L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
Programming manual
L6470
9.2.1
Command management
The host microcontroller can control motor motion and configure the L6470 device through
a complete set of commands.
All commands are composed by a single byte. After the command byte, some bytes of
arguments should be needed (see Figure 19). Argument length can vary from 1 to 3 bytes.
6',
IURPKRVW
Figure 19. Command with 3-byte argument
&RPPDQGE\WH
$UJXPHQWE\WH
06%
$UJXPHQWE\WH
$UJXPHQWE\WH
/6%
6'2
WRKRVW
[
[
[
[
By default, the device returns an all zero response for any received byte, the only
exceptions are the GetParam and GetStatus commands. When one of these commands is
received, the following response bytes represent the related register value (see Figure 20).
Response length can vary from 1 to 3 bytes.
6',
IURPKRVW
Figure 20. Command with 3-byte response
&RPPDQGE\WH
123
123
123
6'2
WRKRVW
[
5HVSRQVHE\WH
06%
5HVSRQVHE\WH
5HVSRQVHE\WH
/6%
During response transmission, new commands can be sent. If a command requiring
a response is sent before the previous response is completed, the response transmission is
aborted and the new response is loaded into the output communication buffer (see
Figure 21).
6',
IURPKRVW
6'2
WRKRVW
Figure 21. Command response aborted
&RPPDQG
E\WHUHVSH[SHFWHG
&RPPDQG
QRUHVSH[SHFWHG
&RPPDQG
E\WHUHVSH[SHFWHG
&RPPDQG
QRUHVSH[SHFWHG
[
5HVSRQVHE\WH
06%
5HVSRQVHE\WH
5HVSRQVHE\WH
06%
&RPPDQG
QRUHVSH[SHFWHG
5HVSRQVHE\WH
/6%
9.2.2
&RPPDQGUHVSRQVH
LVDERUWHG
When a byte that does not correspond to a command is sent to the IC, it is ignored and the
WRONG_CMD flag in the STATUS register is raised (see Section 9.1.22).
Nop
Bit 7
0
Bit 6
0
Bit 5
0
Table 38. Nop command structure
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
0
0
0
0
From host
Nothing is performed.
58/73
DocID16737 Rev 7
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