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Add option to ignore endstops during startup #747

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Add option to ignore endstops during startup #747

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4 changes: 2 additions & 2 deletions Firmware/MotorControl/axis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,9 +153,9 @@ bool Axis::do_checks(uint32_t timestamp) {
motor_.do_checks(timestamp);

// Check for endstop presses
if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(min_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
error_ |= ERROR_MIN_ENDSTOP_PRESSED;
} else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
} else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(max_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
error_ |= ERROR_MAX_ENDSTOP_PRESSED;
}

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1 change: 1 addition & 0 deletions Firmware/MotorControl/endstop.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ class Endstop {
uint16_t gpio_num = 0;
bool enabled = false;
bool is_active_high = false;
bool ignore_during_startup = false;

// custom setters
Endstop* parent = nullptr;
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1 change: 1 addition & 0 deletions Firmware/odrive-interface.yaml
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Expand Up @@ -1409,6 +1409,7 @@ interfaces:
enabled: {type: bool, c_setter: set_enabled}
offset: {type: float32, unit: turns}
is_active_high: bool
ignore_during_startup: bool
debounce_ms: {type: uint32, c_setter: set_debounce_ms}

ODrive.MechanicalBrake:
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