pHAT Module Series

pHAT-RV Technical Description

pHAT-RV Technical Description

Page 19 of 27

Register name

Type

Register address

Description

Hex

Binary

Firmware version

r

08

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

A

1 (0x01)

Operate bit

When set activates the stepper motor being

controlled

B

2 (0x02)

Reverse bit

When set reverses the direction of the

stepper motor being controlled

C

4 (0x04)

Rotate bit

When set makes the stepper motor

constantly rotate rather than step the

number of steps defined in the step number

register

D

8 (0x08)

Step bit

When set allows the stepper motor to be

configured for half-step rather than full step

operation

E

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

A

128 (0x80)

Movement bit

Set when stepper movement is in-progress