Class representing a L6208 component. More...

#include <L6208.h>

Public Member Functions
	L6208 (PinName flag_and_enable_pin, PinName reset_pin, PinName direction_pin, PinName half_full_pin, PinName control_pin, PinName clock_pin, PinName vrefA_pwm_pin, PinName vrefB_pwm_pin)
	Constructor.
virtual	~L6208 (void)
	Destructor.
virtual int	init (void *init=NULL)
	Public functions inherited from the Component Class.
virtual int	read_id (uint8_t *id=NULL)
	Getting the ID of the component.
virtual unsigned int	get_status (void)
	Public functions inherited from the StepperMotor Class.
virtual signed int	get_position (void)
	Getting the position.
virtual signed int	get_mark (void)
	Getting the marked position.
virtual unsigned int	get_speed (void)
	Getting the current speed in pps.
virtual unsigned int	get_max_speed (void)
	Getting the maximum speed in pps.
virtual unsigned int	get_min_speed (void)
	Getting the minimum speed in pps.
virtual unsigned int	get_acceleration (void)
	Getting the acceleration in pps^2.
virtual unsigned int	get_deceleration (void)
	Getting the deceleration in pps^2.
virtual direction_t	get_direction (void)
	Getting the direction of rotation.
virtual void	set_home (void)
	Setting the current position to be the home position.
virtual void	set_mark (void)
	Setting the current position to be the marked position.
virtual bool	set_max_speed (unsigned int speed)
	Setting the maximum speed in pps.
virtual bool	set_min_speed (unsigned int speed)
	Setting the minimum speed in pps.
virtual bool	set_acceleration (unsigned int acceleration)
	Setting the acceleration in pps^2.
virtual bool	set_deceleration (unsigned int deceleration)
	Setting the deceleration in pps^2.
virtual bool	set_step_mode (step_mode_t step_mode)
	Setting the Step Mode.
virtual void	go_to (signed int position)
	Going to a specified position.
virtual void	go_home (void)
	Going to the home position.
virtual void	go_mark (void)
	Going to the marked position.
virtual void	run (direction_t direction)
	Running the motor towards a specified direction.
virtual void	move (direction_t direction, unsigned int steps)
	Moving the motor towards a specified direction for a certain number of steps.
virtual void	soft_stop (void)
	Stopping the motor through an immediate deceleration up to zero speed.
virtual void	hard_stop (void)
	Stopping the motor through an immediate infinite deceleration.
virtual void	soft_hiz (void)
	Disabling the power bridge after performing a deceleration to zero.
virtual void	hard_hiz (void)
	Disabling the power bridge immediately.
virtual void	wait_while_active (void)
	Waiting while the motor is active.
virtual void	attach_error_handler (void(*fptr)(uint16_t error))
	Public functions NOT inherited.
virtual unsigned int	check_status_hw (void)
	Checks if the device is disabled or/and has an alarm flag set by reading the EN pin position.
virtual void	disable (void)
	Disabling the device.
virtual void	enable (void)
	Enabling the device.
virtual motorDecayMode_t	get_decay_mode ()
	Getting the motor decay mode.
virtual uint32_t	get_freq_vref_pwm (void)
	Set the frequency of the VREFA and VREFB PWM.
virtual unsigned int	get_fw_version (void)
	Getting the version of the firmware.
virtual step_mode_t	get_step_mode (void)
	Getting the motor step mode.
virtual motorStopMode_t	get_stop_mode (void)
	Getting the motor stop mode.
virtual void	go_to (direction_t direction, signed int position)
	Going to a specified position with a specificied direction.
virtual void	release_reset (void)
	Release the L6208 reset (Reset pin set to high level).
virtual void	reset (void)
	Reset the device with current step mode, resets current speed, positions and microstep variables.
virtual void	reset_device (void)
	Reset the L6208 (Reset pin set to low level).
virtual void	set_decay_mode (motorDecayMode_t decayMode)
	Set the motor decay mode.
virtual void	set_direction (direction_t direction)
	Set the motor direction.
virtual void	set_freq_vref_pwm (uint32_t frequency)
	Set the frequency of the VREFA and VREFB PWM.
virtual void	set_stop_mode (motorStopMode_t stopMode)
	Set the motor stop mode.
void	attach_flag_irq (void(*fptr)(void))
	Attaching an interrupt handler to the FLAG interrupt.
void	enable_flag_irq (void)
	Enabling the FLAG interrupt handling.
Protected Member Functions
status_t	L6208_Init (void *init)
	Start the L6208 library.
void	L6208_Disable (void)
	Disable the power bridges (leave the output bridges HiZ)
void	L6208_ErrorHandler (uint16_t error)
	Error handler which calls the user callback (if defined)
void	L6208_Enable (void)
	Enable the power bridges.
uint16_t	L6208_GetAcceleration (void)
	Get the stepper acceleration rate in step/s^2 for full, half and wave modes in microsteps/s^2 for microstep modes.
uint16_t	L6208_GetCurrentSpeed (void)
	Get the current speed in step/s for full, half and wave modes in microsteps/s for microstep modes.
uint16_t	L6208_GetDeceleration (void)
	Get the stepper deceleration rate in step/s^2 for full, half and wave modes in microsteps/s^2 for microstep modes.
motorDecayMode_t	L6208_get_decay_mode (void)
	Get the motor decay mode.
motorDir_t	L6208_GetDirection (void)
	Get the motor current direction.
uint32_t	L6208_GetFwVersion (void)
	Return the FW version.
int32_t	L6208_GetMark (void)
	Get the mark position (32b signed)
uint16_t	L6208_GetMaxSpeed (void)
	Get the max speed in step/s for full, half and wave modes in microsteps/s for microstep modes.
uint16_t	L6208_GetMinSpeed (void)
	Get the min speed in step/s for full, half and wave modes in microsteps/s for microstep modes.
motorState_t	L6208_GetMotionState (void)
	Get the stepper state machine index.
int32_t	L6208_GetPosition (void)
	Get the current position (32b signed)
motorStepMode_t	L6208_GetStepMode (void)
	Get the motor step mode.
motorStopMode_t	L6208_GetStopMode (void)
	Get the selected stop mode.
void	L6208_GoHome (void)
	Go to the home position.
void	L6208_GoMark (void)
	Go to the Mark position.
void	L6208_GoTo (int32_t targetPosition)
	move the motor to the absolute position using the shortest path
void	L6208_GoToDir (motorDir_t direction, int32_t targetPosition)
	move the motor to the absolute position
void	L6208_HardHiZ (void)
	Immediately stop the motor and disables the power bridges.
void	L6208_HardStop (void)
	Immediately stop the motor and keeps holding torque.
void	L6208_Move (motorDir_t direction, uint32_t stepCount)
	move the motor by the specified number of steps in the specified direction
void	L6208_ReleaseReset (void)
	Release the L6208 reset (Reset pin set to high level)
void	L6208_Reset (void)
	Reset the L6208 (Reset pin set to low level)
void	L6208_ResetDevice (void)
	Call L6208_SetStepMode with current step mode, the L6208_SetStepMode function along with setting the step mode resets the L6208 device.
void	L6208_Run (motorDir_t direction)
	run the motor in the specified direction according to the speed profile defined by the minimum speed, maximum speed, and acceleration parameters.
bool	L6208_SetAcceleration (uint16_t newAcc)
	Set the stepper acceleration rate in step/s^2 and step/tick^2 for full, half and wave modes in microsteps/s^2 and microsteps/tick^2 for microstep modes.
void	L6208_SetDecayMode (motorDecayMode_t decayMode)
	Select the motor decay mode.
bool	L6208_SetDeceleration (uint16_t newDec)
