Motor Control Library

Diff: Components/l6474/l6474.h

Revision:

33:8daea0279301

Parent:

27:990963ed581b

--- a/Components/l6474/l6474.h	Tue Feb 28 16:12:31 2017 +0000
+++ b/Components/l6474/l6474.h	Fri Mar 10 11:07:50 2017 +0100
@@ -1,11 +1,10 @@
 /**
  ******************************************************************************
- * @file    l6474.h 
- * @author  IPC Rennes
- * @version V1.5.0
- * @date    November 12, 2014
- * @brief   Header for L6474 driver (fully integrated microstepping motor driver)
- * @note    (C) COPYRIGHT 2014 STMicroelectronics
+ * @file    L6474.h
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date    October 14th, 2015
+ * @brief   This file contains the class of an L6474 Motor Control component.
  ******************************************************************************
  * @attention
  *
@@ -37,564 +36,983 @@
  */
 
 
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+    Branch/Trunk/Tag: trunk
+    Based on:         X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h
+    Revision:         0
+*/
+
+
 /* Define to prevent recursive inclusion -------------------------------------*/
 
-#ifndef __L6474_H
-#define __L6474_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
+#ifndef __L6474_CLASS_H
+#define __L6474_CLASS_H
 
 
 /* Includes ------------------------------------------------------------------*/
 
-#include "l6474_target_config.h"
-#include "../Common/motor.h"
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/        
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files.                              *
+ *----------------------------------------------------------------------------*/        
+#include "L6474_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files.                              *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "HumiditySensor.h"                                              *
+ *   #include "TemperatureSensor.h"                                           *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing an L6474 component.
+ */
+class L6474 : public StepperMotor 
+{
+public:
+
+    /*** Constructor and Destructor Methods ***/
+
+    /**
+     * @brief Constructor.
+     * @param flag_irq      pin name of the FLAG pin of the component.
+     * @param standby_reset pin name of the STBY\RST pin of the component.
+     * @param direction     pin name of the DIR pin of the component.
+     * @param pwm           pin name of the PWM pin of the component.
+     * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
+     * @param spi           SPI device to be used for communication.
+     */
+    L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi)
+    {
+        /* Checking stackability. */
+        if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) {
+            error("Instantiation of the L6474 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++;                             *
+         *--------------------------------------------------------------------*/
+        error_handler_callback = 0;
+        device_instance = number_of_devices++;
+        memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+        memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+    }
+    
+    /**
+     * @brief Destructor.
+     */
+    virtual ~L6474(void) {}
 
 
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */  
-  
-/** @addtogroup L6474
- * @{
- */
-  
-/** @defgroup L6474_Exported_Defines L6474_Exported_Defines
- * @{
- */  
-
-/// Current FW version
-#define L6474_FW_VERSION                        (5)
+    /*** Public Component Related Methods ***/
 
-/// L6474 max number of bytes of command & arguments to set a parameter
-#define L6474_CMD_ARG_MAX_NB_BYTES              (4)
-
-/// L6474 command + argument bytes number for GET_STATUS command
-#define L6474_CMD_ARG_NB_BYTES_GET_STATUS       (1)
-
-/// L6474 response bytes number
-#define L6474_RSP_NB_BYTES_GET_STATUS           (2)
+    /* 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 get_value(float *p_data) //(1)                           *
+     *   {                                                                    *
+     *     return COMPONENT_get_value(float *pf_data);                        *
+     *   }                                                                    *
+     *                                                                        *
+     *   virtual int enable_feature(void) //(2)                               *
+     *   {                                                                    *
+     *     return COMPONENT_enable_feature();                                 *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Initializing the component in 1/16 Microstepping mode.
+     * @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) L6474_Init((void *) init);
+    }
 
-/// L6474 value mask for ABS_POS register
-#define L6474_ABS_POS_VALUE_MASK    ((uint32_t) 0x003FFFFF)
-   
-/// L6474 sign bit mask for ABS_POS register
-#define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
+    /**
+     * @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) L6474_ReadID((uint8_t *) id);
+    }
 
-     
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup L6474_Exported_Types
-  * @{
-  */   
+    /**
+     * @brief  Getting the value of the Status Register.
+     * @param  None.
+     * @retval None.
+     * @note   The Status Register's flags are cleared, contrary to the
+     *         read_status_register() method.
+     */
+    virtual unsigned int get_status(void)
+    {
+        return (unsigned int) L6474_CmdGetStatus();
+    }
 
