Motor Control Library

Diff: Components/powerstep01/PowerStep01_config.h

Revision:

4:f48e8d87553e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/powerstep01/PowerStep01_config.h	Fri Mar 24 10:58:48 2017 +0100
@@ -0,0 +1,703 @@
+/**
+ ******************************************************************************
+ * @file    PowerStep01_config.h
+ * @author  IPC Rennes
+ * @version V1.2.0
+ * @date    March 18th, 2016
+ * @brief   Predefines values for the Powerstep01 registers
+ * and for the devices parameters
+ * @note    (C) COPYRIGHT 2016 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 __POWERSTEP01_CONFIG_H
+#define __POWERSTEP01_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup PowerStep01
+  * @{
+  */
+
+/** @addtogroup Powerstep01_Exported_Defines
+  * @{
+  */
+
+/** @defgroup Predefined_Powerstep01_Registers_Values Predefined Powerstep01 Registers Values
+  * @{
+  */
+
+/// The maximum number of devices in the daisy chain
+#define MAX_NUMBER_OF_DEVICES                 (3)
+
+/****************************************************************************/
+/* Device 0                                                                 */
+/****************************************************************************/
+  
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_0 (582)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_0 (582)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_0 (488)
+
+/// Register : MIN_SPEED 
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_0 (0)
+
+/// Register : FS_SPD 
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_0 (244.16)
+
+/// Register : FS_SPD - field : BOOST_MODE 
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_0 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters  **************************/
+/// Register : KVAL_ACC 
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_0 (16.02)
+
+/// Register : KVAL_DEC 
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_0 (16.02)
+
+/// Register : KVAL_RUN 
+/// run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_0 (16.02)
+
+/// Register : KVAL_HOLD 
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_0 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP 
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_0 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT 
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_0 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM 
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_0 (1)
+
+/// Register : INT_SPEED 
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_0 (61.512)
+
+/// Register : ST_SLP 
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_0 (0.03815)
+
+/// Register : FN_SLP_ACC 
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_0 (0.06256)
+
+/// Register : FN_SLP_DEC 
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_0 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT 
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_0 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC 
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_0 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters  *********************/
+
+/// Register : TVAL_ACC 
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_0  (328.12)
+
+/// Register : TVAL_DEC 
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_0  (328.12)
+
+/// Register : TVAL_RUN 
+/// Running torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_0  (328.12)
+
+/// Register : TVAL_HOLD 
+/// Holding torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_0 (328.12) 
+
+/// Register : CONFIG - field : EN_TQREG 
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t 
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_0 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)  
+
+/// Register : CONFIG - field : PRED_EN 
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t  
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_0 (POWERSTEP01_CONFIG_PRED_DISABLE)  
+
+///  Register : TON_MIN 
+///  Minimum on-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_0 (3.0)
+
+/// Register : TOFF_MIN 
+///  Minimum off-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_0 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST 
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_0  (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP 
+///  Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_0  (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW 
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_0 (POWERSTEP01_CONFIG_TSW_048us)  
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE 
+/// Gate sink/source current via enum powerstep01_Igate_t 
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_0      (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL 
+/// VCC Val, enum powerstep01_ConfigVccVal_t 
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_0 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL 
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t 
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_0    (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST 
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t 
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_0     (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC 
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_0        (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t 
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_0     (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT 
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_0        (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH 
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_0 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD 
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t 
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_0 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH 
+/// Stall threshold settings in mV, range 31.25mV to 1000mV 
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_0 (531.25)
+
+/// Register : ALARM_EN 
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t 
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_0 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN |  \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_WARNING |  \
+                                                  POWERSTEP01_ALARM_EN_UVLO |  \
+                                                  POWERSTEP01_ALARM_EN_STALL_DETECTION |  \
+                                                  POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+                                                  POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE 
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t 
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_0 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE 
+/// Step mode settings via enum motorStepMode_t 
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM 
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t 
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_0 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN 
+/// Synch. Mode settings via enum powerstep01_SyncSel_t 
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_0 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL 
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t 
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_0 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN 
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_0 (POWERSTEP01_WD_EN_DISABLE)
+
+/****************************************************************************/
+/* Device 1                                                                 */
+/****************************************************************************/
+  
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_1 (2008.16)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_1 (2008.16)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_1 (991.82)
+
+/// Register : MIN_SPEED 
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_1 (0)
+
+/// Register : FS_SPD 
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_1 (595.09)
+
+/// Register : FS_SPD - field : BOOST_MODE 
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_1 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters  **************************/
+/// Register : KVAL_ACC 
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_1 (16.02)
+
+/// Register : KVAL_DEC 
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_1 (16.02)
+
+/// Register : KVAL_RUN 
+/// run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_1 (16.02)
+
+/// Register : KVAL_HOLD 
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_1 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP 
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_1 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT 
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_1 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM 
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_1 (1)
+
+/// Register : INT_SPEED 
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_1 (61.512)
+
+/// Register : ST_SLP 
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_1 (0.03815)
+
+/// Register : FN_SLP_ACC 
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_1 (0.06256)
+
+/// Register : FN_SLP_DEC 
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_1 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT 
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_1 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC 
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_1 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters  *********************/
+
+/// Register : TVAL_ACC 
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_1  (328.12)
+
+/// Register : TVAL_DEC 
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_1  (328.12)
+
+/// Register : TVAL_RUN 
+/// Running torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_1  (328.12)
+
+/// Register : TVAL_HOLD 
+/// Holding torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_1 (328.12) 
+
+/// Register : CONFIG - field : EN_TQREG 
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t 
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_1 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)  
+
+/// Register : CONFIG - field : PRED_EN 
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t  
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_1 (POWERSTEP01_CONFIG_PRED_DISABLE)  
+
+///  Register : TON_MIN 
+///  Minimum on-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_1 (3.0)
+
+/// Register : TOFF_MIN 
+///  Minimum off-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_1 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST 
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_1  (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP 
+///  Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_1  (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW 
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_1 (POWERSTEP01_CONFIG_TSW_048us)  
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE 
+/// Gate sink/source current via enum powerstep01_Igate_t 
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_1      (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL 
+/// VCC Val, enum powerstep01_ConfigVccVal_t 
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_1 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL 
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t 
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_1    (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST 
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t 
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_1     (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC 
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_1        (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t 
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_1     (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT 
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_1        (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH 
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_1 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD 
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t 
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_1 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH 
+/// Stall threshold settings in mV, range 31.25mV to 1000mV 
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_1 (531.25)
+
+/// Register : ALARM_EN 
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t 
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_1 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN |  \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_WARNING |  \
+                                                  POWERSTEP01_ALARM_EN_UVLO |  \
+                                                  POWERSTEP01_ALARM_EN_STALL_DETECTION |  \
+                                                  POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+                                                  POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE 
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t 
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_1 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE 
+/// Step mode settings via enum powerstep01_StepSel_t 
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_1 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM 
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t 
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_1 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN 
+/// Synch. Mode settings via enum powerstep01_SyncSel_t 
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_1 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL 
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t 
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_1 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN 
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_1 (POWERSTEP01_WD_EN_DISABLE)
+
+/****************************************************************************/
+/* Device 2                                                                 */
+/****************************************************************************/
+  
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_2 (2008.16)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_2 (2008.16)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_2 (991.82)
+
+/// Register : MIN_SPEED 
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_2 (0)
+
+/// Register : FS_SPD 
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_2 (595.09)
+
+/// Register : FS_SPD - field : BOOST_MODE 
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_2 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters  **************************/
+/// Register : KVAL_ACC 
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_2 (16.02)
+
+/// Register : KVAL_DEC 
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_2 (16.02)
+
+/// Register : KVAL_RUN 
+/// run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_2 (16.02)
+
+/// Register : KVAL_HOLD 
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_2 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP 
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_2 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT 
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_2 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM 
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_2 (1)
+
+/// Register : INT_SPEED 
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_2 (61.512)
+
+/// Register : ST_SLP 
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_2 (0.03815)
+
+/// Register : FN_SLP_ACC 
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_2 (0.06256)
+
+/// Register : FN_SLP_DEC 
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_2 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT 
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_2 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC 
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_2 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters  *********************/
+
+/// Register : TVAL_ACC 
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_2  (328.12)
+
+/// Register : TVAL_DEC 
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_2  (328.12)
+
+/// Register : TVAL_RUN 
+/// Running torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_2  (328.12)
+
+/// Register : TVAL_HOLD 
+/// Holding torque in mV, range from 7.8mV to 1000 mV 
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_2 (328.12) 
+
+/// Register : CONFIG - field : EN_TQREG 
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t 
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_2 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)  
+
+/// Register : CONFIG - field : PRED_EN 
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t  
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_2 (POWERSTEP01_CONFIG_PRED_DISABLE)  
+
+///  Register : TON_MIN 
+///  Minimum on-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_2 (3.0)
+
+/// Register : TOFF_MIN 
+///  Minimum off-time in us, range 0.5us to 64us 
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_2 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST 
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_2  (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP 
+///  Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_2  (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW 
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_2 (POWERSTEP01_CONFIG_TSW_048us)  
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE 
+/// Gate sink/source current via enum powerstep01_Igate_t 
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_2      (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL 
+/// VCC Val, enum powerstep01_ConfigVccVal_t 
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_2 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL 
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t 
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_2    (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST 
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t 
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_2     (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC 
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_2        (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t 
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_2     (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT 
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_2        (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH 
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_2 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD 
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t 
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_2 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH 
+/// Stall threshold settings in mV, range 31.25mV to 1000mV 
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_2 (531.25)
+
+/// Register : ALARM_EN 
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t 
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_2 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN |  \
+                                                  POWERSTEP01_ALARM_EN_THERMAL_WARNING |  \
+                                                  POWERSTEP01_ALARM_EN_UVLO |  \
+                                                  POWERSTEP01_ALARM_EN_STALL_DETECTION |  \
+                                                  POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+                                                  POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE 
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t 
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_2 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE 
+/// Step mode settings via enum powerstep01_StepSel_t 
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_2 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM 
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t 
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_2 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN 
+/// Synch. Mode settings via enum powerstep01_SyncSel_t 
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_2 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL 
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t 
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_2 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN 
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_2 (POWERSTEP01_WD_EN_DISABLE)
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+  }
+#endif
+
+#endif /* __POWERSTEP01_CONFIG_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/