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Expansion SW library to control high power stepper motor(s) using IHM03A1 expansion board(s) with Powerstep01 driver.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: IHM03A1_ExampleFor1Motor HelloWorld_IHM03A1 IHM03A1_ExampleFor3Motors KYPHOS_Stepper_Motor_Control
Fork of X_NUCLEO_IHM03A1 by ST Expansion SW Team
Motor Control Library

Library to handle the X-NUCLEO-IHM03A1 Motor Control Expansion Board based on the Powerstep01 component.
It features the:
read and write of Powerstep01 registers
Nucleo and expansion board configuration (GPIOs, PWMs, IRQs, etc.)
Powerstep01 application commands handling
FLAG and BUSY interrupt handling (alarm reporting)
Daisy chain handling
The API allows to easily:
perform various positioning, moves and stops
get/set or monitor the motor positions
set home position and mark another position
get/set minimum and maximum speed
get current speed
get/set acceleration and deceleration
get/set the step mode (up to 1/128)
get/set the control method
get/set parameters for voltage mode driving
get/set parameters for current mode driving
get/set parameters for gate driving
configure various protections such as overcurrent detection
enable/disable alarms
handle step-clock
get system status
Daisy-Chain Configuration

The IHM03A1 board can be stacked up to three times so that the Powerstep01 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

/media/uploads/nucleosam/driving1steppermotor.png
Platform compatibility

Compatible platforms have been tested with the default configuration provided by the HelloWorld_IHM03A1 example.
Components/powerstep01/PowerStep01_config.h

Committer:: davide.aliprandi@st.com
Date:: 2017-03-24
Revision:: 4:f48e8d87553e
File content as of revision 4:f48e8d87553e:

/**
 ******************************************************************************
 * @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****/