From 8c3dcd9910a82411ce6670d1df97b5b658b2dbe6 Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Sat, 9 Mar 2024 11:12:31 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=8E=B7=E5=8F=96=E5=88=B0?=
 =?UTF-8?q?=E4=BD=8D=E4=BF=A1=E5=8F=B7bug?=
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---
 Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 34 +++++++++++++++++---------
 Rs.Motion/Properties/AssemblyInfo.cs   |  2 +-
 2 files changed, 23 insertions(+), 13 deletions(-)

diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index dc3713f..cff1bbb 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -101,6 +101,13 @@ namespace Rs.Motion.GugaoPulse
                 diConfig.filterTime = 3;
                 apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_LIMIT_NEGATIVE, (short)Config.AxisId, ref diConfig);
             }
+            if (Config.EnableInp == 1)
+            {
+                apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, out diConfig);
+                diConfig.active = 1;
+                diConfig.reverse = (short)Config.InpLogic;
+                apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig);
+            }
             apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
             diConfig.active = 1;
             diConfig.reverse = (short)Config.HomeOrgLogic;
@@ -933,18 +940,19 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.Ok;
             }
-            #region 禁用到位信号判断
-            bool bINP = false;
-            err = GetInpStatus(out bINP);
-            if (err > ErrorCode.Ok)
+            if(Config.EnableInp==1)
             {
-                return err;
-            }
-            if (!bINP)
-            {
-                return ErrorCode.Ok;
+                bool bINP = false;
+                err = GetInpStatus(out bINP);
+                if (err > ErrorCode.Ok)
+                {
+                    return err;
+                }
+                if (!bINP)
+                {
+                    return ErrorCode.Ok;
+                }
             }
-            #endregion
             double dfCurrentTorlance = 0.0;
             double dfTorlance = Math.Abs(Config.Tolerance);
             err = GetTolerance(out dfCurrentTorlance);
@@ -1224,12 +1232,14 @@ namespace Rs.Motion.GugaoPulse
             {
                 return ErrorCode.CardNotInit;
             }
-            apiResult = mc_pulse.GT_GetSts((short)Config.CardId, (short)Config.AxisId, out int pSts, 1, out uint pClock);
+            //apiResult = mc_pulse.GT_GetSts((short)Config.CardId, (short)Config.AxisId, out int pSts, 1, out uint pClock);
+            apiResult = mc_pulse.GT_GetDi((short)Config.CardId, mc_pulse.MC_ARRIVE, out int pvalue);
             if (apiResult != 0)
             {
                 return ErrorCode.Fail;
             }
-            bIsOn = ((pSts >> 11) & 0x01) == 1;
+            //bIsOn = ((pSts >> 11) & 0x01) == 1;
+            bIsOn = ((pvalue >> (short)Config.AxisId-1) & 0x01) == 1;
             return ErrorCode.Ok;
         }
 
diff --git a/Rs.Motion/Properties/AssemblyInfo.cs b/Rs.Motion/Properties/AssemblyInfo.cs
index 25a93ad..3ddef9b 100644
--- a/Rs.Motion/Properties/AssemblyInfo.cs
+++ b/Rs.Motion/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("2.20.24.7")]
+[assembly: AssemblyVersion("2.20.24.8")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]