Added definitions for SM protocol V27, which adds linear interpolation of setpoint commands in buffered motion stream

1 files changed, 21 insertions, 1 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index 4f1bd96..8513d59 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -34,6 +34,9 @@
  * Version 26:

  *    - fast SM command added (actually is also present in late V25 too, but as unofficial feature)

  *    - watchdog timout now resets bitrate to default and aborts buffered motion

+ * Version 27:

+ *    - introduced new SMP_BUFFERED_MODE parameter and optional linear interpolation of buffered setpoints

+ *    - introduced SMP_CB1_FORCE_ENABLE flag

  *

  */

 

@@ -243,6 +246,21 @@
  */

 #define SMP_FAULT_BEHAVIOR 15

 

+/* SMP_BUFFERED_MODE defines the behavior in buffered motion commands:

+ * bits 0-3 (LSB): setpoint interpolation mode.

+ * bits 4-31: reserved for future use.

+ *

+ * Setpoint interpolation modes:

+ * 0: apply nearest setpoint (default). If there are non-setpoint commands between setpoint commands,

+ *    these are executed in order with setpoint commands. Non-setpoint commands are executed without time delay to allow setpoint

+ *    commands to be executed at constant frequency.

+ * 1: linear interpolation between setpoints. If there are non-setpoint commands between setpoint commands,

+ *    these are executed one setpoit command in advance compared to a setpoint commands. This is a result from look-ahead buffering.

+ *    Non-setpoint commands are executed without time delay to allow setpoint commands to be executed at constant frequency.

+ *

+ * Note: this is present only in SM protocol version 27 and later.

+ */

+#define SMP_BUFFERED_MODE 16

 

 

 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

@@ -689,7 +707,8 @@
 	#define SMP_CB1_QUICKSTOP BV(2)//not implemented at the moment

 	#define SMP_CB1_USE_TRAJPLANNER BV(3)//not implemented at the moment

 	#define SMP_CB1_START_HOMING BV(4)//write 1 here to start homing //not implemented at the moment

-	#define SMP_STATIC_CBS1 (SMP_CB1_ENABLE|SMP_CB1_USE_TRAJPLANNER)

+	#define SMP_CB1_FORCE_ENABLE BV(5)//writing & holding value 1 here will override lack of phyiscal enable signal (SMP_CB2_ENABLE). User can force device go in enabled state when both SMP_CB1_ENABLE and aSMP_CB1_FORCE_ENABLE are set.

+	#define SMP_STATIC_CBS1 (SMP_CB1_ENABLE|SMP_CB1_USE_TRAJPLANNER|SMP_CB1_FORCE_ENABLE)

 

 #define SMP_CONTROL_BITS2 2534

 	//bitfiled values:

@@ -856,6 +875,7 @@
 	#define DEVICE_CAPABILITY1_FB_SINCOS BV(17)

 	#define DEVICE_CAPABILITY1_GEARING BV(18)

 	#define DEVICE_CAPABILITY1_AUTOSETUP_COMMUTATION_SENSOR BV(19)

+	#define DEVICE_CAPABILITY1_BUFFERED_MOTION_LINEAR_INTERPOLATION BV(20)

 

 //read only bit field that is can be used to identify device capabilities

 //the list below is subject to extend