From d85238cc9b70abc94fd4f07e720f8090468d383c Mon Sep 17 00:00:00 2001
From: Sonny Jeon <chamnit@gmail.com>
Date: Sun, 18 Nov 2012 19:52:16 -0700
Subject: [PATCH] Homing search sequence now compile-time option. New
 defaults.h file. Tidying up.

- The homing sequence is now a compile-time option, where a user can
choose which axes(s) move in sequence during the search phase. Up to 3
sequences. Works with the locating phase and the pull-off maneuver.

- New defaults.h file to store user generated default settings for
different machines. Mainly to be used as a central repo, but each set
may be select to be compiled in as a config.h define.
---
 config.h         |  48 ++++++++-----------
 defaults.h       | 122 +++++++++++++++++++++++++++++++++++++++++++++++
 gcode.c          |  16 ++++---
 limits.c         |  56 +++++++++++++---------
 motion_control.c |  66 ++++++++++++++-----------
 nuts_bolts.h     |   1 +
 6 files changed, 224 insertions(+), 85 deletions(-)
 create mode 100644 defaults.h

diff --git a/config.h b/config.h
index b193850..c0bffa4 100755
--- a/config.h
+++ b/config.h
@@ -24,6 +24,10 @@
 
 // IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
 
+// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
+#define DEFAULTS_GENERIC
+
+// Serial baud rate
 #define BAUD_RATE 9600
 
 // Define pin-assignments
@@ -90,34 +94,6 @@
 #define PINOUT_PCMSK     PCMSK1 // Pin change interrupt register
 #define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
 
-
-// Default settings (used when resetting eeprom-settings)
-// TODO: Begin to fill these out for various as-built machines, i.e. config_sherline5400.h
-#define MICROSTEPS 4
-#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS)
-#define DEFAULT_Y_STEPS_PER_MM (94.488188976378*MICROSTEPS)
-#define DEFAULT_Z_STEPS_PER_MM (94.488188976378*MICROSTEPS)
-#define DEFAULT_STEP_PULSE_MICROSECONDS 10
-#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
-#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
-#define DEFAULT_FEEDRATE 250.0
-#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE*60*60/10.0) // mm/min^2
-#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
-#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
-#define DEFAULT_REPORT_INCHES 0 // false
-#define DEFAULT_AUTO_START 1 // true
-#define DEFAULT_INVERT_ST_ENABLE 0 // false
-#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-#define DEFAULT_HOMING_ENABLE 0  // false
-#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
-#define DEFAULT_HOMING_FEEDRATE 25 // mm/min
-#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
-#define DEFAULT_HOMING_PULLOFF 1 // mm
-#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
-#define DEFAULT_DECIMAL_PLACES 3
-#define DEFAULT_N_ARC_CORRECTION 25
-
 // Define runtime command special characters. These characters are 'picked-off' directly from the
 // serial read data stream and are not passed to the grbl line execution parser. Select characters
 // that do not and must not exist in the streamed g-code program. ASCII control characters may be 
@@ -170,10 +146,24 @@
 // just moves them all at 100% speed.
 #define HOMING_RATE_ADJUST // Comment to disable
 
+// Define the homing cycle search patterns with bitmasks. The homing cycle first performs a search
+// to engage the limit switches. HOMING_SEARCH_CYCLE_x are executed in order starting with suffix 0 
+// and searches the enabled axes in the bitmask. This allows for users with non-standard cartesian 
+// machines, such as a lathe (x then z), to configure the homing cycle behavior to their needs. 
+// Search cycle 0 is required, but cycles 1 and 2 are both optional and may be commented to disable.
+// After the search cycle, homing then performs a series of locating about the limit switches to hone
+// in on machine zero, followed by a pull-off maneuver. HOMING_LOCATE_CYCLE governs these final moves,
+// and this mask must contain all axes in the search.
+// NOTE: Later versions may have this installed in settings.
+#define HOMING_SEARCH_CYCLE_0 (1<<Z_AXIS)                // First move Z to clear workspace.
+#define HOMING_SEARCH_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // Then move X,Y at the same time.
+// #define HOMING_SEARCH_CYCLE_2                         // Uncomment and add axes mask to enable
+#define HOMING_LOCATE_CYCLE   ((1<<X_AXIS)|(1<<Y_AXIS)|(1<<Z_AXIS)) // Must contain ALL search axes
+
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or 
 // greater.
-#define N_HOMING_CYCLE 2 // Integer (1-128)
+#define N_HOMING_LOCATE_CYCLE 2 // Integer (1-128)
 
 // Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
 // and addresses are defined in settings.h. With the current settings, up to 5 startup blocks may
diff --git a/defaults.h b/defaults.h
new file mode 100644
index 0000000..4fbd580
--- /dev/null
+++ b/defaults.h
@@ -0,0 +1,122 @@
+/*
+  defaults.h - defaults settings configuration file
+  Part of Grbl
+
+  Copyright (c) 2012 Sungeun K. Jeon
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* The defaults.h file serves as a central default settings file for different machine
+   types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
+   here are supplied by users, so your results may vary. However, this should give you
+   a good starting point as you get to know your machine and tweak the settings for your
+   our nefarious needs. */
+
+#ifndef defaults_h
+#define defaults_h
+
+#ifdef DEFAULTS_GENERIC
+  // Grbl generic default settings. Should work across different machines.
+  #define DEFAULT_X_STEPS_PER_MM 250
+  #define DEFAULT_Y_STEPS_PER_MM 250
+  #define DEFAULT_Z_STEPS_PER_MM 250
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_MM_PER_ARC_SEGMENT 0.1
+  #define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
+  #define DEFAULT_FEEDRATE 250.0
+  #define DEFAULT_ACCELERATION 10*60*60 // 10 mm/sec^2
+  #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
+  #define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
+  #define DEFAULT_REPORT_INCHES 0 // false
+  #define DEFAULT_AUTO_START 1 // true
+  #define DEFAULT_INVERT_ST_ENABLE 0 // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+  #define DEFAULT_HOMING_ENABLE 0  // false
+  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+  #define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
+  #define DEFAULT_DECIMAL_PLACES 3
+  #define DEFAULT_N_ARC_CORRECTION 25
+#endif
+
+#ifdef DEFAULTS_SHERLINE_5400
+  // Description: Sherline 5400 mill with three NEMA 23 185 oz-in stepper motors, driven by
+  // three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.
+  #define MICROSTEPS 4
+  #define STEPS_PER_REV 200.0
+  #define MM_PER_REV (0.050*MM_PER_INCH)) // 0.050 inch/rev leadscrew
+  #define DEFAULT_X_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
+  #define DEFAULT_Y_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
+  #define DEFAULT_Z_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV)
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_MM_PER_ARC_SEGMENT 0.1
+  #define DEFAULT_RAPID_FEEDRATE 635.0 // mm/min (25ipm)
+  #define DEFAULT_FEEDRATE 254.0 // mm/min (10ipm)
+  #define DEFAULT_ACCELERATION 50.0*60*60 // 50 mm/sec^2
+  #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
+  #define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
+  #define DEFAULT_REPORT_INCHES 1 // false
+  #define DEFAULT_AUTO_START 1 // true
+  #define DEFAULT_INVERT_ST_ENABLE 0 // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+  #define DEFAULT_HOMING_ENABLE 0  // false
+  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+  #define DEFAULT_HOMING_RAPID_FEEDRATE 254.0 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
+  #define DEFAULT_DECIMAL_PLACES 3
+  #define DEFAULT_N_ARC_CORRECTION 25
+#endif
+
+#ifdef DEFAULTS_SHAPEOKO
+  // Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
+  // grblShield with a 24V, 4.2A power supply.
+  #define MICROSTEPS_XY 8
+  #define STEP_REVS_XY 400
+  #define MM_PER_REV_XY (0.08*18*MM_PER_INCH) // 0.08 in belt pitch, 18 pulley teeth
+  #define MICROSTEPS_Z 2
+  #define STEP_REVS_Z 400
+  #define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew
+  #define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
+  #define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
+  #define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_MM_PER_ARC_SEGMENT 0.1
+  #define DEFAULT_RAPID_FEEDRATE 1000.0 // mm/min
+  #define DEFAULT_FEEDRATE 250.0
+  #define DEFAULT_ACCELERATION 15.0*60*60 // 15 mm/sec^2
+  #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
+  #define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
+  #define DEFAULT_REPORT_INCHES 0 // false
+  #define DEFAULT_AUTO_START 1 // true
+  #define DEFAULT_INVERT_ST_ENABLE 0 // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+  #define DEFAULT_HOMING_ENABLE 0  // false
+  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+  #define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
+  #define DEFAULT_HOMING_FEEDRATE 25 // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 1 // mm
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-255)
+  #define DEFAULT_DECIMAL_PLACES 3
+  #define DEFAULT_N_ARC_CORRECTION 25
+#endif
+
+#endif
diff --git a/gcode.c b/gcode.c
index d9de80e..7c6d17d 100755
--- a/gcode.c
+++ b/gcode.c
@@ -250,14 +250,16 @@ uint8_t gc_execute_line(char *line)
   // ([F]: Set feed and seek rates.)
   // TODO: Seek rates can change depending on the direction and maximum speeds of each axes. When
   // max axis speed is installed, the calculation can be performed here, or maybe in the planner.
+    
+  if (sys.state != STATE_CHECK_MODE) { 
+    //  ([M6]: Tool change should be executed here.)
+
+    // [M3,M4,M5]: Update spindle state
+    spindle_run(gc.spindle_direction);
   
