Lepton Deku mod

hardware support
43

@runger I’ve found a tricky bug.

float HallSensor::getVelocity(){
  if (pulse_diff == 0 || ((long)(_micros() - pulse_timestamp) > pulse_diff) ) { // last velocity isn't accurate if too old
    return 0;
  } else {
    return direction * (_2PI / (float)cpr) / (pulse_diff / 1000000.0f);
  }
}

Sometimes it returns infinity due to divide by zero, because pulse_diff is volatile and can be changed by interrupt. It needs to be cached in a local variable before checking if it’s equal to zero.