Motor Control Library

File content as of revision 8:42e0b00b1e4d:

/**
  ******************************************************************************
  * @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
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT(c) 2014 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 __L6474_H
#define __L6474_H

#ifdef __cplusplus
 extern "C" {
#endif 

/* Includes ------------------------------------------------------------------*/
#include "l6474_target_config.h"
#include "../Common/motor.h"
   
/** @addtogroup BSP
  * @{
  */   
   
/** @addtogroup L6474
  * @{
  */   
   
/* Exported Constants --------------------------------------------------------*/

/** @defgroup L6474_Exported_Constants
  * @{
  */   

/// Current FW version
#define L6474_FW_VERSION                        (5)

/// 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)

/// 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)

/**
  * @}
  */

/**
  * @}
  */
     
/* Exported Types  -------------------------------------------------------*/

/** @defgroup L6474_Exported_Types
  * @{
  */   

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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;
/**
  * @}
  */

/** @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  L6474 driver data structure definition
  */ 
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 numberOfDevices;
  uint8_t deviceInstance;
  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_DrvDataTypeDef;


/* Exported functions --------------------------------------------------------*/

/** @defgroup L6474_Exported_Functions
  * @{
  */   

/* ACTION --------------------------------------------------------------------*
 * Declare here extern I/O and interrupt related functions you might need,    *
 * and implemented then in a glue logic file on the target environment, for   *
 * example within the "x_nucleo_<board>.c" file., e.g.:                       *
 *   extern DrvStatusTypeDef COMPONENT_IO_Init (void *handle);                *
 *   extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes);  *
 *   extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes);  *
 *   extern void COMPONENT_IO_ITConfig(void);                                 *
 *----------------------------------------------------------------------------*/
/** @defgroup MotorControl_Board_Linked_Functions
  * @{
  */   
///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);

/**
  * @}
  */

/**
  * @}
  */

/**
  * @}
  */

/**
  * @}
  */

#ifdef __cplusplus
  }
#endif

#endif /* #ifndef __L6474_H */


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