-  //  ([M6]: Tool change should be executed here.)
-  
-  // [M3,M4,M5]: Update spindle state
-  if (sys.state != STATE_CHECK_MODE) { spindle_run(gc.spindle_direction); }
-  
-  // [*M7,M8,M9]: Update coolant state
-  if (sys.state != STATE_CHECK_MODE) { coolant_run(gc.coolant_mode); }
+    // [*M7,M8,M9]: Update coolant state
+    coolant_run(gc.coolant_mode);
+  }
   
   // [G54,G55,...,G59]: Coordinate system selection
   if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_12)) ) { // Check if called in block
diff --git a/limits.c b/limits.c
index 2548cd4..fe5cc9b 100755
--- a/limits.c
+++ b/limits.c
@@ -39,7 +39,6 @@ void limits_init()
 {
   LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
   LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
-
   if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
     LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
     PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
@@ -88,8 +87,7 @@ ISR(LIMIT_INT_vect)
 // algorithm is written here. This also lets users hack and tune this code freely for
 // their own particular needs without affecting the rest of Grbl.
 // NOTE: Only the abort runtime command can interrupt this process.
-static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir, 
-                         bool invert_pin, float homing_rate) 
+static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, float homing_rate) 
 {
   // Determine governing axes with finest step resolution per distance for the Bresenham
   // algorithm. This solves the issue when homing multiple axes that have different 
@@ -99,10 +97,20 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
   // NOTE: For each axes enabled, the following calculations assume they physically move 
   // an equal distance over each time step until they hit a limit switch, aka dogleg.
   uint32_t steps[3];
+  uint8_t dist = 0;
   clear_vector(steps);
-  if (x_axis) { steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]); }
-  if (y_axis) { steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]); }
-  if (z_axis) { steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]); }
+  if (cycle_mask & (1<<X_AXIS)) { 
+    dist++;
+    steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]); 
+  }
+  if (cycle_mask & (1<<Y_AXIS)) { 
+    dist++;
+    steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]); 
+  }
+  if (cycle_mask & (1<<Z_AXIS)) {
+    dist++;
+    steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]);
+  }
   uint32_t step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));  
   
   // To ensure global acceleration is not exceeded, reduce the governing axes nominal rate
@@ -110,14 +118,14 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
   // used in the main planner to account for distance traveled when moving multiple axes.
   // NOTE: When axis acceleration independence is installed, this will be updated to move
   // all axes at their maximum acceleration and rate.
-  float ds = step_event_count/sqrt(x_axis+y_axis+z_axis);
+  float ds = step_event_count/sqrt(dist);
 
   // Compute the adjusted step rate change with each acceleration tick. (in step/min/acceleration_tick)
   uint32_t delta_rate = ceil( ds*settings.acceleration/(60*ACCELERATION_TICKS_PER_SECOND));
   
   #ifdef HOMING_RATE_ADJUST
     // Adjust homing rate so a multiple axes moves all at the homing rate independently.
-    homing_rate *= sqrt(x_axis+y_axis+z_axis);
+    homing_rate *= sqrt(dist); // Eq. only works if axes values are 1 or 0.
   #endif
   
   // Nominal and initial time increment per step. Nominal should always be greater then 3
@@ -153,34 +161,34 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
     
