From b7a1546c305127ca7c7445b28f1bee3d52ff006c Mon Sep 17 00:00:00 2001
From: Mitch Bradley <wmb@firmworks.com>
Date: Fri, 2 Jul 2021 18:39:35 -1000
Subject: [PATCH] Fixed homing.  I broke it yesterday.

---
 Grbl_Esp32/src/Limits.cpp       | 21 +++++++--------------
 Grbl_Esp32/src/Machine/Homing.h |  4 ++--
 2 files changed, 9 insertions(+), 16 deletions(-)

diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index 1f86313c..f8152fbc 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -118,13 +118,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
     auto axes   = config->_axes;
     auto n_axis = axes->_numberAxis;
 
-    // Remove axes with no homing setup from cycle_mask
-    for (int axis = 0; axis < n_axis; axis++) {
-        if (bitnum_istrue(cycle_mask, axis) && axes->_axis[axis]->_homing == nullptr) {
-            debug_all("Homing is not configured for the %d axis", axes->axisName(axis));
-            bitnum_false(cycle_mask, axis);
-        }
-    }
+    cycle_mask &= homingAxes;
 
     // Initialize plan data struct for homing motion. Spindle and coolant are disabled.
 
@@ -184,6 +178,7 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
         float limitingRate = 0.0;
         int   debounce     = 0;
 
+        // Find the axis that will take the longest
         for (int axis = 0; axis < n_axis; axis++) {
             if (bitnum_isfalse(cycle_mask, axis)) {
                 continue;
@@ -217,13 +212,12 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
             // Record the axis as active
             bitnum_true(axislock, axis);
         }
-
         // Scale the target array, currently in units of time, back to positions
         // Add a small fudge factor to ensure that the limit is reached
         for (int axis = 0; axis < n_axis; axis++) {
-            auto homing = config->_axes->_axis[axis]->_homing;
-            auto scaler = approach ? homing->_seek_scaler : homing->_locate_scaler;
             if (bitnum_istrue(axislock, axis)) {
+                auto homing = config->_axes->_axis[axis]->_homing;
+                auto scaler = approach ? homing->_seek_scaler : homing->_feed_scaler;
                 target[axis] *= limitingRate * scaler;
             }
         }
@@ -241,10 +235,9 @@ static void limits_go_home(uint8_t cycle_mask, uint32_t n_locate_cycles) {
         do {
             if (approach) {
                 // Check limit state. Lock out cycle axes when they change.
-                axislock             = limits_check(axislock);
+                bit_false(axislock, limits_check(axislock));
                 sys.homing_axis_lock = axislock;
             }
-
             st_prep_buffer();  // Check and prep segment buffer. NOTE: Should take no longer than 200us.
 
             ExecAlarm alarm = limits_handle_errors(approach, cycle_mask);
@@ -490,7 +483,7 @@ void limits_run_mode() {
     }
 }
 
-bool limits_check_axis(int axis) {
+static bool limits_check_axis(int axis) {
     for (int gang_index = 0; gang_index < 2; gang_index++) {
         auto gangConfig = config->_axes->_axis[axis]->_gangs[gang_index];
         if (gangConfig->_endstops != nullptr && gangConfig->_endstops->_dual.defined()) {
@@ -510,7 +503,7 @@ AxisMask limits_check(AxisMask check_mask) {
     auto     n_axis  = config->_axes->_numberAxis;
     for (int axis = 0; axis < n_axis; axis++) {
         if (bitnum_istrue(check_mask, axis)) {
-            if (!limits_check_axis(axis)) {
+            if (limits_check_axis(axis)) {
                 bitnum_true(pinMask, axis);
             }
         }
diff --git a/Grbl_Esp32/src/Machine/Homing.h b/Grbl_Esp32/src/Machine/Homing.h
index 03a75923..6742a2bc 100644
--- a/Grbl_Esp32/src/Machine/Homing.h
+++ b/Grbl_Esp32/src/Machine/Homing.h
@@ -36,7 +36,7 @@ namespace Machine {
         float _pulloff           = 1.0f;    // mm
         int   _debounce          = 250;     // ms settling time for homing switches after motion
         float _seek_scaler       = 1.1f;    // multiplied by max travel for max homing distance on first touch
-        float _locate_scaler     = 1.0f;
+        float _feed_scaler       = 1.0f;
 
         // Configuration system helpers:
         void validate() const override { Assert(_cycle >= 0, "Homing cycle must be defined"); }
@@ -51,7 +51,7 @@ namespace Machine {
             handler.item("pulloff", _pulloff);
             handler.item("square", _square);
             handler.item("seek_scaler", _seek_scaler);
-            handler.item("locate_scaler", _locate_scaler);
+            handler.item("feed_scaler", _feed_scaler);
         }
     };
 }