-/** @defgroup L6474_Fast_Decay_Time_Options  
-  * @{
-  */
-///TOFF_FAST values for T_FAST register
-typedef enum {
-  L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
-  L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
-  L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
-  L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
-  L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
-  L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
-  L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
-  L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
-  L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
-  L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
-  L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
-  L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
-  L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
-  L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
-  L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
-  L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
-} L6474_TOFF_FAST_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Getting a parameter.
+     * @param  parameter A parameter's register address.
+     * @retval The parameter's value.
+     * @note   The Status Register's flags are cleared, contrary to the
+     *         read_status_register() method.
+     *         The parameter can be one of the following:
+     *           + L6474_ABS_POS
+     *           + L6474_EL_POS
+     *           + L6474_MARK
+     *           + L6474_RESERVED_REG01
+     *           + L6474_RESERVED_REG02
+     *           + L6474_RESERVED_REG03
+     *           + L6474_RESERVED_REG04
+     *           + L6474_RESERVED_REG05
+     *           + L6474_RESERVED_REG06
+     *           + L6474_TVAL           : value in mA
+     *           + L6474_RESERVED_REG07
+     *           + L6474_RESERVED_REG08
+     *           + L6474_RESERVED_REG09
+     *           + L6474_RESERVED_REG10
+     *           + L6474_T_FAST
+     *           + L6474_TON_MIN        : value in us
+     *           + L6474_TOFF_MIN       : value in us
+     *           + L6474_RESERVED_REG11
+     *           + L6474_ADC_OUT
+     *           + L6474_OCD_TH
+     *           + L6474_RESERVED_REG12
+     *           + L6474_STEP_MODE
+     *           + L6474_ALARM_EN
+     *           + L6474_CONFIG
+     *           + L6474_STATUS
+     *           + L6474_RESERVED_REG13
+     *           + L6474_RESERVED_REG14
+     *           + L6474_INEXISTENT_REG
+     */
+    virtual float get_parameter(unsigned int parameter)
+    {
+        unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
+        float value;
 
-/** @defgroup L6474_Fall_Step_Time_Options 
-  * @{
-  */
-///FAST_STEP values for T_FAST register
-typedef enum {
-  L6474_FAST_STEP_2us = ((uint8_t) 0x00),
-  L6474_FAST_STEP_4us = ((uint8_t) 0x01),
-  L6474_FAST_STEP_6us = ((uint8_t) 0x02),
-  L6474_FAST_STEP_8us = ((uint8_t) 0x03),
-  L6474_FAST_STEP_10us = ((uint8_t) 0x04),
-  L6474_FAST_STEP_12us = ((uint8_t) 0x05),
-  L6474_FAST_STEP_14us = ((uint8_t) 0x06),
-  L6474_FAST_STEP_16us = ((uint8_t) 0x07),
-  L6474_FAST_STEP_18us = ((uint8_t) 0x08),
-  L6474_FAST_STEP_20us = ((uint8_t) 0x09),
-  L6474_FAST_STEP_22us = ((uint8_t) 0x0A),
-  L6474_FAST_STEP_24us = ((uint8_t) 0x0B),
-  L6474_FAST_STEP_26us = ((uint8_t) 0x0C),
-  L6474_FAST_STEP_28us = ((uint8_t) 0x0D),
-  L6474_FAST_STEP_30us = ((uint8_t) 0x0E),
-  L6474_FAST_STEP_32us = ((uint8_t) 0x0F)
-} L6474_FAST_STEP_t;
-/**
-  * @}
-  */
+        switch ((L6474_Registers_t) parameter) {
+            case L6474_TVAL:
+                value = L6474_Par_to_Tval_Current((float) register_value);
+                break;
+            case L6474_TON_MIN:
+            case L6474_TOFF_MIN:
+                value = L6474_Par_to_Tmin_Time((float) register_value);
+                break;
+            default:
+                value = (float) register_value;
+                break;
+        }
+        
+        return value;
+    }
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int get_position(void)
+    {
+        return (signed int) L6474_GetPosition();
+    }
 
-/** @defgroup L6474_Overcurrent_Threshold_options
-  * @{
-  */
-///OCD_TH register
-typedef enum {
-  L6474_OCD_TH_375mA  = ((uint8_t) 0x00),
-  L6474_OCD_TH_750mA  = ((uint8_t) 0x01),
-  L6474_OCD_TH_1125mA = ((uint8_t) 0x02),
-  L6474_OCD_TH_1500mA = ((uint8_t) 0x03),
-  L6474_OCD_TH_1875mA = ((uint8_t) 0x04),
-  L6474_OCD_TH_2250mA = ((uint8_t) 0x05),
-  L6474_OCD_TH_2625mA = ((uint8_t) 0x06),
-  L6474_OCD_TH_3000mA = ((uint8_t) 0x07),
-  L6474_OCD_TH_3375mA = ((uint8_t) 0x08),
-  L6474_OCD_TH_3750mA = ((uint8_t) 0x09),
-  L6474_OCD_TH_4125mA = ((uint8_t) 0x0A),
-  L6474_OCD_TH_4500mA = ((uint8_t) 0x0B),
-  L6474_OCD_TH_4875mA = ((uint8_t) 0x0C),
-  L6474_OCD_TH_5250mA = ((uint8_t) 0x0D),
-  L6474_OCD_TH_5625mA = ((uint8_t) 0x0E),
-  L6474_OCD_TH_6000mA = ((uint8_t) 0x0F)
-} L6474_OCD_TH_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int get_mark(void)
+    {
+        return (signed int) L6474_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) L6474_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) L6474_GetMaxSpeed();
+    }
 
