Collaboration diagram for TLE94112 API:

Data Structures
class	Tle94112
	represents a basic TLE94112 More...

Macros
#define	TLE94112_NUM_HB 13
	the number of halfbridges on a TLE94112 (including no halfbridge)

#define	TLE94112_NUM_PWM 4
	the number of pwm modes for a halfbridge (including no pwm)

#define	TLE94112_NUM_CTRL_REGS 12
	the number of control registers in a TLE94112

#define	TLE94112_NUM_STATUS_REGS 7
	the number of status registers in a TLE94112

Error codes
enum	tle94112::Error_t { tle94112::OK = 0 , tle94112::INTF_ERROR = -1 , tle94112::CONF_ERROR = -2 , tle94112::READ_ERROR = -3 , tle94112::WRITE_ERROR = -4 }

#define	REG_ACT_1 0x03

#define	REG_ACT_2 0x43

#define	REG_ACT_3 0x23

#define	REG_MODE_1 0x63

#define	REG_MODE_2 0x13

#define	REG_MODE_3 0x53

#define	REG_PWM_CH_FREQ 0x33

#define	REG_PWM_DC_1 0x73

#define	REG_PWM_DC_2 0x0B

#define	REG_PWM_DC_3 0x4B

#define	REG_SYS_DIAG 0x1B

#define	REG_ERR1 0x5B

#define	REG_ERR2 0x3B

#define	REG_ERR3 0x7B

#define	REG_ERR4 0x07

#define	REG_ERR5 0x47

#define	REG_ERR6 0x27

#define	REG_FW_OL 0x2B

#define	REG_FW_CTRL 0x6B

#define	HL_HL 0b10011001

#define	HL_LH 0b10010110

#define	LH_HL 0b01101001

#define	LH_LH 0b01100110

#define	HH_LL 0b10100101

#define	LL_HH 0b01011010

Detailed Description

Data Structure Documentation

◆ Tle94112

class Tle94112

represents a basic TLE94112

This class provides a simple API for connecting and controlling motors. Each motor is assigned to a Tle94112 which acts as output driver. Calls to Tle94112Motor instances are mapped to calls to Tle94112. Therefore, this class does not bring new features, it does only provide further abstraction.

See also: Tle94112

Inheritance diagram for Tle94112:

[legend]

Collaboration diagram for Tle94112:

[legend]

Public Types
enum	HalfBridge { TLE_NOHB = 0 , TLE_HB1 , TLE_HB2 , TLE_HB3 , TLE_HB4 , TLE_HB5 , TLE_HB6 , TLE_HB7 , TLE_HB8 , TLE_HB9 , TLE_HB10 , TLE_HB11 , TLE_HB12 }
	enum for the halfbridges on a TLE94112 More...

enum	PWMChannel { TLE_NOPWM = 0 , TLE_PWM1 , TLE_PWM2 , TLE_PWM3 }
	enum for the PWM channels of a halfbridge on TLE94112 More...

enum	HBState { TLE_FLOATING = 0b00 , TLE_LOW = 0b01 , TLE_HIGH = 0b10 }
	enum for the output states of a halfbridge More...

enum	HBOCState { TLE_NONE = 0b00 , TLE_LOWSIDE = 0b01 , TLE_HIGHSIDE = 0b10 }
	enum for the overcurrent states of a halfbridge More...

enum	PWMFreq { TLE_FREQOFF = 0b00 , TLE_FREQ80HZ , TLE_FREQ100HZ , TLE_FREQ200HZ }
	enum for the frequencies of a PWM channel More...

enum	DiagFlag { TLE_SPI_ERROR = 0x80 , TLE_LOAD_ERROR = 0x40 , TLE_UNDER_VOLTAGE = 0x20 , TLE_OVER_VOLTAGE = 0x10 , TLE_POWER_ON_RESET = 0x08 , TLE_TEMP_SHUTDOWN = 0x04 , TLE_TEMP_WARNING = 0x02 }
	enum for the flags in the register SYS_DIAG1 More...

Public Member Functions
	Tle94112 ()
	standard constructor with default pin assignment

	Tle94112 (SPIC sBus, GPIOC cs, GPIOC en, Timer timer)
	constructor with pal instances

	~Tle94112 ()
	standard destructor switches shield off

void	begin (void)
	enables and initializes the TLE94112

void	end (void)
	deactivates all outputs and disables the TLE94112

void	configHB (HalfBridge hb, HBState state, PWMChannel pwm)
	sets the output state and the PWM channel for a halfbridge (only for passive freewheeling)

void	configHB (HalfBridge hb, HBState state, PWMChannel pwm, uint8_t activeFW)
	sets the output state and the PWM channel for a halfbridge (allows active freewheeling)

void	configPWM (PWMChannel pwm, PWMFreq freq, uint8_t dutyCycle)
	sets the frequency and duty cycle for a PWM channel

uint8_t	setLedMode (HalfBridge hb, uint8_t active)
	sets LED mode on compatible half bridges (half bridge 1 or 2 of TLE94112)

uint8_t	getSysDiagnosis ()
	returns a diagnosis value for error detection

uint8_t	getSysDiagnosis (DiagFlag mask)
	shows if errors of a specific type have occurred

uint8_t	getSysDiagnosis (uint8_t mask)
	shows if errors of a specific type have occurred

uint8_t	getHBOverCurrent (HalfBridge hb)
	gets the overcurrent error flag bit for a specific halfbridge

uint8_t	getHBOpenLoad (HalfBridge hb)
	gets the openload error flag bit for a specific halfbridge

void	clearErrors ()
	clears all clearable error flags

void	directWriteReg (uint8_t reg, uint8_t data)
	writes data bits directly to a register of the TLE94112

uint8_t	readStatusReg (uint8_t reg)
	reads one byte from a status register of the TLE94112

Data Fields
SPIC *	sBus

GPIOC *	cs

GPIOC *	en

Timer *	timer

Static Public Attributes
static const uint8_t	TLE_STATUS_OK = 0U
	Reference value of Status Register.

Protected Types
enum	CtrlRegisters { HB_ACT_1_CTRL = 0 , HB_ACT_2_CTRL , HB_ACT_3_CTRL , HB_MODE_1_CTRL , HB_MODE_2_CTRL , HB_MODE_3_CTRL , PWM_CH_FREQ_CTRL , PWM1_DC_CTRL , PWM2_DC_CTRL , PWM3_DC_CTRL , FW_OL_CTRL , FW_CTRL }
	enum for the control registers in a TLE94112 More...

enum	StatusRegisters { SYS_DIAG1 = 0 , OP_ERROR_1_STAT , OP_ERROR_2_STAT , OP_ERROR_3_STAT , OP_ERROR_4_STAT , OP_ERROR_5_STAT , OP_ERROR_6_STAT }
	enum for the status registers in a TLE94112 More...

Protected Member Functions
void	init (void)
	initializes this object, automatically called by begin()

void	_configHB (uint8_t hb, uint8_t state, uint8_t pwm, uint8_t activeFW)
	sets the output state and the PWM channel for a halfbridge automatically called by the public version of configHB

void	_configPWM (uint8_t pwm, uint8_t freq, uint8_t dutyCycle)
	sets the frequency and duty cycle for a PWM channel automatically called by the public version of configPWM

uint8_t	_getHBOverCurrent (uint8_t hb)
	gets the overcurrent error flag bit for a specific halfbridge automatically called by the public version of getHBOverCurrent

uint8_t	_getHBOpenLoad (uint8_t hb)
	gets the openload error flag bit for a specific halfbridge automatically called by the public version of getHBOpenLoad

void	writeReg (uint8_t reg, uint8_t mask, uint8_t shift, uint8_t data)
	writes data bits to a control register of the TLE94112

uint8_t	readStatusReg (uint8_t reg, uint8_t mask, uint8_t shift)
	reads some bits from a status register of the TLE94112

void	clearStatusReg (uint8_t reg)
	clears a status register by writing 0x00 to it

Protected Attributes
HalfBridge_t	mHalfBridges [TLE94112_NUM_HB]
	array of register locations for halfbridges

