AN3980

dSPIN.h file content

Doc ID 022200 Rev 1

12/18

4.5

L6470 command set definition

dSPIN motion and other types of commands are coded with numeric (single byte) constants.

For transparent code implementation, the following type definition has been created:

Figure 9.

L6470 command set type definition

4.6

Macros definition

Some of the L6470 commands use input parameters which are proportional to a real

number. For this reason there is a need to recalculate (convert) the requested option

parameter in real numeric format to the function parameter in integer format. To make it user

friendly and allow usage of input parameters in real numeric format, macros for parameter

conversion have been implemented.

For example, the “Run” command supposes to get a speed parameter in unsigned fixed

point 0.28 number format. In this case, the “Speed_Steps_to_Par(speed)” macro can be

used to convert real speed (in steps per second) to the parameter of the “Run” command.