Diff: Components/l6208/l6208.h

Revision:

3:63a8d672fe5e

Parent:

1:5cc2691ccfff

--- a/Components/l6208/l6208.h	Fri Apr 29 14:58:30 2016 +0000
+++ b/Components/l6208/l6208.h	Fri Mar 24 10:59:42 2017 +0100
@@ -1,328 +1,1183 @@
-/******************************************************//**
-  * @file    l6208.h 
-  * @author  IPC Rennes
-  * @version V1.1.0
-  * @date    February 11th, 2016
-  * @brief   Header for l6208.c module
-  * @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.
-  *
-  ******************************************************************************
-  */
+/**
+ ******************************************************************************
+ * @file    L6208.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_H_INCLUDED
-#define _L6208_H_INCLUDED
 
-#ifdef __cplusplus
- extern "C" {
-#endif 
+#ifndef __L6208_CLASS_H
+#define __L6208_CLASS_H
+
 
 /* Includes ------------------------------------------------------------------*/
-#include "l6208_target_config.h"
-#include "motor.h" 
 
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup Components
- * @{
- */
-    
-/** @defgroup L6208
-  * @{
-  */
-
-/** @defgroup L6208_Exported_Defines L6208 Exported Defines
-  * @{
-  */
-/// Current FW major version
-#define L6208_FW_MAJOR_VERSION (uint8_t)(1)
-/// Current FW minor version
-#define L6208_FW_MINOR_VERSION (uint8_t)(1)
-/// Current FW patch version
-#define L6208_FW_PATCH_VERSION (uint8_t)(0)
-/// Current FW version
-#define L6208_FW_VERSION       (uint32_t)((L6208_FW_MAJOR_VERSION<<16)|\
-                                          (L6208_FW_MINOR_VERSION<<8)|\
-                                          (L6208_FW_PATCH_VERSION))
-
-/// Exponent used to scale the sine function for the RefMicroTable
-#define L6208_SINE_WAVEFORM_POWER_OF_TWO_MAX_VALUE (15)
-
-/// Tick frequency (Hz)
-#define TIMER_TICK_FREQUENCY         (10000)
-
-/// MCU wait time after power bridges are enabled
-#define BRIDGE_TURN_ON_DELAY         (10)
-
-/// The maximum number of devices
-#define MAX_NUMBER_OF_DEVICES        (1)
-
-/// Max position
-#define L6208_MAX_POSITION           (0x7FFFFFFF)
-
-/// Min position
-#define L6208_MIN_POSITION           (0x80000000)
-
-/// Position range
-#define L6208_POSITION_RANGE         ((uint32_t)(L6208_MAX_POSITION -\
-                                                        L6208_MIN_POSITION))
-/// micro step samples per period/4 
-#define L6208_USTEPS_PER_QUARTER_PERIOD        (16)
-
-/// minimum speed
-#define L6208_MIN_SPEED                        (16)
-
-/// minimum acceleration and deceleration rate
-#define L6208_MIN_ACC_DEC_RATE                 (24)
-
-/// Mask for HiZ bit in motorDecayMode_t enum
-#define L6208_FAST_DECAY_MODE_MASK             (0x1)
-
-/// L6208 error base number
-#define L6208_ERROR_BASE                       (0x9000)
-/**
-  * @}
-  */
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup L6208_Exported_Types L6208 Exported Types
-  * @{
-  */
-
-/** @defgroup Error_Types Error Types
-  * @{
-  */
-/// Errors
-typedef enum {
-  L6208_ERROR_SET_HOME         = L6208_ERROR_BASE,     /// Error while setting home position
-  L6208_ERROR_SET_MAX_SPEED    = L6208_ERROR_BASE + 1, /// Error while setting max speed
-  L6208_ERROR_SET_MIN_SPEED    = L6208_ERROR_BASE + 2, /// Error while setting min speed
-  L6208_ERROR_SET_ACCELERATION = L6208_ERROR_BASE + 3, /// Error while setting acceleration
-  L6208_ERROR_SET_DECELERATION = L6208_ERROR_BASE + 4, /// Error while setting decelaration
-  L6208_ERROR_MCU_OSC_CONFIG   = L6208_ERROR_BASE + 5, /// Error while configuring mcu oscillator
-  L6208_ERROR_MCU_CLOCK_CONFIG = L6208_ERROR_BASE + 6, /// Error while configuring mcu clock
-  L6208_ERROR_POSITION         = L6208_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps)
-  L6208_ERROR_SPEED            = L6208_ERROR_BASE + 8, /// Unexpected current speed
-  L6208_ERROR_INIT             = L6208_ERROR_BASE + 9, /// Unexpected number of devices
-  L6208_ERROR_SET_DIRECTION    = L6208_ERROR_BASE + 10,/// Error while setting direction
-  L6208_ERROR_SET_STEP_MODE    = L6208_ERROR_BASE + 11,/// Attempt to set an unsupported step mode
-  L6208_ERROR_SET_PWM          = L6208_ERROR_BASE + 12,/// Error while setting a PWM parameter
-}errorTypes_t;
-/**
-  * @}
-  */
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/        
+#include "mbed.h"
 
