zhengxuan.zhang
752 lines
26 KiB
C++
752 lines
26 KiB
C++
// protocol for control SevenOcean's Machine
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//
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//////////////////////////////////////////////////////////////////////
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#ifndef AFX_SO7_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#define AFX_SO7_Proto_H__B422904C_2CEB_495B_B7BD_B45AB30286DD__INCLUDED_
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#if _MSC_VER > 1000
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#pragma once
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#endif // _MSC_VER > 1000
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#include "..\Tools\UsbUtility\logger.h"
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#include "CMD_H.h"
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#include "./lusb0_usb.h"
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#include "SO7_Proto_Def.h"
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#define MAX_BUFF_SIZE 0x200
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#define USB_ENDPOINT_TYPE_CONTROL 0
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#define USB_ENDPOINT_TYPE_ISOCHRONOUS 1
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#define USB_ENDPOINT_TYPE_BULK 2
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#define USB_ENDPOINT_TYPE_INTERRUPT 3
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#define USB_DEVICE_DESCRIPTOR_TYPE 1
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#define USB_CONFIGURATION_DESCRIPTOR_TYPE 2
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#define USB_SEQ_NUMBER 0
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#define THREAD_RUNNING_STATE1 0
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#define THREAD_RUNNING_STATE2 2
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#define THREAD_PAUSED 1
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#define THREAD_EXIT -1
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// Device configuration and interface id.
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#define SO7_USB_CONFIG 1
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#define SO7_USB_INTF 0
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#define EP_S07_01 0x01
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#define EP_S07_02 0x02
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#define EP_S07_03 0x03
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#define EP_S07_81 0x81
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#define EP_S07_82 0x82
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#define EP_S07_84 0x84
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#define EP_01_CMD_IDX 0 // index to usb buffers
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#define EP_81_DATA_IDX 1 //
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#define EP_02_CMD_IDX 2 //
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#define EP_82_DATA_IDX 3 //
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#define EP_03_CMD_IDX 4 //
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#define EP_84_DATA_IDX 5 //
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#define lEPSIZE 6
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#define MAXRINGS 5 // for MicroVu Vertex 220
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#define MAXSEGS 8
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#define TWO_RINGS 2
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#define EIGHT_SEGS 8
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#define FIVE_RINGS 5
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#define HBIT0 0X01
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#define HBIT1 0X02
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#define HBIT2 0X04
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#define HBIT3 0X08
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#define HBIT4 0X10
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#define HBIT5 0X20
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#define HBIT6 0X40
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#define HBIT7 0X80
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const long MAX_INTENSITY = 0x3FF;
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#define MAXLIGHTVALUE 255
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#define MINLIGHTVALUE 1
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const double SCALE_UNITS = 1000.0;
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enum EMACHINETYPE
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{
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MACHINE_SO7_CONTROLLER,
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MACHINE_METRONICS_CONTROLLER,
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MACHINE_TOTAL=255
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};
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enum EFirmwareVer
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{
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FirmwareVer_3_X=0,
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FirmwareVer_6_X,
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FirmwareVer_7_X,
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FirmwareVer_7_9,//add control mode
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FirmwareVer_7_A,//add segment dis
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FirmwareVer_7_C,//different speed para
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FirmwareVer_8_X,
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FirmwareVer_9_X,
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FirmwareVer_Total
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};
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enum ESO7_AXIS_TYPE
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{
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E_AXIS_Y=1,
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E_AXIS_X=2,
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E_AXIS_Z=3,
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E_AXIS_V=4
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};
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//FirmwareVer_6_X
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//enum ESO7_WRITE_FPGA_DATA_ADDR
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//{
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// E_WRITE_MOTOR_FLAG=9,
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// E_WRITE_EQUIDISTANCE=10,
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// E_WRITE_ACCURA_ERR=11,
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// E_WRITE_TOTAL=16
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//};
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//FirmwareVer_7_X
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enum ESO7_WRITE_FPGA_DATA_ADDR
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{
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E_WRITE_MOTOR_FLAG=9,
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E_WRITE_TRIG_LSB=10,
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E_WRITE_ACCURA_ERR=11,
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E_WRITE_TRIG_MSB=12,
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E_WRITE_TRIG_MSBII=13,
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E_WRITE_TRIG_HOLDTIME=14,
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E_WRITE_TOTAL=16
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};
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enum ESO7_CONTROLLER_IO_ADDR
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{
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ESO7_CONTROLLER_INPUT_PORT_ADDR=5,
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ESO7_CONTROLLER_WOUTPUT_PORT_ADDR=6,
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ESO7_CONTROLLER_OUTPUT_PORT_ADDR=7,
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ESO7_CONTROLLER_LIMIT_SWITCH_ADDR=8
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};
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#pragma pack(push)
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#pragma pack(1)
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//****************************************************************************************************
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// Set the _status to Idle after reply data has been received.
