*

Makerbase_ODrive/ODrive-fw-v0.5.1/Firmware/Drivers/DRV8301/drv8301.c

@@ -0,0 +1,778 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2015, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * *  Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * *  Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * *  Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * --/COPYRIGHT--*/
+//! \file   drivers/drvic/drv8301/src/32b/f28x/f2806x/drv8301.c
+//! \brief  Contains the various functions related to the DRV8301 object
+//!
+//! (C) Copyright 2015, Texas Instruments, Inc.
+
+
+// **************************************************************************
+// the includes
+
+#include "assert.h"
+#include <math.h>
+#include "cmsis_os.h"
+
+// drivers
+#include "drv8301.h"
+
+#include "utils.hpp"
+
+
+// **************************************************************************
+// the defines
+
+
+// **************************************************************************
+// the globals
+
+
+// **************************************************************************
+// the function prototypes
+
+void DRV8301_enable(DRV8301_Handle handle)
+{
+
+  //Enable driver
+  HAL_GPIO_WritePin(handle->EngpioHandle, handle->EngpioNumber, GPIO_PIN_SET);
+
+  //Wait for driver to come online
+  osDelay(10);
+
+  // Make sure the Fault bit is not set during startup
+  while((DRV8301_readSpi(handle,DRV8301_RegName_Status_1) & DRV8301_STATUS1_FAULT_BITS) != 0);
+
+  // Wait for the DRV8301 registers to update
+  osDelay(1);
+
+  return;
+}
+
+DRV8301_DcCalMode_e DRV8301_getDcCalMode(DRV8301_Handle handle,const DRV8301_ShuntAmpNumber_e ampNumber)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  if(ampNumber == DRV8301_ShuntAmpNumber_1)
+    {
+      data &= (~DRV8301_CTRL2_DC_CAL_1_BITS);
+
+    }
+  else if(ampNumber == DRV8301_ShuntAmpNumber_2)
+    {
+      data &= (~DRV8301_CTRL2_DC_CAL_2_BITS);
+    }
+
+  return((DRV8301_DcCalMode_e)data);
+} // end of DRV8301_getDcCalMode() function
+
+
+DRV8301_FaultType_e DRV8301_getFaultType(DRV8301_Handle handle)
+{
+  DRV8301_Word_t      readWord;
+  DRV8301_FaultType_e faultType = DRV8301_FaultType_NoFault;
+
+
+  // read the data
+  readWord = DRV8301_readSpi(handle,DRV8301_RegName_Status_1);
+
+  if(readWord & DRV8301_STATUS1_FAULT_BITS)
+    {
+      faultType = (DRV8301_FaultType_e)(readWord & DRV8301_FAULT_TYPE_MASK);
+
+      if(faultType == DRV8301_FaultType_NoFault)
+        {
+          // read the data
+          readWord = DRV8301_readSpi(handle,DRV8301_RegName_Status_2);
+
+          if(readWord & DRV8301_STATUS2_GVDD_OV_BITS)
+            {
+              faultType = DRV8301_FaultType_GVDD_OV;
+            }
+        }
+    }
+
+  return(faultType);
+} // end of DRV8301_getFaultType() function
+
+
+uint16_t DRV8301_getId(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Status_2);
+
+  // mask bits
+  data &= DRV8301_STATUS2_ID_BITS;
+
+  return(data);
+} // end of DRV8301_getId() function
+
+
+DRV8301_VdsLevel_e DRV8301_getOcLevel(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_OC_ADJ_SET_BITS);
+
+  return((DRV8301_VdsLevel_e)data);
+} // end of DRV8301_getOcLevel() function
+
+
+DRV8301_OcMode_e DRV8301_getOcMode(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_OC_MODE_BITS);
+
+  return((DRV8301_OcMode_e)data);
+} // end of DRV8301_getOcMode() function
+
+
+DRV8301_OcOffTimeMode_e DRV8301_getOcOffTimeMode(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_OC_TOFF_BITS);
+
+  return((DRV8301_OcOffTimeMode_e)data);
+} // end of DRV8301_getOcOffTimeMode() function
+
+
+DRV8301_OcTwMode_e DRV8301_getOcTwMode(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_OCTW_SET_BITS);
+
+  return((DRV8301_OcTwMode_e)data);
+} // end of DRV8301_getOcTwMode() function
+
+
+DRV8301_PeakCurrent_e DRV8301_getPeakCurrent(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_GATE_CURRENT_BITS);
+
+  return((DRV8301_PeakCurrent_e)data);
+} // end of DRV8301_getPeakCurrent() function
+
+
+DRV8301_PwmMode_e DRV8301_getPwmMode(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_PWM_MODE_BITS);
+
+  return((DRV8301_PwmMode_e)data);
+} // end of DRV8301_getPwmMode() function
+
+
+DRV8301_ShuntAmpGain_e DRV8301_getShuntAmpGain(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_GAIN_BITS);
+
+  return((DRV8301_ShuntAmpGain_e)data);
+} // end of DRV8301_getShuntAmpGain() function
+
+
+DRV8301_Handle DRV8301_init(void *pMemory,const size_t numBytes)
+{
+  DRV8301_Handle handle;
+
+
+  if(numBytes < sizeof(DRV8301_Obj))
+    return((DRV8301_Handle)NULL);
+
+
+  // assign the handle
+  handle = (DRV8301_Handle)pMemory;
+
+  DRV8301_resetRxTimeout(handle);
+  DRV8301_resetEnableTimeout(handle);
+
+
+  return(handle);
+} // end of DRV8301_init() function
+
+
+void DRV8301_setEnGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  // initialize the gpio interface object
+  obj->EngpioHandle = gpioHandle;
+
+  return;
+} // end of DRV8301_setGpioHandle() function
+
+
+void DRV8301_setEnGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  // initialize the gpio interface object
+  obj->EngpioNumber = gpioNumber;
+
+  return;
+} // end of DRV8301_setGpioNumber() function
+
+
+void DRV8301_setnCSGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  // initialize the gpio interface object
+  obj->nCSgpioHandle = gpioHandle;
+
+  return;
+} // end of DRV8301_setGpioHandle() function
+
+
+void DRV8301_setnCSGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  // initialize the gpio interface object
+  obj->nCSgpioNumber = gpioNumber;
+
+  return;
+} // end of DRV8301_setGpioNumber() function
+
+
+void DRV8301_setSpiHandle(DRV8301_Handle handle,SPI_Handle spiHandle)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  // initialize the serial peripheral interface object
+  obj->spiHandle = spiHandle;
+
+  return;
+} // end of DRV8301_setSpiHandle() function
+
+
+bool DRV8301_isFault(DRV8301_Handle handle)
+{
+  DRV8301_Word_t readWord;
