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fix(hall sensor): initialise the state and don't fake a rotation at start-up - #577
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stijncarelsbergh wants to merge 1 commit into
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stijncarelsbergh wants to merge 1 commit into
stijncarelsbergh wants to merge 1 commit into
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…tart-up The constructor left hall_state, electric_sector, electric_rotations, total_interrupts, pulse_diff, pulse_timestamp, direction, old_direction and use_interrupt uninitialised - indeterminate values for any sensor that is not in the BSS section, and wrong FOC start-up behaviour even for globals. init() then called updateState(), which compares the measured sector against that uninitialised/zeroed sector and, when the rotor happens to sit in sector 4 or 5 at power-up, interprets the difference as an electrical underflow and starts with electric_rotations = -1 (2 of the 6 power-up positions). The angle and the accumulated full rotations are offset by one electrical rotation until something resets them. Instead of relying on updateState() the first time, the current hall state is adopted directly.
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fix(hall sensor): initialise the state and don't fake a rotation at start-up
The constructor left hall_state, electric_sector, electric_rotations,
total_interrupts, pulse_diff, pulse_timestamp, direction, old_direction and
use_interrupt uninitialised - indeterminate values for any sensor that is not in
the BSS section, and wrong FOC start-up behaviour even for globals.
init() then called updateState(), which compares the measured sector against that
uninitialised/zeroed sector and, when the rotor happens to sit in sector 4 or 5 at
power-up, interprets the difference as an electrical underflow and starts with
electric_rotations = -1 (2 of the 6 power-up positions). The angle and the
accumulated full rotations are offset by one electrical rotation until something
resets them.
Instead of relying on updateState() the first time, the current hall state is
adopted directly.
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.