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add correct masks
1 parent cf84b82 commit c0ed515

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src/encoders/as5600/AS5600.cpp

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -31,25 +31,25 @@ uint16_t AS5600::angle() {
3131
setAngleRegister();
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}
3333
_wire->requestFrom(_address, (uint8_t)2, (uint8_t)closeTransactions);
34-
result = _wire->read()<<8;
34+
result = (_wire->read()&0x0F)<<8;
3535
result |= _wire->read();
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return result;
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};
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uint16_t AS5600::readRawAngle() {
41-
return readRegister(AS5600_REG_ANGLE_RAW, 2);
41+
return readRegister(AS5600_REG_ANGLE_RAW, 2) & 0x0FFF;
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};
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uint16_t AS5600::readAngle() {
46-
return readRegister(AS5600_REG_ANGLE, 2);
46+
return readRegister(AS5600_REG_ANGLE, 2) & 0x0FFF;
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};
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uint16_t AS5600::readMagnitude() {
52-
return readRegister(AS5600_REG_MAGNITUDE, 2);
52+
return readRegister(AS5600_REG_MAGNITUDE, 2) & 0x0FFF;
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};
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@@ -74,17 +74,17 @@ AS5600Conf AS5600::readConf() {
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uint16_t AS5600::readMang() {
77-
return readRegister(AS5600_REG_MANG, 2);
77+
return readRegister(AS5600_REG_MANG, 2) & 0x0FFF;
7878
};
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uint16_t AS5600::readMPos() {
82-
return readRegister(AS5600_REG_MPOS, 2);
82+
return readRegister(AS5600_REG_MPOS, 2) & 0x0FFF;
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};
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uint16_t AS5600::readZPos() {
87-
return readRegister(AS5600_REG_ZPOS, 2);
87+
return readRegister(AS5600_REG_ZPOS, 2) & 0x0FFF;
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};
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