Diff: Components/l6208/l6208_class.h

Revision:

1:5cc2691ccfff

Parent:

0:52a66fac0f64

Child:

2:2af31245e67e

--- a/Components/l6208/l6208_class.h	Fri Apr 08 15:30:36 2016 +0000
+++ b/Components/l6208/l6208_class.h	Wed Apr 27 16:30:55 2016 +0000
@@ -0,0 +1,1194 @@
+/**
+ ******************************************************************************
+ * @file    l6208_class.h
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    March 18th, 2016
+ * @brief   This file contains the class of a L6208 Motor Control component.
+ * @note    (C) COPYRIGHT 2016 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6208_CLASS_H
+#define __L6208_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/        
+#include "mbed.h"
+
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files.                              *
+ *----------------------------------------------------------------------------*/        
+#include "l6208.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files.                              *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "../Interfaces/Humidity_class.h"                                *
+ *   #include "../Interfaces/Temperature_class.h"                             *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/StepperMotor_class.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6208 component.
+ */
+class L6208 : public StepperMotor
+{
+public:
+    /*** Constructor and Destructor Methods ***/
+
+    /**
+     * @brief Constructor.
+     * @param flag_and_enable_pin   pin name of the EN pin of the component.
+     * @param reset_pin             pin name of the RESET pin of the component.
+     * @param direction_pin         pin name of the CW_CCW pin of the component.
+     * @param half_full_pin         pin name of the HALF_FULL pin of the component.
+     * @param control_pin           pin name of the CONTROL pin of the component.
+     * @param clock_pin             pin name of the CLOCK pin of the component.
+     * @param vrefA_pwm_pin         pin name of the PWM connected to the VREFA pin of the component.
+     * @param vrefB_pwm_pin         pin name of the PWM connected to the VREFB pin of the component.
+     */
+    L6208(PinName flag_and_enable_pin, PinName reset_pin, PinName direction_pin, PinName half_full_pin, PinName control_pin, PinName clock_pin, PinName vrefA_pwm_pin, PinName vrefB_pwm_pin) : StepperMotor(),
+                                                                                                                                                         flag_and_enable(flag_and_enable_pin),
+                                                                                                                                                         reset(reset_pin),
+                                                                                                                                                         direction(direction_pin),
+                                                                                                                                                         half_full(half_full_pin),
+                                                                                                                                                         control(control_pin),
+                                                                                                                                                         clock(clock_pin),
+                                                                                                                                                         vrefA_pwm(vrefA_pwm_pin),
+                                                                                                                                                         vrefB_pwm(vrefB_pwm_pin)
+    {
+        /* Checking stackability. */
+        if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
+            error("Instantiation of the L6208 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+
+        /* ACTION 4 ----------------------------------------------------------*
+         * Initialize here the component's member variables, one variable per *
+         * line.                                                              *
+         *                                                                    *
+         * Example:                                                           *
+         *   measure = 0;                                                     *
+         *   instance_id = number_of_instances++;                             *
+         *--------------------------------------------------------------------*/
+        errorHandlerCallback = 0;
+        deviceInstance = numberOfDevices++;
+        /* default tick frequency */
+        tickFreq = TIMER_TICK_FREQUENCY;
+        /* waveform microstepping PWM period sample array, 90 deg shifted */
+        pMicroTable2 = &(microTable1[16]);
+    }
+    
+    /**
+     * @brief Destructor.
+     */
+    virtual ~L6208(void) {}
+    
+
+    /*** Public Component Related Methods ***/
+
+    /* ACTION 5 --------------------------------------------------------------*
+     * Implement here the component's public methods, as wrappers of the C    *
+     * component's functions.                                                 *
+     * They should be:                                                        *
+     *   + Methods with the same name of the C component's virtual table's    *
+     *     functions (1);                                                     *
+     *   + Methods with the same name of the C component's extended virtual   *
+     *     table's functions, if any (2).                                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   virtual int GetValue(float *pData) //(1)                             *
+     *   {                                                                    *
+     *     return COMPONENT_GetValue(float *pfData);                          *
+     *   }                                                                    *
+     *                                                                        *
+     *   virtual int EnableFeature(void) //(2)                                *
+     *   {                                                                    *
+     *     return COMPONENT_EnableFeature();                                  *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+
+    /**
+     * @brief Public functions inherited from the Component Class
+     */
+
+    /**
+     * @brief  Initialize the component.
