EVAL6470H Datasheet, PDF (57/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
9.2.2
Programming manual
Figure 22. Command response aborted
3$)
FROMHOST
#OMMAND
BYTERESPEXPECTED
#OMMAND
NORESPEXPECTED
#OMMAND
BYTERESPEXPECTED
3$/
TOHOST
X
2ESPONSEBYTE
-3"
2ESPONSEBYTE
#OMMAND
NORESPEXPECTED
2ESPONSEBYTE
-3"
#OMMAND
NORESPEXPECTED
2ESPONSEBYTE
,3"
#OMMANDRESPONSE
ISABORTED
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
Table 38. Nop command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
0
0
0
0
0
0
Bit 1
0
Bit 0
0
from host
9.2.3
Nothing is performed.
SetParam (PARAM, VALUE)
Table 39. SetParam command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
0
0
0
PARAM
VALUE Byte 2 (if needed)
VALUE Byte 1 (if needed)
VALUE Byte 0
Bit 0
from host
The SetParam command sets the PARAM register value equal to VALUE; PARAM is the
respective register address listed in Table 12.
The command should be followed by the new register VALUE (most significant byte first).
The number of bytes making up the VALUE argument depends on the length of the target
register (see Table 12).
Some registers cannot be written (see Table 12); any attempt to write one of those registers
causes the command to be ignored and the WRONG_CMD flag to rise at the end of the
command byte as if an unknown command code were sent (see Section 9.1.22).
Some registers can only be written in particular conditions (see Table 12); any attempt to
write one of those registers when the conditions are not satisfied causes the command to be
ignored and the NOTPERF_CMD flag to rise at the end of the last argument byte (see
Section 9.1.22).
Any attempt to set an inexistent register (wrong address value) causes the command to be
ignored and the WRONG_CMD flag to rise at the end of the command byte as if an
unknown command code were sent.
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