Data Structures
class	L6206
	Class representing a L6206 component. More...
Functions
virtual	~L6206 (void)
	Destructor.
virtual int	Init (void *init=NULL)
	Initializing the component.
virtual int	ReadID (uint8_t *id=NULL)
	Getting the ID of the component.
virtual void	AttachErrorHandler (void(*callback)(uint16_t error))
	Attaches a user callback to the error Handler.
virtual void	AttachFlagInterrupt (void(*callback)(void))
	Attaches a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal alert)
virtual unsigned int	GetSpeed (unsigned int motorId)
	Returns the current speed of the specified motor.
virtual motorState_t	GetDeviceState (unsigned int motorId)
	Returns the device state.
virtual uint8_t	GetFwVersion (void)
	Returns the FW version of the library.
virtual uint16_t	GetMaxSpeed (unsigned int motorId)
	Returns the max speed of the specified motor.
virtual void	HardStop (unsigned int motorId)
	Stops the motor without disabling the bridge.
virtual void	Run (unsigned int motorId, direction_t direction)
	Runs the motor.
virtual bool	SetSpeed (unsigned int motorId, unsigned int newMaxSpeed)
	Changes the max speed of the specified device.
virtual void	DisableBridge (unsigned int bridgeId)
	Disable the specified bridge.
virtual void	EnableBridge (unsigned int bridgeId)
	Enable the specified bridge.
virtual unsigned int	GetBridgeStatus (unsigned int bridgeId)
	Get the status of the bridge enabling of the corresponding bridge.
virtual void	HardHiZ (unsigned int motorId)
	Immediatly stops the motor and disable the power bridge.
virtual void	ErrorHandler (uint16_t error)
	Error handler which calls the user callback (if defined)
virtual void	SetDualFullBridgeConfig (unsigned int newConfig)
	Set dual full bridge parallelling configuration.
virtual unsigned int	GetBridgeInputPwmFreq (unsigned int bridgeId)
	Get the PWM frequency of the specified bridge.
virtual void	SetBridgeInputPwmFreq (unsigned int bridgeId, unsigned int newFreq)
	Changes the PWM frequency of the bridge input.
virtual bool	SetNbDevices (uint8_t nbDevices)
	Sets the number of devices to be used.
virtual void	EnableFlagIRQ (uint8_t bridgeId)
	Enabling the FLAG interrupt handling.
virtual void	DisableFlagIRQ (uint8_t bridgeId)
	Disabling the FLAG interrupt handling.
void	L6206_OutVal (uint8_t bridgeId, uint8_t val)
	Utility function to set or unset EN pin for Bridge A or Bridge B.
void	L6206_Board_Delay (uint32_t delay)
	Making the CPU wait.
void	L6206_Board_DisableBridge (uint8_t bridgeId)
	Disable the specified bridge.
void	L6206_Board_EnableBridge (uint8_t bridgeId, uint8_t addDelay)
	Enable the specified bridge.
uint32_t	L6206_Board_GetFlagPinState (uint8_t bridgeId)
	Returns the FLAG pin state.
void	L6206_Board_GpioInit (void)
	Initiliases the GPIOs used by the L6206s.
void	L6206_Board_PwmSetFreq (uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
	Sets the frequency of PWM used for bridges inputs.
void	L6206_Board_PwmDeInit (uint8_t bridgeInput)
	Reset the PWM for the specified brigde input.
void	L6206_Board_PwmInit (uint8_t bridgeInput)
	Set the PWM frequency the for the specified bridge input.
void	L6206_Board_PwmStop (uint8_t bridgeInput)
	Stops the PWM uses for the specified brige input.
Variables
bool	pwm_1A_activated
	PWM timer variables.

Function Documentation

virtual void AttachErrorHandler ( void(*)(uint16_t error) callback ) [virtual, inherited]

Attaches a user callback to the error Handler.

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

Parameters:

[in] callback Name of the callback to attach to the error Hanlder

Return values:

None

Definition at line 202 of file l6206_class.h.

virtual void AttachFlagInterrupt ( void(*)(void) callback ) [virtual, inherited]

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

Parameters:

[in] callback Name of the callback to attach to the Flag Interrupt

Return values:

None

Definition at line 217 of file l6206_class.h.

virtual void DisableBridge ( unsigned int bridgeId ) [virtual, inherited]

Disable the specified bridge.

Parameters:

[in] bridgeId (from 0 for bridge A to 1 for bridge B)

Return values:

None

Note:: When input of different brigdes are parallelized together, the disabling of one bridge leads to the disabling of the second one

Definition at line 302 of file l6206_class.h.

virtual void DisableFlagIRQ ( uint8_t bridgeId ) [virtual, inherited]

Disabling the FLAG interrupt handling.