+     * @param  init Pointer to device specific initalization structure.
+     * @retval "0" in case of success, an error code otherwise.
+     */
+    virtual int Init(void *init = NULL)
+    {
+        return (int) L6208_Init((void *) init);
+    }
+
+    /**
+     * @brief  Getting the ID of the component.
+     * @param  id Pointer to an allocated variable to store the ID into.
+     * @retval "0" in case of success, an error code otherwise.
+     */
+    virtual int ReadID(uint8_t *id = NULL)
+    {
+        return (int) L6208_ReadID((uint8_t *) id);
+    }
+
+    /**
+     * @brief Public functions inherited from the StepperMotor Class
+     */
+
+    /**
+     * @brief  Getting the value of the motor state .
+     * @param  None.
+     * @retval The motor state accoring to motorState_t in motor.h
+     */
+    virtual unsigned int GetStatus(void)
+    {
+        return (unsigned int) L6208_GetMotionState();
+    }
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int GetPosition(void)
+    {
+        return (signed int)L6208_GetPosition();
+    }
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int GetMark(void)
+    {
+        return (signed int)L6208_GetMark();
+    }
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int GetSpeed(void)
+    {
+        return (unsigned int)L6208_GetCurrentSpeed();
+    }
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int GetMaxSpeed(void)
+    {
+        return (unsigned int)L6208_GetMaxSpeed();
+    }
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int GetMinSpeed(void)
+    {
+        return (unsigned int)L6208_GetMinSpeed();
+    }
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int GetAcceleration(void)
+    {
+        return (unsigned int)L6208_GetAcceleration();
+    }
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int GetDeceleration(void)
+    {
+        return (unsigned int)L6208_GetDeceleration();
+    }
+    
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t GetDirection(void)
+    {
+        if (L6208_GetDirection()!=BACKWARD)
+        {
+            return FWD;
+        }
+        else
+        {
+            return BWD;
+        }
+    }
+    
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetHome(void)
+    {
+        L6208_SetHome();
+    }
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetMark(void)
+    {
+        L6208_SetMark();
+    }
+
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMaxSpeed(unsigned int speed)
+    {
+        if (speed <= 0xFFFF)
+        {
+            return L6208_SetMaxSpeed((uint16_t) speed);
+        }
+        else
+        {
+            return false;
+        }
+    }
+
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMinSpeed(unsigned int speed)
+    {
+        if (speed <= 0xFFFF)
+        {
+            return L6208_SetMinSpeed((uint16_t) speed);
+        }
+        else
+        {
+            return false;
+        }
+    }
+
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps/s^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetAcceleration(unsigned int acceleration)
+    {
+        if (acceleration <= 0xFFFF)
+        {
+            return L6208_SetAcceleration((uint16_t) acceleration);
+        }
+        else
+        {
+            return false;
+        }
+    }
+
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetDeceleration(unsigned int deceleration)
+    {
+        if (deceleration <= 0xFFFF)
+        {
+            return L6208_SetDeceleration((uint16_t) deceleration);
+        }
+        else
+        {
+            return false;
+        }
+    }
+
+    /**
+     * @brief  Setting the Step Mode.
+     * @param  step_mode The Step Mode.
+     * @retval "true" in case of success, "false" otherwise.
+     * @note   step_mode can be one of the following:
+     *           + STEP_MODE_FULL
+     *           + STEP_MODE_WAVE
+     *           + STEP_MODE_HALF
+     *           + STEP_MODE_1_4
+     *           + STEP_MODE_1_8
+     *           + STEP_MODE_1_16
+     */
+    virtual bool SetStepMode(step_mode_t step_mode)
+    {
+        return L6208_SetStepMode((motorStepMode_t) step_mode);
+    }
+
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void GoTo(signed int position)
+    {
+        L6208_GoTo((int32_t)position);
+    }
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoHome(void)
+    {
+        L6208_GoHome();
+    }
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoMark(void)
+    {
+        L6208_GoMark();
+    }
+
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void Run(direction_t direction)
+    {
+        L6208_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+    }
+
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
+    virtual void Move(direction_t direction, unsigned int steps)
+    {
+        L6208_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftStop(void)
+    {
+        L6208_SoftStop();
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardStop(void)
+    {
+        L6208_HardStop();
+    }
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftHiZ(void)
+    {
+        motorStopMode_t stopMode = L6208_GetStopMode();
+        if (stopMode==HIZ_MODE)
+        {
+            L6208_SoftStop();
+        }
+        else
+        {
+            L6208_SetStopMode(HIZ_MODE);
+            L6208_SoftStop();
+            L6208_SetStopMode(stopMode);
+        }
+    }
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardHiZ(void)
+    {
+        L6208_HardHiZ();
+    }
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void WaitWhileActive(void)
+    {
+        L6208_WaitWhileActive();
+    }  
+
+    /**
+     * @brief Public functions NOT inherited
+     */
+     
+    /**
+     * @brief  Attaching an error handler.
