ma730 SSI mode is working

Author: runger1101001

src/encoders/ma730/MA730.h

@@ -28,7 +28,7 @@ enum FieldStrength {
 #define MA730_BITORDER MSBFIRST
 
 static SPISettings MA730SPISettings(8000000, MA730_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
-static SPISettings MA730SSISettings(8000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
+static SPISettings MA730SSISettings(4000000, MA730_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
 
 
 class MA730 {
@@ -41,6 +41,7 @@ class MA730 {
 	float getCurrentAngle(); // angle in radians, return current value
 
 	uint16_t readRawAngle(); // 14bit angle value
+    uint16_t readRawAngleSSI(); // 14bit angle value
 
     uint16_t getZero();
     uint8_t getBiasCurrentTrimming();

src/encoders/ma730/MagneticSensorMA730SSI.cpp

@@ -7,31 +7,28 @@ MagneticSensorMA730SSI::MagneticSensorMA730SSI(SPISettings settings) : settings(
 }
 
 
-MagneticSensorMA730SSI::~MagneticSensorMA730SSI(){ 
+MagneticSensorMA730SSI::~MagneticSensorMA730SSI() {
 
 }
 
-
 void MagneticSensorMA730SSI::init(SPIClass* _spi) {
     this->spi=_spi;
     this->Sensor::init();
 }
 
 // check 40us delay between each read?
 float MagneticSensorMA730SSI::getSensorAngle() {
-    float angle_data = readRawAngle();
-    angle_data = ( angle_data / (float)MA730_CPR) * _2PI;
+    float angle_data = readRawAngleSSI();
+    angle_data = ( angle_data / (float)MA730_CPR ) * _2PI;
     // return the shaft angle
     return angle_data;
 }
 
 
-
-uint16_t MagneticSensorMA730SSI::readRawAngle() {
+uint16_t MagneticSensorMA730SSI::readRawAngleSSI() {
     spi->beginTransaction(settings);
     uint16_t value = spi->transfer16(0x0000);
-    uint8_t parity = spi->transfer(0x00);
-    // TODO: check parity
+    //uint16_t parity = spi->transfer(0x00);
     spi->endTransaction();
-    return value>>2;
+    return (value>>1)&0x3FFF;
 }; // 14bit angle value

src/encoders/ma730/MagneticSensorMA730SSI.h

@@ -14,7 +14,8 @@ class MagneticSensorMA730SSI : public Sensor {
 
 	virtual void init(SPIClass* _spi = &SPI);
 
-    uint16_t readRawAngle();
+    uint16_t readRawAngleSSI();
+	
 private:
 	SPIClass* spi;
 	SPISettings settings;