Motor Control Library

Diff: Components/l6474/L6474.cpp

Revision:

33:8daea0279301

diff -r 6e5198e46287 -r 8daea0279301 Components/l6474/L6474.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6474/L6474.cpp	Fri Mar 10 11:07:50 2017 +0100
@@ -0,0 +1,1421 @@
+/**
+  ******************************************************************************
+  * @file    L6474.cpp
+  * @author  IPC Rennes
+  * @version V1.5.0
+  * @date    November 12, 2014
+  * @brief   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.
+  *
+  ******************************************************************************
+  */
+
+
+/* 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.c
+    Revision:         0
+*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "L6474.h"
+
+    
+/* Definitions ---------------------------------------------------------------*/
+
+/* Error while initialising the SPI. */
+#define L6474_ERROR_0        (0x8000)   
+
+/* Error of bad SPI transaction. */
+#define L6474_ERROR_1        (0x8001)
+    
+/* Maximum number of steps. */
+#define MAX_STEPS            (0x7FFFFFFF)
+
+/* Maximum frequency of the PWMs in Hz. */
+#define L6474_MAX_PWM_FREQ   (10000)
+
+/* Minimum frequency of the PWMs in Hz. */
+#define L6474_MIN_PWM_FREQ   (2)
+
+
+/* Variables  ----------------------------------------------------------------*/
+
+/* Number of devices. */
+uint8_t L6474::number_of_devices = 0;
+
+/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
+bool L6474::spi_preemtion_by_isr = FALSE;
+bool L6474::isr_flag = FALSE;
+
+/* SPI Transmission for Daisy-Chain Configuration. */
+uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**********************************************************
+ * @brief  Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library 
+ * detects an error
+ * @param[in] callback Name of the callback to attach 
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+  error_handler_callback = (void (*)(uint16_t error)) callback;
+}
+
+/**********************************************************
+ * @brief Starts the L6474 library
+ * @param  init Initialization structure.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t L6474::L6474_Init(void *init)
+{
+  /* Initialise the PWMs used for the Step clocks ----------------------------*/
+  L6474_PwmInit();
+
+  /* Initialise the L6474s ------------------------------------------------*/
+  
+  /* Standby-reset deactivation */
+  L6474_ReleaseReset();
+  
+  /* Let a delay after reset */
+  L6474_Delay(1); 
+
+  /* Set device parameters to the predefined values from "l6474_target_config.h". */
+  L6474_SetDeviceParamsToPredefinedValues();
+  
+  if (init == NULL)
+    /* Set device registers to the predefined values from "l6474_target_config.h". */
+    L6474_SetRegisterToPredefinedValues();
+  else
+    /* Set device registers to the passed initialization values. */
+    L6474_SetRegisterToInitializationValues((L6474_init_t *) init);
+  
+  /* Disable L6474 powerstage */
+  L6474_CmdDisable();
+
+  /* Get Status to clear flags after start up */
+  L6474_CmdGetStatus();
+  
+  return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Read id
+ * @param id pointer to the identifier to be read.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t L6474::L6474_ReadID(uint8_t *id)
+{
+  *id = device_instance;
+
+  return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Returns the acceleration of the specified device
+ * @retval Acceleration in pps^2
+ **********************************************************/
+uint16_t L6474::L6474_GetAcceleration(void)
+{
+  return (device_prm.acceleration);
+}            
+
+/**********************************************************
+ * @brief Returns the current speed of the specified device
+ * @retval Speed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetCurrentSpeed(void)
+{
+  return device_prm.speed;
+}
+
+/**********************************************************
+ * @brief Returns the deceleration of the specified device
+ * @retval Deceleration in pps^2
+ **********************************************************/
+uint16_t L6474::L6474_GetDeceleration(void)
+{                                                  
+  return (device_prm.deceleration);
+}          
+
+/**********************************************************
+ * @brief Returns the device state
+ * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
+ **********************************************************/
+motorState_t L6474::L6474_GetDeviceState(void)
+{
+  return device_prm.motionState;
+}
+
+/**********************************************************
+ * @brief Returns the FW version of the library
+ * @param None
+ * @retval L6474_FW_VERSION
+ **********************************************************/
+uint8_t L6474::L6474_GetFwVersion(void)
+{
+  return (L6474_FW_VERSION);
+}
+
+/**********************************************************
+ * @brief  Returns the mark position  of the specified device
+ * @retval Mark register value converted in a 32b signed integer 
+ **********************************************************/
+int32_t L6474::L6474_GetMark(void)
+{
+  return L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
+}
+
+/**********************************************************
+ * @brief  Returns the max speed of the specified device
+ * @retval maxSpeed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetMaxSpeed(void)
+{                                                  
+  return (device_prm.maxSpeed);
