//scan m1x1 slave IO status
private void systemScan()
{
while (true)
{
if (keyOfIOStatus)
{
U32 status = 0;
I16 rt = CCMNet.CS_mnet_m1_get_io_status(RingNoOfMNet, axisPara.SlaveIP, ref status);
this.status.RDY = BitConverterEx.TestB(status, 0);
this.status.ALM = BitConverterEx.TestB(status, 1);
this.status.LimitP = BitConverterEx.TestB(status, 2);
this.status.LimitN = BitConverterEx.TestB(status, 3);
this.status.ORG = BitConverterEx.TestB(status, 4);
this.status.DIR = BitConverterEx.TestB(status, 5);
this.status.EMG = BitConverterEx.TestB(status, 6);
this.status.PCS = BitConverterEx.TestB(status, 7);
this.status.ERC = BitConverterEx.TestB(status, 8);
this.status.ZPhase = BitConverterEx.TestB(status, 9);
this.status.CLR = BitConverterEx.TestB(status, 10);
this.status.Latch = BitConverterEx.TestB(status, 11);
this.status.SD = BitConverterEx.TestB(status, 12);
this.status.INP = BitConverterEx.TestB(status, 13);
this.status.SVON = BitConverterEx.TestB(status, 14);
this.status.RALM = BitConverterEx.TestB(status, 15);
if (this.status.ALM || this.status.EMG)
{
this.status.Home = false;
}
Thread.Sleep(50);
}
}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
I16 status;
for (byte portNo = 0; portNo < 4; portNo++)
{
status = CCMNet.CS_mnet_io_input(RingNoOfMNet, dIOPara.SlaveIP, portNo);
for (int i = 0; i < 8; i++)
{
Status1[portNo * 8 + i] = BitConverterEx.TestB(status, (byte)i);
Status2[portNo, i] = BitConverterEx.TestB(status, (byte)i);
}
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
ushort uValue = 0, uRet = 0;
uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, ref uValue);
if (uRet == CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
for (int nBit = 0; nBit < 16; nBit++)
{
Status1[nBit] = BitConverterEx.TestB(uValue, (byte)nBit);
Status2[nBit / 8, nBit % 8] = BitConverterEx.TestB(uValue, (byte)nBit);
}
}
else
{
throw new Exception("CS_ECAT_Slave_DIO_Get_Input_Value, " + GetEtherCATErrorCode(uRet));
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
private byte getCheckDigit(List <byte> cmdCombined)
{
bool[] bits = BitConverterEx.GetBits(cmdCombined[0]);
for (int j = 1; j < cmdCombined.Count; j++)
{
for (byte i = 0; i < 8; i++)
{
bits[i] ^= BitConverterEx.TestB(cmdCombined[j], i);
}
}
return(BitConverterEx.ConvertToByte(bits));
}
private string getCheckDigit(string cmdCombined)
{
bool[] bits = BitConverterEx.GetBits((byte)cmdCombined[0]);
for (int j = 1; j < cmdCombined.Length; j++)
{
for (byte i = 0; i < 8; i++)
{
bits[i] ^= BitConverterEx.TestB(cmdCombined[j], i);
}
}
int upperBit = 0;
int lowerBit = 0;
for (byte i = 0; i < 4; i++)
{
BitConverterEx.SetBit(ref lowerBit, i, bits[i]);
BitConverterEx.SetBit(ref upperBit, i, bits[i + 4]);
}
return(string.Format("{0:x}{1:x}", upperBit, lowerBit));
}
//scan DIO slave status
private void systemScan()
{
while (true)
{
if (keyOfIOScan)
{
I16 status;
U8 val = 0;
for (byte portNo = 0; portNo < 4; portNo++)
{
status = CMNET_L132.CS_mnet_io_input((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, portNo, ref val);
for (int i = 0; i < 8; i++)
{
Status1[portNo * 8 + i] = BitConverterEx.TestB(val, (byte)i);
Status2[portNo, i] = BitConverterEx.TestB(val, (byte)i);
}
}
Thread.Sleep(15);
}
}
}