STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD Data Sheet
Product codes
EVAL6472PD
DocID022729 Rev 3
55/70
L6472
Programming manual
70
9.2.1 Command
management
The host microcontroller can control motor motion and configure the L6472 device through
a complete set of commands.
a complete set of commands.
All commands are composed by a single byte. After the command byte, some argument
bytes should be needed (see
bytes should be needed (see
). Argument length can vary from 1 to 3 bytes.
Figure 22. Command with 3-byte argument
By default the device returns an all zero response for any received byte, the only exceptions
are GetParam and GetStatus commands. When one of these commands is received the
following response bytes represent the related register value (see
are GetParam and GetStatus commands. When one of these commands is received the
following response bytes represent the related register value (see
Response length can vary from 1 to 3 bytes.
Figure 23. Command with 3-byte response
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
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 24. Command response aborted
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
WRONG_CMD flag in the STATUS register is raised (see