diff --git a/Core/Inc/pse_stepper_planer.h b/Core/Inc/pse_stepper_planer.h
index c9b9f11..66462de 100644
--- a/Core/Inc/pse_stepper_planer.h
+++ b/Core/Inc/pse_stepper_planer.h
@@ -17,7 +17,7 @@
 void pse_sp_start_axis(pse_stepper_conf* conf);
 void pse_sp_stop_axis(pse_stepper_conf* conf);
 void pse_sp_set_dir(pse_stepper_conf* conf, int dir);
-//int pse_sp_get_dir(pse_stepper_conf* conf);
+int pse_sp_get_dir(pse_stepper_conf* conf);
 void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num);
 
 void pse_sp_start_all(pse_unit* units, int unit_num);
diff --git a/Core/Src/home_screen.c b/Core/Src/home_screen.c
index e30b85e..abd3c61 100644
--- a/Core/Src/home_screen.c
+++ b/Core/Src/home_screen.c
@@ -70,7 +70,7 @@ static void unit_home_handler(lv_event_t * e){
 		pse_stepper_conf* c = unit->stepper_conf;
 		c->stopAtHome = 1;
 		c->step_max = 1;
-		pse_sp_set_dir(c, 1);
+		pse_sp_set_dir(c, 0);
 		pse_sp_start_axis(c);
 	}
 }
diff --git a/Core/Src/pse_stepper_planer.c b/Core/Src/pse_stepper_planer.c
index b477fff..508321a 100644
--- a/Core/Src/pse_stepper_planer.c
+++ b/Core/Src/pse_stepper_planer.c
@@ -29,10 +29,10 @@ void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num){
 		}
 		c->tick_counter++;
 		HAL_GPIO_WritePin(c->STEP_GPIO_Port, c->STEP_GPIO_Pin, state);
-		/*c->steps_counter += (pse_sp_get_dir(c)?1:-1) * (state?1:0);
+		c->steps_counter += (pse_sp_get_dir(c)?1:-1) * (state?1:0);
 		if(c->stopAtHome && c->steps_counter == 0){
 			pse_sp_stop_axis(c);
-		}*/
+		}
 	}
 }
 
@@ -58,9 +58,9 @@ void pse_sp_set_dir(pse_stepper_conf* conf, int dir){
 	HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, dir);
 }
 
-/*int pse_sp_get_dir(pse_stepper_conf* conf){
+int pse_sp_get_dir(pse_stepper_conf* conf){
 	return HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin);
-}*/
+}
 
 void pse_stepper_planer_compute_sps(pse_unit* unit){
 	pse_stepper_conf* c = unit->stepper_conf;
@@ -73,21 +73,22 @@ void pse_stepper_planer_compute_sps(pse_unit* unit){
 
 void pse_sp_start_all(pse_unit* units, int units_num){
 	HAL_TIM_Base_Start_IT(htim);
-	units_running = units_num;
 
 	for(int i = 0; i < units_num; i++){
-		if(units[i].enabled)
+		if(units[i].enabled){
 			pse_sp_start_axis(units[i].stepper_conf);
+			units_running++;
+		}
 	}
 }
 void pse_sp_stop_all(pse_unit* units, int units_num){
-	HAL_TIM_Base_Stop_IT(htim);
-	units_running = 0;
-
 	for(int i = 0; i < units_num; i++){
 		if(units[i].enabled)
 			pse_sp_stop_axis(units[i].stepper_conf);
 	}
+
+	HAL_TIM_Base_Stop_IT(htim);
+	units_running = 0;
 }
 
 void pse_sp_set_timer(TIM_HandleTypeDef* tim){