Class representing a L6208 component. More...

#include <l6208_class.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	ReadID (uint8_t *id=NULL)
	Getting the ID of the component.
virtual unsigned int	GetStatus (void)
	Public functions inherited from the StepperMotor Class.
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	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 bool	SetMaxSpeed (unsigned int speed)
	Setting the maximum speed in pps.
virtual bool	SetMinSpeed (unsigned int speed)
	Setting the minimum speed in pps.
virtual bool	SetAcceleration (unsigned int acceleration)
	Setting the acceleration in pps^2.
virtual bool	SetDeceleration (unsigned int deceleration)
	Setting the deceleration in pps^2.
virtual bool	SetStepMode (step_mode_t step_mode)
	Setting the Step Mode.
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 void	AttachErrorHandler (void(*fptr)(uint16_t error))
	Public functions NOT inherited.
virtual unsigned int	CheckStatusHw (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	GetDecayMode ()
	Getting the motor decay mode.
virtual uint32_t	GetFreqVrefPwm (void)
	Set the frequency of the VREFA and VREFB PWM.
virtual unsigned int	GetFwVersion (void)
	Getting the version of the firmware.
virtual step_mode_t	GetStepMode (void)
	Getting the motor step mode.
virtual motorStopMode_t	GetStopMode (void)
	Getting the motor stop mode.
virtual void	GoTo (direction_t direction, signed int position)
	Going to a specified position with a specificied direction.
virtual void	ReleaseReset (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	ResetDevice (void)
	Reset the L6208 (Reset pin set to low level).
virtual void	SetDecayMode (motorDecayMode_t decayMode)
	Set the motor decay mode.
virtual void	SetDirection (direction_t direction)
	Set the motor direction.
virtual void	SetFreqVrefPwm (uint32_t frequency)
	Set the frequency of the VREFA and VREFB PWM.
virtual void	SetStopMode (motorStopMode_t stopMode)
	Set the motor stop mode.
void	AttachFlagIRQ (void(*fptr)(void))
	Attaching an interrupt handler to the FLAG interrupt.
void	EnableFlagIRQ (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_GetDecayMode (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_class.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_class.h.

virtual ~L6208 ( void ) [virtual]

Destructor.

Definition at line 121 of file l6208_class.h.

Member Function Documentation

virtual void AttachErrorHandler ( 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_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 704 of file l6208_class.h.

virtual unsigned int CheckStatusHw ( 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_class.h.

virtual void Disable ( void ) [virtual]

Disabling the device.

Parameters:

None.

Return values:

None.

Definition at line 520 of file l6208_class.h.

virtual void Enable ( void ) [virtual]

Enabling the device.

Parameters:

None.

Return values:

None.

Definition at line 530 of file l6208_class.h.

void EnableFlagIRQ ( void )

Enabling the FLAG interrupt handling.

Parameters:

None.

Return values:

None.

Definition at line 715 of file l6208_class.h.

virtual unsigned int GetAcceleration ( void ) [virtual]

Getting the acceleration in pps^2.

Parameters:

None.

Return values:

The	acceleration in pps^2.

Definition at line 240 of file l6208_class.h.

virtual motorDecayMode_t GetDecayMode ( ) [virtual]

Getting the motor decay mode.

Parameters:

None.

Return values:

The	motor decay mode.

Definition at line 540 of file l6208_class.h.

virtual unsigned int GetDeceleration ( void ) [virtual]

Getting the deceleration in pps^2.

Parameters:

None.

Return values:

The	deceleration in pps^2.

Definition at line 250 of file l6208_class.h.

virtual direction_t GetDirection ( void ) [virtual]

Getting the direction of rotation.

Parameters:

None.

Return values:

The	direction of rotation.

Definition at line 260 of file l6208_class.h.

virtual uint32_t GetFreqVrefPwm ( void ) [virtual]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 550 of file l6208_class.h.

virtual unsigned int GetFwVersion ( void ) [virtual]

Getting the version of the firmware.

Parameters:

None.

Return values:

The	version of the firmware.

Definition at line 560 of file l6208_class.h.

virtual signed int GetMark ( void ) [virtual]

Getting the marked position.

Parameters:

None.

Return values:

The	marked position.

Definition at line 200 of file l6208_class.h.

virtual unsigned int GetMaxSpeed ( void ) [virtual]

Getting the maximum speed in pps.

