Faults and diagnostics

Poll the active-low pin without an SPI transaction, then refresh the cached register snapshot:

if (driver.isFaultPinAsserted() &&
    driver.refreshDiagnostics() == HAL_OK) {
    const DRV8316_Diagnostics_t &d = driver.diagnostics();
    const bool anyFault =
        (d.ic_status & DRV8316_IC_STATUS_FAULT_MASK) != 0U;
}

refreshDiagnostics() always reads IC_STATUS. It reads STATUS_1 and STATUS_2 only when the summary indicates relevant IC, thermal, voltage, overcurrent, SPI, or buck detail; otherwise it clears the cached detail bytes. An invalid/unconfigured fault pin intentionally reads as not asserted.

Use clearFaults() only after the underlying condition is understood and safe. Retry, latch, and report-only behavior also depends on configured device protection settings.