Developments on my Home built 5C CNC Lathe - Polar interp. and Live tooling

Thanks Andy. We have solutions to both items - it appears to be working OK. Take care of the C axis zeroing etc in the C axis component and within G12.1 - works well.
Currently using a stripped down Master branch compiled as rip - no tool changer in, etc so including all the modules again and will build and do more tests tomorrow.

Is it possible to set a value in a switchkins component using a 'param'? In other components we have done we have used a statement such as
param rw s32 extend-sensor-timeout = 5000
in the component .comp file, and then set the actual  required value in the hal file using:
setp jntoolchanger.extend-sensor-timeout 1000.

When I try do the equivalent in my kinematics component, and do the halcompile I get the following error.  The halcompile error goes away if I do not actually use the value in the kinematics component, but then linuxCNC will not start as the link between the reference in the hal file and the actual parameter is not found.

If this way of setting a value in the kinematics component is not possible, is there another way I can achieve the same functionality?
 

 

post the file that fails (helpers are not clairvoyant)

Files attached. Last line in hal file. Parameter g54Xparam in gn_userkins.comp

added updates to clarify use of halcompile for a kinematics
module:

github.com/LinuxCNC/linuxcnc/commit/e452c3803d4
github.com/LinuxCNC/linuxcnc/commit/bbc87f960ef

$ man userkins
...
NOTES:
1 A 'dummy' pin is required to satisfy the requirements of
the halcompile utility but it is not accessible to
kinematics functions.

2 Hal pins and parameters needed in kinematics functions
(kinematicsForward(), kinematicsInverse()) must
be setup in a function (userkins_setup()) invoked
by the initial motion module call to kinematicsType().
...

Good Progress on the Lathe. The software side is about done - some refinements here and there, but in all it works well.
I have done some machining trials and the emphasis now shifts to the mechanics, setting all tool offsets correctly, getting the live tool centre height spot on with spindle height, else edges such as those of the U shapes in the photos end up offset - the X (G54) offset for the live tool is critical and has a huge effect when machining on the stock face where the live tool centre approaches the lathe spindle centre. At that point there are large C axis Theta changes for very small X axis changes. For the U, when C is near 90deg, incorrect X offsets result in bowed cut lines, etc.  My X axis home sensor - a Hall effect sensor, is inadequate - repeated home to a fixed point shows up to 0.2mm variations, so a new home sensor is needed.
The C axis encoder - a magnetic encoder, is also poor - there seems to be a nonlinearity in the pulse output train, as though the excitation magnet is not rotating about its centre. Also, the encoder provide 1024 pulses ( 4096 edges) which is 0.08deg - that with a 3 edge deadband and a 1 edge repeatability gives around 0.3deg accuracy,, which is not great for a C axis. Looking for a 2000pulse Optical encoder now...

This shows the error due to incorrect tool height - to low by 0.2mm
 

This bulge is due  to the X offset (G54) being 0.21mm to much
 

Same as above, but without the yellow lines
 

After setting tool height and X offset almost correct..