MSG_INTERRUPT;
|
||||
g_machine.IsSupportReadInterrputMsg=FALSE;
|
||||
g_machine.IsOffline=TRUE;
|
||||
g_machine.FPGAData=0;
|
||||
g_machine.x._Move_Speed_Gear =2;
|
||||
@@ -2996,14 +3011,14 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY,
|
||||
const long lMaxLoopCnt = 5000/lSleep; // use max homing time of 20 seconds
|
||||
long lLoopCnt = 0;
|
||||
Sleep(lSleep);
|
||||
|
||||
while (g_machine.InterruptFlag[0]!=CT_STOPXYZ && lLoopCnt < lMaxLoopCnt)
|
||||
{
|
||||
BOOL IsFinished(FALSE);
|
||||
do
|
||||
{
|
||||
so7_motion_is_finished(EMSG_STOPXYZ_1_MOVETOXYZ,IsFinished);
|
||||
Sleep(lSleep);
|
||||
_send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE();
|
||||
++lLoopCnt;
|
||||
}
|
||||
g_machine.InterruptFlag[0]=0;
|
||||
} while (g_machine.InterruptFlag[0]!=CT_STOPXYZ && lLoopCnt < lMaxLoopCnt);
|
||||
|
||||
TRACE1("Presettle Time: %lf\n", TimeInSecs());
|
||||
//WaitForSettleXYZZM();
|
||||
TRACE1("Postsettle Time: %lf\n", TimeInSecs());
|
||||
@@ -3012,7 +3027,34 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY,
|
||||
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
};
|
||||
//==================================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::so7_motion_is_finished(char MotionType,BOOL& IsFinished)
|
||||
{
|
||||
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
||||
|
||||
BOOL bIsFinised(FALSE);
|
||||
if (g_machine.GetInterruptMsgMethod==E_GET_INTERRUPT_MSG_INQUIRY)
|
||||
{
|
||||
_send_cmd_SO7_CMD_GET_INTERRUPT_MSG(MotionType);
|
||||
if (g_machine.GetInterruptMsg[MotionType][0]==CT_STOPXYZ)
|
||||
{
|
||||
bIsFinised=TRUE;
|
||||
_send_cmd_SO7_CMD_SET_INTERRUPT_MSG(MotionType,0);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
_send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE();
|
||||
if (g_machine.InterruptFlag[0]==CT_STOPXYZ)
|
||||
{
|
||||
bIsFinised=TRUE;
|
||||
g_machine.InterruptFlag[0]=0;
|
||||
}
|
||||
}
|
||||
IsFinished=bIsFinised;
|
||||
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
};
|
||||
|
||||
//========================================================================
|
||||
// This speed setting will be carried out in the next DCC move
|
||||
@@ -3500,8 +3542,7 @@ SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(char ProbeType)
|
||||
pSO7_CMD_02->s_SO7_CMD_MOVE_TO_XYZ.data[8]=(g_machine.z._pos_fixed._char_[0]);
|
||||
}
|
||||
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x0C;
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x0E;
|
||||
ep_buff[EP_82_DATA_IDX]._size = 0x45;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
|
||||
@@ -3893,7 +3934,55 @@ SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_ZOOM_SPEED(char xyz_gear)
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
|
||||
}
|
||||
//=============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_CONSTANT_SPEED(int iSpeed,char axis_type,char xyz_gear)
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
|
||||
int iDeceDistance = 0;
|
||||
|
||||
if(axis_type == 0)
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDX;
|
||||
else if(axis_type == 1)
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDY;
|
||||
else if(axis_type == 2)
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_SPEEDZ;
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2) = xyz_gear+1;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+3) = 0;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+4) = 0;
|
||||
if (iSpeed>255)
|
||||
{
|
||||
BYTE MaxSpeed(255);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = static_cast<char>((iSpeed%256)+1);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = static_cast<char>(MaxSpeed);
|
||||
}
|
||||
else
|
||||
{
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+5) = static_cast<char>(iSpeed);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+6) = 0;
|
||||
}
|
||||
iDeceDistance =0;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+7) =static_cast<char>(iDeceDistance/1000);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+7) = *(ep_buff[EP_02_CMD_IDX]._buffer+7) &0x0f;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+8) = static_cast<char>((iDeceDistance%1000)/100);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+8) = *(ep_buff[EP_02_CMD_IDX]._buffer+8) & 0x0f;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+9) = static_cast<char>((iDeceDistance%100)/10);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+9) = *(ep_buff[EP_02_CMD_IDX]._buffer+9) & 0x0f;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+10)= static_cast<char>(iDeceDistance%10);
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+10)=*(ep_buff[EP_02_CMD_IDX]._buffer+10) & 0x0f;
|
||||
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x0b;
|
||||
ep_buff[EP_82_DATA_IDX]._size = 0x45;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
|
||||
}
|
||||
|
||||
//=============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_SPEED_PARAMETER(char axis_type,char xyz_gear)
|
||||
@@ -4271,6 +4360,104 @@ SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(char axis_ty
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO()
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_SCALE;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_SYSTEM_VER_INFO;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=0;
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x03;
|
||||
ep_buff[EP_82_DATA_IDX]._size = 0x12;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
|
||||
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_INTERRUPT_MSG(char cType)