+}
+
+/**********************************************************
+ * @brief  Returns the min speed of the specified device
+ * @retval minSpeed in pps
+ **********************************************************/
+uint16_t L6474::L6474_GetMinSpeed(void)
+{                                                  
+  return (device_prm.minSpeed);
+}                                                     
+
+/**********************************************************
+ * @brief  Returns the ABS_POSITION of the specified device
+ * @retval ABS_POSITION register value converted in a 32b signed integer
+ **********************************************************/
+int32_t L6474::L6474_GetPosition(void)
+{
+  return L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+}
+
+/**********************************************************
+ * @brief  Requests the motor to move to the home position (ABS_POSITION = 0)
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoHome(void)
+{
+  L6474_GoTo(0);
+} 
+  
+/**********************************************************
+ * @brief  Requests the motor to move to the mark position 
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoMark(void)
+{
+    uint32_t mark;
+
+    mark = L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
+    L6474_GoTo(mark);  
+}
+
+/**********************************************************
+ * @brief  Requests the motor to move to the specified position 
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ **********************************************************/
+void L6474::L6474_GoTo(int32_t targetPosition)
+{
+  motorDir_t direction;
+  int32_t steps;
+  
+  /* Eventually deactivate motor */
+  if (device_prm.motionState != INACTIVE) 
+  {
+    L6474_HardStop();
+  }
+
+  /* Get current position */
+  device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+  
+  /* Compute the number of steps to perform */
+  steps = targetPosition - device_prm.currentPosition;
+  
+  if (steps >= 0) 
+  {
+    device_prm.stepsToTake = steps;
+    direction = FORWARD;
+  } 
+  else 
+  {
+    device_prm.stepsToTake = -steps;
+    direction = BACKWARD;
+  }
+  
+  if (steps != 0) 
+  {
+    device_prm.commandExecuted = MOVE_CMD;
+        
+    /* Direction setup */
+    L6474_SetDirection(direction);
+
+    L6474_ComputeSpeedProfile(device_prm.stepsToTake);
+    
+    /* Motor activation */
+    L6474_StartMovement();
+  }  
+}
+
+/**********************************************************
+ * @brief  Immediatly stops the motor and disable the power bridge
+ * @retval None
+ **********************************************************/
+void L6474::L6474_HardStop(void) 
+{
+  /* Disable corresponding PWM */
+  L6474_PwmStop();
+
+  /* Set inactive state */
+  device_prm.motionState = INACTIVE;
+  device_prm.commandExecuted = NO_CMD;
+  device_prm.stepsToTake = MAX_STEPS;  
+}
+
+/**********************************************************
+ * @brief  Moves the motor of the specified number of steps
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
+{
+  /* Eventually deactivate motor */
+  if (device_prm.motionState != INACTIVE) 
+  {
+    L6474_HardStop();
+  }
+  
+  if (stepCount != 0) 
+  {
+    device_prm.stepsToTake = stepCount;
+    
+    device_prm.commandExecuted = MOVE_CMD;
+    
+    device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+    
+    /* Direction setup */
+    L6474_SetDirection(direction);
+
+    L6474_ComputeSpeedProfile(stepCount);
+    
+    /* Motor activation */
+    L6474_StartMovement();
+  }  
+}
+
+/**********************************************************
+ * @brief  Runs the motor. It will accelerate from the min 
+ * speed up to the max speed by using the device acceleration.
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ **********************************************************/
+void L6474::L6474_Run(motorDir_t direction)
+{
+  /* Eventually deactivate motor */
+  if (device_prm.motionState != INACTIVE) 
+  {
+    L6474_HardStop();
+  }
+  
+  /* Direction setup */
+  L6474_SetDirection(direction);
+
+  device_prm.commandExecuted = RUN_CMD;
+
+  /* Motor activation */
+  L6474_StartMovement(); 
+}
+
+/**********************************************************
+ * @brief  Changes the acceleration of the specified device
+ * @param[in] newAcc New acceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool L6474::L6474_SetAcceleration(uint16_t newAcc)
+{                                                  
+  bool cmdExecuted = FALSE;
+  if ((newAcc != 0)&&
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
+  {
+    device_prm.acceleration = newAcc;
+    cmdExecuted = TRUE;
+  }    
+  return cmdExecuted;
+}            
+
+/**********************************************************
+ * @brief  Changes the deceleration of the specified device
+ * @param[in] newDec New deceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool L6474::L6474_SetDeceleration(uint16_t newDec)
+{                                                  
+  bool cmdExecuted = FALSE;
+  if ((newDec != 0)&& 
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
+  {
+    device_prm.deceleration = newDec;
+    cmdExecuted = TRUE;
+  }      
+  return cmdExecuted;
+}        
+
+/**********************************************************
+ * @brief  Set current position to be the Home position (ABS pos set to 0)
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetHome(void)
+{
+  L6474_CmdSetParam(L6474_ABS_POS, 0);
+}
+ 