+  bool status=false;
+
+
+  // read the data
+  readWord = DRV8301_readSpi(handle,DRV8301_RegName_Status_1);
+
+  if(readWord & DRV8301_STATUS1_FAULT_BITS)
+    {
+      status = true;
+    }
+
+  return(status);
+} // end of DRV8301_isFault() function
+
+
+bool DRV8301_isReset(DRV8301_Handle handle)
+{
+  DRV8301_Word_t readWord;
+  bool status=false;
+
+
+  // read the data
+  readWord = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  if(readWord & DRV8301_CTRL1_GATE_RESET_BITS)
+    {
+      status = true;
+    }
+
+  return(status);
+} // end of DRV8301_isReset() function
+
+
+uint16_t DRV8301_readSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName)
+{
+
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
+  delay_us(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);
+  delay_us(1);
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
+  delay_us(1);
+
+  HAL_SPI_TransmitReceive(handle->spiHandle, (uint8_t*)(&zerobuff), (uint8_t*)(&recbuff), 1, 1000);
+  delay_us(1);
+
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
+  delay_us(1);
+
+  assert(recbuff != 0xbeef);
+
+  return(recbuff & DRV8301_DATA_MASK);
+}  // end of DRV8301_readSpi() function
+
+
+void DRV8301_reset(DRV8301_Handle handle)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // set the bits
+  data |= DRV8301_CTRL1_GATE_RESET_BITS;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_1,data);
+
+  return;
+}  // end of DRV8301_reset() function
+
+  
+void DRV8301_setDcCalMode(DRV8301_Handle handle,const DRV8301_ShuntAmpNumber_e ampNumber,const DRV8301_DcCalMode_e mode)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  if(ampNumber == DRV8301_ShuntAmpNumber_1)
+    {
+      data &= (~DRV8301_CTRL2_DC_CAL_1_BITS);
+
+    }
+  else if(ampNumber == DRV8301_ShuntAmpNumber_2)
+    {
+      data &= (~DRV8301_CTRL2_DC_CAL_2_BITS);
+    }
+
+  // set the bits
+  data |= mode;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_2,data);
+
+  return;
+} // end of DRV8301_setDcCalMode() function
+
+
+void DRV8301_setOcLevel(DRV8301_Handle handle,const DRV8301_VdsLevel_e VdsLevel)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_OC_ADJ_SET_BITS);
+
+  // set the bits
+  data |= VdsLevel;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_1,data);
+
+  return;
+} // end of DRV8301_setOcLevel() function
+
+
+void DRV8301_setOcMode(DRV8301_Handle handle,const DRV8301_OcMode_e mode)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_OC_MODE_BITS);
+
+  // set the bits
+  data |= mode;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_1,data);
+
+  return;
+} // end of DRV8301_setOcMode() function
+
+
+void DRV8301_setOcOffTimeMode(DRV8301_Handle handle,const DRV8301_OcOffTimeMode_e mode)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_OC_TOFF_BITS);
+
+  // set the bits
+  data |= mode;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_2,data);
+
+  return;
+} // end of DRV8301_setOcOffTimeMode() function
+
+
+void DRV8301_setOcTwMode(DRV8301_Handle handle,const DRV8301_OcTwMode_e mode)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_OCTW_SET_BITS);
+
+  // set the bits
+  data |= mode;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_2,data);
+
+  return;
+} // end of DRV8301_setOcTwMode() function
+
+
+void DRV8301_setPeakCurrent(DRV8301_Handle handle,const DRV8301_PeakCurrent_e peakCurrent)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_GATE_CURRENT_BITS);
+
+  // set the bits
+  data |= peakCurrent;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_1,data);
+
+  return;
+} // end of DRV8301_setPeakCurrent() function
+
+
+void DRV8301_setPwmMode(DRV8301_Handle handle,const DRV8301_PwmMode_e mode)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_1);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL1_PWM_MODE_BITS);
+
+  // set the bits
+  data |= mode;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_1,data);
+
+  return;
+} // end of DRV8301_setPwmMode() function
+
+
+void DRV8301_setShuntAmpGain(DRV8301_Handle handle,const DRV8301_ShuntAmpGain_e gain)
+{
+  uint16_t data;
+
+
+  // read data
+  data = DRV8301_readSpi(handle,DRV8301_RegName_Control_2);
+
+  // clear the bits
+  data &= (~DRV8301_CTRL2_GAIN_BITS);
+
+  // set the bits
+  data |= gain;
+
+  // write the data
+  DRV8301_writeSpi(handle,DRV8301_RegName_Control_2,data);
+
+  return;
+} // end of DRV8301_setShuntAmpGain() 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);
+  delay_us(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);
+  delay_us(1);
+
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
+  delay_us(1);
+
+  return;
+}  // end of DRV8301_writeSpi() function
+
+
+void DRV8301_writeData(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
+{
+  DRV8301_RegName_e  drvRegName;
+  uint16_t drvDataNew;
+
+
+  if(Spi_8301_Vars->SndCmd)
+  {
+    // Update Control Register 1
+    drvRegName = DRV8301_RegName_Control_1;
+    drvDataNew = Spi_8301_Vars->Ctrl_Reg_1.DRV8301_CURRENT |  \
+                 Spi_8301_Vars->Ctrl_Reg_1.DRV8301_RESET   |  \
+                 Spi_8301_Vars->Ctrl_Reg_1.PWM_MODE     |  \
+                 Spi_8301_Vars->Ctrl_Reg_1.OC_MODE      |  \
+                 Spi_8301_Vars->Ctrl_Reg_1.OC_ADJ_SET;
+    DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+
+    // Update Control Register 2
+    drvRegName = DRV8301_RegName_Control_2;
+    drvDataNew = Spi_8301_Vars->Ctrl_Reg_2.OCTW_SET      |  \
+                 Spi_8301_Vars->Ctrl_Reg_2.GAIN          |  \
+                 Spi_8301_Vars->Ctrl_Reg_2.DC_CAL_CH1p2  |  \
+                 Spi_8301_Vars->Ctrl_Reg_2.OC_TOFF;
+    DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+
+    Spi_8301_Vars->SndCmd = false;
+  }
+
+  return;
+}  // end of DRV8301_writeData() function
+
+
+void DRV8301_readData(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
+{
+  DRV8301_RegName_e  drvRegName;
+  uint16_t drvDataNew;
+
+
+  if(Spi_8301_Vars->RcvCmd)
+  {
+    // Update Status Register 1