+     * @param  fptr An error handler.
+     * @retval None.
+     */
+    virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
+    {
+        L6208_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+    }
+
+    /**
+     * @brief  Checks if the device is disabled or/and has an alarm flag set 
+     * by reading the EN pin position.
+     * @param  None.
+     * @retval One if the EN pin is low (the device is disabled or/and 
+     * has an alarm flag set), otherwise zero.
+     */
+    virtual unsigned int CheckStatusHw(void)
+    {
+        if (!flag_and_enable.read()) return 0x01;
+        else return 0x00;
+    }
+    
+    /**
+     * @brief  Disabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void Disable(void)
+    {
+        L6208_Disable();
+    }
+    
+    /**
+     * @brief  Enabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void Enable(void)
+    {
+        L6208_Enable();
+    }
+    
+    /**
+     * @brief  Getting the motor decay mode.
+     * @param  None.
+     * @retval The motor decay mode.
+     */
+    virtual motorDecayMode_t GetDecayMode()
+    {
+         return L6208_GetDecayMode();
+    }
+    
+    /**
+     * @brief  Set the frequency of the VREFA and VREFB PWM
+     * @param  frequency in Hz
+     * @retval None.
+     */  
+    virtual uint32_t GetFreqVrefPwm(void)
+    {
+        return L6208_VrefPwmGetFreq();
+    }    
+    
+    /**
+     * @brief  Getting the version of the firmware.
+     * @param  None.
+     * @retval The version of the firmware.
+     */
+    virtual unsigned int GetFwVersion(void)
+    {
+        return (unsigned int) L6208_GetFwVersion();
+    }
+    
+    /**
+     * @brief  Getting the motor step mode.
+     * @param  None.
+     * @retval The motor step mode.
+     */
+    virtual step_mode_t GetStepMode(void)
+    {
+      return (step_mode_t) L6208_GetStepMode();
+    }
+    
+    /**
+     * @brief  Getting the motor stop mode.
+     * @param  None.
+     * @retval The motor stop mode.
+     */  
+    virtual motorStopMode_t GetStopMode(void)
+    {
+      return L6208_GetStopMode();
+    }
+    
+    /**
+     * @brief  Going to a specified position with a specificied direction.
+     * @param  direction The desired direction.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void GoTo(direction_t direction, signed int position)
+    {
+        L6208_GoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
+    }
+
+    /**
+     * @brief  Release the L6208 reset (Reset pin set to high level).
+     * @param  None.
+     * @retval None.
+     */    
+    virtual void ReleaseReset(void)
+    {
+        L6208_ReleaseReset();
+    }
+
+    /**
+     * @brief  Reset the device with current step mode, resets current speed,
+     * positions and microstep variables.
+     * @param  None.
+     * @retval None.
+     */    
+    virtual void Reset(void)
+    {
+        L6208_Reset();
+    }
+    
+    /**
+     * @brief  Reset the L6208 (Reset pin set to low level).
+     * @param  None.
+     * @retval None.
+     */    
+    virtual void ResetDevice(void)
+    {
+        L6208_ResetDevice();
+    }
+   
+    /**
+     * @brief  Set the motor decay mode.
+     * @param  decayMode The desired decay mode (SLOW_DECAY or FAST_DECAY).
+     * @retval None.
+     */    
+    virtual void SetDecayMode(motorDecayMode_t decayMode)
+    {
+        L6208_SetDecayMode(decayMode);
+    }
+
+    /**
+     * @brief  Set the motor direction.
