Motor Control Library

Diff: Components/l6470/l6470.h

Revision:

22:ba7f4131a5e0

Parent:

16:0d5be428b264

--- a/Components/l6470/l6470.h	Wed Mar 01 17:52:33 2017 +0000
+++ b/Components/l6470/l6470.h	Fri Mar 10 11:09:21 2017 +0100
@@ -1,9 +1,10 @@
 /**
  ******************************************************************************
- * @file       L6470.h
- * @date       01/10/2014 12:00:00
- * @brief      This file contains definitions, exported variables and function
- *             prototypes related to the L6470.
+ * @file    l6470.h
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date    November 12th, 2015
+ * @brief   This file contains the class of an L6470 Motor Control component.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2014 STMicroelectronics
@@ -34,282 +35,1550 @@
  */
 
 
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+    Branch/Trunk/Tag: trunk
+    Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
+    Revision:         0
+*/
+
+
 /* Define to prevent recursive inclusion -------------------------------------*/
 
-#ifndef __L6470_H
-#define __L6470_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
+#ifndef __L6470_CLASS_H
+#define __L6470_CLASS_H
 
 
 /* Includes ------------------------------------------------------------------*/
 
-#include "../Common/microstepping_motor.h"
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files.                              *
+ *----------------------------------------------------------------------------*/
+#include "l6470_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files.                              *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "HumiditySensor.h"                                              *
+ *   #include "TemperatureSensor.h"                                           *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
 
 
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */  
-  
-/** @addtogroup L6470
- * @{
- */
-  
-/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
- * @{
- */  
-
-/**
-  * @defgroup   L6470_Exported_Constants
-  * @brief      L6470 Exported Constants.
-  * @{
-  */
-
-/**
-  * @defgroup   L6470_Register_Max_Values
-  * @brief      Maximum values for L6470 registers.
-  * @{
-  */
-
-#define L6470_MAX_POSITION          (0x1FFFFF)          //!< Max position
-#define L6470_MIN_POSITION          (-(0x200000))       //!< Min position
-#define L6470_POSITION_RANGE        ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION))   //!< Position range
-#define L6470_MAX_SPEED             (0xFFFFF)           //!< max value of SPEED
-#define L6470_MAX_ACC               (0xFFF)             //!< max value of ACC
-#define L6470_MAX_DEC               (0xFFF)             //!< max value of DEC
-#define L6470_MAX_MAX_SPEED         (0x3FF)             //!< max value of MAX_SPEED
-#define L6470_MAX_MIN_SPEED         (0xFFF)             //!< max value of MIN_SPEED
-#define L6470_MAX_FS_SPD            (0x3FF)             //!< max value of FS_SPD
-#define L6470_MAX_INT_SPEED         (0x3FFF)            //!< max value of INT_SPEED
-#define L6470_MAX_ST_SLP            (0xFF)              //!< max value of ST_SLP
-#define L6470_MAX_FN_SLP_ACC        (0xFF)              //!< max value of FN_SLP_ACC
-#define L6470_MAX_FN_SLP_DEC        (0xFF)              //!< max value of FN_SLP_DEC
-#define L6470_MAX_OCD_TH            (0xF)               //!< max value of OCD_TH
-#define L6470_MAX_STALL_TH          (0x7F)              //!< max value of STALL_TH
-
-/**
-  * @}
-  */ /* End of L6470_Register_Max_Values */
-
-#define L6470REGIDSIZE          25                  //!< Max number of identifiers of L6470 Registers
-#define L6470APPCMDIDSIZE       19                  //!< Max number of identifiers of L6470 Application Commands
-#define L6470DIRIDSIZE           2                  //!< Max number of identifiers of L6470 directions
-#define L6470ACTIDSIZE           2                  //!< Max number of identifiers of actions to perform about ABS_POS register
-#define L6470MAXSPICMDBYTESIZE   4                  //!< Max number of byte to send via SPI to perform an application command
-#define L6470DAISYCHAINSIZE      2                  //!< Max number of identifiers of L6470 in daisy chain configuration
-
-#define L6470_MAX_SPEED_VALUE   ((float)15610)      //!< max value for the speed in step/s
-#define L6470_MAX_ACC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-
-#define OCD_TH_STEP             ((float)375)      //!< Minimum step for OCD_TH register in mAmpere
-#define STALL_TH_STEP           ((float)31.25)    //!< Minimum step for STALL_TH register in mAmpere
-
-#define L6470_ACC_CONV          ((float)0.068719)   //!< Conversion factor for acceleration value from step/s^2 to the right value
-#define L6470_DEC_CONV          ((float)0.068719)   //!< Conversion factor for deceleration value from step/s^2 to the right value
-#define L6470_MAXSPEED_CONV     ((float)0.065536)   //!< Conversion factor for max speed value from step/s to the right value
-#define L6470_MINSPEED_CONV     ((float)4.194304)   //!< Conversion factor for min speed value from step/s to the right value
-#define L6470_SPEED_CONV        ((float)67.108864)  //!< Conversion factor for speed value from step/s to the right value
-
-
-/* Types ---------------------------------------------------------------------*/
-
-/**
-  * @addtogroup BSP
-  * @{
-  */
-
-/**
-  * @addtogroup Components
-  * @{
-  */
-
-/**
-  * @defgroup L6470
-  * @brief    Tools to manage the L6470 Stepper Motor Driver.
-  * @{
-  */
-
-/**
-  * @defgroup   L6470_Exported_Types
-  * @brief      L6470 Exported Types.
-  * @{
-  */
-
-/**
-  * @brief  The structure to store some features of the L6470 Registers.
-  */
-typedef struct {
-  uint8_t Address;                  //!< Register Address
-  uint8_t Name[12];                 //!< Register Name
-  uint8_t LengthBit;                //!< Register Length in bits
-  uint8_t LengthByte;               //!< Register Length in bytes
-  uint32_t ResetValue;              //!< Register Reset Value
-} sL6470_Register_t;
-
-/**
-  * @brief  The structure to store some features of the L6470 Application Commands.
-  */
-typedef struct {
-  uint8_t Mnemonic[12];             //!< AppCmd Mnemonic
-  uint8_t BinaryCode;               //!< AppCmd Binary Code
-  uint8_t NrOfParameters;           //!< AppCmd number of needed parameters
-} sL6470_ApplicationCommand_t;
-
-/**
-  * @brief  The structure to store some features about the L6470 Motor Direction.
-  */
-typedef struct {
-  uint8_t Mnemonic[8];              //!< L6470 Direction Mnemonic
-  uint8_t BinaryCode;               //!< L6470 Direction Binary Code
-} sL6470_Direction_t;
+/* Classes -------------------------------------------------------------------*/
 
