DRV8912 mit Pi4J über SPI ansteuern

public final class MotorController {

    private static final int IC_STAT = 0x00;

    private static final int OCP_STAT_1 = 0x01;

    private static final int OCP_STAT_2 = 0x02;

    private static final int OCP_STAT_3 = 0x03;

    private static final int OLD_STAT_1 = 0x04;

    private static final int OLD_STAT_2 = 0x05;

    private static final int OLD_STAT_3 = 0x06;

    private static final int CONFIG_CTRL = 0x07;

    private static final int OP_CTRL_1 = 0x08;

    private static final int OP_CTRL_2 = 0x09;

    private static final int OP_CTRL_3 = 0x0A;

    private static final int PWM_CTRL_1 = 0x0B;

    private static final int PWM_CTRL_2 = 0x0C;

    private static final int FW_CTRL_1 = 0x0D;

    private static final int FW_CTRL_2 = 0x0E;

    private static final int PWM_MAP_CTRL_1 = 0x0F;

    private static final int PWM_MAP_CTRL_2 = 0x10;

    private static final int PWM_MAP_CTRL_3 = 0x11;

    private static final int PWM_FREQ_CTRL = 0x12;

    private static final int PWM_DUTY_CTRL_1 = 0x13;

    private static final int PWM_DUTY_CTRL_2 = 0x14;

    private static final int PWM_DUTY_CTRL_3 = 0x15;

    private static final int PWM_DUTY_CTRL_4 = 0x16;

    private static final int SR_CTRL_1 = 0x17;

    private static final int SR_CTRL_2 = 0x18;

    private static final int OLD_CTRL_1 = 0x19;

    private static final int OLD_CTRL_2 = 0x1A;

    private static final int OLD_CTRL_3 = 0x1B;

    private static final int OLD_CTRL_4 = 0x24;

    private final Spi drv0, drv1;

    private final DigitalInput fault1, fault2;

    public MotorController(Context pi4j) {

        fault1 = pi4j.create(DigitalInput.newConfigBuilder(pi4j).address(24).pull(PullResistance.PULL_UP));

        fault2 = pi4j.create(DigitalInput.newConfigBuilder(pi4j).address(25).pull(PullResistance.PULL_UP));

        final int spiClockFreq = 1_000_000; // Hz

        final SpiMode mode = SpiMode.MODE_1;

        drv0 = pi4j.create(Spi.newConfigBuilder(pi4j).bus(SpiBus.BUS_0).chipSelect(SpiChipSelect.CS_0).mode(mode).baud(spiClockFreq));

        drv1 = pi4j.create(Spi.newConfigBuilder(pi4j).bus(SpiBus.BUS_0).chipSelect(SpiChipSelect.CS_1).mode(mode).baud(spiClockFreq));

        initializeChip(drv0);

        initializeChip(drv1);

    }

    private void initializeChip(Spi spi) {

        write(spi, OP_CTRL_1, (byte) 0x00);

        write(spi, OP_CTRL_2, (byte) 0x00);

        write(spi, OP_CTRL_3, (byte) 0x00);

        write(spi, OLD_CTRL_1, (byte) 0x00);

        write(spi, OLD_CTRL_2, (byte) 0x00);

        write(spi, OLD_CTRL_3, (byte) 0x00);

        write(spi, OLD_CTRL_4, (byte) 0x00);

        write(spi, CONFIG_CTRL, (byte) 0x81);

        write(spi, PWM_FREQ_CTRL, (byte) 0xAA); // 20kHz

        write(spi, SR_CTRL_1, (byte) 0x00);

        write(spi, SR_CTRL_2, (byte) 0x00);

        write(spi, CONFIG_CTRL, (byte) 0x81);

        System.out.print("PWM_FREQ_CTRL: ");

        printBytes(read(spi, PWM_FREQ_CTRL));

    }

    private byte write(Spi spi, int registerAddress, byte value) {

        byte command = (byte) (64 | (registerAddress & 0x3F));

        byte[] readBuffer = new byte[2];

        spi.transfer(new byte[] { command, value }, readBuffer);

        return readBuffer[1];

    }

    private byte read(Spi spi, int registerAddress) {

        return write(spi, registerAddress, (byte) 0);

    }

}