/*******************************************************************************
* Copyright © 2024 Analog Devices Inc. All Rights Reserved.
* This software is proprietary to Analog Devices, Inc. and its licensors.
*******************************************************************************/


#include "TMC2262.h"


static int32_t readRegisterSPI(uint16_t icID, uint8_t address);
static void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value);


int32_t tmc2262_readRegister(uint16_t icID, uint8_t address)
{
    return readRegisterSPI(icID, address);
}

void tmc2262_writeRegister(uint16_t icID, uint8_t address, int32_t value)
{
    writeRegisterSPI(icID, address, value);
}

int32_t readRegisterSPI(uint16_t icID, uint8_t address)
{
    uint8_t data[5] = { 0 };

    // clear write bit
    data[0] = address & TMC2262_ADDRESS_MASK;

    // Send the read request
    tmc2262_readWriteSPI(icID, &data[0], sizeof(data));

    // Rewrite address and clear write bit
    data[0] = address & TMC2262_ADDRESS_MASK;

    // Send another request to receive the read reply
    tmc2262_readWriteSPI(icID, &data[0], sizeof(data));

    return ((int32_t)data[1] << 24) | ((int32_t) data[2] << 16) | ((int32_t) data[3] <<  8) | ((int32_t) data[4]);
}

void writeRegisterSPI(uint16_t icID, uint8_t address, int32_t value)
{
    uint8_t data[5] = { 0 };

    data[0] = address | TMC2262_WRITE_BIT;
    data[1] = 0xFF & (value>>24);
    data[2] = 0xFF & (value>>16);
    data[3] = 0xFF & (value>>8);
    data[4] = 0xFF & (value>>0);

    // Send the write request
    tmc2262_readWriteSPI(icID, &data[0], sizeof(data));
}