I'm not really sure what I should be applying to I0 to I4 to control the bridge current. Can some one clarify I[4..0] column of the Table 3 in the datasheet.
It depends on what you want to drive. If you want to drive a DC motor, you would just make all the Ix pins HI for 100% current and then set the ITRIP with the VREF and the SENSE resistor.
If you want to drive a stepper with up to 32 degrees of microstepping, you can then go through all the 32 values of Ix in order to form up your sine wave. I documented such implementation on this app note: http://www.ti.com/general/docs/lit/getliterature.tsp?literatureNumber=slva443&fileType=pdf
The App Note was writen before there was a DRV8842, but it all applies the same, except that instead of PHASE/ENALBE interface you have an INx interface.
Hope the info helps. Best regards,
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