User manual

PD-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 57
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3.6.33 EI (enable interrupt)
The EI command enables an interrupt. It needs the interrupt number as parameter. Interrupt number 255
globally enables interrupts.
Related command: DI, VECT, RETI
Mnemonic: EI <interrupt number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
25
<interrupt number>
don’t care
don’t care
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
Examples:
Enable interrupts globally
EI, 255
Binary format of EI:
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
$19
$FF
$00
$00
$00
$00
$00
Enable interrupt when target position reached
EI, 3
Binary format of EI:
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
$19
$03
$00
$00
$00
$00
$00