I wrote this code some time ago but I haven't published it because I wasn't sure it was useful enough. I am posting it here to get your opinion, specially you @dekutree64 as you did a lot of work on this sensor.

What it does is:

• if no interrupts are enabled for hall sensors, it will just check the hall states directly when sensor is updated.
• some small code optimizations

The user can choose if he wants to run it with or without interrupts.

Benefits:

• if user forgets to enable interrupts, the motor will still run (we could issue a warning in debug mode)
• if there are not enough interrupts available (arduino?), the motor can still run
• With interrupts, the faster the motor spins the more interrupts are triggered, slowing down the loop duration/frequency. Without interrupts, the code runs at constant duration/frequency
• PIDs/filters might not be impacted by hall interrupts running in the middle
• less problems when there are noise issues ? (to be checked)

Downside:

• the slower the MCU is and the faster the motor spins, the less accurate the position will be