Motor Control Library

Diff: Components/Common/microstepping_motor.h

Revision:

0:92706998571a

Child:

1:b78dab6d2c58

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/microstepping_motor.h	Fri Nov 20 18:07:45 2015 +0000
@@ -0,0 +1,507 @@
+/**
+  ******************************************************************************
+  * @file    microstepping_motor.h
+  * @author  IPD SYSTEM LAB & TECH MKTG
+  * @version V0.0.1
+  * @date    04-June-2015
+  * @brief   This file contains all the functions prototypes for the microstepping
+  *          motor driver with motion engine.   
+  ******************************************************************************
+  * @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 __MICROSTEPPINGMOTOR_H
+#define __MICROSTEPPINGMOTOR_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+#include "component.h"
+   
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Components
+  * @{
+  */ 
+
+/** @defgroup MicrosteppingMotorDriver
+  * @{
+  */
+    
+/** @defgroup StepperMotorExportedTypes
+  * @{
+  */
+
+/**
+  * @brief The L6470 Registers Identifiers.
+  */
+typedef enum {
+  L6470_ABS_POS_ID = 0,         //!< Current position
+  L6470_EL_POS_ID,              //!< Electrical position
+  L6470_MARK_ID,                //!< Mark position
+  L6470_SPEED_ID,               //!< Current speed
+  L6470_ACC_ID,                 //!< Acceleration
+  L6470_DEC_ID,                 //!< Deceleration
+  L6470_MAX_SPEED_ID,           //!< Maximum speed
+  L6470_MIN_SPEED_ID,           //!< Minimum speed
+  L6470_FS_SPD_ID,              //!< Full-step speed
+  L6470_KVAL_HOLD_ID,           //!< Holding KVAL
+  L6470_KVAL_RUN_ID,            //!< Constant speed KVAL
+  L6470_KVAL_ACC_ID,            //!< Acceleration starting KVAL
+  L6470_KVAL_DEC_ID,            //!< Deceleration starting KVAL
+  L6470_INT_SPEED_ID,           //!< Intersect speed
+  L6470_ST_SLP_ID,              //!< Start slope
+  L6470_FN_SLP_ACC_ID,          //!< Acceleration final slope
+  L6470_FN_SLP_DEC_ID,          //!< Deceleration final slope
+  L6470_K_THERM_ID,             //!< Thermal compensation factor
+  L6470_ADC_OUT_ID,             //!< ADC output, (the reset value is according to startup conditions)
+  L6470_OCD_TH_ID,              //!< OCD threshold
+  L6470_STALL_TH_ID,            //!< STALL threshold
+  L6470_STEP_MODE_ID,           //!< Step mode
+  L6470_ALARM_EN_ID,            //!< Alarm enable
+  L6470_CONFIG_ID,              //!< IC configuration
+  L6470_STATUS_ID               //!< Status, (the reset value is according to startup conditions)  
+} eL6470_RegId_t;
+
+/**
+  * @brief The L6470 Application Commands Identifiers.
+  */
+typedef enum {
+  L6470_NOP_ID = 0,             //!< Nothing
+  L6470_SETPARAM_ID,            //!< Writes VALUE in PARAM register
+  L6470_GETPARAM_ID,            //!< Returns the stored value in PARAM register
+  L6470_RUN_ID,                 //!< Sets the target speed and the motor direction
+  L6470_STEPCLOCK_ID,           //!< Puts the device into Step-clock mode and imposes DIR direction
+  L6470_MOVE_ID,                //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running)
+  L6470_GOTO_ID,                //!< Brings motor into ABS_POS position (minimum path)
+  L6470_GOTODIR_ID,             //!< Brings motor into ABS_POS position forcing DIR direction
+  L6470_GOUNTIL_ID,             //!< Performs a motion in DIR direction with speed SPD until SW is closed, the ACT action is executed then a SoftStop takes place
+  L6470_RELEASESW_ID,           //!< Performs a motion in DIR direction at minimum speed until the SW is released (open), the ACT action is executed then a HardStop takes place
+  L6470_GOHOME_ID,              //!< Brings the motor into HOME position
+  L6470_GOMARK_ID,              //!< Brings the motor into MARK position
+  L6470_RESETPOS_ID,            //!< Resets the ABS_POS register (set HOME position)
+  L6470_RESETDEVICE_ID,         //!< Device is reset to power-up conditions
+  L6470_SOFTSTOP_ID,            //!< Stops motor with a deceleration phase
+  L6470_HARDSTOP_ID,            //!< Stops motor immediately
+  L6470_SOFTHIZ_ID,             //!< Puts the bridges into high impedance status after a deceleration phase
+  L6470_HARDHIZ_ID,             //!< Puts the bridges into high impedance status immediately
+  L6470_GETSTATUS_ID            //!< Returns the STATUS register value
+} eL6470_AppCmdId_t;
+
+/**
+  * @brief The L6470 Status Register Flag identifiers.
+  */
+typedef enum {
+  HiZ_ID = 0,                       //!< HiZ flag identifier inside the L6470 Status Register
+  BUSY_ID,                          //!< BUSY flag identifier inside the L6470 Status Register
+  SW_F_ID,                          //!< SW_F flag identifier inside the L6470 Status Register
+  SW_EVN_ID,                        //!< SW_EVN flag identifier inside the L6470 Status Register
+  DIR_ID,                           //!< DIR flag identifier inside the L6470 Status Register
+  MOT_STATUS_ID,                    //!< MOT_STATUS flag identifier inside the L6470 Status Register
+  NOTPERF_CMD_ID,                   //!< NOTPERF_CMD flag identifier inside the L6470 Status Register
+  WRONG_CMD_ID,                     //!< WRONG_CMD flag identifier inside the L6470 Status Register
+  UVLO_ID,                          //!< UVLO flag identifier inside the L6470 Status Register
+  TH_WRN_ID,                        //!< TH_WRN flag identifier inside the L6470 Status Register
+  TH_SD_ID,                         //!< TH_SD flag identifier inside the L6470 Status Register
+  OCD_ID,                           //!< OCD flag identifier inside the L6470 Status Register
+  STEP_LOSS_A_ID,                   //!< STEP_LOSS_A flag identifier inside the L6470 Status Register
+  STEP_LOSS_B_ID,                   //!< STEP_LOSS_B flag identifier inside the L6470 Status Register
+  SCK_MOD_ID                        //!< SCK_MOD flag identifier inside the L6470 Status Register
+} eL6470_StatusRegisterFlagId_t;
+
+/**
+  * @brief The L6470 Direction identifiers.
+  */
+typedef enum {
+  L6470_DIR_REV_ID = 0,             //!< Reverse direction
+  L6470_DIR_FWD_ID                  //!< Forward direction
+} eL6470_DirId_t;
+
+/**
+  * @brief The L6470 Action identifiers about ABS_POS register.
+  */
+typedef enum {
+  L6470_ACT_RST_ID = 0,             //!< ABS_POS register is reset
+  L6470_ACT_CPY_ID                  //!< ABS_POS register value is copied into the MARK register
+} eL6470_ActId_t;
+
+/**
+  * @brief The L6470 Status Register Flag states.
+  */
+typedef enum {
+  ZERO_F = 0,                       //!< The flag is '0'
+  ONE_F = !ZERO_F                   //!< The flag is '1'
+} eFlagStatus_t;
+
+/**
+  * @brief The L6470 Motor Directions.
+  */
+typedef enum {
+  REVERSE_F = 0,                    //!< Reverse motor direction
+  FORWARD_F = !REVERSE_F            //!< Forward motor direction
+} eMotorDirection_t;
+
+/**
+  * @brief The L6470 Motor Status.
+  */
+typedef enum {
+  STOPPED_F = 0,                    //!< Stopped
+  ACCELERATION_F = 1,               //!< Acceleration
+  DECELERATION_F = 2,               //!< Deceleration
+  CONSTANTSPEED_F = 3               //!< Constant speed
+} eMotorStatus_t;
+
+/**
+  * @brief  The possible stepping modes for L6470.
+  */
+typedef enum
+{
+  FULL_STEP       = 0x00,   //!< Full-step
+  HALF_STEP       = 0x01,   //!< Half-step
+  MICROSTEP_1_4   = 0x02,   //!< 1/4 microstep
+  MICROSTEP_1_8   = 0x03,   //!< 1/8 microstep
+  MICROSTEP_1_16  = 0x04,   //!< 1/16 microstep
+  MICROSTEP_1_32  = 0x05,   //!< 1/32 microstep
+  MICROSTEP_1_64  = 0x06,   //!< 1/64 microstep
+  MICROSTEP_1_128 = 0x07    //!< 1/128 microstep
+} eMotorStepMode_t;
+
+/**
+  * @brief  The identifiers for the possible L6470 alarm conditions.
+  */
+typedef enum
+{
+  L6470_OVERCURRENT                       = 0x01, //!< Overcurrent
+  L6470_THERMAL_SHUTDOWN                  = 0x02, //!< Thermal shutdown
+  L6470_THERMAL_WARNING                   = 0x04, //!< Thermal warning
+  L6470_UNDERVOLTAGE                      = 0x08, //!< Undervoltage
+  L6470_STALL_DETECTION_A                 = 0x10, //!< Stall detection (Bridge A)
+  L6470_STALL_DETECTION_B                 = 0x20, //!< Stall detection (Bridge B)
+  L6470_SWITCH_TURN_ON_EVENT              = 0x40, //!< Switch turn-on event
+  L6470_WRONG_OR_NON_PERFORMABLE_COMMAND  = 0x80  //!< Wrong or non-performable command
+} eL6470_AlarmCondition_t;
+
+/**
+  * @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details).
+  */
+typedef struct {
+  uint8_t STEP_SEL: 3;              //!< Step mode
+  uint8_t WRT: 1;                   //!< When the register is written, this bit should be set to 0.
+  uint8_t SYNC_SEL: 3;              //!< Synchronization selection
+  uint8_t SYNC_EN: 1;               //!< Synchronization enable
+} sL6470_StepModeRegister_t;
+
+/**
+  * @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details).
+  */
+typedef struct {
+  uint8_t OCD_EN: 1;                //!< Overcurrent
+  uint8_t TH_SD_EN: 1;              //!< Thermal shutdown
+  uint8_t TH_WRN_EN: 1;             //!< Thermal warning
+  uint8_t UVLO_EN: 1;               //!< Undervoltage
+  uint8_t STEP_LOSS_A_EN: 1;        //!< Stall detection (Bridge A)
+  uint8_t STEP_LOSS_B_EN: 1;        //!< Stall detection (Bridge B)
+  uint8_t SW_EVN_EN: 1;             //!< Switch turn-on event
+  uint8_t WRONG_NOTPERF_CMD_EN: 1;  //!< Wrong or non-performable command
+} sL6470_AlarmEnRegister_t;
+
+/**
+  * @brief The L6470 CONFIG Register (see L6470 DataSheet for more details).
+  */
+typedef struct {
+  uint8_t OSC_SEL: 3;               //!< Oscillator Selection
+  uint8_t EXT_CLK: 1;               //!< External Clock
+  uint8_t SW_MODE: 1;               //!< Switch mode
+  uint8_t EN_VSCOMP: 1;             //!< Motor supply voltage compensation
+  uint8_t RESERVED: 1;              //!< RESERVED
+  uint8_t OC_SD: 1;                 //!< Overcurrent event
+  uint8_t POW_SR: 2;                //!< Output slew rate
+  uint8_t F_PWM_DEC: 3;             //!< Multiplication factor
+  uint8_t F_PWM_INT: 3;             //!< Integer division factor
+} sL6470_ConfigRegister_t;
+
+/**
+  * @brief The L6470 STATUS Register (see L6470 DataSheet for more details).
+  */
+typedef struct {
+  uint8_t HiZ: 1;                   //!< The bridges are in high impedance state (the flag is active high)
+  uint8_t BUSY: 1;                  //!< BUSY pin status (the flag is active low)
+  uint8_t SW_F: 1;                  //!< SW input status (the flag is low for open and high for closed)
+  uint8_t SW_EVN: 1;                //!< Switch turn-on event (the flag is active high)
+  uint8_t DIR: 1;                   //!< The current motor direction (1 as forward, 0 as reverse)
+  uint8_t MOT_STATUS: 2;            //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed)
+  uint8_t NOTPERF_CMD: 1;           //!< The command received by SPI cannot be performed (the flag is active high)
+  uint8_t WRONG_CMD: 1;             //!< The command received by SPI does not exist at all (the flag is active high)
+  uint8_t UVLO: 1;                  //!< Undervoltage lockout or reset events (the flag is active low)
+  uint8_t TH_WRN: 1;                //!< Thermal warning event (the flag is active low)
+  uint8_t TH_SD: 1;                 //!< Thermal shutdown event (the flag is active low)
+  uint8_t OCD: 1;                   //!< Overcurrent detection event (the flag is active low)
+  uint8_t STEP_LOSS_A: 1;           //!< Stall detection on bridge A (the flag is active low)
+  uint8_t STEP_LOSS_B: 1;           //!< Stall detection on bridge B (the flag is active low)
+  uint8_t SCK_MOD: 1;               //!< Step-clock mode (the flag is active high)
+} sL6470_StatusRegister_t;
+
+/**
+  * @brief  Motor Parameter Data  
+  */ 
+typedef struct
+{
+  float     motorvoltage;           //!< motor supply voltage in V
+  float     fullstepsperrevolution; //!< min number of steps per revolution for the motor
+  float     phasecurrent;           //!< max motor phase voltage in A
+  float     phasevoltage;           //!< max motor phase voltage in V
+  float     speed;                  //!< motor initial speed [step/s]
+  float     acc;                    //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
+  float     dec;                    //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
+  float     maxspeed;               //!< motor maximum speed [step/s]
+  float     minspeed;               //!< motor minimum speed [step/s]
+  float     fsspd;                  //!< motor full-step speed threshold [step/s]
+  float     kvalhold;               //!< holding kval [V]
+  float     kvalrun;                //!< constant speed kval [V]
+  float     kvalacc;                //!< acceleration starting kval [V]
+  float     kvaldec;                //!< deceleration starting kval [V]
+  float     intspeed;               //!< intersect speed for bemf compensation curve slope changing [step/s]
+  float     stslp;                  //!< start slope [s/step]
+  float     fnslpacc;               //!< acceleration final slope [s/step]
+  float     fnslpdec;               //!< deceleration final slope [s/step]
+  uint8_t   kterm;                  //!< thermal compensation factor (range [0, 15])
+  float     ocdth;                  //!< ocd threshold [ma] (range [375 ma, 6000 ma])
+  float     stallth;                //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
+  uint8_t   step_sel;               //!< step mode selection
+  uint8_t   alarmen;                //!< alarm conditions enable
+  uint16_t  config;                 //!< ic configuration
+} MICROSTEPPING_MOTOR_InitTypeDef;
+
+/**
+  * @brief Stepper Motor Registers
+  */
+typedef struct
+{
+  uint32_t  ABS_POS;                //!< CurrentPosition Register
+  uint16_t  EL_POS;                 //!< ElectricalPosition Register
+  uint32_t  MARK;                   //!< MarkPosition Register
+  uint32_t  SPEED;                  //!< CurrentSpeed Register
+  uint16_t  ACC;                    //!< Acceleration Register
+  uint16_t  DEC;                    //!< Deceleration Register
+  uint16_t  MAX_SPEED;              //!< MaximumSpeed Register
+  uint16_t  MIN_SPEED;              //!< MinimumSpeed Register
+  uint16_t  FS_SPD;                 //!< FullStepSpeed Register
+  uint8_t   KVAL_HOLD;              //!< HoldingKval Register
+  uint8_t   KVAL_RUN;               //!< ConstantSpeedKval Register
+  uint8_t   KVAL_ACC;               //!< AccelerationStartingKval Register
+  uint8_t   KVAL_DEC;               //!< DecelerationStartingKval Register