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// How to recover? In order to send data, _status must be Idle. If the system is not available
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// for 1 second, assume something wrong and treat it as "TimeOut".
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// Another way to do this is to lock this structure is to use a mutex to ensure single-threaded
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// access.
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//****************************************************************************************************
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//====================================================================================================
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typedef struct s_so7_axis // axis parameters
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{
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char _Move_Speed_Gear;
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char _MoveTo_Speed_Gear;
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union
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{
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long _long_;
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char _char_[4];
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}_pos_fixed;
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union
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{
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long _long_;
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char _char_[4];
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}_scale_pos;
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union
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{
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long _long_;
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char _char_[4];
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}_ZSignal_pos;
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double _d_cur_pos_;
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long _scale_probe;
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double _dSet_Zero_Pos;
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long _lSet_Zero_Pos;
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double _ReCorded_Pos;
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} SO7AXIS;
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struct s_so7_axis_config // axis configuration
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{
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double _motor_precision;//set precision
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double _motor_wheelbase;//set wheelbase
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char _speed_base[5];
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char _speed_fresh[5];
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char _speed_start[5];
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char _speed_max[5];
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double _speed_slow_dis[5];
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double _MoveToSpeed[2];
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double _MotionSpeedScale;
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long _MotionSegmentDis[3];
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long _scale_range;
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double _neg_working_limit;
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double _pos_working_limit;
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double _scale_resolution;
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bool _bhomed;
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double _dMinSpeed;
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double _dMaxSpeed;
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double _dMinAccel;
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double _dMaxAccel;
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};
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struct s_so7_R_axis_config // rotary configuration
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{
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INT m_RotaryAxisNO;
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double m_RotaryCircleDis;
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double m_RotaryCirclePulse;
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};
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struct s_so7_zm_axis_config // zm configuration
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{
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int _ComPort;
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double _StartDegree;
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double _EndDegree;
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double _RelativeZeroDegree;
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double _Deadband;
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int _ReadingInterval;
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double _PulseScale;
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short _SpeedFast;
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short _SpeedSlow;
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CString _ProductID;
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long _neg_working_limit;
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long _pos_working_limit;
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double _neg_deg_working_limit; // within the limits
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double _pos_deg_working_limit;
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union
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{
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short _short_;
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char _char_[2];
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}_speed;
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};
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struct s_so7_machine_interface_config
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{
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//=====MOTION=====================
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double m_DestinationX;
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double m_DestinationY;
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double m_DestinationZ;
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double m_PrecisionX;
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double m_PrecisionY;
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double m_PrecisionZ;
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int m_RetryTimes;
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int m_MotionRetryCnt;
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double m_ShiftPositionX;
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double m_ShiftPositionY;
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double m_ShiftPositionZ;
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BOOL m_EnCloseLoop;
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char m_MotionType;
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char GetInterruptMsgMethod;
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INT m_WriteDataSleepTime;
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INT m_AccuraErrPulseX;
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INT m_AccuraErrPulseY;
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INT m_AccuraErrPulseZ;
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INT m_EQUIDIS_X;
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INT m_EQUIDIS_Y;
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INT m_EQUIDIS_Z;
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INT m_FirmWareVersion;
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INT m_CNC_Deadlock_Solution;
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INT m_CNC_Deadlock_JudgeMaxCnts;
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INT m_TouchProbeEnable;
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INT m_FootSwitchEnable;
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INT m_bJoyStickEnable;
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INT m_bTrigIOEnable;
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INT m_iTrigHoldTimeCnts;
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INT m_iMotionStartCnts[5];
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INT m_iMotionStopCnts[5];
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INT m_DeviceSleepTime;
