ST / X_NUCLEO_IHM04A1

Library used to control ST Nucleo Evaluation board IHM04A1, based on L6206 motor control driver.

Dependencies:   ST_INTERFACES

Dependents:   HelloWorld_IHM04A1 RoboCane_Motore arm_dcmotor_can arm_linear_can_2 ... more

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L6206 Private functions
Functions

L6206 Private functions
[L6206]

Functions

void L6206_AttachErrorHandler (void(*callback)(uint16_t error))
 Attaches a user callback to the error Handler.
void L6206_attach_flag_interrupt (void(*callback)(void))
 Attaches a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal alert)
void L6206_DisableBridge (uint8_t bridgeId)
 Disable the specified bridge.
void L6206_EnableBridge (uint8_t bridgeId)
 Enable the specified bridge.
status_t L6206_Init (void *init)
 Start the L6206 library.
uint32_t L6206_GetBridgeInputPwmFreq (uint8_t bridgeId)
 Get the PWM frequency of the specified bridge.
uint16_t L6206_GetCurrentSpeed (uint8_t motorId)
 Returns the current speed of the specified motor.
motorState_t L6206_get_device_state (uint8_t motorId)
 Returns the device state.
uint8_t L6206_GetFwVersion (void)
 Returns the FW version of the library.
uint16_t L6206_GetMaxSpeed (uint8_t motorId)
 Returns the max speed of the specified motor.
uint16_t L6206_GetBridgeStatus (uint8_t deviceId)
 Get the status of the bridge enabling of the corresponding bridge.
void L6206_HardHiz (uint8_t motorId)
 Immediatly stops the motor and disable the power bridge.
void L6206_HardStop (uint8_t motorId)
 Stops the motor without disabling the bridge.
status_t L6206_ReadId (uint8_t *id)
 Read id.
void L6206_Run (uint8_t motorId, motorDir_t direction)
 Runs the motor.
void L6206_SetDualFullBridgeConfig (uint8_t newConfig)
 Set dual full bridge parallelling configuration.
bool L6206_SetMaxSpeed (uint8_t motorId, uint16_t newMaxSpeed)
 Changes the max speed of the specified device.
void L6206_SetBridgeInputPwmFreq (uint8_t bridgeId, uint32_t newFreq)
 Changes the PWM frequency of the bridge input.
bool L6206_SetNbDevices (uint8_t nbDevices)
 Sets the number of devices to be used.
void L6206_ErrorHandler (uint16_t error)
 Error handler which calls the user callback (if defined)
void L6206_FlagInterruptHandler (void)
 Handlers of the flag interrupt which calls the user callback (if defined)
uint8_t L6206_GetBridgeIdUsedByMotorId (uint8_t motorId)
 Get the bridges Id used by a given motor.
uint8_t L6206_GetMotorIdUsingbridgeInput (uint8_t bridgeInput)
 Get the motor Id which is using the specified bridge input.
uint8_t L6206_GetBridgeInputUsedByMotorId (uint8_t motorId)
 Get the PWM input used by a given motor.
uint8_t L6206_GetSecondBridgeInputUsedByMotorId (uint8_t motorId)
 Get the second PWM input used by a given bidirectionnal motor.
bool L6206_IsBidirectionnalMotor (uint8_t motorId)
 Test if motor is bidirectionnal.
void L6206_SetDeviceParamsToPredefinedValues (void)
 Sets the parameters of the device to predefined values from l6206_target_config.h.
void L6206_SetDeviceParamsToGivenValues (L6206_init_t *initDevicePrm)
 Set the parameters of the device to values of initDevicePrm structure Set GPIO according to these values.

Function Documentation

void L6206_attach_flag_interrupt ( void(*)(void)  callback ) [protected, inherited]

Attaches a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal alert)

Parameters:
[in]callbackName of the callback to attach to the Flag Interrupt
Return values:
None

Definition at line 117 of file L6206.cpp.

void L6206_AttachErrorHandler ( void(*)(uint16_t error)  callback ) [protected, inherited]

Attaches a user callback to the error Handler.

The call back will be then called each time the library detects an error

Parameters:
[in]callbackName of the callback to attach to the error Hanlder
Return values:
None

Definition at line 103 of file L6206.cpp.

void L6206_DisableBridge ( uint8_t  bridgeId ) [protected, inherited]

Disable the specified bridge.

Parameters:
[in]bridgeId(from 0 for bridge A to 1 for bridge B)
Return values:
None
Note:
When input of different brigdes are parallelized together, the disabling of one bridge leads to the disabling of the second one

Definition at line 130 of file L6206.cpp.

void L6206_EnableBridge ( uint8_t  bridgeId ) [protected, inherited]

Enable the specified bridge.

Parameters:
[in]bridgeId(from 0 for bridge A to 1 for bridge B)
Return values:
None
Note:
When input of different brigdes are parallelized together, the enabling of one bridge leads to the enabling of the second one

Definition at line 158 of file L6206.cpp.

void L6206_ErrorHandler ( uint16_t  error ) [protected, inherited]

Error handler which calls the user callback (if defined)

Parameters:
[in]errorNumber of the error
Return values:
None

Definition at line 669 of file L6206.cpp.

void L6206_FlagInterruptHandler ( void   ) [protected, inherited]

Handlers of the flag interrupt which calls the user callback (if defined)

Return values:
None

Definition at line 688 of file L6206.cpp.

motorState_t L6206_get_device_state ( uint8_t  motorId ) [protected, inherited]

Returns the device state.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
State(STEADY or INACTIVE)

Definition at line 249 of file L6206.cpp.

uint8_t L6206_GetBridgeIdUsedByMotorId ( uint8_t  motorId ) [protected, inherited]

Get the bridges Id used by a given motor.

