Diff: Components/l6474/l6474_class.cpp

Revision:

18:2d6ab2b93685

Parent:

15:40470df81d9a

Child:

21:83138e702683

--- a/Components/l6474/l6474_class.cpp	Mon Jan 04 15:54:07 2016 +0000
+++ b/Components/l6474/l6474_class.cpp	Wed Jan 13 14:35:59 2016 +0000
@@ -76,15 +76,15 @@
 /* Variables  ----------------------------------------------------------------*/
 
 /* Number of devices. */
-uint8_t L6474::numberOfDevices = 0;
+uint8_t L6474::number_of_devices = 0;
 
 /* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
-bool L6474::spiPreemtionByIsr = FALSE;
-bool L6474::isrFlag = FALSE;
+bool L6474::spi_preemtion_by_isr = FALSE;
+bool L6474::isr_flag = FALSE;
 
 /* SPI Transmission for Daisy-Chain Configuration. */
-uint8_t L6474::spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-uint8_t L6474::spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
 
 
 /* Methods -------------------------------------------------------------------*/
@@ -99,14 +99,15 @@
  **********************************************************/
 void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
 {
-  errorHandlerCallback = (void (*)(uint16_t error)) callback;
+  error_handler_callback = (void (*)(uint16_t error)) callback;
 }
 
 /**********************************************************
  * @brief Starts the L6474 library
- * @retval COMPONENT_OK in case of success
+ * @param  init Initialization structure.
+ * @retval COMPONENT_OK in case of success.
  **********************************************************/
-DrvStatusTypeDef L6474::L6474_Init(MOTOR_InitTypeDef *L6474_Init)
+DrvStatusTypeDef L6474::L6474_Init(L6474_InitTypeDef *init)
 {
   /* Initialise the PWMs used for the Step clocks ----------------------------*/
   L6474_PwmInit();
@@ -119,9 +120,16 @@
   /* Let a delay after reset */
   L6474_Delay(1); 
 
-  /* Set all registers and context variables to the predefined values from l6474_target_config.h */
+  /* Set device parameters to the predefined values from "l6474_target_config.h". */
   L6474_SetDeviceParamsToPredefinedValues();
   
+  if (init == NULL)
+    /* Set device registers to the predefined values from "l6474_target_config.h". */
+    L6474_SetRegisterToPredefinedValues();
+  else
+    /* Set device registers to the passed initialization values. */
+    L6474_SetRegisterToInitializationValues(init);
+  
   /* Disable L6474 powerstage */
   L6474_CmdDisable();
 
@@ -134,11 +142,11 @@
 /**********************************************************
  * @brief Read id
  * @param id pointer to the identifier to be read.
- * @retval COMPONENT_OK in case of success
+ * @retval COMPONENT_OK in case of success.
  **********************************************************/
 DrvStatusTypeDef L6474::L6474_ReadID(uint8_t *id)
 {
-  *id = deviceInstance;
+  *id = device_instance;
 
   return COMPONENT_OK;
 }
@@ -149,7 +157,7 @@
  **********************************************************/
 uint16_t L6474::L6474_GetAcceleration(void)
 {
-  return (devicePrm.acceleration);
+  return (device_prm.acceleration);
 }            
 
 /**********************************************************
@@ -158,7 +166,7 @@
  **********************************************************/
 uint16_t L6474::L6474_GetCurrentSpeed(void)
 {
-  return devicePrm.speed;
+  return device_prm.speed;
 }
 
 /**********************************************************
@@ -167,7 +175,7 @@
  **********************************************************/
 uint16_t L6474::L6474_GetDeceleration(void)
 {                                                  
-  return (devicePrm.deceleration);
+  return (device_prm.deceleration);
 }          
 
 /**********************************************************
@@ -176,7 +184,7 @@
  **********************************************************/
 motorState_t L6474::L6474_GetDeviceState(void)
 {
-  return devicePrm.motionState;
+  return device_prm.motionState;
 }
 
 /**********************************************************
@@ -204,7 +212,7 @@
  **********************************************************/
 uint16_t L6474::L6474_GetMaxSpeed(void)
 {                                                  
-  return (devicePrm.maxSpeed);
+  return (device_prm.maxSpeed);
 }
 