+    drvRegName = DRV8301_RegName_Status_1;
+    drvDataNew = DRV8301_readSpi(handle,drvRegName);
+    Spi_8301_Vars->Stat_Reg_1.FAULT = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FAULT_BITS);
+    Spi_8301_Vars->Stat_Reg_1.GVDD_UV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_GVDD_UV_BITS);
+    Spi_8301_Vars->Stat_Reg_1.PVDD_UV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_PVDD_UV_BITS);
+    Spi_8301_Vars->Stat_Reg_1.OTSD = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_OTSD_BITS);
+    Spi_8301_Vars->Stat_Reg_1.OTW = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_OTW_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETHA_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHA_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETLA_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLA_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETHB_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHB_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETLB_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLB_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETHC_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHC_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1.FETLC_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLC_OC_BITS);
+    Spi_8301_Vars->Stat_Reg_1_Value = drvDataNew;
+
+    // Update Status Register 2
+    drvRegName = DRV8301_RegName_Status_2;
+    drvDataNew = DRV8301_readSpi(handle,drvRegName);
+    Spi_8301_Vars->Stat_Reg_2.GVDD_OV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS2_GVDD_OV_BITS);
+    Spi_8301_Vars->Stat_Reg_2.DeviceID = (uint16_t)(drvDataNew & (uint16_t)DRV8301_STATUS2_ID_BITS);
+    Spi_8301_Vars->Stat_Reg_2_Value = drvDataNew;
+
+    // Update Control Register 1
+    drvRegName = DRV8301_RegName_Control_1;
+    drvDataNew = DRV8301_readSpi(handle,drvRegName);
+    Spi_8301_Vars->Ctrl_Reg_1.DRV8301_CURRENT = (DRV8301_PeakCurrent_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_GATE_CURRENT_BITS);
+    Spi_8301_Vars->Ctrl_Reg_1.DRV8301_RESET = (DRV8301_Reset_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_GATE_RESET_BITS);
+    Spi_8301_Vars->Ctrl_Reg_1.PWM_MODE = (DRV8301_PwmMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_PWM_MODE_BITS);
+    Spi_8301_Vars->Ctrl_Reg_1.OC_MODE = (DRV8301_OcMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_OC_MODE_BITS);
+    Spi_8301_Vars->Ctrl_Reg_1.OC_ADJ_SET = (DRV8301_VdsLevel_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_OC_ADJ_SET_BITS);
+    Spi_8301_Vars->Ctrl_Reg_1_Value = drvDataNew;
+
+    // Update Control Register 2
+    drvRegName = DRV8301_RegName_Control_2;
+    drvDataNew = DRV8301_readSpi(handle,drvRegName);
+    Spi_8301_Vars->Ctrl_Reg_2.OCTW_SET = (DRV8301_OcTwMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_OCTW_SET_BITS);
+    Spi_8301_Vars->Ctrl_Reg_2.GAIN = (DRV8301_ShuntAmpGain_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_GAIN_BITS);
+    Spi_8301_Vars->Ctrl_Reg_2.DC_CAL_CH1p2 = (DRV8301_DcCalMode_e)(drvDataNew & (uint16_t)(DRV8301_CTRL2_DC_CAL_1_BITS | DRV8301_CTRL2_DC_CAL_2_BITS));
+    Spi_8301_Vars->Ctrl_Reg_2.OC_TOFF = (DRV8301_OcOffTimeMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_OC_TOFF_BITS);
+    Spi_8301_Vars->Ctrl_Reg_2_Value = drvDataNew;
+    Spi_8301_Vars->RcvCmd = false;
+  }
+
+  return;
+}  // end of DRV8301_readData() function
+
+
+void DRV8301_setupSpi(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
+{
+  DRV8301_RegName_e  drvRegName;
+  uint16_t drvDataNew;
+
+//  Why impose hardcoded values?
+//  Defaults should be device defaults or application level specified.
+//  Setting other hardcoded here is just confusing!
+
+#if 0
+  // Update Control Register 1
+  drvRegName = DRV8301_RegName_Control_1;
+  drvDataNew = (DRV8301_PeakCurrent_0p25_A   | \
+                DRV8301_Reset_Normal         | \
+                DRV8301_PwmMode_Six_Inputs   | \
+                DRV8301_OcMode_CurrentLimit  | \
+                DRV8301_VdsLevel_0p730_V);
+  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+
+  // Update Control Register 2
+  drvRegName = DRV8301_RegName_Control_2;
+  drvDataNew = (DRV8301_OcTwMode_Both        | \
+                DRV8301_ShuntAmpGain_10VpV   | \
+                DRV8301_DcCalMode_Ch1_Load   | \
+                DRV8301_DcCalMode_Ch2_Load   | \
+                DRV8301_OcOffTimeMode_Normal);
+  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+#endif
+
+
+  Spi_8301_Vars->SndCmd = false;
+  Spi_8301_Vars->RcvCmd = false;
+
+
+  // Wait for the DRV8301 registers to update
+  osDelay(1);
+
+
+  // Update Status Register 1
+  drvRegName = DRV8301_RegName_Status_1;
+  drvDataNew = DRV8301_readSpi(handle,drvRegName);
+  Spi_8301_Vars->Stat_Reg_1.FAULT = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FAULT_BITS);
+  Spi_8301_Vars->Stat_Reg_1.GVDD_UV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_GVDD_UV_BITS);
+  Spi_8301_Vars->Stat_Reg_1.PVDD_UV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_PVDD_UV_BITS);
+  Spi_8301_Vars->Stat_Reg_1.OTSD = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_OTSD_BITS);
+  Spi_8301_Vars->Stat_Reg_1.OTW = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_OTW_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETHA_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHA_OC_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETLA_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLA_OC_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETHB_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHB_OC_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETLB_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLB_OC_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETHC_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETHC_OC_BITS);
+  Spi_8301_Vars->Stat_Reg_1.FETLC_OC = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS1_FETLC_OC_BITS);
+
+  // Update Status Register 2