+/**********************************************************
+ * @brief  Sets current position to be the Mark position 
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetMark(void)
+{
+  uint32_t mark = L6474_CmdGetParam(L6474_ABS_POS);
+  L6474_CmdSetParam(L6474_MARK, mark);
+}
+
+/**********************************************************
+ * @brief  Changes the max speed of the specified device
+ * @param[in] newMaxSpeed New max speed  to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool L6474::L6474_SetMaxSpeed(uint16_t newMaxSpeed)
+{                                                  
+  bool cmdExecuted = FALSE;
+  if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
+      (newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
+      (device_prm.minSpeed <= newMaxSpeed) &&
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
+  {
+    device_prm.maxSpeed = newMaxSpeed;
+    cmdExecuted = TRUE;
+  }
+  return cmdExecuted;
+}                                                     
+
+/**********************************************************
+ * @brief  Changes the min speed of the specified device
+ * @param[in] newMinSpeed New min speed  to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing 
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool L6474::L6474_SetMinSpeed(uint16_t newMinSpeed)
+{                                                  
+  bool cmdExecuted = FALSE;
+  if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
+      (newMinSpeed <= L6474_MAX_PWM_FREQ) &&
+      (newMinSpeed <= device_prm.maxSpeed) && 
+      ((device_prm.motionState == INACTIVE)||
+       (device_prm.commandExecuted == RUN_CMD)))
+  {
+    device_prm.minSpeed = newMinSpeed;
+    cmdExecuted = TRUE;
+  }  
+  return cmdExecuted;
+}                 
+
+/**********************************************************
+ * @brief  Stops the motor by using the device deceleration
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is in INACTIVE state.
+ **********************************************************/
+bool L6474::L6474_SoftStop(void)
+{   
+  bool cmdExecuted = FALSE;
+  if (device_prm.motionState != INACTIVE)
+  {
+    device_prm.commandExecuted = SOFT_STOP_CMD;
+    cmdExecuted = TRUE;
+  }
+  return (cmdExecuted);
+}
+
+/**********************************************************
+ * @brief  Locks until the device state becomes Inactive
+ * @retval None
+ **********************************************************/
+void L6474::L6474_WaitWhileActive(void)
+{
+  /* Wait while motor is running */
+  while (L6474_GetDeviceState() != INACTIVE);
+}
+
+/**********************************************************
+ * @brief  Issue the Disable command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdDisable(void)
+{
+  L6474_SendCommand(L6474_DISABLE);
+}
+
+/**********************************************************
+ * @brief  Issues the Enable command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdEnable(void)
+{
+  L6474_SendCommand(L6474_ENABLE);
+}
+
+/**********************************************************
+ * @brief  Issues the GetParam command to the L6474 of the specified device
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @retval Register value
+ **********************************************************/
+uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
+{
+  uint32_t i;
+  uint32_t spiRxData;
+  uint8_t maxArgumentNbBytes = 0;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
+  bool itDisable = FALSE;  
+  
+  do
+  {
+    spi_preemtion_by_isr = FALSE;
+    if (itDisable)
+    {
+      /* re-enable L6474_EnableIrq if disable in previous iteration */
+      L6474_EnableIrq();
+      itDisable = FALSE;
+    }
+  
+    for (i = 0; i < number_of_devices; i++)
+    {
+      spi_tx_bursts[0][i] = L6474_NOP;
+      spi_tx_bursts[1][i] = L6474_NOP;
+      spi_tx_bursts[2][i] = L6474_NOP;
+      spi_tx_bursts[3][i] = L6474_NOP;
+      spi_rx_bursts[1][i] = 0;
+      spi_rx_bursts[2][i] = 0;
+      spi_rx_bursts[3][i] = 0;    
+    }
+
+    switch (parameter)
+    {
+      case L6474_ABS_POS: ;
+      case L6474_MARK:
+        spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        maxArgumentNbBytes = 3;
+        break;
+      case L6474_EL_POS: ;
+      case L6474_CONFIG: ;
+      case L6474_STATUS:
+        spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        maxArgumentNbBytes = 2;
+        break;
+      default:
+        spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+        maxArgumentNbBytes = 1;
+    }
+    
+    /* Disable interruption before checking */
+    /* pre-emption by ISR and SPI transfers*/
+    L6474_DisableIrq();
+    itDisable = TRUE;
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
+    
+  for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+       i < L6474_CMD_ARG_MAX_NB_BYTES;
+       i++)
+  {
+     L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
+  }
+  
+  spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
+              (spi_rx_bursts[2][spiIndex] << 8) |
+              (spi_rx_bursts[3][spiIndex]);
+  
+  /* re-enable L6474_EnableIrq after SPI transfers*/
+  L6474_EnableIrq();
+    
+  return (spiRxData);
+}
+
+/**********************************************************
+ * @brief  Issues the GetStatus command to the L6474 of the specified device
+ * @retval Status Register value
+ * @note Once the GetStatus command is performed, the flags of the status register
+ * are reset. This is not the case when the status register is read with the
+ * GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
+ **********************************************************/
+uint16_t L6474::L6474_CmdGetStatus(void)
+{
+  uint32_t i;
+  uint16_t status;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
+  bool itDisable = FALSE;  
+  
+  do
+  {
+    spi_preemtion_by_isr = FALSE;
+    if (itDisable)
+    {
+      /* re-enable L6474_EnableIrq if disable in previous iteration */
+      L6474_EnableIrq();
+      itDisable = FALSE;
+    }
+
+    for (i = 0; i < number_of_devices; i++)
+    {
+       spi_tx_bursts[0][i] = L6474_NOP;
+       spi_tx_bursts[1][i] = L6474_NOP;
+       spi_tx_bursts[2][i] = L6474_NOP;
+       spi_rx_bursts[1][i] = 0;
+       spi_rx_bursts[2][i] = 0;
+    }
+    spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
+
+    /* Disable interruption before checking */
+    /* pre-emption by ISR and SPI transfers*/
+    L6474_DisableIrq();
+    itDisable = TRUE;
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+  for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
+  {
+     L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
+  }
+  status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
+  
+  /* re-enable L6474_EnableIrq after SPI transfers*/
+  L6474_EnableIrq();
+  
+  return (status);
+}
+
+/**********************************************************
+ * @brief  Issues the Nop command to the L6474 of the specified device
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdNop(void)
+{
+  L6474_SendCommand(L6474_NOP);
+}
+
+/**********************************************************
+ * @brief  Issues the SetParam command to the L6474 of the specified device
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @param[in] value Value to set in the register
+ * @retval None
+ **********************************************************/
+void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
+{
+  uint32_t i;
+  uint8_t maxArgumentNbBytes = 0;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
+  bool itDisable = FALSE;  
+  do
+  {
+    spi_preemtion_by_isr = FALSE;
+    if (itDisable)
+    {
+      /* re-enable L6474_EnableIrq if disable in previous iteration */
+      L6474_EnableIrq();
+      itDisable = FALSE;
+    }
+
+    for (i = 0; i < number_of_devices; i++)
+    {
+      spi_tx_bursts[0][i] = L6474_NOP;
+      spi_tx_bursts[1][i] = L6474_NOP;
+      spi_tx_bursts[2][i] = L6474_NOP;
+      spi_tx_bursts[3][i] = L6474_NOP;
+    }
+
+    switch (parameter)
+    {
+      case L6474_ABS_POS: ;
+      case L6474_MARK:
+          spi_tx_bursts[0][spiIndex] = parameter;
+          spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
+          spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
+          maxArgumentNbBytes = 3;
+          break;
+      case L6474_EL_POS: ;
+      case L6474_CONFIG:
+          spi_tx_bursts[1][spiIndex] = parameter;
+          spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
+          maxArgumentNbBytes = 2;
+          break;
+      default:
+          spi_tx_bursts[2][spiIndex] = parameter;
+          maxArgumentNbBytes = 1;
+          break;
+    }
+    spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
+    
+    /* Disable interruption before checking */
+    /* pre-emption by ISR and SPI transfers*/
+    L6474_DisableIrq();
+    itDisable = TRUE;
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
+ 
+  /* SPI transfer */
+  for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+       i < L6474_CMD_ARG_MAX_NB_BYTES;
+       i++)
+  {
+     L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
+  }
+  /* re-enable L6474_EnableIrq after SPI transfers*/
+  L6474_EnableIrq();
+}
+
+/**********************************************************
+ * @brief  Reads the Status Register value
+ * @retval Status register valued
+ * @note The status register flags are not cleared 
+ * at the difference with L6474CmdGetStatus()
+ **********************************************************/
+uint16_t L6474::L6474_ReadStatusRegister(void)
+{
+  return (L6474_CmdGetParam(L6474_STATUS));
+}
+
+/**********************************************************
+ * @brief  Set the stepping mode 
+ * @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SelectStepMode(motorStepMode_t stepMod)
+{
+  uint8_t stepModeRegister;
+  L6474_STEP_SEL_t l6474StepMod;
+  
+  switch (stepMod)
+  {
+    case STEP_MODE_FULL:
+      l6474StepMod = L6474_STEP_SEL_1;
+      break;
+    case STEP_MODE_HALF:
+      l6474StepMod = L6474_STEP_SEL_1_2;
+      break;    
+    case STEP_MODE_1_4:
+      l6474StepMod = L6474_STEP_SEL_1_4;
+      break;        
+    case STEP_MODE_1_8:
+      l6474StepMod = L6474_STEP_SEL_1_8;
+      break;       
+    case STEP_MODE_1_16:
+    default:
+      l6474StepMod = L6474_STEP_SEL_1_16;
+      break;       
+  }
+
+  /* Eventually deactivate motor */
+  if (device_prm.motionState != INACTIVE) 
+  {
+    L6474_HardStop();
+  }
+  
+  /* Read Step mode register and clear STEP_SEL field */
+  stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(L6474_STEP_MODE)) ;
+  
+  /* Apply new step mode */
+  L6474_CmdSetParam(L6474_STEP_MODE, stepModeRegister | (uint8_t)l6474StepMod);
+
+  /* Reset abs pos register */
+  L6474_SetHome();
+}
+
+/**********************************************************
+ * @brief  Get the direction
+ * @param  None
+ * @retval direction FORWARD or BACKWARD
+ **********************************************************/
