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Add option to ignore endstops during encoder index search #748

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Add option to ignore endstops during encoder index search #748

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c594b67
Add option to ignore endstops during startup
aaronjamt May 23, 2024
304a22a
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aaronjamt May 23, 2024
41d3c87
Update firmware.yaml
aaronjamt May 23, 2024
9368175
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aaronjamt May 23, 2024
a0e958a
Add option to ignore endstops during encoder index search
aaronjamt May 23, 2024
df10ad1
Merge branch 'master' into patch-01
aaronjamt May 23, 2024
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16 changes: 3 additions & 13 deletions .github/workflows/firmware.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,20 +12,10 @@ jobs:
strategy:
fail-fast: false
matrix:
os: [ubuntu-latest, windows-latest, macOS-latest]
os: [ubuntu-latest]
board_version: [v3.6-56V]
debug: [true]

include:
- {os: ubuntu-latest, board_version: v3.2, debug: false}
- {os: ubuntu-latest, board_version: v3.3, debug: false}
- {os: ubuntu-latest, board_version: v3.4-24V, debug: false}
- {os: ubuntu-latest, board_version: v3.4-48V, debug: false}
- {os: ubuntu-latest, board_version: v3.5-24V, debug: false}
- {os: ubuntu-latest, board_version: v3.5-48V, debug: false}
- {os: ubuntu-latest, board_version: v3.6-24V, debug: false}
- {os: ubuntu-latest, board_version: v3.6-56V, debug: false}

debug: [false]

runs-on: ${{ matrix.os }}
outputs:
channel: ${{ steps.release-info.outputs.channel }}
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4 changes: 2 additions & 2 deletions Firmware/MotorControl/axis.cpp
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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) && !(min_endstop_.config_.ignore_during_encoder_index_search && current_state_ == AXIS_STATE_ENCODER_INDEX_SEARCH)) {
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) && !(min_endstop_.config_.ignore_during_encoder_index_search && current_state_ == AXIS_STATE_ENCODER_INDEX_SEARCH)) {
error_ |= ERROR_MAX_ENDSTOP_PRESSED;
}

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2 changes: 2 additions & 0 deletions Firmware/MotorControl/endstop.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@ class Endstop {
uint16_t gpio_num = 0;
bool enabled = false;
bool is_active_high = false;
bool ignore_during_startup = false;
bool ignore_during_encoder_index_search = false;

// custom setters
Endstop* parent = nullptr;
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2 changes: 2 additions & 0 deletions Firmware/odrive-interface.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -1409,6 +1409,8 @@ interfaces:
enabled: {type: bool, c_setter: set_enabled}
offset: {type: float32, unit: turns}
is_active_high: bool
ignore_during_startup: bool
ignore_during_encoder_index_search: bool
debounce_ms: {type: uint32, c_setter: set_debounce_ms}

ODrive.MechanicalBrake:
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