-/** @defgroup Device_Parameters Device Parameters
-  * @{
-  */
-/// Device Parameters Structure Type
-typedef struct
-{
-  /// dwelling waiting time counter (tick)
-  volatile uint32_t dwellCounter;
-  /// motor position indicator (tick)
-  uint32_t ticks;
-  /// LSByte copy of the previous position (tick)
-  uint8_t lsbOldTicks;
-  /// LSByte copy of the previous position (tick) ( micro stepping )
-  uint8_t lsbOldUSteppingTicks;
-  /// LSByte copy of the current position (tick)
-  uint8_t lsbTicks;
-  /// P1 = acceleration phase steps number (motor position control mode)
-  uint32_t positionTarget1;
-  /// P2 = constant speed steps number (motor position control mode)
-  uint32_t positionTarget2;
-  /// P3 = deceleration phase steps number (motor position control mode)
-  uint32_t positionTarget3;
-  /// P = total move distance in steps (motor position control mode)
-  uint32_t positionTarget;
-  /// absolute motor position in microsteps (motor position control mode)
-  volatile int32_t absolutePos;
-  /// mark position in microsteps (motor position control mode)
-  volatile int32_t markPos;
-  /// motor position in microsteps (motor position control mode)
-  volatile uint32_t step;
-  /// dwelling time after position got (ms)
-  volatile uint16_t moveDwellTime;
-  /// number of micro stepping waveform samples to be rescaled according to selected torque value
-  volatile uint8_t uStepsample2scale;
-  /// number of micro stepping waveform samples to be updated into the waveform scanning table  
-  volatile uint8_t uStepsample2update;
-  /// microstepping waveform sample index  
-  volatile uint8_t uStepSample;
-  /// system status flags
-  volatile uint32_t flags;
-  /// current stepper state machine index
-  volatile motorState_t motionState;
-  /// current step mode
-  volatile motorStepMode_t stepMode;
-  /// micro stepping waveform scanning sample index increment
-  uint8_t uStepInc;
-  /// frequency of the VREFA and VREFB PWM
-  uint32_t vrefPwmFreq;
-  /// period of the VREFA and VREFB PWM in 1/256th of a microsecond
-  uint16_t vrefPwmPeriod;
-  /// pulse width target of the VREFA PWM in 1/256th of a microsecond
-  volatile uint16_t vrefPwmPulseWidthTargetA;
-  /// pulse width target of the VREFB PWM in 1/256th of a microsecond
-  volatile uint16_t vrefPwmPulseWidthTargetB;
-  /// pulse width to be generated for VREFA PWM in 1/256th of a microsecond
-  volatile int16_t vrefPwmPulseWidthToBeGeneratedA;
-  /// pulse width to be generated for VREFB PWM in 1/256th of a microsecond
-  volatile int16_t vrefPwmPulseWidthToBeGeneratedB;
-  /// current selected torque value
-  volatile uint16_t curTorqueScaler;
-  /// selected VREFA value (%)
-  volatile uint16_t vRefAVal;
-  /// selected VREFB value (%)
-  volatile uint16_t vRefBVal;
-  /// constant speed phase torque value (%)
-  volatile uint8_t runTorque;
-  /// acceleration phase torque value (%)
-  volatile uint8_t accelTorque;
-  /// deceleration phase torque value (%)
-  volatile uint8_t decelTorque;
-  /// holding phase torque value (%)
-  volatile uint8_t holdTorque;
-  /// acceleration (steps/s^2)
-  volatile uint16_t accelerationSps2;
-  /// deceleration (steps/s^2)
-  volatile uint16_t decelerationSps2;
-  /// acceleration (steps/tick^2)
-  volatile uint16_t accelerationSpt2;
-  /// deceleration (steps/tick^2)
-  volatile uint16_t decelerationSpt2;
-  /// maximum speed (steps/s)
-  volatile uint16_t maxSpeedSps;
-  /// minimum speed (steps/s)
-  volatile uint16_t minSpeedSps;
-  /// current speed (steps/s)
-  volatile uint16_t speedSps;
-  /// maximum speed (steps/tick)
-  volatile uint32_t maxSpeedSpt;
-  /// minimum speed (steps/tick)
-  volatile uint32_t minSpeedSpt;
-  /// current speed (steps/tick) 
-  volatile uint32_t speedSpt;
-}deviceParams_t;
-/**
-  * @}
-  */
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files.                              *
+ *----------------------------------------------------------------------------*/        
+#include "L6208.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files.                              *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "HumiditySensor.h"                                              *
+ *   #include "TemperatureSensor.h"                                           *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
 
