diff --git a/Core/Src/home_screen.c b/Core/Src/home_screen.c
index cd0c637..0a81550 100644
--- a/Core/Src/home_screen.c
+++ b/Core/Src/home_screen.c
@@ -113,7 +113,7 @@ static void unit_home_handler(lv_event_t * e){
 		s->stop_at_limit = 1;
 		s->stop_steps = 0;
 		pse_sp_jog_speed(c, s, 1);
-		pse_sp_set_dir(c, s->steps_counter < 0);
+		pse_sp_set_dir(unit, s->steps_counter < 0);
 		pse_sp_start_axis(c, s);
 	}
 }
diff --git a/Core/Src/pse_stepper_planer.c b/Core/Src/pse_stepper_planer.c
index 60c868f..59ba1b2 100644
--- a/Core/Src/pse_stepper_planer.c
+++ b/Core/Src/pse_stepper_planer.c
@@ -38,13 +38,13 @@ void pse_sp_stop_axis(pse_stepper_conf* conf){
 
 void pse_sp_set_dir(pse_unit* unit, int dir){
 	pse_stepper_conf* conf = unit->stepper_conf;
-	HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, unit->reversed?-dir:dir);
+	HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, unit->reversed?(!dir):dir);
 }
 
 int pse_sp_get_dir(pse_unit* unit){
 	pse_stepper_conf* conf = unit->stepper_conf;
 	int val = HAL_GPIO_ReadPin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin);
-	return (unit->reversed?-val:val);
+	return (unit->reversed?(!val):val);
 }
 
 // https://en.wikipedia.org/wiki/Integer_square_root#Using_only_integer_division