Motor Control Library

Diff: Components/powerstep01/PowerStep01_def.h

Revision:

5:e7dca8c6ae9f

Parent:

4:f48e8d87553e

Child:

6:7af3838de91a

--- a/Components/powerstep01/PowerStep01_def.h	Fri Mar 24 10:58:48 2017 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,964 +0,0 @@
-/**
- ******************************************************************************
-  * @file    PowerStep01.h 
-  * @author  IPC Rennes
-  * @version V1.2.0
-  * @date    January 25th, 2016
-  * @brief   Header for Powerstep01 motor driver (Microstepping controller with power MOSFETs)
-  * @note    (C) COPYRIGHT 2016 STMicroelectronics
- ******************************************************************************
- * @attention
- *
-  * <h2><center>&copy; COPYRIGHT(c) 2016 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_H_INCLUDED
-#define _POWERSTEP01_H_INCLUDED
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-/* Includes ------------------------------------------------------------------*/
-#include "PowerStep01_config.h"
-#include "stdint.h"
-#include "motor_def.h"
-
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup Components
- * @{
- */  
-
-/** @defgroup PowerStep01 PowerStep01
- * @{
- */
-
-/** @defgroup Powerstep01_Exported_Defines Powerstep01_Exported_Defines
- * @{
- */
-/// Current FW major version
-#define POWERSTEP01_FW_MAJOR_VERSION (uint8_t)(1)
-/// Current FW minor version
-#define POWERSTEP01_FW_MINOR_VERSION (uint8_t)(2)
-/// Current FW patch version
-#define POWERSTEP01_FW_PATCH_VERSION (uint8_t)(0)
-/// Current FW version
-#define POWERSTEP01_FW_VERSION (uint32_t)((POWERSTEP01_FW_MAJOR_VERSION<<16)|\
-                                          (POWERSTEP01_FW_MINOR_VERSION<<8)|\
-                                          (POWERSTEP01_FW_PATCH_VERSION))
-
-/// Powerstep01 max number of bytes of command & arguments to set a parameter
-#define POWERSTEP01_CMD_ARG_MAX_NB_BYTES              (4)
-
-/// Powerstep01 command + argument bytes number for NOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_NOP              (1)
-/// Powerstep01 command + argument bytes number for RUN command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RUN              (4)
-/// Powerstep01 command + argument bytes number for STEP_CLOCK command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_STEP_CLOCK       (1)
-/// Powerstep01 command + argument bytes number for MOVE command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_MOVE             (4)
-/// Powerstep01 command + argument bytes number for GO_TO command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_TO            (4)
-/// Powerstep01 command + argument bytes number for GO_TO_DIR command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_TO_DIR        (4)
-/// Powerstep01 command + argument bytes number for GO_UNTIL command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_UNTIL         (4)
-/// Powerstep01 command + argument bytes number for RELEASE_SW command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RELEASE_SW       (1)
-/// Powerstep01 command + argument bytes number for GO_HOME command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_HOME          (1)
-/// Powerstep01 command + argument bytes number for GO_MARK command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_MARK          (1)
-/// Powerstep01 command + argument bytes number for RESET_POS command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RESET_POS        (1)
-/// Powerstep01 command + argument bytes number for RESET_DEVICE command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RESET_DEVICE     (1)
-/// Powerstep01 command + argument bytes number for NOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_SOFT_STOP        (1)
-/// Powerstep01 command + argument bytes number for HARD_STOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_HARD_STOP        (1)
-/// Powerstep01 command + argument bytes number for SOFT_HIZ command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_SOFT_HIZ         (1)
-/// Powerstep01 command + argument bytes number for ARD_HIZ command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_HARD_HIZ         (1)
-/// Powerstep01 command + argument bytes number for GET_STATUS command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GET_STATUS       (1)
-
-/// Powerstep01 response bytes number 
-#define POWERSTEP01_RSP_NB_BYTES_GET_STATUS           (2)    
-
-/// Daisy chain command mask
-#define DAISY_CHAIN_COMMAND_MASK (0xFA)
-
-/// powerSTEP01 max absolute position
-#define POWERSTEP01_MAX_POSITION (int32_t)(0x001FFFFF)
-
-/// powerSTEP01 min absolute position
-#define POWERSTEP01_MIN_POSITION (int32_t)(0xFFE00000)
-    
-/// powerSTEP01 error base number
-#define POWERSTEP01_ERROR_BASE              (0xB000)
-
-/// powerSTEP01 acceleration and deceleration max value
-#define POWERSTEP01_ACC_DEC_MAX_VALUE       (float)(59590)
-/// powerSTEP01 max speed max value
-#define POWERSTEP01_MAX_SPEED_MAX_VALUE     (float)(15610)
-/// powerSTEP01 min speed max value
-#define POWERSTEP01_MIN_SPEED_MAX_VALUE     (float)(976.3)
-/// powerSTEP01 full step speed max value
-#define POWERSTEP01_FS_SPD_MAX_VALUE        (float)(15625)
-/// powerSTEP01 intersect speed max value
-#define POWERSTEP01_INT_SPD_MAX_VALUE       (float)(976.5)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_K_THERM_MAX_VALUE       (float)(1.46875)
-/// powerSTEP01 thermal compensation min value
-#define POWERSTEP01_K_THERM_MIN_VALUE       (float)(1)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_STALL_OCD_TH_MAX_VALUE  (float)(1000)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_K_THERM_MAX_VALUE       (float)(1.46875)
-/// powerSTEP01 voltage amplitude regulation max value
-#define POWERSTEP01_KVAL_MAX_VALUE          (float)(255/256)
-/// powerSTEP01 BEMF compensation curve slope max value
-#define POWERSTEP01_SLP_MAX_VALUE           (float)(0.4)
-/// powerSTEP01 torque regulation DAC reference voltage max value
-#define POWERSTEP01_TVAL_MAX_VALUE          (float)(1000)
-/// powerSTEP01 minimum off and on time max value
-#define POWERSTEP01_TOFF_TON_MIN_MAX_VALUE  (float)(64)
-    
-///Shift of the low speed optimization bit in MIN_SPEED register
-#define POWERSTEP01_LSPD_OPT_SHIFT            (12)
-///Shift of the boost mode bit in FS_SPD register
-#define POWERSTEP01_BOOST_MODE_SHIFT          (10)
-///Maximum fast decay time (TOFF_FAST) unit
-#define POWERSTEP01_TOFF_FAST_UNIT_US         (2)
-///Shift of the maximum fast decay time (TOFF_FAST) in T_FAST register
-#define POWERSTEP01_TOFF_FAST_SHIFT           (4)
-///Maximum fall step time (FAST_STEP) unit
-#define POWERSTEP01_FAST_STEP_UNIT_US         (2)
-///Shift of the maximum fall step time (FAST_STEP) in T_FAST register
-#define POWERSTEP01_FAST_STEP_SHIFT           (0)
-///Duration unit of constant current phase during gate turn-on and turn-off (TCC)
-#define POWERSTEP01_TCC_UNIT_NS               (125)
-///Shift of TCC field in GATECFG1 register
-#define POWERSTEP01_TCC_SHIFT                 (0)
-///Shift of IGATE field in GATECFG1 register
-#define POWERSTEP01_IGATE_SHIFT               (5)
-///Shift of TBOOST field in GATECFG1 register
-#define POWERSTEP01_TBOOST_SHIFT              (8)
-///Duration unit of the blanking of the current sensing comparators (TBLANK)
-#define POWERSTEP01_TBLANK_UNIT_NS            (125)
-///Shift of TBLANK field in GATECFG2 register
-#define POWERSTEP01_TBLANK_SHIFT              (5)
-///Deadtime duration unit between gate turn-off and opposite gate turn-on (TDT)
-#define POWERSTEP01_TDT_UNIT_NS               (125)
-///Shift of TDT field in GATECFG2 register
-#define POWERSTEP01_TDT_SHIFT                 (0)
-///Shift of F_PWM_INT field in CONFIG register for voltage mode
-#define POWERSTEP01_CONFIG_PWM_DIV_SHIFT      (13)
-///Shift of F_PWM_DEC field in CONFIG register for voltage mode
-#define POWERSTEP01_CONFIG_PWM_MUL_SHIFT      (10)
-///Target switching period (TSW) unit
-#define POWERSTEP01_CONFIG_TSW_UNIT_US        (4)
-///Shift of TSW field in CONFIG register for current mode
-#define POWERSTEP01_CONFIG_TSW_SHIFT          (10)
-///Shift of MOT_STATUS field in STATUS register
-#define POWERSTEP01_STATUS_MOT_STATUS_SHIFT   (5)
-/**
-  * @}
-  */
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup Powerstep01_Exported_Types Powerstep01 Exported Types
-  * @{
-  */
-/// masks for ABS_POS register of PowerStep01
-typedef enum {
-  POWERSTEP01_ABS_POS_VALUE_MASK        = ((uint32_t)0x003FFFFF),
-  POWERSTEP01_ABS_POS_SIGN_BIT_MASK     = ((uint32_t)0x00200000)
-} powerstep01_AbsPosMasks_t;
-
-/// masks for EL_POS register of PowerStep01
-typedef enum {
-  POWERSTEP01_ELPOS_STEP_MASK       = ((uint16_t)0x180),
-  POWERSTEP01_ELPOS_MICROSTEP_MASK  = ((uint16_t)0x07F)
-} powerstep01_ElPosMasks_t;
-
-/// masks for MIN_SPEED register of PowerStep01
-typedef enum {
-  POWERSTEP01_LSPD_OPT        = ((uint16_t)((0x1)<<POWERSTEP01_LSPD_OPT_SHIFT)),
-  POWERSTEP01_MIN_SPEED_MASK  = ((uint16_t)0x0FFF)
-} powerstep01_MinSpeedMasks_t;
-
-/// Low speed optimization (MIN_SPEED register of PowerStep01)
-typedef enum {
-  POWERSTEP01_LSPD_OPT_OFF    = ((uint16_t)0x0000),
-  POWERSTEP01_LSPD_OPT_ON     = ((uint16_t)POWERSTEP01_LSPD_OPT)
-} powerstep01_LspdOpt_t;
-
-/// masks for FS_SPD register of PowerStep01
-typedef enum {
-  POWERSTEP01_BOOST_MODE   = ((uint16_t)((0x1)<<POWERSTEP01_BOOST_MODE_SHIFT)),
-  POWERSTEP01_FS_SPD_MASK  = ((uint16_t)0x03FF)
-} powerstep01_FsSpdMasks_t;
-
-/// Full step boost (FS_SPD register of PowerStep01)
-typedef enum {
-  POWERSTEP01_BOOST_MODE_OFF    = ((uint16_t)0x0000),
-  POWERSTEP01_BOOST_MODE_ON     = ((uint16_t)POWERSTEP01_BOOST_MODE)
-} powerstep01_BoostMode_t;
-
-/// masks for T_FAST register of PowerStep01
-typedef enum {
-  POWERSTEP01_FAST_STEP_MASK  = ((uint16_t) ((0xF)<<POWERSTEP01_FAST_STEP_SHIFT)),
-  POWERSTEP01_TOFF_FAST_MASK  = ((uint16_t) ((0xF)<<POWERSTEP01_TOFF_FAST_SHIFT))
-} powerstep01_TFastMasks_t;
-
-/// Maximum fall step times (T_FAST register of PowerStep01)
-typedef enum {
-  POWERSTEP01_FAST_STEP_2us     = (((uint8_t)0x00)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_4us     = (((uint8_t)0x01)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_6us     = (((uint8_t)0x02)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_8us     = (((uint8_t)0x03)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_10us    = (((uint8_t)0x04)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_12us    = (((uint8_t)0x05)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_14us    = (((uint8_t)0x06)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_16us    = (((uint8_t)0x07)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_18us    = (((uint8_t)0x08)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_20us    = (((uint8_t)0x09)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_22us    = (((uint8_t)0x0A)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_24s     = (((uint8_t)0x0B)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_26us    = (((uint8_t)0x0C)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_28us    = (((uint8_t)0x0D)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_30us    = (((uint8_t)0x0E)<<POWERSTEP01_FAST_STEP_SHIFT),
-  POWERSTEP01_FAST_STEP_32us    = (((uint8_t)0x0F)<<POWERSTEP01_FAST_STEP_SHIFT)
-} powerstep01_FastStep_t;
-
-/// Maximum fast decay times (T_FAST register of PowerStep01)
-typedef enum {
-  POWERSTEP01_TOFF_FAST_2us     = (((uint8_t)0x00)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_4us     = (((uint8_t)0x01)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_6us     = (((uint8_t)0x02)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_8us     = (((uint8_t)0x03)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_10us    = (((uint8_t)0x04)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_12us    = (((uint8_t)0x05)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_14us    = (((uint8_t)0x06)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_16us    = (((uint8_t)0x07)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_18us    = (((uint8_t)0x08)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_20us    = (((uint8_t)0x09)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_22us    = (((uint8_t)0x0A)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_24us    = (((uint8_t)0x0B)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_26us    = (((uint8_t)0x0C)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_28us    = (((uint8_t)0x0D)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_30us    = (((uint8_t)0x0E)<<POWERSTEP01_TOFF_FAST_SHIFT),
-  POWERSTEP01_TOFF_FAST_32us    = (((uint8_t)0x0F)<<POWERSTEP01_TOFF_FAST_SHIFT)
-} powerstep01_ToffFast_t;
-
-/// Overcurrent threshold options (OCD register of PowerStep01)
-typedef enum {
-  POWERSTEP01_OCD_TH_31_25mV    = ((uint8_t)0x00),
-  POWERSTEP01_OCD_TH_62_5mV     = ((uint8_t)0x01),
-  POWERSTEP01_OCD_TH_93_75mV    = ((uint8_t)0x02),
-  POWERSTEP01_OCD_TH_125mV      = ((uint8_t)0x03),
-  POWERSTEP01_OCD_TH_156_25mV   = ((uint8_t)0x04),
-  POWERSTEP01_OCD_TH_187_50mV   = ((uint8_t)0x05),
-  POWERSTEP01_OCD_TH_218_75mV   = ((uint8_t)0x06),
-  POWERSTEP01_OCD_TH_250mV      = ((uint8_t)0x07),
-  POWERSTEP01_OCD_TH_281_25mV   = ((uint8_t)0x08),
-  POWERSTEP01_OCD_TH_312_5mV    = ((uint8_t)0x09),
-  POWERSTEP01_OCD_TH_343_75mV   = ((uint8_t)0x0A),
-  POWERSTEP01_OCD_TH_375mV      = ((uint8_t)0x0B),
-  POWERSTEP01_OCD_TH_406_25mV   = ((uint8_t)0x0C),
-  POWERSTEP01_OCD_TH_437_5mV    = ((uint8_t)0x0D),
-  POWERSTEP01_OCD_TH_468_75mV   = ((uint8_t)0x0E),
-  POWERSTEP01_OCD_TH_500mV      = ((uint8_t)0x0F),
-  POWERSTEP01_OCD_TH_531_25mV   = ((uint8_t)0x10),
-  POWERSTEP01_OCD_TH_562_5mV    = ((uint8_t)0x11),
-  POWERSTEP01_OCD_TH_593_75mV   = ((uint8_t)0x12),
-  POWERSTEP01_OCD_TH_625mV      = ((uint8_t)0x13),
-  POWERSTEP01_OCD_TH_656_25mV   = ((uint8_t)0x14),
-  POWERSTEP01_OCD_TH_687_5mV    = ((uint8_t)0x15),
-  POWERSTEP01_OCD_TH_718_75mV   = ((uint8_t)0x16),
-  POWERSTEP01_OCD_TH_750mV      = ((uint8_t)0x17),
-  POWERSTEP01_OCD_TH_781_25mV   = ((uint8_t)0x18),
-  POWERSTEP01_OCD_TH_812_5mV    = ((uint8_t)0x19),
-  POWERSTEP01_OCD_TH_843_75mV   = ((uint8_t)0x1A),
-  POWERSTEP01_OCD_TH_875mV      = ((uint8_t)0x1B),
-  POWERSTEP01_OCD_TH_906_25mV   = ((uint8_t)0x1C),
-  POWERSTEP01_OCD_TH_937_75mV   = ((uint8_t)0x1D),
-  POWERSTEP01_OCD_TH_968_75mV   = ((uint8_t)0x1E),
-  POWERSTEP01_OCD_TH_1V         = ((uint8_t)0x1F)        
-} powerstep01_OcdTh_t;
-
-/// masks for STEP_MODE register of PowerStep01
-typedef enum {
-  POWERSTEP01_STEP_MODE_STEP_SEL    = ((uint8_t)0x07),
-  POWERSTEP01_STEP_MODE_CM_VM       = ((uint8_t)0x08),
-  POWERSTEP01_STEP_MODE_SYNC_SEL    = ((uint8_t)0x70),
-  POWERSTEP01_STEP_MODE_SYNC_EN     = ((uint8_t)0x80)
-} powerstep01_StepModeMasks_t;
-
-/// Voltage or Current mode selection (CM_VM field of STEP_MODE register of PowerStep01)
-typedef enum {
-  POWERSTEP01_CM_VM_VOLTAGE    = ((uint8_t)0x00),
-  POWERSTEP01_CM_VM_CURRENT    = ((uint8_t)0x08)
-} powerstep01_CmVm_t;
-
-/// Stepping options (field STEP_SEL of STEP_MODE register of PowerStep01)
-typedef enum {
-  POWERSTEP01_STEP_SEL_1      = ((uint8_t)0x00),
-  POWERSTEP01_STEP_SEL_1_2    = ((uint8_t)0x01),
-  POWERSTEP01_STEP_SEL_1_4    = ((uint8_t)0x02),
-  POWERSTEP01_STEP_SEL_1_8    = ((uint8_t)0x03),
-  POWERSTEP01_STEP_SEL_1_16   = ((uint8_t)0x04),
-  POWERSTEP01_STEP_SEL_1_32   = ((uint8_t)0x05),
-  POWERSTEP01_STEP_SEL_1_64   = ((uint8_t)0x06),
-  POWERSTEP01_STEP_SEL_1_128  = ((uint8_t)0x07)
-} powerstep01_StepSel_t;
-
-/// Powerstep01 Sync Output frequency enabling bitw
-#define POWERSTEP01_SYNC_EN   ((0x1) << 7)
-
-/// SYNC_SEL options (STEP_MODE register of PowerStep01)
-typedef enum {
-  POWERSTEP01_SYNC_SEL_DISABLED   = ((uint8_t)0x00),
-  POWERSTEP01_SYNC_SEL_1_2        = ((uint8_t)(POWERSTEP01_SYNC_EN|0x00)),
-  POWERSTEP01_SYNC_SEL_1          = ((uint8_t)(POWERSTEP01_SYNC_EN|0x10)),
-  POWERSTEP01_SYNC_SEL_2          = ((uint8_t)(POWERSTEP01_SYNC_EN|0x20)),
-  POWERSTEP01_SYNC_SEL_4          = ((uint8_t)(POWERSTEP01_SYNC_EN|0x30)),
-  POWERSTEP01_SYNC_SEL_8          = ((uint8_t)(POWERSTEP01_SYNC_EN|0x40)),
-  POWERSTEP01_SYNC_SEL_16         = ((uint8_t)(POWERSTEP01_SYNC_EN|0x50)),
-  POWERSTEP01_SYNC_SEL_32         = ((uint8_t)(POWERSTEP01_SYNC_EN|0x60)),
-  POWERSTEP01_SYNC_SEL_64         = ((uint8_t)(POWERSTEP01_SYNC_EN|0x70))
-} powerstep01_SyncSel_t;
-
-/// Alarms conditions (ALARM_EN register of PowerStep01)
-typedef enum {
-  POWERSTEP01_ALARM_EN_OVERCURRENT        = ((uint8_t)0x01),
-  POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN   = ((uint8_t)0x02),
-  POWERSTEP01_ALARM_EN_THERMAL_WARNING    = ((uint8_t)0x04),
-  POWERSTEP01_ALARM_EN_UVLO               = ((uint8_t)0x08),
-  POWERSTEP01_ALARM_EN_ADC_UVLO           = ((uint8_t)0x10),
-  POWERSTEP01_ALARM_EN_STALL_DETECTION    = ((uint8_t)0x20),
-  POWERSTEP01_ALARM_EN_SW_TURN_ON         = ((uint8_t)0x40),
-  POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD    = ((uint8_t)0x80)
-} powerstep01_AlarmEn_t;
-
-
-/// masks for GATECFG1 register of PowerStep01
-typedef enum {
-  POWERSTEP01_GATECFG1_TCC_MASK    = ((uint16_t)0x001F),
-  POWERSTEP01_GATECFG1_IGATE_MASK  = ((uint16_t)0x00E0),
-  POWERSTEP01_GATECFG1_TBOOST_MASK = ((uint16_t)0x0700),
-  POWERSTEP01_GATECFG1_WD_EN       = ((uint16_t)0x0800)
-} powerstep01_GateCfg1Masks_t;
-
