Motor Control Library

File content as of revision 27:990963ed581b:

/**
 ******************************************************************************
 * @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"


/* Definitions ---------------------------------------------------------------*/

/** @addtogroup BSP
 * @{
 */

/** @addtogroup Components
 * @{
 */  
  
/** @addtogroup L6474
 * @{
 */
  
/** @defgroup L6474_Exported_Defines L6474_Exported_Defines
 * @{
 */  

/// 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)

     
/* 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 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;

  /* Deceleration rate in pps^2. Range: (0..+inf). */
  int deceleration_pps_2;

  /* Maximum speed in pps. Range: (30..10000]. */
  int maximum_speed_pps;

  /* 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;

  /* 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;

  /* 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;

  /* 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  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;


/* Functions -----------------------------------------------------------------*/

/** @addtogroup BSP
 * @{
 */

/** @addtogroup Components
 * @{
 */

/** @addtogroup L6474
 * @{
 */

/** @defgroup L6474_Imported_Functions L6474_Imported_Functions
 * @{
 */

/* 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);

#ifdef __cplusplus
  }
#endif

#endif /* #ifndef __L6474_H */

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