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‎LICENSE

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MIT License
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Copyright (c) 2022 Roman Sklyar S-LAB
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md

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# MT6701-Arduino-Library
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<p align="center"><img src="/images/mt6701_module.jpg"></p>
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## Еще магнытные датчики
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* [AS5600](https://github.com/S-LABc/AMS-AS5600-Arduino-Library)
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* [AS5601](https://github.com/S-LABc/AMS-AS5601-Arduino-Library)
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## Предупреждение
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* Библиотека не проверялась полностью. Возможны ошибки. Используя бибилиотеку вы берете все риски на себя
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* Реализованы не все возможности датчика. Для взаимодействия с регистрами датчика можно использовать эти методы:
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```C++
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// Чтение содержимого регистра
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uint8_t MT_RequestSingleRegister(uint8_t _reg_addr);
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// Запись нового содержимого в регистр
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void MT_WriteOneByte(uint8_t _reg_addr, uint8_t _payload);
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```
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* Все доступные методы, константы, типы данных можно посмотреть [тут](https://github.com/S-LABc/MT6701-Arduino-Library/blob/main/src/MT6701_I2C.h)
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## Ссылки
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* [Даташит MT6701](http://www.magntek.com.cn/upload/MT6701_Rev.1.5.pdf)
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* [Страница MT6701](http://www.magntek.com.cn/en/list/177/559.htm)
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* [Корпус для тестов](https://github.com/S-LABc/AMS-AS5600-Arduino-Library/tree/main/addons/AS5600-Case-STL)
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* [Видео с моим мнением](https://youtu.be/GnFONlue2t0)

