Merge pull request #331 from runger1101001/dev

fix #324 to enable more than one HallSensor

Author: runger1101001

src/communication/StepDirListener.h

@@ -5,11 +5,6 @@
 #include "../common/foc_utils.h"
 
 
-#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_UNOR4_MINIMA) && !defined(NRF52_SERIES) && !defined(ARDUINO_ARCH_MEGAAVR)
-#define PinStatus int
-#endif
-
-
 /**
  * Step/Dir listenner class for easier interraction with this communication interface.
  */
@@ -53,7 +48,7 @@ class StepDirListener
     int pin_step; //!< step pin
     int pin_dir; //!< direction pin
     long count; //!< current counter value - should be set to 0 for homing
-    PinStatus polarity = RISING; //!< polarity of the step pin
+    decltype(RISING) polarity = RISING; //!< polarity of the step pin
 
   private:
     float* attached_variable = nullptr; //!< pointer to the attached variable 

src/sensors/HallSensor.cpp

@@ -53,7 +53,6 @@ void HallSensor::updateState() {
   hall_state = new_hall_state;
 
   int8_t new_electric_sector = ELECTRIC_SECTORS[hall_state];
-  static Direction old_direction;
   if (new_electric_sector - electric_sector > 3) {
     //underflow
     direction = Direction::CCW;

src/sensors/HallSensor.h

@@ -62,6 +62,7 @@ class HallSensor: public Sensor{
 
     // whether last step was CW (+1) or CCW (-1).  
     Direction direction;
+    Direction old_direction;
 
     void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);