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INT m_iHomeMode;
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INT m_STIL_CCS_PRIMA_Enable;
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INT m_ART_PCI8622_Enable;
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INT m_bMoveToEnable;
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INT m_bMoveToCount;
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INT m_bDebugOutputEnable;
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double m_AxisResolution[3];
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//===PROBE SYSTEM=========
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INT m_bOptexCD5Enable;
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INT m_iOptexCD5ComPort;
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INT m_iOptexCD5BaudRate;
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INT m_iLJVSleepTime;
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INT m_iLJGSleepTime;
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//===ILLUMINATION=========
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INT m_iSo7IllumType;
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INT m_iSo7IllumComPort;
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INT m_iSo7IllumBaudRate;
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INT m_iSo7IllumResponseTime;
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INT m_iSo7DoubleSurface;
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//===VIDEOCARD======
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int m_IsVideocardVacant;
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INT m_CntThreadSleepVal;
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INT m_SV4000E_DenoisePara[4];
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//===NavitarAutoZoom======
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int m_ZoomType; //scf
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int Navitar_Precision;
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int Navitar_SerialComPort;
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double Navitar_ZoomStartPos;
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double Navitar_ZoomEndPos;
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double Navitar_ZoomOrgPos;
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double Navitar_ZoomDeadband;
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double Navitar_ZoomScale;
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int Navitar_iReadingInterval;
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short Navitar_MotorSpeedFast;
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short Navitar_MotorSpeedSlow;
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int Navitar_Motor_GoHomeV;
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double Navitar_ZoomBackPos;
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int Navitar_SleepTime;
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int Navitar_Timeout;
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int Navitar_ZoomPosSpeed;
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int Navitar_ZoomPosSpeed_Accurate;
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int Navitar_ZoomFinishPos;
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int Navitar_ZoomFinishCnts;
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int SerialComPort;
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double ZoomStartPos;
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double ZoomEndPos;
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double ZoomOrgPos;
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double ZoomDeadband;
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double ZoomScale;
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int iReadingInterval;
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short MotorSpeedFast;
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short MotorSpeedSlow;
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//=========MSI======
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int m_MachineType;
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int m_VideoCardType;
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BOOL m_EnJudgeMotionStatus;
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BOOL m_DisableControllerMotionStatus;
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//===TEMPERATURE=========
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INT m_iSo7TempSensorEnable;
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INT m_iSo7TempComPort;
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INT m_iSo7TempBaudRate;
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//===SYS=================
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INT m_iFreeMemoryInterval;
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INT m_iTestDll_Enable;
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//===PORT=================
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INT m_isOpenIO;
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//===Setposition Pos=================
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double m_PositionX;
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double m_PositionY;
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double m_PositionZ;
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};
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//======================
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typedef struct s_so7_xyzzm
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{
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bool bFast;
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long from;
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long to;
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long speed;
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long acc;
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long dec;
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double dFromMM;
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double dToMM;
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} SO7AXISMOVE;
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typedef struct s_so7_trigger_pulse
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{
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char TrigPulseActiveAxis;
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char TrigPulseMethod;
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union
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{
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long _long_;
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char _char_[4];
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}TrigTotalNo;
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union
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{
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long _long_;
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char _char_[4];
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}TrigCurIndex;
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union
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{
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long _long_;
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char _char_[4];
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}TrigReadIndex;
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union
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{
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long _long_;
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char _char_[4];
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}TrigReadPara;
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} SO7TRIGPULSE;
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//--------------------------------------------------------------------
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//
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//--------------------------------------------------------------------
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struct struct_so7_machine
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{ // g_machine structure
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struct s_machine_config
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{
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double _dXYZSpeed;
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struct s_so7_axis_config x_axis;
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struct s_so7_axis_config y_axis;
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struct s_so7_axis_config z_axis;
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struct s_so7_R_axis_config r_axis;
