LinuxCNC S-Curve Accelerations

HOME with index should be available, nothing about homing should have changed other than the homing movements being now jerk controlled, but I'll double check on my end, you still have to enable

HOME_USE_INDEX = YES

In the ini file for each joint you want to home using index

Edit:

Yeah, triple checked, homing index should work as expected, just has to be set proper, mind that machine movements will be effected by the s-curve even while homing, if you do not want that, you can link all joint.N.homing pins with or2, then to a mux2, and then to the ini.traj_planner_type pin in hal, so when you home you can have planner 0, otherwise planner 1, I originally had an INI flag to disable s-curve while homing, if you guys think is necessary I'll add it back, but I ended up not liking the machine shaking up only when homing, I want it always to be smooth now, I'd rather readjust the homing vel to compensate for the longer but smoother movements.

yes exactly ... if all axis homed then ini.traj_planner_type == 1 else 0 ... its important for external drivers over buses maily... 

2nd day of testing at hardware is away... motion is way smoother and followinf error ar beginning at ending of movement is away too 

thanks

Yes, the error spike at the beginning and end of motion cannot be eliminated without jerk control.
 This is because without jerk control you have a step function in acceleration=force which is physically
impossible as that requires infinite motion control bandwidth.

Endian, you should use or2 gates, not and2, if for example only X is homing you still want planner 0
Also the mux2 values I think are reversed.

I just need to home with 3phase planner (because of my own code) and then after each joint is hommed I want to use the scurve 7phase stuff..

 It is just quick setup and forum is my external notepad ... 

Luca can I ask you about your ideas of optimalization of the code to avoiding the spikes? 

Which rabbits do you have in your hat btw?

Can you compare with PLANNER_TYPE = 0
can you share your testing g-code?