uint16_t DRV8301_readSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName)
{

  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
  osDelay(1);

  // Do blocking read
  uint16_t zerobuff = 0;
  uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read, regName, 0);
  uint16_t recbuff = 0xbeef;
  HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);

  // Datasheet says you don't have to pulse the nCS between transfers, (16 clocks should commit the transfer)
  // but for some reason you actually need to pulse it.
  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
  osDelay(1);
  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
  osDelay(1);

  HAL_SPI_TransmitReceive(handle->spiHandle, (uint8_t*)(&zerobuff), (uint8_t*)(&recbuff), 1, 1000);
  osDelay(1);

  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
  osDelay(1);

  assert(recbuff != 0xbeef);

  return(recbuff & DRV8301_DATA_MASK);
}  // end of DRV8301_readSpi() function
void DRV8301_writeSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName,const uint16_t data)
{
  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
  osDelay(1);

  // Do blocking write
  uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write, regName, data);
  HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);
  osDelay(1);

  // Actuate chipselect
  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
  osDelay(1);

  return;
}  // end of DRV8301_writeSpi() function
Exemple #3
0
void DRV8301_writeSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName,const uint16_t data)
{
  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
  uint16_t ctrlWord;


  // build the command
  ctrlWord = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write,regName,data);

  // reset the Rx fifo pointer to zero
  SPI_resetRxFifo(obj->spiHandle);
  SPI_enableRxFifo(obj->spiHandle);

  // write the command (time N)
  SPI_write(obj->spiHandle,ctrlWord);


  return;
}  // end of DRV8301_writeSpi() function
Exemple #4
0
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