Motor Control Library

Revision 22:ba7f4131a5e0, committed 2017-03-10

Comitter:

davide.aliprandi@st.com

Date:

Fri Mar 10 11:09:21 2017 +0100

Parent:

21:1b7f3e002688

Child:

23:cf489f2ab072

Commit message:

Aligning to ARM mbed coding style.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIhm02a1.cpp	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,220 @@
+/**
+ ******************************************************************************
+ * @file    XNucleoIhm02a1.cpp
+ * @author  AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date    November 3rd, 2015
+ * @brief   Implementation file for the X_NUCLEO_IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board specific header files.                        *
+ *----------------------------------------------------------------------------*/
+#include "XNucleoIhm02a1.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of expansion boards. */
+uint8_t XNucleoIhm02a1::number_of_boards = 0;
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Constructor.
+ * @param init_0        pointer to the initialization structure of the first motor.
+ * @param init_1        pointer to the initialization structure of the second motor.
+ * @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.
+ */
+XNucleoIhm02a1::XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+{
+    /* Checking stackability. */
+    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+    }
+    instance_id = number_of_boards++;
+
+    /* SPI communication. */
+    if (dev_spi == NULL) {
+        dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
+    }
+
+    /* Instantiating the components. */
+    /* ACTION 3 --------------------------------------------------------------*
+     * Instantiate here the expansion board's components.                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   component_1 = new COMPONENT_1(ssel, *dev_spi);                       *
+     *   component_2 = new COMPONENT_2(ssel, *dev_spi);                       *
+     *------------------------------------------------------------------------*/
+    components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+    components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+    /* Initializing the components. */
+    init_components[0] = init_0;
+    init_components[1] = init_1;
+    if (!Init()) {
+        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+    }
+}
+
+/**
+ * @brief Constructor.
+ * @param init_0        pointer to the initialization structure of the first motor.
+ * @param init_1        pointer to the initialization structure of the second motor.
+ * @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 mosi          pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso          pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+XNucleoIhm02a1::XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+{
+    /* Checking stackability. */
+    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+    }
+    instance_id = number_of_boards++;
+
+    /* SPI communication. */
+    dev_spi = new DevSPI(mosi, miso, sclk);
+
+    /* Instantiating the components. */
+    /* ACTION 3 --------------------------------------------------------------*
+     * Instantiate here the expansion board's components.                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   component_1 = new COMPONENT_1(ssel, *dev_spi);                       *
+     *   component_2 = new COMPONENT_2(ssel, *dev_spi);                       *
+     *------------------------------------------------------------------------*/
+    components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+    components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+    /* Initializing the components. */
+    init_components[0] = init_0;
+    init_components[1] = init_1;
+    if (!Init()) {
+        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+    }
+}
+
+/**
+ * @brief Initializing the X_NUCLEO_IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init(void)
+{
+    /* Initializing the components. */
+    /* ACTION 4 --------------------------------------------------------------*
+     * Initialize here the expansion board's components.                      *
+     *                                                                        *
+     * Example:                                                               *
+     *   return (init_COMPONENT_1() && init_COMPONENT_2());                   *
+     *------------------------------------------------------------------------*/
+    return (init_L6470_0() && init_L6470_1());
+}
+
+/* ACTION 5 ------------------------------------------------------------------*
+ * Implement here an initialization method for each expansion board's         *
+ * component.                                                                 *
+ *                                                                            *
+ * Example:                                                                   *
+ *   bool ExpansionBoard::init_COMPONENT_1(void)                              *
+ *   {                                                                        *
+ *     // Verifying identity.                                                 *
+ *     uint8_t id = 0;                                                        *
+ *     int ret = component_1->read_id(&id);                                   *
+ *     if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1))                 *
+ *     {                                                                      *
+ *       delete component_1;                                                  *
+ *       component_1 = NULL;                                                  *
+ *       return true;                                                         *
+ *     }                                                                      *
+ *                                                                            *
+ *     // Configuration.                                                      *
+ *     COMPONENT_init_t init;                                                 *
+ *     init.property_1 = COMPONENT_1_PROPERY_1_INIT;                          *
+ *     init.property_N = COMPONENT_1_PROPERY_N_INIT;                          *
+ *                                                                            *
+ *     // Initialization.                                                     *
+ *     if (component_1->init(&init) != COMPONENT_OK)                          *
+ *       return false;                                                        *
+ *                                                                            *
+ *     return true;                                                           *
+ *   }                                                                        *
+ *----------------------------------------------------------------------------*/
+/**
+ * @brief  Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init_L6470_0(void)
+{
+    /* Initialization. */
+    if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
+        return false;
+    }
+
+    return true;
+}
+
+/**
+ * @brief  Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init_L6470_1(void)
+{
+    /* Initialization. */
+    if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
+        return false;
+    }
+
+    return true;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIhm02a1.h	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,224 @@
+/**
+ ******************************************************************************
+ * @file    XNucleoIhm02a1.h
+ * @author  AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date    November 3rd, 2015
+ * @brief   Class header file for the X-NUCLEO-IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __X_NUCLEO_IHM02A1_CLASS_H
+#define __X_NUCLEO_IHM02A1_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board configuration's header files.                 *
+ *----------------------------------------------------------------------------*/
+#include "x_nucleo_ihm02a1_config.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here expansion board's components' header files.                   *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "COMPONENT_1.h"                                                 *
+ *   #include "COMPONENT_2.h"                                                 *
+ *----------------------------------------------------------------------------*/
+#include "L6470.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/** Class representing a X-NUCLEO-IHM02A1 board.
+ */
+class XNucleoIhm02a1
+{
+public:
+
+    /*** Constructor, Destructor, and Initialization Methods ***/
+
+    /**
+     * @brief Constructor.
+     * @param init_0        pointer to the initialization structure of the first motor.
+     * @param init_1        pointer to the initialization structure of the second motor.
+     * @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.
+     */
+    XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+
+    /**
+     * @brief Constructor.
+     * @param init_0        pointer to the initialization structure of the first motor.
+     * @param init_1        pointer to the initialization structure of the second motor.
+     * @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 mosi          pin name of the MOSI pin of the SPI device to be used for communication.
+     * @param miso          pin name of the MISO pin of the SPI device to be used for communication.
+     * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
+     */
+    XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+
+    /**
+     * @brief Destructor.
+     */
+    ~XNucleoIhm02a1(void) {}
+
+    /**
+     * @brief Initializing the X-NUCLEO-IHM02A1 board.
+     * @retval true if initialization is successful, false otherwise.
+     */
+    bool init(void);
+
+
+    /*** Other Public Expansion Board Related Methods ***/
+
+    /**
+     * @brief  Getting the array of components.
+     * @param  None.
+     * @retval The array of components.
+     */
+    L6470 **get_components(void)
+    {
+        return components;
+    }
+
+    /**
+      * @brief  Performing the actions set on the motors with calls to a number of
+      *         "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+      * @param  None.
+      * @retval A pointer to the results returned by the components, i.e. an
+      *         integer value for each of them.
+      */
+    virtual uint32_t* perform_prepared_actions(void)
+    {
+        /* Performing pre-actions, if needed. */
+        for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+            /*
+               "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+               prepared actions get performed.
+            */
+            if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
+                components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
+            }
+        }
+        
+        /* Performing the prepared actions and getting back raw data. */
+        uint8_t *raw_data = components[0]->perform_prepared_actions();
+
+        /* Processing raw data. */
+        for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+            results[m] = components[m]->get_result(raw_data);
+        }
+
+        /* Returning results. */
+        return results;
+    }
+
+
+    /*** Public Expansion Board Related Attributes ***/
+
+    /* ACTION 4 --------------------------------------------------------------*
+     * Declare here a public attribute for each expansion board's component.  *
+     * You will have to call these attributes' public methods within your     *
+     * main program.                                                          *
+     *                                                                        *
+     *   Example:                                                             *
+     *     COMPONENT_1 *component_1;                                          *
+     *     COMPONENT_2 *component_2;                                          *
+     *------------------------------------------------------------------------*/
+    L6470 *l6470_0;
+    L6470 *l6470_1;
+
+
+protected:
+
+    /*** Protected Expansion Board Related Initialization Methods ***/
+
+    /* ACTION 5 --------------------------------------------------------------*
+     * Declare here a protected initialization method for each expansion      *
+     * board's component.                                                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   bool init_COMPONENT_1(void);                                         *
+     *   bool init_COMPONENT_2(void);                                         *
+     *------------------------------------------------------------------------*/
+    bool init_L6470_0(void);
+    bool init_L6470_1(void);
+
+
+    /*** Component's Instance Variables ***/
+
+    /* IO Device. */
+    DevSPI *dev_spi;
+
+    /* Components. */
+    L6470 *components[L6470DAISYCHAINSIZE];
+    
+    /* Components' initialization. */
+    L6470_init_t *init_components[L6470DAISYCHAINSIZE];
+
+    /* Results of prepared actions. */
+    uint32_t results[L6470DAISYCHAINSIZE];
+
+    /* ACTION 6 --------------------------------------------------------------*
+     * Declare here the component's static and non-static data, one variable  *
+     * per line.                                                              *
+     *                                                                        *
+     * Example:                                                               *
+     *   int instance_id;                                                     *
+     *   static int number_of_instances;                                      *
+     *------------------------------------------------------------------------*/
+    /* Data. */
+    uint8_t instance_id;
+
+    /* Static data. */
+    static uint8_t number_of_boards;
+};
+
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/BSP/x_nucleo_ihm02a1_class.cpp	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,220 +0,0 @@
-/**
- ******************************************************************************
- * @file    x_nucleo_ihm02a1_class.cpp
- * @author  AST / Software Platforms and Cloud
- * @version V1.0
- * @date    November 3rd, 2015
- * @brief   Implementation file for the X_NUCLEO_IHM02A1 expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files.                               *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevSPI.h"
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board specific header files.                        *
- *----------------------------------------------------------------------------*/
-#include "x_nucleo_ihm02a1_class.h"
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Number of expansion boards. */
-uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
-
-
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @brief Constructor.
- * @param init_0        pointer to the initialization structure of the first motor.
- * @param init_1        pointer to the initialization structure of the second motor.
- * @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.
- */
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
-{
-    /* Checking stackability. */
-    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
-        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
-    }
-    X_NUCLEO_IHM02A1_Id = number_of_boards++;
-
-    /* SPI communication. */
-    if (dev_spi == NULL) {
-        dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
-    }
-
-    /* Instantiating the components. */
-    /* ACTION 3 --------------------------------------------------------------*
-     * Instantiate here the expansion board's components.                     *
-     *                                                                        *
-     * Example:                                                               *
-     *   component_1 = new COMPONENT_1(ssel, *dev_spi);                       *
-     *   component_2 = new COMPONENT_2(ssel, *dev_spi);                       *
-     *------------------------------------------------------------------------*/
-    components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-    components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-
-    /* Initializing the components. */
-    init_components[0] = init_0;
-    init_components[1] = init_1;
-    if (!Init()) {
-        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
-    }
-}
-
-/**
- * @brief Constructor.
- * @param init_0        pointer to the initialization structure of the first motor.
- * @param init_1        pointer to the initialization structure of the second motor.
- * @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 mosi          pin name of the MOSI pin of the SPI device to be used for communication.
- * @param miso          pin name of the MISO pin of the SPI device to be used for communication.
- * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
- */
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
-{
-    /* Checking stackability. */
-    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
-        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
-    }
-    X_NUCLEO_IHM02A1_Id = number_of_boards++;
-
-    /* SPI communication. */
-    dev_spi = new DevSPI(mosi, miso, sclk);
-
-    /* Instantiating the components. */
-    /* ACTION 3 --------------------------------------------------------------*
-     * Instantiate here the expansion board's components.                     *
-     *                                                                        *
-     * Example:                                                               *
-     *   component_1 = new COMPONENT_1(ssel, *dev_spi);                       *
-     *   component_2 = new COMPONENT_2(ssel, *dev_spi);                       *
-     *------------------------------------------------------------------------*/
-    components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-    components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-
-    /* Initializing the components. */
-    init_components[0] = init_0;
-    init_components[1] = init_1;
-    if (!Init()) {
-        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
-    }
-}
-
-/**
- * @brief Initializing the X_NUCLEO_IHM02A1 board.
- * @retval true if initialization is successful, false otherwise.
- */
-bool X_NUCLEO_IHM02A1::Init(void)
-{
-    /* Initializing the components. */
-    /* ACTION 4 --------------------------------------------------------------*
-     * Initialize here the expansion board's components.                      *
-     *                                                                        *
-     * Example:                                                               *
-     *   return (Init_COMPONENT_1() && Init_COMPONENT_2());                   *
-     *------------------------------------------------------------------------*/
-    return (Init_L6470_0() && Init_L6470_1());
-}
-
-/* ACTION 5 ------------------------------------------------------------------*
- * Implement here an initialization method for each expansion board's         *
- * component.                                                                 *
- *                                                                            *
- * Example:                                                                   *
- *   bool EXPANSION_BOARD::Init_COMPONENT_1(void)                             *
- *   {                                                                        *
- *     // Verifying identity.                                                 *
- *     uint8_t id = 0;                                                        *
- *     int ret = component_1->ReadID(&id);                                    *
- *     if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1))                 *
- *     {                                                                      *
- *       delete component_1;                                                  *
- *       component_1 = NULL;                                                  *
- *       return true;                                                         *
- *     }                                                                      *
- *                                                                            *
- *     // Configuration.                                                      *
- *     COMPONENT_Init_t InitStructure;                                        *
- *     InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT;                 *
- *     InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT;                 *
- *                                                                            *
- *     // Initialization.                                                     *
- *     if (component_1->Init(&InitStructure) != COMPONENT_OK)                 *
- *       return false;                                                        *
- *                                                                            *
- *     return true;                                                           *
- *   }                                                                        *
- *----------------------------------------------------------------------------*/
-/**
- * @brief  Initialize the L6470 component.
- * @retval true if initialization is successful, false otherwise.
- */
-bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
-{
-    /* Initialization. */
-    if (l6470_0->Init((void *) init_components[0]) != COMPONENT_OK) {
-        return false;
-    }
-
-    return true;
-}
-
-/**
- * @brief  Initialize the L6470 component.
- * @retval true if initialization is successful, false otherwise.
- */
-bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
-{
-    /* Initialization. */
-    if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK) {
-        return false;
-    }
-
-    return true;
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/BSP/x_nucleo_ihm02a1_class.h	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,224 +0,0 @@
-/**
- ******************************************************************************
- * @file    x_nucleo_ihm02a1_class.h
- * @author  AST / Software Platforms and Cloud
- * @version V1.0
- * @date    November 3rd, 2015
- * @brief   Class header file for the X_NUCLEO_IHM02A1 expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __X_NUCLEO_IHM02A1_CLASS_H
-#define __X_NUCLEO_IHM02A1_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files.                               *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevSPI.h"
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board configuration's header files.                 *
- *----------------------------------------------------------------------------*/
-#include "x_nucleo_ihm02a1_config.h"
-/* ACTION 3 ------------------------------------------------------------------*
- * Include here expansion board's components' header files.                   *
- *                                                                            *
- * Example:                                                                   *
- *   #include "component_1_class.h"                                           *
- *   #include "component_2_class.h"                                           *
- *----------------------------------------------------------------------------*/
-#include "l6470_class.h"
-
-
-/* Classes -------------------------------------------------------------------*/
-
-/** Class representing a X_NUCLEO_IHM02A1 board.
- */
-class X_NUCLEO_IHM02A1
-{
-public:
-
-    /*** Constructor, Destructor, and Initialization Methods ***/
-
-    /**
-     * @brief Constructor.
-     * @param init_0        pointer to the initialization structure of the first motor.
-     * @param init_1        pointer to the initialization structure of the second motor.
-     * @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.
-     */
-    X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
-
-    /**
-     * @brief Constructor.
-     * @param init_0        pointer to the initialization structure of the first motor.
-     * @param init_1        pointer to the initialization structure of the second motor.
-     * @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 mosi          pin name of the MOSI pin of the SPI device to be used for communication.
-     * @param miso          pin name of the MISO pin of the SPI device to be used for communication.
-     * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
-     */
-    X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
-
-    /**
-     * @brief Destructor.
-     */
-    ~X_NUCLEO_IHM02A1(void) {}
-
-    /**
-     * @brief Initializing the X_NUCLEO_IHM02A1 board.
-     * @retval true if initialization is successful, false otherwise.
-     */
-    bool Init(void);
-
-
-    /*** Other Public Expansion Board Related Methods ***/
-
-    /**
-     * @brief  Getting the array of components.
-     * @param  None.
-     * @retval The array of components.
-     */
-    L6470 **GetComponents(void)
-    {
-        return components;
-    }
-
-    /**
-      * @brief  Performing the actions set on the motors with calls to a number of
-      *         "Prepare<Action>()" methods, one for each motor of the daisy-chain.
-      * @param  None.
-      * @retval A pointer to the results returned by the components, i.e. an
-      *         integer value for each of them.
-      */
-    virtual uint32_t* PerformPreparedActions(void)
-    {
-        /* Performing pre-actions, if needed. */
-        for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-            /*
-               "GetPosition()" is needed by "PrepareSetMark()" at the time when the
-               prepared actions get performed.
-            */
-            if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK) {
-                components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
-            }
-        }
-        
-        /* Performing the prepared actions and getting back raw data. */
-        uint8_t *raw_data = components[0]->PerformPreparedActions();
-
-        /* Processing raw data. */
-        for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-            results[m] = components[m]->GetResult(raw_data);
-        }
-
-        /* Returning results. */
-        return results;
-    }
-
-
-    /*** Public Expansion Board Related Attributes ***/
-
-    /* ACTION 4 --------------------------------------------------------------*
-     * Declare here a public attribute for each expansion board's component.  *
-     * You will have to call these attributes' public methods within your     *
-     * main program.                                                          *
-     *                                                                        *
-     *   Example:                                                             *
-     *     COMPONENT_1 *component_1;                                          *
-     *     COMPONENT_2 *component_2;                                          *
-     *------------------------------------------------------------------------*/
-    L6470 *l6470_0;
-    L6470 *l6470_1;
-
-
-protected:
-
-    /*** Protected Expansion Board Related Initialization Methods ***/
-
-    /* ACTION 5 --------------------------------------------------------------*
-     * Declare here a protected initialization method for each expansion      *
-     * board's component.                                                     *
-     *                                                                        *
-     * Example:                                                               *
-     *   bool Init_COMPONENT_1(void);                                         *
-     *   bool Init_COMPONENT_2(void);                                         *
-     *------------------------------------------------------------------------*/
-    bool Init_L6470_0(void);
-    bool Init_L6470_1(void);
-
-
-    /*** Component's Instance Variables ***/
-
-    /* IO Device. */
-    DevSPI *dev_spi;
-
-    /* Components. */
-    L6470 *components[L6470DAISYCHAINSIZE];
-    
-    /* Components' initialization. */
-    L6470_Init_t *init_components[L6470DAISYCHAINSIZE];
-
-    /* Results of prepared actions. */
-    uint32_t results[L6470DAISYCHAINSIZE];
-
-    /* ACTION 6 --------------------------------------------------------------*
-     * Declare here the component's static and non-static data, one variable  *
-     * per line.                                                              *
-     *                                                                        *
-     * Example:                                                               *
-     *   int instance_id;                                                     *
-     *   static int number_of_instances;                                      *
-     *------------------------------------------------------------------------*/
-    /* Data. */
-    uint8_t X_NUCLEO_IHM02A1_Id;
-
-    /* Static data. */
-    static uint8_t number_of_boards;
-};
-
-#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/Common/component.h	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,93 +0,0 @@
-/**
- ******************************************************************************
- * @file    component.h
- * @author  AST
- * @version V1.0.0
- * @date    1 April 2015
- * @brief   Generic header file containing a generic component's definitions
- *          and I/O functions.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 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 __COMPONENT_H
-#define __COMPONENT_H
-
-
-/* Types ---------------------------------------------------------------------*/
-
-/**
- * @brief  Component's Context structure definition.
- */
-typedef struct
-{  
-    /* Identity. */
-    uint8_t who_am_i;
-
-    /* ACTION ----------------------------------------------------------------*/
-    /* There should be only a unique identifier for each component, which     */
-    /* should be the "who_am_i" parameter, hence this parameter is optional.  */
-    /* -----------------------------------------------------------------------*/
-    /* Type. */
-    uint8_t type;
-
-    /* Configuration. */
-    uint8_t address;
-
-    /* Pointer to the Data. */
-    void *pData;
-
-    /* Pointer to the Virtual Table. */
-    void *pVTable;
-
-    /* ACTION ----------------------------------------------------------------*/
-    /* There should be only a unique virtual table for each component, which  */
-    /* should be the "pVTable" parameter, hence this parameter is optional.   */
-    /* -----------------------------------------------------------------------*/
-    /* Pointer to the Extended Virtual Table. */
-    void *pExtVTable;
-} Handle_t;
-
-/**
- * @brief  Component's Status enumerator definition.
- */
-typedef enum
-{
-    COMPONENT_OK = 0,
-    COMPONENT_ERROR,
-    COMPONENT_TIMEOUT,
-    COMPONENT_NOT_IMPLEMENTED
-} Status_t;
-
-#endif /* __COMPONENT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/component_def.h	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,93 @@
+/**
+ ******************************************************************************
+ * @file    component_def.h
+ * @author  AST
+ * @version V1.0.0
+ * @date    1 April 2015
+ * @brief   Generic header file containing a generic component's definitions
+ *          and I/O functions.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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 __COMPONENT_H
+#define __COMPONENT_H
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @brief  Component's Context structure definition.
+ */
+typedef struct
+{  
+    /* Identity. */
+    uint8_t who_am_i;
+
+    /* ACTION ----------------------------------------------------------------*/
+    /* There should be only a unique identifier for each component, which     */
+    /* should be the "who_am_i" parameter, hence this parameter is optional.  */
+    /* -----------------------------------------------------------------------*/
+    /* Type. */
+    uint8_t type;
+
+    /* Configuration. */
+    uint8_t address;
+
+    /* Pointer to the Data. */
+    void *p_data;
+
+    /* Pointer to the Virtual Table. */
+    void *p_vt;
+
+    /* ACTION ----------------------------------------------------------------*/
+    /* There should be only a unique virtual table for each component, which  */
+    /* should be the "p_vt" parameter, hence this parameter is optional.      */
+    /* -----------------------------------------------------------------------*/
+    /* Pointer to the Extended Virtual Table. */
+    void *p_ext_vt;
+} handle_t;
+
+/**
+ * @brief  Component's Status enumerator definition.
+ */
+typedef enum
+{
+    COMPONENT_OK = 0,
+    COMPONENT_ERROR,
+    COMPONENT_TIMEOUT,
+    COMPONENT_NOT_IMPLEMENTED
+} status_t;
+
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/Common/microstepping_motor.h	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,484 +0,0 @@
-/**
- ******************************************************************************
- * @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"
-   
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @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 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  MICROSTEPPING_MOTOR driver virtual table structure definition.
