The bits_used_msb value is number of bits in the MSB register - 4įinally, after the configuration, you just call the init() function.

The angle_register_msb value is the first (upper in datasheet) register value - 0x0E.

In the datasheet we find the table of I2C registers (page 18).

First we open AS5600 sensor's datasheet.

By specifying the number of bits used in the MSB register and specifying the bit_resolution value the library can calculate how many bits are used in the LSB register and can reconstruct the complete angle value. To instantiate the I2C magnetic sensor you need to provide the MSB register address and tell the library how is the angle value separated in the two registers. How to find the MSB register values and used bits value?Since I2C registers are Byte(8-bit) registers they contain the 12-14 bit angle representation separated in two Byte addresses, MSB(most significant byte) and LSB(least significant byte).

bits_used_msb - number of used bits in MSB register.

angle_register_msb - register number containing the MSB part of the angle value.

bit_resolution - resolution of your sensor (number of bits of the sensor internal counter register) and your.

chip_address - I2C address of the magnetic sensor.MagneticSensorI2C(uint8_t _chip_address, float _cpr, uint8_t _angle_register_msb) // chip_address - I2C chip address // bit_resolution - resolution of the sensor // angle_register_msb - angle read register msb // bits_used_msb - number of used bits in msb register MagneticSensorI2C sensor = MagneticSensorI2C ( 0x36, 12, 0x0E, 4 )

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