fixes for reporting homing counts

Author: ashelly

counters.c

@@ -43,12 +43,12 @@ void counters_init()
 void  counters_reset(uint8_t axis)
 {
   counters.counts[axis]=0;
-  if (axis == Z_AXIS) { counter.idx=0; }
+  if (axis == Z_AXIS) { counters.idx=0; }
 }
 
 
 // Returns the counters pin state. Triggered = true.  and counters state monitor.
-uint16_t counters_get_count(uint8_t axis)
+count_t counters_get_count(uint8_t axis)
 {
   return counters.counts[axis];
 }
@@ -57,7 +57,7 @@ uint8_t counters_get_state(){
   return counters.state;
 }
 
-uint16_t counters_get_idx(){
+int16_t counters_get_idx(){
   return counters.idx;
 }
 

counters.h

@@ -21,10 +21,12 @@
 #ifndef counters_h
 #define counters_h 
 
+typedef int32_t count_t;
+
 typedef struct  counters {
-  int32_t counts[N_AXIS];
+  count_t counts[N_AXIS];
   int16_t idx; //encoder index counts
-  int16_t idx_offset; //encoder index counts
+  count_t idx_offset; //encoder index counts
   int8_t dir; //last known direction
   uint8_t state;
   uint8_t anew; //new a encode
@@ -40,9 +42,9 @@ void counters_init();
 uint8_t counters_get_state();
 
 // Returns counts for a given axis
-uint16_t counters_get_count(uint8_t axis);
+count_t counters_get_count(uint8_t axis);
 
-uint16_t counters_get_idx();
+int16_t counters_get_idx();
 
 
 void  counters_reset(uint8_t axis);

limits.c

@@ -125,6 +125,7 @@ void limits_go_home(uint8_t cycle_mask)
     }
   }
   max_travel *= HOMING_AXIS_SEARCH_SCALAR; // Ensure homing switches engaged by over-estimating max travel.
+  max_travel += settings.homing_pulloff;
   homing_rate = min_seek_rate;
 
   plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
@@ -138,10 +139,10 @@ void limits_go_home(uint8_t cycle_mask)
       if (bit_istrue(cycle_mask,bit(idx))) {
         n_active_axis++;
         axislock |= (1<<(X_STEP_BIT+idx)); //assumes axes are in bit order.
-        if ((flipped&(1<<idx))^approach) { target[idx] = plan_get_position(idx) - max_travel; }
-        else {                             target[idx] = plan_get_position(idx) + max_travel; }
+        if ((flipped&(1<<idx))^approach) { target[idx] = -max_travel; }
+        else {                             target[idx] = max_travel; }
       } 
-      else {                               target[idx] = plan_get_position(idx);  //TODO: this needs test
+      else {                               target[idx] = 0; 
       } 
     }
 
@@ -194,6 +195,7 @@ void limits_go_home(uint8_t cycle_mask)
   //force report of known position for compare to zero.
   linenumber_insert(HOMING_CYCLE_LINE_NUMBER);
   request_report_status(1);
+  protocol_execute_runtime();
 
   // The active cycle axes should now be homed and machine limits have been located. By 
   // default, grbl defines machine space as all negative, as do most CNCs. Since limit switches