Hall encoder illegal hall state

Support
1

I have a different type of problem with error_illegal_hall_state.

I have a hobbysky motor with hall sensors.
The sequence on the encoder output is (a snippit of arduino code)
byte dat[3] ={{0,0,0},
{0,0,1},
{0,1,1},
{1,1,1},
{1,1,0},
{1,0,0}};

I verified this using an arduino to read the pins. The encoders do require a pullup resistor. I’m using 10 k when I did the test.

Oskar’s post suggested that the odrive software considers the 000 and 111 lines to be an error – an illegal value.

So, what I’m hoping for is either an existing workaround that doesn’t involve putting an arduino in the middle to translate, or a pointer to the code that reads and does the verification.

I’ve done quite a bit of programming, but not in c++ and reading the files has been a bit of a challenge for me. A pointer to the file(s) involved in handling the hall sensors, and then perhaps a bit of coaching on how the current code works would probably be sufficient. Someone who, after I read on the files for a bit would be willing to have a dialog.

An existing method of coping would be much preferred of course.
Thanks in advance,
Jim Hurlburt
Bend, Oregon

2

Reading encoder.cpp

Would it work to have a ALT_MODE_HALL that used a decode_alt_hall function that used the above sequence for the hall sensor outputs?

Where does hall_state_, used in Encoder::update() come from?

Does the calibration routine handle different arrangements of the three sensor wires? Or do they have to be in a specific order?

If the software handles somewhat random arrangement of the sensor wires, how does it determine which direction the motor is rotating?

Am I even asking questions in the right manner?

Jim Hurlburt

3

Hi Jim,

Just curios, where did you get this info from?

4

In a thread started 7/18 – Encoder error ERROR_ILLEGAL_HALL_STATE

I also confirmed it in Firmware/MotorControl/encoder.cpp
static bool decode_hall()

Jim

5

Aha OK, seems I’ve missed this post.
I had the same (similar) question and if you go into the discord server, there you will find the easy solution, and the actual cause for those readings.

Cheers
Martin

6

Thank you.
A bit more detail about “go into the discord server” , and where to find “the easy solution”?
Jim

7

Hi,
I’m not pretty sure about how it goes, but you should receive an invitation to the discord.
Best to contact the admin staff for further information :slight_smile:

BR
Martin

8

I had to get some sort of discord membership to post on this group.
Is there some deeper membership needed?

Some sort of expanded clue about what I am looking for on that site would be appreciated.

Jim