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Improve mt6816 angle reading efficiency #84

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34 changes: 19 additions & 15 deletions src/encoders/mt6816/MT6816.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,24 @@ void MT6816::init(SPIClass* _spi) {

uint16_t MT6816::readRawAngle() {
uint16_t angle_data = 0;
angle_data = spi_transfer16(MT6816_READ_REG_03) << 8;
angle_data |= spi_transfer16(MT6816_READ_REG_04);
uint8_t data[3] = {0};

data[0] = 0x83; // command to read MSB
data[1] = 0;
data[2] = 0;

spi->beginTransaction(settings);
if (nCS>=0)
digitalWrite(nCS, 0);

spi->transfer(data, 3);

if (nCS>=0)
digitalWrite(nCS, 1);
spi->endTransaction();

angle_data = (data[1] & 0xFF) << 8;
angle_data |= (data[2] & 0xFF);

if ((angle_data & MT6816_NO_MAGNET_WARNING_BIT) == MT6816_NO_MAGNET_WARNING_BIT) {
this->no_magnetic_reading = true;
Expand All @@ -31,7 +47,7 @@ uint16_t MT6816::readRawAngle() {
return 0;
}

return (angle_data >> 2);
return (angle_data >> 2) & 0x3FFF; // 14 bits of angle data
}

bool MT6816::parityCheck(uint16_t data) {
Expand All @@ -42,15 +58,3 @@ bool MT6816::parityCheck(uint16_t data) {

return (~data) & 1;
}

uint16_t MT6816::spi_transfer16(uint16_t outdata) {
spi->beginTransaction(settings);
if (nCS>=0)
digitalWrite(nCS, 0);
uint16_t result = spi->transfer16(outdata);
if (nCS>=0)
digitalWrite(nCS, 1);
spi->endTransaction();

return result;
}
1 change: 0 additions & 1 deletion src/encoders/mt6816/MT6816.h
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Expand Up @@ -30,7 +30,6 @@ class MT6816 {

private:
bool parityCheck(uint16_t data);
uint16_t spi_transfer16(uint16_t outdata);
SPIClass* spi;
SPISettings settings;
bool no_magnetic_reading = false;
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