From f161d5bf10d0f6b10fd0cb4bb23f958871bea2b1 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@rapyuta-robotics.com>
Date: Mon, 6 Jun 2016 01:52:42 +0200
Subject: [PATCH] writespi bug found, response still all 0

---
 Drivers/DRV8301/drv8301.c | 2 +-
 Odrive.ioc                | 2 +-
 Src/freertos.c            | 2 +-
 Src/test.c                | 4 +++-
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Drivers/DRV8301/drv8301.c b/Drivers/DRV8301/drv8301.c
index 4fc0bdba..d0e008ca 100644
--- a/Drivers/DRV8301/drv8301.c
+++ b/Drivers/DRV8301/drv8301.c
@@ -583,7 +583,7 @@ void DRV8301_writeSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName,con
   osDelay(1);
 
   // Do blocking write
-  uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write, regName, 0);
+  uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Write, regName, data);
   HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);
   osDelay(1);
 
diff --git a/Odrive.ioc b/Odrive.ioc
index 43385026..fac74fd7 100755
--- a/Odrive.ioc
+++ b/Odrive.ioc
@@ -77,7 +77,7 @@ CAN1.CalculateTimeQuantum=380.95238095238096
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit
 FREERTOS.INCLUDE_vTaskDelayUntil=1
 FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil
-FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,Default
+FREERTOS.Tasks01=defaultTask,-3,256,StartDefaultTask,Default
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F4
diff --git a/Src/freertos.c b/Src/freertos.c
index a37b87de..1680754c 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -80,7 +80,7 @@ void MX_FREERTOS_Init(void) {
 
   /* Create the thread(s) */
   /* definition and creation of defaultTask */
-  osThreadDef(defaultTask, StartDefaultTask, osPriorityIdle, 0, 128);
+  osThreadDef(defaultTask, StartDefaultTask, osPriorityIdle, 0, 256);
   defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
 
   /* USER CODE BEGIN RTOS_THREADS */
diff --git a/Src/test.c b/Src/test.c
index 3d9d29c0..76e98511 100644
--- a/Src/test.c
+++ b/Src/test.c
@@ -91,10 +91,12 @@ void test_DRV8301_setup() {
     //The DRV_8301 driver instance
     //DRV8301_Obj gate_drivers[NUM_MOTORS];
 
+    while(1){
     for (int i = 0; i < num_motors; ++i) {
         DRV8301_enable(&gate_drivers[i]);
         DRV8301_setupSpi(&gate_drivers[i], &gate_driver_regs[i]);
-        osDelay(1);
+        osDelay(1000);
+    }
     }
 }