- */
-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:                                                               *
-   *   Status_t (*Init)   (void *handle, void *init);                       *
-   *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
-   *------------------------------------------------------------------------*/
-  /* Generic */
-  Status_t (*Init)(void *handle, void *init);
-  Status_t (*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:                                                               *
-   *   Status_t (*GetValue) (void *handle, float *f);                       *
-   *------------------------------------------------------------------------*/
-  /* 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);
-  uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
-} MICROSTEPPING_MOTOR_VTable_t;
-
-/**
-  * @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_VTable_t;
-
-/**
-  * @brief  Stepper Motor Handle Structure
-  */
-typedef struct __StepperMotorDriver_HandleTypeDef
-{
-  uint8_t DaisyChainPosition;
-  void (*Config)(void*);
-  MICROSTEPPING_MOTOR_VTable_t *Command;
-} StepperMotorDriverHandle_t;
-
-/**
-  * @brief  Stepper Motor Handle Structure  
-  */ 
-typedef struct __StepperMotorBoard_HandleTypeDef
-{
-  uint8_t StackedPosition;
-  void (*Config)(void*);
-  MICROSTEPPING_MOTOR_EB_VTable_t *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****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/microstepping_motor_def.h	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,484 @@
+/**
+ ******************************************************************************
+ * @file    microstepping_motor_def.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_def.h"
+   
+
+/* Types ---------------------------------------------------------------------*/
+
+/** @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 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  MICROSTEPPING_MOTOR driver virtual table structure definition.
+ */
+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:                                                               *
+   *   status_t (*Init)   (void *handle, void *init);                       *
+   *   status_t (*ReadID) (void *handle, uint8_t *id);                      *
+   *------------------------------------------------------------------------*/
+  /* Generic */
+  status_t (*Init)(void *handle, void *init);
+  status_t (*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:                                                               *
+   *   status_t (*GetValue) (void *handle, float *f);                       *
+   *------------------------------------------------------------------------*/
+  /* 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);
+  uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+} MICROSTEPPING_MOTOR_VTable_t;
+
+/**
+  * @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_VTable_t;
+
+/**
+  * @brief  Stepper Motor Handle Structure
+  */
+typedef struct __StepperMotorDriver_HandleTypeDef
+{
+  uint8_t DaisyChainPosition;
+  void (*Config)(void*);
+  MICROSTEPPING_MOTOR_VTable_t *Command;
+} StepperMotorDriverHandle_t;
+
+/**
+  * @brief  Stepper Motor Handle Structure  
+  */ 
+typedef struct __StepperMotorBoard_HandleTypeDef
+{
+  uint8_t StackedPosition;
+  void (*Config)(void*);
+  MICROSTEPPING_MOTOR_EB_VTable_t *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****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6470/L6470.cpp	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,1460 @@
+/**
+ ******************************************************************************
+ * @file       l6470_class.cpp
+ * @date       01/10/2014 12:00:00
+ * @brief      This file provides set of firmware functions to manage the
+ *             L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+    Branch/Trunk/Tag: trunk
+    Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
+    Revision:         0
+*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "l6470.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of instantiated devices on an expansion board. */
+uint8_t L6470::number_of_devices = 0;
+
+/* SPI Transmission for Daisy-Chain Configuration. */
+eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
+sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
+uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+
+/**
+  * @brief 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)
+  */
+const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
+  {0x01 , "ABS_POS",   22, 3, 0x000000},  //!< Current position
+  {0x02 , "EL_POS",     9, 2, 0x000},     //!< Electrical position
+  {0x03 , "MARK",      22, 3, 0x000000},  //!< Mark position
+  {0x04 , "SPEED",     20, 3, 0x0000},    //!< Current speed
+  {0x05 , "ACC",       12, 2, 0x08A},     //!< Acceleration
+  {0x06 , "DEC",       12, 2, 0x08A},     //!< Deceleration
+  {0x07 , "MAX_SPEED", 10, 2, 0x041},     //!< Maximum speed
+  {0x08 , "MIN_SPEED", 13, 2, 0x000},     //!< Minimum speed
+  {0x15 , "FS_SPD",    10, 2, 0x027},     //!< Full-step speed
+  {0x09 , "KVAL_HOLD",  8, 1, 0x29},      //!< Holding KVAL
+  {0x0A , "KVAL_RUN",   8, 1, 0x29},      //!< Constant speed KVAL
+  {0x0B , "KVAL_ACC",   8, 1, 0x29},      //!< Acceleration starting KVAL
+  {0x0C , "KVAL_DEC",   8, 1, 0x29},      //!< Deceleration starting KVAL
+  {0x0D , "INT_SPEED", 14, 2, 0x0408},    //!< Intersect speed
+  {0x0E , "ST_SLP",     8, 1, 0x19},      //!< Start slope
+  {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      //!< Acceleration final slope
+  {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      //!< Deceleration final slope
+  {0x11 , "K_THERM",    4, 1, 0x0},       //!< Thermal compensation factor
+  {0x12 , "ADC_OUT",    5, 1, 0x00},      //!< ADC output, (the reset value is according to startup conditions)
+  {0x13 , "OCD_TH",     4, 1, 0x8},       //!< OCD threshold
+  {0x14 , "STALL_TH",   7, 1, 0x40},      //!< STALL threshold
+  {0x16 , "STEP_MODE",  8, 1, 0x7},       //!< Step mode
+  {0x17 , "ALARM_EN",   8, 1, 0xFF},      //!< Alarm enable
+  {0x18 , "CONFIG",    16, 2, 0x2E88},    //!< IC configuration
+  {0x19 , "STATUS",    16, 2, 0x0000}     //!< Status, (the reset value is according to startup conditions)
+};
+
+/**
+  * @brief 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)
+  */
+const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] =  {
+  {"NOP",         0x00, 0},
+  {"SETPARAM",    0x00, 2},
+  {"GETPARAM",    0x20, 1},
+  {"RUN",         0x50, 2},
+  {"STEPCLOCK",   0x58, 1},
+  {"MOVE",        0x40, 2},
+  {"GOTO",        0x60, 1},
+  {"GOTO_DIR",    0x68, 2},
+  {"GOUNTIL",     0x82, 3},
+  {"RELEASESW",   0x92, 2},
+  {"GOHOME",      0x70, 0},
+  {"GOMARK",      0x78, 0},
+  {"RESETPOS",    0xD8, 0},
+  {"RESETDEVICE", 0xC0, 0},
+  {"SOFTSTOP",    0xB0, 0},
+  {"HARDSTOP",    0xB8, 0},
+  {"SOFTHIZ",     0xA0, 0},
+  {"HARDHIZ",     0xA8, 0},
+  {"GETSTATUS",   0xD0, 0}
+};
+
+/**
+  * @brief The mnemonic names for the L6470 direction
+  */
+const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
+  {"REV", 0x00},  //!< Reverse direction
+  {"FWD", 0x01}   //!< Forward direction
+};
+
+/**
+  * @brief Action taken about ABS_POS register
+  */
+const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
+  {"RST", 0x00},  //!< ABS_POS register is reset
+  {"CPY", 0x01}   //!< ABS_POS register value is copied into the MARK register
+};
+
+/* End of L6470_Private_Constants */
+
+/**
+  * @defgroup   L6470_Private_Variables
+  * @brief      L6470 Private Variables.
+  * @{
+  */
+
+/* End of L6470_Private_Variables */
+
+
+/**
+  * @addtogroup L6470_Private_Functions
+  * @{
+  */
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+  * @brief  Reset the structure used to store the identifier of the L6470
+  *         application command and its the needed parameters.
+  * @param  pL6470_AppCmdPkg   The structure to be reset.
+  */
+void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
+{
+  uint8_t id;
+  
+  for(id=0; id<L6470DAISYCHAINSIZE; id++)
+  {
+    (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
+    (pL6470_AppCmdPkg+id)->p1=0;
+    (pL6470_AppCmdPkg+id)->p2=0;
+    (pL6470_AppCmdPkg+id)->p3=0;
+  }
+}
+
+/**
+  * @brief  Fill the structure used to store the identifier of the L6470
+  *         application command and its the needed parameters.
+  * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
+  * @param  pL6470_AppCmdPkg  The structure to be filled.
+  * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
+  * @param  p1                The 1st parameter (if it is not needed it will be not considered).
+  * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
+  * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
+  */
+void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
+{
+  (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
+  (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
+  (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
+  (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
+}
+
+/**
+  * @brief  This function will fill the column of the L6470_AppCmdPkg related
+  *         the L6470 to be addressed inside the daisy chain.
+  *
+  * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
+  * @param  pL6470_AppCmdPkg  Pointer to the sL6470_AppCmdPkg_t to be filled.
+  * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
+  * @param  p1                The 1st parameter (if it is not needed it will be not considered).
+  * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
+  * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
+  */
+void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
+{
+  if(!L6470_DaisyChain_HalfPrepared)
+  {
+    L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
+    L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
+  }
+  
+  L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
+}
+
+/**
+  * @brief  This function will translate the data inside the L6470_AppCmdPkg into
+  *         the right data to be sent via SPI to the L6470 daisy chain.
+  *
+  * @param  pL6470_AppCmdPkg              Pointer to the sL6470_AppCmdPkg_t to be filled.
+  * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the structure used by SPI to send the commands.
+  */
+void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
+{
+  uint8_t PkgId;
+  uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
+  uint8_t spibyte;
+  
+  /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
+  uint8_t i = 0;
+  for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
+    for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
+      *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
+
+  for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
+  {
+    /* Build the 1st bytes to transmit with the binary code of the command */
+    *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
+    
+    /* Perform the related L6470_AppCmdId */
+    switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
+    {
+    case L6470_NOP_ID:
+      break;
+    case L6470_SETPARAM_ID:
+      /* Build the 1st bytes to transmit (PARAM) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
+      
+      /* The length, in byte, of this register (PARAM) is... */
+      PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
+      
+      /* Build the others bytes to transmit (VALUE) */
+      for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
+      }
+      break;
+    case L6470_GETPARAM_ID:
+      /* Build the 1st bytes to transmit (PARAM) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
+      break;
+    case L6470_RUN_ID:
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+      
+      /* Build the others bytes to transmit (SPD) */
+      for (spibyte=1; spibyte<(3+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+      }
+      break;
+    case L6470_STEPCLOCK_ID:
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+      break;
+    case L6470_MOVE_ID:
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+      
+      /* Build the others bytes to transmit (N_STEP) */
+      for (spibyte=1; spibyte<(3+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+      }      
+      break;
+    case L6470_GOTO_ID:
+      /* Build the others bytes to transmit (ABS_POS) */
+      for (spibyte=1; spibyte<(3+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
+      }
+      break;
+    case L6470_GOTODIR_ID:
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+      
+      /* Build the others bytes to transmit (ABS_POS) */
+      for (spibyte=1; spibyte<(3+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+      }
+      break;
+    case L6470_GOUNTIL_ID:
+      /* Build the 1st bytes to transmit (ACT) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
+      
+      /* Build the others bytes to transmit (SPD) */
+      for (spibyte=1; spibyte<(3+1); spibyte++)
+      {
+        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
+      }
+      break;
+    case L6470_RELEASESW_ID:
+      /* Build the 1st bytes to transmit (ACT) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
+      /* Build the 1st bytes to transmit (DIR) */
+      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
+      break;
+    case L6470_GOHOME_ID:
+      break;
+    case L6470_GOMARK_ID:
+      break;
+    case L6470_RESETPOS_ID:
+      break;
+    case L6470_RESETDEVICE_ID:
+      break;
+    case L6470_SOFTSTOP_ID:
+      break;
+    case L6470_HARDSTOP_ID:
+      break;
+    case L6470_SOFTHIZ_ID:
+      break;
+    case L6470_HARDHIZ_ID:
+      break;
+    case L6470_GETSTATUS_ID:
+      break;
+    }
+  }
+}
+
+/* End of L6470_Private_Functions */
+
+/**
+  * @addtogroup L6470_Exported_Functions
+  * @{
+  */
+
+/**
+  * @addtogroup L6470_Conversion_Functions
+  * @brief      The following functions act just on one driver inside the L6470
+  *             daisy chain. The command is immediately sent.