+  drvRegName = DRV8301_RegName_Status_2;
+  drvDataNew = DRV8301_readSpi(handle,drvRegName);
+  Spi_8301_Vars->Stat_Reg_2.GVDD_OV = (bool)(drvDataNew & (uint16_t)DRV8301_STATUS2_GVDD_OV_BITS);
+  Spi_8301_Vars->Stat_Reg_2.DeviceID = (uint16_t)(drvDataNew & (uint16_t)DRV8301_STATUS2_ID_BITS);
+
+  // Update Control Register 1
+  drvRegName = DRV8301_RegName_Control_1;
+  drvDataNew = DRV8301_readSpi(handle,drvRegName);
+  Spi_8301_Vars->Ctrl_Reg_1.DRV8301_CURRENT = (DRV8301_PeakCurrent_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_GATE_CURRENT_BITS);
+  Spi_8301_Vars->Ctrl_Reg_1.DRV8301_RESET = (DRV8301_Reset_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_GATE_RESET_BITS);
+  Spi_8301_Vars->Ctrl_Reg_1.PWM_MODE = (DRV8301_PwmMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_PWM_MODE_BITS);
+  Spi_8301_Vars->Ctrl_Reg_1.OC_MODE = (DRV8301_OcMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_OC_MODE_BITS);
+  Spi_8301_Vars->Ctrl_Reg_1.OC_ADJ_SET = (DRV8301_VdsLevel_e)(drvDataNew & (uint16_t)DRV8301_CTRL1_OC_ADJ_SET_BITS);
+
+  // Update Control Register 2
+  drvRegName = DRV8301_RegName_Control_2;
+  drvDataNew = DRV8301_readSpi(handle,drvRegName);
+  Spi_8301_Vars->Ctrl_Reg_2.OCTW_SET = (DRV8301_OcTwMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_OCTW_SET_BITS);
+  Spi_8301_Vars->Ctrl_Reg_2.GAIN = (DRV8301_ShuntAmpGain_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_GAIN_BITS);
+  Spi_8301_Vars->Ctrl_Reg_2.DC_CAL_CH1p2 = (DRV8301_DcCalMode_e)(drvDataNew & (uint16_t)(DRV8301_CTRL2_DC_CAL_1_BITS | DRV8301_CTRL2_DC_CAL_2_BITS));
+  Spi_8301_Vars->Ctrl_Reg_2.OC_TOFF = (DRV8301_OcOffTimeMode_e)(drvDataNew & (uint16_t)DRV8301_CTRL2_OC_TOFF_BITS);
+
+  return;
+}
+
+
+// end of file

Makerbase_ODrive/ODrive-fw-v0.5.1/Firmware/Drivers/DRV8301/drv8301.h

@@ -0,0 +1,727 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2015, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * *  Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * *  Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * *  Neither the name of Texas Instruments Incorporated nor the names of
+ *    its contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * --/COPYRIGHT--*/
+#ifndef _DRV8301_H_
+#define _DRV8301_H_
+
+//! \file   drivers/drvic/drv8301/src/32b/f28x/f2806x/drv8301.h
+//! \brief  Contains public interface to various functions related
+//!         to the DRV8301 object
+//!
+//! (C) Copyright 2015, Texas Instruments, Inc.
+
+
+// **************************************************************************
+// the includes
+
+#include "stdbool.h"
+#include "stdint.h"
+
+// drivers
+
+#include "stm32f4xx_hal.h"
+
+// Port
+typedef SPI_HandleTypeDef* SPI_Handle;
+typedef GPIO_TypeDef* GPIO_Handle;
+typedef uint16_t GPIO_Number_e;
+
+
+//!
+//! \defgroup DRV8301
+
+//!
+//! \ingroup DRV8301
+//@{
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// **************************************************************************
+// the defines
+
+//! \brief Defines the address mask
+//!
+#define DRV8301_ADDR_MASK               (0x7800)
+
+
+//! \brief Defines the data mask
+//!
+#define DRV8301_DATA_MASK               (0x07FF)
+
+
+//! \brief Defines the R/W mask
+//!
+#define DRV8301_RW_MASK                 (0x8000)
+
+
+//! \brief Defines the R/W mask
+//!
+#define DRV8301_FAULT_TYPE_MASK         (0x07FF)
+
+
+//! \brief Defines the location of the FETLC_OC (FET Low side, Phase C Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETLC_OC_BITS   (1 << 0)
+
+//! \brief Defines the location of the FETLC_OC (FET High side, Phase C Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETHC_OC_BITS   (1 << 1)
+
+//! \brief Defines the location of the FETLC_OC (FET Low side, Phase B Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETLB_OC_BITS   (1 << 2)
+
+//! \brief Defines the location of the FETLC_OC (FET High side, Phase B Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETHB_OC_BITS   (1 << 3)
+
+//! \brief Defines the location of the FETLC_OC (FET Low side, Phase A Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETLA_OC_BITS   (1 << 4)
+
+//! \brief Defines the location of the FETLC_OC (FET High side, Phase A Over Current) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FETHA_OC_BITS   (1 << 5)
+
+//! \brief Defines the location of the OTW (Over Temperature Warning) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_OTW_BITS        (1 << 6)
+
+//! \brief Defines the location of the OTSD (Over Temperature Shut Down) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_OTSD_BITS       (1 << 7)
+
+//! \brief Defines the location of the PVDD_UV (Power supply Vdd, Under Voltage) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_PVDD_UV_BITS    (1 << 8)
+
+//! \brief Defines the location of the GVDD_UV (DRV8301 Vdd, Under Voltage) bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_GVDD_UV_BITS    (1 << 9)
+
+//! \brief Defines the location of the FAULT bits in the Status 1 register
+//!
+#define DRV8301_STATUS1_FAULT_BITS      (1 << 10)
+
+
+//! \brief Defines the location of the Device ID bits in the Status 2 register
+//!
+#define DRV8301_STATUS2_ID_BITS        (15 << 0)
+
+//! \brief Defines the location of the GVDD_OV (DRV8301 Vdd, Over Voltage) bits in the Status 2 register
+//!
+#define DRV8301_STATUS2_GVDD_OV_BITS    (1 << 7)
+
+
+//! \brief Defines the location of the GATE_CURRENT bits in the Control 1 register
+//!
+#define DRV8301_CTRL1_GATE_CURRENT_BITS  (3 << 0)
+
+//! \brief Defines the location of the GATE_RESET bits in the Control 1 register
+//!
+#define DRV8301_CTRL1_GATE_RESET_BITS    (1 << 2)
+
+//! \brief Defines the location of the PWM_MODE bits in the Control 1 register
+//!
+#define DRV8301_CTRL1_PWM_MODE_BITS      (1 << 3)
+
+//! \brief Defines the location of the OC_MODE bits in the Control 1 register
+//!
+#define DRV8301_CTRL1_OC_MODE_BITS       (3 << 4)
+
+//! \brief Defines the location of the OC_ADJ bits in the Control 1 register
+//!
+#define DRV8301_CTRL1_OC_ADJ_SET_BITS   (31 << 6)
+
+
+//! \brief Defines the location of the OCTW_SET bits in the Control 2 register
+//!
+#define DRV8301_CTRL2_OCTW_SET_BITS      (3 << 0)
+
+//! \brief Defines the location of the GAIN bits in the Control 2 register
+//!
+#define DRV8301_CTRL2_GAIN_BITS          (3 << 2)
+
+//! \brief Defines the location of the DC_CAL_1 bits in the Control 2 register
+//!
+#define DRV8301_CTRL2_DC_CAL_1_BITS      (1 << 4)
+
+//! \brief Defines the location of the DC_CAL_2 bits in the Control 2 register
+//!
+#define DRV8301_CTRL2_DC_CAL_2_BITS      (1 << 5)
+
+//! \brief Defines the location of the OC_TOFF bits in the Control 2 register
+//!
+#define DRV8301_CTRL2_OC_TOFF_BITS       (1 << 6)
+
+
+// **************************************************************************
+// the typedefs
+
+//! \brief Enumeration for the R/W modes
+//!
+typedef enum 
+{
+  DRV8301_CtrlMode_Read = 1 << 15,   //!< Read Mode
+  DRV8301_CtrlMode_Write = 0 << 15   //!< Write Mode
+} DRV8301_CtrlMode_e;
+
+
+//! \brief Enumeration for the DC calibration modes
+//!
+typedef enum 
+{
+  DRV8301_DcCalMode_Ch1_Load   = (0 << 4),   //!< Shunt amplifier 1 connected to load via input pins
+  DRV8301_DcCalMode_Ch1_NoLoad = (1 << 4),   //!< Shunt amplifier 1 disconnected from load and input pins are shorted
+  DRV8301_DcCalMode_Ch2_Load   = (0 << 5),   //!< Shunt amplifier 2 connected to load via input pins
+  DRV8301_DcCalMode_Ch2_NoLoad = (1 << 5)    //!< Shunt amplifier 2 disconnected from load and input pins are shorted
+} DRV8301_DcCalMode_e;
+
+
+//! \brief Enumeration for the fault types
+//!
+typedef enum 
+{
+  DRV8301_FaultType_NoFault  = (0 << 0),  //!< No fault
+  DRV8301_FaultType_FETLC_OC = (1 << 0),  //!< FET Low side, Phase C Over Current fault
+  DRV8301_FaultType_FETHC_OC = (1 << 1),  //!< FET High side, Phase C Over Current fault
+  DRV8301_FaultType_FETLB_OC = (1 << 2),  //!< FET Low side, Phase B Over Current fault
+  DRV8301_FaultType_FETHB_OC = (1 << 3),  //!< FET High side, Phase B Over Current fault
+  DRV8301_FaultType_FETLA_OC = (1 << 4),  //!< FET Low side, Phase A Over Current fault
+  DRV8301_FaultType_FETHA_OC = (1 << 5),  //!< FET High side, Phase A Over Current fault
+  DRV8301_FaultType_OTW      = (1 << 6),  //!< Over Temperature Warning fault
+  DRV8301_FaultType_OTSD     = (1 << 7),  //!< Over Temperature Shut Down fault
+  DRV8301_FaultType_PVDD_UV  = (1 << 8),  //!< Power supply Vdd Under Voltage fault
+  DRV8301_FaultType_GVDD_UV  = (1 << 9),  //!< DRV8301 Vdd Under Voltage fault
+  DRV8301_FaultType_GVDD_OV  = (1 << 10)  //!< DRV8301 Vdd Over Voltage fault
+} DRV8301_FaultType_e;
+
+
+//! \brief Enumeration for the Over Current modes
+//!
+typedef enum 
+{
+  DRV8301_OcMode_CurrentLimit  = 0 << 4,   //!< current limit when OC detected
+  DRV8301_OcMode_LatchShutDown = 1 << 4,   //!< latch shut down when OC detected
+  DRV8301_OcMode_ReportOnly    = 2 << 4,   //!< report only when OC detected
+  DRV8301_OcMode_Disabled      = 3 << 4    //!< OC protection disabled
+} DRV8301_OcMode_e;
+
+
+//! \brief Enumeration for the Over Current Off Time modes
+//!
+typedef enum 
+{
+  DRV8301_OcOffTimeMode_Normal  = 0 << 6,   //!< normal CBC operation
+  DRV8301_OcOffTimeMode_Ctrl    = 1 << 6    //!< off time control during OC
+} DRV8301_OcOffTimeMode_e;
+
+
+//! \brief Enumeration for the Over Current, Temperature Warning modes
+//!
+typedef enum 
+{
+  DRV8301_OcTwMode_Both    = 0 << 0,   //!< report both OT and OC at /OCTW pin
+  DRV8301_OcTwMode_OT_Only = 1 << 0,   //!< report only OT at /OCTW pin
+  DRV8301_OcTwMode_OC_Only = 2 << 0    //!< report only OC at /OCTW pin
+} DRV8301_OcTwMode_e;
+
+
+//! \brief Enumeration for the drv8301 peak current levels
+//!
+typedef enum 
+{
+  DRV8301_PeakCurrent_1p70_A  = 0 << 0,   //!< drv8301 driver peak current 1.70A
+  DRV8301_PeakCurrent_0p70_A  = 1 << 0,   //!< drv8301 driver peak current 0.70A
+  DRV8301_PeakCurrent_0p25_A  = 2 << 0    //!< drv8301 driver peak current 0.25A
+} DRV8301_PeakCurrent_e;
+
+
+//! \brief Enumeration for the PWM modes
+//!
+typedef enum 
+{
+  DRV8301_PwmMode_Six_Inputs   = 0 << 3,   //!< six independent inputs
+  DRV8301_PwmMode_Three_Inputs = 1 << 3    //!< three independent nputs
+} DRV8301_PwmMode_e;
+
+
+//! \brief Enumeration for the register names
+//!
+typedef enum 
+{
+  DRV8301_RegName_Status_1  = 0 << 11,   //!< Status Register 1
+  DRV8301_RegName_Status_2  = 1 << 11,   //!< Status Register 2
+  DRV8301_RegName_Control_1 = 2 << 11,  //!< Control Register 1
+  DRV8301_RegName_Control_2 = 3 << 11   //!< Control Register 2
+} DRV8301_RegName_e;
+
+
+
+//! \brief Enumeration for the shunt amplifier gains
+//!