Parameters:

[in] bridgeId 0 for bridge A, 1 for bridge B

Return values:

None.

Definition at line 453 of file l6206_class.h.

virtual void EnableBridge ( unsigned int bridgeId ) [virtual, inherited]

Enable the specified bridge.

Parameters:

[in] bridgeId (from 0 for bridge A to 1 for bridge B)

Return values:

None

Note:: When input of different brigdes are parallelized together, the enabling of one bridge leads to the enabling of the second one

Definition at line 315 of file l6206_class.h.

virtual void EnableFlagIRQ ( uint8_t bridgeId ) [virtual, inherited]

Enabling the FLAG interrupt handling.

Parameters:

[in] bridgeId 0 for bridge A, 1 for bridge B

Return values:

None.

Definition at line 434 of file l6206_class.h.

virtual void ErrorHandler ( uint16_t error ) [virtual, inherited]

Error handler which calls the user callback (if defined)

Parameters:

[in] error Number of the error

Return values:

None

Definition at line 347 of file l6206_class.h.

virtual unsigned int GetBridgeInputPwmFreq ( unsigned int bridgeId ) [virtual, inherited]

Get the PWM frequency of the specified bridge.

Parameters:

[in] bridgeId 0 for bridge A, 1 for bridge B

Return values:

Freq in Hz

Definition at line 368 of file l6206_class.h.

virtual unsigned int GetBridgeStatus ( unsigned int bridgeId ) [virtual, inherited]

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

Parameters:

[in] bridgeId from 0 for bridge A to 1 for bridge B

Return values:

State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)

Definition at line 325 of file l6206_class.h.

virtual motorState_t GetDeviceState ( unsigned int motorId ) [virtual, inherited]

Returns the device state.

Parameters:

[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

State (STEADY or INACTIVE)

Definition at line 237 of file l6206_class.h.

virtual uint8_t GetFwVersion ( void ) [virtual, inherited]

Returns the FW version of the library.

Return values:

L6206_FW_VERSION

Definition at line 246 of file l6206_class.h.

virtual uint16_t GetMaxSpeed ( unsigned int motorId ) [virtual, inherited]

Returns the max speed of the specified motor.

Parameters:

[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

maxSpeed in % from 0 to 100

Definition at line 256 of file l6206_class.h.

virtual unsigned int GetSpeed ( unsigned int motorId ) [virtual, inherited]

Returns the current speed of the specified motor.

Parameters:

[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

current speed in % from 0 to 100

Definition at line 227 of file l6206_class.h.

virtual void HardHiZ ( unsigned int motorId ) [virtual, inherited]

Immediatly stops the motor and disable the power bridge.

Parameters:

[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

None

Note:: if two motors uses the same power bridge, the power bridge will be disable only if the two motors are stopped

Definition at line 337 of file l6206_class.h.

virtual void HardStop ( unsigned int motorId ) [virtual, inherited]

Stops the motor without disabling the bridge.

Parameters:

[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

none

Definition at line 266 of file l6206_class.h.

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

Initializing the component.

Parameters:

init	Pointer to device specific initalization structure.

Return values:

0	in case of success, an error code otherwise.

Definition at line 180 of file l6206_class.h.

void L6206_Board_Delay ( uint32_t delay ) [protected, inherited]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 549 of file l6206_class.h.

void L6206_Board_DisableBridge ( uint8_t bridgeId ) [protected, inherited]

Disable the specified bridge.

Parameters:

[in] bridgeId (from 0 for bridge A to 1 for bridge B)

Return values:

None

Note:: When input of different brigdes are parallelized together, the disabling of one bridge leads to the disabling of the second one

Definition at line 562 of file l6206_class.h.

void L6206_Board_EnableBridge	(	uint8_t	bridgeId,
		uint8_t	addDelay
	)		`[protected, inherited]`

Enable the specified bridge.

Parameters:

[in] bridgeId (from 0 for bridge A to 1 for bridge B)

Return values:

None

Note:: When input of different brigdes are parallelized together, the enabling of one bridge leads to the enabling of the second one

Definition at line 580 of file l6206_class.h.

uint32_t L6206_Board_GetFlagPinState ( uint8_t bridgeId ) [protected, inherited]

Returns the FLAG pin state.

Parameters:

[in] bridgeId (from 0 for bridge A to 1 for bridge B)

Return values:

The	FLAG pin value.