	Set the stepper deceleration rate in step/s^2 and step/tick^2 for full, half and wave modes in microsteps/s^2 and microsteps/tick^2 for microstep modes.
void	L6208_SetDirection (motorDir_t direction)
	Specify the direction.
void	L6208_SetHome (void)
	Set current position to be the home position.
void	L6208_SetMark (void)
	Set current position to be the mark position.
bool	L6208_SetMaxSpeed (uint16_t volatile newSpeed)
	Set the user selected maximum speed in step/s and step/tick for full, half and wave modes in microsteps/s and microsteps/tick for microstep modes.
bool	L6208_SetMinSpeed (uint16_t volatile newSpeed)
	Set the user selected minimum speed in step/s and step/tick for full, half and wave modes in microsteps/s and microsteps/tick for microstep modes.
bool	L6208_SetStepMode (motorStepMode_t stepMode)
	Set the step mode.
void	L6208_SetStopMode (motorStopMode_t stopMode)
	Select the mode to stop the motor.
bool	L6208_SoftStop (void)
	Stop the motor by using the device deceleration and set deceleration torque.
void	L6208_TickHandler (void)
	Handle the device state machine at each tick timer pulse end.
uint32_t	L6208_VrefPwmGetFreq (void)
	Get the frequency of VREFA and VREFB PWM.
void	L6208_VrefPwmSetFreq (uint32_t newFreq)
	Set the frequency of the VREFA and VREFB PWM.
void	L6208_WaitWhileActive (void)
	Lock while motor is running.
void	L6208_ClearSysFlag (uint32_t mask)
	Clear the bit/s of flags according to the specified mask.
uint32_t	L6208_ComputeNbAccOrDecSteps (uint16_t accOrDecRate)
	Compute the number of steps at the end of the accereration/deceleration phase P = position in steps at the end of the acceleration/deceleration phase T = acceleration/deceleration time in seconds A = acceleration/deceleration rate in steps per second per second (steps/sec^2) V = peak velocity during acceleration/deceleration phase V1 = average velocity during acceleration/deceleration phase T = V/A V1 = V/2 P = V1*T P = V^2/2A.
uint16_t	L6208_ConvertAcceDecelRateValue (uint16_t newAccOrDecRate)
	Compute the acceleration/deceleration speed increment value.
void	L6208_DoAccel (void)
	Compute next position and speed according to the acceleration rate.
void	L6208_DoDecel (void)
	Compute next position and speed according to the deceleration rate.
void	L6208_DoRun (void)
	Compute next position by adding current speed.
uint8_t	L6208_GetMicrostepSample2Scale (void)
	Get number of samples to rescale.
void	L6208_Indexmodeinit (void)
	Initialize the system for position mode motor moving command P = total move distance in steps P1 = steps required to accel from 0 to V P2 = steps required to decel from V to 0 V = peak velocity in steps per second (steps/sec) V1 = average velocity during accel or decel* A = required accel rate in steps per second per second (steps/sec2) D = required decel rate in steps per second per second (steps/sec2) T1 = acceleration time in seconds T2 = deceleration time in seconds*.
bool	L6208_IsSysFlag (uint32_t mask)
	Check the bit/s of flags according to the specified mask.
void	L6208_ResetSteps (void)
	Stepper driver device step state reset subroutine.
uint32_t	L6208_ScaleWaveformSample (uint8_t sampleIndex)
	Compute the specified micro stepping waveform sample with the current selected torque and pwm period.
void	L6208_ScaleWaveformTable (void)
	Compute the micro stepping waveform sample table samples with the current selected torque and pwm period.
void	L6208_SetDeviceParamsToGivenValues (l6208_init_t *pInitDevicePrm)
	Set the parameters of the device to values of the structure pointed by pInitDevicePrm.
void	L6208_SetDeviceParamsToPredefinedValues (void)
	Set the parameters of the device to predefined values Set GPIO according to these values from l6208_target_config.h.
void	L6208_SetMicrostepSample2Scale (uint8_t value)
	Set the number of micro stepping waveform samples to rescale.
void	L6208_SetMicrostepSample2Update (uint8_t value)
	Set the number of micro stepping waveform samples to update into scanning.
void	L6208_SetMotionState (motorState_t newMotionState)
	Set the stepper state machine index.
bool	L6208_SetSpeed (uint16_t newSpeed, uint32_t volatile *pSpeed)
	Set the user selected speed in step/tick.
void	L6208_SetSysFlag (uint32_t mask)
	Set the bit/s of flags according to the specified mask.
bool	L6208_StartMovement (void)
	Stepper motor start command.
void	L6208_UpdateScanWaveformTable (void)
	Update the micro stepping waveform samples table with the values previously scaled with current selected torque and tick period.
void	L6208_UstepWaveformHandling (void)
	Check if there are waveform samples to rescale and if so, perform the rescaling.
bool	L6208_VectorCalc (uint8_t newTorque)
	Set the current torque value (Vref)
bool	L6208_VrefPwmComputePulseWidth (uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle)
	Compute the pulse width of VREFA or VREFB PWM.
void	L6208_VrefPwmUpdatePulseWidth (void)
	Update the pulse width of VREFA or VREFB PWM.
void	L6208_Board_CLOCK_PIN_Reset (void)
	Reset the clock pin.
void	L6208_Board_CLOCK_PIN_Set (void)
	Set the clock pin.
void	L6208_Board_CONTROL_PIN_Set (void)
	Set the control pin.
void	L6208_Board_CONTROL_PIN_Reset (void)
	Reset the control pin.
void	L6208_Board_Delay (uint32_t delay)
	Making the CPU wait.
void	L6208_Board_DIR_PIN_Reset (void)
	Reset the dir pin.
void	L6208_Board_DIR_PIN_Set (void)
	Set the dir pin.
void	L6208_Board_Disable (void)
	Disable the power bridges (leave the output bridges HiZ).
void	L6208_Board_DisableIrq (void)
	Disabling interrupts.
void	L6208_Board_Enable (void)
	Enable the power bridges (leave the output bridges HiZ).
void	L6208_Board_EnableIrq (void)
	Enabling interrupts.
void	L6208_Board_HALF_FULL_PIN_Reset (void)
	Reset the half full pin.
void	L6208_Board_HALF_FULL_PIN_Set (void)
	Set the half full pin.
void	L6208_Board_VrefPwmInit (uint8_t bridgeId, uint32_t pwmFreq)
	Initialising the the VREFA or VREFB PWM.
void	L6208_Board_ReleaseReset (void)
	Exit the device from reset mode.
void	L6208_Board_Reset (void)
	Put the device in reset mode.
uint32_t	L6208_Board_TickGetFreq (void)
	Get the tick timer frequency in Hz.
void	L6208_Board_TickInit (void)
	Initialising the tick.
void	L6208_Board_TickStart (uint16_t frequency)
	Starting the tick timer, setting its frequency and attaching a tick handler function to it.
void	L6208_Board_TickStop (void)
	Stopping the tick.
void	L6208_Board_VrefPwmSetPulseWidthA (uint8_t pulseWidthInUs)
	Set the pulse width of the VREFA PWM.
void	L6208_Board_VrefPwmSetPulseWidthB (uint8_t pulseWidthInUs)
	Set the pulse width of the VREFB PWM.
bool	L6208_Board_VrefPwmStart (uint8_t bridgeId, uint16_t pwmPeriod)
	Start the timer for the VREFA or VREFB PWM.
bool	L6208_Board_VrefPwmStop (uint8_t bridgeId)
	Stop the timer for the VREFA or VREFB PWM.
Protected Attributes
uint16_t	updatedMicroTable [L6208_USTEPS_PER_QUARTER_PERIOD+1]
	microstepping PWM period and torque scaled waveform samples array
uint16_t	microTable1 [L6208_USTEPS_PER_QUARTER_PERIOD *3+1]
	waveform scanning microstepping PWM period sample arrays for VREFA wave
uint16_t *	pMicroTable2
	waveform scanning microstepping PWM period sample array for VREFB wave
Static Protected Attributes
static const uint16_t	RefMicroTable [L6208_USTEPS_PER_QUARTER_PERIOD *3]
	RefMicroTable values are 2^L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE\|sin(n/16PI/2)\| where n is the index in the table.