+typedef enum 
+{
+  DRV8301_Reset_Normal = 0 << 2,   //!< normal
+  DRV8301_Reset_All = 1 << 2       //!< reset all
+} DRV8301_Reset_e;
+
+
+//! \brief Enumeration for the shunt amplifier gains
+//!
+typedef enum 
+{
+  DRV8301_ShuntAmpGain_10VpV = 0 << 2,   //!< 10 V per V
+  DRV8301_ShuntAmpGain_20VpV = 1 << 2,   //!< 20 V per V
+  DRV8301_ShuntAmpGain_40VpV = 2 << 2,   //!< 40 V per V
+  DRV8301_ShuntAmpGain_80VpV = 3 << 2    //!< 80 V per V
+} DRV8301_ShuntAmpGain_e;
+
+
+//! \brief Enumeration for the shunt amplifier number
+//!
+typedef enum 
+{
+  DRV8301_ShuntAmpNumber_1 = 1,      //!< Shunt amplifier number 1
+  DRV8301_ShuntAmpNumber_2 = 2       //!< Shunt amplifier number 2
+} DRV8301_ShuntAmpNumber_e;
+
+
+//! \brief Enumeration for the Vds level for th over current adjustment
+//!
+typedef enum 
+{
+  DRV8301_VdsLevel_0p060_V =  0 << 6,      //!< Vds = 0.060 V
+  DRV8301_VdsLevel_0p068_V =  1 << 6,      //!< Vds = 0.068 V
+  DRV8301_VdsLevel_0p076_V =  2 << 6,      //!< Vds = 0.076 V
+  DRV8301_VdsLevel_0p086_V =  3 << 6,      //!< Vds = 0.086 V
+  DRV8301_VdsLevel_0p097_V =  4 << 6,      //!< Vds = 0.097 V
+  DRV8301_VdsLevel_0p109_V =  5 << 6,      //!< Vds = 0.109 V
+  DRV8301_VdsLevel_0p123_V =  6 << 6,      //!< Vds = 0.123 V
+  DRV8301_VdsLevel_0p138_V =  7 << 6,      //!< Vds = 0.138 V
+  DRV8301_VdsLevel_0p155_V =  8 << 6,      //!< Vds = 0.155 V
+  DRV8301_VdsLevel_0p175_V =  9 << 6,      //!< Vds = 0.175 V
+  DRV8301_VdsLevel_0p197_V = 10 << 6,      //!< Vds = 0.197 V
+  DRV8301_VdsLevel_0p222_V = 11 << 6,      //!< Vds = 0.222 V
+  DRV8301_VdsLevel_0p250_V = 12 << 6,      //!< Vds = 0.250 V
+  DRV8301_VdsLevel_0p282_V = 13 << 6,      //!< Vds = 0.282 V
+  DRV8301_VdsLevel_0p317_V = 14 << 6,      //!< Vds = 0.317 V
+  DRV8301_VdsLevel_0p358_V = 15 << 6,      //!< Vds = 0.358 V
+  DRV8301_VdsLevel_0p403_V = 16 << 6,      //!< Vds = 0.403 V
+  DRV8301_VdsLevel_0p454_V = 17 << 6,      //!< Vds = 0.454 V
+  DRV8301_VdsLevel_0p511_V = 18 << 6,      //!< Vds = 0.511 V
+  DRV8301_VdsLevel_0p576_V = 19 << 6,      //!< Vds = 0.576 V
+  DRV8301_VdsLevel_0p648_V = 20 << 6,      //!< Vds = 0.648 V
+  DRV8301_VdsLevel_0p730_V = 21 << 6,      //!< Vds = 0.730 V
+  DRV8301_VdsLevel_0p822_V = 22 << 6,      //!< Vds = 0.822 V
+  DRV8301_VdsLevel_0p926_V = 23 << 6,      //!< Vds = 0.926 V
+  DRV8301_VdsLevel_1p043_V = 24 << 6,      //!< Vds = 1.403 V
+  DRV8301_VdsLevel_1p175_V = 25 << 6,      //!< Vds = 1.175 V
+  DRV8301_VdsLevel_1p324_V = 26 << 6,      //!< Vds = 1.324 V
+  DRV8301_VdsLevel_1p491_V = 27 << 6,      //!< Vds = 1.491 V
+  DRV8301_VdsLevel_1p679_V = 28 << 6,      //!< Vds = 1.679 V
+  DRV8301_VdsLevel_1p892_V = 29 << 6,      //!< Vds = 1.892 V
+  DRV8301_VdsLevel_2p131_V = 30 << 6,      //!< Vds = 2.131 V
+  DRV8301_VdsLevel_2p400_V = 31 << 6       //!< Vds = 2.400 V
+} DRV8301_VdsLevel_e;
+
+
+typedef enum
+{
+  DRV8301_GETID=0
+} Drv8301SpiOutputDataSelect_e;
+
+
+typedef struct _DRV_SPI_8301_Stat1_t_
+{
+  bool                  FAULT;
+  bool                  GVDD_UV;
+  bool                  PVDD_UV;
+  bool                  OTSD;
+  bool                  OTW;
+  bool                  FETHA_OC;
+  bool                  FETLA_OC;
+  bool                  FETHB_OC;
+  bool                  FETLB_OC;
+  bool                  FETHC_OC;
+  bool                  FETLC_OC;
+}DRV_SPI_8301_Stat1_t_;
+
+
+typedef struct _DRV_SPI_8301_Stat2_t_
+{
+  bool                  GVDD_OV;
+  uint16_t              DeviceID;
+}DRV_SPI_8301_Stat2_t_;
+
+
+typedef struct _DRV_SPI_8301_CTRL1_t_
+{
+  DRV8301_PeakCurrent_e    DRV8301_CURRENT;
+  DRV8301_Reset_e          DRV8301_RESET;
+  DRV8301_PwmMode_e        PWM_MODE;
+  DRV8301_OcMode_e         OC_MODE;
+  DRV8301_VdsLevel_e       OC_ADJ_SET;
+}DRV_SPI_8301_CTRL1_t_;
+
+
+typedef struct _DRV_SPI_8301_CTRL2_t_
+{
+  DRV8301_OcTwMode_e       OCTW_SET;
+  DRV8301_ShuntAmpGain_e   GAIN;
+  DRV8301_DcCalMode_e      DC_CAL_CH1p2;
+  DRV8301_OcOffTimeMode_e  OC_TOFF;
+}DRV_SPI_8301_CTRL2_t_;
+
+
+typedef struct _DRV_SPI_8301_Vars_t_
+{
+  DRV_SPI_8301_Stat1_t_     Stat_Reg_1;
+  DRV_SPI_8301_Stat2_t_     Stat_Reg_2;
+  DRV_SPI_8301_CTRL1_t_     Ctrl_Reg_1;
+  DRV_SPI_8301_CTRL2_t_     Ctrl_Reg_2;
+  uint16_t                  Stat_Reg_1_Value;
+  uint16_t                  Stat_Reg_2_Value;
+  uint16_t                  Ctrl_Reg_1_Value;
+  uint16_t                  Ctrl_Reg_2_Value;
+  bool                  SndCmd;
+  bool                  RcvCmd;
+
+}DRV_SPI_8301_Vars_t;
+
+
+//! \brief Defines the DRV8301 object
+//!
