home in bus interrupt

firmware/stepper-drop/src/main.cpp

@@ -119,8 +119,6 @@ void loop() {
   osapLoop();
   stepper_hw->dacRefresh();
   limitHit() ? ERRLIGHT_ON : ERRLIGHT_OFF;
-  // home statemachine 
-  if(getHomeState() != HOMESTATE_NONE) runHomingRoutine();
 } // end loop 
 
 // -------------------------------------------------------- BUS INTERRUPT / STEP 
@@ -138,10 +136,14 @@ void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
 }
 
 void ucBusDrop_onRxISR(void){
+  // if we're currently homing the motor, bail 
+  // home statemachine 
+  if(getHomeState() != HOMESTATE_NONE){
+    runHomingRoutine();
+    return;
+  }
     // if we dont' have valid steps, bail 
   if(!stepValid) return;
-  // if we're currently homing the motor, bail 
-  if(getHomeState() != HOMESTATE_NONE) return;
   // extract our step mask
   stepMask = 0b00000011 & (stepCache[cachePtr] >> (axisPick * 2));
   // mask -> step api:

osape-d51 @ f33baa5f

-Subproject commit 53c513f461e43ac61d13d0111127b3f174fef466
+Subproject commit f33baa5ff96067f3474518abdd5f7d44712c6121