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struct s_so7_zm_axis_config zm_axis;
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} s_machine_config;
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struct s_status
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{
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bool _homed;
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bool _machine_running;
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bool _bXMoving;
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bool _bYMoving;
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bool _bZMoving;
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bool _bZMMoving;
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char _bIsZMMotionFinished;
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bool _bZMHoming;
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bool _bXYZZMIdle;
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bool _bRMoving;
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} s_status;
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union {
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struct s_lights_value
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{
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char _top_light;
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char _bottom_light;
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char _ring_light;
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char _coaxial_light;
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char _spare_light1;
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char segment[TWO_RINGS];
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} s_lights_value;
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};
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char cFixtureFlag;
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char Light_Size;
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char Light_Switch;
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char ADC_Number;
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int ADC_Value;
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char Sys_Reset_Flag;
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char cVerNumber;
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char InterruptFlag[2];
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char FPGAData;
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char MotionType;
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char InPortStatus;
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int _motor_pulse_num;
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char FirmwareInfo[10];
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int FirmwareVer;
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char GetInterruptMsg[20][2];
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BOOL IsOffline;
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BOOL IsSupportReadInterrputMsg;
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double dRotaryCirDisTestZSig;
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char SEQ_NUMBER;
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int MotionFinishedCnts;
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BOOL MotionFinished;
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char Arm_MotionStartCnts[5];
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char Arm_MotionStopCnts[5];
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char Arm_MotionSpeedGear;
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struct s_so7_axis x;
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struct s_so7_axis y;
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struct s_so7_axis z;
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struct s_so7_axis zm;
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struct s_so7_trigger_pulse TrigPara;
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char cIOStatus;
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int bMotionType;
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};
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#define SEVENOCEAN_VID 0x4532
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#define SEVENOCEAN_PID 0x5567
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//****************************************************************************************************
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// Binary SevenOcean command structure, out going
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//
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//****************************************************************************************************
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#define pSO7_CMD_02 ((s_SO7_CMD_BUFF_02 *) ep_buff[EP_02_CMD_IDX]._buffer)
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struct s_SO7_CMD_BUFF_02
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{
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UCHAR uCmdByte;
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union
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{
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struct
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{
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BYTE uSubCmdByte;
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char data[12];
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}s_SO7_CMD_MOVE_TO_XYZ;
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struct
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{
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BYTE uSubCmdByte;
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char data[12];
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}s_SO7_CMD_MOVETOXYZV;
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struct
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{
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BYTE uSubCmdByte;
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BYTE uStartCmdByte;
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char _bottom_light;
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char _top_light;
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char _ring_light;
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char _coaxial_light;
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char _spare_light1;
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char _outer_ring_light_switch;
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char _inner_ring_light_switch;
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BYTE uEndCmdByte;
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}s_SO7_CMD_SET_LIGHT;
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};
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};
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#pragma pack(pop)
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//======================
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struct struct_so7_ep_buff
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{
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int _ep;
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BYTE _save_send_cmd;
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BYTE _save_send_cmd0;
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BYTE _save_send_cmd1;
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BYTE _save_send_cmd2;
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char *_buffer; // MAX_BUFF_SIZE
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int _size;
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void *_async_context;
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BOOL _hProtoPending;
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HANDLE _event;
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};
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//======================================================================================
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class CEF1AUsbDevice;
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class CSO7_Proto
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{
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public:
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// EP 81/82 channel threads.
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static int g_hEP8x_Thread_State;
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static unsigned __stdcall g_EP8x_Thread(LPVOID pThis);
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static HANDLE g_hEP8x_Thread_Id;
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// EP 02channel threads.
