DRV8316REVM: [DRV8316] SPI does not work properly

Hi.

I'm working on TI's DRV8316REVM to control BLDC motor. And I use STM32G474RE(Nucleo board) as MCU to control DRV8316.

Now, I have issue that I can't read and write register of DRV8316 via SPI properly.

The situation is like this：

1. SPI communication is OK, I believe so.
2. After, power on, I read the default register values, but return values form the DRV8316 is not same value as datasheet. So, I think read operation is not OK.
   ex.) I read Control3 register (address=0x05, reset value=0x00) and instead of 0x00 it was returned 0x46.
         I saw the schematic, but I couldn't to find out any pin wiring for this register to return 0x46.
         
3. Write to register and read it. The written value is not read. The return values of each register, is same as the operation 2. So, I think write operation is not OK.

My question about this issue is, any special initialization or communication rules need to read and write DRV8316 register?
Also I put a part of my test code.

Please let me know if any processing or settings are missing.

Test code for SPI:

static uint8_t getParity(uint8_t x)
{
uint8_t count = 0;

for (uint8_t i = 0; i < 8; i++)
{
count += (x >> i) & 0x01;
}

uint8_t parity;

if ((count % 2) == 0)
{
parity = 0;
}
else
{
parity = 1;
}

return parity;
}

int dev_drv8316_init(dev_drv8316_t *dev)
{
static volatile uint16_t timeout = 0;
int isTimeout = 0;

HAL_Delay(100);
HAL_GPIO_WritePin(DRV_nSLEEP_GPIO_Port, DRV_nSLEEP_Pin, GPIO_PIN_SET);

HAL_Delay(10);
HAL_GPIO_WritePin(DRV_OFF_GPIO_Port, DRV_OFF_Pin, GPIO_PIN_RESET);

HAL_Delay(10);

/**
* Read status registers during startup.
*/
DRV8316_ReadWordFormat_t rw;

while (1)
{
rw = dev_drv8316_read(dev, IC_STATUS_REG_ADDR);
dev->ic_status.data = rw.bit.data;

if (dev->ic_status.bit.FAULT == 0)
{
break;
}

if (++timeout > 999)
{
isTimeout = 1;
}
}

rw = dev_drv8316_read(dev, IC_STATUS_REG_ADDR);
dev->ic_status.data = rw.bit.data;

rw = dev_drv8316_read(dev, STATUS_1_REG_ADDR);
dev->status1.data = rw.bit.data;

rw = dev_drv8316_read(dev, STATUS_2_REG_ADDR);
dev->status1.data = rw.bit.data;

/**
* Read control registers.
*/
rw = dev_drv8316_read(dev, CONTROL_1_REG_ADDR);
dev->control1.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_2_REG_ADDR);
dev->control2.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_3_REG_ADDR);
dev->control3.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_4_REG_ADDR);
dev->control4.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_5_REG_ADDR);
dev->control5.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_6_REG_ADDR);
dev->control6.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_10_REG_ADDR);
dev->control10.data = rw.bit.data;

HAL_Delay(5);
/**
* Write control registers.
*/
dev_drv8316_write(dev, CONTROL_1_REG_ADDR, DRV8316_RegLock_UnlockAll);

dev_drv8316_write(dev, CONTROL_2_REG_ADDR, \
DRV8301_PwmMode_SixPwmWithCurrentLimit | DRV8301_Slew_200VoltPerMicrosec | DRV8301_SdoMode_OpenDrain);

dev_drv8316_write(dev, CONTROL_3_REG_ADDR, \
DRV8316_Pwm100DutySel_20KHz | DRV8316_OvpSel_20Volt);

dev_drv8316_write(dev, CONTROL_4_REG_ADDR, 0xAA);
dev_drv8316_write(dev, CONTROL_5_REG_ADDR, 0xAA);
dev_drv8316_write(dev, CONTROL_6_REG_ADDR, 0xAA);
dev_drv8316_write(dev, CONTROL_10_REG_ADDR, 0xAA);

dev_drv8316_write(dev, CONTROL_1_REG_ADDR, DRV8316_RegLock_LockAll);

HAL_Delay(5);

/**
* Read control registers.
*/
rw = dev_drv8316_read(dev, CONTROL_1_REG_ADDR);
dev->control1.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_2_REG_ADDR);
dev->control2.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_3_REG_ADDR);
dev->control3.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_4_REG_ADDR);
dev->control4.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_5_REG_ADDR);
dev->control5.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_6_REG_ADDR);
dev->control6.data = rw.bit.data;

rw = dev_drv8316_read(dev, CONTROL_6_REG_ADDR);
dev->control6.data = rw.bit.data;

return isTimeout;
}

DRV8316_ReadWordFormat_t dev_drv8316_write(dev_drv8316_t *dev, uint16_t reg, uint16_t data)
{
DRV8316_WriteWordFormat_t ww;

ww.bit.rw = WRITE_COMMAND;
ww.bit.address = reg & 0x003F;
ww.bit.data = data;
ww.bit.parity = getParity(data);

dev->tx_buffer[0] = ww.byte[1];
dev->tx_buffer[1] = ww.byte[0];

HAL_GPIO_WritePin(SPI3_CS_GPIO_Port, SPI3_CS_Pin, GPIO_PIN_RESET);

HAL_SPI_TransmitReceive_DMA(dev->hSPI, dev->tx_buffer, dev->rx_buffer, 2);

while (HAL_SPI_GetState(dev->hSPI) != HAL_SPI_STATE_READY)
{
;
}

HAL_GPIO_WritePin(SPI3_CS_GPIO_Port, SPI3_CS_Pin, GPIO_PIN_SET);

DRV8316_ReadWordFormat_t rw;
rw.bit.status = dev->rx_buffer[0];
rw.bit.data = dev->rx_buffer[1];
}

DRV8316_ReadWordFormat_t dev_drv8316_read(dev_drv8316_t *dev, uint16_t reg)
{
DRV8316_WriteWordFormat_t ww;

ww.bit.rw = READ_COMMAND;
ww.bit.address = reg & 0x003F;
ww.bit.data = DUMMY_DATA;
ww.bit.parity = getParity(DUMMY_DATA);

dev->tx_buffer[0] = ww.byte[1];
dev->tx_buffer[1] = ww.byte[0];

HAL_GPIO_WritePin(SPI3_CS_GPIO_Port, SPI3_CS_Pin, GPIO_PIN_RESET);

HAL_SPI_TransmitReceive_DMA(dev->hSPI, dev->tx_buffer, dev->rx_buffer, 2);
while (HAL_SPI_GetState(dev->hSPI) != HAL_SPI_STATE_READY)
{
;
}

HAL_GPIO_WritePin(SPI3_CS_GPIO_Port, SPI3_CS_Pin, GPIO_PIN_SET);

DRV8316_ReadWordFormat_t rw;
rw.bit.status = dev->rx_buffer[0];
rw.bit.data = dev->rx_buffer[1];

return rw;
}