-/** @defgroup L6474_STEP_MODE_Register_Masks 
-  * @{
-  */  
-///STEP_MODE register
-typedef enum {
-  L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
-  L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
-} L6474_STEP_MODE_Masks_t;
-/**
-  * @}
-  */
+    /**
+     * @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) L6474_GetMinSpeed();
+    }
 
-/** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register
-  * @{
-  */
-///STEP_SEL field of STEP_MODE register
-typedef enum {
-  L6474_STEP_SEL_1    = ((uint8_t) 0x08),  //full step
-  L6474_STEP_SEL_1_2  = ((uint8_t) 0x09),  //half step
-  L6474_STEP_SEL_1_4  = ((uint8_t) 0x0A),  //1/4 microstep
-  L6474_STEP_SEL_1_8  = ((uint8_t) 0x0B),  //1/8 microstep
-  L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C)   //1/16 microstep
-} L6474_STEP_SEL_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int get_acceleration(void)
+    {
+        return (unsigned int) L6474_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) L6474_GetDeceleration();
+    }
 
-/** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register 
-  * @{
-  */
-///SYNC_SEL field of STEP_MODE register
-typedef enum {
-  L6474_SYNC_SEL_1_2    = ((uint8_t) 0x80),
-  L6474_SYNC_SEL_1      = ((uint8_t) 0x90),
-  L6474_SYNC_SEL_2      = ((uint8_t) 0xA0),
-  L6474_SYNC_SEL_4      = ((uint8_t) 0xB0),
-  L6474_SYNC_SEL_8      = ((uint8_t) 0xC0),
-  L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
-} L6474_SYNC_SEL_t;
-/**
-  * @}
-  */
-
-/** @defgroup L6474_ALARM_EN_Register_Options
-  * @{
-  */
-///ALARM_EN register
-typedef enum {
-  L6474_ALARM_EN_OVERCURRENT      = ((uint8_t) 0x01),
-  L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
-  L6474_ALARM_EN_THERMAL_WARNING  = ((uint8_t) 0x04),
-  L6474_ALARM_EN_UNDERVOLTAGE     = ((uint8_t) 0x08),
-  L6474_ALARM_EN_SW_TURN_ON       = ((uint8_t) 0x40),
-  L6474_ALARM_EN_WRONG_NPERF_CMD  = ((uint8_t) 0x80)
-} L6474_ALARM_EN_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t get_direction(void)
+    {
+        return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD);
+    }
 
-/** @defgroup L6474_CONFIG_Register_Masks
-  * @{
-  */
-///CONFIG register
-typedef enum {
-  L6474_CONFIG_OSC_SEL  = ((uint16_t) 0x0007),
-  L6474_CONFIG_EXT_CLK  = ((uint16_t) 0x0008),
-  L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
-  L6474_CONFIG_OC_SD    = ((uint16_t) 0x0080),
-  L6474_CONFIG_POW_SR   = ((uint16_t) 0x0300),
-  L6474_CONFIG_TOFF      = ((uint16_t) 0x7C00)
-} L6474_CONFIG_Masks_t;
-/**
-  * @}
-  */
-
-/** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register
-  * @{
-  */
-///Clock source option for CONFIG register
-typedef enum {
-  L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
-  L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ   = ((uint16_t) 0x0008),
-  L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ   = ((uint16_t) 0x0009),
-  L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ   = ((uint16_t) 0x000A),
-  L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ  = ((uint16_t) 0x000B),
-  L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE     = ((uint16_t) 0x0004),
-  L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE    = ((uint16_t) 0x0005),
-  L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE    = ((uint16_t) 0x0006),
-  L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE    = ((uint16_t) 0x0007),
-  L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT  = ((uint16_t) 0x000C),
-  L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
-  L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
-  L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
-} L6474_CONFIG_OSC_MGMT_t;
-/**
-  * @}
-  */
-
-/** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register
-  * @{
-  */
-///External Torque regulation options for CONFIG register
-typedef enum {
-  L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
-  L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
-} L6474_CONFIG_EN_TQREG_t;
-/**
-  * @}
-  */
+    /**
+     * @brief   Setting a parameter.
+     * @param   parameter A parameter's register address.
+     * @param   value The parameter's value.
+     * @retval  None.
+     * @note    The parameter can be one of the following:
+     *           + L6474_ABS_POS
+     *           + L6474_EL_POS
+     *           + L6474_MARK
+     *           + L6474_RESERVED_REG01
+     *           + L6474_RESERVED_REG02
+     *           + L6474_RESERVED_REG03
+     *           + L6474_RESERVED_REG04
+     *           + L6474_RESERVED_REG05
+     *           + L6474_RESERVED_REG06
+     *           + L6474_TVAL           : value in mA
+     *           + L6474_RESERVED_REG07
+     *           + L6474_RESERVED_REG08
+     *           + L6474_RESERVED_REG09
+     *           + L6474_RESERVED_REG10
+     *           + L6474_T_FAST
+     *           + L6474_TON_MIN        : value in us
+     *           + L6474_TOFF_MIN       : value in us
+     *           + L6474_RESERVED_REG11
+     *           + L6474_ADC_OUT
+     *           + L6474_OCD_TH
+     *           + L6474_RESERVED_REG12
+     *           + L6474_STEP_MODE
+     *           + L6474_ALARM_EN
+     *           + L6474_CONFIG
+     *           + L6474_STATUS
+     *           + L6474_RESERVED_REG13
+     *           + L6474_RESERVED_REG14
+     *           + L6474_INEXISTENT_REG
+     * @warning Some registers can only be written in particular conditions (see L6474's datasheet).
+     *          Any attempt to write one of those registers when the conditions are not satisfied
+     *          causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+     *          last argument byte. Any attempt to set an inexistent register (wrong address value)
+     *          causes the command to be ignored and the WRONG_CMD flag to rise.
+     *          For example, setting some parameters requires first to disable the power bridge;
+     *          this can be done through the soft_hiz() method.
+     *          They are the following:
+     *           + L6474_EL_POS
+     *           + L6474_T_FAST
+     *           + L6474_TON_MIN        : value in us
+     *           + L6474_TOFF_MIN       : value in us
+     *           + L6474_ADC_OUT
+     *           + L6474_STEP_MODE
+     *           + L6474_CONFIG
+     *           + L6474_STATUS
+     */
+    virtual void set_parameter(unsigned int parameter, float value)
+    {
+        float register_value;
 
