diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index b7b4a9ab..c1cddc7d 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -31,10 +31,9 @@ class CartKinematics:
     def get_homed_position(self):
         return [s.position_endstop + s.get_homed_offset()*s.step_dist
                 for s in self.steppers]
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # Each axis is homed independently and in order
-        homing_state = homing.Homing(toolhead, axes)
-        for axis in axes:
+        for axis in homing_state.get_axes():
             s = self.steppers[axis]
             self.limits[axis] = (s.position_min, s.position_max)
             # Determine moves
@@ -60,7 +59,6 @@ class CartKinematics:
             # Home again
             coord[axis] = r2pos
             homing_state.plan_home(list(coord), homepos, [s], s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
diff --git a/klippy/delta.py b/klippy/delta.py
index 8f5bd409..34b5a9e2 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -83,9 +83,9 @@ class DeltaKinematics:
                * self.steppers[i].step_dist
                for i in StepList]
         return self.actuator_to_cartesian(pos)
-    def home(self, toolhead, axes):
+    def home(self, homing_state):
         # All axes are homed simultaneously
-        homing_state = homing.Homing(toolhead, [0, 1, 2])
+        homing_state.set_axes([0, 1, 2])
         s = self.steppers[0] # Assume homing parameters same for all steppers
         self.limit_xy2 = self.max_xy2
         # Initial homing
@@ -101,7 +101,6 @@ class DeltaKinematics:
         coord[2] -= s.homing_retract_dist
         homing_state.plan_home(list(coord), homepos, self.steppers
                                , s.homing_speed/2.0)
-        return homing_state
     def motor_off(self, move_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 97f88563..5262676a 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -250,14 +250,15 @@ class GCodeParser:
                 axes.append(self.axis2pos[axis])
         if not axes:
             axes = [0, 1, 2]
-        busy_handler = self.toolhead.home(axes)
-        def axes_update(axes):
+        homing_state = homing.Homing(self.toolhead, axes)
+        self.toolhead.home(homing_state)
+        def axes_update(homing_state):
             newpos = self.toolhead.get_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 self.last_position[axis] = newpos[axis]
                 self.base_position[axis] = -self.homing_add[axis]
-        busy_handler.plan_axes_update(axes_update)
-        self.set_busy(busy_handler)
+        homing_state.plan_axes_update(axes_update)
+        self.set_busy(homing_state)
     def cmd_G90(self, params):
         # Use absolute coordinates
         self.absolutecoord = True
diff --git a/klippy/homing.py b/klippy/homing.py
index 117080f1..29c1a48f 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -14,13 +14,17 @@ class Homing:
         self.eventtime = 0.
         self.states = []
         self.endstops = []
+    def set_axes(self, axes):
+        self.changed_axes = axes
+    def get_axes(self):
+        return self.changed_axes
     def plan_home(self, forcepos, movepos, steppers, speed):
         self.states.append((self.do_home, (forcepos, movepos, steppers, speed)))
         self.states.append((self.do_wait_endstop, ()))
     def plan_move(self, newpos, speed):
         self.states.append((self.do_move, (newpos, speed)))
     def plan_axes_update(self, callback):
-        self.states.append((callback, (self.changed_axes,)))
+        self.states.append((callback, (self,)))
     def check_busy(self, eventtime):
         self.eventtime = eventtime
         while self.states:
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 91bcd87f..bc0356dc 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -259,16 +259,15 @@ class ToolHead:
             self.extruder.check_move(move)
         self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)
-    def home(self, axes):
-        homing = self.kin.home(self, axes)
-        def axes_update(axes):
+    def home(self, homing_state):
+        self.kin.home(homing_state)
+        def axes_update(homing_state):
             pos = self.get_position()
             homepos = self.kin.get_homed_position()
-            for axis in axes:
+            for axis in homing_state.get_axes():
                 pos[axis] = homepos[axis]
             self.set_position(pos)
-        homing.plan_axes_update(axes_update)
-        return homing
+        homing_state.plan_axes_update(axes_update)
     def dwell(self, delay):
         self.get_last_move_time()
         self.update_move_time(delay)