User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
19 / 100
order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available
on the TMCM-1276.
Interrupt Vectors
Interrupt number Interrupt type
0 Timer 0
1 Timer 1
2 Timer 2
3 Target position reached 0
15 StallGuard axis 0
21 Deviation axis 0
27 Left stop switch 0
28 Right stop switch 0
39 Input change 0
40 Input change 1
41 Input change 2
255 Global interrupts
Table 12: Interrupt Vectors
3.5.6.2 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 (i.e.
accumulator register, X register, flags) will be saved automatically.
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 (RETI command), the context of the normal program will
automatically be restored and the execution of the normal program will be continued.
3.5.6.3 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
(chapter 3.6.7) for further information about that.
3.5.6.4 Using Interrupts in TMCL
To use an interrupt the following things have to be done:
• 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.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com