-/** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register
-  * @{
-  */
-///Over Current Shutdown options for CONFIG register
-typedef enum {
-  L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
-  L6474_CONFIG_OC_SD_ENABLE  = ((uint16_t) 0x0080)
-} L6474_CONFIG_OC_SD_t;
-/**
-  * @}
-  */
+        switch ((L6474_Registers_t) parameter) {
+            case L6474_TVAL:
+                register_value = L6474_Tval_Current_to_Par(value);
+                break;
+            case L6474_TON_MIN:
+            case L6474_TOFF_MIN:
+                register_value = L6474_Tmin_Time_to_Par(value);
+                break;
+            default:
+                register_value = value;
+                break;
+        }
+
+        L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value);
+    }
+
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void set_home(void)
+    {
+        L6474_SetHome();
+    }
 
-/** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options
-  * @{
-  */
-/// POW_SR values for CONFIG register
-typedef enum {
-  L6474_CONFIG_SR_320V_us    =((uint16_t)0x0000),
-  L6474_CONFIG_SR_075V_us    =((uint16_t)0x0100),
-  L6474_CONFIG_SR_110V_us    =((uint16_t)0x0200),
-  L6474_CONFIG_SR_260V_us    =((uint16_t)0x0300)
-} L6474_CONFIG_POW_SR_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void set_mark(void)
+    {
+        L6474_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)
+    {
+        L6474_SetMaxSpeed((unsigned int) speed);
+        return true;
+    }
+
+    /**
+     * @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)
+    {
+        L6474_SetMinSpeed((unsigned int) speed);
+        return true;
+    }
 
-/** @defgroup L6474_Off_Time_Options
-  * @{
-  */
-/// TOFF values for CONFIG register
-typedef enum {
-  L6474_CONFIG_TOFF_004us   = (((uint16_t) 0x01) << 10),
-  L6474_CONFIG_TOFF_008us   = (((uint16_t) 0x02) << 10),
-  L6474_CONFIG_TOFF_012us  = (((uint16_t) 0x03) << 10),
-  L6474_CONFIG_TOFF_016us  = (((uint16_t) 0x04) << 10),
-  L6474_CONFIG_TOFF_020us  = (((uint16_t) 0x05) << 10),
-  L6474_CONFIG_TOFF_024us  = (((uint16_t) 0x06) << 10),
-  L6474_CONFIG_TOFF_028us  = (((uint16_t) 0x07) << 10),
-  L6474_CONFIG_TOFF_032us  = (((uint16_t) 0x08) << 10),
-  L6474_CONFIG_TOFF_036us  = (((uint16_t) 0x09) << 10),
-  L6474_CONFIG_TOFF_040us  = (((uint16_t) 0x0A) << 10),
-  L6474_CONFIG_TOFF_044us  = (((uint16_t) 0x0B) << 10),
-  L6474_CONFIG_TOFF_048us  = (((uint16_t) 0x0C) << 10),
-  L6474_CONFIG_TOFF_052us  = (((uint16_t) 0x0D) << 10),
-  L6474_CONFIG_TOFF_056us  = (((uint16_t) 0x0E) << 10),
-  L6474_CONFIG_TOFF_060us  = (((uint16_t) 0x0F) << 10),
-  L6474_CONFIG_TOFF_064us  = (((uint16_t) 0x10) << 10),
-  L6474_CONFIG_TOFF_068us  = (((uint16_t) 0x11) << 10),
-  L6474_CONFIG_TOFF_072us  = (((uint16_t) 0x12) << 10),
-  L6474_CONFIG_TOFF_076us  = (((uint16_t) 0x13) << 10),
-  L6474_CONFIG_TOFF_080us  = (((uint16_t) 0x14) << 10),
-  L6474_CONFIG_TOFF_084us  = (((uint16_t) 0x15) << 10),
-  L6474_CONFIG_TOFF_088us  = (((uint16_t) 0x16) << 10),
-  L6474_CONFIG_TOFF_092us  = (((uint16_t) 0x17) << 10),
-  L6474_CONFIG_TOFF_096us  = (((uint16_t) 0x18) << 10),
-  L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
-  L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
-  L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
-  L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
-  L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
-  L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
-  L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
-} L6474_CONFIG_TOFF_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool set_acceleration(unsigned int acceleration)
+    {
+        L6474_SetAcceleration((unsigned int) acceleration);
+        return true;
+    }
+
+    /**
+     * @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)
+    {
+        L6474_SetDeceleration((unsigned int) deceleration);
+        return true;
+    }
+
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void go_to(signed int position)
+    {
+        L6474_GoTo((signed int) position);
+    }
 
