User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 56
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3.6.32 VECT (set interrupt vector)
The VECT command defines an interrupt vector. It needs an interrupt number and a label as parameter
(like in JA, JC and CSUB commands).
This label must be the entry point of the interrupt handling routine.
Related commands: EI, DI, RETI
Mnemonic: VECT <interrupt number>, <label>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
37
<interrupt number>
don’t care
<label>
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
Stall (stallGuard2)
21
Deviation
27
Stop left
28
Stop right
39
IN_0 change
40
IN_1 change
Example: Define interrupt vector at target position 500
VECT 3, 500
Binary format of VECT:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$25
$03
$00
$00
$00
$01
$F4