+     * @param  direction The desired direction.
+     * @retval None.
+     */
+    virtual void SetDirection(direction_t direction)
+    { 
+        L6208_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+    }
+
+    /**
+     * @brief  Set the frequency of the VREFA and VREFB PWM
+     * @param  frequency in Hz
+     * @retval None.
+     */  
+    virtual void SetFreqVrefPwm(uint32_t frequency)
+    {
+        L6208_VrefPwmSetFreq(frequency);
+    }
+
+    /**
+     * @brief  Set the motor stop mode.
+     * @param  stopMode The desired stop mode (HOLD_MODE or HIZ_MODE).
+     * @retval None.
+     */       
+    virtual void SetStopMode(motorStopMode_t stopMode)
+    {
+        L6208_SetStopMode(stopMode);
+    }
+    
+    /**
+     * @brief Public static functions
+     */    
+
+    static uint8_t GetNbDevices(void)
+    {
+        return numberOfDevices;
+    }
+   
+    /*** Public Interrupt Related Methods ***/
+
+    /* ACTION 6 --------------------------------------------------------------*
+     * Implement here interrupt related methods, if any.                      *
+     * Note that interrupt handling is platform dependent, e.g.:              *
+     *   + mbed:                                                              *
+     *     InterruptIn feature_irq(pin); //Interrupt object.                  *
+     *     feature_irq.rise(callback);   //Attach a callback.                 *
+     *     feature_irq.mode(PullNone);   //Set interrupt mode.                *
+     *     feature_irq.enable_irq();     //Enable interrupt.                  *
+     *     feature_irq.disable_irq();    //Disable interrupt.                 *
+     *   + Arduino:                                                           *
+     *     attachInterrupt(pin, callback, RISING); //Attach a callback.       *
+     *     detachInterrupt(pin);                   //Detach a callback.       *
+     *                                                                        *
+     * Example (mbed):                                                        *
+     *   void AttachFeatureIRQ(void (*fptr) (void))                           *
+     *   {                                                                    *
+     *     feature_irq.rise(fptr);                                            *
+     *   }                                                                    *
+     *                                                                        *
+     *   void EnableFeatureIRQ(void)                                          *
+     *   {                                                                    *
+     *     feature_irq.enable_irq();                                          *
+     *   }                                                                    *
+     *                                                                        *
+     *   void DisableFeatureIRQ(void)                                         *
+     *   {                                                                    *
+     *     feature_irq.disable_irq();                                         *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Attaching an interrupt handler to the FLAG interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+     
+    void AttachFlagIRQ(void (*fptr)(void))
+    {
+        flag_and_enable.mode(PullDown);
+        flag_and_enable.fall(fptr);
+    }
+    
+    /**
+     * @brief  Enabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void EnableFlagIRQ(void)
+    {
+        flag_and_enable.enable_irq();
+    }
+    
+protected:
+
+    /*** Protected Component Related Methods ***/
+
+    /* ACTION 7 --------------------------------------------------------------*
+     * Declare here the component's specific methods.                         *
+     * They should be:                                                        *
+     *   + Methods with the same name of the C component's virtual table's    *
+     *     functions (1);                                                     *
+     *   + Methods with the same name of the C component's extended virtual   *
+     *     table's functions, if any (2);                                     *
+     *   + Helper methods, if any, like functions declared in the component's *
+     *     source files but not pointed by the component's virtual table (3). *
+     *                                                                        *
+     * Example:                                                               *
+     *   Status_t COMPONENT_GetValue(float *f);   //(1)                       *
+     *   Status_t COMPONENT_EnableFeature(void);  //(2)                       *
+     *   Status_t COMPONENT_ComputeAverage(void); //(3)                       *
+     *------------------------------------------------------------------------*/
+    Status_t L6208_Init(void *init);
+    Status_t L6208_ReadID(uint8_t *id);
