DRV8311: Application issues.

#include <stdio.h>
#include <stdint.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>

#define SPI_DEVICE "/dev/spidev3.1"
#define SPI_SPEED 10000000 // 10MHz

#define REG_DEV_STS1 0x00
#define REG_OT_STS 0x04
#define REG_SUP_STS 0x05
#define REG_DEV_STS 0x06
#define REG_SYS_STS 0x07
#define REG_PWM_SYNC_PRD 0x0C
#define REG_FLT_MODE 0x10
#define REG_SYSF_CTRL 0x12
#define REG_DRVF_CTRL 0x13
#define REG_FLT_TCTRL 0x16
#define REG_FLT_CLR 0x17
#define REG_PWMG_PERIOD 0x18
#define REG_PWMG_A_DUTY 0x19
#define REG_PWMG_B_DUTY 0x1A
#define REG_PWMG_C_DUTY 0x1B
#define REG_PWM_STATE 0x1C
#define REG_PWMG_CTRL 0x1D
#define REG_PWM_CTRL1 0x20
#define REG_DRV_CTRL 0x22
#define REG_CSA_CTRL 0x23
#define REG_SYS_CTRL 0x3F

#define DEVICE_ID 0x03
#define TSPI_WRITE_FLAG 0x00
#define TSPI_READ_FLAG 0x80

#define SPI_BIT_PER_WORD 8

static int s_spi_dev_fd;

int drv8311_spi_init(void)
{
    s_spi_dev_fd = open(SPI_DEVICE, O_RDWR);
    if (s_spi_dev_fd < 0) {
        perror("Failed to open SPI device");
        return -1;
    }
    printf("open SPI_DEVICE = %s ok\n", SPI_DEVICE);

    uint8_t mode = SPI_MODE_1;
    if (ioctl(s_spi_dev_fd, SPI_IOC_WR_MODE, &mode) < 0) {
        perror("Failed to set SPI mode");
        close(s_spi_dev_fd);
        return -1;
    }

    uint32_t speed = SPI_SPEED;
    if (ioctl(s_spi_dev_fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed) < 0) {
        perror("Failed to set SPI_IOC_WR_MAX_SPEED_HZ");
        close(s_spi_dev_fd);
        return -1;
    }
    if (ioctl(s_spi_dev_fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed) < 0) {
        perror("Failed to set SPI SPI_IOC_RD_MAX_SPEED_HZ");
        close(s_spi_dev_fd);
        return -1;
    }
    int bit = SPI_BIT_PER_WORD;
    if (ioctl(s_spi_dev_fd, SPI_IOC_WR_BITS_PER_WORD, &bit)) {
        perror("Failed to set SPI SPI_IOC_WR_BITS_PER_WORD");
        close(s_spi_dev_fd);
        return -1;
    }
    if (ioctl(s_spi_dev_fd, SPI_IOC_RD_BITS_PER_WORD, &bit)) {
        perror("Failed to set SPI SPI_IOC_WR_BITS_PER_WORD");
        close(s_spi_dev_fd);
        return -1;
    }

    return 0;
}

int drv8311_tspi_read(int spi_fd, uint8_t reg_addr, uint16_t *data, uint32_t data_len) {
    
    uint8_t tx_buf[4] = {0};
    uint8_t rx_buf[4] = {0};

    tx_buf[0] = TSPI_READ_FLAG | (DEVICE_ID << 3) | ((reg_addr >> 5) & 0x07);
    tx_buf[1] = ((reg_addr & 0x1F) << 3);
    tx_buf[2] = 0x00;
    tx_buf[3] = 0x00;

    struct spi_ioc_transfer msg;
    memset(&msg, 0, sizeof(msg));
    msg.tx_buf = (unsigned long)tx_buf;
    msg.rx_buf = (unsigned long)rx_buf;
    msg.len = 4;
    msg.speed_hz = SPI_SPEED;
    msg.bits_per_word = SPI_BIT_PER_WORD;
    msg.cs_change = 0;

    if (ioctl(spi_fd, SPI_IOC_MESSAGE(1), &msg) < 0) {
        perror("SPI Read Error");
        return -1;
    }

