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	read_id (uint8_t *id=NULL)
	Getting the ID of the component.
virtual void	attach_error_handler (void(*callback)(uint16_t error))
	Attaches a user callback to the error Handler.
virtual void	attach_flag_interrupt (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	get_speed (unsigned int motorId)
	Returns the current speed of the specified motor.
virtual unsigned int	get_device_state (unsigned int motorId)
	Returns the device state.
virtual uint8_t	get_fw_version (void)
	Returns the FW version of the library.
virtual uint16_t	get_max_speed (unsigned int motorId)
	Returns the max speed of the specified motor.
virtual void	hard_stop (unsigned int motorId)
	Stops the motor without disabling the bridge.
virtual void	run (unsigned int motorId, direction_t direction)
	Runs the motor.
virtual bool	set_speed (unsigned int motorId, unsigned int newMaxSpeed)
	Changes the max speed of the specified device.
virtual void	disable_bridge (unsigned int bridgeId)
	Disable the specified bridge.
virtual void	enable_bridge (unsigned int bridgeId)
	Enable the specified bridge.
virtual unsigned int	get_bridge_status (unsigned int bridgeId)
	Get the status of the bridge enabling of the corresponding bridge.
virtual void	hard_hiz (unsigned int motorId)
	Immediatly stops the motor and disable the power bridge.
virtual void	error_handler (uint16_t error)
	Error handler which calls the user callback (if defined)
virtual void	set_dual_full_bridge_config (unsigned int newConfig)
	Set dual full bridge parallelling configuration.
virtual unsigned int	get_bridge_input_pwm_freq (unsigned int bridgeId)
	Get the PWM frequency of the specified bridge.
virtual void	set_bridge_input_pwm_freq (unsigned int bridgeId, unsigned int newFreq)
	Changes the PWM frequency of the bridge input.
virtual bool	set_nb_devices (uint8_t nbDevices)
	Sets the number of devices to be used.
virtual void	enable_flag_irq (uint8_t bridgeId)
	Enabling the FLAG interrupt handling.
virtual void	disable_flag_irq (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 attach_error_handler ( 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 203 of file L6206.h.

virtual void attach_flag_interrupt ( 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 218 of file L6206.h.

virtual void disable_bridge ( 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 303 of file L6206.h.

virtual void disable_flag_irq ( 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 454 of file L6206.h.

virtual void enable_bridge ( 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 316 of file L6206.h.

virtual void enable_flag_irq ( 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 435 of file L6206.h.

virtual void error_handler ( 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 348 of file L6206.h.

virtual unsigned int get_bridge_input_pwm_freq ( 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 369 of file L6206.h.

virtual unsigned int get_bridge_status ( 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 326 of file L6206.h.

virtual unsigned int get_device_state ( 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 238 of file L6206.h.

virtual uint8_t get_fw_version ( void ) [virtual, inherited]

Returns the FW version of the library.

Return values:

L6206_FW_VERSION

Definition at line 247 of file L6206.h.

virtual uint16_t get_max_speed ( 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 257 of file L6206.h.

virtual unsigned int get_speed ( 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 228 of file L6206.h.

virtual void hard_hiz ( 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 338 of file L6206.h.

virtual void hard_stop ( 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 267 of file L6206.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 181 of file L6206.h.

void L6206_Board_Delay ( uint32_t delay ) [protected, inherited]

Making the CPU wait.

Parameters:

None.

Return values:

None.

Definition at line 554 of file L6206.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 567 of file L6206.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 585 of file L6206.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 602 of file L6206.h.

void L6206_Board_GpioInit ( void ) [protected, inherited]

Initiliases the GPIOs used by the L6206s.

Return values:

None

Definition at line 620 of file L6206.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 695 of file L6206.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 724 of file L6206.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 647 of file L6206.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 734 of file L6206.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 533 of file L6206.h.

virtual int read_id ( 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 191 of file L6206.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 279 of file L6206.h.

virtual void set_bridge_input_pwm_freq	(	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 380 of file L6206.h.

virtual void set_dual_full_bridge_config ( 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 359 of file L6206.h.

virtual bool set_nb_devices ( 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 391 of file L6206.h.

virtual bool set_speed	(	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 290 of file L6206.h.

virtual ~L6206 ( void ) [virtual, inherited]

Destructor.

Definition at line 150 of file L6206.h.

Variable Documentation

bool pwm_1A_activated [protected, inherited]

PWM timer variables.

Definition at line 831 of file L6206.h.

Type:	Library
Created:	17 Nov 2020
Imports:	1
Forks:	0
Commits:	9
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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Function Documentation

Variable Documentation

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