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static int g_hEP02_Thread_State;
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static unsigned __stdcall g_EP02_Thread(LPVOID pThis);
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static HANDLE g_hEP02_Thread_Id;
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static HANDLE g_hEP02_Serial_Mutex; // EP02
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static HANDLE g_hHomedEvent;
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//
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CSO7_Proto();
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virtual ~CSO7_Proto();
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// Global Structures
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static struct_so7_ep_buff ep_buff[lEPSIZE];
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static struct_so7_machine g_machine;
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static struct s_so7_machine_interface_config g_so7_config;
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int Get_SeqNumber(usb_dev_handle *udev);
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SSI_STATUS_MOTION Init_SO7Usb(HWND _hwnd=nullptr);
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SSI_STATUS_MOTION Exit_SO7Usb();
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usb_dev_handle* _open_usb_dev(unsigned short sSeqNumber=256);
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SSI_STATUS_MOTION _do_single_threaded_usb_comm(int iEP);
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SSI_STATUS_MOTION _read_data_8x(int iEP_Base);
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SSI_STATUS_MOTION _send_usb_cmd(int iEP_Base);
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SSI_STATUS_MOTION _write_usb_data_only(int iEP_Base);
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static void _process_rcv_transfer_data(int iEP);
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static double TimeInSecs(void);
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static CLogger* g_pLogger;
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static usb_dev_handle *g_dev;
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bool m_bHomingActive;
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double ScaleToMM(long lCount, double dResolution);
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long MMtoScale(double lDistanceMM, double dResolution);
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static void Trace_EP_Buff(long lIndex);
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static void _swap_byte(unsigned short &Val);
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static void _reverse_dword(DWORD *);
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static void _scale2inch(unsigned long scale, double &inch);
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static void _inch2scale(unsigned long &scale, double inch);
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static long _4char2long(unsigned char *cBuff);
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static long _3char2long(unsigned char *cBuff);
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static void _char2bin(unsigned char *cBuff, BYTE *cBytes, int len);
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SSI_STATUS_MOTION _replay_capture(CString cFileName);
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SSI_STATUS_MOTION _process_replay_capture_commands(char *inBuff, FILE* pInFile);
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SSI_STATUS_MOTION Load_So7_Motion_Inifile(CString csSO7INIFile);
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SSI_STATUS_MOTION Save_So7_Motion_Inifile(CString csSO7INIFile);
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SSI_STATUS_MOTION Load_So7_Motion_Config(int _LoadType = 0);
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SSI_STATUS_MOTION Save_So7_Motion_Config(int _SaveType = 0);
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SSI_STATUS_MOTION Load_So7_Config_Inifile(int _LoadType = 0);
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SSI_STATUS_MOTION Save_So7_Config_Inifile();
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SSI_STATUS_MOTION GetAppPath(CString &Path);
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SSI_STATUS_MOTION ExtractAppPath(CString &Path);
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SSI_STATUS_MOTION so7_motion_startup(double x_scale_resolution, double y_scale_resolution, double z_scale_resolution);
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SSI_STATUS_MOTION so7_motion_init_firmware_para();
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bool so7_motion_is_homed();
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SSI_STATUS_MOTION so7_motion_Dcc_Home();
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SSI_STATUS_MOTION so7_motion_Dcc_HomeXYZ(char cHomeMachineMode=1);
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SSI_STATUS_MOTION so7_motion_Dcc_Home_R();
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SSI_STATUS_MOTION so7_Motion_R_IsHomed(bool &bHomed);
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SSI_STATUS_MOTION so7_Motion_R_IsMotionFInished(bool &bFinished);
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SSI_STATUS_MOTION _start_machine();
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SSI_STATUS_MOTION _shutdown_machine();
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SSI_STATUS_MOTION so7_motion_probe_on_off_(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_reset_worktable_lower_left(char _HomeMode);
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SSI_STATUS_MOTION so7_motion_reset_worktable_top_right();
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SSI_STATUS_MOTION so7_motion_stop_motor_to_get_laser_data();
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SSI_STATUS_MOTION so7_motion_laser_on_off(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_fixture_on_off(bool _bOnOff);
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SSI_STATUS_MOTION so7_motion_fixture_up_down(bool _bOnOff);
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SSI_STATUS_MOTION so7_config_cfg_set_default_para();
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SSI_STATUS_MOTION so7_motion_cfg_set_default_para();
