Multiaxis kinematics and limits

.gitignore

@@ -21,6 +21,10 @@ share/desktop-directories/linuxcnc-cnc.directory
 share/desktop-directories/linuxcnc-ref.directory
 share/desktop-directories/linuxcnc-doc.directory
 share/linuxcnc/mesa_modbus.c.tmpl
+share/linuxcnc/switchkins.c
+share/linuxcnc/switchkins_setup.c
+share/linuxcnc/kins_util.c
+share/linuxcnc/kins_single.c
 src/modules.order
 /configs/*/emc.nml
 !/configs/common/emc.nml

configs/sim/axis/vismach/5axis/bridgemill/5axis.ini

@@ -41,7 +41,6 @@ CYCLE_TIME = 0.010
   HALUI = halui
 HALFILE = LIB:basic_sim.tcl
 HALFILE = 5axisgui.hal
-HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 POSTGUI_HALFILE = 5axis_postgui.hal
 
 [HALUI]

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc

@@ -1,24 +1,13 @@
 ;M428 by remap: select kinstype=0 genhexkins
 o<428remap>sub
   #<kinstype> = 0
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G13.1                                ; back to kinstype 0, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M428: Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M428: Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<428remap>endsub

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc

@@ -1,24 +1,13 @@
 ;M429 by remap: select kinstype==1 Identity kinematics
 o<429remap>sub
   #<kinstype> = 1
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G12.1 P#<kinstype>                   ; select kinstype, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M429:Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M429:Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<429remap>endsub

configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc

@@ -1,24 +1,13 @@
 ;M430 by remap: select kinstype==2 userk kins
 o<430remap>sub
   #<kinstype> = 2
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G12.1 P#<kinstype>                   ; select kinstype, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M430:Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M430:Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<430remap>endsub

configs/sim/axis/vismach/5axis/table-dual-rotary/README

@@ -28,9 +28,6 @@ For proper tool-path preview RELOAD THE CGODE after startup and after changing o
 ***********************************************
 Note: IMPORTANT ini file requirements:
 
-[HAL]
-HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
-
 [RS274NGC]
 SUBROUTINE_PATH = ./remap_subs
           REMAP = M428  modalgroup=10  ngc=428remap

configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc

@@ -1,24 +1,13 @@
-;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+;M428 by remap: kinstype==1 (xyzab-tdr kinematics)
 o<428remap>sub
-  #<kinstype> = 1        ; xyzac,xyzbc
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+  #<kinstype> = 1        ; xyzab-tdr
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G12.1 P#<kinstype>                   ; select kinstype, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M428: Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M428: Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<428remap>endsub

configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc

@@ -1,24 +1,13 @@
 ;M429 by remap: kinstype==0 Identity kinematics
 o<429remap>sub
   #<kinstype> = 0
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G13.1                                ; back to kinstype 0, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M429:Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M429: Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<429remap>endsub

configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini

@@ -25,8 +25,8 @@ SUBROUTINE_PATH = ./remap_subs
 
 [KINS]
 #NOTE:
-#      switchkins-type == 0 is identity kins
-#      switchkins-type == 1 is xyzab-tdr-kins
+#      kinstype 0 is identity kins
+#      kinstype 1 is xyzab-tdr-kins
 
 KINEMATICS = xyzab_tdr_kins
     JOINTS = 5
@@ -36,8 +36,6 @@ KINEMATICS = xyzab_tdr_kins
         HALFILE = LIB:basic_sim.tcl
 POSTGUI_HALFILE = xyzab-tdr-postgui.hal
 
-# net for control of motion.switchkins-type
-HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 
 # Values '(x,z)-offsets' for geometric offset of the rotary-assembly and the
 # values '(x,y,z)-rot-point' that describe the position of the
@@ -76,8 +74,8 @@ HALCMD = sets :x-offset     -20
 HALCMD = sets :z-offset     -10
 
 [HALUI]
-# M429:identity  kins (motion.switchkins-type==0 startupDEFAULT)
-# M428:xyzab-tdr kins (motion.switchkins-type==1)
+# M429:identity  kins (kinstype 0, startupDEFAULT)
+# M428:xyzab-tdr kins (kinstype 1)
 MDI_COMMAND = M429
 MDI_COMMAND = M428
 

configs/sim/axis/vismach/5axis/table-rotary-tilting/README

@@ -17,9 +17,6 @@ Demonstrations:
 ***********************************************
 Note: IMPORTANT ini file requirements:
 
-[HAL]
-HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
-
 [RS274NGC]
 SUBROUTINE_PATH = ./remap_subs
           REMAP = M428  modalgroup=10  ngc=428remap

configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc

@@ -1,24 +1,13 @@
 ;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
 o<428remap>sub
   #<kinstype> = 1        ; xyzac,xyzbc
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G12.1 P#<kinstype>                   ; select kinstype, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M428: Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M428: Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<428remap>endsub

configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc

@@ -1,24 +1,13 @@
 ;M429 by remap: kinstype==0 Identity kinematics
 o<429remap>sub
   #<kinstype> = 0
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G13.1                                ; back to kinstype 0, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M429:Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M429:Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<429remap>endsub

configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc

@@ -1,24 +1,13 @@
 ;M430 by remap: kinstype==2 userk kins
 o<430remap>sub
   #<kinstype> = 2
-  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
 