 /**
-  * @brief  The structure to store some features about the action taken with the L6470 ABS_POS register.
-  */
-typedef struct {
-  uint8_t Mnemonic[4];              //!< ACT Mnemonic
-  uint8_t BinaryCode;               //!< ACT Binary Code
-} sL6470_ACT_t;
-
-/**
-  * @brief  The structure used to store the identifier of the L6470 application
-  *         command and its the needed parameters.
-  * @note   The data stored into this structure will be used to fill the matrix
-  *         used by SPI to send the command to the L6470.
-  */
-typedef struct {
-  eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
-  uint32_t p1;                      //!< The 1st parameter if needed
-  uint32_t p2;                      //!< The 2nd parameter if needed
-  uint32_t p3;                      //!< The 3rd parameter if needed
-} sL6470_AppCmdPkg_t;
-
-/**
-  * @}
-  */ /* End of L6470_Exported_Types */
-
-/** 
- * @brief  L6470 driver initialization structure definition.
+ * @brief Class representing a L6470 component.
  */
-/* 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
+class L6470 : public StepperMotor
 {
-  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
-} L6470_Init_t;
+public:
+
+    /*** Public Component Related Types ***/
+
+    /**
+     * @brief Prepared Actions.
+     */
+    typedef enum
+    {
+        PREPARED_NO_ACTION = 0,
+        PREPARED_GET_POSITION,
+        PREPARED_GET_MARK,
+        PREPARED_GET_SPEED,
+        PREPARED_GET_MAX_SPEED,
+        PREPARED_GET_MIN_SPEED,
+        PREPARED_GET_ACCELERATION,
+        PREPARED_GET_DECELERATION,
+        PREPARED_GET_DIRECTION,
+        PREPARED_SET_MARK
+    } prepared_action_t;
+
+
+    /*** Constructor and Destructor Methods ***/
 
-/** 
- * @brief  L6470 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
-{
-  uint8_t L6470_Id;                                                                  //!< The L6470 identifier inside the daisy chain
-  sL6470_Register_t *L6470_Register; //[L6470REGIDSIZE];                             //!< Array whose elements are a structure in which store information about the L6470 Registers (the address, the names, the length in bits, the reset value)
-  sL6470_ApplicationCommand_t *L6470_ApplicationCommand; //[L6470APPCMDIDSIZE];      //!< Array whose elements are a structure in which store information about the L6470 Application Commands (the mnemonic name, the number of needed parameters, the related funtion to call)
-  sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE];                           //!< The mnemonic names for the L6470 direction
-  sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE];                                       //!< Action taken about ABS_POS register
-  sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];                           //!< To store the identifier of the actual L6470 application command and its the needed parameters
-  uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];  //!< To store the matrix that contains the command data that are going to be sent by SPI to the L6470 daisy chain
-  uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];  //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
-  eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */                       //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
-  sL6470_StatusRegister_t L6470_StatusRegister;                                      //!< To store the received L6470_StatusRegister
-  sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */     //!< Pointer to the L6470_StatusRegister variable
-} L6470_Data_t;
+    /**
+     * @brief Constructor.
+     * @param flag_irq      pin name of the FLAG pin of the component.
+     * @param busy_irq      pin name of the BUSY pin of the component.
+     * @param standby_reset pin name of the STBY\RST pin of the component.
+     * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
+     * @param spi           SPI device to be used for communication.
+     */
+    L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
+    {
+        /* ACTION 4 ----------------------------------------------------------*
+         * Initialize here the component's member variables, one variable per *
+         * line.                                                              *
+         *                                                                    *
+         * Example:                                                           *
+         *   measure = 0;                                                     *
+         *   instance_id = number_of_instances++;                             *
+         *--------------------------------------------------------------------*/
+        L6470_Register = &_L6470_Register[0];
+        L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
+        L6470_Direction = &_L6470_Direction[0];
+        L6470_ACT = &_L6470_ACT[0];
+        pL6470_StatusRegister = &L6470_StatusRegister;
+        prepared_action = PREPARED_NO_ACTION;
+        L6470_Id = number_of_devices++;
+        L6470_DaisyChain_HalfPrepared = ZERO_F;
+        memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
+        memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
+        memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
+    }
+
+    /**
+     * @brief Destructor.
+     */
+    virtual ~L6470(void) {}
 
 
-/* Functions -----------------------------------------------------------------*/
+    /*** Public Component Related Methods ***/
+
+    /* ACTION 5 --------------------------------------------------------------*
+     * Implement here the component's public methods, as wrappers of the C    *
+     * component's functions.                                                 *
+     * They should be:                                                        *
+     *   + Methods with the same name of the C component's virtual table's    *
+     *     functions (1);                                                     *
+     *   + Methods with the same name of the C component's extended virtual   *
+     *     table's functions, if any (2).                                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   virtual int get_value(float *p_data) //(1)                           *
+     *   {                                                                    *
+     *     return COMPONENT_get_value(float *pf_data);                        *
+     *   }                                                                    *
+     *                                                                        *
+     *   virtual int enable_feature(void) //(2)                               *
+     *   {                                                                    *
+     *     return COMPONENT_enable_feature();                                 *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Initializing the component.
+     * @param  init Pointer to device specific initalization structure.
+     * @retval "0" in case of success, an error code otherwise.
+     */
+    virtual int init(void *init)
+    {
+        return (int) L6470_Config((void *) init);
+    }
+
+    /**
+     * @brief  Getting the ID of the component.
+     * @param  id Pointer to an allocated variable to store the ID into.
+     * @retval "0" in case of success, an error code otherwise.
+     */
+    virtual int read_id(uint8_t *id)
+    {
+        return (int) 0;
+    }
+
+    /**
+     * @brief  Getting the status.
+     * @param  None.
+     * @retval The status.
+     */
+    virtual unsigned int get_status(void)
+    {
+        return (unsigned int) L6470_GetStatus();
+    }
+
+    /**
+     * @brief  Getting a parameter.
+     * @param  parameter A parameter's register address.
+     * @retval The parameter's value.
+     * @note   The parameter can be one of the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_MARK_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_FS_SPD_ID
+     *           + L6470_KVAL_HOLD_ID
+     *           + L6470_KVAL_RUN_ID
+     *           + L6470_KVAL_ACC_ID
+     *           + L6470_KVAL_DEC_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_K_THERM_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_OCD_TH_ID
+     *           + L6470_STALL_TH_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_ALARM_EN_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     */
+    virtual unsigned int get_parameter(unsigned int parameter)
+    {
+        return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
+    }
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int get_position(void)
+    {
+        return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
+    }
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int get_mark(void)
+    {
+        return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
+    }
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int get_speed(void)
+    {
+        return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
+    }
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int get_max_speed(void)
+    {
+        return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
+    }
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int get_min_speed(void)
+    {
+        return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
+    }
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int get_acceleration(void)
+    {
+        return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
+    }
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int get_deceleration(void)
+    {
+        return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
+    }
+
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t get_direction(void)
+    {
+        return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+    }
 
-/** @addtogroup BSP
- * @{
- */
+    /**
+     * @brief   Setting a parameter.
+     * @param   parameter A parameter's register address.
+     * @param   value The parameter's value.
+     * @retval  None.
+     * @note    The parameter can be one of the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_MARK_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_FS_SPD_ID
+     *           + L6470_KVAL_HOLD_ID
+     *           + L6470_KVAL_RUN_ID
+     *           + L6470_KVAL_ACC_ID
+     *           + L6470_KVAL_DEC_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_K_THERM_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_OCD_TH_ID
+     *           + L6470_STALL_TH_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_ALARM_EN_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+     *          Any attempt to write one of those registers when the conditions are not satisfied
+     *          causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+     *          last argument byte. Any attempt to set an inexistent register (wrong address value)
+     *          causes the command to be ignored and the WRONG_CMD flag to rise.
+     *          For example, setting some parameters requires first to disable the power bridge;
+     *          this can be done through the soft_hiz() method.
+     *          They are the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     */
+    virtual void set_parameter(unsigned int parameter, unsigned int value)
+    {
+        L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+    }
+
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void set_home(void)
+    {
+        L6470_ResetPos();
+    }
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void set_mark(void)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
+    }
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  position The given position.
+     * @retval None.
+     */
+    virtual void set_mark(signed int position)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+    }
+
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool set_max_speed(unsigned int speed)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+        return true;
+    }
+
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool set_min_speed(unsigned int speed)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+        return true;
+    }
+
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool set_acceleration(unsigned int acceleration)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+        return true;
+    }
+
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool set_deceleration(unsigned int deceleration)
+    {
+        L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+        return true;
+    }
+
+    /**
+     * @brief   Setting the Step Mode.
+     * @param   step_mode The Step Mode.
+     * @retval "true" in case of success, "false" otherwise.
+     * @warning Setting the step mode implies first disabling the power bridge through
+     *          the soft_hiz() method.
+     * @warning Every time step mode is changed, the values of the home
+     *          and mark positions lose meaning and are reset.
+     */
+    virtual bool set_step_mode(step_mode_t step_mode)
+    {
+        if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128) {
+            return false;
+        }
+        soft_hiz();
+        L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode);
+        return true;
+    }
+
+    /**
+     * @brief  Going to a specified position through the shortest path.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void go_to(signed int position)
+    {
+        L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+    }
+
+    /**
+     * @brief  Going to a specified position imposing the desired direction.
+     * @param  position The desired position.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void go_to(signed int position, direction_t direction)
+    {
+        L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+    }
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_home(void)
+    {
+        L6470_GoHome();
+    }
 