Parameters:

None.

Return values:

The	maximum speed in pps.

Definition at line 220 of file l6208_class.h.

virtual unsigned int GetMinSpeed ( void ) [virtual]

Getting the minimum speed in pps.

Parameters:

None.

Return values:

The	minimum speed in pps.

Definition at line 230 of file l6208_class.h.

virtual signed int GetPosition ( void ) [virtual]

Getting the position.

Parameters:

None.

Return values:

The position.

Definition at line 190 of file l6208_class.h.

virtual unsigned int GetSpeed ( void ) [virtual]

Getting the current speed in pps.

Parameters:

None.

Return values:

The	current speed in pps.

Definition at line 210 of file l6208_class.h.

virtual unsigned int GetStatus ( 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_class.h.

virtual step_mode_t GetStepMode ( void ) [virtual]

Getting the motor step mode.

Parameters:

None.

Return values:

The	motor step mode.

Definition at line 570 of file l6208_class.h.

virtual motorStopMode_t GetStopMode ( void ) [virtual]

Getting the motor stop mode.

Parameters:

None.

Return values:

The	motor stop mode.

Definition at line 580 of file l6208_class.h.

virtual void GoHome ( void ) [virtual]

Going to the home position.

Parameters:

None.

Return values:

None.

Definition at line 392 of file l6208_class.h.

virtual void GoMark ( void ) [virtual]

Going to the marked position.

Parameters:

None.

Return values:

None.

Definition at line 402 of file l6208_class.h.

virtual void GoTo ( signed int position ) [virtual]

Going to a specified position.

Parameters:

position The desired position.

Return values:

None.

Definition at line 382 of file l6208_class.h.

virtual void GoTo	(	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 591 of file l6208_class.h.

virtual void HardHiZ ( void ) [virtual]

Disabling the power bridge immediately.

Parameters:

None.

Return values:

None.

Definition at line 473 of file l6208_class.h.

virtual void HardStop ( void ) [virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:

None.

Return values:

None.

Definition at line 443 of file l6208_class.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_class.h.

void L6208_Board_CLOCK_PIN_Reset ( void ) [protected]

Reset the clock pin.

Parameters:

None.

Return values:

None.

Definition at line 824 of file l6208_class.h.

void L6208_Board_CLOCK_PIN_Set ( void ) [protected]

Set the clock pin.

Parameters:

None.

Return values:

None.

Definition at line 833 of file l6208_class.h.

void L6208_Board_CONTROL_PIN_Reset ( void ) [protected]

Reset the control pin.

Parameters:

None.

Return values:

None.

Definition at line 853 of file l6208_class.h.

void L6208_Board_CONTROL_PIN_Set ( void ) [protected]

Set the control pin.

Parameters:

None.

Return values:

None.

Definition at line 843 of file l6208_class.h.

void L6208_Board_Delay ( uint32_t delay ) [protected]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 863 of file l6208_class.h.

void L6208_Board_DIR_PIN_Reset ( void ) [protected]

Reset the dir pin.

Parameters:

None.

Return values:

None.

Definition at line 873 of file l6208_class.h.

void L6208_Board_DIR_PIN_Set ( void ) [protected]

Set the dir pin.

Parameters:

None.

Return values:

None.

Definition at line 883 of file l6208_class.h.

void L6208_Board_Disable ( void ) [protected]

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

Parameters:

None.

Return values:

None.

Definition at line 893 of file l6208_class.h.

void L6208_Board_DisableIrq ( void ) [protected]

Disabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 904 of file l6208_class.h.

void L6208_Board_Enable ( void ) [protected]

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

Parameters:

None.

Return values:

None.

Definition at line 914 of file l6208_class.h.

void L6208_Board_EnableIrq ( void ) [protected]

Enabling interrupts.

Parameters:

None.

Return values:

None.

Definition at line 925 of file l6208_class.h.

void L6208_Board_HALF_FULL_PIN_Reset ( void ) [protected]

Reset the half full pin.

Parameters:

None.

Return values:

None.

Definition at line 935 of file l6208_class.h.

void L6208_Board_HALF_FULL_PIN_Set ( void ) [protected]

Set the half full pin.

Parameters:

None.

Return values:

None.

Definition at line 945 of file l6208_class.h.

void L6208_Board_ReleaseReset ( void ) [protected]

Exit the device from reset mode.

