Motor Control Library

Diff: Components/l6206/l6206.h

Revision:

4:24158c44f02e

Parent:

1:2597a6165252

diff -r b06e38d365d7 -r 24158c44f02e Components/l6206/l6206.h
--- a/Components/l6206/l6206.h	Tue Jun 14 12:14:28 2016 +0000
+++ b/Components/l6206/l6206.h	Fri Mar 24 10:59:06 2017 +0100
@@ -1,15 +1,15 @@
 /**
   ******************************************************************************
-  * @file    l6206.h 
+  * @file    L6206.h
   * @author  IPC Rennes
-  * @version V1.2.0
-  * @date    March 30, 2016
-  * @brief   Header for L6206 driver (dual full bridge driver)
-  * @note    (C) COPYRIGHT 2015 STMicroelectronics
+  * @version V1.1.0
+  * @date    March 02, 2016
+  * @brief   L6206 driver (dual full bridge driver)
+  * @note     (C) COPYRIGHT 2015 STMicroelectronics
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+  * <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:
@@ -36,193 +36,800 @@
   ******************************************************************************
   */
 
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __L6206_H
-#define __L6206_H
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
 
-#ifdef __cplusplus
- extern "C" {
-#endif 
+/* Revision ------------------------------------------------------------------*/
+/*
+	Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+	Branch/Trunk/Tag: trunk
+	Based on:         X-CUBE-SPN4/trunk/Drivers/BSP/Components/L6206/L6206.h
+	Revision:         0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6206_CLASS_H
+#define __L6206_CLASS_H
+
 
 /* Includes ------------------------------------------------------------------*/
-#include "l6206_target_config.h"
-#include "../Common/motor.h"
 
-/** @addtogroup BSP
-  * @{
-  */   
-  
-/** @addtogroup Components
-  * @{
-  */  
-   
-/** @addtogroup L6206
-  * @{
-  */   
-   
-/* Exported Constants --------------------------------------------------------*/
-
-/** @defgroup L6206_Exported_Defines L6206 Exported Defines
-  * @{
-  */   
-
-/// Current FW version
-#define L6206_FW_VERSION (0)
-///Max number of Brush DC motors
-#define L6206_NB_MAX_MOTORS (4)
-///Max number of Bridges
-#define L6206_NB_MAX_BRIDGES (2)
-///Max number of input of Bridges
-#define L6206_NB_MAX_BRIDGE_INPUT (2 * L6206_NB_MAX_BRIDGES)
-/// MCU wait time in ms after power bridges are enabled
-#define BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY    (20)
-   
- /**
-  * @}
-  */
-
-     
-/* Exported Types  -------------------------------------------------------*/
-
-/** @defgroup L6206_Exported_Types L6206 Exported Types
-  * @{
-  */   
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/		
+#include "mbed.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files.                              *
+ *----------------------------------------------------------------------------*/		
+#include "L6206.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files.                              *
+ *                                                                            *
+ * Example:                                                                   *
+ *   #include "HumiditySensor.h"                                              *
+ *   #include "TemperatureSensor.h"                                           *
+ *----------------------------------------------------------------------------*/
+#include "BDCMotor.h"
 
 
 
+/* Private constants ---------------------------------------------------------*/
 
-/** @defgroup Initialization_Structure Initialization Structure
+/** @defgroup L6206_Private_Constants L6206 Private Constants
   * @{
   */
 
-typedef struct
-{
-    /// Bridge configuration structure.
-    dualFullBridgeConfig_t config;
+/// The Number of L6206 devices required for initialisation is not supported
+#define L6206_ERROR_0   (0x8000)
+/// Error: Access a motor index greater than the one of the current brigde configuration
+#define L6206_ERROR_1   (0x8001)
+/// Error: Access a motor index which is not bidirectionnal
+#define L6206_ERROR_2   (0x8002)
 
