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Read sensors
Store Position
ISR: Shaft moved
End
Update statistic data
Empty read?
Yes
No
End
Update statistic data
ISR: Timer Expired
End
Restart timer interrupt
Just done mark?
Yes
No
Set space period
Set mark period
Stop timer interrupt
Set space
Set BLDC mark
Reset field output
Passed torque
window?
No
Yes
Set field angle from
stored position set
in sensor read