fix MT6835 driver errors

Author: Richard Unger

src/encoders/mt6835/MT6835.cpp

@@ -3,6 +3,25 @@
 #include "common/foc_utils.h"
 
 
+MT6835::MT6835(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
+    // nix
+};
+
+MT6835::~MT6835() {
+    // nix
+};
+
+
+
+void MT6835::init(SPIClass* _spi) {
+    spi = _spi;
+    if (nCS >= 0)
+        pinMode(nCS, OUTPUT);
+    spi->begin();
+};
+
+
+
 
 float MT6835::getCurrentAngle(){
     return readRawAngle21() / MT6835_CPR * _2PI;

src/encoders/mt6835/MT6835.h

@@ -7,15 +7,15 @@
 #include "Arduino.h"
 #include "SPI.h"
 
-#define MT6835_OP_READ  B0011
-#define MT6835_OP_WRITE B0110
-#define MT6835_OP_PROG  B1100
-#define MT6835_OP_ZERO  B0101
-#define MT6835_OP_ANGLE B1010
-
-#define MT6835_CMD_MASK  b111100000000000000000000
-#define MT6835_ADDR_MASK b000011111111111100000000
-#define MT6835_DATA_MASK b000000000000000011111111
+#define MT6835_OP_READ  0b0011
+#define MT6835_OP_WRITE 0b0110
+#define MT6835_OP_PROG  0b1100
+#define MT6835_OP_ZERO  0b0101
+#define MT6835_OP_ANGLE 0b1010
+
+#define MT6835_CMD_MASK  0b111100000000000000000000
+#define MT6835_ADDR_MASK 0b000011111111111100000000
+#define MT6835_DATA_MASK 0b000000000000000011111111
 
 #define MT6835_CPR 2097152