-/// Control current Time (field TCC of GATECFG1 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_TCC_125ns       = (((uint8_t)0x00)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_250ns       = (((uint8_t)0x01)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_375ns       = (((uint8_t)0x02)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_500ns       = (((uint8_t)0x03)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_625ns       = (((uint8_t)0x04)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_750ns       = (((uint8_t)0x05)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_875ns       = (((uint8_t)0x06)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1000ns      = (((uint8_t)0x07)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1125ns      = (((uint8_t)0x08)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1250ns      = (((uint8_t)0x09)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1375ns      = (((uint8_t)0x0A)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1500ns      = (((uint8_t)0x0B)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1625ns      = (((uint8_t)0x0C)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1750ns      = (((uint8_t)0x0D)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_1875ns      = (((uint8_t)0x0E)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2000ns      = (((uint8_t)0x0F)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2125ns      = (((uint8_t)0x10)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2250ns      = (((uint8_t)0x11)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2375ns      = (((uint8_t)0x12)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2500ns      = (((uint8_t)0x13)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2625ns      = (((uint8_t)0x14)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2750ns      = (((uint8_t)0x15)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_2875ns      = (((uint8_t)0x16)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3000ns      = (((uint8_t)0x17)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3125ns      = (((uint8_t)0x18)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3250ns      = (((uint8_t)0x19)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3375ns      = (((uint8_t)0x1A)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3500ns      = (((uint8_t)0x1B)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3625ns      = (((uint8_t)0x1C)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3750ns      = (((uint8_t)0x1D)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3750ns_bis  = (((uint8_t)0x1E)<<POWERSTEP01_TCC_SHIFT),
-  POWERSTEP01_TCC_3750ns_ter  = (((uint8_t)0x1F)<<POWERSTEP01_TCC_SHIFT)
-} powerstep01_Tcc_t;
-
-/// Igate options (GATECFG1 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_IGATE_4mA     = (((uint8_t)0x00)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_4mA_Bis = (((uint8_t)0x01)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_8mA     = (((uint8_t)0x02)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_16mA    = (((uint8_t)0x03)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_24mA    = (((uint8_t)0x04)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_32mA    = (((uint8_t)0x05)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_64mA    = (((uint8_t)0x06)<<POWERSTEP01_IGATE_SHIFT),
-  POWERSTEP01_IGATE_96mA    = (((uint8_t)0x07)<<POWERSTEP01_IGATE_SHIFT),
-} powerstep01_Igate_t;
-
-/// Turn off boost time (TBOOST field of GATECFG1 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_TBOOST_0ns                = (((uint8_t)0x00)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_62_5__83_3__125ns  = (((uint8_t)0x01)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_125ns              = (((uint8_t)0x02)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_250ns              = (((uint8_t)0x03)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_375ns              = (((uint8_t)0x04)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_500ns              = (((uint8_t)0x05)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_750ns              = (((uint8_t)0x06)<<POWERSTEP01_TBOOST_SHIFT),
-  POWERSTEP01_TBOOST_1000ns             = (((uint8_t)0x07)<<POWERSTEP01_TBOOST_SHIFT),
-} powerstep01_Tboost_t;
-
-/// External clock watchdog (WD_EN field of GATECFG1 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_WD_EN_DISABLE   = ((uint16_t)0x0000),
-  POWERSTEP01_WD_EN_ENABLE    = ((uint16_t) ((0x1) << 11))
-} powerstep01_WdEn_t;
-
-
-/// masks for GATECFG2 register of PowerStep01
-typedef enum {
-  POWERSTEP01_GATECFG2_TDT      = ((uint8_t)0x1F),
-  POWERSTEP01_GATECFG2_TBLANK   = ((uint8_t)0xE0)
-} powerstep01_GateCfg2Masks_t;
-
-/// Blanking time (TBLANK field of GATECFG2 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_TBLANK_125ns    = (((uint8_t)0x00)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_250ns    = (((uint8_t)0x01)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_375ns    = (((uint8_t)0x02)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_500ns    = (((uint8_t)0x03)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_625ns    = (((uint8_t)0x04)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_750ns    = (((uint8_t)0x05)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_875ns    = (((uint8_t)0x06)<<POWERSTEP01_TBLANK_SHIFT),
-  POWERSTEP01_TBLANK_1000ns   = (((uint8_t)0x07)<<POWERSTEP01_TBLANK_SHIFT),
-} powerstep01_TBlank_t;
-
-/// Dead time (TDT field of GATECFG2 register of PowerStep01)
-typedef enum {
