From 81eea96da30b095e1ff046801db661072e03b52b Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Mon, 21 Jun 2021 16:23:37 -0700
Subject: [PATCH] add option to force precalib setting to bypass check

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

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 71072923..56c94d00 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -127,6 +127,8 @@ void Encoder::update_pll_gains() {
 }
 
 void Encoder::check_pre_calibrated() {
+    if (config_.override_precal_check)
+        return;
     // TODO: restoring config from python backup is fragile here (ACIM motor type must be set first)
     if (axis_->motor_.config_.motor_type != Motor::MOTOR_TYPE_ACIM) {
         if (!is_ready_)
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index d764582f..743b9537 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -27,6 +27,7 @@ public:
         int32_t cpr = (2048 * 4);   // Default resolution of CUI-AMT102 encoder,
         float index_offset = 0.0f;
         bool use_index = false;
+        bool override_precal_check = false; // If true, apply pre_calibrated unconditionally
         bool pre_calibrated = false; // If true, this means the offset stored in
                                     // configuration is valid and does not need
                                     // be determined by run_offset_calibration.
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index f628355b..4a54dc87 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1088,6 +1088,7 @@ interfaces:
           phase_offset: int32
           phase_offset_float: float32
           direction: int32
+          override_precal_check: bool
           pre_calibrated: {type: bool, c_setter: set_pre_calibrated}
           enable_phase_interpolation: bool
           bandwidth: {type: float32, c_setter: set_bandwidth}