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fix(magnetic sensor i2c): mask and shift the left-aligned LSB bits correctly - #579
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stijncarelsbergh wants to merge 1 commit into
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stijncarelsbergh wants to merge 1 commit into
stijncarelsbergh wants to merge 1 commit into
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…rrectly For a left-aligned sensor the remaining bits sit in the *upper* part of the low byte, so both the mask and the shift have to account for the unused low bits. The constructor applied the right-aligned mask (0x3F for 6 remaining bits) and then shifted the result right by 8-lsb_used, so it kept the status/parity bits and dropped the real data - the angle is wrong for every sensor configured through this constructor. The preset configurations in the header (e.g. MT6701 with lsb_mask 0xFC, lsb_shift 2) show the intended convention.
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fix(magnetic sensor i2c): mask and shift the left-aligned LSB bits correctly
For a left-aligned sensor the remaining bits sit in the upper part of the low
byte, so both the mask and the shift have to account for the unused low bits.
The constructor applied the right-aligned mask (0x3F for 6 remaining bits) and
then shifted the result right by 8-lsb_used, so it kept the status/parity bits and
dropped the real data - the angle is wrong for every sensor configured through
this constructor. The preset configurations in the header (e.g. MT6701 with
lsb_mask 0xFC, lsb_shift 2) show the intended convention.
Split out of #571 at your request: one fix per PR, against
dev. The branch containsnothing else, so it can be reviewed, amended or dropped on its own.
The CI board matrix runs automatically; I did not run any hardware test, so the behavioural
claims are from reading the code plus the compiler. Happy to adjust the wording, split it
differently or drop it - no attachment to this one.