98903d48c3
The original calculation has two bugs. One is the calculated value, and the
other is that the value is not in one-millionth parts.
What the original calculation does is compute a scaled position value by
multiplying the raw sensor value (`dev_data->position`) by
`AS5600_FULL_ANGLE`, which represents a full rotation in degrees. It then
subtracts the product of the whole number of pulses (`val->val1`) and
`AS5600_PULSES_PER_REV` from this scaled position value.
((int32_t)dev_data->position * AS5600_FULL_ANGLE)
- (val->val1 * AS5600_PULSES_PER_REV);
What you actually need is to extract the fractional part of the value by
taking the modulo of AS5600_PULSES_PER_REV from the scaled value of the
position.
(((int32_t)dev_data->position * AS5600_FULL_ANGLE)
% AS5600_PULSES_PER_REV)
Then convert the value to one-millionth part.
* (AS5600_MILLION_UNIT / AS5600_PULSES_PER_REV);
Signed-off-by: Yasushi SHOJI <yashi@spacecubics.com>
|
||
|---|---|---|
| .. | ||
| ams_as5600.c | ||
| CMakeLists.txt | ||
| Kconfig | ||