Encoder origin jump filter looks not working correctly

[at-wat]

tf-2md3-firmware/tfrog-motordriver/controlPWM.c

Lines 288 to 290 in 97c581d

	int diff;
	diff = motor_param[j].enc0tran - motor_param[j].enc0;
	normalize( &diff, -motor_param[j].enc_rev_h, motor_param[j].enc_rev_h, motor_param[j].enc_rev );

[at-wat]

example data of enc0:

There are 1 rev jumps which should be normalized to 0 by normalize().
These jumps seems causing non continuous control result.

[at-wat]

tf-2md3-firmware/tfrog-motordriver/controlPWM.c

Lines 331 to 332 in 97c581d

	phase[2] = (uint64_t)(phase[2] + motor_param[j].phase_offset )
	* motor_param[j].enc_mul / 0x40000 + SinTB_2PI + SinTB_2PI/4;

uint64_t should be int64_t