+    void L6208_AttachErrorHandler(void (*callback)(uint16_t error));
+    void L6208_Disable(void);
+    void L6208_ErrorHandler(uint16_t error);
+    void L6208_Enable(void);
+    uint16_t L6208_GetAcceleration(void);
+    uint16_t L6208_GetCurrentSpeed(void);
+    uint16_t L6208_GetDeceleration(void);
+    motorDecayMode_t L6208_GetDecayMode(void);
+    motorDir_t L6208_GetDirection(void);
+    uint32_t L6208_GetFwVersion(void);
+    int32_t L6208_GetMark(void);
+    uint16_t L6208_GetMaxSpeed(void);
+    uint16_t L6208_GetMinSpeed(void);
+    motorState_t L6208_GetMotionState(void);
+    int32_t L6208_GetPosition(void);
+    motorStepMode_t L6208_GetStepMode(void);
+    motorStopMode_t L6208_GetStopMode(void);    
+    void L6208_GoHome(void);  
+    void L6208_GoMark(void);
+    void L6208_GoTo(int32_t targetPosition);
+    void L6208_GoToDir(motorDir_t direction, int32_t targetPosition);   
+    void L6208_HardHiZ(void);
+    void L6208_HardStop(void);
+    void L6208_Move(motorDir_t direction, uint32_t stepCount);
+    void L6208_ReleaseReset(void);
+    void L6208_Reset(void);
+    void L6208_ResetDevice(void);  
+    void L6208_Run(motorDir_t direction);
+    bool L6208_SetAcceleration(uint16_t newAcc);
+    void L6208_SetDecayMode(motorDecayMode_t decayMode);
+    bool L6208_SetDeceleration(uint16_t newDec);
+    void L6208_SetDirection(motorDir_t direction);
+    void L6208_SetHome(void);
+    void L6208_SetMark(void);
+    bool L6208_SetMaxSpeed(uint16_t volatile newSpeed);
+    bool L6208_SetMinSpeed(uint16_t volatile newSpeed);    
+    bool L6208_SetStepMode(motorStepMode_t stepMode);
+    void L6208_SetStopMode(motorStopMode_t stopMode);    
+    bool L6208_SoftStop(void);
+    void L6208_TickHandler(void);
+    uint32_t L6208_VrefPwmGetFreq(void);
+    void L6208_VrefPwmSetFreq(uint32_t newFreq);
+    void L6208_WaitWhileActive(void);
+    
+    /*** Component's I/O Methods ***/
+
+    /* ACTION 8 --------------------------------------------------------------*
+     * Implement here other I/O methods beyond those already implemented      *
+     * above, which are declared extern within the component's header file.   *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Reset the clock pin.
+     * @param  None.
+     * @retval None.
+     */    
+    void L6208_Board_CLOCK_PIN_Reset(void)
+    {
+        clock = 0;
+    }    
+    /**
+     * @brief  Set the clock pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_CLOCK_PIN_Set(void)
+    {
+        clock = 1;
+    }
+
+    /**
+     * @brief  Set the control pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_CONTROL_PIN_Set(void)
+    {
+        control = 1;
+    }
+
+    /**
+     * @brief  Reset the control pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_CONTROL_PIN_Reset(void)
+    {
+        control = 0;
+    }
+    
+    /**
+     * @brief  Making the CPU wait.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_Delay(uint32_t delay)
+    {
+        wait_ms(delay);
+    }
+    
+    /**
+     * @brief  Reset the dir pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_DIR_PIN_Reset(void)
+    {
+        direction = 0;
+    }
+        
+    /**
+     * @brief  Set the dir pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_DIR_PIN_Set(void)
+    {
+        direction = 1;
+    }
+    
+    /**
+     * @brief  Disable the power bridges (leave the output bridges HiZ).
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_Disable(void)
+    {
+        flag_and_enable.disable_irq();
+        flag_and_enable.mode(PullDown);
+    }
+
+    /**
+     * @brief  Disabling interrupts.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_DisableIrq(void)
+    {
+        __disable_irq();
+    }
+    
+    /**
+     * @brief  Enable the power bridges (leave the output bridges HiZ).
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_Enable(void)
+    {     
+        flag_and_enable.mode(PullUp);
+        flag_and_enable.enable_irq();
+    }
+    
+    /**
+     * @brief  Enabling interrupts.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_EnableIrq(void)
+    {
+        __enable_irq();
+    }
+    
+    /**
+     * @brief  Reset the half full pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_HALF_FULL_PIN_Reset(void)
+    {
+        half_full = 0;
+    }
+    
+    /**
+     * @brief  Set the half full pin.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_HALF_FULL_PIN_Set(void)
+    {
+        half_full = 1;
+    }
+
+    /**
+     * @brief  Initialising the the VREFA or VREFB PWM.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq) {}
+        
+    /**
+     * @brief  Exit the device from reset mode.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_ReleaseReset(void)
+    {
+        reset = 1;
+    }
+
+    /**
+     * @brief  Put the device in reset mode.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_Reset(void)
+    {
+        reset = 0;
+    }
+
+    /**
+     * @brief  Get the tick timer frequency in Hz.