-/** @defgroup L6474_STATUS_Register_Bit_Masks
-  * @{
-  */
-///STATUS Register Bit Masks
-typedef enum {
-  L6474_STATUS_HIZ         = (((uint16_t) 0x0001)),
-  L6474_STATUS_DIR         = (((uint16_t) 0x0010)),
-  L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
-  L6474_STATUS_WRONG_CMD   = (((uint16_t) 0x0100)),
-  L6474_STATUS_UVLO        = (((uint16_t) 0x0200)),
-  L6474_STATUS_TH_WRN      = (((uint16_t) 0x0400)),
-  L6474_STATUS_TH_SD       = (((uint16_t) 0x0800)),
-  L6474_STATUS_OCD         = (((uint16_t) 0x1000))
-} L6474_STATUS_Masks_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_home(void)
+    {
+        L6474_GoHome();
+    }
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_mark(void)
+    {
+        L6474_GoMark();
+    }
 
-/** @defgroup L6474_Direction_Field_Of_STATUS_Register
-  * @{
-  */  
-///Diretion field of STATUS register
-typedef enum {
-  L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
-  L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
-} L6474_STATUS_DIR_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void run(direction_t direction)
+    {
+        L6474_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)
+    {
+        L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps);
+    }
 
-/** @defgroup L6474_Internal_Register_Addresses
-  * @{
-  */
-/// Internal L6474 register addresses
-typedef enum {
-  L6474_ABS_POS        = ((uint8_t) 0x01),
-  L6474_EL_POS         = ((uint8_t) 0x02),
-  L6474_MARK           = ((uint8_t) 0x03),
-  L6474_RESERVED_REG01 = ((uint8_t) 0x04),
-  L6474_RESERVED_REG02 = ((uint8_t) 0x05),
-  L6474_RESERVED_REG03 = ((uint8_t) 0x06),
-  L6474_RESERVED_REG04 = ((uint8_t) 0x07),
-  L6474_RESERVED_REG05 = ((uint8_t) 0x08),
-  L6474_RESERVED_REG06 = ((uint8_t) 0x15),
-  L6474_TVAL           = ((uint8_t) 0x09),
-  L6474_RESERVED_REG07 = ((uint8_t) 0x0A),
-  L6474_RESERVED_REG08 = ((uint8_t) 0x0B),
-  L6474_RESERVED_REG09 = ((uint8_t) 0x0C),
-  L6474_RESERVED_REG10 = ((uint8_t) 0x0D),
-  L6474_T_FAST         = ((uint8_t) 0x0E),
-  L6474_TON_MIN        = ((uint8_t) 0x0F),
-  L6474_TOFF_MIN       = ((uint8_t) 0x10),
-  L6474_RESERVED_REG11 = ((uint8_t) 0x11),
-  L6474_ADC_OUT        = ((uint8_t) 0x12),
-  L6474_OCD_TH         = ((uint8_t) 0x13),
-  L6474_RESERVED_REG12 = ((uint8_t) 0x14),
-  L6474_STEP_MODE      = ((uint8_t) 0x16),
-  L6474_ALARM_EN       = ((uint8_t) 0x17),
-  L6474_CONFIG         = ((uint8_t) 0x18),
-  L6474_STATUS         = ((uint8_t) 0x19),
-  L6474_RESERVED_REG13 = ((uint8_t) 0x1A),
-  L6474_RESERVED_REG14 = ((uint8_t) 0x1B),
-  L6474_INEXISTENT_REG = ((uint8_t) 0x1F)
-} L6474_Registers_t;
-/**
-  * @}
-  */
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void soft_stop(void)
+    {
+        L6474_SoftStop();
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void hard_stop(void)
+    {
+        L6474_HardStop();
+    }
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void soft_hiz(void)
+    {
+        L6474_SoftStop();
+        L6474_CmdDisable();
+    }
 
-/** @defgroup L6474_Command_Set
-  * @{
-  */
-/// L6474 command set
-typedef enum {
-  L6474_NOP           = ((uint8_t) 0x00),
-  L6474_SET_PARAM     = ((uint8_t) 0x00),
-  L6474_GET_PARAM     = ((uint8_t) 0x20),
-  L6474_ENABLE        = ((uint8_t) 0xB8),
-  L6474_DISABLE       = ((uint8_t) 0xA8),
-  L6474_GET_STATUS    = ((uint8_t) 0xD0),
-  L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
-  L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
-} L6474_Commands_t;
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void hard_hiz(void)
+    {
+        L6474_HardStop();
+        L6474_CmdDisable();
+    }
 
