User manual

TMCM-1021 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-JUL-30) 16
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3.4.2.6.1 Interrupt Types
There are many different interrupts in TMCL, like timer interrupts, stop switch interrupts, position reached
interrupts, and input pin change interrupts. Each of these interrupts has its own interrupt vector. Each
interrupt vector is identified by its interrupt number. Please use the TMCL include file Interrupts.inc for
symbolic constants of the interrupt numbers.
3.4.2.6.2 Interrupt Processing
When an interrupt occurs and this interrupt is enabled and a valid interrupt vector has been defined for
that interrupt, the normal TMCL program flow will be interrupted and the interrupt handling routine will
be called. Before an interrupt handling routine gets called, the context of the normal program will be
saved automatically (i.e. accumulator register, X register, TMCL flags).
There is no interrupt nesting, i.e. all other interrupts are disabled while an interrupt handling routine is
being executed.
On return from an interrupt handling routine, the context of the normal program will automatically be
restored and the execution of the normal program will be continued.
3.4.2.6.3 Interrupt Vectors
The following table shows all interrupt vectors that can be used.
Interrupt number
Interrupt type
0
Timer 0
1
Timer 1
2
Timer 2
3
Target position reached
15
stallGuard2
21
Deviation
27
Left stop switch
28
Right stop switch
39
Input change 0
40
Input change 1
255
Global interrupts
3.4.2.6.4 Further Configuration of Interrupts
Some interrupts need further configuration (e.g. the timer interval of a timer interrupt). This can be done
using SGP commands with parameter bank 3 (SGP <type>, 3, <value>). Please refer to the SGP command
(paragraph 3.5.9) for further information about that.
3.4.2.6.5 Using Interrupts in TMCL
For using an interrupt proceed as follows:
- Define an interrupt handling routine using the VECT command.
- If necessary, configure the interrupt using an SGP <type>, 3, <value> command.
- Enable the interrupt using an EI <interrupt> command.
- Globally enable interrupts using an EI 255 command.
- An interrupt handling routine must always end with a RETI command