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Add Support for Dogbone Homing #4009

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17ce29a
adding support for dogbone homing
sundtek May 5, 2026
ef9e0e9
Merge branch 'LinuxCNC:master' into master
sundtek May 5, 2026
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4 changes: 3 additions & 1 deletion src/emc/ini/inijoint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,7 @@ static int loadJoint(int joint, const IniFile &ini)
bool ignore_limits = ini.findBoolV("HOME_IGNORE_LIMITS", jointSection, false);
bool volatile_home = ini.findBoolV("VOLATILE_HOME", jointSection, false);
bool locking_idxer = ini.findBoolV("LOCKING_INDEXER", jointSection, false);
bool home_dogbone = ini.findBoolV("HOME_DOGBONE", jointSection, false);
int abs_encoder = ini.findIntV("HOME_ABSOLUTE_ENCODER", jointSection, 0, 0, 2);

// Sequence defaults to an unrealizable and positive sequence so that
Expand All @@ -162,7 +163,8 @@ static int loadJoint(int joint, const IniFile &ini)
sequence,
volatile_home,
locking_idxer,
abs_encoder)) {
abs_encoder,
home_dogbone)) {
print_dbg_config("emcJointSetHomingParams");
return -1;
}
Expand Down
3 changes: 2 additions & 1 deletion src/emc/motion/command.c
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Original file line number Diff line number Diff line change
Expand Up @@ -657,7 +657,8 @@ void emcmotCommandHandler_locked(void *arg, long servo_period)
emcmotCommand->latch_vel,
emcmotCommand->flags,
emcmotCommand->home_sequence,
emcmotCommand->volatile_home
emcmotCommand->volatile_home,
emcmotCommand->home_dogbone
);
break;

Expand Down
70 changes: 64 additions & 6 deletions src/emc/motion/homing.c
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,9 @@ typedef enum {
HOME_LOCK,// 22
HOME_LOCK_WAIT,// 23
HOME_FINISHED,// 24
HOME_ABORT// 25
HOME_ABORT,// 25
HOME_DOGBONE_SLOW_START,// 26
HOME_DOGBONE_SLOW_WAIT// 27
} home_state_t;

// local per-joint data (includes hal pin data)
Expand All @@ -122,6 +124,7 @@ typedef struct {
int home_sequence; // intfc, updateable
bool volatile_home; // intfc
bool home_is_synchronized;
bool home_dogbone;
} home_local_data;

static home_local_data H[EMCMOT_MAX_JOINTS];
Expand Down Expand Up @@ -521,6 +524,7 @@ static int base_homing_init(int id,
H[i].home = 0;
H[i].home_flags = 0;
H[i].home_sequence = 1000; //startup: unrealizable, positive seq no.
H[i].home_dogbone = 0;
H[i].volatile_home = 0;
}
return 0;
Expand Down Expand Up @@ -625,7 +629,8 @@ static void base_set_joint_homing_params(int jno,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
bool volatile_home,
bool home_dogbone
)
{
H[jno].home_offset = offset;
Expand All @@ -636,6 +641,7 @@ static void base_set_joint_homing_params(int jno,
H[jno].home_flags = home_flags;
H[jno].home_sequence = home_sequence;
H[jno].volatile_home = volatile_home;
H[jno].home_dogbone = home_dogbone;
update_home_is_synchronized();
}

Expand Down Expand Up @@ -846,7 +852,52 @@ static int base_1joint_state_machine(int joint_num)
}
}
break;

case HOME_DOGBONE_SLOW_START:
if (joint->free_tp.active) {
H[joint_num].pause_timer = 0;
break;
}

if (H[joint_num].pause_timer < (HOME_DELAY * servo_freq)) {
H[joint_num].pause_timer++;
break;
}

H[joint_num].pause_timer = 0;

if (!home_sw_active) {
rtapi_print_msg(RTAPI_MSG_ERR,
_("Dogbone: switch lost before slow phase j=%d"),
joint_num);
H[joint_num].home_state = HOME_ABORT;
immediate_state = 1;
break;
}

/* Continue SAME direction, but slower */
double vel = H[joint_num].home_latch_vel;

if (H[joint_num].home_search_vel < 0)
vel = -fabs(vel);
else
vel = fabs(vel);

home_start_move(joint, vel);

H[joint_num].home_state = HOME_DOGBONE_SLOW_WAIT;
break;
case HOME_DOGBONE_SLOW_WAIT:
if (!home_sw_active) {
joint->free_tp.enable = 0;

/* latch position at falling edge */
H[joint_num].home_state = HOME_SET_SWITCH_POSITION;
immediate_state = 1;
break;
}

ABORT_CHECK(joint_num);
break;
case HOME_INITIAL_BACKOFF_START:
/* This state is called if the homing sequence starts at a
location where the home switch is already tripped. It
Expand Down Expand Up @@ -927,8 +978,13 @@ static int base_1joint_state_machine(int joint_num)
if (home_sw_active) {
/* yes, stop motion */
joint->free_tp.enable = 0;