-/** 
- * @brief  L6474 driver initialization structure definition.
- */
-/* ACTION --------------------------------------------------------------------*
- * Declare here the component's initialization structure, if any, one         *
- * variable per line without initialization.                                  *
- *                                                                            *
- * Example:                                                                   *
- *   typedef struct                                                           *
- *   {                                                                        *
- *     int frequency;                                                         *
- *     int update_mode;                                                       *
- *   } COMPONENT_Init_t;                                                      *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
-  /* Acceleration rate in pps^2. Range: (0..+inf). */
-  int acceleration_pps_2;
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void wait_while_active(void)
+    {
+        L6474_WaitWhileActive();
+    }
 
-  /* Deceleration rate in pps^2. Range: (0..+inf). */
-  int deceleration_pps_2;
-
-  /* Maximum speed in pps. Range: (30..10000]. */
-  int maximum_speed_pps;
+   /**
+     * @brief  Getting the device state.
+     * @param  None.
+     * @retval The device state.
+     * @note   The device state can be one of the following:
+     *           + ACCELERATING
+     *           + DECELERATING
+     *           + STEADY
+     *           + INACTIVE
+    */
+    virtual motorState_t get_device_state(void)
+    {
+        return (motorState_t) L6474_GetDeviceState();
+    }
 
-  /* Minimum speed in pps. Range: [30..10000). */
-  int minimum_speed_pps;
-
-  /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-  float torque_regulation_current_mA;
-
-  /* Overcurrent threshold (OCD_TH register). */
-  L6474_OCD_TH_t overcurrent_threshold;
-
-  /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
-  L6474_CONFIG_OC_SD_t overcurrent_shutwdown;
-
-  /* Torque regulation method (EN_TQREG field of CONFIG register). */
-  L6474_CONFIG_EN_TQREG_t torque_regulation_method;
-  
-  /* Step selection (STEP_SEL field of STEP_MODE register). */
-  L6474_STEP_SEL_t step_selection;
+    /**
+     * @brief  Reading the Status Register.
+     * @param  None.
+     * @retval None.
+     * @note   The Status Register's flags are not cleared, contrary to the
+     *         GetStatus() method.
+     */
+    virtual uint16_t read_status_register(void)
+    {
+        return (uint16_t) L6474_ReadStatusRegister();
+    }
 
-  /* Sync selection (SYNC_SEL field of STEP_MODE register). */
-  L6474_SYNC_SEL_t sync_selection;
-
-  /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
-  L6474_FAST_STEP_t fall_time;
-
-  /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
-  L6474_TOFF_FAST_t maximum_fast_decay_time;
+    /**
+     * @brief   Setting the Step Mode.
+     * @param   step_mode The Step Mode.
+     * @retval "true" in case of success, "false" otherwise.
+     * @warning Setting the step mode implies first disabling the power bridge through
+     *          the soft_hiz() method.
+     * @warning Every time step mode is changed, the values of the home
+     *          and mark positions lose meaning and are reset.
+     */
+    virtual bool set_step_mode(step_mode_t step_mode)
+    {
+        if ((motorStepMode_t) step_mode > STEP_MODE_1_16) {
+            return false;
+        }
 
-  /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
-  float minimum_ON_time_us;
-
-  /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
-  float minimum_OFF_time_us;
-
-  /* Target Swicthing Period (field TOFF of CONFIG register). */
-  L6474_CONFIG_TOFF_t target_swicthing_period;
-
-  /* Slew rate (POW_SR field of CONFIG register). */
-  L6474_CONFIG_POW_SR_t slew_rate;
+        soft_hiz();
+        L6474_SelectStepMode((motorStepMode_t) step_mode);
+        return true;
+    }
 
-  /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
-  L6474_CONFIG_OSC_MGMT_t clock;
-
-  /* Alarm (ALARM_EN register). */
-  int alarm;
-} L6474_Init_t;
+    /**
+     * @brief  Attaching an error handler.
+     * @param  fptr An error handler.
+     * @retval None.
+     */
+    virtual void attach_error_handler(void (*fptr)(uint16_t error))
+    {
+        L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+    }
 
-/** 
- * @brief  L6474 driver data structure definition.
- */ 
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per   *
- * line without initialization.                                               *
- *                                                                            *
- * Example:                                                                   *
- *   typedef struct                                                           *
- *   {                                                                        *
- *       int T0_out;                                                          *
- *       int T1_out;                                                          *
- *       float T0_degC;                                                       *
- *       float T1_degC;                                                       *
- *   } COMPONENT_Data_t;                                                      *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
-  /// Function pointer to flag interrupt call back
-  void (*flagInterruptCallback)(void);
-  /// Function pointer to error handler call back
-  void (*errorHandlerCallback)(uint16_t error);
-  bool spiPreemtionByIsr; // = FALSE;
-  bool isrFlag; // = FALSE;
-  /// L6474 Device Paramaters structure
-  deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES];
-  uint8_t number_of_devices;
-  uint8_t device_instance;
-  uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-  uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-} L6474_Data_t;
+    /**
+     * @brief  Enabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void enable(void)
+    {
+        L6474_CmdEnable();
+    }
+    
+    /**
+     * @brief  Disabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void disable(void)
+    {
+        L6474_CmdDisable();
+    }
+
+    /**
+     * @brief  Getting the version of the firmware.
+     * @param  None.
+     * @retval The version of the firmware.
+     */
+    virtual uint8_t get_fw_version(void)
+    {
+        return (uint8_t) L6474_GetFwVersion();
+    }
 
