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Merge branch 'renlixin'

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任立新
2022-02-14 11:10:48 +08:00
parent 4bc9780269 9c4a54f935
commit 17eece11a4
4 changed files with 115 additions and 29 deletions
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43
othersoft/movingliner/source/LinearShutter/VSMD12XControl.cpp
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@ -423,6 +423,7 @@ bool CVSMD12XControl::StartBackZero()
{ {
return false; return false;
} }
return IsMotionFinished();
bool bFlagIsStopped = false; bool bFlagIsStopped = false;
while (!bFlagIsStopped) while (!bFlagIsStopped)
@ -440,7 +441,49 @@ bool CVSMD12XControl::StartBackZero()
// return ParseReturnedString(strRecv, -1); // return ParseReturnedString(strRecv, -1);
} }
bool CVSMD12XControl::IsMotionFinished()
{
//true means stopped
//false means unknown status
int iCountTotal = 0;
int iCountStopped = 0;
bool bFlagIsStopped = false;
while (!bFlagIsStopped)
{
iCountTotal++;
QThread::msleep(200);
//Delay_MSec(200);
GetStatus(m_stuMSInfo);
ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
ucFlag = ucFlag & 0x10;
if (m_stuMSInfo.fVelocity == 0)
{
iCountStopped++;
}
if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
{
bFlagIsStopped = true;
return true;
}
if (iCountStopped>=50)
{
qDebug() <<"Warning.Motion Err,should be stopped already.checking register and retry...";
qDebug() <<"motion status:"<<ucFlag<<"all status:"<<QString::number(m_stuMSInfo.uiFlags,2);
bFlagIsStopped = true;
return false;
}
if (iCountTotal>1000)
{
qDebug() << "Err.Motor Hardware Err,should be stopped already";
qDebug() << "motion status:" << ucFlag << "all status:" << QString::number(m_stuMSInfo.uiFlags, 2);
bFlagIsStopped = true;
return false;
}
}
return false;
}
bool CVSMD12XControl::StopBackZero() bool CVSMD12XControl::StopBackZero()
{ {
std::string strCMD = "zero stop\n"; std::string strCMD = "zero stop\n";

28
othersoft/movingliner/source/LinearShutter/VSMD12XControl.h
View File

@ -58,7 +58,7 @@ public:
void ILMES_SetPosition(int *piPositionInPulse,size_t szSize); void ILMES_SetPosition(int *piPositionInPulse,size_t szSize);
bool ILMES_MoveToPos(int iPositionIndex); bool ILMES_MoveToPos(int iPositionIndex);
bool IsMotionFinished();
public: public:
int waitetime; int waitetime;
////init port ////init port
@ -79,39 +79,39 @@ public:
bool GetStatus(MSInfo &stuMotorParam); //load motor status see MSInfo Struct bool GetStatus(MSInfo &stuMotorParam); //load motor status see MSInfo Struct
////motion control ////motion control
bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647) bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647) bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647) bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647) bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool SetLogicZero(); //set logic zero bool SetLogicZero(); //set logic zero
bool StartBackZero();//back zero bool StartBackZero();//back zero
bool StopBackZero();// stop back zero & reset register bool StopBackZero();// stop back zero & reset register
////Set&Get ////Set&Get
bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600) bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600)
int GetBaudRate(); // -1:should retry; int GetBaudRate(); // -1:should retry;
bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32) bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32)
int GetMicroSteps(); int GetMicroSteps();
bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000) bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000)
float GetAccSpeed(); float GetAccSpeed();
bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000) bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000)
float GetRunSpeed(); float GetRunSpeed();
bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000) bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000)
float GetDecSpeed(); float GetDecSpeed();
bool SetSpeed(float fRunSpeed, float fAccSpd, float fDecSpeed);//see above three functions bool SetSpeed(float fRunSpeed, float fAccSpd, float fDecSpeed);//see above three functions
bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetHoldCurrent(); float GetHoldCurrent();
bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetAccCurrent(); float GetAccCurrent();
bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetRunCurrent(); float GetRunCurrent();
bool SetCurrent(float fAccCurrent, float fRunCurrent, float fHoldCurrent);//see above three functions bool SetCurrent(float fAccCurrent, float fRunCurrent, float fHoldCurrent);//see above three functions
@ -129,7 +129,7 @@ public:
ZZ_U8 GetS2RETE(); ZZ_U8 GetS2RETE();
//(ZeroMode 0:off 1:once 2:once + safe position 3:twice 4:twice + safe position) (OpenVoltageLevel 0:Low Level 1:High Level) //(ZeroMode 0:off 1:once 2:once + safe position 3:twice 4:twice + safe position) (OpenVoltageLevel 0:Low Level 1:High Level)
//(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>) //(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>)
bool SetZeroParams(ZZ_U8 bZeroMode, ZZ_U8 bSwitchOpenVL, ZZ_U8 bZeroSensor, float fZeroVelocity, int iSafePosition); bool SetZeroParams(ZZ_U8 bZeroMode, ZZ_U8 bSwitchOpenVL, ZZ_U8 bZeroSensor, float fZeroVelocity, int iSafePosition);
ZZ_U8 GetZeroMode(); ZZ_U8 GetZeroMode();
ZZ_U8 GetSwitchOpenVoltageLevel(); ZZ_U8 GetSwitchOpenVoltageLevel();