+  uint16_t  INT_SPEED;              //!< IntersectSpeed Register
+  uint8_t   ST_SLP;                 //!< StartSlope Register
+  uint8_t   FN_SLP_ACC;             //!< AccelerationFinalSlope Register
+  uint8_t   FN_SLP_DEC;             //!< DecelerationFinalSlope Register
+  uint8_t   K_THERM;                //!< ThermalCompensationFactor Register
+  uint8_t   ADC_OUT;                //!< AdcOutput Register
+  uint8_t   OCD_TH;                 //!< OcdThreshold Register
+  uint8_t   STALL_TH;               //!< StallThreshold Register
+  uint8_t   STEP_MODE;              //!< StepMode Register
+  uint8_t   ALARM_EN;               //!< AlarmEnable Register
+  uint16_t  CONFIG;                 //!< Config Register
+  uint16_t  STATUS;                 //!< Status Register
+} StepperMotorRegister_t;
+
+/**
+  * @brief Stepper Motor Driver Structure
+  */
+typedef struct
+{
+  /* ACTION ----------------------------------------------------------------*
+   * Declare here the component's generic functions.                        *
+   * Tag this group of functions with the " Generic " C-style comment.      *
+   * A component's interface has to define at least the two generic         *
+   * functions provided here below within the "Example" section, as the     *
+   * first and second functions of its Virtual Table. They have to be       *
+   * specified exactly in the given way.                                    *
+   *                                                                        *
+   * Example:                                                               *
+   *   DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
+   *   DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);               *
+   *------------------------------------------------------------------------*/
+  /* Generic */
+  DrvStatusTypeDef (*Init)(void *handle, MICROSTEPPING_MOTOR_InitTypeDef *init);
+  DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+  
+  /* ACTION ----------------------------------------------------------------*
+   * Declare here the component's specific functions.                       *
+   * Tag this group of functions with the " Specific " C-style comment.     *
+   * Do not specify any function if not required.                           *
+   *                                                                        *
+   * Example:                                                               *
+   *   DrvStatusTypeDef (*GetValue)(void *handle, float *pfData);           *
+   *------------------------------------------------------------------------*/
+  /* Specific */
+  void     (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
+  uint32_t (*GetParam)(void *handle, eL6470_RegId_t L6470_RegId);
+  void     (*Run)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+  void     (*StepClock)(void *handle, eL6470_DirId_t L6470_DirId);
+  void     (*Move)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+  void     (*GoTo)(void *handle, uint32_t AbsPos);
+  void     (*GoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+  void     (*GoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+  void     (*ReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+  void     (*GoHome)(void *handle);
+  void     (*GoMark)(void *handle);
+  void     (*ResetPos)(void *handle);
+  void     (*ResetDevice)(void *handle);
+  void     (*SoftStop)(void *handle);
+  void     (*HardStop)(void *handle);
+  void     (*SoftHiZ)(void *handle);
+  void     (*HardHiZ)(void *handle);
+  uint16_t (*GetStatus)(void *handle);
+  void     (*PrepareSetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
+  void     (*PrepareGetParam)(void *handle, eL6470_RegId_t L6470_RegId);
+  void     (*PrepareRun)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+  void     (*PrepareStepClock)(void *handle, eL6470_DirId_t L6470_DirId);
+  void     (*PrepareMove)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+  void     (*PrepareGoTo)(void *handle, uint32_t AbsPos);
+  void     (*PrepareGoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+  void     (*PrepareGoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+  void     (*PrepareReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+  void     (*PrepareGoHome)(void *handle);
+  void     (*PrepareGoMark)(void *handle);