 
-/* Functions -----------------------------------------------------------------*/
+    /*** Public Interrupt Related Methods ***/
 
-/** @addtogroup BSP
- * @{
- */
+    /* 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_irq.fall(fptr);
+    }
+    
+    /**
+     * @brief  Enabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_flag_irq(void)
+    {
+        flag_irq.enable_irq();
+    }
+    
+    /**
+     * @brief  Disabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_flag_irq(void)
+    {
+        flag_irq.disable_irq();
+    }
+
+
+protected:
+
+    /*** Protected Component Related Methods ***/
 
-/** @addtogroup Components
- * @{
- */
+    /* 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)                      *
+     *------------------------------------------------------------------------*/
+    void L6474_AttachErrorHandler(void (*callback)(uint16_t error));
+    status_t L6474_Init(void *init);
+    status_t L6474_ReadID(uint8_t *id);
+    uint16_t L6474_GetAcceleration(void);
+    uint16_t L6474_GetCurrentSpeed(void);
+    uint16_t L6474_GetDeceleration(void);
+    motorState_t L6474_GetDeviceState(void);
+    uint8_t L6474_GetFwVersion(void);
+    int32_t L6474_GetMark(void);
+    uint16_t L6474_GetMaxSpeed(void);
+    uint16_t L6474_GetMinSpeed(void);
+    int32_t L6474_GetPosition(void);
+    void L6474_GoHome(void);
+    void L6474_GoMark(void);
+    void L6474_GoTo(int32_t targetPosition);
+    void L6474_HardStop(void);
+    void L6474_Move(motorDir_t direction, uint32_t stepCount);
+    void L6474_Run(motorDir_t direction);
+    bool L6474_SetAcceleration(uint16_t newAcc);
+    bool L6474_SetDeceleration(uint16_t newDec);
+    void L6474_SetHome(void);
+    void L6474_SetMark(void);
+    bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);
+    bool L6474_SetMinSpeed(uint16_t newMinSpeed);
+    bool L6474_SoftStop(void);
+    void L6474_WaitWhileActive(void);
+    void L6474_CmdDisable(void);
+    void L6474_CmdEnable(void);
+    uint32_t L6474_CmdGetParam(L6474_Registers_t parameter);
+    uint16_t L6474_CmdGetStatus(void);
+    void L6474_CmdNop(void);
+    void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value);
+    uint16_t L6474_ReadStatusRegister(void);
+    void L6474_SelectStepMode(motorStepMode_t stepMod);
+    motorDir_t L6474_GetDirection(void);
+    void L6474_SetDirection(motorDir_t direction);
+    void L6474_ApplySpeed(uint16_t newSpeed);
+    void L6474_ComputeSpeedProfile(uint32_t nbSteps);
+    int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
+    void L6474_ErrorHandler(uint16_t error);
+    void L6474_SendCommand(uint8_t param);
+    void L6474_SetRegisterToPredefinedValues(void);
+    void L6474_SetRegisterToInitializationValues(L6474_init_t *init);
+    void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+    void L6474_SetDeviceParamsToPredefinedValues(void);
+    void L6474_StartMovement(void);
+    void L6474_StepClockHandler(void);
+    float L6474_Tval_Current_to_Par(float current_mA);
+    float L6474_Par_to_Tval_Current(float Tval);
+    float L6474_Tmin_Time_to_Par(float ton_min_us);
+    float L6474_Par_to_Tmin_Time(float Tmin);
 
-/** @addtogroup L6474
- * @{
- */
+
+    /*** Component's I/O Methods ***/
 
-/** @defgroup L6474_Imported_Functions L6474_Imported_Functions
- * @{
- */
+    /**
+     * @brief      Utility function to read data from L6474.
+     * @param[out] pBuffer pointer to the buffer to read data into.
+     * @param[in]  NumBytesToRead number of bytes to read.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+    {
+        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
+    
+    /**
+     * @brief      Utility function to write data to L6474.
+     * @param[in]  pBuffer pointer to the buffer of data to send.
+     * @param[in]  NumBytesToWrite number of bytes to write.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+    {
+        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
+
+    /**
+     * @brief      Utility function to read and write data from/to L6474 at the same time.
+     * @param[out] pBufferToRead pointer to the buffer to read data into.
+     * @param[in]  pBufferToWrite pointer to the buffer of data to send.
+     * @param[in]  NumBytes number of bytes to read and write.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+    {
+        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
 
