Class representing an L6474 component. More...

#include <l6474_class.h>

Public Types
enum	direction_t
	Rotation modes. More...
Public Member Functions
	L6474 (PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi)
	Constructor.
virtual	~L6474 (void)
	Destructor.
virtual int	Init (void *init=NULL)
	Initializing the component in 1/16 Microstepping mode.
virtual int	ReadID (uint8_t *id=NULL)
	Getting the ID of the component.
virtual unsigned int	GetStatus (void)
	Getting the value of the Status Register.
virtual float	GetParameter (unsigned int parameter)
	Getting a parameter.
virtual signed int	GetPosition (void)
	Getting the position.
virtual signed int	GetMark (void)
	Getting the marked position.
virtual unsigned int	GetSpeed (void)
	Getting the current speed in pps.
virtual unsigned int	GetMaxSpeed (void)
	Getting the maximum speed in pps.
virtual unsigned int	GetMinSpeed (void)
	Getting the minimum speed in pps.
virtual unsigned int	GetAcceleration (void)
	Getting the acceleration in pps^2.
virtual unsigned int	GetDeceleration (void)
	Getting the deceleration in pps^2.
virtual direction_t	GetDirection (void)
	Getting the direction of rotation.
virtual void	SetParameter (unsigned int parameter, float value)
	Setting a parameter.
virtual void	SetHome (void)
	Setting the current position to be the home position.
virtual void	SetMark (void)
	Setting the current position to be the marked position.
virtual void	SetMaxSpeed (unsigned int speed)
	Setting the maximum speed in pps.
virtual void	SetMinSpeed (unsigned int speed)
	Setting the minimum speed in pps.
virtual void	SetAcceleration (unsigned int acceleration)
	Setting the acceleration in pps^2.
virtual void	SetDeceleration (unsigned int deceleration)
	Setting the deceleration in pps^2.
virtual void	GoTo (signed int position)
	Going to a specified position.
virtual void	GoHome (void)
	Going to the home position.
virtual void	GoMark (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	SoftStop (void)
	Stopping the motor through an immediate deceleration up to zero speed.
virtual void	HardStop (void)
	Stopping the motor through an immediate infinite deceleration.
virtual void	SoftHiZ (void)
	Disabling the power bridge after performing a deceleration to zero.
virtual void	HardHiZ (void)
	Disabling the power bridge immediately.
virtual void	WaitWhileActive (void)
	Waiting while the motor is active.
virtual motorState_t	GetDeviceState (void)
	Getting the device state.
virtual uint16_t	ReadStatusRegister (void)
	Reading the Status Register.
virtual void	SetStepMode (motorStepMode_t step_mode)
	Setting the Step Mode.
virtual void	AttachErrorHandler (void(*fptr)(uint16_t error))
	Attaching an error handler.
virtual void	Enable (void)
	Enabling the device.
virtual void	Disable (void)
	Disabling the device.
virtual uint8_t	GetFwVersion (void)
	Getting the version of the firmware.
void	AttachFlagIRQ (void(*fptr)(void))
	Attaching an interrupt handler to the FLAG interrupt.
void	EnableFlagIRQ (void)
	Enabling the FLAG interrupt handling.
void	DisableFlagIRQ (void)
	Disabling the FLAG interrupt handling.
Protected Member Functions
Status_t	Read (uint8_t *pBuffer, uint16_t NumBytesToRead)
	Utility function to read data from L6474.
Status_t	Write (uint8_t *pBuffer, uint16_t NumBytesToWrite)
	Utility function to write data to L6474.
Status_t	ReadWrite (uint8_t pBufferToRead, uint8_t pBufferToWrite, uint16_t NumBytes)
	Utility function to read and write data from/to L6474 at the same time.
void	L6474_Delay (uint32_t delay)
	Making the CPU wait.
void	L6474_EnableIrq (void)
	Enabling interrupts.
void	L6474_DisableIrq (void)
	Disabling interrupts.
void	L6474_PwmInit (void)
	Initialising the PWM.
void	L6474_PwmSetFreq (uint16_t frequency)
	Setting the frequency of PWM.
void	L6474_PwmStop (void)
	Stopping the PWM.
void	L6474_ReleaseReset (void)
	Putting the device in standby mode.
void	L6474_Reset (void)
	Putting the device in reset mode.
void	L6474_SetDirectionGpio (uint8_t gpioState)
	Setting the direction of rotation.
uint8_t	L6474_SpiWriteBytes (uint8_t pByteToTransmit, uint8_t pReceivedByte)
	Writing and reading bytes to/from the component through the SPI at the same time.

Detailed Description

Class representing an L6474 component.

Definition at line 83 of file l6474_class.h.

Member Enumeration Documentation

enum direction_t [inherited]

Rotation modes.

