[参考译文] DRV8462：DRV8462

也许我们的 EVM 中的此示例代码也将有助于：

// Direct writing of a register
void DRV8462::writeRegister(uint8_t reg, uint8_t value)
{
  write8(reg, value);
}

// These defines are in the .h file
// SPI Protocol
#define SPI_ADDRESS_MASK   0x3F00        // Mask for SPI register address bits
#define SPI_ADDRESS_POS    8             // Position for SPI register address bits
#define SPI_DATA_MASK      0x00FF        // Mask for SPI register data bits
#define SPI_DATA_POS       0             // Position for SPI register data bits
#define SPI_RW_BIT_MASK    0x4000        // Mask for SPI register read write indication bit

void DRV8462::write8(uint8_t reg, uint8_t value) {

  // This SPI function is used to write the set device configurations and operating
  // parameters of the device.
  // Register format |R/W|A5|A4|A3|A2|A1|A0|*|D7|D6|D5|D4|D3|D2|D1|D0|
  // Ax is address bit, Dx is data bits and R/W is read write bit.
  // For write R/W bit should 0.

  volatile uint16_t reg_value = 0; // Variable for the combined register and data info
  reg_value |= ((reg << SPI_ADDRESS_POS) & SPI_ADDRESS_MASK);         // Adding register address value
  reg_value |= ((value << SPI_DATA_POS) & SPI_DATA_MASK);             // Adding data value

  digitalWrite(_cs, LOW);

  SPIxfer((uint8_t)((reg_value>>8) & 0xFF));
  SPIxfer((uint8_t)(reg_value & 0xFF));

  digitalWrite(_cs, HIGH);
}

uint8_t DRV8462::SPIxfer(uint8_t x) {
  if (_clk == -1) {
    return _spi->transfer(x);
  } else {
    // Serial.println("Software SPI");
    uint8_t reply = 0;
    for (int i = 7; i >= 0; i--) {
      reply <<= 1;
      digitalWrite(_clk, HIGH);
      digitalWrite(_mosi, x & (1 << i));
      digitalWrite(_clk, LOW);
      if (digitalRead(_miso))
        reply |= 1;
    }
    return reply;
  }
}