 /**********************************************************
@@ -213,7 +221,7 @@
  **********************************************************/
 uint16_t L6474::L6474_GetMinSpeed(void)
 {                                                  
-  return (devicePrm.minSpeed);
+  return (device_prm.minSpeed);
 }                                                     
 
 /**********************************************************
@@ -257,36 +265,36 @@
   int32_t steps;
   
   /* Eventually deactivate motor */
-  if (devicePrm.motionState != INACTIVE) 
+  if (device_prm.motionState != INACTIVE) 
   {
     L6474_HardStop();
   }
 
   /* Get current position */
-  devicePrm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+  device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
   
   /* Compute the number of steps to perform */
-  steps = targetPosition - devicePrm.currentPosition;
+  steps = targetPosition - device_prm.currentPosition;
   
   if (steps >= 0) 
   {
-    devicePrm.stepsToTake = steps;
+    device_prm.stepsToTake = steps;
     direction = FORWARD;
   } 
   else 
   {
-    devicePrm.stepsToTake = -steps;
+    device_prm.stepsToTake = -steps;
     direction = BACKWARD;
   }
   
   if (steps != 0) 
   {
-    devicePrm.commandExecuted = MOVE_CMD;
+    device_prm.commandExecuted = MOVE_CMD;
         
     /* Direction setup */
     L6474_SetDirection(direction);
 
-    L6474_ComputeSpeedProfile(devicePrm.stepsToTake);
+    L6474_ComputeSpeedProfile(device_prm.stepsToTake);
     
     /* Motor activation */
     L6474_StartMovement();
@@ -303,9 +311,9 @@
   L6474_PwmStop();
 
   /* Set inactive state */
-  devicePrm.motionState = INACTIVE;
-  devicePrm.commandExecuted = NO_CMD;
-  devicePrm.stepsToTake = MAX_STEPS;  
+  device_prm.motionState = INACTIVE;
+  device_prm.commandExecuted = NO_CMD;
+  device_prm.stepsToTake = MAX_STEPS;  
 }
 
 /**********************************************************
@@ -317,18 +325,18 @@
 void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
 {
   /* Eventually deactivate motor */
-  if (devicePrm.motionState != INACTIVE) 
+  if (device_prm.motionState != INACTIVE) 
   {
     L6474_HardStop();
   }
   
   if (stepCount != 0) 
   {
-    devicePrm.stepsToTake = stepCount;
+    device_prm.stepsToTake = stepCount;
     
-    devicePrm.commandExecuted = MOVE_CMD;
+    device_prm.commandExecuted = MOVE_CMD;
     
-    devicePrm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+    device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
     
     /* Direction setup */
     L6474_SetDirection(direction);
@@ -349,7 +357,7 @@
 void L6474::L6474_Run(motorDir_t direction)
 {
   /* Eventually deactivate motor */
-  if (devicePrm.motionState != INACTIVE) 
+  if (device_prm.motionState != INACTIVE) 
   {
     L6474_HardStop();
   }
@@ -357,7 +365,7 @@
   /* Direction setup */
   L6474_SetDirection(direction);
 
-  devicePrm.commandExecuted = RUN_CMD;
+  device_prm.commandExecuted = RUN_CMD;
 
