Functions
void	L6474_AttachErrorHandler (void(*callback)(uint16_t))
	Attaches a user callback to the error Handler.
void	L6474_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 pre-warning or shutdown, UVLO, wrong command, non-performable command)
void	L6474_Init (uint8_t nbDevices)
	Starts the L6474 library.
uint16_t	L6474_GetAcceleration (uint8_t deviceId)
	Returns the acceleration of the specified device.
uint16_t	L6474_GetCurrentSpeed (uint8_t deviceId)
	Returns the current speed of the specified device.
uint16_t	L6474_GetDeceleration (uint8_t deviceId)
	Returns the deceleration of the specified device.
motorState_t	L6474_GetDeviceState (uint8_t deviceId)
	Returns the device state.
uint8_t	L6474_GetFwVersion (void)
	Returns the FW version of the library.
motorDrv_t *	L6474_GetMotorHandle (void)
	Return motor handle (pointer to the L6474 motor driver structure)
int32_t	L6474_GetMark (uint8_t deviceId)
	Returns the mark position of the specified device.
uint16_t	L6474_GetMaxSpeed (uint8_t deviceId)
	Returns the max speed of the specified device.
uint16_t	L6474_GetMinSpeed (uint8_t deviceId)
	Returns the min speed of the specified device.
int32_t	L6474_GetPosition (uint8_t deviceId)
	Returns the ABS_POSITION of the specified device.
void	L6474_GoHome (uint8_t deviceId)
	Requests the motor to move to the home position (ABS_POSITION = 0)
void	L6474_GoMark (uint8_t deviceId)
	Requests the motor to move to the mark position.
void	L6474_GoTo (uint8_t deviceId, int32_t targetPosition)
	Requests the motor to move to the specified position.
void	L6474_HardStop (uint8_t deviceId)
	Immediatly stops the motor and disable the power bridge.
void	L6474_Move (uint8_t deviceId, motorDir_t direction, uint32_t stepCount)
	Moves the motor of the specified number of steps.
uint16_t	L6474_ReadId (void)
	Read id.
void	L6474_ResetAllDevices (void)
	Resets all L6474 devices.
void	L6474_Run (uint8_t deviceId, motorDir_t direction)
	Runs the motor.
bool	L6474_SetAcceleration (uint8_t deviceId, uint16_t newAcc)
	Changes the acceleration of the specified device.
bool	L6474_SetDeceleration (uint8_t deviceId, uint16_t newDec)
	Changes the deceleration of the specified device.
void	L6474_SetHome (uint8_t deviceId)
	Set current position to be the Home position (ABS pos set to 0)
void	L6474_SetMark (uint8_t deviceId)
	Sets current position to be the Mark position.
bool	L6474_SetMaxSpeed (uint8_t deviceId, uint16_t newMaxSpeed)
	Changes the max speed of the specified device.
bool	L6474_SetMinSpeed (uint8_t deviceId, uint16_t newMinSpeed)
	Changes the min speed of the specified device.
bool	L6474_SoftStop (uint8_t deviceId)
	Stops the motor by using the device deceleration.
void	L6474_WaitWhileActive (uint8_t deviceId)
	Locks until the device state becomes Inactive.

Function Documentation

void L6474_AttachErrorHandler ( void(*)(uint16_t) callback )

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 213 of file l6474.cpp.

void L6474_AttachFlagInterrupt ( void(*)(void) callback )

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 pre-warning or shutdown, UVLO, wrong command, non-performable command)

Parameters:

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

Return values:

None

Definition at line 228 of file l6474.cpp.

uint16_t L6474_GetAcceleration ( uint8_t deviceId )

Returns the acceleration of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

Acceleration in pps^2

Definition at line 292 of file l6474.cpp.

uint16_t L6474_GetCurrentSpeed ( uint8_t deviceId )

Returns the current speed of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

Speed in pps

Definition at line 302 of file l6474.cpp.

uint16_t L6474_GetDeceleration ( uint8_t deviceId )

Returns the deceleration of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

Deceleration in pps^2

Definition at line 312 of file l6474.cpp.

motorState_t L6474_GetDeviceState ( uint8_t deviceId )

Returns the device state.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

State (ACCELERATING, DECELERATING, STEADY or INACTIVE)

Definition at line 322 of file l6474.cpp.

uint8_t L6474_GetFwVersion ( void )

Returns the FW version of the library.

