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TMCM-1316 TMCL
Revision V1.00 | Document Revision V1.00 • 2018-OCT-02
TMCL-LITE is an open source rmware for the TMCM-1316 module, provided as C source code with
Doxygen documentation. It implements a subset of the TMCL direct mode commands. With the
help of TMCL-LITE it is possible to write an own, customized
hardware of the TMCM-1316 module. For communicating with a host either the TMCL protocol
can be used, or other protocols can be implemented.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Download newest version at:
www.trinamic.com
Read entire documentation.
™
-LITE
OPEN SOURCE FIRMWARE
rmware that can use the entire
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Summary of Contents for Trinamic TMCL-LITE TMCM-1316
- Page 1 TMCM-1316 module. For communicating with a host either the TMCL protocol can be used, or other protocols can be implemented. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Download newest version at: www.trinamic.com...
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Page 2: Table Of Contents
..........10 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. - Page 3 ..........17 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved.
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Page 4: Introduction
GNU Make tool (if you do not already have one). Of course also other GNU C compiler distributions can be used, but this has not been tested by Trinamic. Also commercial C compilers for ARM/Cortex microcontrollers can be used but in this case it might be necessary to change parts of the source code. -
Page 5: Compiling For Use With The Boot Loader
The source code also comes with an automatically generated documentation (generated using the DOXY- GEN tool) that shows the overall structure and some explanation for all functions. Please make use of that ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 6: Files
This chapter contains an overview of all functions which are implemented in the library. Please see also the Doxygen documentation and the source code itself. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 7: Tmc4361 Motion Controller Functions
4.1.11 ResetTMC43xx This function resets the TMC4361 (by pulling its reset pin low for some clock periods). ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 8: Gethomeinput
4.2.9 Enable5160 This function re-enables the motor driver (by setting the TOff time back to the value last set). ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 9: System Timer Functions
This function initializes the RS485 interface and sets the baud rate. The following baud rates can be set: RS485 Baud Rates InitRS485 Parameter Baud Rate 9600 14400 19200 28800 38400 57600 76800 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 10: Sendusbreply
USB receive buffer then these bytes will be discarded. 4.6.4 SendUSBReply This function sends nine byte (one TMCL reply) via the USB interface. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 11: Can Functions
This function initializes all I/O ports that will not be initialized by other initialization functions. It should be called at the very beginning of the program. 4.8.2 DisableInterrupts This function disables all interrupts. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 12: Enableinterrupts
Supported TMCL commands are: ROL, ROR, MST, MVP, SAP, GAP, GetVersion, SoftwareReset. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. -
Page 13: Figures Index
-LITE Open Source Firmware • Revision V1.00 | Document Revision V1.00 • 2018-OCT-02 5 Figures Index TMCM-1316 Programming Pads . . . ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com... -
Page 14: Tables Index
....Document Revision ... ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at... -
Page 15: Supplemental Directives
7.5 Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the speci c written consent of TRINAMIC Motion Control GmbH & Co. KG. -
Page 16: Collateral Documents & Tools
In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signi cant personal injury or death (safety-Critical Applications) without TRINAMIC’s speci c written consent. -
Page 17: Revision History
8.2 Document Revision Version Date Author Description V1.00 2018-OCT-02 First release version. Table 5: Document Revision ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com...
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