+motorDir_t L6474::L6474_GetDirection(void)
+{
+  return device_prm.direction;
+}
+
+/**********************************************************
+ * @brief  Specifies the direction 
+ * @param[in] dir FORWARD or BACKWARD
+ * @note The direction change is only applied if the device 
+ * is in INACTIVE state
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetDirection(motorDir_t direction)
+{
+  if (device_prm.motionState == INACTIVE)
+  {
+    device_prm.direction = direction;
+    L6474_SetDirectionGpio(direction);
+  }
+}
+
+/**********************************************************
+ * @brief  Updates the current speed of the device
+ * @param[in] newSpeed in pps
+ * @retval None
+ **********************************************************/
+void L6474::L6474_ApplySpeed(uint16_t newSpeed)
+{
+  if (newSpeed < L6474_MIN_PWM_FREQ)
+  {
+    newSpeed = L6474_MIN_PWM_FREQ;  
+  }
+  if (newSpeed > L6474_MAX_PWM_FREQ)
+  {
+    newSpeed = L6474_MAX_PWM_FREQ;
+  }
+  
+  device_prm.speed = newSpeed;
+
+  L6474_PwmSetFreq(newSpeed);
+}
+
+/**********************************************************
+ * @brief  Computes the speed profile according to the number of steps to move
+ * @param[in] nbSteps number of steps to perform
+ * @retval None
+ * @note Using the acceleration and deceleration of the device,
+ * this function determines the duration in steps of the acceleration,
+ * steady and deceleration phases.
+ * If the total number of steps to perform is big enough, a trapezoidal move
+ * is performed (i.e. there is a steady phase where the motor runs at the maximum
+ * speed.
+ * Else, a triangular move is performed (no steady phase: the maximum speed is never
+ * reached.
+ **********************************************************/
+void L6474::L6474_ComputeSpeedProfile(uint32_t nbSteps)
+{
+  uint32_t reqAccSteps; 
+  uint32_t reqDecSteps;
+   
+  /* compute the number of steps to get the targeted speed */
+  uint16_t minSpeed = device_prm.minSpeed;
+  reqAccSteps = (device_prm.maxSpeed - minSpeed);
+  reqAccSteps *= (device_prm.maxSpeed + minSpeed);
+  reqDecSteps = reqAccSteps;
+  reqAccSteps /= (uint32_t)device_prm.acceleration;
+  reqAccSteps /= 2;
+
+  /* compute the number of steps to stop */
+  reqDecSteps /= (uint32_t)device_prm.deceleration;
+  reqDecSteps /= 2;
+
+  if(( reqAccSteps + reqDecSteps ) > nbSteps)
+  { 
+    /* Triangular move  */
+    /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
+    uint32_t dec = device_prm.deceleration;
+    uint32_t acc = device_prm.acceleration;
+    
+    reqDecSteps =  ((uint32_t) dec * nbSteps) / (acc + dec);
+    if (reqDecSteps > 1)
+    {
+      reqAccSteps = reqDecSteps - 1;
+      if(reqAccSteps == 0)
+      {
+        reqAccSteps = 1;
+      }      
+    }
+    else
+    {
+      reqAccSteps = 0;
+    }
+    device_prm.endAccPos = reqAccSteps;
+    device_prm.startDecPos = reqDecSteps;
+  }
+  else
+  {  
+    /* Trapezoidal move */
+    /* accelerating phase to endAccPos */
+    /* steady phase from  endAccPos to startDecPos */
+    /* decelerating from startDecPos to stepsToTake*/
+    device_prm.endAccPos = reqAccSteps;
+    device_prm.startDecPos = nbSteps - reqDecSteps - 1;
+  }
+}
+
+/**********************************************************
+ * @brief  Converts the ABS_POSITION register value to a 32b signed integer
+ * @param[in] abs_position_reg value of the ABS_POSITION register
+ * @retval operation_result 32b signed integer corresponding to the absolute position 
+ **********************************************************/
+int32_t L6474::L6474_ConvertPosition(uint32_t abs_position_reg)
+{
+  int32_t operation_result;
+
+  if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK) 
+  {
+    /* Negative register value */
+    abs_position_reg = ~abs_position_reg;
+    abs_position_reg += 1;
+
+    operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
+    operation_result = -operation_result;
+  } 
+  else 
+  {
+    operation_result = (int32_t) abs_position_reg;
+  }
+
+  return operation_result;
+}
+
+/**********************************************************
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void L6474::L6474_ErrorHandler(uint16_t error)
+{
+  if (error_handler_callback != 0)
+  {
+    (void) error_handler_callback(error);
+  }
+  else   
+  {
+    /* Aborting the program. */
+    exit(EXIT_FAILURE);
+  }
+}
+
+/**********************************************************
+ * @brief  Sends a command without arguments to the L6474 via the SPI
+ * @param[in] param Command to send 
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SendCommand(uint8_t param)
+{
+  uint32_t i;
+  bool itDisable = FALSE;
+  uint8_t spiIndex = number_of_devices - device_instance - 1;
+  
+  do
+  {
+    spi_preemtion_by_isr = FALSE;
+    if (itDisable)
+    {
+      /* re-enable L6474_EnableIrq if disable in previous iteration */
+      L6474_EnableIrq();
+      itDisable = FALSE;
+    }
+  
+    for (i = 0; i < number_of_devices; i++)
+    {
+      spi_tx_bursts[3][i] = L6474_NOP;     
+    }
+    spi_tx_bursts[3][spiIndex] = param;
+    
+    /* Disable interruption before checking */
+    /* pre-emption by ISR and SPI transfers*/
+    L6474_DisableIrq();
+    itDisable = TRUE;
+  } while (spi_preemtion_by_isr); // check pre-emption by ISR
+
+  L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]); 
+  
+  /* re-enable L6474_EnableIrq after SPI transfers*/
+  L6474_EnableIrq();
+}
+
+/**********************************************************
