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Fix hall sensor velocity estimation #469

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Fix hall sensor velocity estimation #469

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15 changes: 12 additions & 3 deletions src/sensors/HallSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,10 +122,19 @@ float HallSensor::getSensorAngle() {
*/
float HallSensor::getVelocity(){
noInterrupts();
long last_pulse_timestamp = pulse_timestamp;
long last_pulse_diff = pulse_diff;
unsigned long last_pulse_timestamp = pulse_timestamp;
unsigned long last_pulse_diff = pulse_diff;
interrupts();
if (last_pulse_diff == 0 || ((long)(_micros() - last_pulse_timestamp) > last_pulse_diff*2) ) { // last velocity isn't accurate if too old
if (last_pulse_diff == 0) {
return 0;
} else if ((_micros() - last_pulse_timestamp) > last_pulse_diff*2) {
// Last velocity isn't accurate if too old.
// Reset to avoid the diff being used again when the time wraps.
noInterrupts();
if (pulse_diff == last_pulse_diff) {
pulse_diff = 0;
}
interrupts();
return 0;
} else {
return direction * (_2PI / (float)cpr) / (last_pulse_diff / 1000000.0f);
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2 changes: 1 addition & 1 deletion src/sensors/HallSensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ class HallSensor: public Sensor{
// function pointer for on sector change call back
void (*onSectorChange)(int sector) = nullptr;

volatile long pulse_diff;
volatile unsigned long pulse_diff;

};

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