-    /// PWM frequency
-    uint32_t pwmFreq[L6206_NB_MAX_BRIDGE_INPUT];
+/// Maximum frequency of the PWMs in Hz
+#define L6206_MAX_PWM_FREQ   (100000)
+
+/// Minimum frequency of the PWMs in Hz
+#define L6206_MIN_PWM_FREQ   (2)
 
-    /// Motor speed
-    uint16_t speed[L6206_NB_MAX_MOTORS];
-
-    /// Motor direction
-    motorDir_t direction[L6206_NB_MAX_MOTORS];
+/// Bridge Input 1A
+#define INPUT_1A         (0)
+/// Bridge Input 2A
+#define INPUT_2A         (1)
+/// Bridge Input 1B
+#define INPUT_1B         (2)
+/// Bridge Input 2B
+#define INPUT_2B         (3)
 
-    /// Current motor state
-    motorState_t motionState[L6206_NB_MAX_MOTORS];
+/// Bridge A
+#define BRIDGE_A         (0)
+/// Bridge B
+#define BRIDGE_B         (1)
 
-    /// Bridge enabled (true) or not (false)
-    bool bridgeEnabled[L6206_NB_MAX_BRIDGES];
-} deviceParams_t;
 
 
 
 
-typedef deviceParams_t L6206_Init_t;
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6206 component.
+ */
+class L6206 : public BDCMotor
+{
+public:
+
+	/*** Constructor and Destructor Methods ***/
+
+	/**
+	 * @brief Constructor.
+	 */
+	L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : BDCMotor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+	{
+		/* ACTION 4 ----------------------------------------------------------*
+		 * Initialize here the component's member variables, one variable per *
+		 * line.                                                              *
+		 *                                                                    *
+		 * Example:                                                           *
+		 *   measure = 0;                                                     *
+		 *   instance_id = number_of_instances++;                             *
+		 *--------------------------------------------------------------------*/
+		 
+		flagInterruptCallback = 0;
+		errorHandlerCallback = 0;
+		numberOfDevices = 0;
+		deviceInstance = 0;
+	}
+	
+	/**
+	 * @brief Destructor.
+	 */
+	virtual ~L6206(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 = NULL)
+	{
+		return (int) L6206_Init((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 = NULL)
+	{
+		return (int) L6206_ReadId((uint8_t *) id);
+	}
 
 
-/**
-  * @}
-  */
+	/**
+ 	* @brief  Attaches a user callback to the error Handler.
+ 	* The call back will be then called each time the library detects an error
+ 	* @param[in] callback Name of the callback to attach to the error Hanlder
+ 	* @retval None
+ 	*/
+	virtual void attach_error_handler(void (*callback)(uint16_t error))
+	{
+		L6206_AttachErrorHandler((void (*)(uint16_t error)) callback);
+	}
 
