Functions
void	L6206_AttachErrorHandler (void(*callback)(uint16_t error))
	Attaches a user callback to the error Handler.
void	L6206_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)
void	L6206_DisableBridge (uint8_t bridgeId)
	Disable the specified bridge.
void	L6206_EnableBridge (uint8_t bridgeId)
	Enable the specified bridge.
Status_t	L6206_Init (void *init)
	Start the L6206 library.
uint32_t	L6206_GetBridgeInputPwmFreq (uint8_t bridgeId)
	Get the PWM frequency of the specified bridge.
uint16_t	L6206_GetCurrentSpeed (uint8_t motorId)
	Returns the current speed of the specified motor.
motorState_t	L6206_GetDeviceState (uint8_t motorId)
	Returns the device state.
uint8_t	L6206_GetFwVersion (void)
	Returns the FW version of the library.
uint16_t	L6206_GetMaxSpeed (uint8_t motorId)
	Returns the max speed of the specified motor.
uint16_t	L6206_GetBridgeStatus (uint8_t deviceId)
	Get the status of the bridge enabling of the corresponding bridge.
void	L6206_HardHiz (uint8_t motorId)
	Immediatly stops the motor and disable the power bridge.
void	L6206_HardStop (uint8_t motorId)
	Stops the motor without disabling the bridge.
Status_t	L6206_ReadId (uint8_t *id)
	Read id.
void	L6206_Run (uint8_t motorId, motorDir_t direction)
	Runs the motor.
void	L6206_SetDualFullBridgeConfig (uint8_t newConfig)
	Set dual full bridge parallelling configuration.
bool	L6206_SetMaxSpeed (uint8_t motorId, uint16_t newMaxSpeed)
	Changes the max speed of the specified device.
void	L6206_SetBridgeInputPwmFreq (uint8_t bridgeId, uint32_t newFreq)
	Changes the PWM frequency of the bridge input.
bool	L6206_SetNbDevices (uint8_t nbDevices)
	Sets the number of devices to be used.
void	L6206_ErrorHandler (uint16_t error)
	Error handler which calls the user callback (if defined)
void	L6206_FlagInterruptHandler (void)
	Handlers of the flag interrupt which calls the user callback (if defined)
uint8_t	L6206_GetBridgeIdUsedByMotorId (uint8_t motorId)
	Get the bridges Id used by a given motor.
uint8_t	L6206_GetMotorIdUsingbridgeInput (uint8_t bridgeInput)
	Get the motor Id which is using the specified bridge input.
uint8_t	L6206_GetBridgeInputUsedByMotorId (uint8_t motorId)
	Get the PWM input used by a given motor.
uint8_t	L6206_GetSecondBridgeInputUsedByMotorId (uint8_t motorId)
	Get the second PWM input used by a given bidirectionnal motor.
bool	L6206_IsBidirectionnalMotor (uint8_t motorId)
	Test if motor is bidirectionnal.
void	L6206_SetDeviceParamsToPredefinedValues (void)
	Sets the parameters of the device to predefined values from l6206_target_config.h.
void	L6206_SetDeviceParamsToGivenValues (L6206_Init_t *initDevicePrm)
	Set the parameters of the device to values of initDevicePrm structure Set GPIO according to these values.

Function Documentation

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

Attaches a user callback to the error Handler.

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

Parameters:

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

Return values:

None

Definition at line 104 of file l6206_class.cpp.

void L6206_AttachFlagInterrupt ( void(*)(void) callback ) [protected, inherited]

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

Parameters:

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

Return values:

None

Definition at line 118 of file l6206_class.cpp.

void L6206_DisableBridge ( uint8_t bridgeId ) [protected, inherited]

Disable the specified bridge.

Parameters:

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

Return values:

None

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

Definition at line 131 of file l6206_class.cpp.

void L6206_EnableBridge ( uint8_t bridgeId ) [protected, inherited]

Enable the specified bridge.

Parameters:

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

Return values:

None

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

Definition at line 159 of file l6206_class.cpp.

void L6206_ErrorHandler ( uint16_t error ) [protected, inherited]

Error handler which calls the user callback (if defined)

Parameters:

[in] error Number of the error

Return values:

None

Definition at line 661 of file l6206_class.cpp.

void L6206_FlagInterruptHandler ( void ) [protected, inherited]

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

Return values:

None

Definition at line 680 of file l6206_class.cpp.

uint8_t L6206_GetBridgeIdUsedByMotorId ( uint8_t motorId ) [protected, inherited]

Get the bridges Id used by a given motor.

