timeout configurable in MagneticSensorPWM #348

simplefoc · Dec 2, 2023 · 8ea87ab · 8ea87ab
1 parent 3eb2bc3
commit 8ea87ab
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diff --git a/src/sensors/MagneticSensorPWM.cpp b/src/sensors/MagneticSensorPWM.cpp
@@ -85,7 +85,7 @@ float MagneticSensorPWM::getSensorAngle(){
 int MagneticSensorPWM::getRawCount(){
     if (!is_interrupt_based){ // if it's not interrupt based read the value in a blocking way
         pulse_timestamp = _micros(); // ideally this should be done right at the rising edge of the pulse
-        pulse_length_us = pulseIn(pinPWM, HIGH, 1200); // 1200us timeout, should this be configurable?
+        pulse_length_us = pulseIn(pinPWM, HIGH, timeout_us); // 1200us timeout, should this be configurable?
     }
     return pulse_length_us;
 }

diff --git a/src/sensors/MagneticSensorPWM.h b/src/sensors/MagneticSensorPWM.h
@@ -44,6 +44,8 @@ class MagneticSensorPWM: public Sensor{
     void enableInterrupt(void (*doPWM)());
     unsigned long pulse_length_us;
 
+    unsigned int timeout_us = 1200;
+
   private:
     // raw count (typically in range of 0-1023)
     int raw_count;