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新增X、Y、Z轴运动模式可设置开环或闭环。

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This commit is contained in:
TAO Cheng
2014-07-24 18:19:56 +08:00
parent d64816b286
commit ae262c9015
8 changed files with 150 additions and 44 deletions
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PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
+74 -1
View File
@@ -254,7 +254,11 @@ void CSO7_Proto::_process_rcv_transfer_data(int iEP)
case CT_WRITE_TRIG_PULSE_PARA:
_process_SO7_CMD_WRITE_TRIG_PULSE_PARA();
break;
case CT_READ_X_CONTROL_MODE:
case CT_READ_Y_CONTROL_MODE:
case CT_READ_Z_CONTROL_MODE:
_process_SO7_CMD_GET_CONTROL_MODE();
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]);
@@ -6349,6 +6353,69 @@ SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_GET_MOTION_CNTS(char _Speedgear)
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_send_cmd_SO7_CMD_SET_CONTROL_MODE(char axis_type,char ControlMode)
{
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_DATA;
char cCMD(0);
if(axis_type==E_AXIS_X)
{
cCMD=CT_WRITE_X_CONTROL_MODE;
}
else if(axis_type==E_AXIS_Y)
{
cCMD=CT_WRITE_Y_CONTROL_MODE;
}
else
{
cCMD=CT_WRITE_Z_CONTROL_MODE;
}
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = cCMD;
*(ep_buff[EP_02_CMD_IDX]._buffer+2)= ControlMode;
ep_buff[EP_02_CMD_IDX]._size = 0x05;
ep_buff[EP_81_DATA_IDX]._size = 0x00;
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_GET_CONTROL_MODE(char axis_type)
{
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_DATA;
char cCMD(0);
if(axis_type==E_AXIS_X)
{
cCMD=CT_READ_X_CONTROL_MODE;
}
else if(axis_type==E_AXIS_Y)
{
cCMD=CT_READ_Y_CONTROL_MODE;
}
else
{
cCMD=CT_READ_Z_CONTROL_MODE;
}
*(ep_buff[EP_02_CMD_IDX]._buffer+1) = cCMD;
ep_buff[EP_02_CMD_IDX]._size = 0x02;
ep_buff[EP_82_DATA_IDX]._size = 0x01;
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::_process_SO7_CMD_MOVE_X()
{
@@ -6764,3 +6831,9 @@ SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_MOTION_CNTS()
g_machine.Arm_MotionStopCnts[index]=*(ep_buff[EP_82_DATA_IDX]._buffer+2);
return SSI_STATUS_MOTION_NORMAL;
}
//==============================================================
SSI_STATUS_MOTION CSO7_Proto::_process_SO7_CMD_GET_CONTROL_MODE()
{
g_machine.FPGAData = *(ep_buff[EP_82_DATA_IDX]._buffer);
return SSI_STATUS_MOTION_NORMAL;
}