Store distances in the TARGET strucure in micrometers for all axes.

This extends the previous commit from X to Y, Z and E.

config.default.h

@@ -64,11 +64,11 @@
 	valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
 */
 #define	STEPS_PER_M_X					320000
-#define	STEPS_PER_MM_Y				320.000
+#define	STEPS_PER_M_Y					320000
-#define	STEPS_PER_MM_Z				320.000
+#define	STEPS_PER_M_Z					320000
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				320.000
+#define	STEPS_PER_M_E					320000
 
 
 /*

config.gen3.h

@@ -61,11 +61,11 @@
 	valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
 */
 #define	STEPS_PER_M_X					320000
-#define	STEPS_PER_MM_Y				320.000
+#define	STEPS_PER_M_Y					320000
-#define	STEPS_PER_MM_Z				200.000
+#define	STEPS_PER_M_Z					200000
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				320.000
+#define	STEPS_PER_M_E					320000
 
 
 /*

config.gen6.h

@@ -66,11 +66,11 @@
 	valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
 */
 #define	STEPS_PER_M_X					(5000*8)
-#define	STEPS_PER_MM_Y				(320.000*8)
+#define	STEPS_PER_M_Y					(5000*8)
-#define	STEPS_PER_MM_Z				(200.000*8)
+#define	STEPS_PER_M_Z					(160000*8)
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				(320.000*8)
+#define	STEPS_PER_M_E					(160000*8)
 
 
 /*

config.gen7.h

@@ -69,11 +69,11 @@
 	valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
 */
 #define	STEPS_PER_M_X					40000
-#define	STEPS_PER_MM_Y				40.000
+#define	STEPS_PER_M_Y					40000
-#define	STEPS_PER_MM_Z				320.000
+#define	STEPS_PER_M_Z					320000
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				96.271
+#define	STEPS_PER_M_E					96271
 
 
 /*

config.ramps-v1.2.h

@@ -71,11 +71,11 @@
 #define MICROSTEPPING_E				4.0
 
 #define	STEPS_PER_M_X					(5023*MICROSTEPPING_X)
-#define	STEPS_PER_MM_Y				(5.023*MICROSTEPPING_Y)
+#define	STEPS_PER_M_Y					(5023*MICROSTEPPING_Y)
-#define	STEPS_PER_MM_Z				(416.699*MICROSTEPPING_Z)
+#define	STEPS_PER_M_Z					(416699*MICROSTEPPING_Z)
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				(2.759*MICROSTEPPING_E)
+#define	STEPS_PER_M_E					(2759*MICROSTEPPING_E)
 
 
 /*

config.ramps-v1.3.h

@@ -71,11 +71,11 @@
 #define MICROSTEPPING_E				4.0
 
 #define	STEPS_PER_M_X					(5023*MICROSTEPPING_X)
-#define	STEPS_PER_MM_Y				(5.023*MICROSTEPPING_Y)
+#define	STEPS_PER_M_Y					(5023*MICROSTEPPING_Y)
-#define	STEPS_PER_MM_Z				(416.699*MICROSTEPPING_Z)
+#define	STEPS_PER_M_Z					(416699*MICROSTEPPING_Z)
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				(2.759*MICROSTEPPING_E)
+#define	STEPS_PER_M_E					(2759*MICROSTEPPING_E)
 
 
 /*

config.sanguinololu-v1.1.h

@@ -70,11 +70,11 @@
 #define MICROSTEPPING_E				4.0
 
 #define	STEPS_PER_M_X					(5023*MICROSTEPPING_X)
-#define	STEPS_PER_MM_Y				(5.023*MICROSTEPPING_Y)
+#define	STEPS_PER_M_Y					(5023*MICROSTEPPING_Y)
-#define	STEPS_PER_MM_Z				(416.699*MICROSTEPPING_Z)
+#define	STEPS_PER_M_Z					(416699*MICROSTEPPING_Z)
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				(2.759*MICROSTEPPING_E)
+#define	STEPS_PER_M_E					(2759*MICROSTEPPING_E)
 