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_GET_INTERRUPT_MSG;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=cType;
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x03;
|
||||
ep_buff[EP_82_DATA_IDX]._size = 0x12;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE1;
|
||||
g_hEP8x_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_INTERRUPT_MSG(char cType,char cValue)
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_INTERRUPT_MSG;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=cType;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=cValue;
|
||||
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x04;
|
||||
ep_buff[EP_81_DATA_IDX]._size = 0x45;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(char Method)
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_SET_GETINTERRUPTMSG_METHOD;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=Method;
|
||||
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x03;
|
||||
ep_buff[EP_81_DATA_IDX]._size = 0x45;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_MOVE_XY(char SpeedGearX,char SpeedGearY)
|
||||
{
|
||||
WaitForSingleObject(g_hEP02_Serial_Mutex, INFINITE);
|
||||
memset(ep_buff[EP_02_CMD_IDX]._buffer, 0x00, MAX_BUFF_SIZE);
|
||||
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer) = CT_MOTOR;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = CT_MOVEXY;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+2)=SpeedGearX;
|
||||
*(ep_buff[EP_02_CMD_IDX]._buffer+3)=SpeedGearY;
|
||||
|
||||
TRACE2("--MOVEXY--[X]:%d;[Y]:%d.\r\n",SpeedGearX,SpeedGearY);
|
||||
|
||||
ep_buff[EP_02_CMD_IDX]._size = 0x04;
|
||||
ep_buff[EP_81_DATA_IDX]._size = 0x45;
|
||||
|
||||
g_hEP02_Thread_State=THREAD_RUNNING_STATE2;
|
||||
_do_single_threaded_usb_comm(EP_02_CMD_IDX);
|
||||
ReleaseMutex(g_hEP02_Serial_Mutex);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_MOVE_X()
|
||||
@@ -4411,6 +4598,15 @@ SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_V_DATA()
|
||||
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_GET_RESET_FLAG()
|
||||
{
|
||||
g_machine.Sys_Reset_Flag=*(ep_buff[EP_82_DATA_IDX]._buffer);
|
||||
char cTmp=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
|
||||
if (cTmp==1)
|
||||
{
|
||||
g_machine.IsSupportReadInterrputMsg=TRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
g_machine.IsSupportReadInterrputMsg=FALSE;
|
||||
}
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
};
|
||||
|
||||
@@ -4583,3 +4779,19 @@ SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_DATA_FROM_FPGA()
|
||||
g_machine.FPGAData = *(ep_buff[EP_82_DATA_IDX]._buffer);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_READ_FIRMWARE_VERSION_INFO()
|
||||
{
|
||||
for (int i=0;i<10;i++)
|
||||
{
|
||||
g_machine.FirmwareInfo[i]=*(ep_buff[EP_82_DATA_IDX]._buffer+i);
|
||||
}
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
//==============================================================
|
||||
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_INTERRUPT_MSG(BYTE Type)
|
||||
{
|
||||
g_machine.GetInterruptMsg[Type][0]=*(ep_buff[EP_82_DATA_IDX]._buffer);
|
||||
g_machine.GetInterruptMsg[Type][1]=*(ep_buff[EP_82_DATA_IDX]._buffer+1);
|
||||
return SSI_STATUS_MOTION_NORMAL;
|
||||
}
|
||||
@@ -207,7 +207,11 @@ struct struct_so7_machine
|
||||
char FPGAData;
|
||||
char InPortStatus;
|
||||
int _motor_pulse_num;
|
||||
char FirmwareInfo[10];
|
||||
char GetInterruptMsg[20][2];
|
||||
char GetInterruptMsgMethod;
|
||||
BOOL IsOffline;
|
||||
BOOL IsSupportReadInterrputMsg;
|
||||
struct s_so7_axis x;
|
||||
struct s_so7_axis y;
|
||||
struct s_so7_axis z;
|
||||
@@ -232,7 +236,7 @@ struct s_SO7_CMD_BUFF_02
|
||||
struct
|
||||
{
|
||||
BYTE uSubCmdByte;
|
||||
char data[9];
|
||||
char data[12];
|
||||
}s_SO7_CMD_MOVE_TO_XYZ;
|
||||
struct
|
||||
{
|
||||
@@ -355,6 +359,7 @@ public:
|
||||
SSI_STATUS_MOTION so7_motion_set_speed_xyz(double dPercentSpeed);
|
||||
SSI_STATUS_MOTION so7_motion_get_speed_xyz(double &dPercentSpeed);
|
||||
SSI_STATUS_MOTION so7_motion_get_3D_max_speed(double &dMaxSpeed);
|
||||
SSI_STATUS_MOTION so7_motion_is_finished(char MotionType,BOOL& IsFinished);
|
||||
|
||||
SSI_STATUS_MOTION _calculate_straightline_motion(double dSpeedMM);
|
||||
|
||||
@@ -413,6 +418,13 @@ public:
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Z();
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(char axis_type,char Addr,char Data);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(char axis_type,char Addr);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_INTERRUPT_MSG(char cType);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_INTERRUPT_MSG(char cType,char cValue);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(char Method);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_XY(char SpeedGearX,char SpeedGearY);
|
||||
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_CONSTANT_SPEED(int iSpeed,char axis_type,char xyz_gear);
|
||||
|
||||
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_X();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_Y();
|
||||
@@ -448,7 +460,8 @@ public:
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_Z();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_WRITE_DATA_TO_FPGA();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_DATA_FROM_FPGA();
|
||||
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
|
||||
static SSI_STATUS_MOTION _process_SO7_CMD_GET_INTERRUPT_MSG(BYTE Type);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user