// General config
configSenseMaxThresh(THRESH_100MV);
configCurrentLimit(1800, 100); //
configSpeedFlags(DCC_DISABLED, DECEL_1);
configSpeed(SpeedControlRes::RES_0_4HZ, 0, 820);
configSpeedAccel(500, 31);
configStopOnFail(ENABLED);
configVLRvoltage(VLR_3_3V);
configGateDrive(DRIVE_11V);
configOperatingMode(SPI_ONLY);
configWakeMode(WAKE_PWM);
configPWMSense(PWM_DIRECT);
configCurrentLimitEnable(ENABLED);
configMotorMode(CLOSED_LOOP_SPEED);
configDriveMode(SINUSOIDAL);
configOvermodulation(OVM_100P);

// PWM
configPWM(PHASE3, ALIGN_CENTRE, 50000); // hz
configDither(DITHER_1600NS, DWELL_1MS, 10); // 0 steps = dither disabled
configBridge(GAIN_20, 600); // gain, dead time ns

// Gate
configGateCurrent(CUR_TURN_OFF, 0, 0); // drive turn-off current1, current2: mA, 0=switching
configGateCurrent(CUR_TURN_ON,  0, 0); // drive turn-on  current1, current2: mA, 0=switching
configGateSlew(0, 0); // ns

// Current Limiting
configCurrentLimit(1000, 100); // blank time ns, scale %

// VDS
configVDSOvervoltage(1550); // mv
configVDS(DEBOUNCE, 3150); // ns

// Startup
configStartupAlign(100, 3); // hold time ms, duty cycle percent
configStartupMotor(COAST_OFF, DESYNC_RESTART_OFF, 750, RAMP_0P);
configWindmill(DISABLED, 7, 50); // freq hz, duty cycle percent

// Ramping
const int rampStopHzx10 = freqx10 > 325 ? 325 : freqx10;
configRamp(15, 3,  rampStopHzx10, 3); // start freqx10 hz, duty, end freqx10, duty
configRampStep(10, STF_2HZ); // step time ms, step freq

configPhaseAdvance(ADV_AUTO, ADV_GAIN_4, 0); // mode, gain, degrees*10

// BEMF
configBEMFDetectWindow(560);    // degrees*100
configBEMF(SPC_6, BEMFFilterTime::BF_10MS); // samplecount, filtertime

// Commutation control
configCommSteadyPow2(0, 0);     // P, I (pow2)
configCommTransientPow2(0, 0);  // P, I (pow2)