hopefully the correct is_ready

Firmware/MotorControl/encoder.cpp

@@ -22,7 +22,9 @@ bool Encoder::apply_config(ODriveIntf::MotorIntf::MotorType motor_type) {
     update_pll_gains();
 
     if (config_.pre_calibrated) {
-        if (config_.mode == Encoder::MODE_HALL || config_.mode == Encoder::MODE_SINCOS)
+        if (config_.mode == Encoder::MODE_HALL && config_.hall_calibrated)
+            is_ready_ = true;
+        if (config_.mode == Encoder::MODE_SINCOS)
             is_ready_ = true;
         if (motor_type == Motor::MOTOR_TYPE_ACIM)
             is_ready_ = true;
@@ -213,7 +215,7 @@ bool Encoder::run_hall_calibration() {
     };
 
     states_seen_count_.fill(0);
-    hall_calibrated_ = false;
+    config_.hall_calibrated = false;
     bool success = axis_->run_lockin_spin(lockin_config, false, loop_cb);
     sample_hall_states_ = false;
 
@@ -266,6 +268,11 @@ bool Encoder::run_offset_calibration() {
         return false;
     }
 
+    if (config_.mode == MODE_HALL && !config_.hall_calibrated) {
+        set_error(ERROR_HALL_NOT_CALIBRATED_YET);
+        return false;
+    }
+
     // We use shadow_count_ to do the calibration, but the offset is used by count_in_cpr_
     // Therefore we have to sync them for calibration
     shadow_count_ = count_in_cpr_;
@@ -559,7 +566,7 @@ bool Encoder::update() {
             if (sample_hall_states_) {
                 states_seen_count_[hall_state_]++;
             }
-            if (hall_calibrated_) {
+            if (config_.hall_calibrated) {
                 int32_t hall_cnt;
                 if (decode_hall((hall_state_ ^ config_.hall_polarity), &hall_cnt)) {
                     delta_enc = hall_cnt - count_in_cpr_;

Firmware/MotorControl/encoder.hpp

@@ -32,7 +32,8 @@ public:
         float bandwidth = 1000.0f;
         bool find_idx_on_lockin_only = false; // Only be sensitive during lockin scan constant vel state
         bool ignore_illegal_hall_state = false; // dont error on bad states like 000 or 111
-        uint8_t hall_polarity;
+        uint8_t hall_polarity = 0;
+        bool hall_calibrated = false;
         uint16_t abs_spi_cs_gpio_pin = 1;
         uint16_t sincos_gpio_pin_sin = 3;
         uint16_t sincos_gpio_pin_cos = 4;
@@ -113,7 +114,6 @@ public:
     // Updated by low_level pwm_adc_cb
     uint8_t hall_state_ = 0x0; // bit[0] = HallA, .., bit[2] = HallC
     bool sample_hall_states_ = false;
-    bool hall_calibrated_ = false;
     std::array<int, 8> states_seen_count_; // for hall polarity calibration
 
     float sincos_sample_s_ = 0.0f;

Firmware/odrive-interface.yaml

@@ -980,7 +980,6 @@ interfaces:
       calib_scan_response: readonly float32
       pos_abs: int32
       spi_error_rate: readonly float32
-      hall_calibrated: readonly bool
       config:
         c_is_class: False
         attributes:
@@ -1000,6 +999,8 @@ interfaces:
           calib_scan_distance: float32
           calib_scan_omega: float32
           ignore_illegal_hall_state: bool
+          hall_polarity: uint8
+          hall_calibrated: bool
           sincos_gpio_pin_sin:
             type: uint16
             doc: Analog sine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.