-/// Motor driver initialization structure definition  
-typedef struct
-{
-  /// acceleration (steps/s^2)
-  uint16_t accelerationSps2;
-  /// acceleration phase torque value (%)
-  uint8_t accelTorque;
-  /// deceleration (steps/s^2)
-  uint16_t decelerationSps2;
-  /// deceleration phase torque value (%)
-  uint8_t decelTorque;
-  /// maximum speed (steps/s)
-  uint16_t maxSpeedSps;
-  /// constant speed phase torque value (%)
-  uint8_t runTorque;
-  /// holding phase torque value (%)
-  uint8_t holdTorque;
-  /// current step mode
-  motorStepMode_t stepMode;
-  /// current decay mode (SLOW_DECAY or FAST_DECAY)
-  motorDecayMode_t decayMode;
-  /// dwelling time after position got (ms)
-  uint16_t moveDwellTime;
-  /// automatic HiZ on stop
-  bool autoHiZstop;
-  /// frequency of the VREFA and VREFB PWM
-  uint32_t vrefPwmFreq;
-} l6208_Init_t;
-/**
-  * @}
-  */
 
-/* Functions --------------------------------------------------------*/
-
-/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
-  * @{
-  */
-///Delay of the requested number of milliseconds
-extern void L6208_Board_Delay(uint32_t delay);
-///Enable Irq
-extern void L6208_Board_EnableIrq(void);
-///Disable Irq
-extern void L6208_Board_DisableIrq(void);
-//Initialize the VREFA or VREFB PWM
-extern bool L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq);
-///Initialize the tick
-extern void L6208_Board_TickInit(void);
-///Release the reset pin 
-extern void L6208_Board_ReleaseReset(void);
-///Set the reset pin
-extern void L6208_Board_Reset(void);
-///Set the control pin
-extern void L6208_Board_CONTROL_PIN_Set(void);
-///Reset the control pin
-extern void L6208_Board_CONTROL_PIN_Reset(void);
-///Set the clock pin
-extern void L6208_Board_CLOCK_PIN_Set(void);
-///Reset the clock pin
-extern void L6208_Board_CLOCK_PIN_Reset(void);
-///Set the half full pin
-extern void L6208_Board_HALF_FULL_PIN_Set(void);
-///Reset the half full pin
-extern void L6208_Board_HALF_FULL_PIN_Reset(void);
-///Set the dir pin
-extern void L6208_Board_DIR_PIN_Set(void);
-///Reset the dir pin
-extern void L6208_Board_DIR_PIN_Reset(void);
-///Enable the power bridges (leave the output bridges HiZ)
-extern void L6208_Board_Enable(void);
-///Disable the power bridges (leave the output bridges HiZ)
-extern void L6208_Board_Disable(void);
-/**
-  * @}
-  */
-
-  /**
-  * @}
-  */
+/* Classes -------------------------------------------------------------------*/
 