-  POWERSTEP01_TDT_125ns   = (((uint8_t)0x00)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_250ns   = (((uint8_t)0x01)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_375ns   = (((uint8_t)0x02)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_500ns   = (((uint8_t)0x03)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_625ns   = (((uint8_t)0x04)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_750ns   = (((uint8_t)0x05)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_875ns   = (((uint8_t)0x06)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1000ns  = (((uint8_t)0x07)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1125ns  = (((uint8_t)0x08)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1250ns  = (((uint8_t)0x09)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1375ns  = (((uint8_t)0x0A)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1500ns  = (((uint8_t)0x0B)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1625ns  = (((uint8_t)0x0C)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1750ns  = (((uint8_t)0x0D)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_1875ns  = (((uint8_t)0x0E)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2000ns  = (((uint8_t)0x0F)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2125ns  = (((uint8_t)0x10)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2250ns  = (((uint8_t)0x11)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2375ns  = (((uint8_t)0x12)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2500ns  = (((uint8_t)0x13)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2625ns  = (((uint8_t)0x14)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2750ns  = (((uint8_t)0x15)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_2875ns  = (((uint8_t)0x16)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3000ns  = (((uint8_t)0x17)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3125ns  = (((uint8_t)0x18)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3250ns  = (((uint8_t)0x19)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3375ns  = (((uint8_t)0x1A)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3500ns  = (((uint8_t)0x1B)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3625ns  = (((uint8_t)0x1C)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3750ns  = (((uint8_t)0x1D)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_3875ns  = (((uint8_t)0x1E)<<POWERSTEP01_TDT_SHIFT),
-  POWERSTEP01_TDT_4000ns  = (((uint8_t)0x1F)<<POWERSTEP01_TDT_SHIFT)
-} powerstep01_Tdt_t;
-
-/// Masks for CONFIG register of Powerstep01 
-typedef enum {
-  POWERSTEP01_CONFIG_OSC_SEL      = ((uint16_t)0x0007),
-  POWERSTEP01_CONFIG_EXT_CLK      = ((uint16_t)0x0008),
-  POWERSTEP01_CONFIG_SW_MODE      = ((uint16_t)0x0010),
-  POWERSTEP01_CONFIG_OC_SD        = ((uint16_t)0x0080),
-  POWERSTEP01_CONFIG_UVLOVAL      = ((uint16_t)0x0100),
-  POWERSTEP01_CONFIG_VCCVAL       = ((uint16_t)0x0200),
-  // Masks specific for voltage mode
-  POWERSTEP01_CONFIG_EN_VSCOMP    = ((uint16_t)0x0020),
-  POWERSTEP01_CONFIG_F_PWM_DEC    = ((uint16_t)0x1C00),
-  POWERSTEP01_CONFIG_F_PWM_INT    = ((uint16_t)0xE000),
-  // Masks specific for current mode
-  POWERSTEP01_CONFIG_TSW          = ((uint16_t)0x7C00),
-  POWERSTEP01_CONFIG_PRED_EN      = ((uint16_t)0x8000)  
-} powerstep01_ConfigMasks_t;
-
-/// Masks for CONFIG register of Powerstep01  (specific for current mode)
-#define POWERSTEP01_CONFIG_EN_TQREG (POWERSTEP01_CONFIG_EN_VSCOMP) 
-
-/// Oscillator management (EXT_CLK and OSC_SEL fields of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_INT_16MHZ               = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ   = ((uint16_t)0x0008),
-  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_4MHZ   = ((uint16_t)0x0009),
-  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_8MHZ   = ((uint16_t)0x000A),
-  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_16MHZ  = ((uint16_t)0x000B),
-  POWERSTEP01_CONFIG_EXT_8MHZ_XTAL_DRIVE     = ((uint16_t)0x0004),
-  POWERSTEP01_CONFIG_EXT_16MHZ_XTAL_DRIVE    = ((uint16_t)0x0005),
-  POWERSTEP01_CONFIG_EXT_24MHZ_XTAL_DRIVE    = ((uint16_t)0x0006),
-  POWERSTEP01_CONFIG_EXT_32MHZ_XTAL_DRIVE    = ((uint16_t)0x0007),
-  POWERSTEP01_CONFIG_EXT_8MHZ_OSCOUT_INVERT  = ((uint16_t)0x000C),
-  POWERSTEP01_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t)0x000D),
-  POWERSTEP01_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t)0x000E),
-  POWERSTEP01_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t)0x000F)
-} powerstep01_ConfigOscMgmt_t;
-
-/// Oscillator management (EXT_CLK and OSC_SEL fields of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_SW_HARD_STOP = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_SW_USER      = ((uint16_t)0x0010)
-} powerstep01_ConfigSwMode_t;
-
-/// Voltage supply compensation enabling for voltage mode (EN_VSCOMP field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_VS_COMP_DISABLE  = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_VS_COMP_ENABLE   = ((uint16_t)0x0020)
-} powerstep01_ConfigEnVscomp_t;
-
-/// External torque regulation enabling (EN_TQREG field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_TQ_REG_TVAL_USED = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_TQ_REG_ADC_OUT   = ((uint16_t)0x0020)
-} powerstep01_ConfigEnTqReg_t;
-
-/// Overcurrent shutdown (OC_SD field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_OC_SD_DISABLE  = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_OC_SD_ENABLE   = ((uint16_t)0x0080)
-} powerstep01_ConfigOcSd_t;
-
-/// UVLO thresholds (UVLOVAL field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_UVLOVAL_LOW      = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_UVLOVAL_HIGH     = ((uint16_t)0x0100),
-} powerstep01_ConfigUvLoVal_t;
-
-/// Vcc voltage  (VCCVAL field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_VCCVAL_7_5V    = ((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_VCCVAL_15V     = ((uint16_t)0x0200)
-} powerstep01_ConfigVccVal_t;
-
-/// PWM frequency division factor (F_PWM_INT field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_PWM_DIV_1    = (((uint16_t)0x00)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_2    = (((uint16_t)0x01)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_3    = (((uint16_t)0x02)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_4    = (((uint16_t)0x03)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_5    = (((uint16_t)0x04)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_6    = (((uint16_t)0x05)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
-  POWERSTEP01_CONFIG_PWM_DIV_7    = (((uint16_t)0x06)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT)
