From 982c4cbf7b3b27ccabf181d07c30e62d944b113e Mon Sep 17 00:00:00 2001
From: vintagepc <53943260+vintagepc@users.noreply.github.com>
Date: Thu, 21 Nov 2019 18:51:02 -0500
Subject: [PATCH] Candidate fix for homing fail hard reset

---
 Firmware/tmc2130.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 42359ba8..f64457b5 100755
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -807,15 +807,15 @@ void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_u
 	{
 		dir = tmc2130_get_inv(axis)?0:1;
 		int steps = (int)step - (int)(mscnt >> shift);
-		if (steps < 0)
-		{
-			dir ^= 1;
-			steps = -steps;
-		}
 		if (steps > static_cast<int>(cnt / 2))
 		{
 			dir ^= 1;
-			steps = cnt - steps;
+			steps = cnt - steps; // This can create a negative step value
+		}
+        if (steps < 0)
+		{
+			dir ^= 1;
+			steps = -steps;
 		}
 		cnt = steps;
 	}