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TMCL: Timer Interrupts

TMCL is the simple way to implement your motion control application. With this series of simple coding examples we want to provide you an easy start.

This program demonstrates how to use the timer interrupt. To use this program connect LEDs to OUT_0 and OUT_1. The LED at Port OUT_1 is toggling at 2 Hz using the WAIT command.  Connect a LED to Port OUT_0 and it will be toggling at 1 Hz using the timer interrupt.

Before use: Restore Factory Defaults

// *** Interrupt initialization *** //
VECT 0, Timer0Irq 		//defines the interrupt vector for the timer 0 interrupt
SGP 0, 3, 1000 			//configure the timer interrupt: set its period to 1000ms
EI 0 					//enable timer interrupt
EI 255 					//globally switch on interrupt processing

// *** Main Loop *** //
loop:
	SIO 1, 2, 1     	//switch OUT_1 high
	WAIT TICKS, 0, 50	//wait 0.5 seconds. 50 * 10ms
	SIO 1, 2, 0			//switch OUT_1 low
	WAIT TICKS, 0, 50	//wait 0.5 seconds. 50 * 10ms
	JA loop				//jump to loop
	
// *** Interrupt routine *** //
Timer0Irq:
	GIO 0, 2 			//check if OUT_0 is high
	JC NZ, Out0Off		//jump to Out0off if high
	SIO 0, 2, 1 		//switch OUT_0 high
	RETI 				//end of interrupt
Out0Off:
	SIO 0, 2, 0 		//switch OUT_0 low
	RETI 				//end of interrupt

For more details look at TMCL_reference.pdf  at http://www.trinamic.com/software-tools/tmcl-ide

This sample is tested with TMCM-1140, TMCM-1161, TMCM-6110.

Categories: Code Snippet, Tutorial

Tags: timer, timer interrupts, TMCL

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