45
othersoft/shuttercali/source/LinearShutter/VSMD12XControl.cpp
View File

@ -422,7 +422,7 @@ bool CVSMD12XControl::StartBackZero()
{ {
return false; return false;
} }
return IsMotionFinished();
bool bFlagIsStopped = false; bool bFlagIsStopped = false;
while (!bFlagIsStopped) while (!bFlagIsStopped)
{ {
@ -438,6 +438,49 @@ bool CVSMD12XControl::StartBackZero()
return true; return true;
// return ParseReturnedString(strRecv, -1); // return ParseReturnedString(strRecv, -1);
}
bool CVSMD12XControl::IsMotionFinished()
{
//true means stopped
//false means unknown status
int iCountTotal = 0;
int iCountStopped = 0;
bool bFlagIsStopped = false;
while (!bFlagIsStopped)
{
iCountTotal++;
QThread::msleep(200);
//Delay_MSec(200);
GetStatus(m_stuMSInfo);
ZZ_U8 ucFlag = m_stuMSInfo.uiFlags & 0x000000FF;
ucFlag = ucFlag & 0x10;
if (m_stuMSInfo.fVelocity == 0)
{
iCountStopped++;
}
if (ucFlag == 0x10 && m_stuMSInfo.fVelocity == 0)
{
bFlagIsStopped = true;
return true;
}
if (iCountStopped>=50)
{
qDebug() <<"Warning.Motion Err,should be stopped already.checking register and retry...";
qDebug() <<"motion status:"<<ucFlag<<"all status:"<<QString::number(m_stuMSInfo.uiFlags,2);
bFlagIsStopped = true;
return false;
}
if (iCountTotal>1000)
{
qDebug() << "Err.Motor Hardware Err,should be stopped already";
qDebug() << "motion status:" << ucFlag << "all status:" << QString::number(m_stuMSInfo.uiFlags, 2);
bFlagIsStopped = true;
return false;
}
}
return false;
} }
bool CVSMD12XControl::StopBackZero() bool CVSMD12XControl::StopBackZero()

