新增X、Y、Z轴运动模式可设置开环或闭环。

PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/SO7_Send_Parameter.cpp

@@ -218,7 +218,7 @@ BOOL CSO7_Send_Parameter::OnInitDialog()
   ((CButton *)GetDlgItem(IDC_RADIO_CANVAS_SPEED_TIME))->SetCheck(true);
   if (m_pSO7_Proto->g_machine.FirmwareVer>=FirmwareVer_6_X)
   {
-    ((CStatic *)GetDlgItem(IDC_STATIC_SPEED_PARA1))->SetWindowTextW(_T("加速度(0-255)"));
+    ((CStatic *)GetDlgItem(IDC_STATIC_SPEED_PARA1))->SetWindowTextW(_T("加减速度(0-255)"));
     ((CStatic *)GetDlgItem(IDC_STATIC_SPEED_PARA2))->SetWindowTextW(_T("缓冲距离(0-255)"));
     ((CStatic *)GetDlgItem(IDC_STATIC_SPEED_PARA3))->SetWindowTextW(_T("最低速率(0-255)"));
     ((CStatic *)GetDlgItem(IDC_STATIC_SPEED_PARA4))->SetWindowTextW(_T("刷新周期(0-255)"));

PcDmis/Base/Interfac/Msi/Hsi/Tools/UsbUtility/UsbUtil/SO7_UtilDlg.cpp

@@ -191,7 +191,7 @@ BOOL CSO7_UtilDlg::OnInitDialog()
   ((CButton *)GetDlgItem(IDC_RADIO_READ_OUTPUT_PORT2))->SetCheck(false);
   m_ReadIOStatusAddr=ESO7_CONTROLLER_LIMIT_SWITCH_ADDR;
   UpdateIOAddrCaption();
-    
+
   CString csTmp=_T("");
   ((CComboBox *)GetDlgItem(IDC_COMBO_OUTPORT_NUMBER))->ResetContent();
   int iComboxIndex(0);
@@ -210,38 +210,42 @@ BOOL CSO7_UtilDlg::OnInitDialog()
   ((CComboBox *)GetDlgItem(IDC_COMBO_OUTPORT_NUMBER))->SetCurSel(0);
 
   ((CComboBox *)GetDlgItem(IDC_COMBO_RWDATA_ADDR))->ResetContent();
-  for(int i=0;i<16;i++)
+  int nIndex=0;
+  for( nIndex=0;nIndex<16;nIndex++)
   {
-    if (i==9)
+    if (nIndex==9)
     {
       csTmp=_T("Flags");
     } 
-    else if (i==10)
+    else if (nIndex==10)
     {
       csTmp=_T("TrigLSB");
     } 
-    else if (i==11)
+    else if (nIndex==11)
     {
       csTmp=_T("AccErr");
     } 
-    else if (i==12)
+    else if (nIndex==12)
     {
       csTmp=_T("TrigMSBI");
     } 
-    else if (i==13)
+    else if (nIndex==13)
     {
       csTmp=_T("TrigMSBII");
     } 
-    else if (i==14)
+    else if (nIndex==14)
     {
       csTmp=_T("TrigHoldTime");
     } 
     else
     {
-      csTmp.Format(_T("%d"),i);
+      csTmp.Format(_T("%d"),nIndex);
     }
-    ((CComboBox *)GetDlgItem(IDC_COMBO_RWDATA_ADDR))->InsertString(i,csTmp);    
+    ((CComboBox *)GetDlgItem(IDC_COMBO_RWDATA_ADDR))->InsertString(nIndex,csTmp);    
   }
+  csTmp=_T("ControlMode");
+  ((CComboBox *)GetDlgItem(IDC_COMBO_RWDATA_ADDR))->InsertString(nIndex,csTmp);    
+
   ((CComboBox *)GetDlgItem(IDC_COMBO_RWDATA_ADDR))->SetCurSel(10);
   GetDlgItem(IDC_EDIT_RWDATA_DATA)->SetWindowTextW(_T("0"));
 
