add SMP_CB2_START_HOMING

1 files changed, 7 insertions, 5 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index 252f991..5968b7f 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -487,21 +487,23 @@
 	//bitfiled values:

 	//CB1 & CB2 enables must be 1 to have drive enabled

 	//Control bits 1 are controlled by host software

-	#define SMP_CB1_ENABLE BV(0)

+	#define SMP_CB1_ENABLE BV(0)//software enable

 	#define SMP_CB1_CLEARFAULTS BV(1)

-	#define SMP_CB1_QUICKSTOP BV(2)

-	#define SMP_CB1_USE_TRAJPLANNER BV(3)

+	#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_CONTROL_BITS2 2534

 	//bitfiled values:

 	//both enables must be 1 to have drive enabled

-	//Control bits 2 are controlled by physical inputs

-	#define SMP_CB2_ENABLE BV(0)

+	//Control bits 2 are controlled by physical inputs, dont try to write on these thu SMV2. reading is ok

+	#define SMP_CB2_ENABLE BV(0)//hadrware enable pin

 	#define SMP_CB2_ENA_POS_FEED BV(1)

 	#define SMP_CB2_ENA_NEG_FEED BV(2)

 	#define SMP_CB2_HOMESW_ON BV(3)

     #define SMP_CB2_CLEARFAULTS BV(4)

+    #define SMP_CB2_START_HOMING BV(5)

 

 //trajectory planner

 #define SMP_TRAJ_PLANNER_ACCEL 800