/* go to next step */
H[joint_num].home_state = HOME_SET_COARSE_POSITION;
if (H[joint_num].home_dogbone) {
H[joint_num].home_state = HOME_DOGBONE_SLOW_START;
} else {
H[joint_num].home_state = HOME_SET_COARSE_POSITION;
}
immediate_state = 1;
break;
}
Expand Down Expand Up @@ -1475,7 +1531,8 @@ void set_joint_homing_params(int jno,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
bool volatile_home,
bool home_dogbone
)
{ base_set_joint_homing_params(jno,
offset,
Expand All @@ -1485,7 +1542,8 @@ void set_joint_homing_params(int jno,
home_latch_vel,
home_flags,
home_sequence,
volatile_home);
volatile_home,
home_dogbone);
}
void update_joint_homing_params(int jno,
double offset,
Expand Down
3 changes: 2 additions & 1 deletion src/emc/motion/homing.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,8 @@ void set_joint_homing_params(int jno,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
bool volatile_home,
bool home_dogbone
);

// updateable interface params (for inihal pin changes typically):
Expand Down
2 changes: 2 additions & 0 deletions src/emc/motion/motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -241,6 +241,8 @@ extern "C" {
int home_sequence; /* order in homing sequence */
int volatile_home; /* joint should get unhomed when we get unhome -2
(generated by task upon estop, etc) */
int home_dogbone; /* Use dogbone homing, fast initial search, slow until switch
release, and no change of direction */
double minFerror; /* min following error */
double maxFerror; /* max following error */
int wdWait; /* cycle to wait before toggling wd */
Expand Down
2 changes: 1 addition & 1 deletion src/emc/nml_intf/emc.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -307,7 +307,7 @@ extern int emcJointSetHomingParams(int joint, double home, double offset, double
double search_vel, double latch_vel,
int use_index, int encoder_does_not_reset, int ignore_limits,
int is_shared, int home_sequence, int volatile_home, int locking_indexer,
int absolute_encoder);
int absolute_encoder, int home_dogbone);
extern int emcJointUpdateHomingParams(int joint, double home, double offset, int sequence);
extern int emcJointSetMaxVelocity(int joint, double vel);
extern int emcJointSetMaxAcceleration(int joint, double acc);
Expand Down
1 change: 1 addition & 0 deletions src/emc/nml_intf/emc_nml.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -313,6 +313,7 @@ class EMC_JOINT_SET_HOMING_PARAMS:public EMC_JOINT_CMD_MSG {
int volatile_home;
int locking_indexer;
int absolute_encoder;
int home_dogbone;
};

class EMC_JOINT_HALT:public EMC_JOINT_CMD_MSG {
Expand Down
3 changes: 2 additions & 1 deletion src/emc/task/emctaskmain.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1728,7 +1728,8 @@ static int emcTaskIssueCommand(NMLmsg * cmd)
set_homing_params_msg->home_sequence,
set_homing_params_msg->volatile_home,
set_homing_params_msg->locking_indexer,
set_homing_params_msg->absolute_encoder);
set_homing_params_msg->absolute_encoder,
set_homing_params_msg->home_dogbone);
break;

case EMC_JOINT_SET_FERROR_TYPE:
Expand Down
8 changes: 5 additions & 3 deletions src/emc/task/taskintf.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -277,7 +277,8 @@ int emcJointSetHomingParams(int joint, double home, double offset, double home_f
double search_vel, double latch_vel,
int use_index, int encoder_does_not_reset,
int ignore_limits, int is_shared,
int sequence,int volatile_home, int locking_indexer,int absolute_encoder)
int sequence,int volatile_home, int locking_indexer, int absolute_encoder,
int home_dogbone)
{
#ifdef ISNAN_TRAP
if (std::isnan(home) || std::isnan(offset) || std::isnan(home_final_vel) ||
Expand All @@ -301,6 +302,7 @@ int emcJointSetHomingParams(int joint, double home, double offset, double home_f
emcmotCommand.flags = 0;
emcmotCommand.home_sequence = sequence;
emcmotCommand.volatile_home = volatile_home;
emcmotCommand.home_dogbone = home_dogbone;
if (use_index) {
emcmotCommand.flags |= HOME_USE_INDEX;
}
Expand Down Expand Up @@ -335,9 +337,9 @@ int emcJointSetHomingParams(int joint, double home, double offset, double home_f
int retval = usrmotWriteEmcmotCommand(&emcmotCommand);

if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print("%s(%d, %.4f, %.4f, %.4f, %.4f, %.4f, %d, %d, %d, %d, %d) returned %d\n",
rcs_print("%s(%d, %.4f, %.4f, %.4f, %.4f, %.4f, %d, %d, %d, %d, %d, %d) returned %d\n",
__FUNCTION__, joint, home, offset, home_final_vel, search_vel, latch_vel,
use_index, ignore_limits, is_shared, sequence, volatile_home, retval);
use_index, ignore_limits, is_shared, sequence, volatile_home, home_dogbone, retval);
}
return retval;
}
Expand Down
6 changes: 4 additions & 2 deletions src/hal/components/homecomp.comp
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Original file line number Diff line number Diff line change
Expand Up @@ -312,7 +312,8 @@ void set_joint_homing_params(int jno,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
bool volatile_home,
bool home_dogbone
)
{
base_set_joint_homing_params(jno,
Expand All @@ -323,7 +324,8 @@ void set_joint_homing_params(int jno,
home_latch_vel,
home_flags,
home_sequence,
volatile_home);
volatile_home,
home_dogbone);
}
void update_joint_homing_params(int jno,
double offset,
Expand Down
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