From c594b67c53cc059fdbd1f569f1a06221348b1db8 Mon Sep 17 00:00:00 2001
From: Aaron Tulino <13600347+aaronjamt@users.noreply.github.com>
Date: Wed, 22 May 2024 21:49:43 -0700
Subject: [PATCH] Add option to ignore endstops during startup This is useful
 for devices where the endstop is pressed while power is off, due to gravity,
 springs, or otherwise. When the ODrive initially starts up, it sees the limit
 switch(es) pressed and disarms the motor(s) immediately. With this setting
 enabled, the limit switch will not cause the motor to disarm during inital
 startup, making the `odrive.axis*.config.startup_*` flags 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 03735ce0d..fd830c593 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)) {
+    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;
     }
 
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 21a640c27..2df8cba31 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -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;
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 34cb09d06..3d2d717d8 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -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: