From dc79314b8faac111b7831177021ae9c1ddf0ed8f Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Thu, 13 Apr 2023 08:22:34 +0200
Subject: [PATCH] Another ~50B down

---
 src/modules/idler.cpp    | 4 ++--
 src/modules/selector.cpp | 9 +++++++--
 src/modules/selector.h   | 1 +
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 64c67fa..9dcb78d 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -21,7 +21,7 @@ void Idler::PrepareMoveToPlannedSlot() {
 
 void Idler::PlanHomingMoveForward() {
     mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::IdlerOffsetFromHome));
-    axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
+    axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::unitToAxisUnit<mm::I_pos_t>(config::IdlerOffsetFromHome));
     mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght * 2),
         mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerHomingFeedrate_deg_s()));
     dbg_logic_P(PSTR("Plan Homing Idler Forward"));
@@ -30,7 +30,7 @@ void Idler::PlanHomingMoveForward() {
 void Idler::PlanHomingMoveBack() {
     // we expect that we are at the front end of the axis, set the expected axis' position
     mm::motion.SetPosition(mm::Idler, mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght));
-    axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>());
+    axisStart = mm::axisUnitToTruncatedUnit<config::U_deg>(mm::unitToAxisUnit<mm::I_pos_t>(config::idlerLimits.lenght));
     mm::motion.PlanMove<mm::Idler>(mm::unitToAxisUnit<mm::I_pos_t>(-config::idlerLimits.lenght * 2),
         mm::unitToAxisUnit<mm::I_speed_t>(mg::globals.IdlerHomingFeedrate_deg_s()));
     dbg_logic_P(PSTR("Plan Homing Idler Back"));
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index 2e1ebad..731cbe6 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -27,7 +27,7 @@ void Selector::PlanHomingMoveForward() {
 void Selector::PlanHomingMoveBack() {
     // we expect that we are at the front end of the axis, set the expected axis' position
     mm::motion.SetPosition(mm::Selector, 0);
-    axisStart = mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
+    axisStart = 0;
     mm::motion.PlanMove<mm::Selector>(mm::unitToAxisUnit<mm::S_pos_t>(config::selectorLimits.lenght * 2),
         mm::unitToAxisUnit<mm::S_speed_t>(mg::globals.SelectorHomingFeedrate_mm_s()));
     dbg_logic_P(PSTR("Plan Homing Selector Back"));
@@ -35,7 +35,7 @@ void Selector::PlanHomingMoveBack() {
 
 bool Selector::FinishHomingAndPlanMoveToParkPos() {
     // check the axis' length
-    if (AxisDistance(mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>())) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
+    if (AxisDistance(CurrentPosition_mm()) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
         return false; // we couldn't home correctly, we cannot set the Selector's position
     }
 
@@ -54,6 +54,11 @@ void Selector::FinishMove() {
     mm::motion.Disable(mm::Selector); // turn off selector motor's power every time
 }
 
+// for some reason, the same principle doesn't save code size in the Idler
+int32_t __attribute__((noinline)) Selector::CurrentPosition_mm() const {
+    return mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>());
+}
+
 Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
     if (state == Moving) {
         dbg_logic_P(PSTR("Moving --> Selector refused"));
diff --git a/src/modules/selector.h b/src/modules/selector.h
index 0fd247c..2ba8cf5 100644
--- a/src/modules/selector.h
+++ b/src/modules/selector.h
@@ -49,6 +49,7 @@ protected:
     virtual void FinishMove() override;
 
 private:
+    int32_t CurrentPosition_mm() const;
 };
 
 /// The one and only instance of Selector in the FW