From a0e958ac7f7bb0948da8462b198c3f9b4ce95301 Mon Sep 17 00:00:00 2001
From: Aaron Tulino <13600347+aaronjamt@users.noreply.github.com>
Date: Thu, 23 May 2024 13:50:06 -0700
Subject: [PATCH] Add option to ignore endstops during encoder index search
 This is useful for devices where the endstop is pressed while power is off,
 due to gravity, springs, or otherwise. When combined with #747, this allows
 the ODrive to start up the motors and perform the encoder index search while
 one of the endstops is pressed. With this setting enabled, the limit switch
 will not cause the motor to disarm during the encoder index search, making
 the `odrive.axis*.config.startup_encoder_index_search` flag useful again.

---
 Firmware/MotorControl/axis.cpp    | 4 ++--
 Firmware/MotorControl/endstop.hpp | 1 +
 Firmware/odrive-interface.yaml    | 1 +
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index fd830c593..f0d8e362d 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -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) && !(min_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
+    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) && !(max_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED)) {
+    } 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;
     }
 
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 2df8cba31..b3a6018b1 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -11,6 +11,7 @@ class Endstop {
         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;
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 3d2d717d8..be98dba1a 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1410,6 +1410,7 @@ interfaces:
           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: