SimpleFOC MT6701编码器学习笔记

硬件：
ESP32C3FH4；
MT6701.
软件：simpleFOC库2.2.1

MT6701角度数据寄存器：

main.cpp：

MagneticSensorI2C sensor = MagneticSensorI2C(0x06, 14, 0x03, 8);

修改MagneticSensorI2C库函数：

MagneticSensorI2C::MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution, uint8_t _angle_register_msb, int _bits_used_msb){
  // chip I2C address
  chip_address = _chip_address;
  // angle read register of the magnetic sensor
  angle_register_msb = _angle_register_msb;
  // register maximum value (counts per revolution)
  cpr = pow(2, _bit_resolution);

  // depending on the sensor architecture there are different combinations of
  // LSB and MSB register used bits
  // used bits in LSB
  lsb_used = _bit_resolution - _bits_used_msb;
  // extraction masks
  lsb_mask = (uint8_t)( (2 << lsb_used) >> 2 );
  msb_mask = (uint8_t)( (2 << _bits_used_msb) - 1 );
  wire = &Wire;
}