Detailed Description

Class representing a L6208 component.

Definition at line 72 of file L6208.h.

Constructor & Destructor Documentation

L6208	(	PinName	flag_and_enable_pin,
		PinName	reset_pin,
		PinName	direction_pin,
		PinName	half_full_pin,
		PinName	control_pin,
		PinName	clock_pin,
		PinName	vrefA_pwm_pin,
		PinName	vrefB_pwm_pin
	)

Constructor.

Parameters:

flag_and_enable_pin	pin name of the EN pin of the component.
reset_pin	pin name of the RESET pin of the component.
direction_pin	pin name of the CW_CCW pin of the component.
half_full_pin	pin name of the HALF_FULL pin of the component.
control_pin	pin name of the CONTROL pin of the component.
clock_pin	pin name of the CLOCK pin of the component.
vrefA_pwm_pin	pin name of the PWM connected to the VREFA pin of the component.
vrefB_pwm_pin	pin name of the PWM connected to the VREFB pin of the component.

Definition at line 88 of file L6208.h.

virtual ~L6208 ( void ) [virtual]

Destructor.

Definition at line 121 of file L6208.h.

Member Function Documentation

virtual void attach_error_handler ( void(*)(uint16_t error) fptr ) [virtual]

Public functions NOT inherited.

Attaching an error handler.

Parameters:

fptr	An error handler.

Return values:

None.

Definition at line 497 of file L6208.h.

void attach_flag_irq ( void(*)(void) fptr )

Attaching an interrupt handler to the FLAG interrupt.

Parameters:

fptr	An interrupt handler.

Return values:

None.

Definition at line 710 of file L6208.h.

virtual unsigned int check_status_hw ( void ) [virtual]

Checks if the device is disabled or/and has an alarm flag set by reading the EN pin position.

Parameters:

None.

Return values:

One	if the EN pin is low (the device is disabled or/and has an alarm flag set), otherwise zero.

Definition at line 509 of file L6208.h.

virtual void disable ( void ) [virtual]

Disabling the device.

Parameters:

None.

Return values:

None.

Definition at line 526 of file L6208.h.

virtual void enable ( void ) [virtual]

Enabling the device.

Parameters:

None.

Return values:

None.

Definition at line 536 of file L6208.h.

void enable_flag_irq ( void )

Enabling the FLAG interrupt handling.

Parameters:

None.

Return values:

None.

Definition at line 721 of file L6208.h.

virtual unsigned int get_acceleration ( void ) [virtual]

Getting the acceleration in pps^2.

Parameters:

None.

Return values:

The	acceleration in pps^2.

Definition at line 240 of file L6208.h.

virtual motorDecayMode_t get_decay_mode ( ) [virtual]

Getting the motor decay mode.

Parameters:

None.

Return values:

The	motor decay mode.

Definition at line 546 of file L6208.h.

virtual unsigned int get_deceleration ( void ) [virtual]

Getting the deceleration in pps^2.

Parameters:

None.

Return values:

The	deceleration in pps^2.

Definition at line 250 of file L6208.h.

virtual direction_t get_direction ( void ) [virtual]

Getting the direction of rotation.

Parameters:

None.

Return values:

The	direction of rotation.

Definition at line 260 of file L6208.h.

virtual uint32_t get_freq_vref_pwm ( void ) [virtual]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 556 of file L6208.h.

virtual unsigned int get_fw_version ( void ) [virtual]

Getting the version of the firmware.

Parameters:

None.

Return values:

The	version of the firmware.

Definition at line 566 of file L6208.h.

virtual signed int get_mark ( void ) [virtual]

Getting the marked position.