 
-/** @defgroup Data_Structure Data Structure
-  * @{
-  */
+	/**
+ 	* @brief  Attaches a user callback to the flag Interrupt
+ 	* The call back will be then called each time the status 
+ 	* flag pin will be pulled down due to the occurrence of 
+ 	* a programmed alarms ( OCD, thermal alert)
+ 	* @param[in] callback Name of the callback to attach 
+ 	* to the Flag Interrupt
+ 	* @retval None
+ 	*/
+	virtual void attach_flag_interrupt(void (*callback)(void))
+	{
+		L6206_attach_flag_interrupt((void (*)(void)) callback);
+	}
+
+	/**
+ 	* @brief  Returns the current speed of the specified motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval current speed in % from 0 to 100
+ 	*/
+	virtual unsigned int get_speed(unsigned int motorId)
+	{
+		return (unsigned int) L6206_GetCurrentSpeed((uint8_t) motorId);
+	}
+
+	/**
+ 	* @brief Returns the device state
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval State (STEADY or INACTIVE)
+ 	*/
+	virtual motorState_t get_device_state(unsigned int motorId)
+	{
+		return (motorState_t) L6206_get_device_state((uint8_t) motorId);
+	}
+
+	/**
+ 	* @brief Returns the FW version of the library
+ 	* @retval L6206_FW_VERSION
+ 	*/
+	virtual uint8_t get_fw_version(void)
+	{
+		return (uint8_t) L6206_GetFwVersion();
+	}
+
+	/**
+ 	* @brief  Returns the max  speed of the specified motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval maxSpeed in % from 0 to 100
+ 	*/
+	virtual uint16_t get_max_speed(unsigned int motorId)
+	{
+		return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
+	}
+
+	/**
+ 	* @brief  Stops the motor without disabling the bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval none
+ 	*/
+	virtual void hard_stop(unsigned int motorId)
+	{
+		L6206_HardStop((uint8_t) motorId);
+	}
+
+	/**
+ 	* @brief  Runs the motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] direction FORWARD or BACKWARD
+ 	* @retval None
+ 	* @note  For unidirectionnal motor, direction parameter has no effect
+ 	*/
+	virtual void run(unsigned int motorId, direction_t direction)
+	{
+		L6206_Run((uint8_t) motorId, (motorDir_t) direction);
+	}
+
+	/**
+ 	* @brief  Changes the max speed of the specified device
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] newMaxSpeed in % from 0 to 100
+ 	* @retval true if the command is successfully executed, else false
+ 	*/
+	virtual bool set_speed(unsigned int motorId, unsigned int newMaxSpeed)
+	{
+		return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
+	}
+
+	/**
+ 	* @brief Disable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the disabling of one bridge leads to the disabling
+ 	* of the second one
+ 	*/
+	virtual void disable_bridge(unsigned int bridgeId)
+	{
+		L6206_DisableBridge((uint8_t) bridgeId);
+	}
+
+	/**
+ 	* @brief Enable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the enabling of one bridge leads to the enabling
+ 	* of the second one
+ 	*/
+	virtual void enable_bridge(unsigned int bridgeId)
+	{
+		L6206_EnableBridge((uint8_t) bridgeId);
+	}
+
+	/**
+ 	* @brief  Get the status of the bridge enabling of the corresponding bridge
+ 	* @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ 	* @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+  	*/
+	virtual unsigned int get_bridge_status(unsigned int bridgeId)
+	{
+		return (unsigned int) L6206_GetBridgeStatus((uint8_t) bridgeId);
+	}
 
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per   *
- * line without initialization.                                               *
- *                                                                            *
- * Example:                                                                   *
- *   typedef struct                                                           *
- *   {                                                                        *
- *       int T0_out;                                                          *
- *       int T1_out;                                                          *
- *       float T0_degC;                                                       *
- *       float T1_degC;                                                       *
- *   } COMPONENT_Data_t;                                                      *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
-  /// Function pointer to flag interrupt call back
-  void (*flagInterruptCallback)(void);
+	/**
+ 	* @brief  Immediatly stops the motor and disable the power bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval None
+ 	* @note  if two motors uses the same power bridge, the 
+ 	* power bridge will be disable only if the two motors are stopped
+ 	*/
+	virtual void hard_hiz(unsigned int motorId)
+	{
+		L6206_HardHiz((uint8_t) motorId);
+	}
+	
+	/**
+ 	* @brief Error handler which calls the user callback (if defined)
+ 	* @param[in] error Number of the error
+ 	* @retval None
+ 	*/
+	virtual void error_handler(uint16_t error)
+	{
+		L6206_ErrorHandler((uint16_t) error);
+	}
+
+	/**
+ 	* @brief Set dual full bridge parallelling configuration
+ 	* @param[in] newConfig bridge configuration to apply from 
+ 	* dualFullBridgeConfig_t enum
+ 	* @retval None
+ 	*/
+	virtual void set_dual_full_bridge_config(unsigned int newConfig)
+	{
+		L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
+	}
+
+	/**
+ 	* @brief  Get the PWM frequency of the specified bridge 
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @retval Freq in Hz
+ 	*/
+	virtual unsigned int  get_bridge_input_pwm_freq(unsigned int bridgeId)
+	{
+		return (unsigned int) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+	}
+
+	/**
+ 	* @brief  Changes the PWM frequency of the bridge input
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @param[in] newFreq in Hz
+ 	* @retval None
+ 	*/
+	virtual void set_bridge_input_pwm_freq(unsigned int bridgeId, unsigned int newFreq)
+	{
+		L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
+	}
+
+	/**
+ 	* @brief  Sets the number of devices to be used
+ 	* @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ 	* @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ 	* devices greater than MAX_NUMBER_OF_DEVICES
+ 	*/
+	virtual bool set_nb_devices(uint8_t nbDevices)
+	{
+		return (bool) L6206_SetNbDevices((uint8_t) nbDevices);
+	}
+
 