‎examples/MT6701_test/MT6701_test.ino

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/*
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* MT6701_test
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*
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* Демонстрация некоторых возможнойстей библиотеки MT6701_I2C.h для датчика MT6701
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*
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* Документация к датчику:
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* http://www.magntek.com.cn/upload/MT6701_Rev.1.5.pdf
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*
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* Все методы можно посмотреть в файле MT6701_I2C.h или тут
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* https://github.com/S-LABc/MT6701-Arduino-Library/blob/main/src/MT6701_I2C.h
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*
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* Контакты:
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** YouTube - https://www.youtube.com/channel/UCbkE52YKRphgkvQtdwzQbZQ
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** Telegram - https://www.t.me/slabyt
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** GitHub - https://github.com/S-LABc
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** Gmail - romansklyar15@gmail.com
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*
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* Copyright (C) 2022. v1.0 / Скляр Роман S-LAB
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*/
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#include <MT6701_I2C.h>
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// раскомментировать для заупска функции сохранения значений
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//#define SAVE_VALUES
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/*
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* STM32_MT6701_MODE_PIN PC13
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* ESP32_MT6701_MODE_PIN 2
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* ARDUINO_MT6701_MODE_PIN 3
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* или любой другой
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*
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* MT6701I2C_MODE_I2C_SSI - притягивает контакт MODE к VCC
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* MT6701I2C_MODE_UVW_ABZ - притягивает контакт MODE к GND
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*/
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MT6701I2C SensorI2C(&Wire);
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//MT6701I2C SensorI2C(&Wire, ARDUINO_MT6701_MODE_PIN, MT6701I2C_MODE_I2C_SSI);
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void setup() {
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Serial.begin(115200);
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SensorI2C.begin();
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//SensorI2C.setClock100kHz();
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SensorI2C.setClock400kHz();
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//SensorI2C.setClock1MHz();
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//SensorI2C.setClock(200000); // другое значение частоты
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while(!Serial) {}
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while(!SensorI2C.isConnected()) {
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Serial.println("Датчик не обнаружен");
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delay(500);
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}
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}
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void loop() {
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#ifdef SAVE_VALUES
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saveNewSettings();
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#else
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readValues();
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#endif
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}
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void readValues() {
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Serial.print("Raw: ");
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Serial.println(SensorI2C.getRawAngle());
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Serial.print("Degrees: ");
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Serial.println(SensorI2C.getDegreesAngle());
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Serial.print("Radians: ");
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Serial.println(SensorI2C.getRadiansAngle());
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Serial.print("Resolution UVW: ");
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Serial.println(SensorI2C.getOutputResolutionUVW()); // setOutputResolutionUVW()
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Serial.print("Resolution ABZ: ");
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Serial.println(SensorI2C.getOutputResolutionABZ()); // setOutputResolutionABZ()
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Serial.print("Output Type: ");
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MT6701I2COutputType output_type = SensorI2C.getOutputType();
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if(output_type == MT6701I2_OUTPUT_TYPE_ABZ) { // setOutputTypeABZ()
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Serial.println("ABZ");
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} else if(output_type == MT6701I2_OUTPUT_TYPE_UVW) { // setOutputTypeUVW()
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Serial.println("UVW");
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}
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Serial.print("Output Mode: ");
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MT6701I2COutputMode output_mode = SensorI2C.getOutputMode();
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if(output_mode == MT6701I2_OUTPUT_MODE_ANALOG) { // setOutputModeAnalog()
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Serial.println("ANALOG");
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} else if(output_mode == MT6701I2_OUTPUT_MODE_PWM) { // setOutputModePWM()
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Serial.println("PWM");
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}
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Serial.print("Rotation Direction: ");
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MT6701I2CDirection output_dir = SensorI2C.getOutputRotationDirection();
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if(output_dir == MT6701I2_DIRECTION_CLOCKWISE) { // setOutputRotationDirectionClockwise()
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Serial.println("CLOCKWISE");
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} else if(output_dir == MT6701I2_DIRECTION_COUNTERCLOCKWISE) { // setOutputRotationDirectionCounterclockwise()
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Serial.println("COUNTERCLOCKWISE");
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}
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Serial.println();
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delay(200);
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}
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void saveNewSettings() {
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Serial.print("Write Resolution ABZ: ");
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word new_res_abz = 732;
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if(SensorI2C.setOutputResolutionABZVerify(new_res_abz)) {
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Serial.println("OK");
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} else {
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Serial.println("ERROR");
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}
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Serial.print("Write Output Mode PWM: ");
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if(SensorI2C.setOutputModePWMVerify()) {
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Serial.println("OK");
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} else {
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Serial.println("ERROR");
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}
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Serial.print("Write Rotation Direction Clockwise: ");
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if(SensorI2C.setOutputRotationDirectionClockwiseVerify()) {
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Serial.println("OK");
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} else {
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Serial.println("ERROR");
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}
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Serial.println("Saving New Values...");
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SensorI2C.saveNewValues();
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delay(700); // >600мс
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Serial.println("Saved Successfully. Reconnect Power");
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while(1) {}
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}

