diff --git a/src/common/base_classes/Sensor.cpp b/src/common/base_classes/Sensor.cpp
index 28511762..a80fa438 100644
--- a/src/common/base_classes/Sensor.cpp
+++ b/src/common/base_classes/Sensor.cpp
@@ -18,7 +18,12 @@ void Sensor::update() {
 float Sensor::getVelocity() {
     // calculate sample time
     float Ts = (angle_prev_ts - vel_angle_prev_ts)*1e-6;
-    // TODO handle overflow - we do need to reset vel_angle_prev_ts
+    if (Ts < 0.0f) {    // handle micros() overflow - we need to reset vel_angle_prev_ts
+        vel_angle_prev = angle_prev;
+        vel_full_rotations = full_rotations;
+        vel_angle_prev_ts = angle_prev_ts;
+        return velocity;
+    }
     if (Ts < min_elapsed_time) return velocity; // don't update velocity if deltaT is too small
 
     velocity = ( (float)(full_rotations - vel_full_rotations)*_2PI + (angle_prev - vel_angle_prev) ) / Ts;
diff --git a/src/common/foc_utils.h b/src/common/foc_utils.h
index e1e0b153..c5ff1852 100644
--- a/src/common/foc_utils.h
+++ b/src/common/foc_utils.h
@@ -28,7 +28,7 @@
 #define _PI_6 0.52359877559f
 #define _RPM_TO_RADS 0.10471975512f
 
-#define NOT_SET -12345.0
+#define NOT_SET -12345.0f
 #define _HIGH_IMPEDANCE 0
 #define _HIGH_Z _HIGH_IMPEDANCE
 #define _ACTIVE 1
diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h
index 9ae13362..5de0783f 100644
--- a/src/communication/StepDirListener.h
+++ b/src/communication/StepDirListener.h
@@ -5,7 +5,7 @@
 #include "../common/foc_utils.h"
 
 
-#if defined(_STM32_DEF_) || defined(ESP_H) || defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_SAM_DUE) || defined(CORE_TEENSY) || defined(NRF52_SERIES)
+#if !defined(TARGET_RP2040) && !defined(_SAMD21_) && !defined(_SAMD51_) && !defined(_SAME51_)
 #define PinStatus int
 #endif
 
diff --git a/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp
index 40c13e34..22bb891a 100644
--- a/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp
+++ b/src/current_sense/hardware_specific/rp2040/rp2040_mcu.cpp
@@ -10,6 +10,7 @@
 #include "hardware/dma.h"
 #include "hardware/irq.h"
 #include "hardware/pwm.h"
+#include "hardware/adc.h"
 
 
 /* Singleton instance of the ADC engine */