 
 /*

config.sanguinololu-v1.2.h

@@ -70,11 +70,11 @@
 #define MICROSTEPPING_E				4.0
 
 #define	STEPS_PER_M_X					(5023*MICROSTEPPING_X)
-#define	STEPS_PER_MM_Y				(5.023*MICROSTEPPING_Y)
+#define	STEPS_PER_M_Y					(5023*MICROSTEPPING_Y)
-#define	STEPS_PER_MM_Z				(416.699*MICROSTEPPING_Z)
+#define	STEPS_PER_M_Z					(416699*MICROSTEPPING_Z)
 
 /// http://blog.arcol.hu/?p=157 may help with this one
-#define	STEPS_PER_MM_E				(2.759*MICROSTEPPING_E)
+#define	STEPS_PER_M_E					(2759*MICROSTEPPING_E)
 
 
 /*

dda.c

@@ -24,8 +24,8 @@
 	#include	"heater.h"
 #endif
 
-#ifdef STEPS_PER_MM_X
+#ifdef STEPS_PER_MM_Y
-#error STEPS_PER_MM_X is gone, review your config.h and use STEPS_PER_M_X
+#error STEPS_PER_MM_Y is gone, review your config.h and use STEPS_PER_M_Y
 #endif
 
 /// step timeout
@@ -192,6 +192,9 @@ void dda_init(void) {
 */
 void dda_new_startpoint(void) {
 	um_to_steps_x(startpoint_steps.X, startpoint.X);
+	um_to_steps_y(startpoint_steps.Y, startpoint.Y);
+	um_to_steps_z(startpoint_steps.Z, startpoint.Z);
+	um_to_steps_e(startpoint_steps.E, startpoint.E);
 }
 
 /*! CREATE a dda given current_position and a target, save to passed location so we can write directly into the queue
@@ -207,7 +210,7 @@ void dda_new_startpoint(void) {
 	This algorithm is probably the main limiting factor to print speed in terms of firmware limitations
 */
 void dda_create(DDA *dda, TARGET *target) {
-	uint32_t	steps, x_delta_um /*, y_delta_um, z_delta_um, e_delta_um */;
+	uint32_t	steps, x_delta_um, y_delta_um, z_delta_um, e_delta_um;
 	uint32_t	distance, c_limit, c_limit_calc;
 
 	// initialise DDA to a known state
@@ -220,14 +223,22 @@ void dda_create(DDA *dda, TARGET *target) {
 	memcpy(&(dda->endpoint), target, sizeof(TARGET));
 
 	x_delta_um = (uint32_t)labs(target->X - startpoint.X);
+	y_delta_um = (uint32_t)labs(target->Y - startpoint.Y);
+	z_delta_um = (uint32_t)labs(target->Z - startpoint.Z);
+	e_delta_um = (uint32_t)labs(target->E - startpoint.E);
 
 	um_to_steps_x(steps, target->X);
 	dda->x_delta = labs(steps - startpoint_steps.X);
 	startpoint_steps.X = steps;
-
+	um_to_steps_y(steps, target->Y);
-	dda->y_delta = labs(target->Y - startpoint.Y);
+	dda->y_delta = labs(steps - startpoint_steps.Y);
-	dda->z_delta = labs(target->Z - startpoint.Z);
+	startpoint_steps.Y = steps;
-	dda->e_delta = labs(target->E - startpoint.E);
+	um_to_steps_z(steps, target->Z);
+	dda->z_delta = labs(steps - startpoint_steps.Z);
+	startpoint_steps.Z = steps;
+	um_to_steps_e(steps, target->E);
+	dda->e_delta = labs(steps - startpoint_steps.E);
+	startpoint_steps.E = steps;
 
 	dda->x_direction = (target->X >= startpoint.X)?1:0;
 	dda->y_direction = (target->Y >= startpoint.Y)?1:0;
@@ -262,15 +273,15 @@ void dda_create(DDA *dda, TARGET *target) {
 		e_enable();
 
