Split hall calibration into polarity and offset calibration, full calibration sequence only includes hall polarity cal

Firmware/MotorControl/axis.cpp

@@ -465,6 +465,8 @@ void Axis::run_state_machine_loop() {
                 task_chain_[pos++] = AXIS_STATE_IDLE;
             } else if (requested_state_ == AXIS_STATE_FULL_CALIBRATION_SEQUENCE) {
                 task_chain_[pos++] = AXIS_STATE_MOTOR_CALIBRATION;
+                if (encoder_.config_.mode == ODriveIntf::EncoderIntf::MODE_HALL)
+                    task_chain_[pos++] = AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION;
                 if (encoder_.config_.use_index)
                     task_chain_[pos++] = AXIS_STATE_ENCODER_INDEX_SEARCH;
                 task_chain_[pos++] = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
@@ -503,13 +505,23 @@ void Axis::run_state_machine_loop() {
                 status = encoder_.run_direction_find();
             } break;
 
-            case AXIS_STATE_ENCODER_HALL_CALIBRATION: {
+            case AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION: {
                 if (!motor_.is_calibrated_)
                     goto invalid_state_label;
 
                 status = encoder_.run_hall_polarity_calibration();
-                if (status)
-                    status = encoder_.run_hall_phase_calibration();
+            } break;
+
+            case AXIS_STATE_ENCODER_HALL_OFFSET_CALIBRATION: {
+                if (!motor_.is_calibrated_)
+                    goto invalid_state_label;
+
+                if (!encoder_.config_.hall_polarity_calibrated) {
+                    encoder_.set_error(ODriveIntf::EncoderIntf::ERROR_HALL_NOT_CALIBRATED_YET);
+                    goto invalid_state_label;
+                }
+
+                status = encoder_.run_hall_phase_calibration();
             } break;
 
             case AXIS_STATE_HOMING: {

Firmware/odrive-interface.yaml

@@ -1163,8 +1163,13 @@ valuetypes:
         brief: Run axis homing function.
         doc:
           Endstops must be enabled to use this feature.
-      EncoderHallCalibration:
-        brief: Rotate the motor in lockin and calibrate hall states
+      EncoderHallPolarityCalibration:
+        brief: Rotate the motor in lockin and calibrate hall polarity
+        doc:
+          ODrive assumes 120 degree electrical hall spacing. This routine determines if that
+          is the case and sets the polarity if the halls are on 60 degree electrical spacing
+      EncoderHallOffsetCalibration:
+        brief: Rotate the motor for 30s to calibrate hall sensor edge offsets
         doc:
           The phase offset is not calibrated at this time, so the map is only relative
 

tools/.vscode/launch.json

@@ -9,7 +9,7 @@
             "type": "python",
             "request": "launch",
             "stopOnEntry": true,
-            "pythonPath": "${command:python.pythonPath}",
+            "python": "${command:python.pythonPath}",
             "program": "${file}",
             "cwd": "${workspaceRoot}",
             "env": {},

tools/odrive/enums.py

@@ -35,7 +35,8 @@ AXIS_STATE_CLOSED_LOOP_CONTROL           = 8
 AXIS_STATE_LOCKIN_SPIN                   = 9
 AXIS_STATE_ENCODER_DIR_FIND              = 10
 AXIS_STATE_HOMING                        = 11
-AXIS_STATE_ENCODER_HALL_CALIBRATION      = 12
+AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION = 12
+AXIS_STATE_ENCODER_HALL_OFFSET_CALIBRATION = 13
 
 # ODrive.Encoder.Mode
 ENCODER_MODE_INCREMENTAL                 = 0