uint16_t DRV8301_readSpi(DRV8301_Handle handle,const DRV8301_RegName_e regName)
{
DRV8301_Obj *obj = (DRV8301_Obj *)handle;
uint16_t ctrlWord;
const uint16_t data = 0;
volatile uint16_t readWord;
static volatile uint16_t WaitTimeOut = 0;
volatile SPI_FifoStatus_e RxFifoCnt = SPI_FifoStatus_Empty;
// build the control word
ctrlWord = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read,regName,data);
// reset the Rx fifo pointer to zero
SPI_resetRxFifo(obj->spiHandle);
SPI_enableRxFifo(obj->spiHandle);
// write the command
SPI_write(obj->spiHandle,ctrlWord);
// dummy write to return the reply from the 8301
SPI_write(obj->spiHandle,0x0000);
// wait for two words to populate the RX fifo, or a wait timeout will occur
while((RxFifoCnt < SPI_FifoStatus_2_Words) && (WaitTimeOut < 0xffff))
{
RxFifoCnt = SPI_getRxFifoStatus(obj->spiHandle);
if(++WaitTimeOut > 0xfffe)
{
obj->RxTimeOut = true;
}
}
// Read two words, the dummy word and the data
readWord = SPI_readEmu(obj->spiHandle);
readWord = SPI_readEmu(obj->spiHandle);
return(readWord & DRV8301_DATA_MASK);
} // end of DRV8301_readSpi() function
uint16_t SPIAslave_readSpi(SPIAslave_Handle handle)
{
SPIAslave_Obj *obj = (SPIAslave_Obj *)handle;
uint16_t ctrlWord;
const uint16_t data = 0;
volatile uint16_t readWord;
static volatile uint16_t WaitTimeOut = 0;
volatile SPI_FifoStatus_e RxFifoCnt = SPI_FifoStatus_Empty;
// reset the Rx fifo pointer to zero
SPI_resetRxFifo(obj->spiHandle);
SPI_enableRxFifo(obj->spiHandle);
/*NEED TO CHANGE IT FROM WRITING FIRST TO WAITING FOR THE MASTER TO COMMAND IT*/
// write the command
SPI_write(obj->spiHandle,ctrlWord);
// dummy write to return the reply from the 8301
SPI_write(obj->spiHandle,0x0000);
// wait for two words to populate the RX fifo, or a wait timeout will occur
while((RxFifoCnt < SPI_FifoStatus_2_Words) && (WaitTimeOut < 0xffff))
{
RxFifoCnt = SPI_getRxFifoStatus(obj->spiHandle);
if(++WaitTimeOut > 0xfffe)
{
obj->RxTimeOut = true;
}
}
/*NEED TO CHANGE IT FROM WRITING FIRST TO WAITING FOR THE MASTER TO COMMAND IT*/
// Read two words, the dummy word and the data
readWord = SPI_readEmu(obj->spiHandle); //not necessarily sure we need this
readWord = SPI_readEmu(obj->spiHandle);
return(readWord);
}