‎images/mt6701_module.jpg

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‎keywords.txt

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#######################################
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# Syntax Coloring Map For MT6701_I2C
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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MT6701_I2C KEYWORD1
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SensorI2C KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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MT6701I2C KEYWORD2
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MT_RequestSingleRegister KEYWORD2
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MT_WriteOneByte KEYWORD2
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begin KEYWORD2
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setClock KEYWORD2
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setClock100kHz KEYWORD2
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setClock400kHz KEYWORD2
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setClock1MHz KEYWORD2
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end KEYWORD2
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saveNewValues KEYWORD2
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isConnected KEYWORD2
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enableI2CorSSI KEYWORD2
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enableUVWorABZ KEYWORD2
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getRawAngle KEYWORD2
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getDegreesAngle KEYWORD2
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getRadiansAngle KEYWORD2
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getConfigurationOutputType KEYWORD2
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setConfigurationOutputTypeABZ KEYWORD2
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setConfigurationOutputTypeABZVerify KEYWORD2
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setConfigurationOutputTypeUVW KEYWORD2
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setConfigurationOutputTypeUVWVerify KEYWORD2
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getOutputType KEYWORD2
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setOutputTypeABZ KEYWORD2
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setOutputTypeABZVerify KEYWORD2
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setOutputTypeUVW KEYWORD2
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setOutputTypeUVWVerify KEYWORD2
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getOutputRotationDirection KEYWORD2
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setOutputRotationDirectionCounterclockwise KEYWORD2
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setOutputRotationDirectionCounterclockwiseVerify KEYWORD2
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setOutputRotationDirectionClockwise KEYWORD2
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setOutputRotationDirectionClockwiseVerify KEYWORD2
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getOutputResolutionUVW KEYWORD2
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setOutputResolutionUVW KEYWORD2
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setOutputResolutionUVWVerify KEYWORD2
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getOutputResolutionABZ KEYWORD2
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setOutputResolutionABZ KEYWORD2
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setOutputResolutionABZVerify KEYWORD2
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getZPulseWidth KEYWORD2
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setZPulseWidth1LSB KEYWORD2
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setZPulseWidth1LSBVerify KEYWORD2
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setZPulseWidth2LSB KEYWORD2
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setZPulseWidth2LSBVerify KEYWORD2
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setZPulseWidth4LSB KEYWORD2
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setZPulseWidth4LSBVerify KEYWORD2
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setZPulseWidth8LSB KEYWORD2
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setZPulseWidth8LSBVerify KEYWORD2
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setZPulseWidth12LSB KEYWORD2
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setZPulseWidth12LSBVerify KEYWORD2
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setZPulseWidth16LSB KEYWORD2
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setZPulseWidth16LSBVerify KEYWORD2
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setZPulseWidth180DEG KEYWORD2
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setZPulseWidth180DEGVerify KEYWORD2
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getZeroDegreePositionData KEYWORD2
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setZeroDegreePositionData KEYWORD2
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setZeroDegreePositionDataVerify KEYWORD2
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getFrequencyPWM KEYWORD2
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setFrequencyPWM9944 KEYWORD2
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setFrequencyPWM9944Verify KEYWORD2
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setFrequencyPWM4972 KEYWORD2
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setFrequencyPWM4972Verify KEYWORD2
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getPolarityPWM KEYWORD2
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setPolarityPWMHigh KEYWORD2
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setPolarityPWMHighVerify KEYWORD2
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setPolarityPWMLow KEYWORD2
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setPolarityPWMLowVerify KEYWORD2
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getOutputMode KEYWORD2
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setOutputModeAnalog KEYWORD2
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setOutputModeAnalogVerify KEYWORD2
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setOutputModePWM KEYWORD2