-/** @addtogroup Components
- * @{
- */
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void go_mark(void)
+    {
+        L6470_GoMark();
+    }
+
+    /**
+     * @brief  Running at the given speed imposing the desired direction until
+     *         an external switch turn-on event occurs.
+     * @param  action The identifier of the action about the absolute position.
+     * @param  position The desired position.
+     * @param  speed The speed value in pps.
+     * @retval None.
+     * @note   The identifier of the action about the absolute position can be
+     *         one of the following:
+     *           + L6470_ACT_RST_ID: the absolute position is reset;
+     *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+     */
+    virtual void go_until(eL6470_ActId_t action, direction_t direction, unsigned int speed)
+    {
+        L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+    }
+
+    /**
+     * @brief  Running towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void run(direction_t direction)
+    {
+        L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+    }
+
+    /**
+     * @brief  Running towards a specified direction at the given speed.
+     * @param  direction The direction of rotation.
+     * @param  speed The speed value in pps.
+     * @retval None.
+     */
+    virtual void run(direction_t direction, unsigned int speed)
+    {
+        L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+    }
+
+    /**
+     * @brief  Moving towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
+    virtual void move(direction_t direction, unsigned int steps)
+    {
+        L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     *         The used deceleration value is the one stored in the "DEC" register.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void soft_stop(void)
+    {
+        L6470_SoftStop();
+    }
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void hard_stop(void)
+    {
+        L6470_HardStop();
+    }
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     *         The used deceleration value is the one stored in the "DEC" register.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void soft_hiz(void)
+    {
+        L6470_soft_hiz();
+    }
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void hard_hiz(void)
+    {
+        L6470_HardHiZ();
+    }
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void wait_while_active(void)
+    {
+        while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
+    }
+
+    /**
+     * @brief   Switching to step-clock mode.
+     * @param   direction The direction of rotation.
+     * @retval  None.
+     * @warning Setting the step-clock mode implies first disabling the power bridge through
+     *          the soft_hiz() method.
+     */
+    virtual void step_clock(direction_t direction)
+    {
+        soft_hiz();
+        L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+    }
+
+    /**
+      * @brief  Doing a motion at minimum speed imposing a specified direction
+      *         until the SW is released.
+      * @param  action The identifier of the action about the absolute position.
+      * @param  direction The direction of rotation.
+      * @note   The identifier of the action about the absolute position can be
+      *         one of the following:
+      *           + L6470_ACT_RST_ID: the absolute position is reset;
+      *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+      */
+    virtual void release_sw(eL6470_ActId_t action, direction_t direction)
+    {
+        L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+    }
+
+    /**
+      * @brief  Resetting the device to power-up conditions.
+      * @param  None.
+      * @retval None.
+      */
+    virtual void reset_device(void)
+    {
+        L6470_ResetDevice();
+    }
+
+    /**
+     * @brief  Preparing the command to get the status.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_status(void)
+    {
+        L6470_PrepareGetStatus();
+        prepared_action = PREPARED_NO_ACTION;
+    }
 
-/** @addtogroup L6470
- * @{
- */
+    /**
+     * @brief  Preparing the command to get a parameter.
+     * @param  parameter A parameter's register address.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     *         The parameter can be one of the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_MARK_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_FS_SPD_ID
+     *           + L6470_KVAL_HOLD_ID
+     *           + L6470_KVAL_RUN_ID
+     *           + L6470_KVAL_ACC_ID
+     *           + L6470_KVAL_DEC_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_K_THERM_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_OCD_TH_ID
+     *           + L6470_STALL_TH_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_ALARM_EN_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     */
+    virtual void prepare_get_parameter(unsigned int parameter)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) parameter);
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to get the position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_position(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+        prepared_action = PREPARED_GET_POSITION;
+    }
+
+    /**
+     * @brief  Preparing the command to get the marked position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_mark(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
+        prepared_action = PREPARED_GET_MARK;
+    }
+
+    /**
+     * @brief  Preparing the command to get the current speed in pps.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_speed(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
+        prepared_action = PREPARED_GET_SPEED;
+    }
+
+    /**
+     * @brief  Preparing the command to get the maximum speed in pps.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_max_speed(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+        prepared_action = PREPARED_GET_MAX_SPEED;
+    }
+
+    /**
+     * @brief  Preparing the command to get the minimum speed in pps.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_min_speed(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+        prepared_action = PREPARED_GET_MIN_SPEED;
+    }
 
