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Add input validation for encoder in ps_warmup and ps_sample #21

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Add input validation for encoder in ps_warmup and ps_sample #21

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9 changes: 8 additions & 1 deletion Core/Src/position_sensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,10 @@
#include "user_config.h"

void ps_warmup(EncoderStruct * encoder, int n){
if (encoder == NULL || n <= 0) {
return;
}

/* Hall position sensors noisy on startup. Take a bunch of samples to clear this data */
for(int i = 0; i<n; i++){
encoder->spi_tx_word = 0x0000;
Expand All @@ -23,9 +27,12 @@ void ps_warmup(EncoderStruct * encoder, int n){
}

void ps_sample(EncoderStruct * encoder, float dt){
if (encoder == NULL || dt <= 0) {
return;
}
/* updates EncoderStruct encoder with the latest sample
* after elapsed time dt */

/* Shift around previous samples */
encoder->old_angle = encoder->angle_singleturn;
for(int i = N_POS_SAMPLES-1; i>0; i--){encoder->angle_multiturn[i] = encoder->angle_multiturn[i-1];}
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