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fix(current sense): check the polarity of the channel that was just relabelled - #574
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stijncarelsbergh wants to merge 1 commit into
Open
stijncarelsbergh wants to merge 1 commit into
stijncarelsbergh wants to merge 1 commit into
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…elabelled Same defect as the BLDC alignment: when the stepper alignment decides that the measured phase A is on the other ADC channel, it swaps the pins/offsets/gains but not the samples, so the following `if (c.a < 0)` tests the sample of the channel that is *not* carrying the current (and that reads ~0). The phase A gain ends up with the wrong sign for exactly the wiring the routine is meant to correct.
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fix(current sense): check the polarity of the channel that was just relabelled
Same defect as the BLDC alignment: when the stepper alignment decides that the
measured phase A is on the other ADC channel, it swaps the pins/offsets/gains but
not the samples, so the following
if (c.a < 0)tests the sample of the channelthat is not carrying the current (and that reads ~0). The phase A gain ends up
with the wrong sign for exactly the wiring the routine is meant to correct.
Split out of #571 at your request: one fix per PR, against
dev. The branch containsnothing else, so it can be reviewed, amended or dropped on its own.
The CI board matrix runs automatically; I did not run any hardware test, so the behavioural
claims are from reading the code plus the compiler. Happy to adjust the wording, split it
differently or drop it - no attachment to this one.