I was reading the data Sheet of AMIS-30543 stepper motor driver and I was not able to understand how to combine the result of the Micro step position status register MSP[8:0]. I know that its a 9 bit value . Help me understand how to get the value.

In the data sheet it is given like


in SR3 -> MSP[8:2], and in SR4 -> MSP[6:0]. How I am I suppose to get the 9 bit out of these.

In the library I have seen that , (sr3<<2) | (sr4 & 3) . I don't understand why they are doing and & here.

Please explain . also If there was no library how am I suppose to know how to combine these registers from the dataSheet .

Link to DataSheet


Most of the data is duplicated between the registers. Both registers contain MSP[6:2].

If MSP contains 111001001 the registers (ignoring the MSB "PAR" bit) would look like:

SR3: 1110010
SR4: 1001001

If we line those up it's then like:

SR3: 1110010
SR4    1001001

You can now see the overlap.

So taking SR3 and shifting it left two places (sr3 << 2) gives you:

SR3:   1110010
<<2: 111001000

Taking the lowest two bits of SR4 with & 3 gives you:

SR4:   1001001
& 3:   0000001

Then ORing the two results together:

SR3<<2: 111001000
SR4 &3: 000000001
MSP   : 111001001
  • How can I understand this from data sheet like from sr3 and sr4 – Lawliet Oct 15 '20 at 21:10
  • The 8:2 and 6:0 refer to the range of bits stored in that register. It's a little unusual to have overlap like that. – Majenko Oct 15 '20 at 21:17
  • So is it okay to do like :: ‘(sr3 << 2 | sr4)’ – Lawliet Oct 15 '20 at 21:19
  • No, because of the PAR bit that's in the MSB that will corrupt SR3. – Majenko Oct 15 '20 at 21:20
  • 1
    Practice and experience. It's the first time I have seen overlapping bits like that, but the code snippet you showed and the 8:2 and 6:0 in the datasheet allowed me to infer it. It's really not clear at all in the datasheet, so it's not surprising you were struggling with it. – Majenko Oct 15 '20 at 21:23

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