From b0a1ef7caa37c71759fad58576700d41870a00fa Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Sat, 7 Nov 2020 15:04:17 -0800
Subject: [PATCH] also mask the states

---
 Firmware/MotorControl/encoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index b15e56ef..7ca0720a 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -231,7 +231,7 @@ bool Encoder::run_hall_calibration() {
         uint8_t states = state_seen.to_ulong();
         uint8_t hall_polarity = 0;
         auto flip_detect = [](uint8_t states, unsigned int idx)->bool {
-            return ~states == (1<<(0+idx) | 1<<(7-idx));
+            return (0xFF & ~states) == (1<<(0+idx) | 1<<(7-idx));
         };
         if (flip_detect(states, 0)) {
             hall_polarity = 0b000;