@@ -347,7 +351,7 @@ void CSO7_UtilDlg::UpdateCtrlsStatus(bool _bEnable)
   GetDlgItem(IDC_CHECK_CONTINUOUS_READ_IO_STATUS)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_TEST_Z_SIGNAL)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_S07_SET_IO_PURPOSE)->EnableWindow(_bEnable);
-  
+
   GetDlgItem(IDC_EDIT_SET_VER_NO)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_CNC_PROGRAM)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_SENDDATATOFPGA)->EnableWindow(_bEnable);
@@ -360,14 +364,14 @@ void CSO7_UtilDlg::UpdateCtrlsStatus(bool _bEnable)
   GetDlgItem(IDC_CHECK_SO7_RING_LIGHT_SEG_ON2)->EnableWindow(_bEnable);
   GetDlgItem(IDC_CHECK_SO7_COAXIAL_LIGHT_ON)->EnableWindow(_bEnable);
   GetDlgItem(IDC_CHECK_SO7_SPARE_LIGHT_ON)->EnableWindow(_bEnable);
-  
+
   GetDlgItem(IDC_BUTTON_SO7_EXTERNAL_TRIG)->EnableWindow(_bEnable);  
   GetDlgItem(IDC_EDIT_SET_SEQ_NO)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_GET_SEQ_NUMBER)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_SET_SEQ_NUMBER)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SO7_SET_VER_NUMBER)->EnableWindow(_bEnable);
   GetDlgItem(IDC_BUTTON_SET_SCALE_COEFFICIENT)->EnableWindow(_bEnable);
-  
+
 }
 
 //=====================================================================
@@ -421,7 +425,7 @@ void CSO7_UtilDlg::OnBnClickedButtonStartSo7machine()
   OnBnClickedButtonInitSo7usb();
   if(XBoxPlayer->IsConnected())
   {
-	  XBoxPlayer->XBoxControllerInit();
+    XBoxPlayer->XBoxControllerInit();
     m_OutMessage=_T("XBoxController has connected.");
     OutputWithScroll(m_OutMessage,m_edMSG);
   }  
@@ -437,7 +441,7 @@ void CSO7_UtilDlg::OnBnClickedButtonStartSo7machine()
   if(m_pSO7_Proto->g_machine.IsSupportReadInterrputMsg)
   {
     m_pSO7_Proto->_send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();    
-    
+
     m_pSO7_Proto->_send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(E_AXIS_V,9);
     char cData[2]={0};
     cData[0]=(m_pSO7_Proto->g_machine.FPGAData>>4)&0x0f;
@@ -1197,7 +1201,15 @@ void CSO7_UtilDlg::OnBnClickedButtonSo7Senddatatofpga()
   GetDlgItem(IDC_EDIT_RWDATA_DATA)->GetWindowText(str);
   const char* cTempValue=T2A(str);
   char cTmpData= static_cast<char>(atoi(cTempValue));  
-  m_pSO7_Proto->_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(m_RWDataAxis,m_RWDataAddr,cTmpData);
+  if(m_RWDataAddr==16)
+  {
+    m_pSO7_Proto->_send_cmd_SO7_CMD_SET_CONTROL_MODE(m_RWDataAxis,cTmpData);
+    m_pSO7_Proto->g_machine.FPGAData=1;
+  }
+  else
+  {
+    m_pSO7_Proto->_send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(m_RWDataAxis,m_RWDataAddr,cTmpData);
+  }
   if (m_pSO7_Proto->g_machine.FPGAData>0)
   {
     m_OutMessage=_T("Write data successful.");
@@ -1213,7 +1225,14 @@ void CSO7_UtilDlg::OnBnClickedButtonSo7Senddatatofpga()
 //================================================================================================
 void CSO7_UtilDlg::OnBnClickedButtonSo7Readdatafromfpga()
 {
-  m_pSO7_Proto->_send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(m_RWDataAxis,m_RWDataAddr);
+  if(m_RWDataAddr==16)
+  {
+    m_pSO7_Proto->_send_cmd_SO7_CMD_GET_CONTROL_MODE(m_RWDataAxis);
+  }
+  else
+  {
+    m_pSO7_Proto->_send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(m_RWDataAxis,m_RWDataAddr);
+  }
   m_OutMessage.Format(_T("[Read]Data=%d ."),(BYTE)m_pSO7_Proto->g_machine.FPGAData);
   OutputWithScroll(m_OutMessage,m_edMSG);
 }