 		// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
-		if (dda->z_delta == 0)
+		if (z_delta_um == 0)
-			distance = approx_distance(x_delta_um, dda->y_delta * UM_PER_STEP_Y);
+			distance = approx_distance(x_delta_um, y_delta_um);
-		else if (dda->x_delta == 0 && dda->y_delta == 0)
+		else if (x_delta_um == 0 && y_delta_um == 0)
-			distance = dda->z_delta * UM_PER_STEP_Z;
+			distance = z_delta_um;
 		else
-			distance = approx_distance_3(x_delta_um, dda->y_delta * UM_PER_STEP_Y, dda->z_delta * UM_PER_STEP_Z);
+			distance = approx_distance_3(x_delta_um, y_delta_um, z_delta_um);
 
 		if (distance < 2)
-			distance = dda->e_delta * UM_PER_STEP_E;
+			distance = e_delta_um;
 
 		if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
 			sersendf_P(PSTR(",ds:%lu"), distance);
@@ -305,15 +316,15 @@ void dda_create(DDA *dda, TARGET *target) {
 		if (c_limit_calc > c_limit)
 			c_limit = c_limit_calc;
 		// check Y axis
-		c_limit_calc = ( (dda->y_delta * (UM_PER_STEP_Y * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8;
+		c_limit_calc = ((y_delta_um * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8;
 		if (c_limit_calc > c_limit)
 			c_limit = c_limit_calc;
 		// check Z axis
-		c_limit_calc = ( (dda->z_delta * (UM_PER_STEP_Z * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
+		c_limit_calc = ((z_delta_um * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
 		if (c_limit_calc > c_limit)
 			c_limit = c_limit_calc;
 		// check E axis
-		c_limit_calc = ( (dda->e_delta * (UM_PER_STEP_E * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
+		c_limit_calc = ((e_delta_um * 2400L) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
 		if (c_limit_calc > c_limit)
 			c_limit = c_limit_calc;
 
@@ -735,22 +746,28 @@ void update_current_position() {
 			                     move_state.x_steps * 1000 / ((STEPS_PER_M_X + 500) / 1000);
 
 		if (dda->y_direction)
-			current_position.Y = dda->endpoint.Y - move_state.y_steps;
+			current_position.Y = dda->endpoint.Y -
+			                     move_state.y_steps * 1000 / ((STEPS_PER_M_Y + 500) / 1000);
 		else
-			current_position.Y = dda->endpoint.Y + move_state.y_steps;
+			current_position.Y = dda->endpoint.Y +
+			                     move_state.y_steps * 1000 / ((STEPS_PER_M_Y + 500) / 1000);
 
 		if (dda->z_direction)
-			current_position.Z = dda->endpoint.Z - move_state.z_steps;
+			current_position.Z = dda->endpoint.Z -
+			                     move_state.z_steps * 1000 / ((STEPS_PER_M_Z + 500) / 1000);
 		else
-			current_position.Z = dda->endpoint.Z + move_state.z_steps;
+			current_position.Z = dda->endpoint.Z +
+			                     move_state.z_steps * 1000 / ((STEPS_PER_M_Z + 500) / 1000);
 
 		#ifndef E_ABSOLUTE
-			current_position.E = move_state.e_steps;
+			current_position.E = move_state.e_steps * 1000 / ((STEPS_PER_M_E + 500) / 1000);
 		#else
-			if (dda->e_direction)
+			if (dda->z_direction)
-				current_position.E = dda->endpoint.E - move_state.e_steps;
+				current_position.E = dda->endpoint.E -
+				                     move_state.e_steps * 1000 / ((STEPS_PER_M_E + 500) / 1000);
 			else
-				current_position.E = dda->endpoint.E + move_state.e_steps;
+				current_position.E = dda->endpoint.E +
+				                     move_state.e_steps * 1000 / ((STEPS_PER_M_E + 500) / 1000);
 		#endif
 
 		// current_position.F is updated in dda_start()

dda.h

@@ -28,13 +28,57 @@
 		do { dest = (src * (STEPS_PER_M_X / 1L) + 500000L) / 1000000L; } while (0)
 #endif
 
-// Used in distance calculation during DDA setup
+#if	STEPS_PER_M_Y >= 4096000
-/// micrometers per step Y
+	#define	um_to_steps_y(dest, src) \
-#define	UM_PER_STEP_Y		1000L / ((uint32_t) STEPS_PER_MM_Y)
+		do { dest = (src * (STEPS_PER_M_Y / 10000L) + 50L) / 100L; } while (0)
-/// micrometers per step Z
+#elif	STEPS_PER_M_Y >= 409600
-#define	UM_PER_STEP_Z		1000L / ((uint32_t) STEPS_PER_MM_Z)
+	#define	um_to_steps_y(dest, src) \
-/// micrometers per step E
+		do { dest = (src * (STEPS_PER_M_Y / 1000L) + 500L) / 1000L; } while (0)
-#define	UM_PER_STEP_E		1000L / ((uint32_t) STEPS_PER_MM_E)
+#elif	STEPS_PER_M_Y >= 40960
+	#define	um_to_steps_y(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Y / 100L) + 5000L) / 10000L; } while (0)
+#elif	STEPS_PER_M_Y >= 4096
+	#define	um_to_steps_y(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Y / 10L) + 50000L) / 100000L; } while (0)
+#else
+	#define	um_to_steps_y(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Y / 1L) + 500000L) / 1000000L; } while (0)
+#endif
+
+#if	STEPS_PER_M_Z >= 4096000
+	#define	um_to_steps_z(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Z / 10000L) + 50L) / 100L; } while (0)
+#elif	STEPS_PER_M_Z >= 409600
+	#define	um_to_steps_z(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Z / 1000L) + 500L) / 1000L; } while (0)
+#elif	STEPS_PER_M_Z >= 40960
+	#define	um_to_steps_z(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Z / 100L) + 5000L) / 10000L; } while (0)
+#elif	STEPS_PER_M_Z >= 4096
+	#define	um_to_steps_z(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Z / 10L) + 50000L) / 100000L; } while (0)
+#else
+	#define	um_to_steps_z(dest, src) \
+		do { dest = (src * (STEPS_PER_M_Z / 1L) + 500000L) / 1000000L; } while (0)
+#endif
+
+#if	STEPS_PER_M_E >= 4096000
+	#define	um_to_steps_e(dest, src) \
+		do { dest = (src * (STEPS_PER_M_E / 10000L) + 50L) / 100L; } while (0)
+#elif	STEPS_PER_M_E >= 409600
+	#define	um_to_steps_e(dest, src) \
+		do { dest = (src * (STEPS_PER_M_E / 1000L) + 500L) / 1000L; } while (0)
+#elif	STEPS_PER_M_E >= 40960
+	#define	um_to_steps_e(dest, src) \
+		do { dest = (src * (STEPS_PER_M_E / 100L) + 5000L) / 10000L; } while (0)
+#elif	STEPS_PER_M_E >= 4096
+	#define	um_to_steps_e(dest, src) \
+		do { dest = (src * (STEPS_PER_M_E / 10L) + 50000L) / 100000L; } while (0)
+#else
+	#define	um_to_steps_e(dest, src) \
+		do { dest = (src * (STEPS_PER_M_E / 1L) + 500000L) / 1000000L; } while (0)
+#endif
+
 
 #ifdef ACCELERATION_REPRAP
 	#ifdef ACCELERATION_RAMPING

gcode_parse.c

@@ -15,32 +15,6 @@
 
 #include	"gcode_process.h"
 
-/*
-	Switch user friendly values to coding friendly values
-
-	This also affects the possible build volume. We have +/- 2^31 numbers available and as we internally measure position in steps and use a precision factor of 1000, this translates into a possible range of
-
-		2^31 mm / STEPS_PER_MM_x / 1000
-
-	for each axis. For a M6 threaded rod driven machine and 1/16 microstepping this evaluates to
-
-		2^31 mm / 200 / 16 / 1000 = 671 mm,
-
-	which is about the worst case we have. All other machines have a bigger build volume.
-*/
-
-#define	STEPS_PER_M_Y			((uint32_t) ((STEPS_PER_MM_Y * 1000.0) + 0.5))
-#define	STEPS_PER_M_Z			((uint32_t) ((STEPS_PER_MM_Z * 1000.0) + 0.5))
-#define	STEPS_PER_M_E			((uint32_t) ((STEPS_PER_MM_E * 1000.0) + 0.5))
-
-/*
-	mm -> inch conversion
-*/
-
-#define	STEPS_PER_IN_Y		((uint32_t) ((25.4 * STEPS_PER_MM_Y) + 0.5))
-#define	STEPS_PER_IN_Z		((uint32_t) ((25.4 * STEPS_PER_MM_Z) + 0.5))
-#define	STEPS_PER_IN_E		((uint32_t) ((25.4 * STEPS_PER_MM_E) + 0.5))
-
 /// current or previous gcode word
 /// for working out what to do with data just received
 uint8_t last_field = 0;
@@ -145,25 +119,25 @@ void gcode_parse_char(uint8_t c) {
 					break;
 				case 'Y':
 					if (next_target.option_inches)
-						next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_IN_Y, 0);
+						next_target.target.Y = decfloat_to_int(&read_digit, 25400, 1);
 					else
-						next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_M_Y, 1);
+						next_target.target.Y = decfloat_to_int(&read_digit, 1000, 0);
 					if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
 						serwrite_int32(next_target.target.Y);
 					break;
 				case 'Z':
 					if (next_target.option_inches)
-						next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_IN_Z, 0);
+						next_target.target.Z = decfloat_to_int(&read_digit, 25400, 1);
 					else
-						next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_M_Z, 1);
+						next_target.target.Z = decfloat_to_int(&read_digit, 1000, 0);
 					if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
 						serwrite_int32(next_target.target.Z);
 					break;
 				case 'E':
 					if (next_target.option_inches)
-						next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_IN_E, 0);
+						next_target.target.E = decfloat_to_int(&read_digit, 25400, 1);
 					else
-						next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_M_E, 1);
+						next_target.target.E = decfloat_to_int(&read_digit, 1000, 0);
 					if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
 						serwrite_uint32(next_target.target.E);
 					break;

