Absolute homing

bool do_homing(void)
{
int joint_num;
int homing_flag = 0;
bool beginning_allhomed = get_allhomed();

do_homing_sequence();
/* loop thru joints, treat each one individually */
for (joint_num = 0; joint_num < all_joints; joint_num++) {

if (!H[joint_num].joint_in_sequence) { continue; }
if (!GET_JOINT_ACTIVE_FLAG(&joints[joint_num])) { continue; }

// CUSTOM joint homing state machine for everybody:
homing_flag += custom_1joint_state_machine(joint_num);

}
if ( homing_flag > 0 ) { /* one or more joint is homing */
homing_active = 1;
} else { /* is a homing sequence in progress? */
if (sequence_state == HOME_SEQUENCE_IDLE) {
/* no, single joint only, we're done */
homing_active = 0;
}
}
// return 1 if homing completed this period
if (!beginning_allhomed && get_allhomed()) {homing_active=0; return 1;}
return 0;
}

bool do_homing(void)
{
int joint_num;
int homing_flag = 0;
bool beginning_allhomed = get_allhomed();

do_homing_sequence();
/* loop thru joints, treat each one individually */
for (joint_num = 0; joint_num < all_joints; joint_num++) {
if (!H[joint_num].joint_in_sequence) { continue; }
if (!GET_JOINT_ACTIVE_FLAG(&joints[joint_num])) { continue; }

if (customH[joint_num].is_custom_homing) {
// CUSTOM joint homing state machine:
homing_flag += custom_1joint_state_machine(joint_num);
} else {
// DEFAULT joint homing state machine:
homing_flag += base_1joint_state_machine(joint_num);
}
}
if ( homing_flag > 0 ) { /* one or more joint is homing */
homing_active = 1;
} else { /* is a homing sequence in progress? */
if (sequence_state == HOME_SEQUENCE_IDLE) {
/* no, single joint only, we're done */
homing_active = 0;
}
}
// return 1 if homing completed this period
if (!beginning_allhomed && get_allhomed()) {homing_active=0; return 1;}
return 0;
}

if (customH[joint_num].is_custom_homing) {
// CUSTOM joint homing state machine:
homing_flag += custom_1joint_state_machine(joint_num);
} else {
// DEFAULT joint homing state machine:
homing_flag += base_1joint_state_machine(joint_num);
}

This module creates input hal pins joint.n.request-custom-homing that enable an alternate joint homing state machine for requested joints.