L6482 datasheet(61/73 Pages) STMICROELECTRONICS

61 / 73 page

L6482

Programming manual

Doc ID 023768 Rev 2

61/73

9.2.1

Command management

The host microcontroller can control motor motion and configure the L6482 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 25). Argument length can vary from 1 to 3 bytes.

Figure 25.

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 Figure 26). Response

length can vary from 1 to 3 bytes.

Figure 26.

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

Figure 27).

Figure 27.

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 Section 9.1.21).

SDI

SDO

Command byte

Argument byte 2

(MSB)

Argument byte 0

(LSB)

Argument byte 1

0x00

(from host)

(to host)

AM15055v1

SDI

SDO

Command byte

Response byte 2

(MSB)

Response byte 0

(LSB)

Response byte 1

0x00

NOP

(from host)

(to host)

AM15056v1

SDI

SDO

Command 1

(3 byte resp expected)

Command 3

(2 byte resp expected)

Response byte 2

(MSB)

Response byte 1

(MSB)

Response byte 1

0x00

Command 2

(no resp. expected)

Response byte 0

(LSB)

(from host)

(to host)

Command 4

(no resp. expected)

Command 5

(no resp. expected)

Command 1 response

is aborted

AM15057v1

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