Personal fork of the library for direct control instead of library control
Dependents: Thesis_Rotating_Platform
Fork of X_NUCLEO_IHM01A1 by
L6474 Class Reference
Class representing an L6474 component. More...
#include <l6474_class.h>
Inherits StepperMotor, and StepperMotor.
Public Types | |
enum | direction_t |
Rotation modes. More... | |
Public Member Functions | |
L6474 (PinName flag_irq, PinName standby_reset, 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. | |
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. | |
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 | 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.
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_copy.h.
virtual ~L6474 | ( | void | ) | [virtual] |
Destructor.
Definition at line 121 of file l6474_class_copy.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.
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_copy.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.
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_copy.h.
virtual void Disable | ( | void | ) | [virtual] |
Disabling the device.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 603 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_copy.h.
void DisableFlagIRQ | ( | void | ) |
Disabling the FLAG interrupt handling.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 675 of file l6474_class_copy.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_copy.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_copy.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 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_copy.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 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_copy.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_copy.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 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_copy.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_copy.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 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_copy.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 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_copy.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 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_copy.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 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_copy.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 signed int GetPosition | ( | void | ) | [virtual] |
Getting the position.
- Parameters:
-
None.
- Return values:
-
The position.
Implements StepperMotor.
Definition at line 239 of file l6474_class_copy.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_copy.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 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_copy.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 GoHome | ( | void | ) | [virtual] |
Going to the home position.
- Parameters:
-
None.
- Return values:
-
None.
Implements StepperMotor.
Definition at line 445 of file l6474_class_copy.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 GoMark | ( | void | ) | [virtual] |
Going to the marked position.
- Parameters:
-
None.
- Return values:
-
None.
Implements StepperMotor.
Definition at line 455 of file l6474_class_copy.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 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_copy.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_copy.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_copy.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.
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_copy.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_Delay | ( | uint32_t | delay ) | [protected] |
Making the CPU wait.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 804 of file l6474_class_copy.h.
void L6474_DisableIrq | ( | void | ) | [protected] |
Disabling interrupts.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 824 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_copy.h.
void L6474_EnableIrq | ( | void | ) | [protected] |
Enabling interrupts.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 814 of file l6474_class_copy.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_PwmInit | ( | void | ) | [protected] |
Initialising the PWM.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 834 of file l6474_class_copy.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.
* Setting the period and the duty-cycle of PWM. */
* Setting a callback with the same period of PWM's, to update the state machine. */
Definition at line 842 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.
* Setting the period and the duty-cycle of PWM. */
* Setting a callback with the same period of PWM's, to update the state machine. */
Definition at line 842 of file l6474_class_copy.h.
void L6474_PwmStop | ( | void | ) | [protected] |
Stopping the PWM.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 860 of file l6474_class_copy.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_ReleaseReset | ( | void | ) | [protected] |
Putting the device in standby mode.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 871 of file l6474_class_copy.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_Reset | ( | void | ) | [protected] |
Putting the device in reset mode.
- Parameters:
-
None.
- Return values:
-
None.
Definition at line 881 of file l6474_class_copy.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_copy.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_copy.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 901 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.
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_copy.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_copy.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_copy.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_copy.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_copy.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_copy.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 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_copy.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 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_copy.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_copy.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_copy.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_copy.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_copy.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_copy.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 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_copy.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_copy.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 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_copy.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_copy.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.
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_copy.h.
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