+typedef struct _DRV8301_Obj_
+{
+  SPI_Handle       spiHandle;                  //!< the handle for the serial peripheral interface
+  GPIO_Handle      EngpioHandle;               //!< the gpio handle that is connected to the drv8301 enable pin
+  GPIO_Number_e    EngpioNumber;               //!< the gpio number that is connected to the drv8301 enable pin
+  GPIO_Handle      nCSgpioHandle;              //!< the gpio handle that is connected to the drv8301 nCS pin
+  GPIO_Number_e    nCSgpioNumber;               //!< the gpio number that is connected to the drv8301 nCS pin
+  bool             RxTimeOut;                  //!< the timeout flag for the RX fifo
+  bool             enableTimeOut;              //!< the timeout flag for drv8301 enable
+} DRV8301_Obj;
+
+
+//! \brief Defines the DRV8301 handle
+//!
+typedef struct _DRV8301_Obj_ *DRV8301_Handle;
+
+
+//! \brief Defines the DRV8301 Word type
+//!
+typedef  uint16_t    DRV8301_Word_t;
+
+
+// **************************************************************************
+// the globals
+
+
+
+// **************************************************************************
+// the function prototypes
+
+
+//! \brief     Builds the control word
+//! \param[in] ctrlMode  The control mode
+//! \param[in] regName   The register name
+//! \param[in] data      The data
+//! \return    The control word
+static inline DRV8301_Word_t DRV8301_buildCtrlWord(const DRV8301_CtrlMode_e ctrlMode,
+                                                   const DRV8301_RegName_e regName,
+                                                   const uint16_t data)
+{
+  DRV8301_Word_t ctrlWord = ctrlMode | regName | (data & DRV8301_DATA_MASK);
+
+  return(ctrlWord);
+} // end of DRV8301_buildCtrlWord() function
+
+
+//! \brief     Gets the DC calibration mode
+//! \param[in] handle     The DRV8301 handle
+//! \param[in] ampNumber  The shunt amplifier number
+//! \return    The DC calibration mode
+extern DRV8301_DcCalMode_e DRV8301_getDcCalMode(DRV8301_Handle handle,
+                                                const DRV8301_ShuntAmpNumber_e ampNumber);
+
+//! \brief     Enables the DRV8301
+//! \param[in] handle     The DRV8301 handle
+extern void DRV8301_enable(DRV8301_Handle handle);
+
+
+//! \brief     Gets the fault type
+//! \param[in] handle     The DRV8301 handle
+//! \return    The fault type
+extern DRV8301_FaultType_e DRV8301_getFaultType(DRV8301_Handle handle);
+
+
+//! \brief     Gets the device ID
+//! \param[in] handle     The DRV8301 handle
+//! \return    The device ID
+extern uint16_t DRV8301_getId(DRV8301_Handle handle);
+
+
+//! \brief     Gets the over current level
+//! \param[in] handle     The DRV8301 handle
+//! \return    The over current level, V
+extern DRV8301_VdsLevel_e DRV8301_getOcLevel(DRV8301_Handle handle);
+
+
+//! \brief     Gets the over current mode
+//! \param[in] handle     The DRV8301 handle
+//! \return    The over current mode
+extern DRV8301_OcMode_e DRV8301_getOcMode(DRV8301_Handle handle);
+
+
+//! \brief     Gets the over current off time mode
+//! \param[in] handle     The DRV8301 handle
+//! \return    The over current off time mode
+extern DRV8301_OcOffTimeMode_e DRV8301_getOcOffTimeMode(DRV8301_Handle handle);
+
+
+//! \brief     Gets the over current, temperature warning mode
+//! \param[in] handle     The DRV8301 handle
+//! \return    The over current, temperature warning mode
+extern DRV8301_OcTwMode_e DRV8301_getOcTwMode(DRV8301_Handle handle);
+
+
+//! \brief     Gets the peak current value
+//! \param[in] handle     The DRV8301 handle
+//! \return    The peak current value
+extern DRV8301_PeakCurrent_e DRV8301_getPeakCurrent(DRV8301_Handle handle);
+
+
+//! \brief     Gets the PWM mode
+//! \param[in] handle     The DRV8301 handle
+//! \return    The PWM mode
+extern DRV8301_PwmMode_e DRV8301_getPwmMode(DRV8301_Handle handle);
+
+
+//! \brief     Gets the shunt amplifier gain value
+//! \param[in] handle     The DRV8301 handle
+//! \return    The shunt amplifier gain value
+extern DRV8301_ShuntAmpGain_e DRV8301_getShuntAmpGain(DRV8301_Handle handle);
+
+
+//! \brief     Gets the status register 1 value
+//! \param[in] handle     The DRV8301 handle
+//! \return    The status register1 value
+extern uint16_t DRV8301_getStatusRegister1(DRV8301_Handle handle);
+
+
+//! \brief     Gets the status register 2 value
+//! \param[in] handle     The DRV8301 handle
+//! \return    The status register2 value
+extern uint16_t DRV8301_getStatusRegister2(DRV8301_Handle handle);
+
+
+//! \brief     Initializes the DRV8301 object
+//! \param[in] pMemory   A pointer to the memory for the DRV8301 object
+//! \param[in] numBytes  The number of bytes allocated for the DRV8301 object, bytes
+//! \return    The DRV8301 object handle
+extern DRV8301_Handle DRV8301_init(void *pMemory,const size_t numBytes);
+
+
+//! \brief     Determines if DRV8301 fault has occurred
+//! \param[in] handle     The DRV8301 handle
+//! \return    A boolean value denoting if a fault has occurred (true) or not (false)
+extern bool DRV8301_isFault(DRV8301_Handle handle);
+
+
+//! \brief     Determines if DRV8301 is in reset
+//! \param[in] handle     The DRV8301 handle
+//! \return    A boolean value denoting if the DRV8301 is in reset (true) or not (false)
+extern bool DRV8301_isReset(DRV8301_Handle handle);
+
+
+//! \brief     Reads data from the DRV8301 register
+//! \param[in] handle   The DRV8301 handle
+//! \param[in] regName  The register name
+//! \return    The data value
+extern uint16_t DRV8301_readSpi(DRV8301_Handle handle,const DRV8301_RegName_e regName);
+
+
+//! \brief     Resets the DRV8301