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SSI_STATUS_MOTION _get_xyz_index(long & lX, long & lY, long & lZ);
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SSI_STATUS_MOTION so7_motion_jog(EMACHINE_AXIS cAxis,char cSpeedGear);
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SSI_STATUS_MOTION so7_motion_get_position_xyz(double & dX, double & dY, double & dZ);
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SSI_STATUS_MOTION so7_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait);
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SSI_STATUS_MOTION so7_Motion_XYZ_IsMotionFinished(bool &bFinished);
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BOOL IsMotionFinishedManual(BOOL _BResetCnts=FALSE);
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SSI_STATUS_MOTION so7_motion_set_speed_percent(EMACHINE_AXIS cAxis, char cSpeedGear, double dSpeedPercent,double dAccelPercent);
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SSI_STATUS_MOTION so7_motion_set_speed_xyz(EMACHINE_AXIS cAxis,char cSpeedGear,char Acce,char cHoldSpeed,char cStartSpeed,char cRefreshCycle,double dBufferDis);
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SSI_STATUS_MOTION so7_motion_get_speed_xyz(double &dPercentSpeed);
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SSI_STATUS_MOTION so7_motion_set_position_R(double dR,bool bWait);
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SSI_STATUS_MOTION so7_motion_get_position_R(double & dR);
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SSI_STATUS_MOTION so7_motion_move_R(char _SpeedGear);
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SSI_STATUS_MOTION so7_motion_get_3D_max_speed(double &dMaxSpeed);
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SSI_STATUS_MOTION so7_motion_is_finished(char MotionType,BOOL& IsFinished);
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SSI_STATUS_MOTION so7_motion_clear_finished_flag();
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SSI_STATUS_MOTION so7_motion_set_all_speed_para();
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void so7_motion_set_speed_accel_range();
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SSI_STATUS_MOTION so7_motion_get_all_speed_para();
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SSI_STATUS_MOTION so7_motion_set_all_so7_config();
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SSI_STATUS_MOTION _calculate_straightline_motion(double dSpeedMM);
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SSI_STATUS_MOTION so7_optics_set_scale_position(long lScale);
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SSI_STATUS_MOTION so7_optics_get_scale_position(long &lScale);
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SSI_STATUS_MOTION so7_optics_get_scale_range(long &neg_scale_range, long &pos_scale_range);
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void so7_set_full_ringlight_data(long lIntensity);
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void so7_set_ringlight_data(long lMaxSize, double *pSegments);
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SSI_STATUS_MOTION so7_light_set_light_off();
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SSI_STATUS_MOTION so7_light_set_light();
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SSI_STATUS_MOTION so7_light_set_lamp_state(double dTopLightPercent,double dBottomLightPercent,double dCoaxialLightPercent,double dReservedLightPercent,double dRingLightPercent,char cOuterRingLightSwitch,char cInnerRingLightSwitch);
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SSI_STATUS_MOTION so7_GetDIO(int Channel,BYTE& bDISts);
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SSI_STATUS_MOTION so7_SetDO(int Channel,BYTE bDOSts);
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SSI_STATUS_MOTION so7_motion_set_trig_para(char _cAxis,char _TrigMode,long _ParaNumber,long* _ParaData);
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SSI_STATUS_MOTION so7_motion_get_trig_para(long _Index,char& _cAxis,char& _TrigMode,long& _ParaNumber,long& _ParaData);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_X(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_Y(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_Z(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_ZM(char SpeedGear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_MOVE_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_RESET_V();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_STOP_V();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_X();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_Y();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_Z();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_ZM();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_XYZ(char ProbeType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_TO_POS_XYZV();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_AXIS_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_PROBE_XYZ();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_V_DATA();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_RESET_FLAG();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_FIXTURE_VALUE();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_RESET_FLAG();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_LIGHT_SIZE(char subCMD,BYTE LightValue);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_ALL_LIGHT_VALUE();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_VER_NUMBER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_CORRECTION_SCALE(char cAxisType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SECTION(char cAxisType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_COMMON_COMMAND(char Cmd,char SubCmd,char Type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_COMMON_COMMAND_DATA(char Cmd,char SubCmd,char Type,char Data);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_ZOOM_SPEED(char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SPEED_PARAMETER(char axis_type,char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SPEED_PRECISION(char axis_type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_SPEED_PARAMETER(char axis_type,char xyz_gear);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_MOTOR_SPEED_WHEELBASE_PARAMETER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_SPEED_PRECISION(char axis_type);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_INTERRUPT_MESSAGE();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZOOM_MOTION_STATUS();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_OPEN_KEYENCE_LASER();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_INPUT_PORT_STATUS(char AddrType);