gcode_process.c

@@ -82,24 +82,24 @@ void process_gcode_command() {
 			next_target.target.X = X_MIN * 1000.;
 	#endif
 	#ifdef	X_MAX
-		if (next_target.target.X > X_MAX * 1000.))
+		if (next_target.target.X > X_MAX * 1000.)
 			next_target.target.X = X_MAX * 1000.;
 	#endif
 	#ifdef	Y_MIN
-		if (next_target.target.Y < (Y_MIN * STEPS_PER_MM_Y))
+		if (next_target.target.Y < Y_MIN * 1000.)
-			next_target.target.Y = Y_MIN * STEPS_PER_MM_Y;
+			next_target.target.Y = Y_MIN * 1000.;
 	#endif
 	#ifdef	Y_MAX
-		if (next_target.target.Y > (Y_MAX * STEPS_PER_MM_Y))
+		if (next_target.target.Y > Y_MAX * 1000.)
-			next_target.target.Y = Y_MAX * STEPS_PER_MM_Y;
+			next_target.target.Y = Y_MAX * 1000.;
 	#endif
 	#ifdef	Z_MIN
-		if (next_target.target.Z < (Z_MIN * STEPS_PER_MM_Z))
+		if (next_target.target.Z < Z_MIN * 1000.)
-			next_target.target.Z = Z_MIN * STEPS_PER_MM_Z;
+			next_target.target.Z = Z_MIN * 1000.;
 	#endif
 	#ifdef	Z_MAX
-		if (next_target.target.Z > (Z_MAX * STEPS_PER_MM_Z))
+		if (next_target.target.Z > Z_MAX * 1000.)
-			next_target.target.Z = Z_MAX * STEPS_PER_MM_Z;
+			next_target.target.Z = Z_MAX * 1000.;
 	#endif
 
 
@@ -578,7 +578,7 @@ void process_gcode_command() {
 					queue_wait();
 				#endif
 				update_current_position();
-				sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X, current_position.Y * ((int32_t) UM_PER_STEP_Y), current_position.Z * ((int32_t) UM_PER_STEP_Z), current_position.E * ((int32_t) UM_PER_STEP_E), current_position.F);
+				sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);
 				// newline is sent from gcode_parse after we return
 				break;
 

home.c

@@ -92,7 +92,7 @@ void home_x_positive() {
 		// set X home
 		queue_wait();
 		// set position to MAX
-		startpoint.X = next_target.target.X = (int32_t)(X_MAX * 1000.0);
+		startpoint.X = next_target.target.X = (int32_t)(X_MAX * 1000.);
 		dda_new_startpoint();
 		// go to zero
 		t.X = 0;
@@ -106,7 +106,7 @@ void home_y_negative() {
 	#if defined Y_MIN_PIN
 		TARGET t = startpoint;
 
-		t.Y = -1000*STEPS_PER_MM_Y;
+		t.Y = -1000000;
 		#ifdef SLOW_HOMING
 			// hit home soft
 			t.F = SEARCH_FEEDRATE_Y;
@@ -118,7 +118,7 @@ void home_y_negative() {
 