Definition at line 61 of file StepperMotor_class.h.

Constructor & Destructor Documentation

L6474	(	PinName	flag_irq,
		PinName	standby_reset,
		PinName	direction,
		PinName	pwm,
		PinName	ssel,
		DevSPI &	spi
	)

Constructor.

Parameters:

flag_irq	pin name of the FLAG pin of the component.
standby_reset	pin name of the STBY pin of the component.
direction	pin name of the DIR pin of the component.
pwm	pin name of the PWM pin of the component.
ssel	pin name of the SSEL pin of the SPI device to be used for communication.
spi	SPI device to be used for communication.

Definition at line 98 of file l6474_class.h.

virtual ~L6474 ( void ) [virtual]

Destructor.

Definition at line 121 of file l6474_class.h.

Member Function Documentation

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

Attaching an error handler.

Parameters:

fptr	An error handler.

Return values:

None.

Definition at line 583 of file l6474_class.h.

void AttachFlagIRQ ( void(*)(void) fptr )

Attaching an interrupt handler to the FLAG interrupt.

Parameters:

fptr	An interrupt handler.

Return values:

None.

Definition at line 655 of file l6474_class.h.

virtual void Disable ( void ) [virtual]

Disabling the device.

Parameters:

None.

Return values:

None.

Definition at line 603 of file l6474_class.h.

void DisableFlagIRQ ( void )

Disabling the FLAG interrupt handling.

Parameters:

None.

Return values:

None.

Definition at line 675 of file l6474_class.h.

virtual void Enable ( void ) [virtual]

Enabling the device.

Parameters:

None.

Return values:

None.

Definition at line 593 of file l6474_class.h.

void EnableFlagIRQ ( void )

Enabling the FLAG interrupt handling.

Parameters:

None.

Return values:

None.

Definition at line 665 of file l6474_class.h.

virtual unsigned int GetAcceleration ( void ) [virtual]

Getting the acceleration in pps^2.

Parameters:

None.

Return values:

The	acceleration in pps^2.

Implements StepperMotor.

Definition at line 289 of file l6474_class.h.

virtual unsigned int GetDeceleration ( void ) [virtual]

Getting the deceleration in pps^2.

Parameters:

None.

Return values:

The	deceleration in pps^2.

Implements StepperMotor.

Definition at line 299 of file l6474_class.h.

virtual motorState_t GetDeviceState ( void ) [virtual]

Getting the device state.

Parameters:

None.

Return values:

The	device state.

Note:: The device state can be one of the following: + ACCELERATING + DECELERATING + STEADY + INACTIVE

Definition at line 543 of file l6474_class.h.

virtual direction_t GetDirection ( void ) [virtual]

Getting the direction of rotation.

Parameters:

None.

Return values:

The	direction of rotation.

Implements StepperMotor.

Definition at line 309 of file l6474_class.h.

virtual uint8_t GetFwVersion ( void ) [virtual]

Getting the version of the firmware.

Parameters:

None.

Return values:

The	version of the firmware.

Definition at line 613 of file l6474_class.h.

virtual signed int GetMark ( void ) [virtual]

Getting the marked position.

Parameters:

None.

Return values:

The	marked position.

Implements StepperMotor.

Definition at line 249 of file l6474_class.h.

virtual unsigned int GetMaxSpeed ( void ) [virtual]

Getting the maximum speed in pps.

Parameters:

None.

Return values:

The	maximum speed in pps.

Implements StepperMotor.

Definition at line 269 of file l6474_class.h.

virtual unsigned int GetMinSpeed ( void ) [virtual]

Getting the minimum speed in pps.

Parameters:

None.

Return values:

The	minimum speed in pps.

Implements StepperMotor.

Definition at line 279 of file l6474_class.h.

virtual float GetParameter ( unsigned int parameter ) [virtual]

Getting a parameter.

Parameters:

parameter A parameter's register adress.

Return values:

The	parameter's value.

Note:: The Status Register's flags are cleared, contrary to ReadStatusRegister(). parameter can be one of the following: + L6474_ABS_POS + L6474_EL_POS + L6474_MARK + L6474_RESERVED_REG01 + L6474_RESERVED_REG02 + L6474_RESERVED_REG03 + L6474_RESERVED_REG04 + L6474_RESERVED_REG05 + L6474_RESERVED_REG06 + L6474_TVAL : value in mA + L6474_RESERVED_REG07 + L6474_RESERVED_REG08 + L6474_RESERVED_REG09 + L6474_RESERVED_REG10 + L6474_T_FAST + L6474_TON_MIN : value in us + L6474_TOFF_MIN : value in us + L6474_RESERVED_REG11 + L6474_ADC_OUT + L6474_OCD_TH + L6474_RESERVED_REG12 + L6474_STEP_MODE + L6474_ALARM_EN + L6474_CONFIG + L6474_STATUS + L6474_RESERVED_REG13 + L6474_RESERVED_REG14 + L6474_INEXISTENT_REG

Implements StepperMotor.