    *data = (rx_buf[1] << 8) | rx_buf[2];
    *data &= 0x7FFF;
    printf("\r\n");
    printf("=============================read==============================\n");
    printf("tspi read reg_addr = 0x%x, status = 0x%x, data = 0x%x\n", reg_addr, rx_buf[0], *data);
    printf("drv8311_tspi_read tx_buf[0] = 0x%x, tx_buf[1] = 0x%x, tx_buf[2] = 0x%x\n", tx_buf[0], tx_buf[1], tx_buf[2]);
    printf("===========================================================\n");
    printf("\r\n");
    return 0;
}

int drv8311_tspi_write(int spi_fd, uint8_t reg_addr, uint16_t data) {
    uint8_t tx_buf[4] = {0};
    tx_buf[0] = TSPI_WRITE_FLAG | (DEVICE_ID << 3) | ((reg_addr >> 5) & 0x07);
    tx_buf[1] = ((reg_addr & 0x1F) << 3);
    tx_buf[2] = (data >> 8) & 0xFF;
    tx_buf[3] = data & 0xFF;

    struct spi_ioc_transfer msg;
    memset(&msg, 0, sizeof(msg));
    msg.tx_buf = (unsigned long)tx_buf;
    msg.rx_buf = 0;
    msg.len = 4;
    msg.speed_hz = SPI_SPEED;
    msg.bits_per_word = SPI_BIT_PER_WORD;
    msg.cs_change = 0;

    if (ioctl(spi_fd, SPI_IOC_MESSAGE(1), &msg) < 0) {
        perror("SPI Write Error");
        return -1;
    }

    printf("\r\n");
    printf("===========================write================================\n");
    printf("tspi write reg_addr = 0x%x data = 0x%x\n", reg_addr, data);
    printf("drv8311_tspi_write tx_buf[0] = 0x%x, tx_buf[1] = 0x%x, tx_buf[2] = 0x%x, tx_buf[3] = 0x%x\n", tx_buf[0], tx_buf[1], tx_buf[2], tx_buf[3]);
    printf("===========================================================\n");
    printf("\r\n");

    uint16_t reg_status = 0;
    drv8311_tspi_read(spi_fd, reg_addr, &reg_status, 2);
    return 0;
}

int drv8311_exit(void)
{
    if (s_spi_dev_fd > 0 ) {
        if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_CTRL, 0) < 0) {
            close(s_spi_dev_fd);
            return -1;
        }
        close(s_spi_dev_fd);
        printf("drv8311_exit done\n");
        return 0;
    }

    printf("invalid s_spi_dev_fd \n");
    return -1;
}

static int drv8311_check_status(void)
{
    printf("drv8311_check_status \n");
    uint16_t reg_status = 0;
    if (drv8311_tspi_read(s_spi_dev_fd, REG_DEV_STS1, &reg_status, 2) < 0) { // 0x80 default
        printf("read REG_DEV_STS1 faied \n");
    }

    if (drv8311_tspi_read(s_spi_dev_fd, REG_OT_STS, &reg_status, 2) < 0) {
        printf("read REG_OT_STS faied \n");
    }

    if (drv8311_tspi_read(s_spi_dev_fd, REG_SUP_STS, &reg_status, 2) < 0) {
        printf("read REG_SUP_STS faied \n");
    }

    if (drv8311_tspi_read(s_spi_dev_fd, REG_SYS_STS, &reg_status, 2) < 0) {
        printf("read REG_SYS_STS faied \n");
    }

    return 0;
}

static int drv8311_set_param(void)
{
    printf("drv8311_set_param \n");

    // clean 
    if (drv8311_tspi_write(s_spi_dev_fd, REG_FLT_CLR, 0x0001) < 0) {
        printf("write REG_PWMG_A_DUTY faied \n");
    }

    // set mode
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWM_CTRL1, 0x0003) < 0) {
        printf("write REG_PWM_CTRL1 faied \n");
    }

    // set TDEAD_CTRL and SLEW_RATE
    if (drv8311_tspi_write(s_spi_dev_fd, REG_DRV_CTRL, 0x0013) < 0) {
        printf("write REG_PWM_CTRL1 faied \n");
    }

    // set duty
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_A_DUTY, 0x0800) < 0) {
        printf("write REG_PWMG_A_DUTY faied \n");
    }
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_B_DUTY, 0x0800) < 0) {
        printf("write REG_PWMG_B_DUTY faied \n");
    }
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_C_DUTY, 0x0800) < 0) {
        printf("write REG_PWMG_C_DUTY faied \n");
    }

    // set period
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_PERIOD, 0x0032) < 0) {
        printf("write REG_PWM_CTRL1 faied \n");
    }

    // set pwm state
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWM_STATE, 0x0777) < 0) {
        printf("write REG_PWM_CTRL1 faied \n");
    }

    // enable gen pwm and PWM_OSC_SYNC
    if (drv8311_tspi_write(s_spi_dev_fd, REG_PWMG_CTRL, 0x0420) < 0) {
        printf("write REG_PWM_CTRL1 faied \n");
    }

    return 0;
}

int main() {
    
    if (drv8311_spi_init()) {
        printf("drv8311_spi_init failed\n");
        return -1;
    }

    drv8311_set_param();
    int loop_cnt = 0;
    while (0) {
        loop_cnt++;
        drv8311_check_status();
        sleep(1);
        if (loop_cnt >= 15) {
            loop_cnt = 0;
            break;
        }
    }
    drv8311_exit();
    return 0;
}