Definition at line 597 of file l6206_class.h.

void L6206_Board_GpioInit ( void ) [protected, inherited]

Initiliases the GPIOs used by the L6206s.

Return values:

None

Definition at line 615 of file l6206_class.h.

void L6206_Board_PwmDeInit ( uint8_t bridgeInput ) [protected, inherited]

Reset the PWM for the specified brigde input.

Parameters:

[in] bridgeInput 0 for input 1A, 1 for input 2A, 2 for input 1B, 3 for input 2B

Return values:

None

Definition at line 687 of file l6206_class.h.

void L6206_Board_PwmInit ( uint8_t bridgeInput ) [protected, inherited]

Set the PWM frequency the for the specified bridge input.

Parameters:

[in] bridgeInput 0 for input 1A, 1 for input 2A, 2 for input 1B, 3 for input 2B

Return values:

None

Definition at line 716 of file l6206_class.h.

void L6206_Board_PwmSetFreq	(	uint8_t	bridgeInput,
		uint32_t	newFreq,
		uint8_t	duty
	)		`[protected, inherited]`

Sets the frequency of PWM used for bridges inputs.

Parameters:

[in]	bridgeInput	0 for input 1A, 1 for input 2A, 2 for input 1B, 3 for input 2B
[in]	newFreq	in Hz
[in]	duty	Duty cycle

Return values:

None

Note:: The frequency is directly the current speed of the device

Definition at line 642 of file l6206_class.h.

void L6206_Board_PwmStop ( uint8_t bridgeInput ) [protected, inherited]

Stops the PWM uses for the specified brige input.

Parameters:

[in] bridgeInput 0 for input 1A, 1 for input 2A, 2 for input 1B, 3 for input 2B

Return values:

None

Definition at line 726 of file l6206_class.h.

void L6206_OutVal	(	uint8_t	bridgeId,
		uint8_t	val
	)		`[protected, inherited]`

Utility function to set or unset EN pin for Bridge A or Bridge B.

Parameters:

[out]	none
[in]	bridgeId	0 for bridge A, 1 for bridge B

Return values:

none

Definition at line 528 of file l6206_class.h.

virtual int ReadID ( uint8_t * id = NULL ) [virtual, inherited]

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 190 of file l6206_class.h.

virtual void Run	(	unsigned int	motorId,
		direction_t	direction
	)		`[virtual, inherited]`

Runs the motor.

Parameters:

[in]	motorId	from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
[in]	direction	FORWARD or BACKWARD

Return values:

None

Note:: For unidirectionnal motor, direction parameter has no effect

Definition at line 278 of file l6206_class.h.

virtual void SetBridgeInputPwmFreq	(	unsigned int	bridgeId,
		unsigned int	newFreq
	)		`[virtual, inherited]`

Changes the PWM frequency of the bridge input.

Parameters:

[in]	bridgeId	0 for bridge A, 1 for bridge B
[in]	newFreq	in Hz

Return values:

None

Definition at line 379 of file l6206_class.h.

virtual void SetDualFullBridgeConfig ( unsigned int newConfig ) [virtual, inherited]

Set dual full bridge parallelling configuration.

Parameters:

[in] newConfig bridge configuration to apply from dualFullBridgeConfig_t enum

Return values:

None

Definition at line 358 of file l6206_class.h.

virtual bool SetNbDevices ( uint8_t nbDevices ) [virtual, inherited]

Sets the number of devices to be used.

Parameters:

[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)

Return values:

TRUE	if successfull, FALSE if failure, attempt to set a number of devices greater than MAX_NUMBER_OF_DEVICES

Definition at line 390 of file l6206_class.h.

virtual bool SetSpeed	(	unsigned int	motorId,
		unsigned int	newMaxSpeed
	)		`[virtual, inherited]`

Changes the max speed of the specified device.

Parameters:

[in]	motorId	from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS
[in]	newMaxSpeed	in % from 0 to 100

Return values:

true	if the command is successfully executed, else false

Definition at line 289 of file l6206_class.h.

virtual ~L6206 ( void ) [virtual, inherited]

Destructor.

Definition at line 149 of file l6206_class.h.

Variable Documentation

bool pwm_1A_activated [protected, inherited]

PWM timer variables.

Definition at line 823 of file l6206_class.h.

Type:	Library
Created:	29 Sep 2016
Imports:	0
Forks:	0
Commits:	5
Dependents:	0
Dependencies:	1
Followers:	1

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Important changes to repositories hosted on mbed.com

L6206 Private Constants

Data Structures

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Variable Documentation

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