 		#ifndef SLOW_HOMING
 			// back off slowly
-			t.Y = +1000*STEPS_PER_MM_Y;
+			t.Y = +1000000;
 			t.F = SEARCH_FEEDRATE_Y;
 			enqueue_home(&t, 0x2, 0);
 		#endif
@@ -126,7 +126,7 @@ void home_y_negative() {
 		// set Y home
 		queue_wait();
 		#ifdef	Y_MIN
-			startpoint.Y = next_target.target.Y = (int32_t)(Y_MIN * STEPS_PER_MM_Y);
+			startpoint.Y = next_target.target.Y = (int32_t)(Y_MIN * 1000.);
 		#else
 			startpoint.Y = next_target.target.Y = 0;
 		#endif
@@ -142,7 +142,7 @@ void home_y_positive() {
 	#if defined Y_MAX_PIN && defined Y_MAX
 		TARGET t = startpoint;
 
-		t.Y = +1000*STEPS_PER_MM_Y;
+		t.Y = +1000000;
 		#ifdef SLOW_HOMING
 			// hit home soft
 			t.F = SEARCH_FEEDRATE_Y;
@@ -154,7 +154,7 @@ void home_y_positive() {
 
 		#ifndef SLOW_HOMING
 			// back off slowly
-			t.X = -1000*STEPS_PER_MM_Y;
+			t.X = -1000000;
 			t.F = SEARCH_FEEDRATE_Y;
 			enqueue_home(&t, 0x2, 0);
 		#endif
@@ -162,7 +162,7 @@ void home_y_positive() {
 		// set Y home
 		queue_wait();
 		// set position to MAX
-		startpoint.Y = next_target.target.Y = (int32_t)(Y_MAX * STEPS_PER_MM_Y);
+		startpoint.Y = next_target.target.Y = (int32_t)(Y_MAX * 1000.);
 		new_startpoint();
 		// go to zero
 		t.Y = 0;
@@ -176,7 +176,7 @@ void home_z_negative() {
 	#if defined Z_MIN_PIN
 		TARGET t = startpoint;
 
-		t.Z = -1000*STEPS_PER_MM_Z;
+		t.Z = -1000000;
 		#ifdef SLOW_HOMING
 			// hit home soft
 			t.F = SEARCH_FEEDRATE_Z;
@@ -188,7 +188,7 @@ void home_z_negative() {
 
 		#ifndef SLOW_HOMING
 			// back off slowly
-			t.Z = +1000*STEPS_PER_MM_Z;
+			t.Z = +1000000;
 			t.F = SEARCH_FEEDRATE_Z;
 			enqueue_home(&t, 0x4, 0);
 		#endif
@@ -196,7 +196,7 @@ void home_z_negative() {
 		// set Z home
 		queue_wait();
 		#ifdef Z_MIN
-			startpoint.Z = next_target.target.Z = (int32_t)(Z_MIN * STEPS_PER_MM_Z);
+			startpoint.Z = next_target.target.Z = (int32_t)(Z_MIN * 1000.);
 		#else
 			startpoint.Z = next_target.target.Z = 0;
 		#endif
@@ -213,7 +213,7 @@ void home_z_positive() {
 	#if defined Z_MAX_PIN && defined Z_MAX
 		TARGET t = startpoint;
 
-		t.Z = +1000*STEPS_PER_MM_Z;
+		t.Z = +1000000;
 		#ifdef SLOW_HOMING
 			// hit home soft
 			t.F = SEARCH_FEEDRATE_Z;
@@ -225,7 +225,7 @@ void home_z_positive() {
 
 		#ifndef SLOW_HOMING
 			// back off slowly
-			t.Z = -1000*STEPS_PER_MM_Z;
+			t.Z = -1000000;
 			t.F = SEARCH_FEEDRATE_Z;
 			enqueue_home(&t, 0x4, 0);
 		#endif
@@ -233,7 +233,7 @@ void home_z_positive() {
 		// set Z home
 		queue_wait();
 		// set position to MAX
-		startpoint.Z = next_target.target.Z = (int32_t)(Z_MAX * STEPS_PER_MM_Z);
+		startpoint.Z = next_target.target.Z = (int32_t)(Z_MAX * 1000.);
 		dda_new_startpoint();
 		// go to zero
 		t.Z = 0;