   /* Motor activation */
   L6474_StartMovement(); 
@@ -374,10 +382,10 @@
 {                                                  
   bool cmdExecuted = FALSE;
   if ((newAcc != 0)&&
-      ((devicePrm.motionState == INACTIVE)||
-       (devicePrm.commandExecuted == RUN_CMD)))
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
   {
-    devicePrm.acceleration = newAcc;
+    device_prm.acceleration = newAcc;
     cmdExecuted = TRUE;
   }    
   return cmdExecuted;
@@ -394,10 +402,10 @@
 {                                                  
   bool cmdExecuted = FALSE;
   if ((newDec != 0)&& 
-      ((devicePrm.motionState == INACTIVE)||
-       (devicePrm.commandExecuted == RUN_CMD)))
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
   {
-    devicePrm.deceleration = newDec;
+    device_prm.deceleration = newDec;
     cmdExecuted = TRUE;
   }      
   return cmdExecuted;
@@ -434,11 +442,11 @@
   bool cmdExecuted = FALSE;
   if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
       (newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
-      (devicePrm.minSpeed <= newMaxSpeed) &&
-      ((devicePrm.motionState == INACTIVE)||
-       (devicePrm.commandExecuted == RUN_CMD)))
+      (device_prm.minSpeed <= newMaxSpeed) &&
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
   {
-    devicePrm.maxSpeed = newMaxSpeed;
+    device_prm.maxSpeed = newMaxSpeed;
     cmdExecuted = TRUE;
   }
   return cmdExecuted;
@@ -456,11 +464,11 @@
   bool cmdExecuted = FALSE;
   if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
       (newMinSpeed <= L6474_MAX_PWM_FREQ) &&
-      (newMinSpeed <= devicePrm.maxSpeed) && 
-      ((devicePrm.motionState == INACTIVE)||
-       (devicePrm.commandExecuted == RUN_CMD)))
+      (newMinSpeed <= device_prm.maxSpeed) && 
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
   {
-    devicePrm.minSpeed = newMinSpeed;
+    device_prm.minSpeed = newMinSpeed;
     cmdExecuted = TRUE;
   }  
   return cmdExecuted;
@@ -474,9 +482,9 @@
 bool L6474::L6474_SoftStop(void)
 {   
   bool cmdExecuted = FALSE;
-  if (devicePrm.motionState != INACTIVE)
+  if (device_prm.motionState != INACTIVE)
   {
-    devicePrm.commandExecuted = SOFT_STOP_CMD;
+    device_prm.commandExecuted = SOFT_STOP_CMD;
     cmdExecuted = TRUE;
   }
   return (cmdExecuted);
@@ -520,12 +528,12 @@
   uint32_t i;
   uint32_t spiRxData;
   uint8_t maxArgumentNbBytes = 0;
-  uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
   bool itDisable = FALSE;  
   
   do
   {
-    spiPreemtionByIsr = FALSE;
+    spi_preemtion_by_isr = FALSE;
     if (itDisable)
     {
       /* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -533,32 +541,32 @@
       itDisable = FALSE;
     }
   
-    for (i = 0; i < numberOfDevices; i++)
+    for (i = 0; i < number_of_devices; i++)
     {
-      spiTxBursts[0][i] = L6474_NOP;
-      spiTxBursts[1][i] = L6474_NOP;
-      spiTxBursts[2][i] = L6474_NOP;
-      spiTxBursts[3][i] = L6474_NOP;
-      spiRxBursts[1][i] = 0;
-      spiRxBursts[2][i] = 0;
-      spiRxBursts[3][i] = 0;    
+      spi_tx_bursts[0][i] = L6474_NOP;
+      spi_tx_bursts[1][i] = L6474_NOP;
+      spi_tx_bursts[2][i] = L6474_NOP;
+      spi_tx_bursts[3][i] = L6474_NOP;
+      spi_rx_bursts[1][i] = 0;
+      spi_rx_bursts[2][i] = 0;
+      spi_rx_bursts[3][i] = 0;    
     }
 
     switch (parameter)
     {
       case L6474_ABS_POS: ;
       case L6474_MARK:
-        spiTxBursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 3;
         break;
       case L6474_EL_POS: ;
       case L6474_CONFIG: ;
       case L6474_STATUS:
-        spiTxBursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 2;
         break;
       default:
-        spiTxBursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 1;
     }
     
@@ -566,18 +574,18 @@
     /* pre-emption by ISR and SPI transfers*/
     L6474_DisableIrq();
     itDisable = TRUE;
-  } while (spiPreemtionByIsr); // check pre-emption by ISR
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
     
   for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
        i < L6474_CMD_ARG_MAX_NB_BYTES;
        i++)
   {
-     L6474_WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
+     L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
   }
   
-  spiRxData = ((uint32_t)spiRxBursts[1][spiIndex] << 16) |
-              (spiRxBursts[2][spiIndex] << 8) |
-              (spiRxBursts[3][spiIndex]);
+  spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
+              (spi_rx_bursts[2][spiIndex] << 8) |
+              (spi_rx_bursts[3][spiIndex]);
   
   /* re-enable L6474_EnableIrq after SPI transfers*/
   L6474_EnableIrq();
@@ -596,12 +604,12 @@
 {
   uint32_t i;
   uint16_t status;
-  uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
   bool itDisable = FALSE;  
   
   do
   {
-    spiPreemtionByIsr = FALSE;
+    spi_preemtion_by_isr = FALSE;
     if (itDisable)
     {
       /* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -609,27 +617,27 @@
       itDisable = FALSE;
     }
 