-o1 if [exists [#<_hal[motion.switchkins-type]>]]
-o1 else
-     (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)
-     (debug,STOP)
-     M2
-o1 endif
-
-   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
-   M66  E0 L0                           ; force synch
+   G12.1 P#<kinstype>                   ; select kinstype, syncs interp and motion
 
-o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
-     (debug,M430:Wrong motion.switchkins-type)
-     (debug,or missing hal net to analog-out-0x)
+o2 if [[#<_task> EQ 1] AND [#<_kins_type> NE #<kinstype>]]
+     (debug,M430:Wrong kinematics type)
      (debug,STOP)
      M2
-o2 else
 o2 endif
 
 o<430remap>endsub

configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow

@@ -1,5 +1,4 @@
-pin+motion.analog-out-03
-pin+motion.switchkins-type
+pin+motion.kins-type
 
 pin+joint.0.pos-cmd
 pin+joint.1.pos-cmd

configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini

@@ -38,8 +38,8 @@ SUBROUTINE_PATH = ./remap_subs
 
 [KINS]
 #NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
-#      default switchkins-type == 0 is xyzac-trt-kins
-#      here    switchkins-type == 0 is identity kins
+#      default kinstype 0 is xyzac-trt-kins
+#      here    kinstype 0 is identity kins
 KINEMATICS = xyzac-trt-kins sparm=identityfirst
     JOINTS = 5
 
@@ -48,8 +48,6 @@ KINEMATICS = xyzac-trt-kins sparm=identityfirst
         HALFILE = LIB:basic_sim.tcl
 POSTGUI_HALFILE = switchkins_postgui.hal
 
-# net for control of motion.switchkins-type
-HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 
 # vismach xyzac-trt-gui items
 HALCMD = loadusr -W ./xyzac-trt-gui.py
@@ -73,9 +71,9 @@ HALCMD = setp xyzac-trt-kins.conventional-directions 0
 
 [HALUI]
 # NOTE: kinstype==0 is identity kins because sparm=identityfirst
-# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
-# M428:xyzac    kins (motion.switchkins-type==1)
-# M430:userk    kins (motion.switchkins-type==2)
+# M429:identity kins (kinstype 0, startupDEFAULT)
+# M428:xyzac    kins (kinstype 1)
+# M430:userk    kins (kinstype 2)
 MDI_COMMAND = M429
 MDI_COMMAND = M428
 MDI_COMMAND = M430

configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt

@@ -6,11 +6,9 @@ Uses remapped user m codes for kins switch:
   M428: XYZAC (TCP)
   M430: userk Kinematics
 
-A hal net is required to connect the
-analog out pin N, Example (for N=3):
-
-  net :kinstype-select <= motion.analog-out-03
-  net :kinstype-select => motion.switchkins-type
+The kinematics type is selected with
+G12.1 and G13.1, no hal connection is
+required.
 
 Hal Input pins:
   xyzac-trt-kins.y-offset

configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini

@@ -38,8 +38,8 @@ SUBROUTINE_PATH = ./remap_subs
 
 [KINS]
 #NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
-#      default switchkins-type == 0 is xyzbc-trt-kins
-#      here    switchkins-type == 0 is identity kins
+#      default kinstype 0 is xyzbc-trt-kins
+#      here    kinstype 0 is identity kins
 KINEMATICS = xyzbc-trt-kins sparm=identityfirst
     JOINTS = 5
 
@@ -48,8 +48,6 @@ KINEMATICS = xyzbc-trt-kins sparm=identityfirst
         HALFILE = LIB:basic_sim.tcl
 POSTGUI_HALFILE = switchkins_postgui.hal
 
-# net for control of motion.switchkins-type
-HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 
 # vismach xyzbc-trt-gui items
 HALCMD = loadusr -W ./xyzbc-trt-gui.py
@@ -73,9 +71,9 @@ HALCMD = setp xyzbc-trt-kins.conventional-directions 0
 
 [HALUI]
 # NOTE: kinstype==0 is identity kins because sparm=identityfirst
-# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
-# M428:xyzbc    kins (motion.switchkins-type==1)
-# M430:userk    kins (motion.switchkins-type==2)
+# M429:identity kins (kinstype 0, startupDEFAULT)
+# M428:xyzbc    kins (kinstype 1)
+# M430:userk    kins (kinstype 2)
 MDI_COMMAND = M429
 MDI_COMMAND = M428
 MDI_COMMAND = M430

configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt

@@ -6,11 +6,9 @@ Uses remapped user m codes for kins switch:
   M428: XYZBC (TCP)
   M430: userk Kinematics
 
-A hal net is required to connect the
-analog out pin N, Example (for N=3):
-
-  net :kinstype-select <= motion.analog-out-03
-  net :kinstype-select => motion.switchkins-type
+The kinematics type is selected with
+G12.1 and G13.1, no hal connection is
+required.
 
 Hal Input pins:
   xyzbc-trt-kins.x-offset