Parameters:

None.

Return values:

The	marked position.

Definition at line 200 of file L6208.h.

virtual unsigned int get_max_speed ( void ) [virtual]

Getting the maximum speed in pps.

Parameters:

None.

Return values:

The	maximum speed in pps.

Definition at line 220 of file L6208.h.

virtual unsigned int get_min_speed ( void ) [virtual]

Getting the minimum speed in pps.

Parameters:

None.

Return values:

The	minimum speed in pps.

Definition at line 230 of file L6208.h.

virtual signed int get_position ( void ) [virtual]

Getting the position.

Parameters:

None.

Return values:

The position.

Definition at line 190 of file L6208.h.

virtual unsigned int get_speed ( void ) [virtual]

Getting the current speed in pps.

Parameters:

None.

Return values:

The	current speed in pps.

Definition at line 210 of file L6208.h.

virtual unsigned int get_status ( void ) [virtual]

Public functions inherited from the StepperMotor Class.

Getting the value of the motor state .

Parameters:

None.

Return values:

The	motor state accoring to motorState_t in motor.h

Definition at line 180 of file L6208.h.

virtual step_mode_t get_step_mode ( void ) [virtual]

Getting the motor step mode.

Parameters:

None.

Return values:

The	motor step mode.

Definition at line 576 of file L6208.h.

virtual motorStopMode_t get_stop_mode ( void ) [virtual]

Getting the motor stop mode.

Parameters:

None.

Return values:

The	motor stop mode.

Definition at line 586 of file L6208.h.

virtual void go_home ( void ) [virtual]

Going to the home position.

Parameters:

None.

Return values:

None.

Definition at line 392 of file L6208.h.

virtual void go_mark ( void ) [virtual]

Going to the marked position.

Parameters:

None.

Return values:

None.

Definition at line 402 of file L6208.h.

virtual void go_to ( signed int position ) [virtual]

Going to a specified position.

Parameters:

position The desired position.

Return values:

None.

Definition at line 382 of file L6208.h.

virtual void go_to	(	direction_t	direction,
		signed int	position
	)		`[virtual]`

Going to a specified position with a specificied direction.

Parameters:

direction	The desired direction.
position	The desired position.

Return values:

None.

Definition at line 597 of file L6208.h.

virtual void hard_hiz ( void ) [virtual]

Disabling the power bridge immediately.

Parameters:

None.

Return values:

None.

Definition at line 473 of file L6208.h.

virtual void hard_stop ( void ) [virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:

None.

Return values:

None.

Definition at line 443 of file L6208.h.

virtual int init ( void * init = NULL ) [virtual]

Public functions inherited from the Component Class.

Initialize the component.

Parameters:

init	Pointer to device specific initalization structure.

Return values:

0	in case of success, an error code otherwise.

Definition at line 156 of file L6208.h.

void L6208_Board_CLOCK_PIN_Reset ( void ) [protected]

Reset the clock pin.

Parameters:

None.

Return values:

None.

Definition at line 830 of file L6208.h.

void L6208_Board_CLOCK_PIN_Set ( void ) [protected]

Set the clock pin.

Parameters:

None.

Return values:

None.

Definition at line 839 of file L6208.h.

void L6208_Board_CONTROL_PIN_Reset ( void ) [protected]

Reset the control pin.

Parameters:

None.

Return values:

None.

Definition at line 859 of file L6208.h.

void L6208_Board_CONTROL_PIN_Set ( void ) [protected]

Set the control pin.

Parameters:

None.

Return values:

None.

Definition at line 849 of file L6208.h.

void L6208_Board_Delay ( uint32_t delay ) [protected]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 869 of file L6208.h.

void L6208_Board_DIR_PIN_Reset ( void ) [protected]

Reset the dir pin.

Parameters:

None.

Return values:

None.

Definition at line 879 of file L6208.h.

void L6208_Board_DIR_PIN_Set ( void ) [protected]

Set the dir pin.

Parameters:

None.

Return values:

None.

Definition at line 889 of file L6208.h.

void L6208_Board_Disable ( void ) [protected]

Disable the power bridges (leave the output bridges HiZ).

Parameters:

None.

Return values:

None.

Definition at line 899 of file L6208.h.

void L6208_Board_DisableIrq ( void ) [protected]

Disabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 910 of file L6208.h.

void L6208_Board_Enable ( void ) [protected]

Enable the power bridges (leave the output bridges HiZ).

Parameters:

None.

Return values:

None.

Definition at line 920 of file L6208.h.

void L6208_Board_EnableIrq ( void ) [protected]

Enabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 931 of file L6208.h.

void L6208_Board_HALF_FULL_PIN_Reset ( void ) [protected]

Reset the half full pin.

Parameters:

None.

Return values:

None.

Definition at line 941 of file L6208.h.

void L6208_Board_HALF_FULL_PIN_Set ( void ) [protected]

Set the half full pin.

Parameters:

None.

Return values:

None.

Definition at line 951 of file L6208.h.

void L6208_Board_ReleaseReset ( void ) [protected]

Exit the device from reset mode.

Parameters:

None.

Return values:

None.

Definition at line 968 of file L6208.h.

void L6208_Board_Reset ( void ) [protected]

Put the device in reset mode.

Parameters:

None.

Return values:

None.

Definition at line 978 of file L6208.h.

uint32_t L6208_Board_TickGetFreq ( void ) [protected]

Get the tick timer frequency in Hz.

Parameters:

None.

Return values:

The	tick timer frequency in Hz.

Definition at line 988 of file L6208.h.

void L6208_Board_TickInit ( void ) [protected]

Initialising the tick.

Parameters:

None.

Return values:

None.

Definition at line 998 of file L6208.h.

void L6208_Board_TickStart ( uint16_t frequency ) [protected]

Starting the tick timer, setting its frequency and attaching a tick handler function to it.

Parameters:

frequency the frequency of the tick.

Return values:

None.

Definition at line 1006 of file L6208.h.

void L6208_Board_TickStop ( void ) [protected]

Stopping the tick.

Parameters:

None.

Return values:

None.

Definition at line 1021 of file L6208.h.

void L6208_Board_VrefPwmInit	(	uint8_t	bridgeId,
		uint32_t	pwmFreq
	)		`[protected]`

Initialising the the VREFA or VREFB PWM.

Parameters:

None.

Return values:

None.

Definition at line 961 of file L6208.h.

void L6208_Board_VrefPwmSetPulseWidthA ( uint8_t pulseWidthInUs ) [protected]

Set the pulse width of the VREFA PWM.