+  * @{
+  */
+
+ /**
+  * @brief  Convert the absolute position as 2's complement format into the signed number.
+  * 
+  * @param  AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
+  * @retval Position    The position as signed number.
+  */
+int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
+{
+  if (AbsPos > L6470_MAX_POSITION)
+    return (AbsPos - (L6470_POSITION_RANGE + 1));
+  else
+    return AbsPos;
+}
+
+/**
+  * @brief  Convert the position as signed number into absolute position as 2's complement format.
+  * 
+  * @param  Position    The position as signed number.
+  * @retval AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
+  */
+uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
+{
+  if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
+    return Position;
+  else
+  {
+    if ((Position >= L6470_MIN_POSITION) && (Position < 0))
+      return (Position + (L6470_POSITION_RANGE + 1));
+    else
+      return (L6470_POSITION_RANGE + 1);        // OVF
+  }
+}
+
+/**
+  * @brief  Convert the SPEED register value into step/s.
+  * 
+  * @param  Speed       The SPEED register value.
+  * @retval step/s      The speed as step/s.
+  */
+float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
+{
+  return (Speed * ((float)14.9012e-3));
+}
+
+/**
+  * @brief  Convert the speed as step/s into a right value for SPEED register.
+  * 
+  * @param  step/s      The speed as step/s.
+  * @retval Speed       The SPEED register value.
+  */
+uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
+{
+  if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
+    return (uint32_t)(Step_s / ((float)14.9012e-3));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the ACC register value into step/(s^2).
+  * 
+  * @param  Acc         The ACC register value.
+  * @retval step/(s^2)  The acceleration as step/(s^2).
+  */
+float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
+{
+  if (Acc <= L6470_MAX_ACC)
+    return (Acc * ((float)1.4552e1));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the acceleartion as step/(s^2) into a right value for ACC register.
+  * 
+  * @param  step/(s^2)  The acceleration as step/(s^2).
+  * @retval Acc         The ACC register value.
+  */
+uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
+{
+  if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
+    return (uint16_t)(Step_s2 / ((float)1.4552e1));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the DEC register value into step/(s^2).
+  * 
+  * @param  Dec         The DEC register value.
+  * @retval step/(s^2)  The deceleration as step/(s^2).
+  */
+float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
+{
+  if (Dec <= L6470_MAX_DEC)
+    return (Dec * ((float)1.4552e1));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the deceleration as step/(s^2) into a right value for DEC register.
+  * 
+  * @param  step/(s^2)  The deceleration as step/(s^2).
+  * @retval Dec         The DEC register value.
+  */
+uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
+{
+  if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
+    return (uint16_t)(Step_s2 / ((float)1.4552e1));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the MAX_SPEED register value into step/s.
+  * 
+  * @param  MaxSpeed    The MAX_SPEED register value.
+  * @retval step/s      The max speed as step/s.
+  */
+float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
+{
+  if (MaxSpeed <= L6470_MAX_MAX_SPEED)
+    return (MaxSpeed * ((float)15.2588));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the max speed as step/s into a right value for MAX_SPEED register.
+  * 
+  * @param  step/s      The max speed as step/s.
+  * @retval MaxSpeed    The MAX_SPEED register value.
+  */
+uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
+{
+  if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
+    return (uint16_t)(Step_s / ((float)15.2588));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the MIN_SPEED register value into step/s.
+  * 
+  * @param  MinSpeed    The MIN_SPEED register value.
+  * @retval step/s      The min speed as step/s.
+  */
+float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
+{
+  if (MinSpeed <= L6470_MAX_MIN_SPEED)
+    return (MinSpeed * ((float)238.4186e-3));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the min speed as step/s into a right value for MIN_SPEED register.
+  * 
+  * @param  step/s      The min speed as step/s.
+  * @retval MinSpeed    The MIN_SPEED register value.
+  */
+uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
+{
+  if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
+    return (uint16_t)(Step_s / ((float)238.4186e-3));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the FS_SPD register value into step/s.
+  * 
+  * @param  FsSpd       The FS_SPD register value.
+  * @retval step/s      The full-step speed as step/s.
+  */
+float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
+{
+  if (FsSpd <= L6470_MAX_FS_SPD)
+    return ((FsSpd+0.5) * ((float)15.25));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the full-step speed as step/s into a right value for FS_SPD register.
+  * 
+  * @param  step/s      The full-step speed as step/s.
+  * @retval FsSpd       The FS_SPD register value.
+  */
+uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
+{
+  if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
+    return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the INT_SPEED register value into step/s.
+  * 
+  * @param  IntSpeed    The INT_SPEED register value.
+  * @retval step/s      The intersect speed as step/s.
+  */
+float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
+{
+  if (IntSpeed <= L6470_MAX_INT_SPEED)
+    return (IntSpeed * ((float)59.6046e-3));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
+  * 
+  * @param  step/s      The full-step speed as step/s.
+  * @retval FsSpd       The FS_SPD register value.
+  */
+uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
+{
+  if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
+    return (uint16_t)(Step_s / ((float)59.6046e-3));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the ST_SLP register value into s/step.
+  * 
+  * @param  StartSlope  The ST_SLP register value.
+  * @retval s/step      The start slope as s/step.
+  */
+float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
+{
+//  if (StSlp <= L6470_MAX_ST_SLP)
+    return (StSlp * ((float)1.5686e-5));
+//  else
+//    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
+  * 
+  * @param  step/s      The full-step speed as step/s.
+  * @retval FsSpd       The FS_SPD register value.
+  */
+uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
+{
+  if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
+    return (uint8_t)(s_Step / ((float)1.5686e-5));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the INT_SPEED register value into step/s.
+  * 
+  * @param  IntSpeed    The INT_SPEED register value.
+  * @retval step/s      The intersect speed as step/s.
+  */
+float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
+{
+//  if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
+    return (FnSlpAcc * ((float)1.5686e-5));
+//  else
+//    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
+  * 
+  * @param  step/s      The full-step speed as step/s.
+  * @retval FsSpd       The FS_SPD register value.
+  */
+uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
+{
+  if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
+    return (uint8_t)(s_Step / ((float)1.5686e-5));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the INT_SPEED register value into step/s.
+  * 
+  * @param  IntSpeed    The INT_SPEED register value.
+  * @retval step/s      The intersect speed as step/s.
+  */
+float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
+{
+//  if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
+    return (FnSlpDec * ((float)1.5686e-5));
+//  else
+//    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
+  * 
+  * @param  step/s      The full-step speed as step/s.
+  * @retval FsSpd       The FS_SPD register value.
+  */
+uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
+{
+  if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
+    return (uint8_t)(s_Step / ((float)1.5686e-5));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the OCD_TH register value into mA.
+  * 
+  * @param  OcdTh       The OCD_TH register value.
+  * @retval mA          The overcurrent threshold as mA.
+  */
+float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
+{
+  if (OcdTh <= L6470_MAX_OCD_TH)
+    return ((OcdTh+1) * ((float)375));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the overcurrent threshold as mA into a right value for OCD_TH register.
+  * 
+  * @param  mA          The overcurrent threshold as mA.
+  * @retval OcdTh       The OCD_TH register value.
+  */
+uint8_t L6470::L6470_mA_2_OcdTh(float mA)
+{
+  float result, decimal;
+  
+  if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
+  {
+    result = (mA / ((float)375));
+    decimal = result - (uint8_t)result;
+    
+    if (decimal < (float)0.5)
+      return ((uint8_t)result - 1);
+    else
+      return ((uint8_t)result);    
+  }
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the STALL_TH register value into mA.
+  * 
+  * @param  StallTh     The STALL_TH register value.
+  * @retval mA          The stall detection threshold as mA.
+  */
+float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
+{
+  if (StallTh <= L6470_MAX_STALL_TH)
+    return ((StallTh+1) * ((float)31.25));
+  else
+    return 0;   // Warning
+}
+
+/**
+  * @brief  Convert the stall detection threshold as mA into a right value for STALL_TH register.
+  * 
+  * @param  mA          The stall detection threshold as mA.
+  * @retval StallTh     The STALL_TH register value.
+  */
+uint8_t L6470::L6470_mA_2_StallTh(float mA)
+{
+  float result, decimal;
+  
+  if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
+  {
+    result = (mA / ((float)31.25));
+    decimal = result - (uint8_t)result;
+    
+    if (decimal < (float)0.5)
+      return ((uint8_t)result - 1);
+    else
+      return ((uint8_t)result);    
+  }
+  else
+    return 0;   // Warning
+}
+
+/* End of L6470_Conversion_Functions */
+
+/**
+  * @addtogroup L6470_AppCMDs
+  * @{
+  */
+
+/**
+  * @brief  SetParam command sets the register value equal to a new value.
+  * 
+  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
+  * @param  Value         The new value.
+  */
+void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  GetParam command reads the register value.
+  * 
+  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
+  * 
+  * @retval ReceivedValue The register value.
+  */
+uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
+{
+  uint8_t ValueLengthByte;
+  uint32_t ReceivedValue;
+
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+  
+  ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
+  
+  ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
+  
+  return ReceivedValue;
+}
+
+/**
+  * @brief  Run command produces a motion at fixed speed.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
+  */
+void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  StepClock command switches the device in Step-clock mode.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  */
+void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  Move command produces a motion of N_STEP microsteps.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  N_Step        The number of microsteps.
+  */
+void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  GoTo command produces a motion to ABS_POS absolute position through the shortest path.
+  * 
+  * @param  AbsPos        The target absolute position.
+  */
+void L6470::L6470_GoTo(uint32_t AbsPos)
+{
+  if (AbsPos <= L6470_POSITION_RANGE)
+  {
+    L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
+    L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+    L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+  }
+}
+
+/**
+  * @brief  GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  AbsPos        The target absolute position.
+  */
+void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
+{
+  if (AbsPos <= L6470_POSITION_RANGE)
+  {
+    L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
+    L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+    L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+  }
+}
+
+/**
+  * @brief  GoUntil command produces a motion at fixed speed imposing a direction
+  *         until an external switch turn-on event occurs.
+  * 
+  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
+  */
+void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  ReleaseSW command produces a motion at minimum speed imposing a direction
+  *         until SW is released.
+  * 
+  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  */
+void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  GoHome command produces a motion to the HOME position (zero position)
+  *         via the shortest path.
+  * 
+  */
+void L6470::L6470_GoHome(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  GoMark command produces a motion to the MARK position performing the
+  *         minimum path.
+  * 
+  */
+void L6470::L6470_GoMark(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  ResetPos command resets the ABS_POS register to zero.
+  * 
+  */
+void L6470::L6470_ResetPos(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  ResetDevice command resets the device to power-up conditions.
+  * 
+  */
+void L6470::L6470_ResetDevice(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  SoftStop command causes an immediate deceleration to zero speed and
+  *         a consequent motor stop; the deceleration value used is the one stored
+  *         in the DEC register.
+  * 
+  */
+void L6470::L6470_SoftStop(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  HardStop command causes an immediate motor stop with infinite deceleration.
+  * 
+  */
+void L6470::L6470_HardStop(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  SoftHiZ command disables the power bridges (high impedance state)
+  *         after a deceleration to zero; the deceleration value used is the one
+  *         stored in the DEC register.