+//! \param[in] handle   The DRV8301 handle
+extern void DRV8301_reset(DRV8301_Handle handle);
+
+
+//! \brief     Resets the enable timeout flag
+//! \param[in] handle   The DRV8301 handle
+static inline void DRV8301_resetEnableTimeout(DRV8301_Handle handle)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  obj->enableTimeOut = false;
+
+  return;
+}
+
+
+//! \brief     Resets the RX fifo timeout flag
+//! \param[in] handle   The DRV8301 handle
+static inline void DRV8301_resetRxTimeout(DRV8301_Handle handle)
+{
+  DRV8301_Obj *obj = (DRV8301_Obj *)handle;
+
+  obj->RxTimeOut = false;
+
+  return;
+}
+
+
+//! \brief     Sets the DC calibration mode
+//! \param[in] handle     The DRV8301 handle
+//! \param[in] ampNumber  The shunt amplifier number
+//! \param[in] mode       The DC calibration mode
+extern void DRV8301_setDcCalMode(DRV8301_Handle handle,
+                                 const DRV8301_ShuntAmpNumber_e ampNumber,
+                                 const DRV8301_DcCalMode_e mode);
+
+
+//! \brief     Sets the GPIO handle in the DRV8301
+//! \param[in] handle     The DRV8301 handle
+//! \param[in] gpioHandle  The GPIO handle to use
+void DRV8301_setGpioHandle(DRV8301_Handle handle,GPIO_Handle gpioHandle);
+
+
+//! \brief     Sets the GPIO number in the DRV8301
+//! \param[in] handle     The DRV8301 handle
+//! \param[in] gpioHandle  The GPIO number to use
+void DRV8301_setGpioNumber(DRV8301_Handle handle,GPIO_Number_e gpioNumber);
+
+
+//! \brief     Sets the over current level in terms of Vds
+//! \param[in] handle    The DRV8301 handle
+//! \param[in] VdsLevel  The over current level, V
+extern void DRV8301_setOcLevel(DRV8301_Handle handle,const DRV8301_VdsLevel_e VdsLevel);
+
+
+//! \brief     Sets the over current mode
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] mode    The over current mode
+extern void DRV8301_setOcMode(DRV8301_Handle handle,const DRV8301_OcMode_e mode);
+
+
+//! \brief     Sets the over current off time mode
+//! \param[in] handle   The DRV8301 handle
+//! \param[in] mode     The over current off time mode
+extern void DRV8301_setOcOffTimeMode(DRV8301_Handle handle,const DRV8301_OcOffTimeMode_e mode);
+
+
+//! \brief     Sets the over current, temperature warning mode
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] mode    The over current, temperature warning mode
+extern void DRV8301_setOcTwMode(DRV8301_Handle handle,const DRV8301_OcTwMode_e mode);
+
+
+//! \brief     Sets the peak current value
+//! \param[in] handle       The DRV8301 handle
+//! \param[in] peakCurrent  The peak current value
+extern void DRV8301_setPeakCurrent(DRV8301_Handle handle,const DRV8301_PeakCurrent_e peakCurrent);
+
+
+//! \brief     Sets the PWM mode
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] mode    The PWM mode
+extern void DRV8301_setPwmMode(DRV8301_Handle handle,const DRV8301_PwmMode_e mode);
+
+
+//! \brief     Sets the shunt amplifier gain value
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] gain    The shunt amplifier gain value
+extern void DRV8301_setShuntAmpGain(DRV8301_Handle handle,const DRV8301_ShuntAmpGain_e gain);
+
+
+//! \brief     Sets the SPI handle in the DRV8301
+//! \param[in] handle     The DRV8301 handle
+//! \param[in] spiHandle  The SPI handle to use
+void DRV8301_setSpiHandle(DRV8301_Handle handle,SPI_Handle spiHandle);
+
+
+//! \brief     Writes data to the DRV8301 register
+//! \param[in] handle   The DRV8301 handle
+//! \param[in] regName  The register name
+//! \param[in] data     The data value
+extern void DRV8301_writeSpi(DRV8301_Handle handle,const DRV8301_RegName_e regName,const uint16_t data);
+
+
+//! \brief     Interface to all 8301 SPI variables
+//!
+//! \details   Call this function periodically to be able to read the DRV8301 Status1, Status2,
+//!            Control1, and Control2 registers and write the Control1 and Control2 registers.
+//!            This function updates the members of the structure DRV_SPI_8301_Vars_t.
+//!            <b>How to use in Setup</b>
+//!            <b>Code</b>
+//!            Add the structure declaration DRV_SPI_8301_Vars_t to your code
+//!            Make sure the SPI and 8301 EN_Gate GPIO are setup for the 8301 by using HAL_init and HAL_setParams
+//!            During code setup, call HAL_enableDrv and HAL_setupDrvSpi
+//!            In background loop, call DRV8301_writeData and DRV8301_readData
+//!            <b>How to use in Runtime</b>
+//!            <b>Watch window</b>
+//!            Add the structure, declared by DRV_SPI_8301_Vars_t above, to the watch window
+//!            <b>Runtime</b>
+//!            Pull down the menus from the DRV_SPI_8301_Vars_t strcuture to the desired setting
+//!            Set SndCmd to send the settings to the DRV8301
+//!            If a read of the DRV8301 registers is required, se RcvCmd
+//!
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] Spi_8301_Vars  The (DRV_SPI_8301_Vars_t) structure that contains all DRV8301 Status/Control register options
+extern void DRV8301_writeData(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);
+
+
+//! \param[in] handle  The DRV8301 handle
+//! \param[in] Spi_8301_Vars  The (DRV_SPI_8301_Vars_t) structure that contains all DRV8301 Status/Control register options
+extern void DRV8301_readData(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);
+
+
+//! \brief     Initialize the interface to all 8301 SPI variables
+//! \param[in] handle  The DRV8301 handle
+extern void DRV8301_setupSpi(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);
+
+
+#ifdef __cplusplus
+}
+#endif // extern "C"
+
+//@}  // ingroup
+
+#endif // end of _DRV8301_H_ definition
+
+
+
+
+