-} powerstep01_ConfigFPwmInt_t;
-
-/// PWM frequency multiplication factor (F_PWM_DEC field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_PWM_MUL_0_625  = (((uint16_t)0x00)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_0_75   = (((uint16_t)0x01)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_0_875  = (((uint16_t)0x02)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_1      = (((uint16_t)0x03)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_1_25   = (((uint16_t)0x04)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_1_5    = (((uint16_t)0x05)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_1_75   = (((uint16_t)0x06)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
-  POWERSTEP01_CONFIG_PWM_MUL_2      = (((uint16_t)0x07)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT)
-} powerstep01_ConfigFPwmDec_t;
-
-/// Switching period  (TSW field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_TSW_004us    =(((uint16_t)0x01)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_008us    =(((uint16_t)0x02)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_012us    =(((uint16_t)0x03)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_016us    =(((uint16_t)0x04)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_020us    =(((uint16_t)0x05)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_024us    =(((uint16_t)0x06)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_028us    =(((uint16_t)0x07)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_032us    =(((uint16_t)0x08)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_036us    =(((uint16_t)0x09)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_040us    =(((uint16_t)0x0A)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_044us    =(((uint16_t)0x0B)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_048us    =(((uint16_t)0x0C)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_052us    =(((uint16_t)0x0D)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_056us    =(((uint16_t)0x0E)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_060us    =(((uint16_t)0x0F)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_064us    =(((uint16_t)0x10)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_068us    =(((uint16_t)0x11)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_072us    =(((uint16_t)0x12)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_076us    =(((uint16_t)0x13)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_080us    =(((uint16_t)0x14)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_084us    =(((uint16_t)0x15)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_088us    =(((uint16_t)0x16)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_092us    =(((uint16_t)0x17)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_096us    =(((uint16_t)0x18)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_100us    =(((uint16_t)0x19)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_104us    =(((uint16_t)0x1A)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_108us    =(((uint16_t)0x1B)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_112us    =(((uint16_t)0x1C)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_116us    =(((uint16_t)0x1D)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_120us    =(((uint16_t)0x1E)<<POWERSTEP01_CONFIG_TSW_SHIFT),
-  POWERSTEP01_CONFIG_TSW_124us    =(((uint16_t)0x1F)<<POWERSTEP01_CONFIG_TSW_SHIFT)        
-} powerstep01_ConfigTsw_t;
-
-/// Voltage supply compensation enabling for current mode(EN_PRED field of CONFIG register of Powerstep01)
-typedef enum {
-  POWERSTEP01_CONFIG_PRED_DISABLE =((uint16_t)0x0000),
-  POWERSTEP01_CONFIG_PRED_ENABLE  =((uint16_t)0x8000)
-} powerstep01_ConfigPredEn_t;
-
-/// Bit mask for STATUS Register of PowerStep01²
-typedef enum {
-  POWERSTEP01_STATUS_HIZ          = (((uint16_t)0x0001)),
-  POWERSTEP01_STATUS_BUSY         = (((uint16_t)0x0002)),
-  POWERSTEP01_STATUS_SW_F         = (((uint16_t)0x0004)),
-  POWERSTEP01_STATUS_SW_EVN       = (((uint16_t)0x0008)),
-  POWERSTEP01_STATUS_DIR          = (((uint16_t)0x0010)),
-  POWERSTEP01_STATUS_MOT_STATUS   = (((uint16_t)0x0060)),
-  POWERSTEP01_STATUS_CMD_ERROR    = (((uint16_t)0x0080)),
-  POWERSTEP01_STATUS_STCK_MOD     = (((uint16_t)0x0100)),
-  POWERSTEP01_STATUS_UVLO         = (((uint16_t)0x0200)),
-  POWERSTEP01_STATUS_UVLO_ADC     = (((uint16_t)0x0400)),
-  POWERSTEP01_STATUS_TH_STATUS    = (((uint16_t)0x1800)),
-  POWERSTEP01_STATUS_OCD          = (((uint16_t)0x2000)),
-  POWERSTEP01_STATUS_STALL_A      = (((uint16_t)0x4000)),
-  POWERSTEP01_STATUS_STALL_B      = (((uint16_t)0x8000))
-} powerstep01_StatusMasks_t;
-
-/// Motor state (MOT_STATUS filed of STATUS register of PowerStep01)
-typedef enum {
-  POWERSTEP01_STATUS_MOT_STATUS_STOPPED       = (((uint16_t)0x0000)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
-  POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION  = (((uint16_t)0x0001)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
-  POWERSTEP01_STATUS_MOT_STATUS_DECELERATION  = (((uint16_t)0x0002)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
-  POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD     = (((uint16_t)0x0003)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT)
-} powerstep01_Status_t;
-
-/// Powerstep01 internal register addresses
-typedef enum {
-  POWERSTEP01_ABS_POS     = ((uint8_t)0x01),
-  POWERSTEP01_EL_POS      = ((uint8_t)0x02),
-  POWERSTEP01_MARK        = ((uint8_t)0x03), 
-  POWERSTEP01_SPEED       = ((uint8_t)0x04),
-  POWERSTEP01_ACC         = ((uint8_t)0x05),
-  POWERSTEP01_DEC         = ((uint8_t)0x06),
-  POWERSTEP01_MAX_SPEED   = ((uint8_t)0x07),
-  POWERSTEP01_MIN_SPEED   = ((uint8_t)0x08),
-  POWERSTEP01_FS_SPD      = ((uint8_t)0x15),
-  POWERSTEP01_KVAL_HOLD   = ((uint8_t)0x09),
-  POWERSTEP01_KVAL_RUN    = ((uint8_t)0x0A),
