Hi Rod,
My apologies for not responding earlier, work interrupted. That being said, I have managed to create my own fork but I was having difficulty getting an rip version to build in Bookworm and I think that ethercat master doesn't play well the 5.16 Kernel. Doing a fresh install of Bullseye
as we speak.
I don't think its possible to home without modifying homing.c as the LCNC velocities seem to override the internal ones.
I would agree with this. The code that controls homing is spread around 10 or so files. Not much editing/addition is required but it is quite a tangled web.
My thought was to add a new flag to homing configuration called HOME_EXTERNAL that bypassed all of the stuff linuxcnc does in homing.c until homing is completed except all the homing offsets etc. To do this I modified the bitmap in homing.h
Then in homing.c, I jump down the homing sequence_state if this flag is set.
I might add, I had to dig deep to remember how bitmaps worked!
That's basically what is required. You create the variable HOME_EXTERNAL or in my HOME_AUTO =1 for the .ini file then you can use that to set a bit (that you have created), then in the homing file LinuxCNC knows to ignore the error during homing. It may not be that elegant but it works.
What Dominc has provided though is a way to eliminate using M codes to change modes by tying the mode changes with a home to index signal.
I will have to have a look at this. A comp file that handles the mode switching and brake at the appropriate time would be nice. Might even be able to delete a few rungs on the ladder.
Will let you know when I get the changes uploaded to my fork. I'm going to clean them up a bit, there is a lot of stuff left over from previous attempts that may be confusing.
Kind regards,
Dan