+  * 
+  */
+void L6470::L6470_SoftHiZ(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  HardHiZ command immediately disables the power bridges (high impedance state).
+  * 
+  */
+void L6470::L6470_HardHiZ(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  GetStatus command returns the STATUS register value.
+  * 
+  * 
+  * @retval ReceivedValue The register value.
+  */
+uint16_t L6470::L6470_GetStatus(void)
+{
+  uint16_t ReceivedValue;
+
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+  
+  ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
+  
+  return ReceivedValue;
+}
+
+/* End of L6470_AppCMDs */
+
+/**
+  * @addtogroup L6470_AppCMDs_ToBePrepared
+  * @{
+  */
+
+/**
+  * @brief  Prepare to send @ref L6470_SetParam command.
+  *
+  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
+  * @param  Value         The new value.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GetParam command.
+  *
+  * @param  L6470_Id      The L6470 identifier inside the daisy chain.
+  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
+  *
+  * @retval ReceivedValue The register value.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_Run command.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_StepClock command.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_Move command.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  N_Step        The number of microsteps.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GoTo command.
+  * 
+  * @param  AbsPos        The target absolute position.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GoToDIR command.
+  * 
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  AbsPos        The target absolute position.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GoUntil command.
+  * 
+  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_ReleaseSW.
+  * 
+  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
+  * @param  L6470_DirId   The identifier of the L6470 motion direction.
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GoHome command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGoHome(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GoMark command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGoMark(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_ResetPos command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareResetPos(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_ResetDevice command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareResetDevice(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_SoftStop command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareSoftStop(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_HardStop command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareHardStop(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_SoftHiZ command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareSoftHiZ(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_HardHiZ command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareHardHiZ(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
+}
+
+/**
+  * @brief  Prepare to send @ref L6470_GetStatus command.
+  * 
+  *
+  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
+  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+  */
+void L6470::L6470_PrepareGetStatus(void)
+{
+  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
+}
+
+/* End of L6470_AppCMDs_ToBePrepared */
+
+/**
+  * @brief  Send via SPI the command stored inside the L6470_AppCmdPkg to the
+  *         L6470 daisy chain.
+  * 
+  * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct  The pointer to the structure
+  *         containing returned values from each L6470 of the daisy chain for each
+  *         sent SPI data.
+  */
+uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
+{
+  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+  
+  return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+  * @brief  Send command to the L6470 daisy chain via SPI
+  * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the matrix array of bytes to be sent to the daisy chain L6470
+  * @param  pL6470_DaisyChainSpiRxStruct  Pointer to the matrix array of bytes to be received from the daisy chain L6470
+  */
+void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
+{
+  uint8_t spibyte;
+  
+  L6470_DaisyChain_HalfPrepared = ZERO_F;
+  
+  /* Send all command bytes via SPI */
+  for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
+  {
+    /* Send the command via SPI */
+    L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
+    
+    //_DELAY(TDISCS);
+    uint8_t delay_cnt;
+    for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP();   //!<Simply deselect time delay for SPI nCS
+  }
+}
+
+/**
+  * @brief    Extracts the data returned by the L6470 from the matrix that
+  *           contains the received SPI data.
+  * @param    L6470_Id  The identifier of the L6470 target inside the daisy chain.
+  * @param    pL6470_DaisyChainSpiRxStruct  uint8_t-pointer to the matrix that
+  *           contains the received data by SPI from the L6470 daisy chain.
+  * @param    LengthByte  The number of bytes about the received value.
+  */
+uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
+{
+  uint32_t value;
+  uint8_t i;
+
+  value = 0x000000;
+  for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
+  {
+    value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
+  }
+
+  return value;
+}
+
+/**
+  * @brief  Check the state of a flag inside the L6470 STATUS register.
+  *
+  * @param  L6470_Id  The identifier of the L6470 target inside the daisy chain.
+  * @param  L6470_StatusRegisterFlagId  The identifier of the L6470 STATUS flag to be checked.
+  *
+  * @retval state The flag state.
+  */
+
+uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
+{
+  uint8_t state = 0;
+
+  *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
+  
+  switch(L6470_StatusRegisterFlagId)
+  {
+    case HiZ_ID:
+      state = pL6470_StatusRegister->HiZ;
+      break;
+    case BUSY_ID:
+      state = pL6470_StatusRegister->BUSY;
+      break;
+    case SW_F_ID:
+      state = pL6470_StatusRegister->SW_F;
+      break;
+    case SW_EVN_ID:
+      state = pL6470_StatusRegister->SW_EVN;
+      break;
+    case DIR_ID:
+      state = pL6470_StatusRegister->DIR;
+      break;
+    case MOT_STATUS_ID:
+      state = pL6470_StatusRegister->MOT_STATUS;
+      break;
+    case NOTPERF_CMD_ID:
+      state = pL6470_StatusRegister->NOTPERF_CMD;
+      break;
+    case WRONG_CMD_ID:
+      state = pL6470_StatusRegister->WRONG_CMD;
+      break;
+    case UVLO_ID:
+      state = pL6470_StatusRegister->UVLO;
+      break;
+    case TH_WRN_ID:
+      state = pL6470_StatusRegister->TH_WRN;
+      break;
+    case TH_SD_ID:
+      state = pL6470_StatusRegister->TH_SD;
+      break;
+    case OCD_ID:
+      state = pL6470_StatusRegister->OCD;
+      break;
+    case STEP_LOSS_A_ID:
+      state = pL6470_StatusRegister->STEP_LOSS_A;
+      break;
+    case STEP_LOSS_B_ID:
+      state = pL6470_StatusRegister->STEP_LOSS_B;
+      break;
+    case SCK_MOD_ID:
+      state = pL6470_StatusRegister->SCK_MOD;
+      break;
+  }
+  
+  return state;
+}
+
+/**
+  * @brief  Return the mnemonic name for the L6470 register.
+  * @param  id  The identifier of the L6470 register.
+  */
+uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
+{
+  if (id < L6470REGIDSIZE)
+  {
+    return (uint8_t*)L6470_Register[id].Name;
+  }
+  else
+  {
+    return NULL;
+  }
+}
+
+/**
+  * @brief  Configures the L6470 registers.
+  * @param  init The pointer to the initialization structure.
+  */
+status_t L6470::L6470_Config(void *init)
+{
+  /* Disable the L6470. */
+  L6470_DISABLE();
+
+  /* Enable the L6470. */
+  L6470_ENABLE();
+
+  /* Reset devices. */
+  ResetDevice();
+
+  /* Reset Status Register flags. */
+  GetStatus();
+
+  /* Prepare the 'Register' field of StepperMotorDriverHandle */
+  L6470_init_t *MotorParameterData = (L6470_init_t *) init;
+  StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
+  StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
+  StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
+  StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
+  StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
+  StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
+  StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
+  StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
+  StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
+  StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
+  StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
+  StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
+  StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
+  StepperMotorRegister.K_THERM = MotorParameterData->kterm;
+  StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
+  StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
+  StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
+  StepperMotorRegister.CONFIG = MotorParameterData->config;
+  StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
+
+  /* Write the L6470 registers with the prepared data */
+  L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
+  L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
+  L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
+  L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
+  L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
+  L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
+  L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
+  L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
+  L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
+  L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
+  L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
+  L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
+  L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
+  L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
+  L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
+  L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
+  L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
+  L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
+  if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
+    return COMPONENT_ERROR;
+  
+  return COMPONENT_OK;
+}
+
+/* End of L6470_Exported_Functions */
+
+/* End of L6470 */
+
+/* End of Components */
+
+/* End of BSP */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6470/L6470_def.h	Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,315 @@
+/**
+ ******************************************************************************
+ * @file       L6470_def.h
+ * @date       01/10/2014 12:00:00
+ * @brief      This file contains definitions, exported variables and function
+ *             prototypes related to the L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * 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 __L6470_H
+#define __L6470_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "../Common/microstepping_motor_def.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;
+
+/**
+  * @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.
+ */
+/* 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
+{
+  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;
+
+/** 
+ * @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;
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
+ * @{
+ */
+
+/* ACTION --------------------------------------------------------------------*
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
+ * interrupt related functions), and implement them in a glue-logic file on   *
+ * the target environment, for example within the "x_nucleo_board.c" file.    *
+ * E.g.:                                                                      *
+ *   extern status_t COMPONENT_IO_Init (void *handle);                        *
+ *   extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
+ *   extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
+ *   extern void     COMPONENT_IO_ITConfig(void);                             *
+ *----------------------------------------------------------------------------*/
+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);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __L6470_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- 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****/

--- a/Components/l6470/l6470_class.cpp	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1460 +0,0 @@
-/**
- ******************************************************************************
- * @file       l6470_class.cpp
- * @date       01/10/2014 12:00:00
- * @brief      This file provides set of firmware functions to manage the
- *             L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Revision ------------------------------------------------------------------*/
-/*
-    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
-    Branch/Trunk/Tag: trunk
-    Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
-    Revision:         0
-*/
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "l6470_class.h"
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Number of instantiated devices on an expansion board. */
-uint8_t L6470::number_of_devices = 0;
-
-/* SPI Transmission for Daisy-Chain Configuration. */
-eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
-sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
-uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
-uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
-
-/**
-  * @brief 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)
-  */
-const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
-  {0x01 , "ABS_POS",   22, 3, 0x000000},  //!< Current position
-  {0x02 , "EL_POS",     9, 2, 0x000},     //!< Electrical position
-  {0x03 , "MARK",      22, 3, 0x000000},  //!< Mark position
-  {0x04 , "SPEED",     20, 3, 0x0000},    //!< Current speed
-  {0x05 , "ACC",       12, 2, 0x08A},     //!< Acceleration
-  {0x06 , "DEC",       12, 2, 0x08A},     //!< Deceleration
-  {0x07 , "MAX_SPEED", 10, 2, 0x041},     //!< Maximum speed
-  {0x08 , "MIN_SPEED", 13, 2, 0x000},     //!< Minimum speed
-  {0x15 , "FS_SPD",    10, 2, 0x027},     //!< Full-step speed
-  {0x09 , "KVAL_HOLD",  8, 1, 0x29},      //!< Holding KVAL
-  {0x0A , "KVAL_RUN",   8, 1, 0x29},      //!< Constant speed KVAL
-  {0x0B , "KVAL_ACC",   8, 1, 0x29},      //!< Acceleration starting KVAL
-  {0x0C , "KVAL_DEC",   8, 1, 0x29},      //!< Deceleration starting KVAL
-  {0x0D , "INT_SPEED", 14, 2, 0x0408},    //!< Intersect speed
-  {0x0E , "ST_SLP",     8, 1, 0x19},      //!< Start slope
-  {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      //!< Acceleration final slope
-  {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      //!< Deceleration final slope
-  {0x11 , "K_THERM",    4, 1, 0x0},       //!< Thermal compensation factor
-  {0x12 , "ADC_OUT",    5, 1, 0x00},      //!< ADC output, (the reset value is according to startup conditions)
-  {0x13 , "OCD_TH",     4, 1, 0x8},       //!< OCD threshold
-  {0x14 , "STALL_TH",   7, 1, 0x40},      //!< STALL threshold
-  {0x16 , "STEP_MODE",  8, 1, 0x7},       //!< Step mode
-  {0x17 , "ALARM_EN",   8, 1, 0xFF},      //!< Alarm enable
-  {0x18 , "CONFIG",    16, 2, 0x2E88},    //!< IC configuration
-  {0x19 , "STATUS",    16, 2, 0x0000}     //!< Status, (the reset value is according to startup conditions)
-};
-
-/**
-  * @brief 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)
-  */
-const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] =  {
-  {"NOP",         0x00, 0},
-  {"SETPARAM",    0x00, 2},
-  {"GETPARAM",    0x20, 1},
-  {"RUN",         0x50, 2},
-  {"STEPCLOCK",   0x58, 1},
-  {"MOVE",        0x40, 2},
-  {"GOTO",        0x60, 1},
-  {"GOTO_DIR",    0x68, 2},
-  {"GOUNTIL",     0x82, 3},
-  {"RELEASESW",   0x92, 2},
-  {"GOHOME",      0x70, 0},
-  {"GOMARK",      0x78, 0},
-  {"RESETPOS",    0xD8, 0},
-  {"RESETDEVICE", 0xC0, 0},
-  {"SOFTSTOP",    0xB0, 0},
-  {"HARDSTOP",    0xB8, 0},
-  {"SOFTHIZ",     0xA0, 0},
-  {"HARDHIZ",     0xA8, 0},
-  {"GETSTATUS",   0xD0, 0}
-};
-
-/**
-  * @brief The mnemonic names for the L6470 direction
-  */
-const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
-  {"REV", 0x00},  //!< Reverse direction
-  {"FWD", 0x01}   //!< Forward direction
-};
-
-/**
-  * @brief Action taken about ABS_POS register
-  */
-const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
-  {"RST", 0x00},  //!< ABS_POS register is reset
-  {"CPY", 0x01}   //!< ABS_POS register value is copied into the MARK register
-};
-
-/* End of L6470_Private_Constants */
-
-/**
-  * @defgroup   L6470_Private_Variables
-  * @brief      L6470 Private Variables.
