message: Only access abs_spi_dma_rx_ once
diff: @@ -373,11 +373,12 @@ void Encoder::abs_spi_cb(){
  switch (config_.mode) {
  case MODE_SPI_ABS_AMS: {
  uint8_t parity_calc, parity_bit;
  - parity_calc = parity(abs_spi_dma_rx_[0]&0x7FFF);
  - parity_bit = abs_spi_dma_rx_[0] >>15;
  + auto rawVal = abs_spi_dma_rx_[0];
  + parity_calc = parity(rawVal & 0x7FFF);
  + parity_bit = rawVal >>15;
  if (parity_calc == parity_bit) {
  - pos_abs_ = abs_spi_dma_rx_[0] & 0x3FFF;
  + pos_abs_ = rawVal & 0x3FFF;
  // We are going to ignore values all high or low
  // This might happen in normal operation, but its unlikely
  // The filter will handle these cases
  