-  /// Function pointer to error handler call back
-  void (*errorHandlerCallback)(uint16_t error);
+	/*** Public Interrupt Related Methods ***/
 
-  /// number of L6206 devices
-  uint8_t numberOfDevices;
+	/* 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 attach_feature_irq(void (*fptr) (void))                         *
+	 *   {                                                                    *
+	 *     feature_irq.fall(fptr);                                            *
+	 *   }                                                                    *
+	 *                                                                        *
+	 *   void enable_feature_irq(void)                                        *
+	 *   {                                                                    *
+	 *     feature_irq.enable_irq();                                          *
+	 *   }                                                                    *
+	 *                                                                        *
+	 *   void disable_feature_irq(void)                                       *
+	 *   {                                                                    *
+	 *     feature_irq.disable_irq();                                         *
+	 *   }                                                                    *
+	 *------------------------------------------------------------------------*/
+
 
-  /// L6206 driver instance
-  uint8_t deviceInstance;
+	/**
+     * @brief  Enabling the FLAG interrupt handling.
+     * @param[in]  bridgeId 0 for bridge A, 1 for bridge B
+     * @retval None.
+     */
+    virtual void enable_flag_irq(uint8_t bridgeId)
+    {
+		if (bridgeId == BRIDGE_A)
+		{
+			flag_A_irq.mode(PullUp);
+			flag_A_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+		}
+		else
+		{
+			flag_B_irq.mode(PullUp);
+			flag_B_irq.fall(this, &L6206::L6206_FlagInterruptHandler);
+		}
+    }
 
-  /// L6206 Device Paramaters structure
-  deviceParams_t devicePrm;
-} L6206_Data_t;
+    /**
+     * @brief  Disabling the FLAG interrupt handling.
+     * @param[in]  bridgeId 0 for bridge A, 1 for bridge B
+     * @retval None.
+     */
+    virtual void disable_flag_irq(uint8_t bridgeId)
+    {
+    	if (bridgeId == BRIDGE_A)
+    		flag_A_irq.fall(NULL);
+    	else
+    		flag_B_irq.fall(NULL);
+    }
 
-/**
-  * @}
-  */
+
+	/*** Public In/Out Related Methods ***/
 
 
 
