Overcurrent protection, limit for nominal current or stall?

Background: I’m currently working on a robotics design that will drill through soil.

I have selected a 48V motor who’s nominal current is 3.17A and has a stall current of 42A. I will be driving the motor with a microcontroller and motor driver.

However I am having some trouble with my design.

The motor driver includes over current protection circuitry, and I need to select a resistor to set the max allowable current.

Would it be more optimal to use a resistor that caps the current at exactly 3.17A? Or would it be better to provide some margin, and make it 4A?

The over current circuitry has a feature where it resets itself after every PWM cycle and checks if the current is too large again. I believe this is "current chopping" so the motor should start up. (Startup time is not necessarily important for this.)

Extra information:
Here’s a link to the datasheet (overcurrent info starts at the bottom of page 12)

DRV83x2 Three-Phase PWM Motor Driver

Any input would be appreciated. Thank you for reading