-    for (i = 0; i < numberOfDevices; i++)
+    for (i = 0; i < number_of_devices; i++)
     {
-       spiTxBursts[0][i] = L6474_NOP;
-       spiTxBursts[1][i] = L6474_NOP;
-       spiTxBursts[2][i] = L6474_NOP;
-       spiRxBursts[1][i] = 0;
-       spiRxBursts[2][i] = 0;
+       spi_tx_bursts[0][i] = L6474_NOP;
+       spi_tx_bursts[1][i] = L6474_NOP;
+       spi_tx_bursts[2][i] = L6474_NOP;
+       spi_rx_bursts[1][i] = 0;
+       spi_rx_bursts[2][i] = 0;
     }
-    spiTxBursts[0][spiIndex] = L6474_GET_STATUS;
+    spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
 
     /* Disable interruption before checking */
     /* pre-emption by ISR and SPI transfers*/
     L6474_DisableIrq();
     itDisable = TRUE;
-  } while (spiPreemtionByIsr); // check pre-emption by ISR
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
 
   for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
   {
-     L6474_WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
+     L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
   }
-  status = (spiRxBursts[1][spiIndex] << 8) | (spiRxBursts[2][spiIndex]);
+  status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
   
   /* re-enable L6474_EnableIrq after SPI transfers*/
   L6474_EnableIrq();
@@ -656,11 +664,11 @@
 {
   uint32_t i;
   uint8_t maxArgumentNbBytes = 0;
-  uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
   bool itDisable = FALSE;  
   do
   {
-    spiPreemtionByIsr = FALSE;
+    spi_preemtion_by_isr = FALSE;
     if (itDisable)
     {
       /* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -668,48 +676,48 @@
       itDisable = FALSE;
     }
 
-    for (i = 0; i < numberOfDevices; i++)
+    for (i = 0; i < number_of_devices; i++)
     {
-      spiTxBursts[0][i] = L6474_NOP;
-      spiTxBursts[1][i] = L6474_NOP;
-      spiTxBursts[2][i] = L6474_NOP;
-      spiTxBursts[3][i] = L6474_NOP;
+      spi_tx_bursts[0][i] = L6474_NOP;
+      spi_tx_bursts[1][i] = L6474_NOP;
+      spi_tx_bursts[2][i] = L6474_NOP;
+      spi_tx_bursts[3][i] = L6474_NOP;
     }
 
     switch (parameter)
     {
       case L6474_ABS_POS: ;
       case L6474_MARK:
-          spiTxBursts[0][spiIndex] = parameter;
-          spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
-          spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+          spi_tx_bursts[0][spiIndex] = parameter;
+          spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
+          spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
           maxArgumentNbBytes = 3;
           break;
       case L6474_EL_POS: ;
       case L6474_CONFIG:
-          spiTxBursts[1][spiIndex] = parameter;
-          spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+          spi_tx_bursts[1][spiIndex] = parameter;
+          spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
           maxArgumentNbBytes = 2;
           break;
       default:
-          spiTxBursts[2][spiIndex] = parameter;
+          spi_tx_bursts[2][spiIndex] = parameter;
           maxArgumentNbBytes = 1;
           break;
     }
-    spiTxBursts[3][spiIndex] = (uint8_t)(value);
+    spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
     
     /* Disable interruption before checking */
     /* pre-emption by ISR and SPI transfers*/
     L6474_DisableIrq();
     itDisable = TRUE;
-  } while (spiPreemtionByIsr); // check pre-emption by ISR
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
  
   /* SPI transfer */
   for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
        i < L6474_CMD_ARG_MAX_NB_BYTES;
        i++)
   {
-     L6474_WriteBytes(&spiTxBursts[i][0],&spiRxBursts[i][0]);
+     L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
   }
   /* re-enable L6474_EnableIrq after SPI transfers*/
   L6474_EnableIrq();
@@ -757,7 +765,7 @@
   }
 
   /* Eventually deactivate motor */
-  if (devicePrm.motionState != INACTIVE) 
+  if (device_prm.motionState != INACTIVE) 
   {
     L6474_HardStop();
   }
@@ -779,7 +787,7 @@
  **********************************************************/
 motorDir_t L6474::L6474_GetDirection(void)
 {
-  return devicePrm.direction;
+  return device_prm.direction;
 }
 