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setOutputModePWMVerify KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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MT6701_I2C_CLOCK_100KHZ LITERAL1
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MT6701_I2C_CLOCK_400KHZ LITERAL1
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MT6701_I2C_CLOCK_1MHZ LITERAL1
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MT6701_I2C_ADDRESS LITERAL1
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STM32_MT6701_MODE_PIN LITERAL1
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ESP32_MT6701_MODE_PIN LITERAL1
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ARDUINO_MT6701_MODE_PIN LITERAL1
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MT6701_I2C_ANGLE_DATA_REG_H LITERAL1
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MT6701_I2C_ANGLE_DATA_REG_L LITERAL1
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MT6701_I2C_EEPROM_UVW_MUX_REG LITERAL1
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MT6701_I2C_EEPROM_UVW_MUX_BIT LITERAL1
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MT6701_I2C_EEPROM_ABZ_MUX_DIR_REG LITERAL1
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MT6701_I2C_EEPROM_ABZ_MUX_BIT LITERAL1
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MT6701_I2C_EEPROM_DIR_REG LITERAL1
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MT6701_I2C_EEPROM_DIR_BIT LITERAL1
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MT6701_I2C_EEPROM_UVW_RES_REG LITERAL1
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MT6701_I2C_EEPROM_UVW_MUX_BIT_S LITERAL1
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MT6701_I2C_EEPROM_ABZ_RES_REG_H LITERAL1
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MT6701_I2C_EEPROM_ABZ_RES_REG_L LITERAL1
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MT6701_I2C_EEPROM_ABZ_MUX_BIT_S LITERAL1
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MT6701_I2C_EEPROM_HYST_REG_H LITERAL1
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MT6701_I2C_EEPROM_HYST_REG_L LITERAL1
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MT6701_I2C_EEPROM_Z_PULSE_WIDTH_REG LITERAL1
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MT6701_I2C_EEPROM_Z_PULSE_WIDTH_BIT_S LITERAL1
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MT6701_I2C_EEPROM_ZERO_REG_H LITERAL1
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MT6701_I2C_EEPROM_ZERO_REG_L LITERAL1
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MT6701_I2C_EEPROM_PWM_FREQ_REG LITERAL1
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MT6701_I2C_EEPROM_PWM_FREQ_BIT LITERAL1
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MT6701_I2C_EEPROM_PWM_POL_REG LITERAL1
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MT6701_I2C_EEPROM_PWM_POL_BIT LITERAL1
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MT6701_I2C_EEPROM_OUT_MODE_REG LITERAL1
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MT6701_I2C_EEPROM_OUT_MODE_BIT LITERAL1
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MT6701_I2C_EEPROM_A_START_REG_H LITERAL1
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MT6701_I2C_EEPROM_A_START_REG_L LITERAL1
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MT6701_I2C_EEPROM_A_STOP_REG_H LITERAL1
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MT6701_I2C_EEPROM_A_STOP_REG_L LITERAL1
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MT6701_I2C_EEPROM_A_STOP_BIT_S LITERAL1
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MT6701_I2C_EEPROM_PROG_KEY_REG LITERAL1
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MT6701_I2C_EEPROM_PROG_KEY_VALUE LITERAL1
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MT6701_I2C_EEPROM_PROG_CMD_REG LITERAL1
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MT6701_I2C_EEPROM_PROG_CMD_VALUE LITERAL1
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MT6701I2CConfigurationOutputType LITERAL1
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MT6701I2_CONFIG_OUTPUT_TYPE_UVW LITERAL1
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MT6701I2_CONFIG_OUTPUT_TYPE_A_B_Z LITERAL1
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MT6701I2COutputType LITERAL1
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MT6701I2_OUTPUT_TYPE_ABZ LITERAL1
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MT6701I2_OUTPUT_TYPE_UVW LITERAL1
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MT6701I2CDirection LITERAL1
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MT6701I2_DIRECTION_COUNTERCLOCKWISE LITERAL1
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MT6701I2_DIRECTION_CLOCKWISE LITERAL1
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MT6701I2CZPulseWidth LITERAL1
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MT6701I2_Z_PULSE_WIDTH_1LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_2LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_4LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_8LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_12LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_16LSB LITERAL1
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MT6701I2_Z_PULSE_WIDTH_180DEG LITERAL1
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MT6701I2_Z_PULSE_WIDTH_1LSB_2 LITERAL1
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MT6701I2CFrequencyPWM LITERAL1
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MT6701I2_PWM_FREQUENCY_9944 LITERAL1
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MT6701I2_PWM_FREQUENCY_4972 LITERAL1
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MT6701I2CPolarityPWM LITERAL1
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MT6701I2_PWM_POLARITY_HIGH LITERAL1
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MT6701I2_PWM_POLARITY_LOW LITERAL1
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MT6701I2COutputMode LITERAL1
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MT6701I2_OUTPUT_MODE_ANALOG LITERAL1
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MT6701I2_OUTPUT_MODE_PWM LITERAL1
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MT6701I2C_DEFAULT_REPORT_ERROR LITERAL1
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MT6701I2C_DEFAULT_REPORT_OK LITERAL1
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MT6701I2C_MODE_I2C_SSI LITERAL1
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MT6701I2C_MODE_UVW_ABZ LITERAL1

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