From c090f96a2e1c79b4a11dc44548345436cb844116 Mon Sep 17 00:00:00 2001
From: Mitch Bradley <wmb@firmworks.com>
Date: Thu, 1 Jul 2021 22:37:58 -1000
Subject: [PATCH] Homing cycle 0 means not homed with home-all, but $HA would
 work

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

diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index eb3981c4..e3699605 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -392,7 +392,7 @@ void limits_run_homing_cycles(AxisMask axis_mask) {
         // Run all homing cycles
         bool someAxisHomed = false;
 
-        for (int cycle = 0; cycle < MAX_N_AXIS; cycle++) {
+        for (int cycle = 1; cycle <= MAX_N_AXIS; cycle++) {
             // Set axis_mask to the axes that home on this cycle
             axis_mask   = 0;
             auto n_axis = config->_axes->_numberAxis;
diff --git a/Grbl_Esp32/src/Machine/Homing.h b/Grbl_Esp32/src/Machine/Homing.h
index d0a633e0..9768bae9 100644
--- a/Grbl_Esp32/src/Machine/Homing.h
+++ b/Grbl_Esp32/src/Machine/Homing.h
@@ -25,6 +25,8 @@ namespace Machine {
     public:
         Homing() = default;
 
+        // The homing cycles are 1,2,3 etc.  0 means not homed as part of home-all,
+        // but you can still home it manually with e.g. $HA
         int   _cycle             = -1;  // what homing cycle does this axis home on?
         bool  _square            = false;
         bool  _positiveDirection = true;
@@ -37,7 +39,7 @@ namespace Machine {
         float _locate_scaler     = 1.0f;
 
         // Configuration system helpers:
-        void validate() const override { Assert(_cycle >= 1, "Cycle has to be defined as >= 1 for homing sequence."); }
+        void validate() const override { Assert(_cycle >= 0, "Homing cycle must be defined"); }
 
         void group(Configuration::HandlerBase& handler) override {
             handler.item("cycle", _cycle);