 /**********************************************************
@@ -791,9 +799,9 @@
  **********************************************************/
 void L6474::L6474_SetDirection(motorDir_t direction)
 {
-  if (devicePrm.motionState == INACTIVE)
+  if (device_prm.motionState == INACTIVE)
   {
-    devicePrm.direction = direction;
+    device_prm.direction = direction;
     L6474_SetDirectionGpio(direction);
   }
 }
@@ -814,7 +822,7 @@
     newSpeed = L6474_MAX_PWM_FREQ;
   }
   
-  devicePrm.speed = newSpeed;
+  device_prm.speed = newSpeed;
 
   L6474_PwmSetFreq(newSpeed);
 }
@@ -838,23 +846,23 @@
   uint32_t reqDecSteps;
    
   /* compute the number of steps to get the targeted speed */
-  uint16_t minSpeed = devicePrm.minSpeed;
-  reqAccSteps = (devicePrm.maxSpeed - minSpeed);
-  reqAccSteps *= (devicePrm.maxSpeed + minSpeed);
+  uint16_t minSpeed = device_prm.minSpeed;
+  reqAccSteps = (device_prm.maxSpeed - minSpeed);
+  reqAccSteps *= (device_prm.maxSpeed + minSpeed);
   reqDecSteps = reqAccSteps;
-  reqAccSteps /= (uint32_t)devicePrm.acceleration;
+  reqAccSteps /= (uint32_t)device_prm.acceleration;
   reqAccSteps /= 2;
 
   /* compute the number of steps to stop */
-  reqDecSteps /= (uint32_t)devicePrm.deceleration;
+  reqDecSteps /= (uint32_t)device_prm.deceleration;
   reqDecSteps /= 2;
 
   if(( reqAccSteps + reqDecSteps ) > nbSteps)
   { 
     /* Triangular move  */
     /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
-    uint32_t dec = devicePrm.deceleration;
-    uint32_t acc = devicePrm.acceleration;
+    uint32_t dec = device_prm.deceleration;
+    uint32_t acc = device_prm.acceleration;
     
     reqDecSteps =  ((uint32_t) dec * nbSteps) / (acc + dec);
     if (reqDecSteps > 1)
@@ -869,8 +877,8 @@
     {
       reqAccSteps = 0;
     }
-    devicePrm.endAccPos = reqAccSteps;
-    devicePrm.startDecPos = reqDecSteps;
+    device_prm.endAccPos = reqAccSteps;
+    device_prm.startDecPos = reqDecSteps;
   }
   else
   {  
@@ -878,8 +886,8 @@
     /* accelerating phase to endAccPos */
     /* steady phase from  endAccPos to startDecPos */
     /* decelerating from startDecPos to stepsToTake*/
-    devicePrm.endAccPos = reqAccSteps;
-    devicePrm.startDecPos = nbSteps - reqDecSteps - 1;
+    device_prm.endAccPos = reqAccSteps;
+    device_prm.startDecPos = nbSteps - reqDecSteps - 1;
   }
 }
 
@@ -916,9 +924,9 @@
  **********************************************************/
 void L6474::L6474_ErrorHandler(uint16_t error)
 {
-  if (errorHandlerCallback != 0)
+  if (error_handler_callback != 0)
   {
-    (void) errorHandlerCallback(error);
+    (void) error_handler_callback(error);
   }
   else   
   {
@@ -936,11 +944,11 @@
 {
   uint32_t i;
   bool itDisable = FALSE;
-  uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
   
   do
   {
-    spiPreemtionByIsr = FALSE;
+    spi_preemtion_by_isr = FALSE;
     if (itDisable)
     {
       /* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -948,19 +956,19 @@
       itDisable = FALSE;
     }
   
-    for (i = 0; i < numberOfDevices; i++)
+    for (i = 0; i < number_of_devices; i++)
     {
-      spiTxBursts[3][i] = L6474_NOP;     
+      spi_tx_bursts[3][i] = L6474_NOP;     
     }
-    spiTxBursts[3][spiIndex] = param;
+    spi_tx_bursts[3][spiIndex] = param;
     
     /* Disable interruption before checking */
     /* pre-emption by ISR and SPI transfers*/
     L6474_DisableIrq();
     itDisable = TRUE;
-  } while (spiPreemtionByIsr); // check pre-emption by ISR
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
 
-  L6474_WriteBytes(&spiTxBursts[3][0], &spiRxBursts[3][0]); 
+  L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]); 
   