Parameters:

[in] pulseWidthInUs pulse width of the PWM in microsecond.

Return values:

None.

Definition at line 1031 of file L6208.h.

void L6208_Board_VrefPwmSetPulseWidthB ( uint8_t pulseWidthInUs ) [protected]

Set the pulse width of the VREFB PWM.

Parameters:

[in] pulseWidthInUs pulse width of the PWM in microsecond.

Return values:

None.

Definition at line 1041 of file L6208.h.

bool L6208_Board_VrefPwmStart	(	uint8_t	bridgeId,
		uint16_t	pwmPeriod
	)		`[protected]`

Start the timer for the VREFA or VREFB PWM.

Parameters:

[in]	bridgeId	0 for BRIDGE_A 1 for BRIDGE_B
[in]	pwmPeriod	period of the PWM used to generate the reference voltage for the bridge.

Return values:

true	in case of success, "false" otherwise.

Note:: the unit is 1/256th of a microsecond. The VREFA PWM must be started before the VREFB PWM.

Definition at line 1057 of file L6208.h.

bool L6208_Board_VrefPwmStop ( uint8_t bridgeId ) [protected]

Stop the timer for the VREFA or VREFB PWM.

Parameters:

[in] bridgeId 0 for BRIDGE_A 1 for BRIDGE_B

Return values:

true	in case of success, "false" otherwise.

Definition at line 1083 of file L6208.h.

void L6208_ClearSysFlag ( uint32_t mask ) [protected]

Clear the bit/s of flags according to the specified mask.

Parameters:

[in] mask flag bit mask

Return values:

None

Definition at line 1237 of file L6208.cpp.

uint32_t L6208_ComputeNbAccOrDecSteps ( uint16_t accOrDecRate ) [protected]

Compute the number of steps at the end of the accereration/deceleration phase P = position in steps at the end of the acceleration/deceleration phase T = acceleration/deceleration time in seconds A = acceleration/deceleration rate in steps per second per second (steps/sec^2) V = peak velocity during acceleration/deceleration phase V1 = average velocity during acceleration/deceleration phase T = V/A V1 = V/2 P = V1*T P = V^2/2A.

Parameters:

accOrDecRate acceleration/deceleration rate in steps per second per second (steps/sec^2)

Return values:

end	position or 0xFFFFFFFF on error

Definition at line 1256 of file L6208.cpp.

uint16_t L6208_ConvertAcceDecelRateValue ( uint16_t newAccOrDecRate ) [protected]

Compute the acceleration/deceleration speed increment value.

Parameters:

[in] newAccOrDecRate acceleration or deceleration value (steps/s^2) greater or equal than 24

Return values:

the	speed (step/tick) increment value LSB = 2^-24 step/tick^2 or 2^-20 microstep/tick^2

Note:: return 0 if the rate is too low or if the tick frequency is too small or if the device is running in position mode

Definition at line 1306 of file L6208.cpp.

void L6208_Disable ( void ) [protected]

Disable the power bridges (leave the output bridges HiZ)

Return values:

None

Definition at line 142 of file L6208.cpp.

void L6208_DoAccel ( void ) [protected]

Compute next position and speed according to the acceleration rate.

Return values:

None

Definition at line 1336 of file L6208.cpp.

void L6208_DoDecel ( void ) [protected]

Compute next position and speed according to the deceleration rate.

Return values:

None

Definition at line 1357 of file L6208.cpp.

void L6208_DoRun ( void ) [protected]

Compute next position by adding current speed.

Return values:

None

Definition at line 1379 of file L6208.cpp.

void L6208_Enable ( void ) [protected]

Enable the power bridges.

Return values:

None

Definition at line 172 of file L6208.cpp.

void L6208_ErrorHandler ( uint16_t error ) [protected]

Error handler which calls the user callback (if defined)

Parameters:

[in] error Number of the error

Return values:

None

Definition at line 153 of file L6208.cpp.

motorDecayMode_t L6208_get_decay_mode ( void ) [protected]

Get the motor decay mode.

Return values:

decay mode

Definition at line 217 of file L6208.cpp.

uint16_t L6208_GetAcceleration ( void ) [protected]

Get the stepper acceleration rate in step/s^2 for full, half and wave modes in microsteps/s^2 for microstep modes.

Return values:

the	stepper acceleration rate in step/s^2 or microstep/s^2

Note:

Definition at line 185 of file L6208.cpp.

uint16_t L6208_GetCurrentSpeed ( void ) [protected]

Get the current speed in step/s for full, half and wave modes in microsteps/s for microstep modes.

Return values:

return the current speed in step/s or microstep/s

Note:

Definition at line 197 of file L6208.cpp.

uint16_t L6208_GetDeceleration ( void ) [protected]

Get the stepper deceleration rate in step/s^2 for full, half and wave modes in microsteps/s^2 for microstep modes.

Return values:

the	stepper deceleration rate in step/s^2 or microstep/s^2

Note:

Definition at line 236 of file L6208.cpp.

motorDir_t L6208_GetDirection ( void ) [protected]

Get the motor current direction.

Return values:

direction

Definition at line 245 of file L6208.cpp.

uint32_t L6208_GetFwVersion ( void ) [protected]

Return the FW version.

Return values:

FW version

Definition at line 261 of file L6208.cpp.

int32_t L6208_GetMark ( void ) [protected]

Get the mark position (32b signed)

Return values:

mark position

Definition at line 270 of file L6208.cpp.

uint16_t L6208_GetMaxSpeed ( void ) [protected]

Get the max speed in step/s for full, half and wave modes in microsteps/s for microstep modes.

Return values:

return the max speed in step/s or microstep/s

Note:

Definition at line 282 of file L6208.cpp.

uint8_t L6208_GetMicrostepSample2Scale ( void ) [protected]

Get number of samples to rescale.

Return values:

uStepsample2scale the number of micro stepping waveform samples to rescale

Definition at line 1388 of file L6208.cpp.

uint16_t L6208_GetMinSpeed ( void ) [protected]

Get the min speed in step/s for full, half and wave modes in microsteps/s for microstep modes.

Return values:

return the min speed in step/s or microstep/s

Note:

Definition at line 294 of file L6208.cpp.

motorState_t L6208_GetMotionState ( void ) [protected]

Get the stepper state machine index.

Return values:

one	of the stepper state machine index in the motorState_t enum

Definition at line 303 of file L6208.cpp.

int32_t L6208_GetPosition ( void ) [protected]

Get the current position (32b signed)

Return values:

current absoulte position

Definition at line 313 of file L6208.cpp.

motorStepMode_t L6208_GetStepMode ( void ) [protected]

Get the motor step mode.

