5 axis kinematics setup

Hello everyone sorry if this post is repeated but couldn t find the answer, so here it goes:
I m trying to set the 5 axis kinematics looking at the xyzac kins c source code

struct haldata {
hal_float_t *z_offset;
hal_float_t *y_offset;
hal_float_t *tool_offset;
} *haldata;

int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
double dy = *(haldata->y_offset);
double dz = *(haldata->z_offset);
double dt = *(haldata->tool_offset);
double a_rad = joints[JA]*TO_RAD;
double c_rad = joints[JC]*TO_RAD;

dz = dz + dt;

pos->tran.x = + cos(c_rad) * (joints[JX] )
+ sin(c_rad) * cos(a_rad) * (joints[JY] - dy)
+ sin(c_rad) * sin(a_rad) * (joints[JZ] - dz)
+ sin(c_rad) * dy;

pos->tran.y = - sin(c_rad) * (joints[JX] )
+ cos(c_rad) * cos(a_rad) * (joints[JY] - dy)
+ cos(c_rad) * sin(a_rad) * (joints[JZ] - dz)
+ cos(c_rad) * dy;

pos->tran.z = + 0
- sin(a_rad) * (joints[JY] - dy)
+ cos(a_rad) * (joints[JZ] - dz)
+ dz;

pos->a = joints[JA];
pos->c = joints[JC];

pos->b = 0;
pos->w = 0;
pos->u = 0;
pos->v = 0;

return 0;
}

where dy is the distance from a axis rotation center to c axis rotation center
and dz is the height from c table to a axis rotation center as explained on linuxcnc.org/docs/ja/html/motion/5-axis-kinematics.html

Is tool offset the tool diameter?

now how/where do i declare the offsets values? units for the offsets?

thanks in advance!

Hi andy thanks for your reply that was the right question so i started looking and found this (think this info it s great to start undertanding the kins source file and hal implementation) github.com/LinuxCNC/linuxcnc/blob/master...-axis-kinematics.txt which basically has all the info for implementing the module. So i followed the steps and added the halpins that are created here

if((res = hal_pin_float_new("xyzac-trt-kins.y-offset",
HAL_IO, &(haldata->y_offset), comp_id)) < 0) goto error;
if((res = hal_pin_float_new("xyzac-trt-kins.z-offset",
HAL_IO, &(haldata->z_offset), comp_id)) < 0) goto error;
if((res = hal_pin_float_new("xyzac-trt-kins.tool-offset",
HAL_IN, &(haldata->tool_offset), comp_id)) < 0) goto error;

to the hal file:

net :tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset
setp xyzac-trt-kins.y-offset 0
setp xyzac-trt-kins.z-offset 20

Obviously i compiled the module with sudo halcompile --install xyzackins.c (my guess is that it turned out fine as i tested installing
another kinematics module for a 3 axis mill with axis deviation and it worked)

Still when i try to run lcnc i get this:

Debug file information:
.
./my-mill22.hal:4: module 'xyzackins1' not loaded
3847
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
/usr/bin/linuxcnc_module_helper: Invalid usage with args: remove xyzac-trt-kins

Usage: /usr/bin/linuxcnc_module_helper insert /path/to/module.ext [param1=value1 ...]

where module is one of:
rtai_math
rtai_sem
rtai_shm
rtai_fifos
rtai_up
rtai_lxrt
rtai_hal
rtai_sched
rtai_smi
rtai
rt_mem_mgr
adeos

the path starts with one of:
/lib/modules
/usr/realtime-3.4-9-rtai-686-pae

and the extension is one of:
.ko

or the module is in the directory /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc

OR

/usr/bin/linuxcnc_module_helper remove module

where module is one of the modules listed above.

<commandline>:0: exit value: 1
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Error: Module hal_lib is in use by: xyzackins1
Error: Module rtapi is in use by: hal_lib
Error: Module rtai_sched is in use by: rtapi
Error: Module rtai_hal is in use by: rtapi rtai_sched

the xyzackins.ko (compiled file) is locaded at usr/realtimexxx/modules/linuxcnc with trivkins.ko and all other modules.
"invalid usage with args" don t understand what seems to be the problem here. Thanks everyone ill keep updating as this post may be helpful to fresh boarders.

i replaced the default line
"loadrt trivkins" for "loadrt xyzackins1" as that s the name of the source code i compiled (xyzackins1.c)
even tried adding in the ini file
[KINS]
KINEMATICS = xyzackins1 but the msg error is the same (tried rebooting and replacing the kinematics mod to trivkins
and it worked just fine even removing this part from the ini works fine.

and my kinematics file is the exact one from here github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzac-trt-kins.c
i used the pins as written "xyzac-trt-kins.tool-offset" "xyzac-trt-kins.z-offset" "xyzac-trt-kins.y-offset"
to wire up the hal file

net :tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset
setp xyzac-trt-kins.y-offset 0
setp xyzac-trt-kins.z-offset 20

being the pin "motion.tooloffset.z" an out pin from motion controller

First time i see i have to give command loadusr the arguments for the module i read the hal manual 2.6.13 the loadusr section and kinematics implementation section and didn t found any examples like that. sorry if my questions sound silly

just a typo i meant loadrt