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Commands.h File Reference

TMCL command definitions. More...

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Data Structures

struct  TTMCLCommand
 TMCL command. More...
 
struct  TTMCLReply
 TMCL reply. More...
 

Macros

#define TCS_IDLE   0
 TMCL interpreter is in idle mode (no command to process)
 
#define TCS_UART   1
 processing a command from RS485
 
#define TCS_UART_ERROR   2
 last command from RS485 had bad check sum
 
#define TCS_CAN7   3
 last command from CAN with 7 bytes
 
#define TCS_CAN8   4
 last command from CAN with 8 bytes
 
#define TCS_USB   5
 last command from USB
 
#define TCS_USB_ERROR   6
 last command from USB had bad check sum
 
#define TMCL_ROR   1
 ROR command opcode.
 
#define TMCL_ROL   2
 ROL command opcode.
 
#define TMCL_MST   3
 MST command opcode.
 
#define TMCL_MVP   4
 MVP command opcode.
 
#define TMCL_SAP   5
 SAP command opcode.
 
#define TMCL_GAP   6
 GAP command opcode.
 
#define TMCL_GetVersion   136
 GetVersion command opcode.
 
#define TMCL_Boot   0xf2
 Boot command opcode.
 
#define TMCL_SoftwareReset   0xff
 software reset command opcode
 
#define MVP_ABS   0
 absolute movement (with MVP command)
 
#define MVP_REL   1
 relative movement (with MVP command)
 
#define MVP_COORD   2
 coordinate movement (with MVO command)
 
#define REPLY_OK   100
 command successfully executed
 
#define REPLY_CHKERR   1
 checksum error
 
#define REPLY_INVALID_CMD   2
 command not supported
 
#define REPLY_WRONG_TYPE   3
 wrong type code
 
#define REPLY_INVALID_VALUE   4
 wrong value
 
#define REPLY_EEPROM_LOCKED   5
 EEPROM is locked.
 
#define REPLY_CMD_NOT_AVAILABLE   6
 command not available due to current state
 
#define REPLY_CMD_LOAD_ERROR   7
 error when storing command to EEPROM
 
#define REPLY_WRITE_PROTECTED   8
 EEPROM is write protected.
 
#define REPLY_MAX_EXCEEDED   9
 maximum number of commands in EEPROM exceeded
 
#define RF_STANDARD   0
 use standard TMCL reply
 
#define RF_SPECIAL   1
 use special reply
 

Functions

void InitTMCL (void)
 Initialize TMCL interpreter. More...
 
void ProcessCommand (void)
 Fetch and execute TMCL commands. More...
 

Detailed Description

TMCL command definitions.

Author
Trinamic Motion Control GmbH & Co KG
Version
2.20

This file contains all necessary definitions for the TMCL command interpreter.

Function Documentation

void InitTMCL ( void  )

Initialize TMCL interpreter.

Intialise the TMCL interpreter. Must be called once at startup.

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void ProcessCommand ( void  )

Fetch and execute TMCL commands.

This is the main function for fetching and executing TMCL commands and has to be called periodically from the main loop.

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