From af7cd36cb861b7867b2094b7fa6f925efbe226b3 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Thu, 22 Oct 2020 08:37:32 +0200
Subject: [PATCH] Added hall sensor interpolation ERPM config option

---
 CHANGELOG      | 1 +
 conf_general.h | 2 +-
 mcpwm_foc.c    | 3 ++-
 utils.c        | 3 ++-
 4 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG b/CHANGELOG
index 01b27d41..ec1b550b 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -19,6 +19,7 @@
 * Added locking time and ramp up time parameters to sensorless startup.
 * Removed D axis current injection.
 * Initial VESC IO-board support
+* Added hall sensor interpolation ERPM config option.
 
 === FW 5.01 ===
 * Fixed PPM bug in previous release.
diff --git a/conf_general.h b/conf_general.h
index f18c8af6..fa8ba171 100644
--- a/conf_general.h
+++ b/conf_general.h
@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			02
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		10
+#define FW_TEST_VERSION_NUMBER		12
 
 #include "datatypes.h"
 
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index aeadc7c9..7d9a7144 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -3991,7 +3991,8 @@ static float correct_hall(float angle, float dt, volatile motor_all_state_t *mot
 		motor->m_ang_hall_int_prev = ang_hall_int;
 
 		if (((60.0 / (2.0 * M_PI)) * ((M_PI / 3.0) /
-				fmaxf(fabsf(motor->m_hall_dt_diff_now), fabsf(motor->m_hall_dt_diff_last)))) < 100) {
+				fmaxf(fabsf(motor->m_hall_dt_diff_now),
+						fabsf(motor->m_hall_dt_diff_last)))) < conf_now->foc_hall_interp_erpm) {
 			// Don't interpolate on very low speed, just use the closest hall sensor. The reason is that we might
 			// get stuck at 60 degrees off if a direction change happens between two steps.
 			motor->m_ang_hall = ang_hall_now;
diff --git a/utils.c b/utils.c
index e04f5351..61934816 100644
--- a/utils.c
+++ b/utils.c
@@ -767,7 +767,8 @@ uint8_t utils_second_motor_id(void) {
  * Use hall sensor port for second motor on dual motor hardware.
  *
  * @param samples
- * The number of samples to read and filter over.
+ * The number of extra samples to read and filter over. If this
+ * is 0, only one sample will be used.
  *
  * @return
  * The state of the three hall sensors.