From d856b15bc75919f73bf8fdf5cd333af4c4f965a7 Mon Sep 17 00:00:00 2001 From: Tero Kontkanen Date: Fri, 4 Nov 2016 12:03:07 +0200 Subject: Added new SMP_SYSTEM_CONTROL values and changelog of new SM protocol version 26 --- simplemotion_defs.h | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) 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 -- cgit v1.2.3