-  * @{
-  */
-
-/* End of L6470_Private_Variables */
-
-
-/**
-  * @addtogroup L6470_Private_Functions
-  * @{
-  */
-
-
-/* Methods -------------------------------------------------------------------*/
-
-/**
-  * @brief  Reset the structure used to store the identifier of the L6470
-  *         application command and its the needed parameters.
-  * @param  pL6470_AppCmdPkg   The structure to be reset.
-  */
-void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
-{
-  uint8_t id;
-  
-  for(id=0; id<L6470DAISYCHAINSIZE; id++)
-  {
-    (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
-    (pL6470_AppCmdPkg+id)->p1=0;
-    (pL6470_AppCmdPkg+id)->p2=0;
-    (pL6470_AppCmdPkg+id)->p3=0;
-  }
-}
-
-/**
-  * @brief  Fill the structure used to store the identifier of the L6470
-  *         application command and its the needed parameters.
-  * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
-  * @param  pL6470_AppCmdPkg  The structure to be filled.
-  * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
-  * @param  p1                The 1st parameter (if it is not needed it will be not considered).
-  * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
-  * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
-  */
-void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
-{
-  (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
-  (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
-  (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
-  (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
-}
-
-/**
-  * @brief  This function will fill the column of the L6470_AppCmdPkg related
-  *         the L6470 to be addressed inside the daisy chain.
-  *
-  * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
-  * @param  pL6470_AppCmdPkg  Pointer to the sL6470_AppCmdPkg_t to be filled.
-  * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
-  * @param  p1                The 1st parameter (if it is not needed it will be not considered).
-  * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
-  * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
-  */
-void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
-{
-  if(!L6470_DaisyChain_HalfPrepared)
-  {
-    L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
-    L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
-  }
-  
-  L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
-}
-
-/**
-  * @brief  This function will translate the data inside the L6470_AppCmdPkg into
-  *         the right data to be sent via SPI to the L6470 daisy chain.
-  *
-  * @param  pL6470_AppCmdPkg              Pointer to the sL6470_AppCmdPkg_t to be filled.
-  * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the structure used by SPI to send the commands.
-  */
-void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
-{
-  uint8_t PkgId;
-  uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
-  uint8_t spibyte;
-  
-  /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
-  uint8_t i = 0;
-  for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
-    for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
-      *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
-
-  for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
-  {
-    /* Build the 1st bytes to transmit with the binary code of the command */
-    *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
-    
-    /* Perform the related L6470_AppCmdId */
-    switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
-    {
-    case L6470_NOP_ID:
-      break;
-    case L6470_SETPARAM_ID:
-      /* Build the 1st bytes to transmit (PARAM) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
-      
-      /* The length, in byte, of this register (PARAM) is... */
-      PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
-      
-      /* Build the others bytes to transmit (VALUE) */
-      for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
-      }
-      break;
-    case L6470_GETPARAM_ID:
-      /* Build the 1st bytes to transmit (PARAM) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
-      break;
-    case L6470_RUN_ID:
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-      
-      /* Build the others bytes to transmit (SPD) */
-      for (spibyte=1; spibyte<(3+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
-      }
-      break;
-    case L6470_STEPCLOCK_ID:
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-      break;
-    case L6470_MOVE_ID:
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-      
-      /* Build the others bytes to transmit (N_STEP) */
-      for (spibyte=1; spibyte<(3+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
-      }      
-      break;
-    case L6470_GOTO_ID:
-      /* Build the others bytes to transmit (ABS_POS) */
-      for (spibyte=1; spibyte<(3+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
-      }
-      break;
-    case L6470_GOTODIR_ID:
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-      
-      /* Build the others bytes to transmit (ABS_POS) */
-      for (spibyte=1; spibyte<(3+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
-      }
-      break;
-    case L6470_GOUNTIL_ID:
-      /* Build the 1st bytes to transmit (ACT) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
-      
-      /* Build the others bytes to transmit (SPD) */
-      for (spibyte=1; spibyte<(3+1); spibyte++)
-      {
-        *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
-      }
-      break;
-    case L6470_RELEASESW_ID:
-      /* Build the 1st bytes to transmit (ACT) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
-      /* Build the 1st bytes to transmit (DIR) */
-      *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
-      break;
-    case L6470_GOHOME_ID:
-      break;
-    case L6470_GOMARK_ID:
-      break;
-    case L6470_RESETPOS_ID:
-      break;
-    case L6470_RESETDEVICE_ID:
-      break;
-    case L6470_SOFTSTOP_ID:
-      break;
-    case L6470_HARDSTOP_ID:
-      break;
-    case L6470_SOFTHIZ_ID:
-      break;
-    case L6470_HARDHIZ_ID:
-      break;
-    case L6470_GETSTATUS_ID:
-      break;
-    }
-  }
-}
-
-/* End of L6470_Private_Functions */
-
-/**
-  * @addtogroup L6470_Exported_Functions
-  * @{
-  */
-
-/**
-  * @addtogroup L6470_Conversion_Functions
-  * @brief      The following functions act just on one driver inside the L6470
-  *             daisy chain. The command is immediately sent.
-  * @{
-  */
-
- /**
-  * @brief  Convert the absolute position as 2's complement format into the signed number.
-  * 
-  * @param  AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
-  * @retval Position    The position as signed number.
-  */
-int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
-{
-  if (AbsPos > L6470_MAX_POSITION)
-    return (AbsPos - (L6470_POSITION_RANGE + 1));
-  else
-    return AbsPos;
-}
-
-/**
-  * @brief  Convert the position as signed number into absolute position as 2's complement format.
-  * 
-  * @param  Position    The position as signed number.
-  * @retval AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
-  */
-uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
-{
-  if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
-    return Position;
-  else
-  {
-    if ((Position >= L6470_MIN_POSITION) && (Position < 0))
-      return (Position + (L6470_POSITION_RANGE + 1));
-    else
-      return (L6470_POSITION_RANGE + 1);        // OVF
-  }
-}
-
-/**
-  * @brief  Convert the SPEED register value into step/s.
-  * 
-  * @param  Speed       The SPEED register value.
-  * @retval step/s      The speed as step/s.
-  */
-float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
-{
-  return (Speed * ((float)14.9012e-3));
-}
-
-/**
-  * @brief  Convert the speed as step/s into a right value for SPEED register.
-  * 
-  * @param  step/s      The speed as step/s.
-  * @retval Speed       The SPEED register value.
-  */
-uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
-{
-  if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
-    return (uint32_t)(Step_s / ((float)14.9012e-3));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the ACC register value into step/(s^2).
-  * 
-  * @param  Acc         The ACC register value.
-  * @retval step/(s^2)  The acceleration as step/(s^2).
-  */
-float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
-{
-  if (Acc <= L6470_MAX_ACC)
-    return (Acc * ((float)1.4552e1));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the acceleartion as step/(s^2) into a right value for ACC register.
-  * 
-  * @param  step/(s^2)  The acceleration as step/(s^2).
-  * @retval Acc         The ACC register value.
-  */
-uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
-{
-  if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
-    return (uint16_t)(Step_s2 / ((float)1.4552e1));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the DEC register value into step/(s^2).
-  * 
-  * @param  Dec         The DEC register value.
-  * @retval step/(s^2)  The deceleration as step/(s^2).
-  */
-float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
-{
-  if (Dec <= L6470_MAX_DEC)
-    return (Dec * ((float)1.4552e1));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the deceleration as step/(s^2) into a right value for DEC register.
-  * 
-  * @param  step/(s^2)  The deceleration as step/(s^2).
-  * @retval Dec         The DEC register value.
-  */
-uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
-{
-  if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
-    return (uint16_t)(Step_s2 / ((float)1.4552e1));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the MAX_SPEED register value into step/s.
-  * 
-  * @param  MaxSpeed    The MAX_SPEED register value.
-  * @retval step/s      The max speed as step/s.
-  */
-float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
-{
-  if (MaxSpeed <= L6470_MAX_MAX_SPEED)
-    return (MaxSpeed * ((float)15.2588));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the max speed as step/s into a right value for MAX_SPEED register.
-  * 
-  * @param  step/s      The max speed as step/s.
-  * @retval MaxSpeed    The MAX_SPEED register value.
-  */
-uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
-{
-  if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
-    return (uint16_t)(Step_s / ((float)15.2588));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the MIN_SPEED register value into step/s.
-  * 
-  * @param  MinSpeed    The MIN_SPEED register value.
-  * @retval step/s      The min speed as step/s.
-  */
-float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
-{
-  if (MinSpeed <= L6470_MAX_MIN_SPEED)
-    return (MinSpeed * ((float)238.4186e-3));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the min speed as step/s into a right value for MIN_SPEED register.
-  * 
-  * @param  step/s      The min speed as step/s.
-  * @retval MinSpeed    The MIN_SPEED register value.
-  */
-uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
-{
-  if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
-    return (uint16_t)(Step_s / ((float)238.4186e-3));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the FS_SPD register value into step/s.
-  * 
-  * @param  FsSpd       The FS_SPD register value.
-  * @retval step/s      The full-step speed as step/s.
-  */
-float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
-{
-  if (FsSpd <= L6470_MAX_FS_SPD)
-    return ((FsSpd+0.5) * ((float)15.25));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the full-step speed as step/s into a right value for FS_SPD register.
-  * 
-  * @param  step/s      The full-step speed as step/s.
-  * @retval FsSpd       The FS_SPD register value.
-  */
-uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
-{
-  if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
-    return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the INT_SPEED register value into step/s.
-  * 
-  * @param  IntSpeed    The INT_SPEED register value.
-  * @retval step/s      The intersect speed as step/s.
-  */
-float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
-{
-  if (IntSpeed <= L6470_MAX_INT_SPEED)
-    return (IntSpeed * ((float)59.6046e-3));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
-  * 
-  * @param  step/s      The full-step speed as step/s.
-  * @retval FsSpd       The FS_SPD register value.
-  */
-uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
-{
-  if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
-    return (uint16_t)(Step_s / ((float)59.6046e-3));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the ST_SLP register value into s/step.
