板卡修复

wells

2020-07-11 1161ebd25831a44067b7272df348d93c6f85a6c0

板卡修复

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -609,7 +609,7 @@
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition * AxisRatio));// 设置目的位置
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(dPosition));// 设置目的位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -685,7 +685,7 @@
                {
                    //设置 运动参数
                    isSuccessSetAxisParam = SetAxisParam(optionPara);
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination * AxisRatio));// 设置目标位置
                    ret = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)optionPara.AxisIndex, (int)(optionPara.Destination));// 设置目标位置
                    ret = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (optionPara.AxisIndex - 1));//更新运动

                    if (ret != (short)GTSRetCode.GRCRunOK)
@@ -863,29 +863,42 @@
                sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

                int repeatTime = 1000;
                short capture;
                int pos;
                uint clk;//时钟参数
                do
                {
                    Thread.Sleep(20);
                    isStop = IsStop((short)movingOption.AxisIndex);
                    repeatTime--;
                } while (!isStop && repeatTime > 0);

                if (isStop)
                {
                    short capture;
                    int pos;
                    uint clk;//时钟参数
                    // 读取捕获状态
                    GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
                    isStop = IsStop((short)movingOption.AxisIndex);
                    repeatTime--;
                } while (!(isStop || capture == 1 || repeatTime <= 0));

                if (repeatTime <= 0)
                {
                    MoveStop((short)movingOption.AxisIndex, 0);
                    throw new Exception($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }
                if (isStop && capture != 1)
                {

                    ClearStatus((short)movingOption.AxisIndex, 1);
                    throw new Exception($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
                }

                if (capture == 1)
                {
                    //先stop
                    MoveStop((short)movingOption.AxisIndex, 0);
                    ClearStatus((short)movingOption.AxisIndex, 1);
                    //已经捕获到Home才可以回零 阶段2
                    if (capture == 1)
                    {
                        // 运动到"捕获位置+偏移量"
                        sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
                        // 在运动状态下更新目标位置
                        sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                        isStop = false;
                    }
                    // 运动到"捕获位置+偏移量"
                    sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
                    // 在运动状态下更新目标位置
                    sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
                    isStop = false;

                    repeatTime = 1000;
                    do
                    {
@@ -893,6 +906,7 @@
                        isStop = IsStop((short)movingOption.AxisIndex);
                        repeatTime--;
                    } while (!isStop && repeatTime > 0);
                    PositionReset(movingOption.AxisIndex, 1);
                    return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
                }
                return false;