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amc bugfix reading aea3 bitshift #420

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merged 1 commit into from
Sep 29, 2023
Merged

amc bugfix reading aea3 bitshift #420

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8 changes: 3 additions & 5 deletions emBODY/eBcode/arch-arm/embot/hw/embot_hw_chip_MA730.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,11 +173,9 @@ bool embot::hw::chip::MA730::Impl::read(Data &data, embot::core::relTime timeout

if(resOK == embot::hw::spi::read(_config.spi, da, timeout))
{
// TODO: verify
// AEA3 offers 14 bit of resolution
// AEA3 offers 14 bit of resolution (0-16383)
// in this way we are reading 16 bits (1 bit dummy + 14 bit valid + 1 bit zero padded). The dummy bit has been masked.
data.position = (((_databuffer[0] & 0x7F) << 8 )| _databuffer[1]);

data.position = ((_databuffer[0] & 0x7F) << 7) | (_databuffer[1] >> 1);
data.status.ok = true;
r = true;
}
Expand All @@ -193,7 +191,7 @@ void embot::hw::chip::MA730::Impl::onCompletion(void *p)
embot::hw::chip::MA730::Impl *pimpl = reinterpret_cast<embot::hw::chip::MA730::Impl*>(p);
if(nullptr != pimpl->_tmpdata)
{
pimpl->_tmpdata->position = (((pimpl->_databuffer[0] & 0x7F) << 8 )| pimpl->_databuffer[1]); // to be verified ....
pimpl->_tmpdata->position = ((pimpl->_databuffer[0] & 0x7F) << 7) | (pimpl->_databuffer[1] >> 1);
pimpl->_tmpdata->status.ok = true;
}
pimpl->_tmponcompletion.execute();
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