-  * 
-  * @param  StartSlope  The ST_SLP register value.
-  * @retval s/step      The start slope as s/step.
-  */
-float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
-{
-//  if (StSlp <= L6470_MAX_ST_SLP)
-    return (StSlp * ((float)1.5686e-5));
-//  else
-//    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
-  * 
-  * @param  step/s      The full-step speed as step/s.
-  * @retval FsSpd       The FS_SPD register value.
-  */
-uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
-{
-  if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
-    return (uint8_t)(s_Step / ((float)1.5686e-5));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the INT_SPEED register value into step/s.
-  * 
-  * @param  IntSpeed    The INT_SPEED register value.
-  * @retval step/s      The intersect speed as step/s.
-  */
-float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
-{
-//  if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
-    return (FnSlpAcc * ((float)1.5686e-5));
-//  else
-//    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
-  * 
-  * @param  step/s      The full-step speed as step/s.
-  * @retval FsSpd       The FS_SPD register value.
-  */
-uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
-{
-  if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
-    return (uint8_t)(s_Step / ((float)1.5686e-5));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the INT_SPEED register value into step/s.
-  * 
-  * @param  IntSpeed    The INT_SPEED register value.
-  * @retval step/s      The intersect speed as step/s.
-  */
-float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
-{
-//  if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
-    return (FnSlpDec * ((float)1.5686e-5));
-//  else
-//    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
-  * 
-  * @param  step/s      The full-step speed as step/s.
-  * @retval FsSpd       The FS_SPD register value.
-  */
-uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
-{
-  if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
-    return (uint8_t)(s_Step / ((float)1.5686e-5));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the OCD_TH register value into mA.
-  * 
-  * @param  OcdTh       The OCD_TH register value.
-  * @retval mA          The overcurrent threshold as mA.
-  */
-float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
-{
-  if (OcdTh <= L6470_MAX_OCD_TH)
-    return ((OcdTh+1) * ((float)375));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the overcurrent threshold as mA into a right value for OCD_TH register.
-  * 
-  * @param  mA          The overcurrent threshold as mA.
-  * @retval OcdTh       The OCD_TH register value.
-  */
-uint8_t L6470::L6470_mA_2_OcdTh(float mA)
-{
-  float result, decimal;
-  
-  if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
-  {
-    result = (mA / ((float)375));
-    decimal = result - (uint8_t)result;
-    
-    if (decimal < (float)0.5)
-      return ((uint8_t)result - 1);
-    else
-      return ((uint8_t)result);    
-  }
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the STALL_TH register value into mA.
-  * 
-  * @param  StallTh     The STALL_TH register value.
-  * @retval mA          The stall detection threshold as mA.
-  */
-float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
-{
-  if (StallTh <= L6470_MAX_STALL_TH)
-    return ((StallTh+1) * ((float)31.25));
-  else
-    return 0;   // Warning
-}
-
-/**
-  * @brief  Convert the stall detection threshold as mA into a right value for STALL_TH register.
-  * 
-  * @param  mA          The stall detection threshold as mA.
-  * @retval StallTh     The STALL_TH register value.
-  */
-uint8_t L6470::L6470_mA_2_StallTh(float mA)
-{
-  float result, decimal;
-  
-  if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
-  {
-    result = (mA / ((float)31.25));
-    decimal = result - (uint8_t)result;
-    
-    if (decimal < (float)0.5)
-      return ((uint8_t)result - 1);
-    else
-      return ((uint8_t)result);    
-  }
-  else
-    return 0;   // Warning
-}
-
-/* End of L6470_Conversion_Functions */
-
-/**
-  * @addtogroup L6470_AppCMDs
-  * @{
-  */
-
-/**
-  * @brief  SetParam command sets the register value equal to a new value.
-  * 
-  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
-  * @param  Value         The new value.
-  */
-void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  GetParam command reads the register value.
-  * 
-  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
-  * 
-  * @retval ReceivedValue The register value.
-  */
-uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
-{
-  uint8_t ValueLengthByte;
-  uint32_t ReceivedValue;
-
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-  
-  ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
-  
-  ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
-  
-  return ReceivedValue;
-}
-
-/**
-  * @brief  Run command produces a motion at fixed speed.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
-  */
-void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  StepClock command switches the device in Step-clock mode.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  */
-void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  Move command produces a motion of N_STEP microsteps.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  N_Step        The number of microsteps.
-  */
-void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  GoTo command produces a motion to ABS_POS absolute position through the shortest path.
-  * 
-  * @param  AbsPos        The target absolute position.
-  */
-void L6470::L6470_GoTo(uint32_t AbsPos)
-{
-  if (AbsPos <= L6470_POSITION_RANGE)
-  {
-    L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
-    L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-    L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-  }
-}
-
-/**
-  * @brief  GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  AbsPos        The target absolute position.
-  */
-void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
-{
-  if (AbsPos <= L6470_POSITION_RANGE)
-  {
-    L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
-    L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-    L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-  }
-}
-
-/**
-  * @brief  GoUntil command produces a motion at fixed speed imposing a direction
-  *         until an external switch turn-on event occurs.
-  * 
-  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
-  */
-void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  ReleaseSW command produces a motion at minimum speed imposing a direction
-  *         until SW is released.
-  * 
-  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  */
-void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  GoHome command produces a motion to the HOME position (zero position)
-  *         via the shortest path.
-  * 
-  */
-void L6470::L6470_GoHome(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  GoMark command produces a motion to the MARK position performing the
-  *         minimum path.
-  * 
-  */
-void L6470::L6470_GoMark(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  ResetPos command resets the ABS_POS register to zero.
-  * 
-  */
-void L6470::L6470_ResetPos(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  ResetDevice command resets the device to power-up conditions.
-  * 
-  */
-void L6470::L6470_ResetDevice(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  SoftStop command causes an immediate deceleration to zero speed and
-  *         a consequent motor stop; the deceleration value used is the one stored
-  *         in the DEC register.
-  * 
-  */
-void L6470::L6470_SoftStop(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  HardStop command causes an immediate motor stop with infinite deceleration.
-  * 
-  */
-void L6470::L6470_HardStop(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  SoftHiZ command disables the power bridges (high impedance state)
-  *         after a deceleration to zero; the deceleration value used is the one
-  *         stored in the DEC register.
-  * 
-  */
-void L6470::L6470_SoftHiZ(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  HardHiZ command immediately disables the power bridges (high impedance state).
-  * 
-  */
-void L6470::L6470_HardHiZ(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  GetStatus command returns the STATUS register value.
-  * 
-  * 
-  * @retval ReceivedValue The register value.
-  */
-uint16_t L6470::L6470_GetStatus(void)
-{
-  uint16_t ReceivedValue;
-
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-  
-  ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
-  
-  return ReceivedValue;
-}
-
-/* End of L6470_AppCMDs */
-
-/**
-  * @addtogroup L6470_AppCMDs_ToBePrepared
-  * @{
-  */
-
-/**
-  * @brief  Prepare to send @ref L6470_SetParam command.
-  *
-  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
-  * @param  Value         The new value.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GetParam command.
-  *
-  * @param  L6470_Id      The L6470 identifier inside the daisy chain.
-  * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
-  *
-  * @retval ReceivedValue The register value.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_Run command.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_StepClock command.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_Move command.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  N_Step        The number of microsteps.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GoTo command.
-  * 
-  * @param  AbsPos        The target absolute position.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GoToDIR command.
-  * 
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  AbsPos        The target absolute position.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GoUntil command.
-  * 
-  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_ReleaseSW.
-  * 
-  * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
-  * @param  L6470_DirId   The identifier of the L6470 motion direction.
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GoHome command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGoHome(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GoMark command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGoMark(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_ResetPos command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareResetPos(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_ResetDevice command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareResetDevice(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_SoftStop command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareSoftStop(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_HardStop command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareHardStop(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_SoftHiZ command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareSoftHiZ(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_HardHiZ command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareHardHiZ(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
-}
-
-/**
-  * @brief  Prepare to send @ref L6470_GetStatus command.
-  * 
-  *
-  * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
-  * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
-  */
-void L6470::L6470_PrepareGetStatus(void)
-{
-  L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
-}
-
-/* End of L6470_AppCMDs_ToBePrepared */
-
-/**
-  * @brief  Send via SPI the command stored inside the L6470_AppCmdPkg to the
-  *         L6470 daisy chain.
-  * 
-  * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct  The pointer to the structure
-  *         containing returned values from each L6470 of the daisy chain for each
-  *         sent SPI data.
-  */
-uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
-{
-  L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
-  L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-  
-  return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
-}
-
-/**
-  * @brief  Send command to the L6470 daisy chain via SPI
-  * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the matrix array of bytes to be sent to the daisy chain L6470
-  * @param  pL6470_DaisyChainSpiRxStruct  Pointer to the matrix array of bytes to be received from the daisy chain L6470
-  */
-void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
-{
-  uint8_t spibyte;
-  
-  L6470_DaisyChain_HalfPrepared = ZERO_F;
-  
-  /* Send all command bytes via SPI */
-  for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
-  {
-    /* Send the command via SPI */
-    L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
-    
-    //_DELAY(TDISCS);
-    uint8_t delay_cnt;
-    for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP();   //!<Simply deselect time delay for SPI nCS
-  }
-}
-
-/**
-  * @brief    Extracts the data returned by the L6470 from the matrix that
-  *           contains the received SPI data.
-  * @param    L6470_Id  The identifier of the L6470 target inside the daisy chain.
-  * @param    pL6470_DaisyChainSpiRxStruct  uint8_t-pointer to the matrix that
-  *           contains the received data by SPI from the L6470 daisy chain.
-  * @param    LengthByte  The number of bytes about the received value.
-  */
-uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
-{
-  uint32_t value;
-  uint8_t i;
-
-  value = 0x000000;
-  for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
-  {
-    value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
-  }
-
-  return value;
-}
-
-/**
-  * @brief  Check the state of a flag inside the L6470 STATUS register.
-  *
-  * @param  L6470_Id  The identifier of the L6470 target inside the daisy chain.
-  * @param  L6470_StatusRegisterFlagId  The identifier of the L6470 STATUS flag to be checked.
-  *
-  * @retval state The flag state.
-  */
-
-uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
-{
-  uint8_t state = 0;
-
-  *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
-  
-  switch(L6470_StatusRegisterFlagId)
-  {
-    case HiZ_ID:
-      state = pL6470_StatusRegister->HiZ;
-      break;
-    case BUSY_ID:
-      state = pL6470_StatusRegister->BUSY;
-      break;
-    case SW_F_ID:
-      state = pL6470_StatusRegister->SW_F;
-      break;
-    case SW_EVN_ID:
-      state = pL6470_StatusRegister->SW_EVN;
-      break;
-    case DIR_ID:
-      state = pL6470_StatusRegister->DIR;
-      break;
-    case MOT_STATUS_ID:
-      state = pL6470_StatusRegister->MOT_STATUS;
-      break;
-    case NOTPERF_CMD_ID:
-      state = pL6470_StatusRegister->NOTPERF_CMD;
-      break;
-    case WRONG_CMD_ID:
-      state = pL6470_StatusRegister->WRONG_CMD;
-      break;
-    case UVLO_ID:
-      state = pL6470_StatusRegister->UVLO;
-      break;
-    case TH_WRN_ID:
-      state = pL6470_StatusRegister->TH_WRN;
-      break;
-    case TH_SD_ID:
-      state = pL6470_StatusRegister->TH_SD;
-      break;
-    case OCD_ID:
-      state = pL6470_StatusRegister->OCD;
-      break;
-    case STEP_LOSS_A_ID:
-      state = pL6470_StatusRegister->STEP_LOSS_A;
-      break;
-    case STEP_LOSS_B_ID:
-      state = pL6470_StatusRegister->STEP_LOSS_B;
-      break;
-    case SCK_MOD_ID:
-      state = pL6470_StatusRegister->SCK_MOD;
-      break;
-  }
-  
-  return state;
-}
-
-/**
-  * @brief  Return the mnemonic name for the L6470 register.
