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HallSensor.cpp volatile access bug #244 #250

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Merged
merged 1 commit into from
Feb 5, 2023
Merged

HallSensor.cpp volatile access bug #244 #250

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5 changes: 3 additions & 2 deletions src/sensors/HallSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,11 @@ float HallSensor::getMechanicalAngle() {
function using mixed time and frequency measurement technique
*/
float HallSensor::getVelocity(){
if (pulse_diff == 0 || ((long)(_micros() - pulse_timestamp) > pulse_diff) ) { // last velocity isn't accurate if too old
long last_pulse_diff = pulse_diff;
if (last_pulse_diff == 0 || ((long)(_micros() - pulse_timestamp) > last_pulse_diff) ) { // last velocity isn't accurate if too old
return 0;
} else {
float vel = direction * (_2PI / (float)cpr) / (pulse_diff / 1000000.0f);
float vel = direction * (_2PI / (float)cpr) / (last_pulse_diff / 1000000.0f);
// quick fix https://github.com/simplefoc/Arduino-FOC/issues/192
if(vel < -velocity_max || vel > velocity_max) vel = 0.0f; //if velocity is out of range then make it zero
return vel;
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