From 1ec18e8d0cfe3b90d59790f306ff0256c4c2b6c0 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Wed, 15 Nov 2017 01:05:18 -0800
Subject: [PATCH] save L R vals dispite out of range

---
 Firmware/CHANGELOG.md             | 3 +++
 Firmware/MotorControl/low_level.c | 4 ++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/Firmware/CHANGELOG.md b/Firmware/CHANGELOG.md
index 1280cb86..c89393f9 100644
--- a/Firmware/CHANGELOG.md
+++ b/Firmware/CHANGELOG.md
@@ -3,6 +3,9 @@
 * USB communication deadlock
 * EXTI handler redefiniton in V3.2
 
+### Changed
+* Resistance/inductance measurement now saved dispite errors, to allow debugging
+
 ## [0.2.0] - 2017-11-12
 ### Added
 * UART communication
diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index c5904223..961d4f7b 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -684,11 +684,11 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
     queue_voltage_timings(motor, 0.0f, 0.0f);
 
     float R = test_voltage / test_current;
+    motor->phase_resistance = R;
     if (fabs(test_voltage) == fabs(max_voltage) || R < 0.01f || R > 1.0f) {
         motor->error = ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
         return false;
     }
-    motor->phase_resistance = R;
     return true;
 }
 
@@ -726,12 +726,12 @@ static bool measure_phase_inductance(Motor_t* motor, float voltage_low, float vo
     float dI_by_dt = (Ialphas[1] - Ialphas[0]) / (current_meas_period * (float)num_cycles);
     float L = v_L / dI_by_dt;
     
+    motor->phase_inductance = L;
     // TODO arbitrary values set for now
     if (L < 1e-6f || L > 500e-6f) {
         motor->error = ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE;
         return false;
     }
-    motor->phase_inductance = L;
     return true;
 }