Merge pull request #33 from VIPQualityPost/mt6835-selfcal

MT6835 Calibration register check
simplefoc · Nov 8, 2023 · 9c93bd4 · 9c93bd4
2 parents ad05d2f + 5daf24e
commit 9c93bd4
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diff --git a/src/encoders/mt6835/MT6835.cpp b/src/encoders/mt6835/MT6835.cpp
@@ -88,6 +88,21 @@ uint8_t MT6835::getStatus(){
     return laststatus;
 };
 
+uint8_t MT6835::getCalibrationStatus(){
+    uint8_t data[3] = {0};
+    data[0] = MT6835_OP_READ << 4 | MT6835_REG_CAL_STATUS >> 8;
+    data[1] = MT6835_REG_CAL_STATUS;
+
+    spi->beginTransaction(settings);
+    if(nCS >= 0)
+        digitalWrite(nCS, LOW);
+    spi->transfer(data, 3);
+    if(nCS >= 0)
+        digitalWrite(nCS, HIGH);
+    spi->endTransaction();
+
+    return data[2] >> 6;
+}
 
 bool MT6835::setZeroFromCurrentPosition(){
     MT6835Command cmd;

diff --git a/src/encoders/mt6835/MT6835.h b/src/encoders/mt6835/MT6835.h
@@ -200,6 +200,8 @@ class MT6835 {
 
 	uint8_t getStatus();
 
+	uint8_t getCalibrationStatus();
+
 	bool setZeroFromCurrentPosition();
 	bool writeEEPROM(); // wait 6s after calling this method