makeTransfer SSI #2

void makeTransfer()
{

  digitalWrite(CS_PIN, LOW);

  digitalWriteFast(SCK_PIN, LOW);         // Set CLK line LOW (to inform encoder -> latch data)

  delayMicroseconds(1);                   // Running above 500kHz perform Delay First Clock function

  SPI.begin();
  //  uint8_t pinIndex = SCK_PIN_13_INDEX;
  //  volatile uint32_t* reg = portConfigRegister(SPIClass::spi0_hardware.sck_pin[pinIndex]);
  //  reg = SPIClass::spi0_hardware.sck_mux[pinIndex];


  SPI.beginTransaction(settingsA);        // We use transactional API

  uint8_t fcc = SPI.transfer(0x00); // and in fcc you get First Command Char from Figure 1 in datasheet

  uint8_t scc = SPI.transfer(0x00); // and in scc you get Second Command Char from Figure 1 in datasheet

  SPI.endTransaction();                   // We use transactional API


  pinMode(SCK_PIN, OUTPUT);               // A while before we set CLK pin to be used by SPI port, now we have to change it manually...
  //  digitalWriteFast(SCK_PIN, LOW);
  digitalWriteFast(SCK_PIN, HIGH);            // ... back to idle HIGH

  digitalWrite(CS_PIN, HIGH);

  // now calculate 12bit position data combining fcc and scc and using datasheet approach:
  uint16_t positionData = (static_cast<uint16_t >(fcc) << 8) | static_cast<uint16_t >(scc);
  Serial.println();
  Serial.print("fcc  \t");
  Serial.print(fcc, DEC);
  Serial.print(" :\t ");
  Serial.print(fcc, BIN);
  Serial.println();

  Serial.print("scc  \t");
  Serial.print(scc, DEC);
  Serial.print(" :\t ");
  Serial.print(scc, BIN);
  Serial.println();

  Serial.print("comb \t");
  Serial.print(positionData, DEC);
  Serial.print(" :\t ");
  Serial.print(positionData, BIN);
  Serial.println();

  positionData = positionData >> 2; // maybe it's all about - 12-bit data will need right-shifted two bits

  Serial.print("shif \t");
  Serial.print(positionData, DEC);
  Serial.print(" :\t ");
  Serial.print(positionData, BIN);
  //  Serial.println();

  float angle = (positionData / (float)(1 << 12)) * 360.0;
  Serial.print("\t\tangle ");
  Serial.print(angle);
//  Serial.println();

  angle = ((positionData - 8190) / (float)(1 << 13)) * 360.0;;
  Serial.print("\t\tsubt ");
  Serial.print(angle);
  Serial.println();

  positionData = positionData & 0x0FFF; // then mask K1, K0, D14 and D13 and you will get 12 bit position data.

  Serial.print("mask \t");
  Serial.print(positionData, DEC);
  Serial.print(" :\t ");
  Serial.print(positionData, BIN);
  //  Serial.println();

  angle = (positionData / (float)(1 << 12)) * 360.0;
  Serial.print("\t\tangle ");
  Serial.print(angle);
  Serial.println();



}