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fix(hall sensor): initialise the state and don't fake a rotation at start-up #577

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fix(hall sensor): initialise the state and don't fake a rotation at start-up #577

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21 changes: 19 additions & 2 deletions src/sensors/HallSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,19 @@ HallSensor::HallSensor(int _hallA, int _hallB, int _hallC, int _pp){

// extern pullup as default
pullup = Pullup::USE_EXTERN;

// initialise the state variables - they would otherwise be indeterminate
// for sensors that do not live in the BSS section (heap/stack instances)
use_interrupt = false;
hall_state = 0;
electric_sector = 0;
electric_rotations = 0;
total_interrupts = 0;
pulse_diff = 0;
pulse_timestamp = _micros();
A_active = B_active = C_active = 0;
direction = Direction::UNKNOWN;
old_direction = Direction::UNKNOWN;
}

// HallSensor interrupt callback functions
Expand Down Expand Up @@ -156,11 +169,15 @@ void HallSensor::init(){
pinMode(pinC, INPUT);
}

// init hall_state
// adopt the current hall state as the starting point instead of calling
// updateState(): that would compare the measured sector with the zeroed
// one and count a spurious +-1 electric rotation for 2 of the 6 power-up
// positions, offsetting the angle and the full-rotation counter
A_active = digitalRead(pinA);
B_active = digitalRead(pinB);
C_active = digitalRead(pinC);
updateState();
hall_state = C_active + (B_active << 1) + (A_active << 2);
electric_sector = ELECTRIC_SECTORS[hall_state];

pulse_timestamp = _micros();

Expand Down