November 2011

Doc ID 022200 Rev 1

1/18

AN3980

Application note

STM32™ firmware library for dSPIN L6470

1

Introduction

This application note describes the implementation of the STM32 firmware library for the dSPIN

stepper motor control product (L6470). It provides a guide on how to use the library for final

application development.

The L6470 is a fully integrated microstepping motor driver with embedded motion engine and SPI

supports different operating modes including a 128-microstep resolution. It is based on digital

control core surrounded with a number of different peripherals and protections. Chip operating

mode, motion profiles, and all the other parameters are memorized in an embedded set of

registers. Communication with the IC is done through an integrated 5 MHz SPI periphery in

determined data format according to the documentation. See the L6470 datasheet for more details

about registers, application commands, etc. The firmware library speeds up the application

development process and saves time consumed by register constant definitions and command

routine implementation in the microcontroller source code.

Firmware library main features

configuration (dspin.h) and development tools project files

– Only HAL (“Hardware Abstraction Layer”) routines should be modified when used with

another platform

– Simple portability to STM8™ families thanks to similar HAL routines for peripherals - SPI,

GPIOs, etc.

– IAR™ - EWARM v5

J-Link for STEVAL-PCC009V2

ST-Link for STM32 VL Discovery

– IAR - EWARM v6

J-Link for STEVAL-PCC009V2

ULINK Pro for STEVAL-PCC009V2

ST-Link for STM32 VL Discovery

– Raisonance - RIDE v7

R-Link for STEVAL-PCC009V2

www.st.com