Parameters:

None.

Return values:

None.

Definition at line 962 of file l6208_class.h.

void L6208_Board_Reset ( void ) [protected]

Put the device in reset mode.

Parameters:

None.

Return values:

None.

Definition at line 972 of file l6208_class.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 982 of file l6208_class.h.

void L6208_Board_TickInit ( void ) [protected]

Initialising the tick.

Parameters:

None.

Return values:

None.

Definition at line 992 of file l6208_class.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 1000 of file l6208_class.h.

void L6208_Board_TickStop ( void ) [protected]

Stopping the tick.

Parameters:

None.

Return values:

None.

Definition at line 1015 of file l6208_class.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 955 of file l6208_class.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 1025 of file l6208_class.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 1035 of file l6208_class.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 1051 of file l6208_class.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 1074 of file l6208_class.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 1231 of file l6208_class.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 1250 of file l6208_class.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 1300 of file l6208_class.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_class.cpp.

void L6208_DoAccel ( void ) [protected]

Compute next position and speed according to the acceleration rate.

Return values:

None

Definition at line 1330 of file l6208_class.cpp.

void L6208_DoDecel ( void ) [protected]

Compute next position and speed according to the deceleration rate.

Return values:

None

Definition at line 1351 of file l6208_class.cpp.

void L6208_DoRun ( void ) [protected]

Compute next position by adding current speed.

Return values:

None

Definition at line 1373 of file l6208_class.cpp.

void L6208_Enable ( void ) [protected]

Enable the power bridges.

Return values:

None

Definition at line 172 of file l6208_class.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_class.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_class.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_class.cpp.

motorDecayMode_t L6208_GetDecayMode ( void ) [protected]

Get the motor decay mode.

Return values:

decay mode

Definition at line 217 of file l6208_class.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 230 of file l6208_class.cpp.

motorDir_t L6208_GetDirection ( void ) [protected]

Get the motor current direction.

Return values:

direction

Definition at line 239 of file l6208_class.cpp.

uint32_t L6208_GetFwVersion ( void ) [protected]

Return the FW version.

Return values:

FW version

Definition at line 255 of file l6208_class.cpp.

int32_t L6208_GetMark ( void ) [protected]

Get the mark position (32b signed)

Return values:

mark position

Definition at line 264 of file l6208_class.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 276 of file l6208_class.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 1382 of file l6208_class.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 288 of file l6208_class.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 297 of file l6208_class.cpp.

int32_t L6208_GetPosition ( void ) [protected]

Get the current position (32b signed)

Return values:

current absoulte position

Definition at line 307 of file l6208_class.cpp.

motorStepMode_t L6208_GetStepMode ( void ) [protected]

Get the motor step mode.

Return values:

step mode

Definition at line 316 of file l6208_class.cpp.

motorStopMode_t L6208_GetStopMode ( void ) [protected]

Get the selected stop mode.

Return values:

the	selected stop mode

Definition at line 325 of file l6208_class.cpp.

void L6208_GoHome ( void ) [protected]

Go to the home position.

Return values:

None

Definition at line 341 of file l6208_class.cpp.

void L6208_GoMark ( void ) [protected]

Go to the Mark position.

Return values:

None

Definition at line 350 of file l6208_class.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 367 of file l6208_class.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 415 of file l6208_class.cpp.

void L6208_HardHiZ ( void ) [protected]

Immediately stop the motor and disables the power bridges.

Return values:

None

Definition at line 453 of file l6208_class.cpp.

void L6208_HardStop ( void ) [protected]

Immediately stop the motor and keeps holding torque.

Return values:

None

Definition at line 476 of file l6208_class.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 1412 of file l6208_class.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_class.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 1456 of file l6208_class.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 503 of file l6208_class.cpp.

void L6208_ReleaseReset ( void ) [protected]

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

Return values:

None

Definition at line 530 of file l6208_class.cpp.

void L6208_Reset ( void ) [protected]

Reset the L6208 (Reset pin set to low level)

Return values:

None

Definition at line 539 of file l6208_class.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 551 of file l6208_class.cpp.

void L6208_ResetSteps ( void ) [protected]

Stepper driver device step state reset subroutine.