-/**
-  * @}
-  */
+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_get_value(float *f);   //(1)                      *
+	 *   status_t COMPONENT_enable_feature(void);  //(2)                      *
+	 *   status_t COMPONENT_compute_average(void); //(3)                      *
+	 *------------------------------------------------------------------------*/
+	status_t L6206_Init(void *init);
+	status_t L6206_ReadId(uint8_t *id);
+	void L6206_TickHandler(uint8_t deviceId);                                    //Handle the device state machine at each tick timer pulse end
+	void L6206_AttachErrorHandler(void (*callback)(uint16_t error));  //Attach a user callback to the error handler
+	void L6206_attach_flag_interrupt(void (*callback)(void));                  //Attach a user callback to the flag Interrupt
+	void L6206_DisableBridge(uint8_t bridgeId);                              //Disable the specified bridge
+	void L6206_EnableBridge(uint8_t bridgeId);                               //Enable the specified bridge
+	uint16_t L6206_GetBridgeStatus(uint8_t deviceId);                        //Get bridge status
+	uint16_t L6206_GetCurrentSpeed(uint8_t motorId);                         //Return the current speed in pps
+	motorState_t L6206_get_device_state(uint8_t motorId);                      //Return the device state
+	uint8_t L6206_GetFwVersion(void);                                        //Return the FW version
+	uint16_t L6206_GetMaxSpeed(uint8_t motorId);                             //Return the max speed in pps
+	void L6206_HardHiz(uint8_t motorId);                                     //Stop the motor and disable the power bridge
+	void L6206_HardStop(uint8_t motorId);                                    //Stop the motor without disabling the power bridge
+	void L6206_Run(uint8_t motorId, motorDir_t direction);                   //run the motor
+	uint32_t L6206_GetBridgeInputPwmFreq(uint8_t bridgeId);                  // Get the PWM frequency of the bridge input
+	void L6206_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq);    // Set the PWM frequency of the bridge input
+	void L6206_SetDualFullBridgeConfig(uint8_t newConfig);                   // Set dual full bridge configuration
+	bool L6206_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed);            //Set the max speed in pps
+	bool L6206_SetNbDevices(uint8_t nbDevices);                              //Set the number of driver devices
+	void L6206_ErrorHandler(uint16_t error);
+	void L6206_FlagInterruptHandler(void);
+	uint8_t L6206_GetBridgeIdUsedByMotorId(uint8_t motorId);
+	uint8_t L6206_GetBridgeInputUsedByMotorId(uint8_t motorId);
+	uint8_t L6206_GetMotorIdUsingbridgeInput(uint8_t bridgeInput);
+	uint8_t L6206_GetSecondBridgeInputUsedByMotorId(uint8_t motorId);
+	bool L6206_IsBidirectionnalMotor(uint8_t motorId);
+	void L6206_SetDeviceParamsToPredefinedValues(void);
+	void L6206_SetDeviceParamsToGivenValues(L6206_init_t* initDevicePrm);
+
+	/*** Component's I/O Methods ***/
+
+	/* ACTION 8 --------------------------------------------------------------*
+	 * Implement here other I/O methods beyond those already implemented      *
+	 * above, which are declared extern within the component's header file.   *
+	 *------------------------------------------------------------------------*/
+	 
+	/**
+     * @brief      Utility function to set or unset EN pin for Bridge A or Bridge B.
+     * @param[out] none
+     * @param[in]  bridgeId 0 for bridge A, 1 for bridge B
+     * @retval     none
+     */
+	void L6206_OutVal( uint8_t bridgeId, uint8_t val)
+    {
+    	if( bridgeId == BRIDGE_A)
+    	{
+    		EN_flag_A.output();
+    		EN_flag_A.mode(PullNone);
+    		EN_flag_A.write(val);
+    	}
+    	else
+    	{
+    		EN_flag_B.output();
+    		EN_flag_B.mode(PullNone);
+    		EN_flag_B.write(val);
+    	}
+    }
+	 
+    /**
+     * @brief  Making the CPU wait.
+     * @param  None.
+     * @retval None.
+     */
+	void L6206_Board_Delay(uint32_t delay)
+	{
+		wait_ms(delay);
+	}
+
+	/**
+ 	* @brief Disable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the disabling of one bridge leads to the disabling
+ 	* of the second one
+ 	*/
+	void L6206_Board_DisableBridge(uint8_t bridgeId)
+	{
+		disable_flag_irq(BRIDGE_A);
+		disable_flag_irq(BRIDGE_B);
+
+		__disable_irq();
+		L6206_OutVal( bridgeId, 0);
+		__enable_irq();
+	}
+
+	/**
+ 	* @brief Enable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the enabling of one bridge leads to the enabling
+ 	* of the second one
+ 	*/
+	void L6206_Board_EnableBridge(uint8_t bridgeId, uint8_t addDelay)
+	{
+		L6206_OutVal( bridgeId, 1);
+
+  		if (addDelay != 0)
+			{
+			wait_ms(BSP_MOTOR_CONTROL_BOARD_BRIDGE_TURN_ON_DELAY);
+			}
 
