Revision 22:ed3a6990a6eb, committed 2016-02-09

Comitter:

Davidroid

Date:

Tue Feb 09 10:53:31 2016 +0000

Parent:

21:83138e702683

Child:

23:58264db10a17

Commit message:

+ Updated with the new template's syntax.

Changed in this revision

--- a/Components/Common/component.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/Common/component.h	Tue Feb 09 10:53:31 2016 +0000
@@ -37,10 +37,10 @@
  */
 
 
-/* Prevent recursive inclusion -----------------------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
 
-#ifndef __COMPONENT_H__
-#define __COMPONENT_H__
+#ifndef __COMPONENT_H
+#define __COMPONENT_H
 
 
 /* Types ---------------------------------------------------------------------*/
@@ -75,7 +75,7 @@
     /* -----------------------------------------------------------------------*/
     /* Pointer to the Extended Virtual Table. */
     void *pExtVTable;
-} DrvContextTypeDef;
+} Handle_t;
 
 /**
  * @brief  Component's Status enumerator definition.
@@ -86,6 +86,8 @@
     COMPONENT_ERROR,
     COMPONENT_TIMEOUT,
     COMPONENT_NOT_IMPLEMENTED
-} DrvStatusTypeDef;
+} Status_t;
 
-#endif
\ No newline at end of file
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/Common/motor.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/Common/motor.h	Tue Feb 09 10:53:31 2016 +0000
@@ -1,41 +1,43 @@
 /**
-  ******************************************************************************
-  * @file    motor.h
-  * @author  IPC Rennes
-  * @version V1.3.0
-  * @date    November 12, 2014
-  * @brief   This file contains all the functions prototypes for motor drivers.   
-  ******************************************************************************
-  * @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.
-  *
-  ******************************************************************************
-  */ 
+ ******************************************************************************
+ * @file    motor.h
+ * @author  IPC Rennes
+ * @version V1.3.0
+ * @date    November 12, 2014
+ * @brief   This file contains all the functions prototypes for motor drivers.   
+ ******************************************************************************
+ * @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 __MOTOR_H
 #define __MOTOR_H
 
@@ -43,26 +45,15 @@
  extern "C" {
 #endif 
 
+
 /* Includes ------------------------------------------------------------------*/
+
 #include <stdint.h>
 #include "component.h"
    
-/** @addtogroup BSP
-  * @{
-  */
-
-/** @addtogroup Components
-  * @{
-  */ 
 
-/** @defgroup Motor
-  * @{
-  */
-    
-/** @defgroup Motor_Exported_Constants
-  * @{
-  */   
-   
+/* Definitions ---------------------------------------------------------------*/
+
 /// boolean for false condition 
 #ifndef FALSE
 #define FALSE (0)
@@ -72,18 +63,25 @@
 #define TRUE  (1)
 #endif
 
-/**
-  * @}
-  */
-   
-/** @defgroup Motor_Exported_Types
+
+/* Types ---------------------------------------------------------------------*/
+
+/** @addtogroup BSP
   * @{
   */
 
-/**
-  * @}
-  */   
-   
+/** @addtogroup Components
+  * @{
+  */
+    
+/** @addtogroup MOTOR
+  * @{
+  */
+
+/** @defgroup MOTOR_Exported_Types
+  * @{
+  */
+
 /** @defgroup Device_Direction_Options
   * @{
   */
@@ -196,26 +194,37 @@
 /** @defgroup Motor_Driver_Structure
   * @{
   */
-/// Motor driver structure definition  
+
+/** 
+ * @brief  MOTOR driver virtual table structure definition.
+ */
 typedef struct
 {
-  /* Generic */
   /* ACTION ----------------------------------------------------------------*
-   * Declare here component's generic functions.                            *
+   * Declare here the component's generic functions.                        *
+   * Tag this group of functions with the " Generic " C-style comment.      *
+   * A component's interface has to define at least the two generic         *
+   * functions provided here below within the "Example" section, as the     *
+   * first and second functions of its Virtual Table. They have to be       *
+   * specified exactly in the given way.                                    *
    *                                                                        *
    * Example:                                                               *
-   *   DrvStatusTypeDef (*Init)(void *handle, void *init);                  *
+   *   Status_t (*Init)   (void *handle, void *init);                       *
+   *   Status_t (*ReadID) (void *handle, uint8_t *id);                      *
    *------------------------------------------------------------------------*/
-  DrvStatusTypeDef (*Init)(void *handle, void *init);
-  DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+  /* Generic */
+  Status_t (*Init)(void *handle, void *init);
+  Status_t (*ReadID)(void *handle, uint8_t *id);
 
-  /* Interrupts */
   /* ACTION ----------------------------------------------------------------*
-   * Declare here component's interrupts related functions.                 *
+   * Declare here the component's interrupts related functions.             *
+   * Tag this group of functions with the " Interrupts " C-style comment.   *
+   * Do not specify any function if not required.                           *
    *                                                                        *
    * Example:                                                               *
-   *   void (*ConfigIT)(void *handle, uint16_t a);                          *
+   *   void     (*ConfigIT) (void *handle, int a);                          *
    *------------------------------------------------------------------------*/
+  /* Interrupts */
   /// Function pointer to AttachErrorHandler
   void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
   /// Function pointer to AttachFlagInterrupt
@@ -225,13 +234,15 @@
   /// Function pointer to FlagInterruptHandler
   void (*FlagInterruptHandler)(void *handle);
 
-  /* Specific */
   /* ACTION ----------------------------------------------------------------*
-   * Declare here component's specific functions.                           *
+   * Declare here the component's specific functions.                       *
+   * Tag this group of functions with the " Specific " C-style comment.     *
+   * Do not specify any function if not required.                           *
    *                                                                        *
    * Example:                                                               *
-   *   DrvStatusTypeDef (*GetValue)(void *handle, float *pfData);           *
+   *   Status_t (*GetValue) (void *handle, float *f);                       *
    *------------------------------------------------------------------------*/
+  /* Specific */
   /// Function pointer to GetAcceleration
   uint16_t (*GetAcceleration)(void *handle); 
   /// Function pointer to GetCurrentSpeed
@@ -265,9 +276,9 @@
   /// Function pointer to Run
   void (*Run)(void *handle, motorDir_t direction);
   /// Function pointer to SetAcceleration
-  bool(*SetAcceleration)(void *handle,uint16_t newAcc);
+  bool (*SetAcceleration)(void *handle, uint16_t newAcc);
   /// Function pointer to SetDeceleration
-  bool(*SetDeceleration)(void *handle, uint16_t newDec);
+  bool (*SetDeceleration)(void *handle, uint16_t newDec);
   /// Function pointer to SetHome
   void (*SetHome)(void *handle); 
   /// Function pointer to SetMark
@@ -346,7 +357,7 @@
   void (*BusyInterruptHandler)(void *handle);
   /// Function pointer to CmdSoftStop
   void (*CmdSoftStop)(void *handle); 
-} MOTOR_DrvVTableTypeDef;    
+} MOTOR_VTable_t;    
 
 #ifdef __cplusplus
 }

--- a/Components/Interfaces/Component_class.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/Interfaces/Component_class.h	Tue Feb 09 10:53:31 2016 +0000
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @file    Component_class.h
- * @author  Davide Aliprandi, STMicroelectronics
+ * @author  AST
  * @version V1.0.0
  * @date    April 13th, 2015
  * @brief   This file contains the abstract class describing the interface of a
@@ -37,7 +37,7 @@
  */
 
 
-/* Define to prevent from recursive inclusion --------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
 
 #ifndef __COMPONENT_CLASS_H
 #define __COMPONENT_CLASS_H
@@ -56,20 +56,20 @@
 {
 public:
     /**
-     * @brief  Initializing the component.
-     * @param  init Pointer to device specific initalization structure.
-     * @retval "0" in case of success, an error code otherwise.
+     * @brief     Initializing the component.
+     * @param[in] init pointer to device specific initalization structure.
+     * @retval    "0" in case of success, an error code otherwise.
      */
     virtual int Init(void *init) = 0;
 
     /**
-     * @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.
+     * @brief      Getting the ID of the component.
+     * @param[out] 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) = 0;
 };
 
 #endif /* __COMPONENT_CLASS_H */
 
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/l6474/l6474.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/l6474/l6474.h	Tue Feb 09 10:53:31 2016 +0000
@@ -1,42 +1,44 @@
 /**
-  ******************************************************************************
-  * @file    l6474.h 
-  * @author  IPC Rennes
-  * @version V1.5.0
-  * @date    November 12, 2014
-  * @brief   Header for L6474 driver (fully integrated microstepping motor driver)
-  * @note    (C) COPYRIGHT 2014 STMicroelectronics
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file    l6474.h 
+ * @author  IPC Rennes
+ * @version V1.5.0
+ * @date    November 12, 2014
+ * @brief   Header for L6474 driver (fully integrated microstepping motor driver)
+ * @note    (C) COPYRIGHT 2014 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
 
 /* Define to prevent recursive inclusion -------------------------------------*/
+
 #ifndef __L6474_H
 #define __L6474_H
 
@@ -44,23 +46,30 @@
  extern "C" {
 #endif 
 
+
 /* Includes ------------------------------------------------------------------*/
+
 #include "l6474_target_config.h"
 #include "../Common/motor.h"
    
+
+/* Definitions ---------------------------------------------------------------*/
+
 /** @addtogroup BSP
-  * @{
-  */   
-   
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */  
+  
 /** @addtogroup L6474
-  * @{
-  */   
-   
-/* Exported Constants --------------------------------------------------------*/
-
-/** @defgroup L6474_Exported_Constants
-  * @{
-  */   
+ * @{
+ */
+  
+/** @defgroup L6474_Exported_Defines L6474_Exported_Defines
+ * @{
+ */  
 
 /// Current FW version
 #define L6474_FW_VERSION                        (5)
@@ -80,15 +89,8 @@
 /// L6474 sign bit mask for ABS_POS register
 #define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
      
-/* Exported Types  -------------------------------------------------------*/
+/* Types ---------------------------------------------------------------------*/
 
 /** @defgroup L6474_Exported_Types
   * @{
@@ -431,77 +433,94 @@
   L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
   L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
 } L6474_Commands_t;
-/**
-  * @}
-  */
 
-/** @defgroup Motor_Driver_Initialization_Structure
-  * @{
-  */
-/// Motor driver initialization structure definition  
+/** 
+ * @brief  L6474 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
 {
-    /* Acceleration rate in step/s2. Range: (0..+inf). */
-    int acceleration_step_s2;
+  /* Acceleration rate in step/s2. Range: (0..+inf). */
+  int acceleration_step_s2;
 
-    /* Deceleration rate in step/s2. Range: (0..+inf). */
-    int deceleration_step_s2;
+  /* Deceleration rate in step/s2. Range: (0..+inf). */
+  int deceleration_step_s2;
 
-    /* Maximum speed in step/s. Range: (30..10000]. */
-    int maximum_speed_step_s;
+  /* Maximum speed in step/s. Range: (30..10000]. */
+  int maximum_speed_step_s;
 
-    /* Minimum speed in step/s. Range: [30..10000). */
-    int minimum_speed_step_s;
+  /* Minimum speed in step/s. Range: [30..10000). */
+  int minimum_speed_step_s;
 
-    /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
-    float torque_regulation_current_mA;
+  /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+  float torque_regulation_current_mA;
 
-    /* Overcurrent threshold (OCD_TH register). */
-    L6474_OCD_TH_t overcurrent_threshold;
+  /* Overcurrent threshold (OCD_TH register). */
+  L6474_OCD_TH_t overcurrent_threshold;
 
-    /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
-    L6474_CONFIG_OC_SD_t overcurrent_shutwdown;
+  /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
+  L6474_CONFIG_OC_SD_t overcurrent_shutwdown;
 
-    /* Torque regulation method (EN_TQREG field of CONFIG register). */
-    L6474_CONFIG_EN_TQREG_t torque_regulation_method;
-    
-    /* Step selection (STEP_SEL field of STEP_MODE register). */
-    L6474_STEP_SEL_t step_selection;
+  /* Torque regulation method (EN_TQREG field of CONFIG register). */
+  L6474_CONFIG_EN_TQREG_t torque_regulation_method;
+  
+  /* Step selection (STEP_SEL field of STEP_MODE register). */
+  L6474_STEP_SEL_t step_selection;
 
-    /* Sync selection (SYNC_SEL field of STEP_MODE register). */
-    L6474_SYNC_SEL_t sync_selection;
+  /* Sync selection (SYNC_SEL field of STEP_MODE register). */
+  L6474_SYNC_SEL_t sync_selection;
 
-    /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
-    L6474_FAST_STEP_t fall_time;
+  /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
+  L6474_FAST_STEP_t fall_time;
 
-    /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
-    L6474_TOFF_FAST_t maximum_fast_decay_time;
+  /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
+  L6474_TOFF_FAST_t maximum_fast_decay_time;
 
-    /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
-    float minimum_ON_time_us;
-
-    /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
-    float minimum_OFF_time_us;
+  /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
+  float minimum_ON_time_us;
 
-    /* Target Swicthing Period (field TOFF of CONFIG register). */
-    L6474_CONFIG_TOFF_t target_swicthing_period;
+  /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
+  float minimum_OFF_time_us;
 
-    /* Slew rate (POW_SR field of CONFIG register). */
-    L6474_CONFIG_POW_SR_t slew_rate;
+  /* Target Swicthing Period (field TOFF of CONFIG register). */
+  L6474_CONFIG_TOFF_t target_swicthing_period;
 
-    /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
-    L6474_CONFIG_OSC_MGMT_t clock;
+  /* Slew rate (POW_SR field of CONFIG register). */
+  L6474_CONFIG_POW_SR_t slew_rate;
 
-    /* Alarm (ALARM_EN register). */
-    int alarm;
-} L6474_InitTypeDef;
-/**
-  * @}
-  */
+  /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
+  L6474_CONFIG_OSC_MGMT_t clock;
+
+  /* Alarm (ALARM_EN register). */
+  int alarm;
+} L6474_Init_t;
 
 /** 
-  * @brief  L6474 driver data structure definition
-  */ 
+ * @brief  L6474 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
 {
   /// Function pointer to flag interrupt call back
@@ -516,30 +535,36 @@
   uint8_t device_instance;
   uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
   uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-} L6474_DrvDataTypeDef;
-/**
-  * @}
-  */
+} L6474_Data_t;
 
 
-/* Exported functions --------------------------------------------------------*/
+/* Functions -----------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
 
-/** @defgroup L6474_Exported_Functions
-  * @{
-  */   
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6474
+ * @{
+ */
+
+/** @defgroup L6474_Imported_Functions L6474_Imported_Functions
+ * @{
+ */
 
 /* ACTION --------------------------------------------------------------------*
  * Declare here extern I/O and interrupt related functions you might need,    *
  * and implemented then in a glue logic file on the target environment, for   *
- * example within the "x_nucleo_<board>.c" file., e.g.:                       *
- *   extern DrvStatusTypeDef COMPONENT_IO_Init (void *handle);                *
- *   extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes);  *
- *   extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes);  *
- *   extern void COMPONENT_IO_ITConfig(void);                                 *
+ * 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);                             *
  *----------------------------------------------------------------------------*/
-/** @defgroup MotorControl_Board_Linked_Functions
-  * @{
-  */   
 ///Delay of the requested number of milliseconds
 extern void L6474_Delay(void *handle, uint32_t delay);     
 ///Enable Irq
@@ -565,27 +590,10 @@
 ///Write bytes to the L6474s via SPI
 extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
 
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
 #ifdef __cplusplus
   }
 #endif
 
 #endif /* #ifndef __L6474_H */
 
-
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/l6474/l6474_class.cpp	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/l6474/l6474_class.cpp	Tue Feb 09 10:53:31 2016 +0000
@@ -52,7 +52,6 @@
 /* Includes ------------------------------------------------------------------*/
 
 #include "l6474_class.h"
-#include "l6474.h"
 
     
 /* Definitions ---------------------------------------------------------------*/
@@ -107,7 +106,7 @@
  * @param  init Initialization structure.
  * @retval COMPONENT_OK in case of success.
  **********************************************************/
-DrvStatusTypeDef L6474::L6474_Init(void *init)
+Status_t L6474::L6474_Init(void *init)
 {
   /* Initialise the PWMs used for the Step clocks ----------------------------*/
   L6474_PwmInit();
@@ -128,7 +127,7 @@
     L6474_SetRegisterToPredefinedValues();
   else
     /* Set device registers to the passed initialization values. */
-    L6474_SetRegisterToInitializationValues((L6474_InitTypeDef *) init);
+    L6474_SetRegisterToInitializationValues((L6474_Init_t *) init);
   
   /* Disable L6474 powerstage */
   L6474_CmdDisable();
@@ -144,7 +143,7 @@
  * @param id pointer to the identifier to be read.
  * @retval COMPONENT_OK in case of success.
  **********************************************************/
-DrvStatusTypeDef L6474::L6474_ReadID(uint8_t *id)
+Status_t L6474::L6474_ReadID(uint8_t *id)
 {
   *id = device_instance;
 
@@ -1098,7 +1097,7 @@
  * @param  init Initialization structure.
  * @retval None.
  **********************************************************/
-void L6474::L6474_SetRegisterToInitializationValues(L6474_InitTypeDef *init)
+void L6474::L6474_SetRegisterToInitializationValues(L6474_Init_t *init)
 {
   L6474_CmdSetParam(
                     L6474_ABS_POS,

--- a/Components/l6474/l6474_class.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/l6474/l6474_class.h	Tue Feb 09 10:53:31 2016 +0000
@@ -693,13 +693,13 @@
      *     source files but not pointed by the component's virtual table (3). *
      *                                                                        *
      * Example:                                                               *
-     *   DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1)            *
-     *   DrvStatusTypeDef COMPONENT_EnableFeature(void);     //(2)            *
-     *   DrvStatusTypeDef COMPONENT_ComputeAverage(void);    //(3)            *
+     *   Status_t COMPONENT_GetValue(float *f);   //(1)                       *
+     *   Status_t COMPONENT_EnableFeature(void);  //(2)                       *
+     *   Status_t COMPONENT_ComputeAverage(void); //(3)                       *
      *------------------------------------------------------------------------*/
     void L6474_AttachErrorHandler(void (*callback)(uint16_t error));
-    DrvStatusTypeDef L6474_Init(void *init);
-    DrvStatusTypeDef L6474_ReadID(uint8_t *id);
+    Status_t L6474_Init(void *init);
+    Status_t L6474_ReadID(uint8_t *id);
     uint16_t L6474_GetAcceleration(void);
     uint16_t L6474_GetCurrentSpeed(void);
     uint16_t L6474_GetDeceleration(void);
@@ -739,7 +739,7 @@
     void L6474_ErrorHandler(uint16_t error);
     void L6474_SendCommand(uint8_t param);
     void L6474_SetRegisterToPredefinedValues(void);
-    void L6474_SetRegisterToInitializationValues(L6474_InitTypeDef *init);
+    void L6474_SetRegisterToInitializationValues(L6474_Init_t *init);
     void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
     void L6474_SetDeviceParamsToPredefinedValues(void);
     void L6474_StartMovement(void);
@@ -758,7 +758,7 @@
      * @param[in]  NumBytesToRead number of bytes to read.
      * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
      */
-    DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+    Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
     {
         if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
             return COMPONENT_ERROR;
@@ -771,7 +771,7 @@
      * @param[in]  NumBytesToWrite number of bytes to write.
      * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
      */
-    DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+    Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
     {
         if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
             return COMPONENT_ERROR;
@@ -785,7 +785,7 @@
      * @param[in]  NumBytes number of bytes to read and write.
      * @retval     COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
      */
-    DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+    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;

--- a/Components/l6474/l6474_target_config.h	Tue Jan 19 15:57:24 2016 +0000
+++ b/Components/l6474/l6474_target_config.h	Tue Feb 09 10:53:31 2016 +0000
@@ -1,42 +1,45 @@
-/**************************************************************************//**
-  * @file    l6474_target_config.h
-  * @author  IPC Rennes
-  * @version V1.5.0
-  * @date    November 12, 2014
-  * @brief   Predefines values for the L6474 registers
-  * and for the devices parameters
-  * @note    (C) COPYRIGHT 2014 STMicroelectronics
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
+/**
+ ******************************************************************************
+ * @file    l6474_target_config.h
+ * @author  IPC Rennes
+ * @version V1.5.0
+ * @date    November 12, 2014
+ * @brief   Predefines values for the L6474 registers
+ * and for the devices parameters
+ * @note    (C) COPYRIGHT 2014 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
 
 /* Define to prevent recursive inclusion -------------------------------------*/
+
 #ifndef __L6474_TARGET_CONFIG_H
 #define __L6474_TARGET_CONFIG_H
 
@@ -44,10 +47,13 @@
  extern "C" {
 #endif 
 
+
+/* Definitions ---------------------------------------------------------------*/
+
 /** @addtogroup BSP
   * @{
   */   
-   
+
 /** @addtogroup L6474
   * @{
   */   
@@ -55,7 +61,7 @@
 /** @addtogroup L6474_Exported_Constants
   * @{
   */   
-   
+
 /** @defgroup Predefined_L6474_Registers_Values
   * @{
   */   
@@ -214,9 +220,10 @@
 /// Clock setting for device 2 (OSC_CLK_SEL field of CONFIG register)
 #define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2  (L6474_CONFIG_INT_16MHZ)
 
-
 #ifdef __cplusplus
   }
 #endif
 
 #endif /* __L6474_TARGET_CONFIG_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/