Collaboration diagram for TLE94112 Motor Control API:

Data Structures
class	Tle94112Motor
	represents a motor connected to a TLE94112 More...

Macros
#define	TLE94112_MAX_SPEED 255
	The maximum absolute speed value which can be set. More...

#define	TLE94112MOTOR_MAX_CONNECTORS 4
	maximum number of Tle94112 outputs per motor connector More...

Detailed Description

Data Structure Documentation

◆ Tle94112Motor

class Tle94112Motor

represents a motor connected to a 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

Collaboration diagram for Tle94112Motor:

[legend]

Public Types
enum	ePolarity { LOWSIDE = 0 , HIGHSIDE }
	Enum to select polarity of a motor connector. More...

Public Member Functions
	Tle94112Motor (Tle94112 &driver)
	Construct a new Tle94112Motor object. More...

	~Tle94112Motor ()
	Destroy the Tle94112Motor object. More...

void	begin (void)
	finishes configuration and enables motor controls More...

void	end (void)
	disables motor controls and switches back to configuration mode More...

void	initConnector (Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel, Tle94112::HalfBridge out1, Tle94112::HalfBridge out2, Tle94112::HalfBridge out3, Tle94112::HalfBridge out4)
	configures most important settings for one motor connector More...

void	initConnector (Tle94112Motor::ePolarity, Tle94112::PWMChannel channel, Tle94112::PWMFreq freq, Tle94112::HalfBridge out1, Tle94112::HalfBridge out2, Tle94112::HalfBridge out3, Tle94112::HalfBridge out4)
	configures most important settings for one motor connector More...

void	connect (Tle94112Motor::ePolarity pol, Tle94112::HalfBridge connector)
	connects a single halfbridge output to a motor connector More...

void	disconnect (Tle94112::HalfBridge connector)
	disconnects a single halfbridge output from a motor connector More...

void	setPwm (Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel)
	Sets the PWM channel to be used for a motor connector. More...

void	setPwm (Tle94112Motor::ePolarity pol, Tle94112::PWMChannel channel, Tle94112::PWMFreq freq)
	Sets the PWM channel and frequency for a motor connector. More...

void	setPwmFreq (Tle94112Motor::ePolarity pol, Tle94112::PWMFreq freq)
	Sets the PWM frequency for driving a motor connector. More...

void	setActiveFreeWheeling (Tle94112Motor::ePolarity pol, uint8_t active_fw)
	Enables or disables active freewheeling. More...

void	stop (uint8_t force=255)
	actively breaks the motor to stop it More...

void	coast ()
	releases the motor without driving or active breaking More...

void	start (int16_t speed)
	starts the motor with a certain speed in a certain direction More...

void	setSpeed (int16_t speed)
	equivalent to start() More...

int16_t	getSpeed (void)
	Returns the motor's current speed setting. More...

void	rampSpeed (int16_t speed, uint16_t slope)
	function to gradually change the motors speed More...

Protected Types
enum	eMode { COAST , FORWARD , BACKWARD , STOP }
	enum for motor operation modes More...

typedef struct Tle94112Motor::Connector_t *	Connector_p

Protected Member Functions
uint32_t	_measureSetSpeedDuration (int16_t speed, int16_t start_speed)
	private function needed by rampSpeed More...

void	_performSpeedStepping (int16_t start_speed, int16_t ramp_delta_speed, int16_t num_steps, uint16_t steptime)
	private function needed by rampSpeed More...

Protected Attributes
Connector_t	mConnectors [2]
	array of motor connectors More...

Tle94112 *	mDriver
	Tle94112 instance acting as output driver. More...

eMode	mMode
	current operation mode More...

uint8_t	mEnabled
	flag indicating if motor controls are enabled More...

uint8_t	mSpeed
	value of the current motor speed More...

Member Typedef Documentation

◆ Connector_p

typedef struct Tle94112Motor::Connector_t * Tle94112Motor::Connector_p

protected

Member Enumeration Documentation

◆ ePolarity

enum Tle94112Motor::ePolarity

Enum to select polarity of a motor connector.

Enumerator
LOWSIDE
HIGHSIDE

◆ eMode

enum Tle94112Motor::eMode

protected

enum for motor operation modes

Enumerator
COAST
FORWARD
BACKWARD
STOP

Constructor & Destructor Documentation

◆ Tle94112Motor()

Tle94112Motor::Tle94112Motor ( Tle94112 & driver )

Construct a new Tle94112Motor object.

After constructing, the motor must be configured. You can use functions initConnector(), connect(), disconnect(), setPwm(), setPwmFreq() and setActiveFreeWheeling() for configuration. Call begin() to finish configuration and enable motor controls.

Parameters

driver Tle94112 instance acting as a driver

◆ ~Tle94112Motor()

Tle94112Motor::~Tle94112Motor ( )

Destroy the Tle94112Motor object.

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Member Function Documentation

◆ begin()

void Tle94112Motor::begin ( void )

finishes configuration and enables motor controls

For controlling the motor, you can use the functions start(), stop(), coast(), setSpeed(), getSpeed() and rampSpeed() Call end() to get back to configuration mode. After calling end() and changing configuration, you can get back to controlling mode by calling begin()

See also: end

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◆ end()

void Tle94112Motor::end ( void )

disables motor controls and switches back to configuration mode

If necessary, you can call end() and change the configuration settings at any point of time. This might be useful when sharing PWM channels between several motors. Configuration changes to motors are not allowed while controls are active! Call begin() again when the configuration changes are done to enable motor controls again.

See also: begin

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◆ initConnector() [1/2]

void Tle94112Motor::initConnector	(	Tle94112Motor::ePolarity	pol,
		Tle94112::PWMChannel	channel,
		Tle94112::HalfBridge	out1,
		Tle94112::HalfBridge	out2,
		Tle94112::HalfBridge	out3,
		Tle94112::HalfBridge	out4
	)

configures most important settings for one motor connector

Call this function twice to setup motor configuration for both the

and - connector of the motor. If there is no setup for one polarity, the library assumes that the motor is constantly connected to + or -.

Parameters

pol	Polarity of the motor connector to be configured
channel	PWM channel assigned to this connector
out1	halfbridge output 1 of 4 assigned to this connector
out2	halfbridge output 2 of 4 assigned to this connector
out3	halfbridge output 3 of 4 assigned to this connector
out4	halfbridge output 4 of 4 assigned to this connector

◆ initConnector() [2/2]

void Tle94112Motor::initConnector	(	Tle94112Motor::ePolarity	pol,
		Tle94112::PWMChannel	channel,
		Tle94112::PWMFreq	freq,
		Tle94112::HalfBridge	out1,
		Tle94112::HalfBridge	out2,
		Tle94112::HalfBridge	out3,
		Tle94112::HalfBridge	out4
	)

configures most important settings for one motor connector

Call this function twice to setup motor configuration for both the

and - connector of the motor. If there is no setup for one polarity, the library assumes that the motor is constantly connected to + or -.

Parameters

pol	Polarity of the motor connector to be configured
channel	PWM channel assigned to this connector
freq	optional PWM frequency setting
out1	halfbridge output 1 of 4 assigned to this connector
out2	halfbridge output 2 of 4 assigned to this connector
out3	halfbridge output 3 of 4 assigned to this connector
out4	halfbridge output 4 of 4 assigned to this connector

◆ connect()

void Tle94112Motor::connect	(	Tle94112Motor::ePolarity	pol,
		Tle94112::HalfBridge	connector
	)

connects a single halfbridge output to a motor connector

Parameters

pol	Polarity of the motor connector to be configured
connector	halfbridge output to be assigned to this motor

◆ disconnect()

void Tle94112Motor::disconnect ( Tle94112::HalfBridge connector )

disconnects a single halfbridge output from a motor connector

Parameters

connector halfbridge output to be removed from this motor

◆ setPwm() [1/2]

void Tle94112Motor::setPwm	(	Tle94112Motor::ePolarity	pol,
		Tle94112::PWMChannel	channel
	)

Sets the PWM channel to be used for a motor connector.

Parameters

pol	Polarity of the motor connector to be configured
channel	PWM channel to be used

◆ setPwm() [2/2]

void Tle94112Motor::setPwm	(	Tle94112Motor::ePolarity	pol,
		Tle94112::PWMChannel	channel,
		Tle94112::PWMFreq	freq
	)

Sets the PWM channel and frequency for a motor connector.

Parameters

pol	Polarity of the motor connector to be configured
channel	PWM channel to be used
freq	PWM frequency selection

◆ setPwmFreq()

void Tle94112Motor::setPwmFreq	(	Tle94112Motor::ePolarity	pol,
		Tle94112::PWMFreq	freq
	)

Sets the PWM frequency for driving a motor connector.

Parameters

pol	Polarity of the motor connector to be configured
freq	PWM frequency selection

◆ setActiveFreeWheeling()

void Tle94112Motor::setActiveFreeWheeling	(	Tle94112Motor::ePolarity	pol,
		uint8_t	active_fw
	)

Enables or disables active freewheeling.

Default is false i.e. passive freewheeling. Depending on your application circuit, active freewheeling may lead to electrical problems. Do not change this setting unless you know what you are doing.

Parameters

pol	Polarity of the motor connector to be configured
active_fw	true/false to enable/disable active freewheeling

◆ stop()

void Tle94112Motor::stop ( uint8_t force = 255 )

actively breaks the motor to stop it

Parameters

force higher force lets the motor stop quicker, maximum is 255

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◆ coast()

void Tle94112Motor::coast ( )

releases the motor without driving or active breaking

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◆ start()

void Tle94112Motor::start ( int16_t speed )

starts the motor with a certain speed in a certain direction

The behaviour of this function depends on the way the motor is connected to the Tle94112. Motors which have just one connector assigned to the Tle94112 cannot run in reverse direction and break instead if a negative speed value is passed. Motors without PWM assigned cannot run at a certain speed. They can just coast, run and break. Speed values greater or smaller than 0 are treated like -255 or 255, respectively.

Parameters

speed an integer in a range from -255 to 255 to set motor speed and direction

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◆ setSpeed()

void Tle94112Motor::setSpeed ( int16_t speed )

equivalent to start()

This function is fully equivalent to start(), but it is intended to be used if the motor is already running. (Distinguishing between these two functions helps improving the readability of your code) The behaviour of this function depends on the way the motor is connected to the Tle94112. Motors which have just one connector assigned to the Tle94112 cannot run in reverse direction and break instead if a negative speed value is passed. Motors without PWM assigned cannot run at a certain speed. They can just coast, run and break. Speed values greater or smaller than 0 are treated like -255 or 255, respectively.

Parameters

speed an integer in a range from -255 to 255 to set motor speed and direction

See also: start

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◆ getSpeed()

int16_t Tle94112Motor::getSpeed ( void )

Returns the motor's current speed setting.

Returns: int16_t the motor's current speed setting

◆ rampSpeed()

void Tle94112Motor::rampSpeed	(	int16_t	speed,
		uint16_t	slope
	)

function to gradually change the motors speed

Parameters

speed	target speed
slope	time for a full ramp from speed=0 to speed=255

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◆ _measureSetSpeedDuration()

uint32_t Tle94112Motor::_measureSetSpeedDuration	(	int16_t	speed,
		int16_t	start_speed
	)

protected

private function needed by rampSpeed

Parameters

speed	integer in a range from -255 to 255 to set motor speed and direction. Here the target speed.
start_speed	integer a range from -255 to 255 to set motor speed and direction. Here the source speed

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◆ _performSpeedStepping()

void Tle94112Motor::_performSpeedStepping	(	int16_t	start_speed,
		int16_t	ramp_delta_speed,
		int16_t	num_steps,
		uint16_t	steptime
	)

protected

private function needed by rampSpeed

Parameters

start_speed	integer a range from -255 to 255 to set motor speed and direction. Here the source speed
ramp_delta_speed	slope value how fast the speed change should raise or fall
num_steps	number of steps to raise or fall the speed
steptime	time to be needed for each step

none blocking delay

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Field Documentation

◆ mConnectors

Connector_t Tle94112Motor::mConnectors[2]

protected

Initial value:

=
        {
            {
                .halfbridges = {Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB},
                .channel = Tle94112::TLE_NOPWM,
                .freq = Tle94112::TLE_FREQ80HZ,
                .active_fw = false
            },
            {
                .halfbridges = {Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB,
                        Tle94112::TLE_NOHB},
                .channel = Tle94112::TLE_NOPWM,
                .freq = Tle94112::TLE_FREQ80HZ,
                .active_fw = false
            }
        }

array of motor connectors

◆ mDriver

Tle94112* Tle94112Motor::mDriver

protected

Tle94112 instance acting as output driver.

◆ mMode

eMode Tle94112Motor::mMode

protected

current operation mode

◆ mEnabled

uint8_t Tle94112Motor::mEnabled

protected

flag indicating if motor controls are enabled

◆ mSpeed

uint8_t Tle94112Motor::mSpeed

protected

value of the current motor speed

Macro Definition Documentation

◆ TLE94112_MAX_SPEED

#define TLE94112_MAX_SPEED 255

The maximum absolute speed value which can be set.

See also: Tle94112

◆ TLE94112MOTOR_MAX_CONNECTORS

#define TLE94112MOTOR_MAX_CONNECTORS 4

maximum number of Tle94112 outputs per motor connector

When this is changed, also the function signature and implementation of Tle94112Motor::initConnector has to be changed.

See also: Tle94112Motor::initConnector

Data Structures

Macros

Detailed Description

Data Structure Documentation

◆ Tle94112Motor

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Connector_p

Member Enumeration Documentation

◆ ePolarity

◆ eMode

Constructor & Destructor Documentation

◆ Tle94112Motor()

◆ ~Tle94112Motor()

Member Function Documentation

◆ begin()

◆ end()

◆ initConnector() [1/2]

◆ initConnector() [2/2]

◆ connect()

◆ disconnect()

◆ setPwm() [1/2]

◆ setPwm() [2/2]

◆ setPwmFreq()

◆ setActiveFreeWheeling()

◆ stop()

◆ coast()

◆ start()

◆ setSpeed()

◆ getSpeed()

◆ rampSpeed()

◆ _measureSetSpeedDuration()

◆ _performSpeedStepping()

Field Documentation

◆ mConnectors

◆ mDriver

◆ mMode

◆ mEnabled

◆ mSpeed

Macro Definition Documentation

◆ TLE94112_MAX_SPEED

◆ TLE94112MOTOR_MAX_CONNECTORS