Parameters:

motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

bridgeId 0 for bridge A , 1 for bridge B

Definition at line 707 of file l6206_class.cpp.

uint32_t L6206_GetBridgeInputPwmFreq ( uint8_t bridgeId ) [protected, 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 216 of file l6206_class.cpp.

uint8_t L6206_GetBridgeInputUsedByMotorId ( uint8_t motorId ) [protected, inherited]

Get the PWM input used by a given motor.

Parameters:

motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

PWM	input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B

Definition at line 848 of file l6206_class.cpp.

uint16_t L6206_GetBridgeStatus ( uint8_t bridgeId ) [protected, 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 296 of file l6206_class.cpp.

uint16_t L6206_GetCurrentSpeed ( uint8_t motorId ) [protected, 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 226 of file l6206_class.cpp.

motorState_t L6206_GetDeviceState ( uint8_t motorId ) [protected, 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 247 of file l6206_class.cpp.

uint8_t L6206_GetFwVersion ( void ) [protected, inherited]

Returns the FW version of the library.

Return values:

L6206_FW_VERSION

Definition at line 266 of file l6206_class.cpp.

uint16_t L6206_GetMaxSpeed ( uint8_t motorId ) [protected, 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 276 of file l6206_class.cpp.

uint8_t L6206_GetMotorIdUsingbridgeInput ( uint8_t bridgeInput ) [protected, inherited]

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

Parameters:

bridgeInput 0 for bridgeInput 1A, 1 for 2A, 2 for 1B, 3 for 3B

Return values:

bridgeId 0 for bridge A , 1 for bridge B

Definition at line 756 of file l6206_class.cpp.

uint8_t L6206_GetSecondBridgeInputUsedByMotorId ( uint8_t motorId ) [protected, inherited]

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

Parameters:

motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

PWM	input 0 for 1A, 1 for 2A, 2 for 1B, 3 for 3B

Definition at line 1054 of file l6206_class.cpp.

void L6206_HardHiz ( uint8_t motorId ) [protected, 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 311 of file l6206_class.cpp.

void L6206_HardStop ( uint8_t motorId ) [protected, 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 386 of file l6206_class.cpp.

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

Start the L6206 library.

Parameters:

[in] init pointer to the initialization data

Return values:

None

Definition at line 187 of file l6206_class.cpp.

bool L6206_IsBidirectionnalMotor ( uint8_t motorId ) [protected, inherited]

Test if motor is bidirectionnal.

Parameters:

motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS

Return values:

True	if motor is bidirectionnal, else false

Definition at line 1176 of file l6206_class.cpp.

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

Read id.

Return values:

Id	of the l6206 Driver Instance

Definition at line 417 of file l6206_class.cpp.

void L6206_Run	(	uint8_t	motorId,
		motorDir_t	direction
	)		`[protected, 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 432 of file l6206_class.cpp.

void L6206_SetBridgeInputPwmFreq	(	uint8_t	bridgeId,
		uint32_t	newFreq
	)		`[protected, 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 595 of file l6206_class.cpp.

void L6206_SetDeviceParamsToGivenValues ( L6206_Init_t * initDevicePrm ) [protected, inherited]

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

Parameters:

initDevicePrm structure containing values to initialize the device parameters

Return values:

None

Definition at line 1254 of file l6206_class.cpp.

void L6206_SetDeviceParamsToPredefinedValues ( void ) [protected, inherited]

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

Return values:

None

Definition at line 1221 of file l6206_class.cpp.

void L6206_SetDualFullBridgeConfig ( uint8_t newConfig ) [protected, inherited]

Set dual full bridge parallelling configuration.

Parameters:

[in] newConfig bridge configuration to apply from dualFullBridgeConfig_t enum

Return values:

None

Definition at line 486 of file l6206_class.cpp.

bool L6206_SetMaxSpeed	(	uint8_t	motorId,
		uint16_t	newMaxSpeed
	)		`[protected, 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 554 of file l6206_class.cpp.

bool L6206_SetNbDevices ( uint8_t nbDevices ) [protected, inherited]

Sets the number of devices to be used.

Parameters:

[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)

Return values:

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

Definition at line 643 of file l6206_class.cpp.

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

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