ST L9951 L9951XP handbook
Datasheet
The L9951 and L9951XP are microcontroller driven, multifunctional rear door actuator drivers for automotive applications. Up to two DC motors and two grounded resistive loads can be driven with three half bridges and two high side drivers. The integrated standard serial peripheral interface (SPI) controls all operation modes (forward, reverse, brake and high impedance). All diagnostic information is available via the SPI.