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.\" This file was extracted from hal/components/homecomp.comp using halcompile.g.
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.TH HOMECOMP "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

homecomp \- homing module template
.SH SYNOPSIS
.HP
Custom Homing module loaded with \fB[EMCMOT]HOMEMOD=homecomp\fR

.SH DESCRIPTION


Example of a homing module buildable with halcompile.
Demonstrates required code for #includes, function definitions, etc.

If \fBHOMING_BASE\fR is #defined and points to a valid homing.c file,
an example of a customized homing module is built.  This module
creates input hal pins joint.n.request-custom-homing that enable an
alternate joint homing state machine for requested joints.  A hal output
pin joint.N.is_custom-homing verifies selection"

The customized homing module utilizes many of the base homing api
routines from homing.c without modification but augments other base
functions to add support for custom hal pins and custom joint homing
state machines.  A user-built module will likely replace additional
api functions or augment them with other customizations.

If \fBHOMING_BASE\fR Is not #defined, an  actual homing scheme is
\fBnot\fR implemented but all necessary functions are included as
skeleton code.   (All joints are effectively homed at all times and
cannot be unhomed).

See the source code file: src/emc/motion/homing.c for the baseline
implementation that includes all functions for the default \fBhomemod\fR
module.

To avoid updates that overwrite homecomp.comp, best practice is
to rename the file and its component name (example:
\fBuser_homecomp.comp, user_homecomp\fR).

The (renamed) component can be built and installed with
halcompile and then substituted for the default homing module
(\fBhomemod\fR) using:

  $ linuxcnc \fB-m user_homecomp\fR someconfig.ini

or by inifile setting: \fB[EMCMOT]HOMEMOD=user_homecomp\fR

\fBNote:\fRIf using a deb install:

1) halcompile is provided by the package linuxcnc-dev

2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:

https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/homecomp.comp

.SH PINS
.TP
.B homecomp.\fIN\fB.is-module\fR bit out \fR(default: \fI1\fR)
.SH AUTHOR

Dewey Garrett
.SH LICENSE

GPL