   /* re-enable L6474_EnableIrq after SPI transfers*/
   L6474_EnableIrq();
@@ -982,7 +990,7 @@
   L6474_CmdSetParam(
                     L6474_MARK,
                     0);
-  switch (deviceInstance)
+  switch (device_instance)
   {
     case 0:
       L6474_CmdSetParam(
@@ -1086,6 +1094,65 @@
 }
 
 /**********************************************************
+ * @brief  Sets the registers of the L6474 to initialization values.
+ * @param  init Initialization structure.
+ * @retval None.
+ **********************************************************/
+void L6474::L6474_SetRegisterToInitializationValues(L6474_InitTypeDef *init)
+{
+  L6474_CmdSetParam(
+                    L6474_ABS_POS,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_EL_POS,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_MARK,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_TVAL,
+                    L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
+                    );
+  L6474_CmdSetParam(
+                    L6474_T_FAST,
+                    (uint8_t) init->maximum_fast_decay_time |
+                    (uint8_t) init->fall_time
+                    );
+  L6474_CmdSetParam(
+                    L6474_TON_MIN,
+                    L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
+                    );
+  L6474_CmdSetParam(
+                    L6474_TOFF_MIN,
+                    L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
+                    );
+  L6474_CmdSetParam(
+                    L6474_OCD_TH,
+                    init->overcurrent_threshold
+                    );
+  L6474_CmdSetParam(
+                    L6474_STEP_MODE,
+                    (uint8_t) init->step_selection |
+                    (uint8_t) init->sync_selection
+                    );
+  L6474_CmdSetParam(
+                    L6474_ALARM_EN,
+                    init->alarm
+                    );
+  L6474_CmdSetParam(
+                    L6474_CONFIG,
+                    (uint16_t) init->clock |
+                    (uint16_t) init->torque_regulation_method |
+                    (uint16_t) init->overcurrent_shutwdown |
+                    (uint16_t) init->slew_rate |
+                    (uint16_t) init->target_swicthing_period
+                    );
+}
+
+/**********************************************************
  * @brief  Sets the parameters of the device to predefined values
  * from l6474_target_config.h
  * @param None
@@ -1093,42 +1160,40 @@
  **********************************************************/
 void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
 {
-  switch (deviceInstance)
+  switch (device_instance)
   {
     case 0:
-      devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
-      devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
-      devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
-      devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
       break;
 
     case 1:
-      devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
-      devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
-      devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
-      devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
       break;
 
     case 2:
-      devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
-      devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
-      devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
-      devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
       break;
   }
 
-  devicePrm.accu = 0;
-  devicePrm.currentPosition = 0;
-  devicePrm.endAccPos = 0;
-  devicePrm.relativePos = 0;
-  devicePrm.startDecPos = 0;
-  devicePrm.stepsToTake = 0;
-  devicePrm.speed = 0;
-  devicePrm.commandExecuted = NO_CMD;
-  devicePrm.direction = FORWARD;
-  devicePrm.motionState = INACTIVE;
-  
-  L6474_SetRegisterToPredefinedValues();
+  device_prm.accu = 0;
+  device_prm.currentPosition = 0;
+  device_prm.endAccPos = 0;
+  device_prm.relativePos = 0;
+  device_prm.startDecPos = 0;
+  device_prm.stepsToTake = 0;
+  device_prm.speed = 0;
+  device_prm.commandExecuted = NO_CMD;
+  device_prm.direction = FORWARD;
+  device_prm.motionState = INACTIVE;
 }
 
 /**********************************************************
@@ -1140,17 +1205,17 @@
 {
   /* Enable L6474 powerstage */
   L6474_CmdEnable();
-  if (devicePrm.endAccPos != 0)
+  if (device_prm.endAccPos != 0)
   {
-    devicePrm.motionState = ACCELERATING;
+    device_prm.motionState = ACCELERATING;
   }
   else
   {
-    devicePrm.motionState = DECELERATING;    
+    device_prm.motionState = DECELERATING;    
   }
-  devicePrm.accu = 0;
-  devicePrm.relativePos = 0;
-  L6474_ApplySpeed(devicePrm.minSpeed);
+  device_prm.accu = 0;
+  device_prm.relativePos = 0;
+  L6474_ApplySpeed(device_prm.minSpeed);
 }
 