-/* Exported functions --------------------------------------------------------*/
+  		enable_flag_irq( bridgeId);
+	}
+	
+	/**
+ 	* @brief  Returns the FLAG pin state.
+ 	* @param[in]  bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval The FLAG pin value.
+ 	*/
+	uint32_t L6206_Board_GetFlagPinState(uint8_t bridgeId)
+	{
+  		if (bridgeId == 0)
+  		{
+  			EN_flag_A.input();
+  			return EN_flag_A.read();
+  		}
+  		else
+  		{
+  			EN_flag_B.input();
+  			return EN_flag_B.read(); 
+  		}
+	}
+
+	/**
+ 	* @brief  Initiliases the GPIOs used by the L6206s
+ 	* @retval None
+  	*/
+	void L6206_Board_GpioInit(void)
+	{
+		/* init bridge Enable */
+		EN_flag_A.output();
+		EN_flag_A.write(0);
+		EN_flag_A.input();
+
+		EN_flag_B.output();
+		EN_flag_B.write(0);
+		EN_flag_B.input();
+		
+
+		/* init flag Irq */
+		disable_flag_irq(BRIDGE_A);
+		disable_flag_irq(BRIDGE_B);
+
+	}
+
+	/**
+	* @brief  Sets the frequency of PWM used for bridges inputs
+ 	* @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+  	* 2 for input 1B,  3 for input 2B
+ 	* @param[in] newFreq in Hz
+ 	* @param[in] duty Duty cycle
+ 	* @retval None
+ 	* @note The frequency is directly the current speed of the device
+ 	*/
+	void L6206_Board_PwmSetFreq(uint8_t bridgeInput, uint32_t newFreq, uint8_t duty)
+	{
+        /* Computing the period of PWM. */
+        float period = 1.0f / newFreq;
+        float duty_cycle;
+        int period_us = (int)(period * 1000000);
+
+        if (duty > 100)   duty = 100;
+        duty_cycle = (float)duty / 100.0f;
+
+        switch (bridgeInput)
+  		{
+    		case 0:
+    		default:
+        		/* Setting the period and the duty-cycle of PWM. */
+        		pwm_1A.period_us(period_us);
+        		pwm_1A.write(duty_cycle);
+      			break;
+
+    		case  1:
+        		/* Setting the period and the duty-cycle of PWM. */
+        		pwm_2A.period_us(period_us);
+        		pwm_2A.write(duty_cycle);
+      			break;
+
+    		case 2:
+        		/* Setting the period and the duty-cycle of PWM. */
+        		pwm_1B.period_us(period_us);
+        		pwm_1B.write(duty_cycle);
+      			break;
+
+    		case 3:
+        		/* Setting the period and the duty-cycle of PWM. */
+        		pwm_2B.period_us(period_us);
+        		pwm_2B.write(duty_cycle);
+      			break;    
+  		}
+	}
+
+	/**
+ 	* @brief  Reset the PWM for the specified brigde input
+ 	* @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ 	* 2 for input 1B, 3 for input 2B
+ 	* @retval None
+  	*/
+	void L6206_Board_PwmDeInit(uint8_t bridgeInput)
+	{
+		  switch (bridgeInput)
+		  {
+		    case 0:
+		    default:
+		    	//timer_pwm_1A.detach();
+		    	break;
+
+		    case  1:
+		    	//timer_pwm_2A.detach();
+		    	break;
+
+		    case 2:
+		    	//timer_pwm_1B.detach();
+		    	break;
+
+		    case 3:
+		    	//timer_pwm_2B.detach();
+		    	break;
+		  }
+	}
+
+	/**
+ 	* @brief  Set the PWM frequency the for the specified bridge input
+ 	* @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ 	* 2 for input 1B, 3 for input 2B
+ 	* @retval None
+  	*/
+	void L6206_Board_PwmInit(uint8_t bridgeInput)
+	{
+	}
+
+	/**
+ 	* @brief  Stops the PWM uses for the specified brige input
+ 	* @param[in] bridgeInput 0 for input 1A, 1 for input 2A,
+ 	* 2 for input 1B, 3 for input 2B
+ 	* @retval None
+ 	*/
+	void L6206_Board_PwmStop(uint8_t bridgeInput)
+	{
+		  switch (bridgeInput)
+		  {
+		    case 0:
+		    default:
+        		pwm_1A.write(0.0);
+		    	break;
+
+		    case  1:
+        		pwm_2A.write(0.0);
+		    	break;
+
+		    case 2:
+        		pwm_1B.write(0.0);
+		    	break;
+
+		    case 3:
+        		pwm_2B.write(0.0);
+		    	break;
+		  }
+	}
 