-/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
- * @{
- */
+    /**
+     * @brief  Preparing the command to get the acceleration in pps^2.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_acceleration(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
+        prepared_action = PREPARED_GET_ACCELERATION;
+    }
+
+    /**
+     * @brief  Preparing the command to get the deceleration in pps^2.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_deceleration(void)
+    {
+        L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
+        prepared_action = PREPARED_GET_DECELERATION;
+    }
+
+    /**
+     * @brief  Preparing the command to get the direction of rotation.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_get_direction(void)
+    {
+        if (!L6470_DaisyChain_HalfPrepared) {
+            /* To avoid deleting the previous entered command. */
+            L6470_DaisyChain_HalfPrepared = ONE_F;
+            /* Resetting commands. */
+            L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
+        }
+        prepared_action = PREPARED_GET_DIRECTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set a parameter.
+     * @param  parameter A parameter's register address.
+     * @param  value The parameter's value.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     *         The parameter can be one of the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_MARK_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_FS_SPD_ID
+     *           + L6470_KVAL_HOLD_ID
+     *           + L6470_KVAL_RUN_ID
+     *           + L6470_KVAL_ACC_ID
+     *           + L6470_KVAL_DEC_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_K_THERM_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_OCD_TH_ID
+     *           + L6470_STALL_TH_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_ALARM_EN_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+     *          Any attempt to write one of those registers when the conditions are not satisfied
+     *          causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+     *          last argument byte. Any attempt to set an inexistent register (wrong address value)
+     *          causes the command to be ignored and the WRONG_CMD flag to rise.
+     *          For example, setting some parameters requires first to disable the power bridge;
+     *          this can be done through the soft_hiz() method.
+     *          They are the following:
+     *           + L6470_ABS_POS_ID
+     *           + L6470_EL_POS_ID
+     *           + L6470_SPEED_ID
+     *           + L6470_ACC_ID
+     *           + L6470_DEC_ID
+     *           + L6470_MAX_SPEED_ID
+     *           + L6470_MIN_SPEED_ID
+     *           + L6470_INT_SPEED_ID
+     *           + L6470_ST_SLP_ID
+     *           + L6470_FN_SLP_ACC_ID
+     *           + L6470_FN_SLP_DEC_ID
+     *           + L6470_ADC_OUT_ID
+     *           + L6470_STEP_MODE_ID
+     *           + L6470_CONFIG_ID
+     *           + L6470_STATUS_ID
+     */
+    virtual void prepare_set_parameter(unsigned int parameter, unsigned int value)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+        prepared_action = PREPARED_NO_ACTION;
+    }
 
