#include <Arduino.h>
#include <Wire.h>

#define I2C_DRV10983_Q1_ADR 0x52
#define Fault_Reg 0x00
#define MotorSpeed_Reg 0x01
#define DeviceIDRevisionID_Reg 0x08
#define SpeedCtrl_Reg 0x30
#define EEPROM_Access_Code_Reg 0x31
#define EEPROM_EeReady_Reg 0x32
#define EEPROM_Iindividual_Access_Adr_Reg 0x33
#define EEPROM_Individual_Access_Data_Reg 0x34
#define EEPROM_Access_Reg 0x35
#define EECTRL_Reg 0x60

void setup() {
    Serial.begin(9600);
    Wire.begin();
    pinMode(5, OUTPUT);
    analogWrite(5, 0);
    delay(4000);
}

byte readByAdress(byte reg_adr,  unsigned int &result) { //I2C write 2-byte register
    byte i = 0, err = 0;
    byte bytes[2] = {0, 0};
    Wire.beginTransmission(I2C_DRV10983_Q1_ADR);
    Wire.write(reg_adr);
    err = Wire.endTransmission();
    if(err!=0)
        return err;
    Wire.requestFrom(I2C_DRV10983_Q1_ADR, 2);
    while(Wire.available())
    {
        bytes[i] = Wire.read();
        i++;
    }
    result = ((bytes[0] << 8) | bytes[1]);
    return 0;
}
byte writeByAdress(byte reg_adr,  unsigned int value) { //I2C read 2-byte register
    byte bytes[2];
    bytes[1] = value & 0xFF;
    bytes[0] = (value >> 8) & 0xFF;
    Wire.beginTransmission(I2C_DRV10983_Q1_ADR);
    Wire.write(reg_adr);
    Wire.write(bytes,2);
    return Wire.endTransmission();
}

boolean flag = true;
void loop() {
    flag = false;
    if(flag){
        unsigned int onReady = 0;
        delay(7000);
        writeByAdress(EECTRL_Reg, 0xFFFF);
       
        writeByAdress(EEPROM_Access_Code_Reg, 0x0000); //Reset EEPROM_Access_Code_Reg
        writeByAdress(EEPROM_Access_Code_Reg, 0xC0DE); //Set EEPROM_Access_Code_Reg
        while(onReady == 0){ // Wait EEPROM ready
            readByAdress(EEPROM_EeReady_Reg, onReady);
        }
        Serial.println("EEPROM_Access.");
        onReady = 0;
        //Write values on shadow registers
        //writeByAdress(EEPROM_Access_Reg, 0x1000); //Not use EEPROM storage. Store values in shadow registers
        writeByAdress(0x90, 0x154F);
        writeByAdress(0x91, 0x042C);
        writeByAdress(0x92, 0x0090);
        writeByAdress(0x93, 0x09EA);
        writeByAdress(0x94, 0x3FAF);   
        writeByAdress(0x95, 0xFC33);
        writeByAdress(0x96, 0x016A);
        writeByAdress(EEPROM_Access_Reg,0x0006); //EEPROM mass access enabled && update
        while(onReady == 0 ){ // Wait EEPROM ready
            readByAdress(EEPROM_EeReady_Reg, onReady);
        }
        Serial.println("EEPROM_Update.");
        writeByAdress(EECTRL_Reg, 0x0000); //Run motor
        flag = false;

    }   
}