-  POWERSTEP01_KVAL_ACC    = ((uint8_t)0x0B),
-  POWERSTEP01_KVAL_DEC    = ((uint8_t)0x0C),
-  POWERSTEP01_INT_SPD     = ((uint8_t)0x0D),
-  POWERSTEP01_ST_SLP      = ((uint8_t)0x0E),
-  POWERSTEP01_FN_SLP_ACC  = ((uint8_t)0x0F),
-  POWERSTEP01_FN_SLP_DEC  = ((uint8_t)0x10),
-  POWERSTEP01_K_THERM     = ((uint8_t)0x11),
-  POWERSTEP01_ADC_OUT     = ((uint8_t)0x12),
-  POWERSTEP01_OCD_TH      = ((uint8_t)0x13),
-  POWERSTEP01_STALL_TH    = ((uint8_t)0x14),
-  POWERSTEP01_STEP_MODE   = ((uint8_t)0x16),
-  POWERSTEP01_ALARM_EN    = ((uint8_t)0x17),
-  POWERSTEP01_GATECFG1    = ((uint8_t)0x18),
-  POWERSTEP01_GATECFG2    = ((uint8_t)0x19),
-  POWERSTEP01_CONFIG      = ((uint8_t)0x1A),
-  POWERSTEP01_STATUS      = ((uint8_t)0x1B)
-} powerstep01_Registers_t;
-
-/// Powerstep01 address of register TVAL_HOLD (Current mode only)
-#define   POWERSTEP01_TVAL_HOLD  (POWERSTEP01_KVAL_HOLD )   
-/// Powerstep01 address of register TVAL_RUN (Current mode only)
-#define   POWERSTEP01_TVAL_RUN   (POWERSTEP01_KVAL_RUN)   
-/// Powerstep01 address of register TVAL_HOLD (Current mode only)
-#define   POWERSTEP01_TVAL_ACC   (POWERSTEP01_KVAL_ACC)   
-/// Powerstep01 address of register TVAL_DEC (Current mode only)
-#define   POWERSTEP01_TVAL_DEC   (POWERSTEP01_KVAL_DEC)   
-/// Powerstep01 address of register T_FAST  (Current mode only)
-#define   POWERSTEP01_T_FAST     (POWERSTEP01_ST_SLP)   
-/// Powerstep01 address of register TON_MIN  (Current mode only)
-#define   POWERSTEP01_TON_MIN    (POWERSTEP01_FN_SLP_ACC)
-/// Powerstep01 address of register TOFF_MIN (Current mode only)
-#define   POWERSTEP01_TOFF_MIN   (POWERSTEP01_FN_SLP_DEC)
-
-/// Powerstep01 application commands
-typedef enum {
-  POWERSTEP01_NOP               = ((uint8_t)0x00),
-  POWERSTEP01_SET_PARAM         = ((uint8_t)0x00),
-  POWERSTEP01_GET_PARAM         = ((uint8_t)0x20),
-  POWERSTEP01_RUN               = ((uint8_t)0x50),
-  POWERSTEP01_STEP_CLOCK        = ((uint8_t)0x58),
-  POWERSTEP01_MOVE              = ((uint8_t)0x40),
-  POWERSTEP01_GO_TO             = ((uint8_t)0x60),
-  POWERSTEP01_GO_TO_DIR         = ((uint8_t)0x68),
-  POWERSTEP01_GO_UNTIL          = ((uint8_t)0x82),
-  POWERSTEP01_GO_UNTIL_ACT_CPY  = ((uint8_t)0x8A),
-  POWERSTEP01_RELEASE_SW        = ((uint8_t)0x92),
-  POWERSTEP01_GO_HOME           = ((uint8_t)0x70),
-  POWERSTEP01_GO_MARK           = ((uint8_t)0x78),
-  POWERSTEP01_RESET_POS         = ((uint8_t)0xD8),
-  POWERSTEP01_RESET_DEVICE      = ((uint8_t)0xC0),
-  POWERSTEP01_SOFT_STOP         = ((uint8_t)0xB0),
-  POWERSTEP01_HARD_STOP         = ((uint8_t)0xB8),
-  POWERSTEP01_SOFT_HIZ          = ((uint8_t)0xA0),
-  POWERSTEP01_HARD_HIZ          = ((uint8_t)0xA8),
-  POWERSTEP01_GET_STATUS        = ((uint8_t)0xD0),
-  POWERSTEP01_RESERVED_CMD1     = ((uint8_t)0xEB),
-  POWERSTEP01_RESERVED_CMD2     = ((uint8_t)0xF8)
-} powerstep01_Commands_t;
-
-/** @defgroup Motor_Driver_Initialization_Structure Motor Driver Initialization Structure
-  * @{
-  */
-/* ACTION --------------------------------------------------------------------*
- * Declare here the component's initialization structure, if any, one         *
- * variable per line without initialization.                                  *
- *                                                                            *
- * Example:                                                                   *
- *   typedef struct                                                           *
- *   {                                                                        *
- *     int frequency;                                                         *
- *     int update_mode;                                                       *
- *   } COMPONENT_init_t;                                                      *
- *----------------------------------------------------------------------------*/
-///Initialization parameters structure common to current and voltage modes
-typedef struct
-{
-  ///Current or voltage mode selection
-  powerstep01_CmVm_t cmVmSelection;
-  ///Acceleration 
-  float acceleration;
-  ///Deceleration
-  float deceleration;
-  ///Maximum speed
-  float maxSpeed;
-  ///Minimum speed
-  float minSpeed;
-  ///Low speed optimization bit
-  powerstep01_LspdOpt_t lowSpeedOptimization;
-  ///Full step speed
-  float fullStepSpeed;
-  ///Boost mode bit
-  powerstep01_BoostMode_t boostMode;
-  ///Over current detection threshold
-  float ocdThreshold;
-  ///Step mode
-  motorStepMode_t stepMode;
-  ///Sync clock selection
-  powerstep01_SyncSel_t syncClockSelection;
-  ///Alarm selection
-  uint8_t alarmsSelection;
-  ///Sink or source current used by gate driving circuitry
-  powerstep01_Igate_t iGate;
-  ///Duration of the overboost phase during gate turn-off
-  powerstep01_Tboost_t tBoost;
-  ///Duration of constant current phase during gate turn-on and turn-off
-  powerstep01_Tcc_t tcc;
-  ///Clock source monitoring enable bit
-  powerstep01_WdEn_t wdEn;
-  ///Duration of the blanking of the current sensing comparators
-  powerstep01_TBlank_t tBlank;
-  ///Deadtime duration between gate turn-off and opposite gate turn-on
-  powerstep01_Tdt_t tdt;  
-} commonParameters_t;
-
-///Initialization parameters structure for voltage mode
-typedef struct
-{
-  ///Parameters common to current and voltage modes
-  commonParameters_t cp;
-  ///Voltage amplitude regulation when the motor is stopped
-  float kvalHold;
-  ///Voltage amplitude regulation when the motor is running at constant speed
-  float kvalRun;
-  ///Voltage amplitude regulation during motor acceleration
-  float kvalAcc;
-  ///Voltage amplitude regulation during motor deceleration
-  float kvalDec;
-  ///Speed value at which the BEMF compensation curve changes slope  
-  float intersectSpeed;
-  ///BEMF compensation curve slope when speed is lower than intersect speed
-  float startSlope;
-  ///BEMF compensation curve slope when speed is greater than intersect speed during acceleration