-/* ACTION --------------------------------------------------------------------*
- * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
- * interrupt related functions), and implement them in a glue-logic file on   *
- * the target environment, for example within the "x_nucleo_board.c" file.    *
- * E.g.:                                                                      *
- *   extern Status_t COMPONENT_IO_Init (void *handle);                        *
- *   extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
- *   extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
- *   extern void     COMPONENT_IO_ITConfig(void);                             *
- *----------------------------------------------------------------------------*/
-///Delay of the requested number of milliseconds
-extern void L6474_Delay(void *handle, uint32_t delay);     
-///Enable Irq
-extern void L6474_EnableIrq(void *handle);               
-///Disable Irq
-extern void L6474_DisableIrq(void *handle);              
-///Set PWM1 frequency and start it
-extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq); 
-///Set PWM2 frequency and start it  
-extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq); 
-///Set PWM3 frequency and start it
-extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq); 
-///Init the PWM
-extern void L6474_PwmInit(void *handle);
-///Stop the PWM
-extern void L6474_PwmStop(void *handle);    
-///Reset the L6474 reset pin 
-extern void L6474_ReleaseReset(void *handle);           
-///Set the L6474 reset pin 
-extern void L6474_Reset(void *handle);                  
-///Set direction GPIO
-extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState); 
-///Write bytes to the L6474s via SPI
-extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+    /* ACTION 8 --------------------------------------------------------------*
+     * Implement here other I/O methods beyond those already implemented      *
+     * above, which are declared extern within the component's header file.   *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Making the CPU wait.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_Delay(uint32_t delay)
+    {
+        wait_ms(delay);
+    }
+
+    /**
+     * @brief  Enabling interrupts.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_EnableIrq(void)
+    {
+        __enable_irq();
+    }
+
+    /**
+     * @brief  Disabling interrupts.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_DisableIrq(void)
+    {
+        __disable_irq();
+    }
+
+    /**
+     * @brief  Initialising the PWM.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_PwmInit(void) {}
+
+    /**
+     * @brief  Setting the frequency of PWM.
+     *         The frequency controls directly the speed of the device.
+     * @param  frequency the frequency of PWM.
+     * @retval None.
+     */
+    void L6474_PwmSetFreq(uint16_t frequency)
+    {
+        /* Computing the period of PWM. */
+        double period = 1.0f / frequency;
+        
+        /* Setting the period and the duty-cycle of PWM. */
+        pwm.period(period);
+        pwm.write(0.5f);
+
+        /* Setting a callback with the same period of PWM's, to update the state machine. */
+        ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period);
+    }
+
+    /**
+     * @brief  Stopping the PWM.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_PwmStop(void)
+    {
+        pwm.write(0.0f);
+        ticker.detach();
+    }
+
+    /**
+     * @brief  Putting the device in standby mode.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_ReleaseReset(void)
+    {
+        standby_reset = 1;
+    }
+
+    /**
+     * @brief  Putting the device in reset mode.
+     * @param  None.
+     * @retval None.
+     */
+    void L6474_Reset(void)
+    {
+        standby_reset = 0;
+    }
 
-#ifdef __cplusplus
-  }
-#endif
+    /**
+     * @brief  Setting the direction of rotation.
+     * @param  gpioState direction of rotation: "1" for forward, "0" for backward.
+     * @retval None.
+     */
+    void L6474_SetDirectionGpio(uint8_t gpioState)
+    {
+        direction = gpioState;
+    }
+
+    /**
+     * @brief      Writing and reading bytes to/from the component through the SPI at the same time.
+     * @param[in]  pByteToTransmit pointer to the buffer of data to send.
+     * @param[out] pReceivedByte pointer to the buffer to read data into.
+     * @retval     "0" in case of success, "1" otherwise.
+     */
+    uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+    {
+        return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1);
+    }
+
+
+    /*** 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. */
+    InterruptIn flag_irq;
+
+    /* ACTION 10 -------------------------------------------------------------*
+     * Declare here other pin related variables, if needed.                   *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut standby_reset;                                          *
+     *------------------------------------------------------------------------*/
+    /* Standby/reset pin. */
+    DigitalOut standby_reset;
+
+    /* Direction of rotation pin. */
+    DigitalOut direction;
+
+    /* Pulse Width Modulation pin. */
+    PwmOut pwm;
 
-#endif /* #ifndef __L6474_H */
+    /* Timer to trigger the PWM callback at each PWM pulse. */
+    Ticker ticker;
+
+    /* ACTION 11 -------------------------------------------------------------*
+     * Declare here communication related variables, if needed.               *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut ssel;                                                   *
+     *     DevSPI &dev_spi;                                                   *
+     *------------------------------------------------------------------------*/
+    /* Configuration. */
+    DigitalOut ssel;
+
+    /* IO Device. */
+    DevSPI &dev_spi;
+
+    /* 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;
 
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+    /* 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 (*error_handler_callback)(uint16_t error);
+    deviceParams_t device_prm;
+    uint8_t device_instance;
+
+    /* Static data. */
+    static uint8_t number_of_devices;
+    static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+    static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+public:
+
+    /* Static data. */
+    static bool spi_preemtion_by_isr;
+    static bool isr_flag;
+};
+
+#endif // __L6474_CLASS_H
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/