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MT6835 Calibration register check #33

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Merged
merged 3 commits into from
Nov 8, 2023
Merged

MT6835 Calibration register check #33

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b6c0c7d
Merge pull request #30 from simplefoc/dev
runger1101001 Sep 23, 2023
afea0c7
self cal verification
VIPQualityPost Nov 8, 2023
5daf24e
oops typo
VIPQualityPost Nov 8, 2023
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15 changes: 15 additions & 0 deletions src/encoders/mt6835/MT6835.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,21 @@ uint8_t MT6835::getStatus(){
return laststatus;
};

uint8_t MT6835::getCalibrationStatus(){
uint8_t data[3] = {0};
data[0] = MT6835_OP_READ << 4 | MT6835_REG_CAL_STATUS >> 8;
data[1] = MT6835_REG_CAL_STATUS;

spi->beginTransaction(settings);
if(nCS >= 0)
digitalWrite(nCS, LOW);
spi->transfer(data, 3);
if(nCS >= 0)
digitalWrite(nCS, HIGH);
spi->endTransaction();

return data[2] >> 6;
}

bool MT6835::setZeroFromCurrentPosition(){
MT6835Command cmd;
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2 changes: 2 additions & 0 deletions src/encoders/mt6835/MT6835.h
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Expand Up @@ -199,6 +199,8 @@ class MT6835 {

uint8_t getStatus();

uint8_t getCalibrationStatus();

bool setZeroFromCurrentPosition();
bool writeEEPROM(); // wait 6s after calling this method

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