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Stm32 sensor fix #87

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Merged
merged 2 commits into from
May 31, 2021
Merged

Stm32 sensor fix #87

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dce9774
remove oddities in MagneticSensorSPI - fix issue #82
runger1101001 May 30, 2021
efda8c5
Merge branch 'dev' into stm32_sensor_fix
runger1101001 May 31, 2021
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19 changes: 4 additions & 15 deletions src/sensors/MagneticSensorSPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,8 @@ void MagneticSensorSPI::init(SPIClass* _spi){

//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
spi->begin();
#ifndef ESP_H // if not ESP32 board
spi->setBitOrder(MSBFIRST); // Set the SPI_1 bit order
spi->setDataMode(spi_mode) ;
spi->setClockDivider(SPI_CLOCK_DIV8);
#endif
// do any architectures need to set the clock divider for SPI? Why was this in the code?
//spi->setClockDivider(SPI_CLOCK_DIV8);

digitalWrite(chip_select_pin, HIGH);
// velocity calculation init
Expand Down Expand Up @@ -170,35 +167,27 @@ word MagneticSensorSPI::read(word angle_register){
command |= ((word)spiCalcEvenParity(command) << command_parity_bit);
}

#if !defined(_STM32_DEF_) // if not stm chips
//SPI - begin transaction
spi->beginTransaction(settings);
#endif

//Send the command
digitalWrite(chip_select_pin, LOW);
digitalWrite(chip_select_pin, LOW);
spi->transfer16(command);
digitalWrite(chip_select_pin,HIGH);
digitalWrite(chip_select_pin,HIGH);

#if defined( ESP_H ) // if ESP32 board
delayMicroseconds(50);
delayMicroseconds(50); // why do we need to delay 50us on ESP32? In my experience no extra delays are needed, on any of the architectures I've tested...
#else
delayMicroseconds(10);
delayMicroseconds(1); // delay 1us, the minimum time possible in plain arduino. 350ns is the required time for AMS sensors, 80ns for MA730, MA702
#endif

//Now read the response
digitalWrite(chip_select_pin, LOW);
digitalWrite(chip_select_pin, LOW);
word register_value = spi->transfer16(0x00);
digitalWrite(chip_select_pin, HIGH);
digitalWrite(chip_select_pin,HIGH);

#if !defined(_STM32_DEF_) // if not stm chips
//SPI - end transaction
spi->endTransaction();
#endif

register_value = register_value >> (1 + data_start_bit - bit_resolution); //this should shift data to the rightmost bits of the word

Expand Down