Return values:

step mode

Definition at line 322 of file L6208.cpp.

motorStopMode_t L6208_GetStopMode ( void ) [protected]

Get the selected stop mode.

Return values:

the	selected stop mode

Definition at line 331 of file L6208.cpp.

void L6208_GoHome ( void ) [protected]

Go to the home position.

Return values:

None

Definition at line 347 of file L6208.cpp.

void L6208_GoMark ( void ) [protected]

Go to the Mark position.

Return values:

None

Definition at line 356 of file L6208.cpp.

void L6208_GoTo ( int32_t abs_pos ) [protected]

move the motor to the absolute position using the shortest path

Parameters:

[in] abs_pos 32 bit signed value position

Return values:

None

Note:: The position is at the resolution corresponding to the selected step mode. STEP_MODE_FULL or STEP_MODE_WAVE : step STEP_MODE_HALF : 1/2 step STEP_MODE_1_4 : 1/4 step STEP_MODE_1_8 : 1/8 step STEP_MODE_1_16 : 1/16 step

Definition at line 373 of file L6208.cpp.

void L6208_GoToDir	(	motorDir_t	direction,
		int32_t	abs_pos
	)		`[protected]`

move the motor to the absolute position

Parameters:

[in]	direction	FORWARD or BACKWARD
[in]	abs_pos	32 bit signed value position

Return values:

None

Note:: The position is at the resolution corresponding to the selected step mode. STEP_MODE_FULL or STEP_MODE_WAVE : step STEP_MODE_HALF : 1/2 step STEP_MODE_1_4 : 1/4 step STEP_MODE_1_8 : 1/8 step STEP_MODE_1_16 : 1/16 step

Definition at line 421 of file L6208.cpp.

void L6208_HardHiZ ( void ) [protected]

Immediately stop the motor and disables the power bridges.

Return values:

None

Definition at line 459 of file L6208.cpp.

void L6208_HardStop ( void ) [protected]

Immediately stop the motor and keeps holding torque.

Return values:

None

Definition at line 482 of file L6208.cpp.

void L6208_Indexmodeinit ( void ) [protected]

Initialize the system for position mode motor moving command P = total move distance in steps P1 = steps required to accel from 0 to V P2 = steps required to decel from V to 0 V = peak velocity in steps per second (steps/sec) V1 = average velocity during accel or decel* A = required accel rate in steps per second per second (steps/sec2) D = required decel rate in steps per second per second (steps/sec2) T1 = acceleration time in seconds T2 = deceleration time in seconds*.

1) T1 = V / A 2) V1 = V / 2 3) P1 = V1 T1 Substituting 1 and 2 into 3 yields: 4) P1 = V2 / 2A In the same manner we have: 5) P2 = V2 / 2D

P1 = PD/(D+A)

See also:: Application Note: AN2044

Return values:

None

Definition at line 1418 of file L6208.cpp.

status_t L6208_Init ( void * pInit ) [protected]

Start the L6208 library.

Parameters:

[in] pInit pointer to the initialization data

Return values:

COMPONENT_OK in case of success.

Definition at line 82 of file L6208.cpp.

bool L6208_IsSysFlag ( uint32_t mask ) [protected]

Check the bit/s of flags according to the specified mask.

Parameters:

[in] mask flag bit mask

Return values:

TRUE	if the bit of the mask are set

Definition at line 1462 of file L6208.cpp.

void L6208_Move	(	motorDir_t	direction,
		uint32_t	stepCount
	)		`[protected]`

move the motor by the specified number of steps in the specified direction

Parameters:

[in]	direction	FORWARD or BACKWARD
[in]	stepCount	32 bit unsigned step count

Return values:

None

Note:: The step count resolution is corresponding to the selected step mode. STEP_MODE_FULL or STEP_MODE_WAVE : step STEP_MODE_HALF : 1/2 step STEP_MODE_1_4 : 1/4 step STEP_MODE_1_8 : 1/8 step STEP_MODE_1_16 : 1/16 step

Definition at line 509 of file L6208.cpp.

void L6208_ReleaseReset ( void ) [protected]

Release the L6208 reset (Reset pin set to high level)

Return values:

None

Definition at line 536 of file L6208.cpp.

void L6208_Reset ( void ) [protected]

Reset the L6208 (Reset pin set to low level)

Return values:

None

Definition at line 545 of file L6208.cpp.

void L6208_ResetDevice ( void ) [protected]

Call L6208_SetStepMode with current step mode, the L6208_SetStepMode function along with setting the step mode resets the L6208 device.

Return values:

None

Definition at line 557 of file L6208.cpp.

void L6208_ResetSteps ( void ) [protected]

Stepper driver device step state reset subroutine.

Return values:

None

Definition at line 1471 of file L6208.cpp.

void L6208_Run ( motorDir_t direction ) [protected]

run the motor in the specified direction according to the speed profile defined by the minimum speed, maximum speed, and acceleration parameters.

The device accelerates from the minimum speed up to the maximum speed by using the device acceleration.

Parameters:

[in] direction FORWARD or BACKWARD

Return values:

None

Definition at line 571 of file L6208.cpp.

uint32_t L6208_ScaleWaveformSample ( uint8_t sampleIndex ) [protected]

Compute the specified micro stepping waveform sample with the current selected torque and pwm period.

Parameters:

[in] sampleIndex sample Index

Return values:

scaled sample value

Definition at line 1489 of file L6208.cpp.

void L6208_ScaleWaveformTable ( void ) [protected]

Compute the micro stepping waveform sample table samples with the current selected torque and pwm period.

Return values:

None

Definition at line 1508 of file L6208.cpp.

bool L6208_SetAcceleration ( uint16_t newAcc ) [protected]

Set the stepper acceleration rate in step/s^2 and step/tick^2 for full, half and wave modes in microsteps/s^2 and microsteps/tick^2 for microstep modes.

Parameters:

[in] newAcc new acceleration rate in step/s^2 or microstep/s^2

Return values:

TRUE

Note:

Definition at line 594 of file L6208.cpp.

void L6208_SetDecayMode ( motorDecayMode_t decayMode ) [protected]

Select the motor decay mode.

Parameters:

[in] decayMode (SLOW_DECAY or FAST_DECAY)

Return values:

None

Definition at line 614 of file L6208.cpp.

bool L6208_SetDeceleration ( uint16_t newDec ) [protected]

Set the stepper deceleration rate in step/s^2 and step/tick^2 for full, half and wave modes in microsteps/s^2 and microsteps/tick^2 for microstep modes.