+     * @param  None.
+     * @retval The tick timer frequency in Hz.
+     */    
+    uint32_t L6208_Board_TickGetFreq(void)
+    {
+       return TIMER_TICK_FREQUENCY;
+    }
+
+    /**
+     * @brief  Initialising the tick.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_TickInit(void) {}
+
+    /**
+     * @brief  Starting the tick timer, setting its frequency
+     * and attaching a tick handler function to it.
+     * @param  frequency the frequency of the tick.
+     * @retval None.
+     */
+    void L6208_Board_TickStart(uint16_t frequency)
+    {
+        /* Computing the period of the tick. */
+        double period = 1.0f / frequency;
+        
+        /* Attaching a tick handler function which updates */
+        /* the state machine every elapsed period time. */
+        ticker.attach(this, &L6208::L6208_TickHandler, period);
+    }
+
+    /**
+     * @brief  Stopping the tick.
+     * @param  None.
+     * @retval None.
+     */
+    void L6208_Board_TickStop(void)
+    {
+        ticker.detach();
+    }
+
+    /**
+     * @brief Set the pulse width of the VREFA PWM.
+     * @param[in] pulseWidthInUs pulse width of the PWM in microsecond.
+     * @retval None.
+     */     
+    void L6208_Board_VrefPwmSetPulseWidthA(uint8_t pulseWidthInUs)
+    {
+      vrefA_pwm.pulsewidth_us(pulseWidthInUs);
+    }
+ 
+    /**
+     * @brief Set the pulse width of the VREFB PWM.
+     * @param[in] pulseWidthInUs pulse width of the PWM in microsecond.
+     * @retval None.
+     */       
+    void L6208_Board_VrefPwmSetPulseWidthB(uint8_t pulseWidthInUs)
+    {
+      vrefB_pwm.pulsewidth_us(pulseWidthInUs);
+    }    
+    
+    /**
+     * @brief  Start the timer for the VREFA or VREFB PWM.
+     * @param[in] bridgeId
+     *            0 for BRIDGE_A
+     *            1 for BRIDGE_B
+     * @param[in] pwmPeriod period of the PWM used to generate the reference
+     * voltage for the bridge.
+     * @retval "true" in case of success, "false" otherwise.
+     * @note the unit is 1/256th of a microsecond. The VREFA PWM must be started
+     * before the VREFB PWM.
+     */   
+    bool L6208_Board_VrefPwmStart(uint8_t bridgeId, uint16_t pwmPeriod)
+    { 
+        pwmPeriod>>=8;
+        /* Setting the period and the duty-cycle of PWM. */
+        if (bridgeId == 0)
+        {
+            vrefA_pwm.period_us(pwmPeriod);         
+        }
+        else if (bridgeId == 1)
+        {
+            vrefB_pwm.period_us(pwmPeriod);
+        }
+        else return false;
+        return true;
+    }
+    
+    /**
+     * @brief  Stop the timer for the VREFA or VREFB PWM.
+     * @param[in] bridgeId
+     *            0 for BRIDGE_A
+     *            1 for BRIDGE_B
+     * @retval "true" in case of success, "false" otherwise.