Parameters:

None

Return values:

L6474_FW_VERSION

Definition at line 332 of file l6474.cpp.

int32_t L6474_GetMark ( uint8_t deviceId )

Returns the mark position of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

Mark	register value converted in a 32b signed integer

Definition at line 352 of file l6474.cpp.

uint16_t L6474_GetMaxSpeed ( uint8_t deviceId )

Returns the max speed of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

maxSpeed in pps

Definition at line 362 of file l6474.cpp.

uint16_t L6474_GetMinSpeed ( uint8_t deviceId )

Returns the min speed of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

minSpeed in pps

Definition at line 372 of file l6474.cpp.

motorDrv_t* L6474_GetMotorHandle ( void )

Return motor handle (pointer to the L6474 motor driver structure)

Parameters:

None

Return values:

Pointer to the motorDrv_t structure

Definition at line 342 of file l6474.cpp.

int32_t L6474_GetPosition ( uint8_t deviceId )

Returns the ABS_POSITION of the specified device.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

ABS_POSITION register value converted in a 32b signed integer

Definition at line 382 of file l6474.cpp.

void L6474_GoHome ( uint8_t deviceId )

Requests the motor to move to the home position (ABS_POSITION = 0)

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 394 of file l6474.cpp.

void L6474_GoMark ( uint8_t deviceId )

Requests the motor to move to the mark position.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 404 of file l6474.cpp.

void L6474_GoTo	(	uint8_t	deviceId,
		int32_t	targetPosition
	)

Requests the motor to move to the specified position.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	targetPosition	absolute position in steps

Return values:

None

Definition at line 418 of file l6474.cpp.

void L6474_HardStop ( uint8_t deviceId )

Immediatly stops the motor and disable the power bridge.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 467 of file l6474.cpp.

void L6474_Init ( uint8_t nbDevices )

Starts the L6474 library.

Parameters:

[in] nbDevices Number of L6474 devices to use (from 1 to 3)

Return values:

None

Definition at line 238 of file l6474.cpp.

void L6474_Move	(	uint8_t	deviceId,
		motorDir_t	direction,
		uint32_t	stepCount
	)

Moves the motor of the specified number of steps.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	direction	FORWARD or BACKWARD
[in]	stepCount	Number of steps to perform

Return values:

None

Definition at line 510 of file l6474.cpp.

uint16_t L6474_ReadId ( void )

Read id.

Parameters:

None

Return values:

Id	of the l6474 Driver Instance

Definition at line 541 of file l6474.cpp.

void L6474_ResetAllDevices ( void )

Resets all L6474 devices.

Parameters:

None

Return values:

None

Definition at line 551 of file l6474.cpp.

void L6474_Run	(	uint8_t	deviceId,
		motorDir_t	direction
	)

Runs the motor.

It will accelerate from the min speed up to the max speed by using the device acceleration.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	direction	FORWARD or BACKWARD

Return values:

None

Definition at line 580 of file l6474.cpp.

bool L6474_SetAcceleration	(	uint8_t	deviceId,
		uint16_t	newAcc
	)

Changes the acceleration of the specified device.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	newAcc	New acceleration to apply in pps^2

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 605 of file l6474.cpp.

bool L6474_SetDeceleration	(	uint8_t	deviceId,
		uint16_t	newDec
	)

Changes the deceleration of the specified device.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	newDec	New deceleration to apply in pps^2

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 626 of file l6474.cpp.

void L6474_SetHome ( uint8_t deviceId )

Set current position to be the Home position (ABS pos set to 0)

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 644 of file l6474.cpp.

void L6474_SetMark ( uint8_t deviceId )

Sets current position to be the Mark position.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 654 of file l6474.cpp.

bool L6474_SetMaxSpeed	(	uint8_t	deviceId,
		uint16_t	newMaxSpeed
	)

Changes the max speed of the specified device.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	newMaxSpeed	New max speed to apply in pps

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 668 of file l6474.cpp.

bool L6474_SetMinSpeed	(	uint8_t	deviceId,
		uint16_t	newMinSpeed
	)

Changes the min speed of the specified device.

Parameters:

[in]	deviceId	(from 0 to 2)
[in]	newMinSpeed	New min speed to apply in pps

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 691 of file l6474.cpp.

bool L6474_SoftStop ( uint8_t deviceId )

Stops the motor by using the device deceleration.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

true	if the command is successfully executed, else false

Note:: The command is not performed is the device is in INACTIVE state.

Definition at line 712 of file l6474.cpp.

void L6474_WaitWhileActive ( uint8_t deviceId )

Locks until the device state becomes Inactive.

Parameters:

[in] deviceId (from 0 to 2)

Return values:

None

Definition at line 728 of file l6474.cpp.

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 Sep 2015
Imports:	320
Forks:	0
Commits:	7
Dependents:	0
Dependencies:	1
Followers:	7

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