/**
??******************************************************************************
??*?@file????l6474.c
??*?@author??IPC?Rennes
??*?@version?V1.5.0
??*?@date????November?12?2014
??*?@brief???L6474?driver?（fully?integrated?microstepping?motor?driver）
??*?@note????（C）?COPYRIGHT?2014?STMicroelectronics
??******************************************************************************
??*?@attention
??*
??*?
©?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.
??*
??******************************************************************************
??*/

/*?Includes?------------------------------------------------------------------*/
#include?“l6474.h“

/*?Private?constants??---------------------------------------------------------*/

????
/**?@addtogroup?BSP
??*?@{
??*/???
???
/**?@defgroup?L6474
??*?@{
??*/???

/*?Private?constants?---------------------------------------------------------*/????

/**?@defgroup?L6474_Private_Constants
??*?@{
??*/???

///?Error?while?initialising?the?SPI
#define?L6474_ERROR_0???（0x8000）???
///?Error:?Bad?SPI?transaction
#define?L6474_ERROR_1???（0x8001）
????
///?Maximum?number?of?steps
#define?MAX_STEPS?????????（0x7FFFFFFF）

///?Maximum?frequency?of?the?PWMs?in?Hz
#define?L6474_MAX_PWM_FREQ???（10000）

///?Minimum?frequency?of?the?PWMs?in?Hz
#define?L6474_MIN_PWM_FREQ???（2）
????
/**
??*?@}
??*/?
????
/*?Private?variables?---------------------------------------------------------*/

/**?@defgroup?L6