+ * @brief  Sets the registers of the L6474 to their predefined values 
+ * from l6474_target_config.h
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetRegisterToPredefinedValues(void)
+{
+  L6474_CmdSetParam(
+                    L6474_ABS_POS,
+                    0);
+  L6474_CmdSetParam(
+                    L6474_EL_POS,
+                    0);
+  L6474_CmdSetParam(
+                    L6474_MARK,
+                    0);
+  switch (device_instance)
+  {
+    case 0:
+      L6474_CmdSetParam(
+                        L6474_TVAL,
+                        L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
+      L6474_CmdSetParam(
+                        L6474_T_FAST,
+                        (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 |
+                        (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
+      L6474_CmdSetParam(
+                        L6474_TON_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
+                        );
+      L6474_CmdSetParam(
+                        L6474_TOFF_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
+      L6474_CmdSetParam(
+                        L6474_OCD_TH,
+                        L6474_CONF_PARAM_OCD_TH_DEVICE_0);
+      L6474_CmdSetParam(
+                        L6474_STEP_MODE,
+                        (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 |
+                        (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
+      L6474_CmdSetParam(
+                        L6474_ALARM_EN,
+                        L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
+      L6474_CmdSetParam(
+                        L6474_CONFIG,
+                        (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
+                        (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 |
+                        (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 |
+                        (uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 |
+                        (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
+      break;
+    case 1:
+      L6474_CmdSetParam(
+                        L6474_TVAL,
+                        L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
+      L6474_CmdSetParam(
+                        L6474_T_FAST,
+                        (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 |
+                        (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
+      L6474_CmdSetParam(
+                        L6474_TON_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
+      L6474_CmdSetParam(
+                        L6474_TOFF_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
+      L6474_CmdSetParam(
+                        L6474_OCD_TH,
+                        L6474_CONF_PARAM_OCD_TH_DEVICE_1);
+      L6474_CmdSetParam(
+                        L6474_STEP_MODE,
+                        (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 |
+                        (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
+      L6474_CmdSetParam(
+                        L6474_ALARM_EN,
+                        L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
+      L6474_CmdSetParam(
+                        L6474_CONFIG,
+                        (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
+                        (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 |
+                        (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 |
+                        (uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 |
+                        (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
+      break;
+    case 2:
+      L6474_CmdSetParam(
+                        L6474_TVAL,
+                        L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
+      L6474_CmdSetParam(
+                        L6474_T_FAST,
+                        (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 |
+                        (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
+      L6474_CmdSetParam(
+                        L6474_TON_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
+      L6474_CmdSetParam(
+                        L6474_TOFF_MIN,
+                        L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
+      L6474_CmdSetParam(
+                        L6474_OCD_TH,
+                        L6474_CONF_PARAM_OCD_TH_DEVICE_2);
+      L6474_CmdSetParam(
+                        L6474_STEP_MODE,
+                        (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 |
+                        (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
+      L6474_CmdSetParam(
+                        L6474_ALARM_EN,
+                        L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
+      L6474_CmdSetParam(
+                        L6474_CONFIG,
+                        (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
+                        (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 |
+                        (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 |
+                        (uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 |
+                        (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
+      break;
+    default: ;
+  }
+}
+
+/**********************************************************
+ * @brief  Sets the registers of the L6474 to initialization values.