     // Set step pins by Bresenham line algorithm. If limit switch reached, disable and
     // flag for completion.
-    if (x_axis) {
+    if (cycle_mask & (1<<X_AXIS)) {
       counter_x += steps[X_AXIS];
       if (counter_x > 0) {
         if (limit_state & (1<<X_LIMIT_BIT)) { out_bits ^= (1<<X_STEP_BIT); }
-        else { x_axis = false; }
+        else { cycle_mask &= ~(1<<X_AXIS); }
         counter_x -= step_event_count;
       }
     }
-    if (y_axis) {
+    if (cycle_mask & (1<<Y_AXIS)) {
       counter_y += steps[Y_AXIS];
       if (counter_y > 0) {
         if (limit_state & (1<<Y_LIMIT_BIT)) { out_bits ^= (1<<Y_STEP_BIT); }
-        else { y_axis = false; }
+        else { cycle_mask &= ~(1<<Y_AXIS); }
         counter_y -= step_event_count;
       }
     }
-    if (z_axis) {
+    if (cycle_mask & (1<<Z_AXIS)) {
       counter_z += steps[Z_AXIS];
       if (counter_z > 0) {
         if (limit_state & (1<<Z_LIMIT_BIT)) { out_bits ^= (1<<Z_STEP_BIT); }
-        else { z_axis = false; }
+        else { cycle_mask &= ~(1<<Z_AXIS); }
         counter_z -= step_event_count;
       }
     }        
     
     // Check if we are done or for system abort
     protocol_execute_runtime();
-    if (!(x_axis || y_axis || z_axis) || sys.abort) { return; }
+    if (!(cycle_mask) || sys.abort) { return; }
         
     // Perform step.
     STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (out_bits & STEP_MASK);
@@ -210,23 +218,27 @@ void limits_go_home()
   // Enable only the steppers, not the cycle. Cycle should be inactive/complete.
   st_wake_up();
   
-  // Jog all axes toward home to engage their limit switches at faster homing seek rate.
-  // First jog z-axis to clear workspace, then jog the x and y axis.
-  homing_cycle(false, false, true, true, false, settings.homing_seek_rate);  // z-axis
-  homing_cycle(true, true, false, true, false, settings.homing_seek_rate);  // xy-axes
+  // Search to engage all axes limit switches at faster homing seek rate.
+  homing_cycle(HOMING_SEARCH_CYCLE_0, true, false, settings.homing_seek_rate);  // Search cycle 0
+  #ifdef HOMING_SEARCH_CYCLE_1
+    homing_cycle(HOMING_SEARCH_CYCLE_1, true, false, settings.homing_seek_rate);  // Search cycle 1
+  #endif
+  #ifdef HOMING_SEARCH_CYCLE_2
+    homing_cycle(HOMING_SEARCH_CYCLE_2, true, false, settings.homing_seek_rate);  // Search cycle 2
+  #endif
   delay_ms(settings.homing_debounce_delay); // Delay to debounce signal
     
   // Now in proximity of all limits. Carefully leave and approach switches in multiple cycles
   // to precisely hone in on the machine zero location. Moves at slower homing feed rate.
-  int8_t n_cycle = N_HOMING_CYCLE;
+  int8_t n_cycle = N_HOMING_LOCATE_CYCLE;
   while (n_cycle--) {
     // Leave all switches to release them. After cycles complete, this is machine zero.
-    homing_cycle(true, true, true, false, true, settings.homing_feed_rate);
+    homing_cycle(HOMING_LOCATE_CYCLE, false, true, settings.homing_feed_rate);
     delay_ms(settings.homing_debounce_delay);
     
     if (n_cycle > 0) {
       // Re-approach all switches to re-engage them.
-      homing_cycle(true, true, true, true, false, settings.homing_feed_rate);
+      homing_cycle(HOMING_LOCATE_CYCLE, true, false, settings.homing_feed_rate);
       delay_ms(settings.homing_debounce_delay);
     }
   }
diff --git a/motion_control.c b/motion_control.c
index d5ba8c9..2d595c8 100755
--- a/motion_control.c
+++ b/motion_control.c
@@ -49,6 +49,13 @@
 // backlash segment(s).
 void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
 {
+  // TODO: Perform soft limit check here. Just check if the target x,y,z values are outside the 
+  // work envelope. Should be straightforward and efficient. By placing it here, rather than in 
+  // the g-code parser, it directly picks up motions from everywhere in Grbl.
+
+  // If in check gcode mode, prevent motion by blocking planner.
+  if (sys.state == STATE_CHECK_MODE) { return; }
+    
   // TODO: Backlash compensation may be installed here. Only need direction info to track when
   // to insert a backlash line motion(s) before the intended line motion. Requires its own
   // plan_check_full_buffer() and check for system abort loop. Also for position reporting 
@@ -62,25 +69,21 @@ void mc_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rat
     protocol_execute_runtime(); // Check for any run-time commands
     if (sys.abort) { return; } // Bail, if system abort.
   } while ( plan_check_full_buffer() );
-
-  // If in check gcode mode, prevent motion by blocking planner.
-  if (sys.state != STATE_CHECK_MODE) {
-    plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
-    
-    // If idle, indicate to the system there is now a planned block in the buffer ready to cycle 
-    // start. Otherwise ignore and continue on.
-    if (!sys.state) { sys.state = STATE_QUEUED; }
-    
-    // Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During 
-    // a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start 
-    // runtime command.
-    // NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
-    // begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
-    // when the buffer is completely full and primed; auto-starting, if there was only one g-code 
-    // command sent during manual operation; or if a system is prone to buffer starvation, auto-start
-    // helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going. 
-    if (sys.auto_start) { st_cycle_start(); }
-  }
+  plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
+  
+  // If idle, indicate to the system there is now a planned block in the buffer ready to cycle 
+  // start. Otherwise ignore and continue on.
+  if (!sys.state) { sys.state = STATE_QUEUED; }
+  
+  // Auto-cycle start immediately after planner finishes. Enabled/disabled by grbl settings. During 
+  // a feed hold, auto-start is disabled momentarily until the cycle is resumed by the cycle-start 
+  // runtime command.
+  // NOTE: This is allows the user to decide to exclusively use the cycle start runtime command to
+  // begin motion or let grbl auto-start it for them. This is useful when: manually cycle-starting
+  // when the buffer is completely full and primed; auto-starting, if there was only one g-code 
+  // command sent during manual operation; or if a system is prone to buffer starvation, auto-start
+  // helps make sure it minimizes any dwelling/motion hiccups and keeps the cycle going. 
+  if (sys.auto_start) { st_cycle_start(); }
 }
 
 
@@ -223,20 +226,29 @@ void mc_go_home()
   sys_sync_current_position();
   sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
   
-  // Pull-off all axes from limit switches before continuing motion. This provides some initial
-  // clearance off the switches and should also help prevent them from falsely tripping when 
-  // hard limits are enabled.
+  // Pull-off axes (that have been homed) from limit switches before continuing motion. 
+  // This provides some initial clearance off the switches and should also help prevent them 
+  // from falsely tripping when hard limits are enabled.
   int8_t x_dir, y_dir, z_dir;
-  x_dir = y_dir = z_dir = -1;
-  if (bit_istrue(settings.homing_dir_mask,bit(X_DIRECTION_BIT))) { x_dir = 1; }
-  if (bit_istrue(settings.homing_dir_mask,bit(Y_DIRECTION_BIT))) { y_dir = 1; }
-  if (bit_istrue(settings.homing_dir_mask,bit(Z_DIRECTION_BIT))) { z_dir = 1; }
+  x_dir = y_dir = z_dir = 0;
+  if (HOMING_LOCATE_CYCLE & (1<<X_AXIS)) { 
+    if (settings.homing_dir_mask & (1<<X_DIRECTION_BIT)) { x_dir = 1; }
+    else { x_dir = -1; }
+  }
+  if (HOMING_LOCATE_CYCLE & (1<<Y_AXIS)) { 
+    if (settings.homing_dir_mask & (1<<Y_DIRECTION_BIT)) { y_dir = 1; }
+    else { y_dir = -1; }
+  }
+  if (HOMING_LOCATE_CYCLE & (1<<Z_AXIS)) { 
+    if (settings.homing_dir_mask & (1<<Z_DIRECTION_BIT)) { z_dir = 1; }
+    else { z_dir = -1; }
+  }
   mc_line(x_dir*settings.homing_pulloff, y_dir*settings.homing_pulloff, 
           z_dir*settings.homing_pulloff, settings.homing_seek_rate, false);
   st_cycle_start(); // Move it. Nothing should be in the buffer except this motion. 
   plan_synchronize(); // Make sure the motion completes.
   
-  // The gcode parser position was circumvented by the pull-off maneuver, so sync position vectors.
+  // The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
   sys_sync_current_position();
 
   // If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
diff --git a/nuts_bolts.h b/nuts_bolts.h
index 316c9ce..65bdbe2 100755
--- a/nuts_bolts.h
+++ b/nuts_bolts.h
@@ -26,6 +26,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "config.h"
+#include "defaults.h"
 
 #define false 0
 #define true 1