Emmanuel L. / X_NUCLEO_IHM04A1

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L6206 Class Reference
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

L6206 Class Reference
[L6206 Private Constants]

Class representing a L6206 component. More...

#include <l6206_class.h>

Inherits BDCMotor.

Public Types

enum  direction_t
 

Rotation modes.

More...

Public Member Functions

 L6206 (PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B)
 Constructor.
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.

Protected Member Functions

Status_t L6206_Init (void *init)
 Start the L6206 library.
Status_t L6206_ReadId (uint8_t *id)
 Read id.
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.
uint16_t L6206_GetBridgeStatus (uint8_t deviceId)
 Get the status of the bridge enabling of the corresponding 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.
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.
void L6206_Run (uint8_t motorId, motorDir_t direction)
 Runs the motor.
uint32_t L6206_GetBridgeInputPwmFreq (uint8_t bridgeId)
 Get the PWM frequency of the specified bridge.
void L6206_SetBridgeInputPwmFreq (uint8_t bridgeId, uint32_t newFreq)
 Changes the PWM frequency of the bridge input.
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.
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_GetBridgeInputUsedByMotorId (uint8_t motorId)
 Get the PWM input 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_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.
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.

Protected Attributes

bool pwm_1A_activated
 PWM timer variables.

Detailed Description

Class representing a L6206 component.

Definition at line 121 of file l6206_class.h.

Member Enumeration Documentation

enum direction_t [inherited]

Rotation modes.

Definition at line 61 of file BDCMotor_class.h.

Constructor & Destructor Documentation

L6206 ( PinName  EN_flag_A,
PinName  EN_flag_B,
PinName  pwm_1A,
PinName  pwm_2A,
PinName  pwm_1B,
PinName  pwm_2B 
)

Constructor.

Definition at line 130 of file l6206_class.h.

Generated on Sat Jul 16 2022 00:03:02 by  doxygen 1.7.2