remove SPI setDataMode function and replace it by SPISettings. This will improve the compatibility of the code across different platforms. For instance setDataMode is not supported on mbed based platforms like the Raspberry Pi Pico

Author: mathieukaelin

src/MagAlpha.cpp

@@ -36,6 +36,7 @@ void  MagAlpha::begin(int32_t spiSclkFrequency, uint8_t spiMode, uint8_t spiChip
 }
 
 void MagAlpha::end(){
+    SPI.endTransaction();
     SPI.end();
 }
 
@@ -132,12 +133,14 @@ uint8_t MagAlpha::writeRegister(uint8_t address, uint8_t value){
 
 void MagAlpha::setSpiClockFrequency(uint32_t speedMaximum){
     _speedMaximum = speedMaximum;
+    SPI.endTransaction();
     SPI.beginTransaction(SPISettings(_speedMaximum, MSBFIRST, _spiMode));
 }
 
 void MagAlpha::setSpiDataMode(uint8_t spiMode){
     _spiMode = spiMode;
-    SPI.setDataMode(_spiMode);
+    SPI.endTransaction();
+    SPI.beginTransaction(SPISettings(_speedMaximum, MSBFIRST, _spiMode));
 }
 
 void MagAlpha::setSpiChipSelectPin(uint8_t spiChipSelectPin){
@@ -167,6 +170,7 @@ void  MagAlphaSSI::begin(int32_t ssiSsckFrequency){
 }
 
 void MagAlphaSSI::end(){
+    SPI.endTransaction();
     SPI.end();
 }
 
@@ -234,6 +238,7 @@ uint16_t MagAlphaSSI::readAngleRaw(bool* error){
 
 void MagAlphaSSI::setSsiClockFrequency(uint32_t speedMaximum){
     _speedMaximum = speedMaximum;
+    SPI.endTransaction();
     SPI.beginTransaction(SPISettings(_speedMaximum, MSBFIRST, SSI_MODE));
 }