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If (PORTB & 0x03) // 2 word 2 clocks for the test then 1 word for a breq/brne - and potentially an extra 1 and 2 ontop of that for an rjmp since conditional branches can only go 64 words in either direction. If(PORTB & 0x01) // 1 word 1 clock for the test, and 1 word for an rjmp (2 if it for some reason needs a jump, but the linker rarely does) - the test instructions are sbic/sbis (Skip if Bit in Io register Clear/Set), that is, they test the bit (taking 1 clock to do so, and depending on the value of the bit either skip (takes 1 clock) or don't skip (takes however long it normally takes) the next instruction, which is almost always a jump of some sort rjmp takes 2 clocks, jmp 3 clocks) Either way, this is atomic, and you don't have to worry about an interrupt firing in the middle PORTB |= 0x01 //1 word, 2 clocks on ATmega2560. PORTx (and DDRx (Data Direction Register) and PIN (PortINput) are "magic" registers because they are located in the "low I/O space", which makes it possible to set, clear, or test them with a single instruction work that executes in 2 clocks on a pre-2016 AVR.Since according to notifications people are still reading this, there are a few things also worth noting: Note that you can also toggle the pin in a single operation by writing a 1 to the PINx register, ex: They typically show the port pin as P, followed by the letter of the port, then the bit within the port (for example PB0 for the pin you referred to). The pins on the RAMPS board are specified here.See a pinout chart (google image search will find nice pinout diagrams - just search the board and the word pinout). The RX pin must be connected to a pin on the RAMPS that supports interrupts.ĭepending on your driver type the exact pin may be different. It is no different than UART control on a RAMPS-based 3D printer, just using different pins on the RAMPS board. There is a guide here for how to assemble the cables. To wire TX only - you only need to connect the appropriate TX pin of the RAMPS board to the UART pin of each applicable driver.įor TX and RX, you need a specific jumper that uses a single wire to the driver split to both the TX and RX pins of the RAMPS. This is done with short cables from pins on the drivers to pins on the RAMPS board. UART requires communication wiring between the drivers and the Arduino (RAMPS) board.
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Instructions like current settings, microstepping and others can be sent directly to the driver.Įvery TMC22 supports this, however with some manufacturers you have to manually enable it by soldering a small bridge.īTT TMCs always have this enabled, but if you use any other brands and have issues getting UART to work see the UART wiring page
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UART describes a communication between the MCU and driver. Refer here for which motor is connected to which position on the RAMPS board. Generate your configuration using the OAT Firmware Configurator and choose the correct board.