Added new SMP_SYSTEM_CONTROL values and changelog of new SM protocol version 26

1 files changed, 10 insertions, 1 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index f171350..162c03f 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -20,7 +20,7 @@
 /* SMV2 protocol change log:

  * Version 20:

  *   -V20 was introduced with Argon FW 1.0.0 and present at least until 1.4.0

- * Version 21 (is backwards compatible in syntax but not in setpoint behavior, see details below):

+ * Version 25 (is backwards compatible in syntax but not in setpoint behavior, see details below):

  *   -V25 was introduced with IONI

  *   -setpoint calculation is different:

  *     now there is only one common setpoint and all ABS and INC commands (buffered & instant)

@@ -31,6 +31,10 @@
  *    this makes it possible to insert any parameter read/write commands in middle of buffered motion.

  *   -implemented watchdog functionality in new param SMP_FAULT_BEHAVIOR

  *   -added param SMP_ADDRESS_OFFSET

+ * 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

+ *

  */

 

 /* Important when using SMV2 protocol:

@@ -344,6 +348,11 @@
 	#define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256

 	//resets position mode FB and setpoint values to 0, and also resets homing status. useful after using in vel or torq mode.

 	#define SMP_SYSTEM_CONTROL_RESET_FB_AND_SETPOINT 512

+	//writes various FW version specific values into debug parameters

+	#define SMP_SYSTEM_CONTROL_GET_SPECIAL_DATA 1024

+	//write SM bus SM_CRCINIT constant modifier. special purposes only, don't use if unsure because

+	//it is one time programmable variable (irreversible operation, can't be ever reset to default by provided methods)

+	#define SMP_SYSTEM_CONTROL_MODIFY_CRCINIT 262144

 

 	//follow error tolerance for position control:

 #define SMP_POS_FERROR_TRIP 555