-  * @param  id  The identifier of the L6470 register.
-  */
-uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
-{
-  if (id < L6470REGIDSIZE)
-  {
-    return (uint8_t*)L6470_Register[id].Name;
-  }
-  else
-  {
-    return NULL;
-  }
-}
-
-/**
-  * @brief  Configures the L6470 registers.
-  * @param  init The pointer to the initialization structure.
-  */
-Status_t L6470::L6470_Config(void *init)
-{
-  /* Disable the L6470. */
-  L6470_DISABLE();
-
-  /* Enable the L6470. */
-  L6470_ENABLE();
-
-  /* Reset devices. */
-  ResetDevice();
-
-  /* Reset Status Register flags. */
-  GetStatus();
-
-  /* Prepare the 'Register' field of StepperMotorDriverHandle */
-  L6470_Init_t *MotorParameterData = (L6470_Init_t *) init;
-  StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
-  StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
-  StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
-  StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
-  StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
-  StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
-  StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
-  StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
-  StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
-  StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
-  StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
-  StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
-  StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
-  StepperMotorRegister.K_THERM = MotorParameterData->kterm;
-  StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
-  StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
-  StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
-  StepperMotorRegister.CONFIG = MotorParameterData->config;
-  StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
-
-  /* Write the L6470 registers with the prepared data */
-  L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
-  L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
-  L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
-  L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
-  L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
-  L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
-  L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
-  L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
-  L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
-  L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
-  L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
-  L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
-  L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
-  L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
-  L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
-  L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
-  L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
-  L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
-  if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
-    return COMPONENT_ERROR;
-  
-  return COMPONENT_OK;
-}
-
-/* End of L6470_Exported_Functions */
-
-/* End of L6470 */
-
-/* End of Components */
-
-/* End of BSP */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/l6470/l6470_class.h	Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1584 +0,0 @@
-/**
- ******************************************************************************
- * @file    l6470_class.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
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Revision ------------------------------------------------------------------*/
-/*
-    Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
-    Branch/Trunk/Tag: trunk
-    Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
-    Revision:         0
-*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __L6470_CLASS_H
-#define __L6470_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files.                               *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevSPI.h"
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here component specific header files.                              *
- *----------------------------------------------------------------------------*/
-#include "l6470.h"
-/* ACTION 3 ------------------------------------------------------------------*
- * Include here interface specific header files.                              *
- *                                                                            *
- * Example:                                                                   *
- *   #include "HumiditySensor.h"                                              *
- *   #include "TemperatureSensor.h"                                           *
- *----------------------------------------------------------------------------*/
-#include "StepperMotor.h"
-
-
-/* Classes -------------------------------------------------------------------*/
-
-/**
- * @brief Class representing a L6470 component.
- */
-class L6470 : public StepperMotor
-{
-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 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) {}
-
-
-    /*** 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 GetValue(float *f)  //(1)                                *
-     *   {                                                                    *
-     *     return COMPONENT_GetValue(float *f);                               *
-     *   }                                                                    *
-     *                                                                        *
-     *   virtual int EnableFeature(void) //(2)                                *
-     *   {                                                                    *
-     *     return COMPONENT_EnableFeature();                                  *
-     *   }                                                                    *
-     *------------------------------------------------------------------------*/
-    /**
-     * @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 ReadID(uint8_t *id)
-    {
-        return (int) 0;
-    }
-
-    /**
-     * @brief  Getting the status.
-     * @param  None.
-     * @retval The status.
-     */
-    virtual unsigned int GetStatus(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 GetParameter(unsigned int parameter)
-    {
-        return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
-    }
-
-    /**
-     * @brief  Getting the position.
-     * @param  None.
-     * @retval The position.
-     */
-    virtual signed int GetPosition(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 GetMark(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 GetSpeed(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 GetMaxSpeed(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 GetMinSpeed(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 GetAcceleration(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 GetDeceleration(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 GetDirection(void)
-    {
-        return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
-    }
-
-    /**
-     * @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 SoftHiZ() 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 SetParameter(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 SetHome(void)
-    {
-        L6470_ResetPos();
-    }
-
-    /**
-     * @brief  Setting the current position to be the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetMark(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 SetMark(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 SetMaxSpeed(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 SetMinSpeed(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 SetAcceleration(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 SetDeceleration(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 SoftHiZ() method.
-     * @warning Every time step mode is changed, the values of the home
-     *          and mark positions lose meaning and are reset.
-     */
-    virtual bool SetStepMode(step_mode_t step_mode)
-    {
-        if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128) {
-            return false;
-        }
-        SoftHiZ();
-        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 GoTo(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 GoTo(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 GoHome(void)
-    {
-        L6470_GoHome();
-    }
-
-    /**
-     * @brief  Going to the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoMark(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 GoUntil(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 SoftStop(void)
-    {
-        L6470_SoftStop();
-    }
-
-    /**
-     * @brief  Stopping the motor through an immediate infinite deceleration.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardStop(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 SoftHiZ(void)
-    {
-        L6470_SoftHiZ();
-    }
-
-    /**
-     * @brief  Disabling the power bridge immediately.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardHiZ(void)
-    {
-        L6470_HardHiZ();
-    }
-
-    /**
-     * @brief  Waiting while the motor is active.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void WaitWhileActive(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 SoftHiZ() method.
-     */
-    virtual void StepClock(direction_t direction)
-    {
-        SoftHiZ();
-        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 ReleaseSW(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 ResetDevice(void)
-    {
-        L6470_ResetDevice();
-    }
-
-    /**
-     * @brief  Preparing the command to get the status.
-     * @param  None.
-     * @retval None.
-     * @note   The command will be sent by issuing "PerformAction()".
-     */
-    virtual void PrepareGetStatus(void)
-    {
-        L6470_PrepareGetStatus();
-        prepared_action = PREPARED_NO_ACTION;
-    }
-
-    /**
-     * @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 "PerformAction()".
-     *         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 PrepareGetParameter(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 "PerformAction()".
-     */
-    virtual void PrepareGetPosition(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 "PerformAction()".
-     */
-    virtual void PrepareGetMark(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 "PerformAction()".
-     */
-    virtual void PrepareGetSpeed(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 "PerformAction()".
-     */
-    virtual void PrepareGetMaxSpeed(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 "PerformAction()".
-     */
-    virtual void PrepareGetMinSpeed(void)
-    {
-        L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
-        prepared_action = PREPARED_GET_MIN_SPEED;
-    }
-
-    /**
-     * @brief  Preparing the command to get the acceleration in pps^2.
-     * @param  None.
-     * @retval None.
-     * @note   The command will be sent by issuing "PerformAction()".
-     */
-    virtual void PrepareGetAcceleration(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 "PerformAction()".
-     */
-    virtual void PrepareGetDeceleration(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 "PerformAction()".
-     */
-    virtual void PrepareGetDirection(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 "PerformAction()".
-     *         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 SoftHiZ() 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 PrepareSetParameter(unsigned int parameter, unsigned int value)
-    {
-        L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
-        prepared_action = PREPARED_NO_ACTION;
-    }
-
-    /**
-     * @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 "PerformAction()".
-     */
-    virtual void PrepareSetHome(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 "PerformAction()".
-     */
-    virtual void PrepareSetMark(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 "PerformAction()".
-     */
-    virtual void PrepareSetMark(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 "PerformAction()".
-     */
-    virtual void PrepareSetSpeed(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 "PerformAction()".
-     */
-    virtual void PrepareSetMaxSpeed(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 "PerformAction()".
-     */
-    virtual void PrepareSetMinSpeed(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 "PerformAction()".
-     */
-    virtual void PrepareSetAcceleration(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 "PerformAction()".
-     */
-    virtual void PrepareSetDeceleration(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 "PerformAction()".
-     */
-    virtual void PrepareGoTo(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 "PerformAction()".
-     */
-    virtual void PrepareGoTo(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 "PerformAction()".
-     */
-    virtual void PrepareGoHome(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 "PerformAction()".
-     */
-    virtual void PrepareGoMark(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 "PerformAction()".
-     *         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 PrepareGoUntil(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 "PerformAction()".
-     */
-    virtual void PrepareRun(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 "PerformAction()".
-     */
-    virtual void PrepareRun(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 "PerformAction()".
-     */
-    virtual void PrepareMove(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 "PerformAction()".
-     */
-    virtual void PrepareSoftStop(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 "PerformAction()".
-     */
-    virtual void PrepareHardStop(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 "PerformAction()".
-     */
-    virtual void PrepareSoftHiZ(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 "PerformAction()".
-     */
-    virtual void PrepareHardHiZ(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 SoftHiZ() method.
-     * @note    The command will be sent by issuing "PerformAction()".
-     */
-    virtual void PrepareStepClock(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 "PerformAction()".
-      *         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 PrepareReleaseSW(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 "PerformAction()".
-      */
-    virtual void PrepareResetDevice(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* PerformPreparedActions(void)
-    {
-        return L6470_PerformPreparedApplicationCommand();
-    }
-
-    /**
-      * @brief    Getting the prepared action.
-      * @param    None
-      * @retval   The prepared action.
-      */
-    prepared_action_t GetPreparedAction(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 GetResult(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);
-
-            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.fall(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 AttachFeatureIRQ(void (*fptr) (void))                           *
-     *   {                                                                    *
-     *     feature_irq.fall(fptr);                                            *
-     *   }                                                                    *
-     *                                                                        *
-     *   void EnableFeatureIRQ(void)                                          *
-     *   {                                                                    *
-     *     feature_irq.enable_irq();                                          *
-     *   }                                                                    *
-     *                                                                        *
-     *   void DisableFeatureIRQ(void)                                         *
-     *   {                                                                    *
-     *     feature_irq.disable_irq();                                         *
-     *   }                                                                    *
-     *------------------------------------------------------------------------*/
-    /**
-     * @brief  Attaching an interrupt handler to the FLAG interrupt.
-     * @param  fptr An interrupt handler.
-     * @retval None.
-     */
-    void AttachFlagIRQ(void (*fptr)(void))
-    {
-        flag_irq.fall(fptr);
-    }
-    
-    /**
-     * @brief  Enabling the FLAG interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void EnableFlagIRQ(void)
-    {
-        flag_irq.enable_irq();
-    }
-    
-    /**
-     * @brief  Disabling the FLAG interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void DisableFlagIRQ(void)
-    {
-        flag_irq.disable_irq();
-    }
-
-    /**
-     * @brief  Attaching an interrupt handler to the BUSY interrupt.
-     * @param  fptr An interrupt handler.
-     * @retval None.
-     */
-    void AttachBusyIRQ(void (*fptr)(void))
-    {
-        busy_irq.fall(fptr);
-    }
-    
-    /**
-     * @brief  Enabling the BUSY interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void EnableBusyIRQ(void)
-    {
-        busy_irq.enable_irq();
-    }
-
-    /**
-     * @brief  Disabling the BUSY interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void DisableBusyIRQ(void)
-    {
-        busy_irq.disable_irq();
-    }
-
-
-protected:
-
-    /*** Protected Component Related Methods ***/
-
-    /* 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_GetValue(float *f);   //(1)                       *
-     *   Status_t COMPONENT_EnableFeature(void);  //(2)                       *
-     *   Status_t COMPONENT_ComputeAverage(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_SoftHiZ(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_PrepareSoftHiZ(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****/