-/* 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);                             *
- *----------------------------------------------------------------------------*/
-extern void L6470_DISABLE(void);
-extern void L6470_ENABLE(void);
-extern void L6470_nCS_LOW(void);
-extern void L6470_nCS_HIGH(void);
-extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
+    /**
+     * @brief  Preparing the command to set the current position to be
+     *         the home position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_home(void)
+    {
+        L6470_PrepareResetPos();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the current position to be
+     *         the marked position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_mark(void)
+    {
+        /*
+           Set "0" now as marked position. This value will be replaced by the
+           actual position read at the time when the prepared actions will be
+           performed.
+        */
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
+        prepared_action = PREPARED_SET_MARK;
+    }
+
+    /**
+     * @brief  Preparing the command to set the given position to be
+     *         the marked position.
+     * @param  position The given position.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_mark(signed int position)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the current speed in pps.
+     * @param  speed The current speed in pps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_speed(unsigned int speed)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_max_speed(unsigned int speed)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_min_speed(unsigned int speed)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_acceleration(unsigned int acceleration)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to set the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_set_deceleration(unsigned int deceleration)
+    {
+        L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to go to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_go_to(signed int position)
+    {
+        L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to go to a specified position
+     *         imposing the desired direction.
+     * @param  position The desired position.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_go_to(signed int position, direction_t direction)
+    {
+        L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to go to the home position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_go_home(void)
+    {
+        L6470_PrepareGoHome();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to go to the marked position.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_go_mark(void)
+    {
+        L6470_PrepareGoMark();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to run at the given speed imposing the desired
+     *         direction until an external switch turn-on event occurs.
+     * @param  action The identifier of the action about the absolute position.
+     * @param  position The desired position.
+     * @param  speed The speed value in pps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     *         The identifier of the action about the absolute position can be
+     *         one of the following:
+     *           + L6470_ACT_RST_ID: the absolute position is reset;
+     *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+     */
+    virtual void prepare_go_until(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
+    {
+        L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to run towards a specified direction
+     *         at the maximum speed.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_run(direction_t direction)
+    {
+        L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to run towards a specified direction
+     *         at the given speed.
+     * @param  direction The direction of rotation.
+     * @param  speed The speed value in pps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_run(direction_t direction, unsigned int speed)
+    {
+        L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to move towards a specified direction
+     *         for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_move(direction_t direction, unsigned int steps)
+    {
+        L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to stop the motor.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_soft_stop(void)
+    {
+        L6470_PrepareSoftStop();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to stop the motor and disabling the power bridge.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_hard_stop(void)
+    {
+        L6470_PrepareHardStop();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to disable the power bridge after performing
+     *         a deceleration to zero.
+     *         The used deceleration value is the one stored in the "DEC" register.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_soft_hiz(void)
+    {
+        L6470_PrepareSoftHiZ();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief  Preparing the command to disable the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     * @note   The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_hard_hiz(void)
+    {
+        L6470_PrepareHardHiZ();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+     * @brief   Preparing the command to switch to step-clock mode.
+     * @param   direction The direction of rotation.
+     * @retval  None.
+     * @warning Setting the step-clock mode requires an explicit action by the user to first
+     *          disable the power bridge through the soft_hiz() method.
+     * @note    The command will be sent by issuing "perform_action()".
+     */
+    virtual void prepare_step_clock(direction_t direction)
+    {
+        L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+      * @brief  Preparing the command to do a motion at minimum speed
+      *         imposing a specified direction until the SW is released.
+      * @param  action The identifier of the action about the absolute position.
+      * @param  direction The direction of rotation.
+      * @retval None.
+      * @note   The command will be sent by issuing "perform_action()".
+      *         The identifier of the action about the absolute position can be
+      *         one of the following:
+      *           + L6470_ACT_RST_ID: the absolute position is reset;
+      *           + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+      */
+    virtual void prepare_release_sw(eL6470_ActId_t action, direction_t direction)
+    {
+        L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+      * @brief  Preparing the command to reset the device to power-up conditions.
+      * @param  None.
+      * @retval None.
+      * @note   The command will be sent by issuing "perform_action()".
+      */
+    virtual void prepare_reset_device(void)
+    {
+        L6470_PrepareResetDevice();
+        prepared_action = PREPARED_NO_ACTION;
+    }
+
+    /**
+      * @brief    Performing all the actions prepared on the components
+      *           of the daisy-chain.
+      * @param    None.
+      * @retval   The raw data returned by the components.
+      */
+    uint8_t* perform_prepared_actions(void)
+    {
+        return L6470_PerformPreparedApplicationCommand();
+    }
+
+    /**
+      * @brief    Getting the prepared action.
+      * @param    None
+      * @retval   The prepared action.
+      */
+    prepared_action_t get_prepared_action(void)
+    {
+        return prepared_action;
+    }
+
+    /**
+      * @brief    Converting the raw data received by the component according to
+      *           the action performed on it.
+      * @param    raw_data The received raw data.
+      * @retval   The result of the action performed.
+      */
+    int32_t get_result(uint8_t *raw_data)
+    {
+        switch (prepared_action) {
+            case PREPARED_GET_POSITION:
+                return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
+
+            case PREPARED_GET_MARK:
+                return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
+
+            case PREPARED_GET_SPEED:
+                return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
+    
+            case PREPARED_GET_MAX_SPEED:
+                return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
+    
+            case PREPARED_GET_MIN_SPEED:
+                return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
+    
+            case PREPARED_GET_ACCELERATION:
+                return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
+    
+            case PREPARED_GET_DECELERATION:
+                return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
+
+            case PREPARED_GET_DIRECTION:
+                return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
 