+ * @param  init Initialization structure.
+ * @retval None.
+ **********************************************************/
+void L6474::L6474_SetRegisterToInitializationValues(L6474_init_t *init)
+{
+  L6474_CmdSetParam(
+                    L6474_ABS_POS,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_EL_POS,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_MARK,
+                    0
+                    );
+  L6474_CmdSetParam(
+                    L6474_TVAL,
+                    L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
+                    );
+  L6474_CmdSetParam(
+                    L6474_T_FAST,
+                    (uint8_t) init->maximum_fast_decay_time |
+                    (uint8_t) init->fall_time
+                    );
+  L6474_CmdSetParam(
+                    L6474_TON_MIN,
+                    L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
+                    );
+  L6474_CmdSetParam(
+                    L6474_TOFF_MIN,
+                    L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
+                    );
+  L6474_CmdSetParam(
+                    L6474_OCD_TH,
+                    init->overcurrent_threshold
+                    );
+  L6474_CmdSetParam(
+                    L6474_STEP_MODE,
+                    (uint8_t) init->step_selection |
+                    (uint8_t) init->sync_selection
+                    );
+  L6474_CmdSetParam(
+                    L6474_ALARM_EN,
+                    init->alarm
+                    );
+  L6474_CmdSetParam(
+                    L6474_CONFIG,
+                    (uint16_t) init->clock |
+                    (uint16_t) init->torque_regulation_method |
+                    (uint16_t) init->overcurrent_shutwdown |
+                    (uint16_t) init->slew_rate |
+                    (uint16_t) init->target_swicthing_period
+                    );
+  L6474_SetAcceleration((uint16_t) init->acceleration_pps_2);
+  L6474_SetDeceleration((uint16_t) init->deceleration_pps_2);
+  L6474_SetMaxSpeed((uint16_t) init->maximum_speed_pps);
+  L6474_SetMinSpeed((uint16_t) init->minimum_speed_pps);
+}
+
+/**********************************************************
+ * @brief  Sets the parameters of the device to predefined values
+ * from l6474_target_config.h
+ * @param None
+ * @retval None
+ **********************************************************/
+void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
+{
+  switch (device_instance)
+  {
+    case 0:
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
+      break;
+
+    case 1:
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
+      break;
+
+    case 2:
+      device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
+      device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
+      device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
+      device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
+      break;
+  }
+
+  device_prm.accu = 0;
+  device_prm.currentPosition = 0;
+  device_prm.endAccPos = 0;
+  device_prm.relativePos = 0;
+  device_prm.startDecPos = 0;
+  device_prm.stepsToTake = 0;
+  device_prm.speed = 0;
+  device_prm.commandExecuted = NO_CMD;
+  device_prm.direction = FORWARD;
+  device_prm.motionState = INACTIVE;
+}
+
+/**********************************************************
+ * @brief Initialises the bridge parameters to start the movement
+ * and enable the power bridge
+ * @retval None
+ **********************************************************/
+void L6474::L6474_StartMovement(void)  
+{
+  /* Enable L6474 powerstage */
+  L6474_CmdEnable();
+  if (device_prm.endAccPos != 0)
+  {
+    device_prm.motionState = ACCELERATING;
+  }
+  else
+  {
+    device_prm.motionState = DECELERATING;    
+  }
+  device_prm.accu = 0;
+  device_prm.relativePos = 0;
+  L6474_ApplySpeed(device_prm.minSpeed);
+}
+
+/**********************************************************
+ * @brief  Handles the device state machine at each ste
+ * @retval None
+ * @note Must only be called by the timer ISR
+ **********************************************************/
+void L6474::L6474_StepClockHandler(void)
+{
+  /* Set isr flag */
+  isr_flag = TRUE;
+  
+  /* Incrementation of the relative position */
+  device_prm.relativePos++;
+
+  switch (device_prm.motionState) 
+  {
+    case ACCELERATING: 
+    {
+        uint32_t relPos = device_prm.relativePos;
+        uint32_t endAccPos = device_prm.endAccPos;
+        uint16_t speed = device_prm.speed;
+        uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
+        
+        if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+            ((device_prm.commandExecuted != RUN_CMD)&&  
+             (relPos == device_prm.startDecPos)))
+        {
+          device_prm.motionState = DECELERATING;
+          device_prm.accu = 0;
+        }
+        else if ((speed >= device_prm.maxSpeed)||
+                 ((device_prm.commandExecuted != RUN_CMD)&&
+                  (relPos == endAccPos)))
+        {
+          device_prm.motionState = STEADY;
+        }
+        else
+        {
+          bool speedUpdated = FALSE;
+          /* Go on accelerating */
+          if (speed == 0) speed =1;
+          device_prm.accu += acc / speed;
+          while (device_prm.accu >= (0X10000L))
+          {
+            device_prm.accu -= (0X10000L);
+            speed +=1;
+            speedUpdated = TRUE;
+          }
+          
+          if (speedUpdated)
+          {
+            if (speed > device_prm.maxSpeed)
+            {
+              speed = device_prm.maxSpeed;
+            }    
+            device_prm.speed = speed;
+            L6474_ApplySpeed(device_prm.speed);
+          }
+        }
+        break;
+    }
+    case STEADY: 
+    {
+      uint16_t maxSpeed = device_prm.maxSpeed;
+      uint32_t relativePos = device_prm.relativePos;
+      if  ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+           ((device_prm.commandExecuted != RUN_CMD)&&
+            (relativePos >= (device_prm.startDecPos))) ||
+           ((device_prm.commandExecuted == RUN_CMD)&&
+            (device_prm.speed > maxSpeed)))
+      {
+        device_prm.motionState = DECELERATING;
+        device_prm.accu = 0;
+      }
+      else if ((device_prm.commandExecuted == RUN_CMD)&&
+               (device_prm.speed < maxSpeed))
+      {
+        device_prm.motionState = ACCELERATING;
+        device_prm.accu = 0;
+      }
+      break;
+    }
+    case DECELERATING: 
+    {
+      uint32_t relativePos = device_prm.relativePos;
+      uint16_t speed = device_prm.speed;
+      uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
+      if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <=  device_prm.minSpeed))||
+          ((device_prm.commandExecuted != RUN_CMD)&&
+           (relativePos >= device_prm.stepsToTake)))
+      {
+        /* Motion process complete */
+        L6474_HardStop();
+      }
+      else if ((device_prm.commandExecuted == RUN_CMD)&&
+               (speed <= device_prm.maxSpeed))
+      {
+        device_prm.motionState = STEADY;
+      }
+      else
+      {
+        /* Go on decelerating */
+        if (speed > device_prm.minSpeed)
+        {
+          bool speedUpdated = FALSE;
+          if (speed == 0) speed =1;
+          device_prm.accu += deceleration / speed;
+          while (device_prm.accu >= (0X10000L))
+          {
+            device_prm.accu -= (0X10000L);
+            if (speed > 1)
+            {  
+              speed -=1;
+            }
+            speedUpdated = TRUE;
+          }
+        
+          if (speedUpdated)
+          {
+            if (speed < device_prm.minSpeed)
+            {
+              speed = device_prm.minSpeed;
+            }  
+            device_prm.speed = speed;
+            L6474_ApplySpeed(device_prm.speed);
+          }
+        }
+      }
+      break;
+    }
+    default: 
+    {
+      break;
+    }
+  }  
+  /* Set isr flag */
+  isr_flag = FALSE;
+}
+
+/**********************************************************
+ * @brief Converts current in mA to values for TVAL register 
+ * @param[in] current_mA current in mA
+ * @retval value for TVAL register
+ **********************************************************/
+float L6474::L6474_Tval_Current_to_Par(float current_mA)
+{
+  return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Converts values from TVAL register to mA
+ * @param[in] Tval value from TVAL register
+ * @retval current in mA
+ **********************************************************/
+float L6474::L6474_Par_to_Tval_Current(float Tval)
+{
+  return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
+}
+
+/**********************************************************
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] ton_min_us time in us
+ * @retval value for TON_MIN register
+ **********************************************************/
+float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
+{
+  return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Convert values for TON_MIN register to time in us
+ * @param[in] Tmin value from TON_MIN register
+ * @retval time in us
+ **********************************************************/
+float L6474::L6474_Par_to_Tmin_Time(float Tmin)
+{
+  return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief  Write and receive a byte via SPI
+ * @param[in] pByteToTransmit pointer to the byte to transmit
+ * @param[in] pReceivedByte pointer to the received byte
+ * @retval None
+ **********************************************************/
+void L6474::L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+{
+  if (L6474_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
+  {
+    L6474_ErrorHandler(L6474_ERROR_1);
+  }
+  
+  if (isr_flag)
+  {
+    spi_preemtion_by_isr = TRUE;
+  }
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/