 /**
-  * @}
-  */
-  
-#ifdef __cplusplus
-  }
-#endif
+ * @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!=0)
+            error("Instantiation of the L6208 component failed: it can't be stacked on itself.\r\n");
+
+        /* 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 read_id(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 get_status(void)
+    {
+        return (unsigned int) L6208_GetMotionState();
+    }
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int get_position(void)
+    {
+        return (signed int)L6208_GetPosition();
+    }
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int get_mark(void)
+    {
+        return (signed int)L6208_GetMark();
+    }
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int get_speed(void)
+    {
+        return (unsigned int)L6208_GetCurrentSpeed();
+    }
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int get_max_speed(void)
+    {
+        return (unsigned int)L6208_GetMaxSpeed();
+    }
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int get_min_speed(void)
+    {
+        return (unsigned int)L6208_GetMinSpeed();
+    }
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int get_acceleration(void)
+    {
+        return (unsigned int)L6208_GetAcceleration();
+    }
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int get_deceleration(void)
+    {
+        return (unsigned int)L6208_GetDeceleration();
+    }
+    
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t get_direction(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 set_home(void)
+    {
+        L6208_SetHome();
+    }
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void set_mark(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 set_max_speed(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 set_min_speed(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 set_acceleration(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 set_deceleration(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 set_step_mode(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 go_to(signed int position)
+    {
+        L6208_GoTo((int32_t)position);
+    }
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_home(void)
+    {
+        L6208_GoHome();
+    }
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_mark(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 soft_stop(void)
+    {
+        L6208_SoftStop();
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void hard_stop(void)
+    {
+        L6208_HardStop();
+    }
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void soft_hiz(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 hard_hiz(void)
+    {
+        L6208_HardHiZ();
+    }
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void wait_while_active(void)
+    {
+        L6208_WaitWhileActive();
+    }  
+
+    /**
+     * @brief Public functions NOT inherited
+     */
+     
+    /**
+     * @brief  Attaching an error handler.
+     * @param  fptr An error handler.
+     * @retval None.
+     */
+    virtual void attach_error_handler(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 check_status_hw(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 get_decay_mode()
+    {
+         return L6208_get_decay_mode();
+    }
+    
+    /**
+     * @brief  Set the frequency of the VREFA and VREFB PWM
+     * @param  frequency in Hz
+     * @retval None.
+     */  
+    virtual uint32_t get_freq_vref_pwm(void)
+    {
+        return L6208_VrefPwmGetFreq();
+    }    
+    
+    /**
+     * @brief  Getting the version of the firmware.
+     * @param  None.
+     * @retval The version of the firmware.
+     */
+    virtual unsigned int get_fw_version(void)
+    {
+        return (unsigned int) L6208_GetFwVersion();
+    }
+    
+    /**
+     * @brief  Getting the motor step mode.
+     * @param  None.
+     * @retval The motor step mode.
+     */
+    virtual step_mode_t get_step_mode(void)
+    {
+      return (step_mode_t) L6208_get_step_mode();
+    }
+    
+    /**
+     * @brief  Getting the motor stop mode.
+     * @param  None.
+     * @retval The motor stop mode.
+     */  
+    virtual motorStopMode_t get_stop_mode(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 go_to(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 release_reset(void)
+    {
+        L6208_ReleaseReset();
+    }
 
-#endif /* __L6208_H */
+    /**
+     * @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 reset_device(void)
+    {
+        L6208_ResetDevice();
+    }
+   
+    /**
+     * @brief  Set the motor decay mode.
+     * @param  decayMode The desired decay mode (SLOW_DECAY or FAST_DECAY).
+     * @retval None.
+     */    
+    virtual void set_decay_mode(motorDecayMode_t decayMode)
+    {
+        L6208_SetDecayMode(decayMode);
+    }
+
+    /**
+     * @brief  Set the motor direction.
+     * @param  direction The desired direction.
+     * @retval None.
+     */
+    virtual void set_direction(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 set_freq_vref_pwm(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 set_stop_mode(motorStopMode_t stopMode)
+    {
+        L6208_SetStopMode(stopMode);
+    }
+   
+    /*** 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 attach_feature_irq(void (*fptr) (void))                         *
+     *   {                                                                    *
+     *     feature_irq.rise(fptr);                                            *
+     *   }                                                                    *
+     *                                                                        *
+     *   void enable_feature_irq(void)                                        *
+     *   {                                                                    *
+     *     feature_irq.enable_irq();                                          *
+     *   }                                                                    *
+     *                                                                        *
+     *   void disable_feature_irq(void)                                       *
+     *   {                                                                    *
+     *     feature_irq.disable_irq();                                         *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Attaching an interrupt handler to the FLAG interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+     
+    void attach_flag_irq(void (*fptr)(void))
+    {
+        flag_and_enable.mode(PullDown);
+        flag_and_enable.fall(fptr);
+    }
+    
+    /**
+     * @brief  Enabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_flag_irq(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_get_value(float *f);   //(1)                      *
+     *   status_t COMPONENT_enable_feature(void);  //(2)                      *
+     *   status_t COMPONENT_compute_average(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_get_decay_mode(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_get_step_mode(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);
+    
+    /*** Functions intended to be used only internally ***/
+    
+    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);
+    
+    /*** 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;
+    }
 
-/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
+    /**
+     * @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;
+    }
+
+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****/