Parameters:
motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
bridgeId0 for bridge A , 1 for bridge B

Definition at line 715 of file L6206.cpp.

uint32_t L6206_GetBridgeInputPwmFreq ( uint8_t  bridgeId ) [protected, inherited]

Get the PWM frequency of the specified bridge.

Parameters:
[in]bridgeId0 for bridge A, 1 for bridge B
Return values:
Freqin Hz

Definition at line 215 of file L6206.cpp.

uint8_t L6206_GetBridgeInputUsedByMotorId ( uint8_t  motorId ) [protected, inherited]

Get the PWM input used by a given motor.

Parameters:
motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
PWMinput 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B

Definition at line 868 of file L6206.cpp.

uint16_t L6206_GetBridgeStatus ( uint8_t  bridgeId ) [protected, inherited]

Get the status of the bridge enabling of the corresponding bridge.

Parameters:
[in]bridgeIdfrom 0 for bridge A to 1 for bridge B
Return values:
Stateof the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)

Definition at line 298 of file L6206.cpp.

uint16_t L6206_GetCurrentSpeed ( uint8_t  motorId ) [protected, inherited]

Returns the current speed of the specified motor.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
currentspeed in % from 0 to 100

Definition at line 225 of file L6206.cpp.

uint8_t L6206_GetFwVersion ( void   ) [protected, inherited]

Returns the FW version of the library.

Return values:
L6206_FW_VERSION

Definition at line 268 of file L6206.cpp.

uint16_t L6206_GetMaxSpeed ( uint8_t  motorId ) [protected, inherited]

Returns the max speed of the specified motor.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
maxSpeedin % from 0 to 100

Definition at line 278 of file L6206.cpp.

uint8_t L6206_GetMotorIdUsingbridgeInput ( uint8_t  bridgeInput ) [protected, inherited]

Get the motor Id which is using the specified bridge input.

Parameters:
bridgeInput0 for bridgeInput 1A, 1 for 2A, 2 for 1B, 3 for 3B
Return values:
bridgeId0 for bridge A , 1 for bridge B

Definition at line 764 of file L6206.cpp.

uint8_t L6206_GetSecondBridgeInputUsedByMotorId ( uint8_t  motorId ) [protected, inherited]

Get the second PWM input used by a given bidirectionnal motor.

Parameters:
motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
PWMinput 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B

Definition at line 1091 of file L6206.cpp.

void L6206_HardHiz ( uint8_t  motorId ) [protected, inherited]

Immediatly stops the motor and disable the power bridge.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
None
Note:
if two motors uses the same power bridge, the power bridge will be disable only if the two motors are stopped

Definition at line 313 of file L6206.cpp.

void L6206_HardStop ( uint8_t  motorId ) [protected, inherited]

Stops the motor without disabling the bridge.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
none

Definition at line 388 of file L6206.cpp.

status_t L6206_Init ( void *  init ) [protected, inherited]

Start the L6206 library.

Parameters:
[in]initpointer to the initialization data
Return values:
None

Definition at line 186 of file L6206.cpp.

bool L6206_IsBidirectionnalMotor ( uint8_t  motorId ) [protected, inherited]

Test if motor is bidirectionnal.

Parameters:
motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
Return values:
Trueif motor is bidirectionnal, else false

Definition at line 1213 of file L6206.cpp.

status_t L6206_ReadId ( uint8_t *  id ) [protected, inherited]

Read id.

Return values:
Idof the l6206 Driver Instance

Definition at line 422 of file L6206.cpp.

void L6206_Run ( uint8_t  motorId,
motorDir_t  direction 
) [protected, inherited]

Runs the motor.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
[in]directionFORWARD or BACKWARD
Return values:
None
Note:
For unidirectionnal motor, direction parameter has no effect

Definition at line 437 of file L6206.cpp.

void L6206_SetBridgeInputPwmFreq ( uint8_t  bridgeId,
uint32_t  newFreq 
) [protected, inherited]

Changes the PWM frequency of the bridge input.

Parameters:
[in]bridgeId0 for bridge A, 1 for bridge B
[in]newFreqin Hz
Return values:
None

Definition at line 603 of file L6206.cpp.

void L6206_SetDeviceParamsToGivenValues ( L6206_init_t *  initDevicePrm ) [protected, inherited]

Set the parameters of the device to values of initDevicePrm structure Set GPIO according to these values.

Parameters:
initDevicePrmstructure containing values to initialize the device parameters
Return values:
None

Definition at line 1291 of file L6206.cpp.

void L6206_SetDeviceParamsToPredefinedValues ( void   ) [protected, inherited]

Sets the parameters of the device to predefined values from l6206_target_config.h.

Return values:
None

Definition at line 1258 of file L6206.cpp.

void L6206_SetDualFullBridgeConfig ( uint8_t  newConfig ) [protected, inherited]

Set dual full bridge parallelling configuration.

Parameters:
[in]newConfigbridge configuration to apply from dualFullBridgeConfig_t enum
Return values:
None

Definition at line 494 of file L6206.cpp.

bool L6206_SetMaxSpeed ( uint8_t  motorId,
uint16_t  newMaxSpeed 
) [protected, inherited]

Changes the max speed of the specified device.

Parameters:
[in]motorIdfrom 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
[in]newMaxSpeedin % from 0 to 100
Return values:
trueif the command is successfully executed, else false

Definition at line 562 of file L6206.cpp.

bool L6206_SetNbDevices ( uint8_t  nbDevices ) [protected, inherited]

Sets the number of devices to be used.

Parameters:
[in]nbDevices(from 1 to MAX_NUMBER_OF_DEVICES)
Return values:
TRUEif successfull, FALSE if failure, attempt to set a number of devices greater than MAX_NUMBER_OF_DEVICES

Definition at line 651 of file L6206.cpp.

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