Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

add MT6701 I2C sensor configuration #406

Merged
merged 1 commit into from
Jun 5, 2024
Merged

add MT6701 I2C sensor configuration #406

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 10 additions & 0 deletions src/sensors/MagneticSensorI2C.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,14 @@ MagneticSensorI2CConfig_s AS5048_I2C = {
.data_start_bit = 15
};

/** Typical configuration for the 12bit MT6701 magnetic sensor over I2C interface */
MagneticSensorI2CConfig_s MT6701_I2C = {
.chip_address = 0x06,
.bit_resolution = 14,
.angle_register = 0x03,
.data_start_bit = 15
};


// MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb)
// @param _chip_address I2C chip address
Expand All @@ -34,6 +42,7 @@ MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution,
// LSB and MSB register used bits
// AS5600 uses 0..7 LSB and 8..11 MSB
// AS5048 uses 0..5 LSB and 6..13 MSB
// MT6701 uses 0..5 LSB and 9..15 MSB
// used bits in LSB
lsb_used = _bit_resolution - _bits_used_msb;
// extraction masks
Expand Down Expand Up @@ -111,6 +120,7 @@ int MagneticSensorI2C::read(uint8_t angle_reg_msb) {
// LSB and MSB register used bits
// AS5600 uses 0..7 LSB and 8..11 MSB
// AS5048 uses 0..5 LSB and 6..13 MSB
// MT6701 uses 0..5 LSB and 6..13 MSB
readValue = ( readArray[1] & lsb_mask );
readValue += ( ( readArray[0] & msb_mask ) << lsb_used );
return readValue;
Expand Down
Loading