Return values:

None

Definition at line 1465 of file l6208_class.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 565 of file l6208_class.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 1483 of file l6208_class.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 1502 of file l6208_class.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 588 of file l6208_class.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 608 of file l6208_class.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 630 of file l6208_class.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 1519 of file l6208_class.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 1548 of file l6208_class.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 653 of file l6208_class.cpp.

void L6208_SetHome ( void ) [protected]

Set current position to be the home position.

Return values:

None

Definition at line 715 of file l6208_class.cpp.

void L6208_SetMark ( void ) [protected]

Set current position to be the mark position.

Return values:

None

Definition at line 731 of file l6208_class.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 744 of file l6208_class.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 1576 of file l6208_class.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 1590 of file l6208_class.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 765 of file l6208_class.cpp.

void L6208_SetMotionState ( motorState_t newMotionState ) [protected]

Set the stepper state machine index.

Parameters:

[in] newMotionState

Return values:

None

Definition at line 1606 of file l6208_class.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 1619 of file l6208_class.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 784 of file l6208_class.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 859 of file l6208_class.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 1649 of file l6208_class.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 876 of file l6208_class.cpp.

bool L6208_StartMovement ( void ) [protected]

Stepper motor start command.

Return values:

true	on correct command execution

Definition at line 1658 of file l6208_class.cpp.

void L6208_TickHandler ( void ) [protected]

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

Return values:

None

Definition at line 887 of file l6208_class.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 1727 of file l6208_class.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 1745 of file l6208_class.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 1767 of file l6208_class.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 1814 of file l6208_class.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 1183 of file l6208_class.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 1194 of file l6208_class.cpp.

void L6208_VrefPwmUpdatePulseWidth ( void ) [protected]

Update the pulse width of VREFA or VREFB PWM.

Parameters:

None

Return values:

None

Definition at line 1843 of file l6208_class.cpp.

void L6208_WaitWhileActive ( void ) [protected]

Lock while motor is running.

Return values:

None

Definition at line 1217 of file l6208_class.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_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.

Definition at line 166 of file l6208_class.h.

virtual void ReleaseReset ( void ) [virtual]

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

Parameters:

None.

Return values:

None.

Definition at line 601 of file l6208_class.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 612 of file l6208_class.h.

virtual void ResetDevice ( void ) [virtual]

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

Parameters:

None.

Return values:

None.

Definition at line 622 of file l6208_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.

Definition at line 412 of file l6208_class.h.

virtual bool SetAcceleration ( 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_class.h.

virtual void SetDecayMode ( 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 632 of file l6208_class.h.

virtual bool SetDeceleration ( 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_class.h.

virtual void SetDirection ( direction_t direction ) [virtual]

Set the motor direction.

Parameters:

direction The desired direction.

Return values:

None.

Definition at line 642 of file l6208_class.h.

virtual void SetFreqVrefPwm ( uint32_t frequency ) [virtual]

Set the frequency of the VREFA and VREFB PWM.

Parameters:

frequency in Hz

Return values:

None.

Definition at line 652 of file l6208_class.h.

virtual void SetHome ( void ) [virtual]

Setting the current position to be the home position.

Parameters:

None.

Return values:

None.

Definition at line 277 of file l6208_class.h.

virtual void SetMark ( void ) [virtual]

Setting the current position to be the marked position.

Parameters:

None.

Return values:

None.

Definition at line 287 of file l6208_class.h.

virtual bool SetMaxSpeed ( 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_class.h.

virtual bool SetMinSpeed ( 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_class.h.

virtual bool SetStepMode ( 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_class.h.

virtual void SetStopMode ( 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 662 of file l6208_class.h.

virtual void SoftHiZ ( void ) [virtual]

Disabling the power bridge after performing a deceleration to zero.

Parameters:

None.

Return values:

None.

Definition at line 453 of file l6208_class.h.

virtual void SoftStop ( 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_class.h.

virtual void WaitWhileActive ( void ) [virtual]

Waiting while the motor is active.

Parameters:

None.

Return values:

None.

Definition at line 483 of file l6208_class.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 1167 of file l6208_class.h.

uint16_t* pMicroTable2 [protected]

waveform scanning microstepping PWM period sample array for VREFB wave

Definition at line 1169 of file l6208_class.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 1173 of file l6208_class.h.

uint16_t updatedMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD+1] [protected]

microstepping PWM period and torque scaled waveform samples array

Definition at line 1165 of file l6208_class.h.

Type:	Library
Created:	29 Sep 2016
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