Parameters:

[in] newDec new deceleration rate in step/s^2 or microstep/s^2

Return values:

TRUE

Note:

Definition at line 636 of file L6208.cpp.

void L6208_SetDeviceParamsToGivenValues ( l6208_init_t * pInitDevicePrm ) [protected]

Set the parameters of the device to values of the structure pointed by pInitDevicePrm.

Set GPIO according to these values.

Parameters:

pInitDevicePrm pointer onto the structure containing values to initialize the device parameters.

Return values:

None

Definition at line 1525 of file L6208.cpp.

void L6208_SetDeviceParamsToPredefinedValues ( void ) [protected]

Set the parameters of the device to predefined values Set GPIO according to these values from l6208_target_config.h.

Return values:

None

Definition at line 1557 of file L6208.cpp.

void L6208_SetDirection ( motorDir_t dir ) [protected]

Specify the direction.

Parameters:

[in] dir FORWARD or BACKWARD

Note:: In velocity mode a direction change forces the device to stop and then run in the new direction. In position mode, if the device is running, a direction change will generate an error.

Return values:

None

Definition at line 659 of file L6208.cpp.

void L6208_SetHome ( void ) [protected]

Set current position to be the home position.

Return values:

None

Definition at line 721 of file L6208.cpp.

void L6208_SetMark ( void ) [protected]

Set current position to be the mark position.

Return values:

None

Definition at line 737 of file L6208.cpp.

bool L6208_SetMaxSpeed ( uint16_t volatile newSpeed ) [protected]

Set the user selected maximum speed in step/s and step/tick for full, half and wave modes in microsteps/s and microsteps/tick for microstep modes.

Parameters:

[in] newSpeed speed value (step/s or microstep/s)

Return values:

TRUE

Note:: One microstep is 1/16 step

Definition at line 750 of file L6208.cpp.

void L6208_SetMicrostepSample2Scale ( uint8_t value ) [protected]

Set the number of micro stepping waveform samples to rescale.

Parameters:

[in] value number of micro stepping waveform samples

Return values:

None

Definition at line 1588 of file L6208.cpp.

void L6208_SetMicrostepSample2Update ( uint8_t value ) [protected]

Set the number of micro stepping waveform samples to update into scanning.

Parameters:

[in] value number of micro stepping waveform samples

Return values:

None

Definition at line 1602 of file L6208.cpp.

bool L6208_SetMinSpeed ( uint16_t volatile newSpeed ) [protected]

Set the user selected minimum speed in step/s and step/tick for full, half and wave modes in microsteps/s and microsteps/tick for microstep modes.

Parameters:

[in] newSpeed speed value (step/s or microstep/s)

Return values:

TRUE

Note:: One microstep is 1/16 step

Definition at line 771 of file L6208.cpp.

void L6208_SetMotionState ( motorState_t newMotionState ) [protected]

Set the stepper state machine index.

Parameters:

[in] newMotionState

Return values:

None

Definition at line 1618 of file L6208.cpp.

bool L6208_SetSpeed	(	uint16_t	newSpeed,
		uint32_t volatile *	pSpeed
	)		`[protected]`

Set the user selected speed in step/tick.

Parameters:

[in]	newSpeed	speed value (step/s)
[in]	pSpeed	pointer to the selected speed field

Return values:

return FALSE if the speed is too low or too high or if the device is running in position mode, else TRUE

Definition at line 1631 of file L6208.cpp.

bool L6208_SetStepMode ( motorStepMode_t stepMode ) [protected]

Set the step mode.

Parameters:

[in] stepMode

Return values:

true	if the command is successfully executed, else false

Note:: Every time the step mode is changed, the step state machine is reset

Definition at line 790 of file L6208.cpp.

void L6208_SetStopMode ( motorStopMode_t stopMode ) [protected]

Select the mode to stop the motor.

When the motor is stopped, if autoHiZ is TRUE, the power bridges are disabled if autoHiZ is FALSE, the power bridges are kept enabled.

Parameters:

[in] stopMode HOLD_MODE to let power bridge enabled

Return values:

None

Definition at line 865 of file L6208.cpp.

void L6208_SetSysFlag ( uint32_t mask ) [protected]

Set the bit/s of flags according to the specified mask.

Parameters:

[in] mask flag bit mask

Return values:

None

Definition at line 1661 of file L6208.cpp.

bool L6208_SoftStop ( void ) [protected]

Stop the motor by using the device deceleration and set deceleration torque.

Return values:

true	if the command is successfully executed, else false

Note:: .

Definition at line 882 of file L6208.cpp.

bool L6208_StartMovement ( void ) [protected]

Stepper motor start command.

Return values:

true	on correct command execution

Definition at line 1670 of file L6208.cpp.

void L6208_TickHandler ( void ) [protected]

Handle the device state machine at each tick timer pulse end.

Return values:

None

Definition at line 893 of file L6208.cpp.

void L6208_UpdateScanWaveformTable ( void ) [protected]

Update the micro stepping waveform samples table with the values previously scaled with current selected torque and tick period.

Return values:

None

Definition at line 1739 of file L6208.cpp.

void L6208_UstepWaveformHandling ( void ) [protected]

Check if there are waveform samples to rescale and if so, perform the rescaling.

Return values:

None

Definition at line 1757 of file L6208.cpp.

bool L6208_VectorCalc ( uint8_t newTorque ) [protected]

Set the current torque value (Vref)

Parameters:

[in] newTorque Selected torque value

Return values:

always TRUE

Definition at line 1779 of file L6208.cpp.

bool L6208_VrefPwmComputePulseWidth	(	uint8_t	bridgeId,
		uint16_t	value,
		bool	valueIsPwmDutyCycle
	)		`[protected]`

Compute the pulse width of VREFA or VREFB PWM.

Parameters:

[in]	bridgeId	0 for BRIDGE_A 1 for BRIDGE_B
[in]	value	pulse length in 1/256th of microsecond or PWM duty cycle: 0 - 100 %
[in]	valueIsPwmDutyCycle	must be TRUE if value is a PWM duty cycle

Return values:

FALSE if wrong timer handle is used, else TRUE

Definition at line 1826 of file L6208.cpp.

uint32_t L6208_VrefPwmGetFreq ( void ) [protected]

Get the frequency of VREFA and VREFB PWM.

Return values:

the	frequency of VREFA and VREFB PWM in Hz

Note:

Definition at line 1189 of file L6208.cpp.

void L6208_VrefPwmSetFreq ( uint32_t newFreq ) [protected]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

[in] newFreq in Hz

Return values:

None

Note:

Definition at line 1200 of file L6208.cpp.

void L6208_VrefPwmUpdatePulseWidth ( void ) [protected]

Update the pulse width of VREFA or VREFB PWM.

Parameters:

None

Return values:

None

Definition at line 1858 of file L6208.cpp.

void L6208_WaitWhileActive ( void ) [protected]

Lock while motor is running.

Return values:

None

Definition at line 1223 of file L6208.cpp.

virtual void move	(	direction_t	direction,
		unsigned int	steps
	)		`[virtual]`

Moving the motor towards a specified direction for a certain number of steps.

Parameters:

direction	The direction of rotation.
steps	The desired number of steps.

Return values:

None.

Definition at line 423 of file L6208.h.

virtual int read_id ( uint8_t * id = NULL ) [virtual]

Getting the ID of the component.

Parameters:

id	Pointer to an allocated variable to store the ID into.

Return values:

0	in case of success, an error code otherwise.

Definition at line 166 of file L6208.h.

virtual void release_reset ( void ) [virtual]

Release the L6208 reset (Reset pin set to high level).

Parameters:

None.

Return values:

None.

Definition at line 607 of file L6208.h.

virtual void reset ( void ) [virtual]

Reset the device with current step mode, resets current speed, positions and microstep variables.

Parameters:

None.

Return values:

None.

Definition at line 618 of file L6208.h.

virtual void reset_device ( void ) [virtual]

Reset the L6208 (Reset pin set to low level).

Parameters:

None.

Return values:

None.

Definition at line 628 of file L6208.h.

virtual void run ( direction_t direction ) [virtual]

Running the motor towards a specified direction.

Parameters:

direction The direction of rotation.

Return values:

None.

Definition at line 412 of file L6208.h.

virtual bool set_acceleration ( unsigned int acceleration ) [virtual]

Setting the acceleration in pps^2.

Parameters:

acceleration The acceleration in pps/s^2.

Return values:

true	in case of success, "false" otherwise.

Definition at line 331 of file L6208.h.

virtual void set_decay_mode ( motorDecayMode_t decayMode ) [virtual]

Set the motor decay mode.

Parameters:

decayMode The desired decay mode (SLOW_DECAY or FAST_DECAY).

Return values:

None.

Definition at line 638 of file L6208.h.

virtual bool set_deceleration ( unsigned int deceleration ) [virtual]

Setting the deceleration in pps^2.

Parameters:

deceleration The deceleration in pps^2.

Return values:

true	in case of success, "false" otherwise.

Definition at line 348 of file L6208.h.

virtual void set_direction ( direction_t direction ) [virtual]

Set the motor direction.

Parameters:

direction The desired direction.

Return values:

None.

Definition at line 648 of file L6208.h.

virtual void set_freq_vref_pwm ( uint32_t frequency ) [virtual]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 658 of file L6208.h.

virtual void set_home ( void ) [virtual]

Setting the current position to be the home position.

Parameters:

None.

Return values:

None.

Definition at line 277 of file L6208.h.

virtual void set_mark ( void ) [virtual]

Setting the current position to be the marked position.

Parameters:

None.

Return values:

None.

Definition at line 287 of file L6208.h.

virtual bool set_max_speed ( unsigned int speed ) [virtual]

Setting the maximum speed in pps.

Parameters:

speed The maximum speed in pps.

Return values:

true	in case of success, "false" otherwise.

Definition at line 297 of file L6208.h.

virtual bool set_min_speed ( unsigned int speed ) [virtual]

Setting the minimum speed in pps.

Parameters:

speed The minimum speed in pps.

Return values:

true	in case of success, "false" otherwise.

Definition at line 314 of file L6208.h.

virtual bool set_step_mode ( step_mode_t step_mode ) [virtual]

Setting the Step Mode.

Parameters:

step_mode The Step Mode.

Return values:

true	in case of success, "false" otherwise.

Note:: step_mode can be one of the following: + STEP_MODE_FULL + STEP_MODE_WAVE + STEP_MODE_HALF + STEP_MODE_1_4 + STEP_MODE_1_8 + STEP_MODE_1_16

Definition at line 372 of file L6208.h.

virtual void set_stop_mode ( motorStopMode_t stopMode ) [virtual]

Set the motor stop mode.

Parameters:

stopMode The desired stop mode (HOLD_MODE or HIZ_MODE).

Return values:

None.

Definition at line 668 of file L6208.h.

virtual void soft_hiz ( void ) [virtual]

Disabling the power bridge after performing a deceleration to zero.

Parameters:

None.

Return values:

None.

Definition at line 453 of file L6208.h.

virtual void soft_stop ( void ) [virtual]

Stopping the motor through an immediate deceleration up to zero speed.

Parameters:

None.

Return values:

None.

Definition at line 433 of file L6208.h.

virtual void wait_while_active ( void ) [virtual]

Waiting while the motor is active.

Parameters:

None.

Return values:

None.

Definition at line 483 of file L6208.h.

Field Documentation

uint16_t microTable1[L6208_USTEPS_PER_QUARTER_PERIOD *3+1] [protected]

waveform scanning microstepping PWM period sample arrays for VREFA wave

Definition at line 1179 of file L6208.h.

uint16_t* pMicroTable2 [protected]

waveform scanning microstepping PWM period sample array for VREFB wave

Definition at line 1181 of file L6208.h.

const uint16_t RefMicroTable [static, protected]

Initial value:

{
  0,3212,6393,9512,12540,15447,18205,20788,23170,25330,27246,28899,30274,31357,32138,32610,
  32768,32610,32138,31357,30274,28899,27246,25330,23170,20788,18205,15447,12540,9512,6393,3212,
  0,3212,6393,9512,12540,15447,18205,20788,23170,25330,27246,28899,30274,31357,32138,32610
}

RefMicroTable values are 2^L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE*|sin(n/16*PI/2)| where n is the index in the table.

Definition at line 1185 of file L6208.h.

uint16_t updatedMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD+1] [protected]

microstepping PWM period and torque scaled waveform samples array

Definition at line 1177 of file L6208.h.

Type:	Library
Created:	03 May 2016
Imports:	122
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L6208 Class Reference

Public Member Functions

Protected Member Functions

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Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

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Repository details

Components

Important Information for this Arm website

L6208 Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

Repository toolbox

Repository details

Components

Important Information for this Arm website

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