28
othersoft/shuttercali/source/LinearShutter/VSMD12XControl.h
View File

@ -58,7 +58,7 @@ public:
void ILMES_SetPosition(int *piPositionInPulse,size_t szSize); void ILMES_SetPosition(int *piPositionInPulse,size_t szSize);
bool ILMES_MoveToPos(int iPositionIndex); bool ILMES_MoveToPos(int iPositionIndex);
bool IsMotionFinished();
public: public:
int waitetime; int waitetime;
////init port ////init port
@ -79,39 +79,39 @@ public:
bool GetStatus(MSInfo &stuMotorParam); //load motor status see MSInfo Struct bool GetStatus(MSInfo &stuMotorParam); //load motor status see MSInfo Struct
////motion control ////motion control
bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647) bool Move(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647) bool MoveTo(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647) bool Move_NoSyn(int iRelPulse); // relative move mode,pulse (-2147483647<34><37>2147483647)
bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647) bool MoveTo_NoSyn(int iAbsPulse);//absolute mode,pulse (-2147483647<34><37>2147483647)
bool SetLogicZero(); //set logic zero bool SetLogicZero(); //set logic zero
bool StartBackZero();//back zero bool StartBackZero();//back zero
bool StopBackZero();// stop back zero & reset register bool StopBackZero();// stop back zero & reset register
////Set&Get ////Set&Get
bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600) bool SetBaudRate(int iBaudRate);//set controller baud rates,default B9600 (2400 <20><> 921600)
int GetBaudRate(); // -1:should retry; int GetBaudRate(); // -1:should retry;
bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32) bool SetMicroSteps(int iMicroSteps);//set micro steps (0<><30>5)->(1/2/4/8/16/32)
int GetMicroSteps(); int GetMicroSteps();
bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000) bool SetAccSpeed(float fAccSpd);//set acceleration speed in pulse (0 <20><> 192000000)
float GetAccSpeed(); float GetAccSpeed();
bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000) bool SetRunSpeed(float fRunSpeed);//set normal running speed in pulse (0 <20><> 192000000)
float GetRunSpeed(); float GetRunSpeed();
bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000) bool SetDecSpeed(float fDecSpeed);//set deceleration speed in pulse (0 <20><> 192000000)
float GetDecSpeed(); float GetDecSpeed();
bool SetSpeed(float fRunSpeed, float fAccSpd, float fDecSpeed);//see above three functions bool SetSpeed(float fRunSpeed, float fAccSpd, float fDecSpeed);//see above three functions
bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetHoldCurrent(float fHoldCurrent);//set hold current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetHoldCurrent(); float GetHoldCurrent();
bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetAccCurrent(float fAccCurrent);//set acceleration current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetAccCurrent(); float GetAccCurrent();
bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification. bool SetRunCurrent(float fRunCurrent);//set normal running current ( 0 <20><> 8.0 )Amp? pay attention to your motor specification.
float GetRunCurrent(); float GetRunCurrent();
bool SetCurrent(float fAccCurrent, float fRunCurrent, float fHoldCurrent);//see above three functions bool SetCurrent(float fAccCurrent, float fRunCurrent, float fHoldCurrent);//see above three functions
@ -129,7 +129,7 @@ public:
ZZ_U8 GetS2RETE(); ZZ_U8 GetS2RETE();
//(ZeroMode 0:off 1:once 2:once + safe position 3:twice 4:twice + safe position) (OpenVoltageLevel 0:Low Level 1:High Level) //(ZeroMode 0:off 1:once 2:once + safe position 3:twice 4:twice + safe position) (OpenVoltageLevel 0:Low Level 1:High Level)
//(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>) //(ZeroSensor 0:S1 1:S2 2:S3 3:S4 4:S5 5:S6)( ZeroVelocity <20><>-192000) <20><><EFBFBD><EFBFBD>192000<30><30>pulse)(SafePosition <20><>-2147483647) <20><><EFBFBD><EFBFBD>2147483647<34><37>)
bool SetZeroParams(ZZ_U8 bZeroMode, ZZ_U8 bSwitchOpenVL, ZZ_U8 bZeroSensor, float fZeroVelocity, int iSafePosition); bool SetZeroParams(ZZ_U8 bZeroMode, ZZ_U8 bSwitchOpenVL, ZZ_U8 bZeroSensor, float fZeroVelocity, int iSafePosition);
ZZ_U8 GetZeroMode(); ZZ_U8 GetZeroMode();
ZZ_U8 GetSwitchOpenVoltageLevel(); ZZ_U8 GetSwitchOpenVoltageLevel();