Definition at line 212 of file l6474_class.h.

virtual signed int GetPosition ( void ) [virtual]

Getting the position.

Parameters:

None.

Return values:

The position.

Implements StepperMotor.

Definition at line 239 of file l6474_class.h.

virtual unsigned int GetSpeed ( void ) [virtual]

Getting the current speed in pps.

Parameters:

None.

Return values:

The	current speed in pps.

Implements StepperMotor.

Definition at line 259 of file l6474_class.h.

virtual unsigned int GetStatus ( void ) [virtual]

Getting the value of the Status Register.

Parameters:

None.

Return values:

None.

Note:: The Status Register's flags are cleared, contrary to ReadStatusRegister().

Implements StepperMotor.

Definition at line 172 of file l6474_class.h.

virtual void GoHome ( void ) [virtual]

Going to the home position.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 445 of file l6474_class.h.

virtual void GoMark ( void ) [virtual]

Going to the marked position.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 455 of file l6474_class.h.

virtual void GoTo ( signed int position ) [virtual]

Going to a specified position.

Parameters:

position The desired position.

Return values:

None.

Implements StepperMotor.

Definition at line 435 of file l6474_class.h.

virtual void HardHiZ ( void ) [virtual]

Disabling the power bridge immediately.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 517 of file l6474_class.h.

virtual void HardStop ( void ) [virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 496 of file l6474_class.h.

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

Initializing the component in 1/16 Microstepping mode.

Parameters:

init	Pointer to device specific initalization structure.

Return values:

0	in case of success, an error code otherwise.

Implements Component.

Definition at line 151 of file l6474_class.h.

void L6474_Delay ( uint32_t delay ) [protected]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 804 of file l6474_class.h.

void L6474_DisableIrq ( void ) [protected]

Disabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 824 of file l6474_class.h.

void L6474_EnableIrq ( void ) [protected]

Enabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 814 of file l6474_class.h.

void L6474_PwmInit ( void ) [protected]

Initialising the PWM.

Parameters:

None.

Return values:

None.

Definition at line 834 of file l6474_class.h.

void L6474_PwmSetFreq ( uint16_t frequency ) [protected]

Setting the frequency of PWM.

The frequency controls directly the speed of the device.

Parameters:

frequency the frequency of PWM.

Return values:

None.

Definition at line 842 of file l6474_class.h.

void L6474_PwmStop ( void ) [protected]

Stopping the PWM.

Parameters:

None.

Return values:

None.

Definition at line 860 of file l6474_class.h.

void L6474_ReleaseReset ( void ) [protected]

Putting the device in standby mode.

Parameters:

None.

Return values:

None.

Definition at line 871 of file l6474_class.h.

void L6474_Reset ( void ) [protected]

Putting the device in reset mode.

Parameters:

None.

Return values:

None.

Definition at line 881 of file l6474_class.h.

void L6474_SetDirectionGpio ( uint8_t gpioState ) [protected]

Setting the direction of rotation.

Parameters:

gpioState direction of rotation: "1" for forward, "0" for backward.

Return values:

None.

Definition at line 891 of file l6474_class.h.

uint8_t L6474_SpiWriteBytes	(	uint8_t *	pByteToTransmit,
		uint8_t *	pReceivedByte
	)		`[protected]`

Writing and reading bytes to/from the component through the SPI at the same time.

Parameters:

[in]	pByteToTransmit	pointer to the buffer of data to send.
[out]	pReceivedByte	pointer to the buffer to read data into.

Return values:

0	in case of success, "1" otherwise.

Definition at line 902 of file l6474_class.h.

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.

Implements StepperMotor.

Definition at line 476 of file l6474_class.h.

Status_t Read	(	uint8_t *	pBuffer,
		uint16_t	NumBytesToRead
	)		`[protected]`

Utility function to read data from L6474.

Parameters:

[out]	pBuffer	pointer to the buffer to read data into.
[in]	NumBytesToRead	number of bytes to read.

Return values:

COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.

Definition at line 761 of file l6474_class.h.

virtual int ReadID ( 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.

Implements Component.

Definition at line 161 of file l6474_class.h.

virtual uint16_t ReadStatusRegister ( void ) [virtual]

Reading the Status Register.

Parameters:

None.

Return values:

None.

Note:: The Status Register's flags are not cleared, contrary to GetStatus().

Definition at line 554 of file l6474_class.h.