-#ifdef __cplusplus
-}
-#endif
+            default:
+            case PREPARED_NO_ACTION:
+                return 0;
+        }
+    }
+
+
+    /*** Public Interrupt Related Methods ***/
+
+    /* ACTION 6 --------------------------------------------------------------*
+     * Implement here interrupt related methods, if any.                      *
+     * Note that interrupt handling is platform dependent, e.g.:              *
+     *   + mbed:                                                              *
+     *     InterruptIn feature_irq(pin); //Interrupt object.                  *
+     *     feature_irq.rise(callback);   //Attach a callback.                 *
+     *     feature_irq.mode(PullNone);   //Set interrupt mode.                *
+     *     feature_irq.enable_irq();     //Enable interrupt.                  *
+     *     feature_irq.disable_irq();    //Disable interrupt.                 *
+     *   + Arduino:                                                           *
+     *     attachInterrupt(pin, callback, RISING); //Attach a callback.       *
+     *     detachInterrupt(pin);                   //Detach a callback.       *
+     *                                                                        *
+     * Example (mbed):                                                        *
+     *   void attach_feature_irq(void (*fptr) (void))                         *
+     *   {                                                                    *
+     *     feature_irq.rise(fptr);                                            *
+     *   }                                                                    *
+     *                                                                        *
+     *   void enable_feature_irq(void)                                        *
+     *   {                                                                    *
+     *     feature_irq.enable_irq();                                          *
+     *   }                                                                    *
+     *                                                                        *
+     *   void disable_feature_irq(void)                                       *
+     *   {                                                                    *
+     *     feature_irq.disable_irq();                                         *
+     *   }                                                                    *
+     *------------------------------------------------------------------------*/
+    /**
+     * @brief  Attaching an interrupt handler to the FLAG interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+    void attach_flag_irq(void (*fptr)(void))
+    {
+        flag_irq.fall(fptr);
+    }
+    
+    /**
+     * @brief  Enabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_flag_irq(void)
+    {
+        flag_irq.enable_irq();
+    }
+    
+    /**
+     * @brief  Disabling the FLAG interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_flag_irq(void)
+    {
+        flag_irq.disable_irq();
+    }
+
+    /**
+     * @brief  Attaching an interrupt handler to the BUSY interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+    void attach_busy_irq(void (*fptr)(void))
+    {
+        busy_irq.fall(fptr);
+    }
+    
+    /**
+     * @brief  Enabling the BUSY interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_busy_irq(void)
+    {
+        busy_irq.enable_irq();
+    }
+
+    /**
+     * @brief  Disabling the BUSY interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_busy_irq(void)
+    {
+        busy_irq.disable_irq();
+    }
+
+
+protected:
+
+    /*** Protected Component Related Methods ***/
 