 /**********************************************************
@@ -1161,107 +1226,107 @@
 void L6474::L6474_StepClockHandler(void)
 {
   /* Set isr flag */
-  isrFlag = TRUE;
+  isr_flag = TRUE;
   
   /* Incrementation of the relative position */
-  devicePrm.relativePos++;
+  device_prm.relativePos++;
 
-  switch (devicePrm.motionState) 
+  switch (device_prm.motionState) 
   {
     case ACCELERATING: 
     {
-        uint32_t relPos = devicePrm.relativePos;
-        uint32_t endAccPos = devicePrm.endAccPos;
-        uint16_t speed = devicePrm.speed;
-        uint32_t acc = ((uint32_t)devicePrm.acceleration << 16);
+        uint32_t relPos = device_prm.relativePos;
+        uint32_t endAccPos = device_prm.endAccPos;
+        uint16_t speed = device_prm.speed;
+        uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
         
-        if ((devicePrm.commandExecuted == SOFT_STOP_CMD)||
-            ((devicePrm.commandExecuted != RUN_CMD)&&  
-             (relPos == devicePrm.startDecPos)))
+        if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+            ((device_prm.commandExecuted != RUN_CMD)&&  
+             (relPos == device_prm.startDecPos)))
         {
-          devicePrm.motionState = DECELERATING;
-          devicePrm.accu = 0;
+          device_prm.motionState = DECELERATING;
+          device_prm.accu = 0;
         }
-        else if ((speed >= devicePrm.maxSpeed)||
-                 ((devicePrm.commandExecuted != RUN_CMD)&&
+        else if ((speed >= device_prm.maxSpeed)||
+                 ((device_prm.commandExecuted != RUN_CMD)&&
                   (relPos == endAccPos)))
         {
-          devicePrm.motionState = STEADY;
+          device_prm.motionState = STEADY;
         }
         else
         {
           bool speedUpdated = FALSE;
           /* Go on accelerating */
           if (speed == 0) speed =1;
-          devicePrm.accu += acc / speed;
-          while (devicePrm.accu >= (0X10000L))
+          device_prm.accu += acc / speed;
+          while (device_prm.accu >= (0X10000L))
           {
-            devicePrm.accu -= (0X10000L);
+            device_prm.accu -= (0X10000L);
             speed +=1;
             speedUpdated = TRUE;
           }
           
           if (speedUpdated)
           {
-            if (speed > devicePrm.maxSpeed)
+            if (speed > device_prm.maxSpeed)
             {
-              speed = devicePrm.maxSpeed;
+              speed = device_prm.maxSpeed;
             }    
-            devicePrm.speed = speed;
-            L6474_ApplySpeed(devicePrm.speed);
+            device_prm.speed = speed;
+            L6474_ApplySpeed(device_prm.speed);
           }
         }
         break;
     }
     case STEADY: 
     {
-      uint16_t maxSpeed = devicePrm.maxSpeed;
-      uint32_t relativePos = devicePrm.relativePos;
-      if  ((devicePrm.commandExecuted == SOFT_STOP_CMD)||
-           ((devicePrm.commandExecuted != RUN_CMD)&&
-            (relativePos >= (devicePrm.startDecPos))) ||
-           ((devicePrm.commandExecuted == RUN_CMD)&&
-            (devicePrm.speed > maxSpeed)))
+      uint16_t maxSpeed = device_prm.maxSpeed;
+      uint32_t relativePos = device_prm.relativePos;
+      if  ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+           ((device_prm.commandExecuted != RUN_CMD)&&
+            (relativePos >= (device_prm.startDecPos))) ||
+           ((device_prm.commandExecuted == RUN_CMD)&&
+            (device_prm.speed > maxSpeed)))
       {
-        devicePrm.motionState = DECELERATING;
-        devicePrm.accu = 0;
+        device_prm.motionState = DECELERATING;
+        device_prm.accu = 0;
       }
-      else if ((devicePrm.commandExecuted == RUN_CMD)&&
-               (devicePrm.speed < maxSpeed))
+      else if ((device_prm.commandExecuted == RUN_CMD)&&
+               (device_prm.speed < maxSpeed))
       {
-        devicePrm.motionState = ACCELERATING;
-        devicePrm.accu = 0;
+        device_prm.motionState = ACCELERATING;
+        device_prm.accu = 0;
       }
       break;
     }
     case DECELERATING: 
     {
-      uint32_t relativePos = devicePrm.relativePos;
-      uint16_t speed = devicePrm.speed;
-      uint32_t deceleration = ((uint32_t)devicePrm.deceleration << 16);
-      if (((devicePrm.commandExecuted == SOFT_STOP_CMD)&&(speed <=  devicePrm.minSpeed))||
-          ((devicePrm.commandExecuted != RUN_CMD)&&
-           (relativePos >= devicePrm.stepsToTake)))
+      uint32_t relativePos = device_prm.relativePos;
+      uint16_t speed = device_prm.speed;
+      uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
+      if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <=  device_prm.minSpeed))||
+          ((device_prm.commandExecuted != RUN_CMD)&&
+           (relativePos >= device_prm.stepsToTake)))
       {
         /* Motion process complete */
         L6474_HardStop();
       }
-      else if ((devicePrm.commandExecuted == RUN_CMD)&&
-               (speed <= devicePrm.maxSpeed))
+      else if ((device_prm.commandExecuted == RUN_CMD)&&
+               (speed <= device_prm.maxSpeed))
       {
-        devicePrm.motionState = STEADY;
+        device_prm.motionState = STEADY;
       }
       else
       {
         /* Go on decelerating */
-        if (speed > devicePrm.minSpeed)
+        if (speed > device_prm.minSpeed)
         {
           bool speedUpdated = FALSE;
           if (speed == 0) speed =1;
-          devicePrm.accu += deceleration / speed;
-          while (devicePrm.accu >= (0X10000L))
+          device_prm.accu += deceleration / speed;
+          while (device_prm.accu >= (0X10000L))
           {
-            devicePrm.accu -= (0X10000L);
+            device_prm.accu -= (0X10000L);
             if (speed > 1)
             {  
               speed -=1;
@@ -1271,12 +1336,12 @@
         
           if (speedUpdated)
           {
-            if (speed < devicePrm.minSpeed)
+            if (speed < device_prm.minSpeed)
             {
-              speed = devicePrm.minSpeed;
+              speed = device_prm.minSpeed;
             }  
-            devicePrm.speed = speed;
-            L6474_ApplySpeed(devicePrm.speed);
+            device_prm.speed = speed;
+            L6474_ApplySpeed(device_prm.speed);
           }
         }
       }
@@ -1288,28 +1353,47 @@
     }
   }  
   /* Set isr flag */
-  isrFlag = FALSE;
+  isr_flag = FALSE;
+}
+
+/**********************************************************
+ * @brief Converts current in mA to values for TVAL register 
+ * @param[in] current_mA current in mA
+ * @retval value for TVAL register
+ **********************************************************/
+float L6474::L6474_Tval_Current_to_Par(float current_mA)
+{
+  return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
 }
 
 /**********************************************************
- * @brief Converts mA in compatible values for TVAL register 
- * @param[in] Tval
- * @retval TVAL values
+ * @brief Converts values from TVAL register to mA
+ * @param[in] Tval value from TVAL register
+ * @retval current in mA
  **********************************************************/
-uint8_t L6474::L6474_Tval_Current_to_Par(double Tval)
+float L6474::L6474_Par_to_Tval_Current(float Tval)
 {
-  return ((uint8_t)(((Tval - 31.25)/31.25)+0.5));
+  return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
 }
 
 /**********************************************************
- * @brief Convert time in us in compatible values 
- * for TON_MIN register
- * @param[in] Tmin
- * @retval TON_MIN values
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] ton_min_us time in us
+ * @retval value for TON_MIN register
  **********************************************************/
-uint8_t L6474::L6474_Tmin_Time_to_Par(double Tmin)
+float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
 {
-  return ((uint8_t)(((Tmin - 0.5)*2)+0.5));
+  return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Convert values for TON_MIN register to time in us
+ * @param[in] Tmin value from TON_MIN register
+ * @retval time in us
+ **********************************************************/
+float L6474::L6474_Par_to_Tmin_Time(float Tmin)
+{
+  return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
 }
 
 /**********************************************************
@@ -1325,9 +1409,9 @@
     L6474_ErrorHandler(L6474_ERROR_1);
   }
   
-  if (isrFlag)
+  if (isr_flag)
   {
-    spiPreemtionByIsr = TRUE;
+    spi_preemtion_by_isr = TRUE;
   }
 }