Status_t ReadWrite	(	uint8_t *	pBufferToRead,
		uint8_t *	pBufferToWrite,
		uint16_t	NumBytes
	)		`[protected]`

Utility function to read and write data from/to L6474 at the same time.

Parameters:

[out]	pBufferToRead	pointer to the buffer to read data into.
[in]	pBufferToWrite	pointer to the buffer of data to send.
[in]	NumBytes	number of bytes to read and write.

Return values:

COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.

Definition at line 788 of file l6474_class.h.

virtual void Run ( direction_t direction ) [virtual]

Running the motor towards a specified direction.

Parameters:

direction The direction of rotation.

Return values:

None.

Implements StepperMotor.

Definition at line 465 of file l6474_class.h.

virtual void SetAcceleration ( unsigned int acceleration ) [virtual]

Setting the acceleration in pps^2.

Parameters:

acceleration The acceleration in pps^2.

Return values:

None.

Implements StepperMotor.

Definition at line 415 of file l6474_class.h.

virtual void SetDeceleration ( unsigned int deceleration ) [virtual]

Setting the deceleration in pps^2.

Parameters:

deceleration The deceleration in pps^2.

Return values:

None.

Implements StepperMotor.

Definition at line 425 of file l6474_class.h.

virtual void SetHome ( void ) [virtual]

Setting the current position to be the home position.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 375 of file l6474_class.h.

virtual void SetMark ( void ) [virtual]

Setting the current position to be the marked position.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 385 of file l6474_class.h.

virtual void SetMaxSpeed ( unsigned int speed ) [virtual]

Setting the maximum speed in pps.

Parameters:

speed The maximum speed in pps.

Return values:

None.

Implements StepperMotor.

Definition at line 395 of file l6474_class.h.

virtual void SetMinSpeed ( unsigned int speed ) [virtual]

Setting the minimum speed in pps.

Parameters:

speed The minimum speed in pps.

Return values:

None.

Implements StepperMotor.

Definition at line 405 of file l6474_class.h.

virtual void SetParameter	(	unsigned int	parameter,
		float	value
	)		`[virtual]`

Setting a parameter.

Parameters:

parameter	A parameter's register adress.
value	The parameter's value.

Return values:

None.

Note:: parameter can be one of the following: + L6474_ABS_POS + L6474_EL_POS + L6474_MARK + L6474_RESERVED_REG01 + L6474_RESERVED_REG02 + L6474_RESERVED_REG03 + L6474_RESERVED_REG04 + L6474_RESERVED_REG05 + L6474_RESERVED_REG06 + L6474_TVAL : value in mA + L6474_RESERVED_REG07 + L6474_RESERVED_REG08 + L6474_RESERVED_REG09 + L6474_RESERVED_REG10 + L6474_T_FAST + L6474_TON_MIN : value in us + L6474_TOFF_MIN : value in us + L6474_RESERVED_REG11 + L6474_ADC_OUT + L6474_OCD_TH + L6474_RESERVED_REG12 + L6474_STEP_MODE + L6474_ALARM_EN + L6474_CONFIG + L6474_STATUS + L6474_RESERVED_REG13 + L6474_RESERVED_REG14 + L6474_INEXISTENT_REG

Implements StepperMotor.

Definition at line 349 of file l6474_class.h.

virtual void SetStepMode ( motorStepMode_t step_mode ) [virtual]

Setting the Step Mode.

Parameters:

step_mode The Step Mode.

Return values:

None.

Note:: step_mode can be one of the following: + STEP_MODE_FULL + STEP_MODE_HALF + STEP_MODE_1_4 + STEP_MODE_1_8 + STEP_MODE_1_16 + STEP_MODE_1_32 + STEP_MODE_1_64 + STEP_MODE_1_128

Definition at line 573 of file l6474_class.h.

virtual void SoftHiZ ( void ) [virtual]

Disabling the power bridge after performing a deceleration to zero.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 506 of file l6474_class.h.

virtual void SoftStop ( void ) [virtual]

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

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 486 of file l6474_class.h.

virtual void WaitWhileActive ( void ) [virtual]

Waiting while the motor is active.

Parameters:

None.

Return values:

None.

Implements StepperMotor.

Definition at line 528 of file l6474_class.h.

Status_t Write	(	uint8_t *	pBuffer,
		uint16_t	NumBytesToWrite
	)		`[protected]`

Utility function to write data to L6474.

Parameters:

[in]	pBuffer	pointer to the buffer of data to send.
[in]	NumBytesToWrite	number of bytes to write.

Return values:

COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.

Definition at line 774 of file l6474_class.h.

Type:	Library
Created:	24 May 2017
Imports:	0
Forks:	0
Commits:	26
Dependents:	0
Dependencies:	1
Followers:	1

L6474 Class Reference

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

L6474 Class Reference

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning