ST
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:
Platform compatibility
Compatible platforms have been tested with the default configuration provided by the HelloWorld_IHM03A1 example.
Diff: Components/powerstep01/PowerStep01_config.h
- Revision:
- 5:e7dca8c6ae9f
- Parent:
- 4:f48e8d87553e
- Child:
- 6:7af3838de91a
--- a/Components/powerstep01/PowerStep01_config.h Fri Mar 24 10:58:48 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,703 +0,0 @@
-/**
- ******************************************************************************
- * @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>© 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****/
X-NUCLEO-IHM03A1 High Power Stepper Motor Driver