Datasheet

TMCM-3314 TMCL

™

Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2017-DEC-01

18 / 109

Interrupt Processing Commands

Mnemonic Command number Meaning

EI 25 Enable interrupt

DI 26 Disable interrupt

VECT 37 Set interrupt vector

RETI 38 Return from interrupt

Table 11: Interrupt Processing Commands

3.5.6.1 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 in

order to have symbolic constants for the interrupt numbers. Table 12 show all interrupts that are available

on the TMCM-3314.

Interrupt Vectors

Interrupt number Interrupt type

0 Timer 0

1 Timer 1

2 Timer 2

3 Target position reached 0

4 Target position reached 1

5 Target position reached 2

15 stallGuard axis 0

16 stallGuard axis 1

17 stallGuard axis 2

21 Deviation axis 0

22 Deviation axis 1

23 Deviation axis 2

27 Left stop switch 0

28 Right stop switch 0

29 Left stop switch 1

30 Right stop switch 1

31 Left stop switch 2

32 Right stop switch 2

39 Input change 0

40 Input change 1

Terms of delivery and rights to technical change reserved.

Download newest version at www.trinamic.com