Qiayuan Liao / Hobbyking_Cheetah_Compact_DRV8323_14bit

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Dependencies:   mbed-dev-f303 FastPWM3

Files at this revision

API Documentation at this revision

Revision 51:11cf80a2d899, committed 2019-04-05

Comitter:
QiayuanLiao
Date:
Fri Apr 05 03:46:51 2019 +0000
Parent:
50:ba72df25d10f
Commit message:
For AS5147P

Changed in this revision

PositionSensor/PositionSensor.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/PositionSensor/PositionSensor.cpp	Thu Apr 04 13:53:58 2019 +0000
+++ b/PositionSensor/PositionSensor.cpp	Fri Apr 05 03:46:51 2019 +0000
@@ -27,10 +27,9 @@
     
 void PositionSensorAM5147::Sample(float dt){
     GPIOA->ODR &= ~(1 << 15);
-    //raw = spi->write(readAngleCmd);
-    //raw &= 0x3FFF;   
-    raw = spi->write(0);
-    raw = raw>>2;                                                             //Extract last 14 bits
+    raw = spi->write(readAngleCmd);
+    raw &= 0x3FFF;   
+                                                          //Extract last 14 bits
     GPIOA->ODR |= (1 << 15);
     int off_1 = offset_lut[raw>>7];
     int off_2 = offset_lut[((raw>>7)+1)%128];