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_X();
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SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Y();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_ZSIGNAL_POS_Z();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_WRITE_DATA_TO_FPGA(char axis_type,char Addr,char Data);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_DATA_FROM_FPGA(char axis_type,char Addr);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_FIRMWARE_VERSION_INFO();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_INTERRUPT_MSG(char cType);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_INTERRUPT_MSG(char cType,char cValue);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_GET_INTERRUPT_MSG_METHOD(char Method);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_MOVE_XY(char SpeedGearX,char SpeedGearY);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_CONSTANT_SPEED(int iSpeed,char axis_type,char xyz_gear);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_SEQ_NUMBER();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_SEQ_NUMBER();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_READ_TRIG_PULSE_PARA(long ParaIndex);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_WRITE_TRIG_PULSE_PARA(char ActiveAxis,char TrigMode,long StartIndex,long ParaNumber,long* Para);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_TRIG_PULSE_START();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_TRIG_PULSE_STOP();
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_IO_PURPOSE(BOOL _bEnTrigIO);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_MOTION_CNTS(char _Speedgear,char _StartCnts,char _StopCnts);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_MOTION_CNTS(char _Speedgear=0);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_CONTROL_MODE(char axis_type,char ControlMode);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_CONTROL_MODE(char axis_type);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_MOTION_SEGMENT_DIS(char axis_type,char _SegmentIndex,long _lDis);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_MOTION_SEGMENT_DIS(char axis_type,char _SegmentIndex);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_EXTRA_IO(int nIONmmber,char bValue);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_EXTRA_IO(int nIONumber);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_SET_MOTION_TYPE(BOOL type);
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|
SSI_STATUS_MOTION _send_cmd_SO7_CMD_GET_MOTION_TYPE();
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|
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_X();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_Y();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_Z();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_ZM();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_RESET_XYZ();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_X();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_Y();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_Z();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_ZM();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_MOVE_TO_POS_XYZ();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_AXIS_XYZ();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_PROBE_XYZ();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_V_DATA();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_GET_RESET_FLAG();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_GET_FIXTURE_VALUE();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_LIGHT();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_PARAMETER();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_PRECISION();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERX();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERY();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PARAMETERZ();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_SPEED_MOTOR_WHEELBASE_PARAMETER();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_MOTOR_SPEED_WHEELBASE_PARAMETER();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONX();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONY();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_SPEED_PRECISIONZ();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_INTERRUPT_MESSAGE();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZOOM_MOTION_STATUS();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_INPUT_PORT_STATUS();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_X();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_Y();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_ZSIGNAL_POS_Z();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_WRITE_DATA_TO_FPGA();
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|
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);
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_SEQ_NUMBER();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_READ_TRIG_PULSE_PARA();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_WRITE_TRIG_PULSE_PARA();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_MOTION_CNTS();
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|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_CONTROL_MODE();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_MOTION_SEGMENT_DIS(BYTE axis_type,BYTE _SegmentIndex);
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_EXTRA_IO_STATUS();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_EXTRA_IO_STATUS();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_SET_MOTION_TYPE();
|
|
static SSI_STATUS_MOTION _process_SO7_CMD_GET_MOTION_TYPE();
|
|
CEF1AUsbDevice *g_EF1AUsbDevice;
|
|
bool isEF1AController;
|
|
bool m_bIoStatus;
|
|
void so7_load_ef1a_config(int _LoadType);
|
|
};
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|
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|
#endif
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