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
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
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