PHAT-RV datasheet(19/27 Pages) ETC

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pHAT Module Series

pHAT-RV Technical Description

Page 19 of 27

Type

Description

Hex

Binary

Firmware version

01001000

Firmware (Bit 0-3 = minor

version, Bit 4-5 = major version)

3.7.4 I

2C Stepper Control Register Format

Each stepper control register consists of five control bits defined as follows:

Table 6: I

2C Stepper Control Register Format

Bit

Bit value

Function

Description

1 (0x01)

Operate bit

When set activates the stepper motor being

controlled

2 (0x02)

Reverse bit

When set reverses the direction of the

stepper motor being controlled

4 (0x04)

Rotate bit

When set makes the stepper motor

constantly rotate rather than step the

number of steps defined in the step number

8 (0x08)

Step bit

When set allows the stepper motor to be

configured for half-step rather than full step

operation

16 (0x10)

Hold bit

When set the stepper motor will hold its

position (holding torque) once the number

of steps have been made rather than go

free (no holding torque).

3.7.5 I

2C Stepper Status Register Format

Each stepper status register consists of one status bit defined as follows:

Table 7: I

2C Stepper Status Register Format

Bit

Bit value

Function

Description

128 (0x80)

Movement bit

Set when stepper movement is in-progress

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