 
-/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions
-  * @{
-  */   
-///Delay of the requested number of milliseconds
-extern void L6206_Board_Delay(void *handle, uint32_t delay);
-///Disable the specified bridge
-extern void L6206_Board_DisableBridge(void *handle, uint8_t bridgeId);
-///Enable the specified bridge
-extern void L6206_Board_EnableBridge(void *handle, uint8_t bridgeId, uint8_t addDelay);
-//Get the status of the flag and enable Pin
-extern uint32_t L6206_Board_GetFlagPinState(void *handle, uint8_t bridgeId);
-///Initialise GPIOs used for L6206s
-extern void L6206_Board_GpioInit(void *handle);
-///Set Briges Inputs PWM frequency and start it
-extern void L6206_Board_PwmSetFreq(void *handle, uint8_t bridgeInput, uint32_t newFreq, uint8_t duty);
-///Deinitialise the PWM of the specified bridge input
-extern void L6206_Board_PwmDeInit(void *handle, uint8_t bridgeInput);
-///Init the PWM of the specified bridge input
-extern void L6206_Board_PwmInit(void *handle, uint8_t bridgeInput);
-///Stop the PWM of the specified bridge input
-extern void L6206_Board_PwmStop(void *handle, uint8_t bridgeInput);
-/**
-  * @}
-  */
+	/*** 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_A_irq;
+    InterruptIn flag_B_irq;
+
+	/* ACTION 10 -------------------------------------------------------------*
+	 * Declare here other pin related variables, if needed.                   *
+	 *                                                                        *
+	 * Example:                                                               *
+	 *   + mbed:                                                              *
+	 *     DigitalOut standby_reset;                                          *
+	 *------------------------------------------------------------------------*/
+
+    /* Digital In/Out for Flag EN pin */
+    DigitalInOut EN_flag_A;
+	DigitalInOut EN_flag_B;
+	
+    /* PWM Out  pin */
+	PwmOut pwm_1A;
+	PwmOut pwm_2A;
+	PwmOut pwm_1B;
+	PwmOut pwm_2B;
+
+	/* ACTION 11 -------------------------------------------------------------*
+	 * Declare here communication related variables, if needed.               *
+	 *                                                                        *
+	 * Example:                                                               *
+	 *   + mbed:                                                              *
+	 *     DigitalOut address;                                                *
+	 *     DevI2C &dev_i2c;                                                   *
+	 *------------------------------------------------------------------------*/
+
+	/* 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;                                      *
+	 *------------------------------------------------------------------------*/
+	void (*flagInterruptCallback)(void);
+	
+	void (*errorHandlerCallback)(uint16_t error);
+	
+	uint8_t numberOfDevices;
+	
+	uint8_t deviceInstance;
+	
+	deviceParams_t devicePrm;
 
 
-
-/**
-  * @}
-  */
-
-
-/**
-  * @}
-  */
+	/** PWM timer variables */
 
-/**
-  * @}
-  */
+	bool pwm_1A_activated;
+	bool pwm_2A_activated;
+	bool pwm_1B_activated;
+	bool pwm_2B_activated;
+};
 
-#ifdef __cplusplus
-  }
-#endif
-
-#endif /* #ifndef __L6206_H */
-
+#endif /* __L6206_CLASS_H */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
 
 
+