PWMchannel_t	mPwmChannels [TLE94112_NUM_PWM]
	array of register locations for PWM channels

uint8_t	mCtrlRegAddresses [TLE94112_NUM_CTRL_REGS]
	mapping array for control register addresses

uint8_t	mCtrlRegData [TLE94112_NUM_CTRL_REGS]
	mirror array for control register data

uint8_t	mStatusRegAddresses [TLE94112_NUM_STATUS_REGS]
	mapping array for status register addresses

uint8_t	mEnabled

Member Enumeration Documentation

◆ HalfBridge

enum Tle94112::HalfBridge

enum for the halfbridges on a TLE94112

Enumerator
TLE_NOHB
TLE_HB1
TLE_HB2
TLE_HB3
TLE_HB4
TLE_HB5
TLE_HB6
TLE_HB7
TLE_HB8
TLE_HB9
TLE_HB10
TLE_HB11
TLE_HB12

◆ PWMChannel

enum Tle94112::PWMChannel

enum for the PWM channels of a halfbridge on TLE94112

Enumerator
TLE_NOPWM
TLE_PWM1
TLE_PWM2
TLE_PWM3

◆ HBState

enum Tle94112::HBState

enum for the output states of a halfbridge

Enumerator
TLE_FLOATING
TLE_LOW
TLE_HIGH

◆ HBOCState

enum Tle94112::HBOCState

enum for the overcurrent states of a halfbridge

Enumerator
TLE_NONE
TLE_LOWSIDE
TLE_HIGHSIDE

◆ PWMFreq

enum Tle94112::PWMFreq

enum for the frequencies of a PWM channel

Enumerator
TLE_FREQOFF
TLE_FREQ80HZ
TLE_FREQ100HZ
TLE_FREQ200HZ

◆ DiagFlag

enum Tle94112::DiagFlag

enum for the flags in the register SYS_DIAG1

Enumerator
TLE_SPI_ERROR
TLE_LOAD_ERROR
TLE_UNDER_VOLTAGE
TLE_OVER_VOLTAGE
TLE_POWER_ON_RESET
TLE_TEMP_SHUTDOWN
TLE_TEMP_WARNING

◆ CtrlRegisters

enum Tle94112::CtrlRegisters

protected

enum for the control registers in a TLE94112

Enumerator
HB_ACT_1_CTRL
HB_ACT_2_CTRL
HB_ACT_3_CTRL
HB_MODE_1_CTRL
HB_MODE_2_CTRL
HB_MODE_3_CTRL
PWM_CH_FREQ_CTRL
PWM1_DC_CTRL
PWM2_DC_CTRL
PWM3_DC_CTRL
FW_OL_CTRL
FW_CTRL

◆ StatusRegisters

enum Tle94112::StatusRegisters

protected

enum for the status registers in a TLE94112

Enumerator
SYS_DIAG1
OP_ERROR_1_STAT
OP_ERROR_2_STAT
OP_ERROR_3_STAT
OP_ERROR_4_STAT
OP_ERROR_5_STAT
OP_ERROR_6_STAT

Constructor & Destructor Documentation

◆ Tle94112() [1/2]

Tle94112::Tle94112 ( void )

standard constructor with default pin assignment

◆ Tle94112() [2/2]

Tle94112::Tle94112	(	SPIC *	sBus,
		GPIOC *	cs,
		GPIOC *	en,
		Timer *	timer
	)

constructor with pal instances

◆ ~Tle94112()

Tle94112::~Tle94112 ( )

standard destructor switches shield off

Member Function Documentation

◆ begin()

void Tle94112::begin ( void )

enables and initializes the TLE94112

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◆ end()

void Tle94112::end ( void )

deactivates all outputs and disables the TLE94112

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◆ configHB() [1/2]

void Tle94112::configHB	(	HalfBridge	hb,
		HBState	state,
		PWMChannel	pwm
	)

sets the output state and the PWM channel for a halfbridge (only for passive freewheeling)

Parameters

hb	halfbridge which will be configured
state	sets the output voltage to high, low or floating
pwm	selects a PWM channel for PWM output

See also: HalfBridge; HBState; PWMChannel

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◆ configHB() [2/2]

void Tle94112::configHB	(	HalfBridge	hb,
		HBState	state,
		PWMChannel	pwm,
		uint8_t	activeFW
	)

sets the output state and the PWM channel for a halfbridge (allows active freewheeling)

Parameters

hb	halfbridge which will be configured
state	sets the output voltage to high, low or floating
pwm	selects a PWM channel for PWM output
activeFW	1 for active freewheeling 0 for passive freewheeling (default)

See also: HalfBridge; HBState; PWMChannel

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◆ configPWM()

void Tle94112::configPWM	(	PWMChannel	pwm,
		PWMFreq	freq,
		uint8_t	dutyCycle
	)

sets the frequency and duty cycle for a PWM channel

Parameters

pwm	PWM channel which will be configured
freq	selects the PWM output frequency
dutyCycle	a value from 0 to 255 which sets the dutyCycle

See also: PWMChannel; PWMFreq

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◆ setLedMode()

uint8_t Tle94112::setLedMode	(	HalfBridge	hb,
		uint8_t	active
	)

sets LED mode on compatible half bridges (half bridge 1 or 2 of TLE94112)

Parameters

hb	compatible half bridge to set LED mode
active	LED mode active (1) or inactive (0)

See also: HalfBridge

Returns: 0 if everything is ok 1 if half bridge does not support LED mode

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◆ getSysDiagnosis() [1/3]

uint8_t Tle94112::getSysDiagnosis ( )

returns a diagnosis value for error detection

Returns: 0 if everything is ok non-zero value if errors occurred

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◆ getSysDiagnosis() [2/3]

uint8_t Tle94112::getSysDiagnosis ( DiagFlag mask )

shows if errors of a specific type have occurred

Parameters

mask	mask to filter for a specific flag

Returns: 0 if everything is ok non-zero value on error condition

See also: DiagFlag

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◆ getSysDiagnosis() [3/3]

uint8_t Tle94112::getSysDiagnosis ( uint8_t mask )

shows if errors of a specific type have occurred

Parameters

mask	mask to filter for one or more specific flags this can be a disjunction of DiagFlag values

Returns: 0 if everything is ok non-zero value on error condition

See also: DiagFlag

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◆ getHBOverCurrent()

uint8_t Tle94112::getHBOverCurrent ( HalfBridge hb )

gets the overcurrent error flag bit for a specific halfbridge

Parameters

hb	halfbridge thats overcurrent flag will be returned

Returns: 1 if there HalfBridge was shut down because of an overcurrent 0 otherwise

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◆ getHBOpenLoad()

uint8_t Tle94112::getHBOpenLoad ( HalfBridge hb )

gets the openload error flag bit for a specific halfbridge

Parameters

hb	halfbridge thats openload flag will be returned

Returns: 1 if there HalfBridge detected an open load 0 otherwise

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◆ clearErrors()

void Tle94112::clearErrors ( )

clears all clearable error flags

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◆ directWriteReg()

void Tle94112::directWriteReg	(	uint8_t	reg,
		uint8_t	data
	)

writes data bits directly to a register of the TLE94112

Parameters

reg	address of the register to be written to.
data	the data byte that has to be written.

See also: mCtrlRegAddresses; mCtrlRegData

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◆ readStatusReg() [1/2]

uint8_t Tle94112::readStatusReg ( uint8_t reg )

reads one byte from a status register of the TLE94112

Parameters

reg	status register number(mapping array index / StatusRegisters constant) of the register

Returns: data byte that has been read

See also: StatusRegisters; TLE94112_NUM_STATUS_REGS; mStatusRegAddresses

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◆ init()

void Tle94112::init ( void )

protected

initializes this object, automatically called by begin()

< initial control register configuration

< status register configuration

< bit masking for all halfbridges

< bit masking for all pwm channels

◆ _configHB()

void Tle94112::_configHB	(	uint8_t	hb,
		uint8_t	state,
		uint8_t	pwm,
		uint8_t	activeFW
	)

protected

sets the output state and the PWM channel for a halfbridge automatically called by the public version of configHB

Parameters

hb	halfbridge which will be configured
state	sets the output voltage to high, low or floating
pwm	selects a PWM channel for PWM output
activeFW	1 for active freewheeling 0 for passive freewheeling (default)

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◆ _configPWM()

void Tle94112::_configPWM	(	uint8_t	pwm,
		uint8_t	freq,
		uint8_t	dutyCycle
	)

protected

sets the frequency and duty cycle for a PWM channel automatically called by the public version of configPWM

Parameters

pwm	PWM channel which will be configured
freq	selects the PWM output frequency
dutyCycle	a value from 0 to 255 which sets the dutyCycle

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◆ _getHBOverCurrent()

uint8_t Tle94112::_getHBOverCurrent ( uint8_t hb )

protected

gets the overcurrent error flag bit for a specific halfbridge automatically called by the public version of getHBOverCurrent

Parameters

hb	halfbridge thats overcurrent flag will be returned

Returns: 1 if there HalfBridge was shut down because of an overcurrent 0 otherwise

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◆ _getHBOpenLoad()

uint8_t Tle94112::_getHBOpenLoad ( uint8_t hb )

protected

gets the openload error flag bit for a specific halfbridge automatically called by the public version of getHBOpenLoad

Parameters

hb	halfbridge thats openload flag will be returned

Returns: 1 if there HalfBridge detected an open load 0 otherwise

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◆ writeReg()

void Tle94112::writeReg	(	uint8_t	reg,
		uint8_t	mask,
		uint8_t	shift,
		uint8_t	data
	)

protected

writes data bits to a control register of the TLE94112

Parameters

reg	control register number(mapping array index / CtrlRegisters constant) of the register
mask	mask for the bits that have to be written
shift	data will be shifted left by this amount before masking. This is for the bit alignment of data
data	the data byte that has to be written. It will be shifted and masked before

See also: CtrlRegisters; TLE94112_NUM_CTRL_REGS; mCtrlRegAddresses; mCtrlRegData

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◆ readStatusReg() [2/2]

uint8_t Tle94112::readStatusReg	(	uint8_t	reg,
		uint8_t	mask,
		uint8_t	shift
	)

protected

reads some bits from a status register of the TLE94112

Parameters

reg	status register number(mapping array index / StatusRegisters constant) of the register
mask	mask for the bits that have to be read
shift	data will be shifted right by this amount after masking. This is for the bit alignment of data

Returns: data bits that have been read (after masking and shifting)

See also: StatusRegisters; TLE94112_NUM_STATUS_REGS; mStatusRegAddresses

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◆ clearStatusReg()

void Tle94112::clearStatusReg ( uint8_t reg )

protected

clears a status register by writing 0x00 to it

Parameters

reg	status register number(mapping array index / StatusRegisters constant) of the register

See also: StatusRegisters; TLE94112_NUM_STATUS_REGS; mStatusRegAddresses

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Field Documentation

◆ TLE_STATUS_OK

const uint8_t Tle94112::TLE_STATUS_OK = 0U

static

Reference value of Status Register.

◆ sBus

SPIC* Tle94112::sBus

◆ cs

GPIOC* Tle94112::cs

◆ en

GPIOC* Tle94112::en

◆ timer

Timer* Tle94112::timer

◆ mHalfBridges

HalfBridge_t Tle94112::mHalfBridges[TLE94112_NUM_HB]

protected

array of register locations for halfbridges

◆ mPwmChannels

PWMchannel_t Tle94112::mPwmChannels[TLE94112_NUM_PWM]

protected

array of register locations for PWM channels

◆ mCtrlRegAddresses

uint8_t Tle94112::mCtrlRegAddresses[TLE94112_NUM_CTRL_REGS]

protected

mapping array for control register addresses

◆ mCtrlRegData

uint8_t Tle94112::mCtrlRegData[TLE94112_NUM_CTRL_REGS]

protected

mirror array for control register data

◆ mStatusRegAddresses

uint8_t Tle94112::mStatusRegAddresses[TLE94112_NUM_STATUS_REGS]

protected

mapping array for status register addresses

◆ mEnabled

uint8_t Tle94112::mEnabled

protected

Macro Definition Documentation

◆ REG_ACT_1

#define REG_ACT_1 0x03

◆ REG_ACT_2

#define REG_ACT_2 0x43

◆ REG_ACT_3

#define REG_ACT_3 0x23

◆ REG_MODE_1

#define REG_MODE_1 0x63

◆ REG_MODE_2

#define REG_MODE_2 0x13

◆ REG_MODE_3

#define REG_MODE_3 0x53

◆ REG_PWM_CH_FREQ

#define REG_PWM_CH_FREQ 0x33

◆ REG_PWM_DC_1

#define REG_PWM_DC_1 0x73

◆ REG_PWM_DC_2

#define REG_PWM_DC_2 0x0B

◆ REG_PWM_DC_3

#define REG_PWM_DC_3 0x4B

◆ REG_SYS_DIAG

#define REG_SYS_DIAG 0x1B

◆ REG_ERR1

#define REG_ERR1 0x5B

◆ REG_ERR2

#define REG_ERR2 0x3B

◆ REG_ERR3

#define REG_ERR3 0x7B

◆ REG_ERR4

#define REG_ERR4 0x07

◆ REG_ERR5

#define REG_ERR5 0x47

◆ REG_ERR6

#define REG_ERR6 0x27

◆ REG_FW_OL

#define REG_FW_OL 0x2B

◆ REG_FW_CTRL

#define REG_FW_CTRL 0x6B

◆ HL_HL

#define HL_HL 0b10011001

◆ HL_LH

#define HL_LH 0b10010110

◆ LH_HL

#define LH_HL 0b01101001

◆ LH_LH

#define LH_LH 0b01100110

◆ HH_LL

#define HH_LL 0b10100101

◆ LL_HH

#define LL_HH 0b01011010

◆ TLE94112_NUM_HB

#define TLE94112_NUM_HB 13

the number of halfbridges on a TLE94112 (including no halfbridge)

See also: mHalfBridges; HalfBridge

◆ TLE94112_NUM_PWM

#define TLE94112_NUM_PWM 4

the number of pwm modes for a halfbridge (including no pwm)

See also: mPwmChannels; PWMChannel

◆ TLE94112_NUM_CTRL_REGS

#define TLE94112_NUM_CTRL_REGS 12

the number of control registers in a TLE94112

See also: CtrlRegisters; mCtrlRegAddresses; mCtrlRegData

◆ TLE94112_NUM_STATUS_REGS

#define TLE94112_NUM_STATUS_REGS 7

the number of status registers in a TLE94112

See also: StatusRegisters; mStatusRegAddresses; mStatusRegData

Enumeration Type Documentation

◆ Error_t

enum tle94112::Error_t

Enumerator
OK	No error
INTF_ERROR	Interface error
CONF_ERROR	Configuration error
READ_ERROR	Read error
WRITE_ERROR	Write error

Data Structures

Macros

Error codes

Detailed Description

Data Structure Documentation

◆ Tle94112

Public Types

Public Member Functions

Data Fields

Static Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ HalfBridge

◆ PWMChannel

◆ HBState

◆ HBOCState

◆ PWMFreq

◆ DiagFlag

◆ CtrlRegisters

◆ StatusRegisters

Constructor & Destructor Documentation

◆ Tle94112() [1/2]

◆ Tle94112() [2/2]

◆ ~Tle94112()

Member Function Documentation

◆ begin()

◆ end()

◆ configHB() [1/2]

◆ configHB() [2/2]

◆ configPWM()

◆ setLedMode()

◆ getSysDiagnosis() [1/3]

◆ getSysDiagnosis() [2/3]

◆ getSysDiagnosis() [3/3]

◆ getHBOverCurrent()

◆ getHBOpenLoad()

◆ clearErrors()

◆ directWriteReg()

◆ readStatusReg() [1/2]

◆ init()

◆ _configHB()

◆ _configPWM()

◆ _getHBOverCurrent()

◆ _getHBOpenLoad()

◆ writeReg()

◆ readStatusReg() [2/2]

◆ clearStatusReg()

Field Documentation

◆ TLE_STATUS_OK

◆ sBus

◆ cs

◆ en

◆ timer

◆ mHalfBridges

◆ mPwmChannels

◆ mCtrlRegAddresses

◆ mCtrlRegData

◆ mStatusRegAddresses

◆ mEnabled

Macro Definition Documentation

◆ REG_ACT_1

◆ REG_ACT_2

◆ REG_ACT_3

◆ REG_MODE_1

◆ REG_MODE_2

◆ REG_MODE_3

◆ REG_PWM_CH_FREQ

◆ REG_PWM_DC_1

◆ REG_PWM_DC_2

◆ REG_PWM_DC_3

◆ REG_SYS_DIAG

◆ REG_ERR1

◆ REG_ERR2

◆ REG_ERR3

◆ REG_ERR4

◆ REG_ERR5

◆ REG_ERR6

◆ REG_FW_OL