[Emc-commit] [LinuxCNC/linuxcnc] 777aac: motion: per-axis homed check for teleop jog soft l...

[Luca T. <no...@gi...>]

  Branch: refs/heads/master
  Home:   https://github.com/LinuxCNC/linuxcnc
  Commit: 777aacf2ca592495866a5dbb53f36a7431a16ffa
      https://github.com/LinuxCNC/linuxcnc/commit/777aacf2ca592495866a5dbb53f36a7431a16ffa
  Author: Luca Toniolo <107...@us...>
  Date:   2026-10-04 (Sun, 04 Oct 2026)

  Changed paths:
    M src/emc/kinematics/kinematics.h
    M src/emc/kinematics/kins_util.c
    M src/emc/motion/axis.c

  Log Message:
  -----------
  motion: per-axis homed check for teleop jog soft limits (#182)

Axis (teleop) jogs were clamped to the INI soft limits even when the
machine was not homed, so an unhomed machine at position 0 could only
jog as far as the limits allowed from 0. Joint jogs have used the
current position plus/minus one limit range in this case since 2006
(refresh_jog_limits). Identity kinematics allow entering teleop mode
unhomed, so the axis jog path needs the same treatment.

Axes are not homed, joints are. Treat an axis as homed when every
joint mapped to its coordinate letter is homed, using the joint
bitmaps kins_util already builds from the coordinates parameter, now
exported as identityKinematicsAxisJointsBitmap(). A gantry letter with
two joints needs both homed before its INI limits apply. Non-identity
kins can only be in teleop mode when all joints are homed, so nothing
changes there.

A homed axis jogs within its INI soft limits as before. An unhomed
axis jogs within one limit range of its current position, and the
servo-cycle INI limit check in update_teleop_with_check() is skipped
for it, since the position is not known.

Out-of-tree identity kins modules built on an old kins_util copy do
not export the new accessor and need a rebuild against these headers.

Fixes #182


  Commit: fbae6548b67073cbdad4c2686456e0fd21101810
      https://github.com/LinuxCNC/linuxcnc/commit/fbae6548b67073cbdad4c2686456e0fd21101810
  Author: Luca Toniolo <107...@us...>
  Date:   2026-10-11 (Sun, 11 Oct 2026)

  Changed paths:
    M src/emc/kinematics/kinematics.h
    M src/emc/kinematics/kins_util.c
    M src/emc/motion/axis.c

  Log Message:
  -----------
  Merge pull request #4631 from grandixximo/axis-jog-unhomed-182

motion: per-axis homed check for teleop jog soft limits


Compare: https://github.com/LinuxCNC/linuxcnc/compare/62b971fea06b...fbae6548b670

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