+  void     (*PrepareResetPos)(void *handle);
+  void     (*PrepareResetDevice)(void *handle);
+  void     (*PrepareSoftStop)(void *handle);
+  void     (*PrepareHardStop)(void *handle);
+  void     (*PrepareSoftHiZ)(void *handle);
+  void     (*PrepareHardHiZ)(void *handle);
+  void     (*PrepareGetStatus)(void *handle);
+  uint8_t  (*CheckStatusRegisterFlag)(void *handle, uint8_t L6470_StatusRegisterFlagId);
+  uint8_t* (*PerformPreparedApplicationCommand)(void *handle);
+  uint8_t* (*GetRegisterName)(void *handle, uint8_t id);
+  int32_t  (*AbsPos_2_Position)(void *handle, uint32_t AbsPos);
+  uint32_t (*Position_2_AbsPos)(void *handle, int32_t Position);
+  float    (*Speed_2_Step_s)(void *handle, uint32_t Speed);
+  uint32_t (*Step_s_2_Speed)(void *handle, float Step_s);
+  float    (*Acc_2_Step_s2)(void *handle, uint16_t Acc);
+  uint16_t (*Step_s2_2_Acc)(void *handle, float Step_s2);
+  float    (*Dec_2_Step_s2)(void *handle, uint16_t Dec);
+  uint16_t (*Step_s2_2_Dec)(void *handle, float Step_s2);
+  float    (*MaxSpeed_2_Step_s)(void *handle, uint16_t MaxSpeed);
+  uint16_t (*Step_s_2_MaxSpeed)(void *handle, float Step_s);
+  float    (*MinSpeed_2_Step_s)(void *handle, uint16_t MinSpeed);
+  uint16_t (*Step_s_2_MinSpeed)(void *handle, float Step_s);
+  float    (*FsSpd_2_Step_s)(void *handle, uint16_t FsSpd);
+  uint16_t (*Step_s_2_FsSpd)(void *handle, float Step_s);
+  float    (*IntSpeed_2_Step_s)(void *handle, uint16_t IntSpeed);
+  uint16_t (*Step_s_2_IntSpeed)(void *handle, float Step_s);
+  float    (*StSlp_2_s_Step)(void *handle, uint8_t StSlp);
+  uint8_t  (*s_Step_2_StSlp)(void *handle, float s_Step);
+  float    (*FnSlpAcc_2_s_Step)(void *handle, uint8_t FnSlpAcc);
+  uint8_t  (*s_Step_2_FnSlpAcc)(void *handle, float s_Step);
+  float    (*FnSlpDec_2_s_Step)(void *handle, uint8_t FnSlpDec);
+  uint8_t  (*s_Step_2_FnSlpDec)(void *handle, float s_Step);
+  float    (*OcdTh_2_mA)(void *handle, uint8_t OcdTh);
+  uint8_t  (*mA_2_OcdTh)(void *handle, float mA);
+  float    (*StallTh_2_mA)(void *handle, uint8_t StallTh);
+  uint8_t  (*mA_2_StallTh)(void *handle, float mA);
+} MICROSTEPPING_MOTOR_DrvVTableTypeDef;
+
+/**
+  * @brief Stepper Motor Board Driver Structure
+  */
+typedef struct
+{
+  void     (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t);
+  uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t);
+  void     (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+  void     (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t);
+  void     (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+  void     (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos);
+  void     (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+  void     (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t);
+  void     (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t);
+  void     (*GoHome)(uint8_t, uint8_t);
+  void     (*GoMark)(uint8_t, uint8_t);
+  void     (*ResetPos)(uint8_t, uint8_t);
+  void     (*ResetDevice)(uint8_t, uint8_t);
+  void     (*SoftStop)(uint8_t, uint8_t);
+  void     (*HardStop)(uint8_t, uint8_t);
+  void     (*SoftHiZ)(uint8_t, uint8_t);
+  void     (*HardHiZ)(uint8_t, uint8_t);
+  uint16_t (*GetStatus)(uint8_t, uint8_t);
+  uint8_t  (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
+  uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
+} MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
+
+/**
+  * @brief  Stepper Motor Handle Structure
+  */
+typedef struct __StepperMotorDriver_HandleTypeDef
+{
+  uint8_t DaisyChainPosition;
+  void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
+  MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
+} StepperMotorDriverHandle_t;
+
+/**
+  * @brief  Stepper Motor Handle Structure  
+  */ 
+typedef struct __StepperMotorBoard_HandleTypeDef
+{
+  uint8_t StackedPosition;
+  void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
+  MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
+  StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
+  uint8_t (*Select)(uint8_t);
+} StepperMotorBoardHandle_t;
+
+/**
+  * @}
+  */    /* StepperMotorExportedTypes */
+
+/**
+  * @}
+  */    /* MicrosteppingMotorDriver */
+  
+/**
+  * @}
+  */    /* Components */
+
+/**
+  * @}
+  */    /* BSP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MICROSTEPPINGMOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/