Struct Drv8873 

pub struct Drv8873<const P: char, const N: u8> { /* private fields */ }

DRV8873 driver bound to a specific chip-select pin.

The SPI bus is passed in as &mut to each method so that multiple DRV8873 instances can share the same bus.

Implementations

impl<const P: char, const N: u8> Drv8873<P, N>

pub fn new(cs: ChipSelect<P, N>) -> Self

Construct a driver from an active-low chip-select pin.

pub fn free(self) -> ChipSelect<P, N>

Release the chip-select pin.

pub fn transfer_word<I, PINS>( &mut self, spi: &mut SpiBus<I, PINS>, word: u16, ) -> Result<Response, Error>

where I: Instance, PINS: Pins<I>,

Send a 16-bit word and receive the status + data bytes.

• spi must be an enabled 8-bit SPI bus configured in the correct mode for the DRV8873 (CPOL=0, CPHA=1: data captured on falling edge, driven on rising edge).

pub fn write_reg<I, PINS>( &mut self, spi: &mut SpiBus<I, PINS>, addr: u8, value: u8, ) -> Result<Response, Error>

where I: Instance, PINS: Pins<I>,

Write a register and return the response (status + current register contents).

pub fn read_reg<I, PINS>( &mut self, spi: &mut SpiBus<I, PINS>, addr: u8, ) -> Result<Response, Error>

where I: Instance, PINS: Pins<I>,

Read a register and return the response (status + register value).

pub fn read_fault<I, PINS>( &mut self, spi: &mut SpiBus<I, PINS>, ) -> Result<Fault, Error>

where I: Instance, PINS: Pins<I>,

Read the FAULT register and parse into a Fault struct.

To get the status result as well, use read_reg.

pub fn read_diag<I, PINS>( &mut self, spi: &mut SpiBus<I, PINS>, ) -> Result<Diag, Error>

where I: Instance, PINS: Pins<I>,

Read the DIAG register and parse into a Diag struct.

To get the status result as well, use read_reg.