-  float accelerationFinalSlope;
-  ///BEMF compensation curve slope when speed is greater than intersect speed during deceleration
-  float decelerationFinalSlope;
-  ///Winding resistance thermal drift compensation coefficient
-  float thermalCompensationFactor;
-  ///Stall detection threshold
-  float stallThreshold;
-  ///System clock source management
-  powerstep01_ConfigOscMgmt_t oscClkSel;
-  ///External switch to act as hard_stop interrupt or not
-  powerstep01_ConfigSwMode_t swMode;
-  ///Motor supply voltage compensation enable bit
-  powerstep01_ConfigEnVscomp_t enVsComp;
-  ///Overcurrent event causes or not the bridges to turn-off
-  powerstep01_ConfigOcSd_t ocSd;
-  ///UVLO protection thresholds
-  powerstep01_ConfigUvLoVal_t uvloVal;
-  ///Internal VCC regulator output voltage
-  powerstep01_ConfigVccVal_t vccVal;
-  ///Integer division factor of PWM frequency generation
-  powerstep01_ConfigFPwmInt_t fPwmInt;
-  ///Multiplication factor of PWM frequency generation
-  powerstep01_ConfigFPwmDec_t fPwmDec;
-} powerstep01_VoltageMode_init_t;
-
-///Initialization parameters structure for current mode
-typedef struct
-{
-  ///Parameters common to current and voltage modes
-  commonParameters_t cp;
-  ///Torque regulation DAC reference voltage when motor is stopped
-  float tvalHold;
-  ///Torque regulation DAC reference voltage when motor is runnig at constant speed
-  float tvalRun;
-  ///Torque regulation DAC reference voltage during motor acceleration
-  float tvalAcc;
-  ///Torque regulation DAC reference voltage during motor deceleration
-  float tvalDec;
-  ///Maximum fast decay time
-  powerstep01_ToffFast_t toffFast;
-  ///Maximum fall step time
-  powerstep01_FastStep_t fastStep;
-  ///Minimum on-time
-  float tonMin;
-  ///Minimum off-time
-  float toffMin;
-  ///System clock source management
-  powerstep01_ConfigOscMgmt_t oscClkSel;
-  ///External switch to act as hard_stop interrupt or not
-  powerstep01_ConfigSwMode_t swMode;
-  ///Peak current is adjusted through the ADCIN input or not
-  powerstep01_ConfigEnTqReg_t tqReg;
-  ///Motor supply voltage compensation enable bit
-  powerstep01_ConfigEnVscomp_t enVsComp;
-  ///Overcurrent event causes or not the bridges to turn-off
-  powerstep01_ConfigOcSd_t ocSd;
-  ///UVLO protection thresholds
-  powerstep01_ConfigUvLoVal_t uvloVal;
-  ///Internal VCC regulator output voltage
-  powerstep01_ConfigVccVal_t vccVal;
-  ///target switching period
-  powerstep01_ConfigTsw_t tsw;
-  ///predictive current control method enable bit
-  powerstep01_ConfigPredEn_t predEn;
-
-} powerstep01_CurrentMode_init_t;
-
-///Union of current and volatge modes initialization parameters structures
-typedef union powerstep01_init_u powerstep01_init_u_t;
-union powerstep01_init_u
-{
-  ///Initialization parameters structure for current mode
-  powerstep01_CurrentMode_init_t cm;
-  ///Initialization parameters structure for voltage mode
-  powerstep01_VoltageMode_init_t vm;
-};
-/**
-  * @}
-  */
-  
-/** 
- * @brief  Powerstep01 driver data structure definition.
- */ 
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per   *
- * line without initialization.                                               *
- *                                                                            *
- * Example:                                                                   *
- *   typedef struct                                                           *
- *   {                                                                        *
- *       int T0_out;                                                          *
- *       int T1_out;                                                          *
- *       float T0_degC;                                                       *
- *       float T1_degC;                                                       *
- *   } COMPONENT_Data_t;                                                      *
- *----------------------------------------------------------------------------*/
-
-/**
-  * @}
-  */
-
-/* Functions -----------------------------------------------------------------*/
-
-/** @defgroup Powerstep01_Board_Linked_Functions Powerstep01 Board Linked Functions
-  * @{
-  */  
-
-/* ACTION --------------------------------------------------------------------*
- * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
- * interrupt related functions), and implement them in a glue-logic file on   *
- * the target environment, for example within the "x_nucleo_board.c" file.    *
- * E.g.:                                                                      *
- *   extern status_t COMPONENT_IO_Init (void *handle);                        *
- *   extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
- *   extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
- *   extern void     COMPONENT_IO_ITConfig(void);                             *
- *----------------------------------------------------------------------------*/
-///Delay of the requested number of milliseconds
-extern void Powerstep01_Board_Delay(void *handle, uint32_t delay);
-///Enable Irq
-extern void Powerstep01_Board_EnableIrq(void *handle);
-///Disable Irq
-extern void Powerstep01_Board_DisableIrq(void *handle);
-///init the timer for the step clock
-extern void Powerstep01_Board_StepClockInit(void *handle);
-///Set the Powerstep01 reset pin (high logic level)
-extern void Powerstep01_Board_ReleaseReset(void *handle);           
-///Reset the Powerstep01 reset pin (low logic level)
-extern void Powerstep01_Board_Reset(void *handle);                  
-///Write bytes to the Powerstep01s via SPI
-extern uint8_t Powerstep01_Board_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
-
-
-/**
-  * @}
-  */
-
-  /**
-  * @}
-  */
-
-  /**
-  * @}
-  */
-
-#ifdef __cplusplus
-  }
-#endif
-
-#endif /* #ifndef _POWERSTEP01_H_INCLUDED */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/