-#endif /* __L6470_H */
+    /* ACTION 7 --------------------------------------------------------------*
+     * Declare here the component's specific methods.                         *
+     * They should be:                                                        *
+     *   + Methods with the same name of the C component's virtual table's    *
+     *     functions (1);                                                     *
+     *   + Methods with the same name of the C component's extended virtual   *
+     *     table's functions, if any (2);                                     *
+     *   + Helper methods, if any, like functions declared in the component's *
+     *     source files but not pointed by the component's virtual table (3). *
+     *                                                                        *
+     * Example:                                                               *
+     *   status_t COMPONENT_get_value(float *f);   //(1)                      *
+     *   status_t COMPONENT_enable_feature(void);  //(2)                      *
+     *   status_t COMPONENT_compute_average(void); //(3)                      *
+     *------------------------------------------------------------------------*/
+    int32_t  L6470_AbsPos_2_Position(uint32_t AbsPos);
+    uint32_t L6470_Position_2_AbsPos(int32_t Position);
+    float    L6470_Speed_2_Step_s(uint32_t Speed);
+    uint32_t L6470_Step_s_2_Speed(float Step_s);
+    float    L6470_Acc_2_Step_s2(uint16_t Acc);
+    uint16_t L6470_Step_s2_2_Acc(float Step_s2);
+    float    L6470_Dec_2_Step_s2(uint16_t Dec);
+    uint16_t L6470_Step_s2_2_Dec(float Step_s2);
+    float    L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
+    uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
+    float    L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
+    uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
+    float    L6470_FsSpd_2_Step_s(uint16_t FsSpd);
+    uint16_t L6470_Step_s_2_FsSpd(float Step_s);
+    float    L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
+    uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
+    float    L6470_StSlp_2_s_Step(uint8_t StSlp);
+    uint8_t  L6470_s_Step_2_StSlp(float s_Step);
+    float    L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
+    uint8_t  L6470_s_Step_2_FnSlpAcc(float s_Step);
+    float    L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
+    uint8_t  L6470_s_Step_2_FnSlpDec(float s_Step);
+    float    L6470_OcdTh_2_mA(uint8_t OcdTh);
+    uint8_t  L6470_mA_2_OcdTh(float mA);
+    float    L6470_StallTh_2_mA(uint8_t StallTh);
+    uint8_t  L6470_mA_2_StallTh(float mA);
+    status_t L6470_Config(void *init);
+    void     L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
+    uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
+    void     L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
+    void     L6470_StepClock(eL6470_DirId_t L6470_DirId);
+    void     L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+    void     L6470_GoTo(uint32_t AbsPos);
+    void     L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+    void     L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+    void     L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+    void     L6470_GoHome(void);
+    void     L6470_GoMark(void);
+    void     L6470_ResetPos(void);
+    void     L6470_ResetDevice(void);
+    void     L6470_SoftStop(void);
+    void     L6470_HardStop(void);
+    void     L6470_soft_hiz(void);
+    void     L6470_HardHiZ(void);
+    uint16_t L6470_GetStatus(void);
+    void     L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
+    void     L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
+    void     L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
+    void     L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
+    void     L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+    void     L6470_PrepareGoTo(uint32_t AbsPos);
+    void     L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+    void     L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+    void     L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+    void     L6470_PrepareGoHome(void);
+    void     L6470_PrepareGoMark(void);
+    void     L6470_PrepareResetPos(void);
+    void     L6470_PrepareResetDevice(void);
+    void     L6470_PrepareSoftStop(void);
+    void     L6470_PrepareHardStop(void);
+    void     L6470_Preparesoft_hiz(void);
+    void     L6470_PrepareHardHiZ(void);
+    void     L6470_PrepareGetStatus(void);
+    uint8_t* L6470_PerformPreparedApplicationCommand(void);
+    void     L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
+    uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+    uint8_t  L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
+    uint8_t* L6470_GetRegisterName(uint8_t id);
+    void     L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
+    void     L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
+    void     L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
+    void     L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
+
+    /**
+     * @brief  Rounding a floating point number to the nearest unsigned integer number.
+     * @param  f The floating point number.
+     * @retval The nearest unsigned integer number.
+     */
+    int round(float f)
+    {
+        if (f >= 0) {
+            return (int) f + (f - (int) f < 0.5f ? 0 : 1);
+        } else {
+            return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+        }
+    }
+
+
+    /*** Component's I/O Methods ***/
+
+    /**
+     * @brief      Utility function to read data from L6470.
+     * @param[out] pBuffer pointer to the buffer to read data into.
+     * @param[in]  NumBytesToRead number of bytes to read.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+    {
+        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
+    
+    /**
+     * @brief      Utility function to write data to L6470.
+     * @param[in]  pBuffer pointer to the buffer of data to send.
+     * @param[in]  NumBytesToWrite number of bytes to write.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+    {
+        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
+
+    /**
+     * @brief      Utility function to read and write data from/to L6470 at the same time.
+     * @param[out] pBufferToRead pointer to the buffer to read data into.
+     * @param[in]  pBufferToWrite pointer to the buffer of data to send.
+     * @param[in]  NumBytes number of bytes to read and write.
+     * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+     */
+    status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+    {
+        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
+            return COMPONENT_ERROR;
+        }
+        return COMPONENT_OK;
+    }
+
+    /* ACTION 8 --------------------------------------------------------------*
+     * Implement here other I/O methods beyond those already implemented      *
+     * above, which are declared extern within the component's header file.   *
+     *------------------------------------------------------------------------*/
+    /*
+     * Puts the device in standby mode.
+     */
+    void L6470_ENABLE(void)
+    {
+        standby_reset = 1;
+    }
+
+    /*
+     * Puts the device in reset mode.
+     */
+    void L6470_DISABLE(void)
+    {
+        standby_reset = 0;
+    }
+
+    /*
+     * Write and read bytes to/from the component through the SPI at the same time.
+     */
+    void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout)
+    {
+        ReadWrite(pRxData, pTxData, Size);
+    }
+
+
+    /*** Component's Instance Variables ***/
+
+    /* ACTION 9 --------------------------------------------------------------*
+     * Declare here interrupt related variables, if needed.                   *
+     * Note that interrupt handling is platform dependent, see                *
+     * "Interrupt Related Methods" above.                                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     InterruptIn feature_irq;                                           *
+     *------------------------------------------------------------------------*/
+    /* Flag Interrupt. */
+    InterruptIn flag_irq;
+
+    /* Busy Interrupt. */
+    InterruptIn busy_irq;
+
+    /* ACTION 10 -------------------------------------------------------------*
+     * Declare here other pin related variables, if needed.                   *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut standby_reset;                                          *
+     *------------------------------------------------------------------------*/
+    /* Standby/reset pin. */
+    DigitalOut standby_reset;
+
+    /* ACTION 11 -------------------------------------------------------------*
+     * Declare here communication related variables, if needed.               *
+     *                                                                        *
+     * Example:                                                               *
+     *   + mbed:                                                              *
+     *     DigitalOut ssel;                                                   *
+     *     DevSPI &dev_spi;                                                   *
+     *------------------------------------------------------------------------*/
+    /* Configuration. */
+    DigitalOut ssel;
+
+    /* IO Device. */
+    DevSPI &dev_spi;
+
+    /* ACTION 12 -------------------------------------------------------------*
+     * Declare here identity related variables, if needed.                    *
+     * Note that there should be only a unique identifier for each component, *
+     * which should be the "who_am_i" parameter.                              *
+     *------------------------------------------------------------------------*/
+    /* Identity */
+    uint8_t who_am_i;
+
+    /* ACTION 13 -------------------------------------------------------------*
+     * Declare here the component's static and non-static data, one variable  *
+     * per line.                                                              *
+     *                                                                        *
+     * Example:                                                               *
+     *   float measure;                                                       *
+     *   int instance_id;                                                     *
+     *   static int number_of_instances;                                      *
+     *------------------------------------------------------------------------*/
+    /* Data. */
+    uint8_t L6470_Id;
+    const sL6470_Register_t *L6470_Register;
+    const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
+    const sL6470_Direction_t *L6470_Direction;
+    const sL6470_ACT_t *L6470_ACT;
+    sL6470_StatusRegister_t L6470_StatusRegister;
+    sL6470_StatusRegister_t *pL6470_StatusRegister; 
+    StepperMotorRegister_t StepperMotorRegister;
+    prepared_action_t prepared_action;
+
+    /* Static data. */
+    static uint8_t number_of_devices;
+    static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
+    static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
+    static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
+    static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
+    static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
+    static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
+    static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+    static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+};
+
+#endif /* __L6470_CLASS_H */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/