Quick start

Create a long-lived driver after the HAL handles exist:

#include "drv8316/drv8316.hpp"

Drv8316 driver({
    .spi = &hspi1,
    .timer = &htim1,
    .chipSelect = {GPIOA, GPIO_PIN_4},
    .fault = {GPIOB, GPIO_PIN_0},
    .sleep = {GPIOB, GPIO_PIN_1},
    .spiTimeoutMs = 100U,
});

if (driver.initialize() != HAL_OK ||
    driver.setPwmMode(DRV8316_PWM_MODE_6X) != HAL_OK ||
    driver.setSlewRate(DRV8316_SLEW_RATE_50V_US) != HAL_OK) {
    Error_Handler();
}

initialize() validates configuration, enables the DWT cycle counter, deasserts chip select, wakes the IC, waits 2 ms, unlocks control registers, activates the driver, clears faults, refreshes diagnostics, and selects 0.15 V/A current-sense gain. It leaves registers unlocked. Call lockRegisters() after applying settings when runtime writes are unwanted.