+     */       
+    bool L6208_Board_VrefPwmStop(uint8_t bridgeId)
+    {
+        if (bridgeId == 0)
+        {
+            vrefA_pwm.period_us(0);
+        }
+        else if (bridgeId == 1)
+        {
+            vrefB_pwm.period_us(0);
+        }
+        else return false;
+        return true;
+    }
+    
+private:
+
+    /*** Private Component Related Methods ***/
+
+    void L6208_ClearSysFlag(uint32_t mask);
+    uint32_t L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate);
+    uint16_t L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate);
+    void L6208_DoAccel(void);
+    void L6208_DoDecel(void);
+    void L6208_DoRun(void);
+    uint8_t L6208_GetMicrostepSample2Scale(void);
+    void L6208_Indexmodeinit(void);
+    bool L6208_IsSysFlag(uint32_t mask);
+    void L6208_ResetSteps(void);
+    uint32_t L6208_ScaleWaveformSample(uint8_t sampleIndex);
+    void L6208_ScaleWaveformTable(void);
+    void L6208_SetDeviceParamsToGivenValues(l6208_Init_t* pInitDevicePrm);
+    void L6208_SetDeviceParamsToPredefinedValues(void);
+    void L6208_SetMicrostepSample2Scale(uint8_t value);
+    void L6208_SetMicrostepSample2Update(uint8_t value);
+    void L6208_SetMotionState(motorState_t newMotionState);
+    bool L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed);
+    void L6208_SetSysFlag(uint32_t mask);
+    bool L6208_StartMovement(void);
+    void L6208_UpdateScanWaveformTable(void);
+    void L6208_UstepWaveformHandling(void);
+    bool L6208_VectorCalc(uint8_t newTorque);
+    bool L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle);
+    void L6208_VrefPwmUpdatePulseWidth(void);
+
+protected:
+
+    /*** Component's Instance Variables ***/
+
+    /* ACTION 9 --------------------------------------------------------------*
+     * Declare here interrupt related variables, if needed.                   *
+     * Note that interrupt handling is platform dependent, see                *
+     * "Interrupt Related Methods" above.                                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     InterruptIn feature_irq;                                           *
+     *------------------------------------------------------------------------*/
+    /* Flag Interrupt and chip enable. */
+    InterruptIn flag_and_enable;
+
+    /* ACTION 10 -------------------------------------------------------------*
+     * Declare here other pin related variables, if needed.                   *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut standby_reset;                                          *
+     *------------------------------------------------------------------------*/
+    /* RESET pin. */
+    DigitalOut reset;
+    /* CW_CCW pin. */
+    DigitalOut direction;
+    /* HALF_FULL pin */
+    DigitalOut half_full;
+    /* CONTROL pin */
+    DigitalOut control;
+    /* CLOCK pin */
+    DigitalOut clock;
+
+    /* Pulse Width Modulation pin for VREFA pin */
+    PwmOut vrefA_pwm;
+    /* Pulse Width Modulation pin for VREFA pin */
+    PwmOut vrefB_pwm;
+    
+    /* Timer for the tick */
+    Ticker ticker;
+    
+    /* ACTION 11 -------------------------------------------------------------*
+     * Declare here communication related variables, if needed.               *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut ssel;                                                   *
+     *     DevSPI &dev_spi;                                                   *
+     *------------------------------------------------------------------------*/
+    /* Configuration. */
+
+    /* IO Device. */
+
+    /* ACTION 12 -------------------------------------------------------------*
+     * Declare here identity related variables, if needed.                    *
+     * Note that there should be only a unique identifier for each component, *
+     * which should be the "who_am_i" parameter.                              *
+     *------------------------------------------------------------------------*/
+    /* Identity */
+    uint8_t who_am_i;
+
+    /* ACTION 13 -------------------------------------------------------------*
+     * Declare here the component's static and non-static data, one variable  *
+     * per line.                                                              *
+     *                                                                        *
+     * Example:                                                               *
+     *   float measure;                                                       *
+     *   int instance_id;                                                     *
+     *   static int number_of_instances;                                      *
+     *------------------------------------------------------------------------*/
+    /* Data. */
+    void (*errorHandlerCallback)(uint16_t error);
+    deviceParams_t devicePrm;
+    uint8_t deviceInstance;
+    uint32_t tickFreq;
+    /// microstepping PWM period and torque scaled waveform samples array
+    uint16_t updatedMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD+1];
+    /// waveform scanning microstepping PWM period sample arrays for VREFA wave
+    uint16_t microTable1[L6208_USTEPS_PER_QUARTER_PERIOD*3+1];
+    /// waveform scanning microstepping PWM period sample array for VREFB wave
+    uint16_t *pMicroTable2;
+
+    /* Static data. */
+    static uint8_t numberOfDevices;
+    static const uint16_t RefMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD*3];
+
+public:
+
+    /* Static data. */
+    
+};
+
+#endif // __L6208_CLASS_H
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/