Class API

Drv8316::Config contains required spi, chipSelect, and sleep; optional timer and fault; and a 100 ms default SPI timeout. The object is non-copyable and non-movable, and referenced HAL objects must outlive it.

Lifecycle and diagnostics

initialize() wakes and prepares the device. wake() and sleep() drive nSLEEP. isFaultPinAsserted() polls nFAULT. refreshDiagnostics() updates the snapshot returned by diagnostics(). clearFaults() requests device fault clearing. All hardware operations other than the pin/query helpers return HAL_StatusTypeDef.

Register configuration

lockRegisters() and unlockRegisters() are convenience operations. Every configurable field also has a get…(Enum &value) and set…(Enum value) pair:

Typed field methods

Group	Method suffixes
Interface	RegisterLock, SdoMode
Bridge	SlewRate, PwmMode, DriverState
Protection	OvertemperatureReporting, OvervoltageProtection, OvervoltageLevel, Pwm100Frequency
Overcurrent	OcpMode, OcpLevel, OcpRetryTime, OcpDeglitchTime, OcpCycleByCycle
Current sense	CurrentSenseGain, Asr, Aar, IlimRecirculation
Buck regulator	BuckState, BuckVoltage, BuckCurrentLimit, BuckPowerSequencing
Delay	DelayTarget, DelayCompensation

PWM

HAL_StatusTypeDef setPwm(uint16_t phaseA, uint16_t phaseB, uint16_t phaseC) sets timer channel 1–3 compare registers. See PWM output for its boundaries.