diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index d5b1525027..8cb04979c1 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -278,12 +278,16 @@ void Endstops::update() {
}
#endif
- #if ENABLED(COREXY) || ENABLED(COREXZ)
- #define CORE_X_CMP ==
- #elif ENABLED(COREYX) || ENABLED(COREZX)
- #define CORE_X_CMP !=
- #endif
+ /**
+ * Define conditions for checking endstops
+ */
+ #if IS_CORE
+ #define S_(N) stepper.current_block->steps[CORE_AXIS_##N]
+ #define D_(N) stepper.motor_direction(CORE_AXIS_##N)
+ #endif
+
+ #if CORE_IS_XY || CORE_IS_XZ
/**
* Head direction in -X axis for CoreXY and CoreXZ bots.
*
@@ -291,52 +295,16 @@ void Endstops::update() {
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
- #if CORE_IS_XY || CORE_IS_XZ
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
- || ( stepper.current_block->steps[CORE_AXIS_1] > 0
- && stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)
- )
- ) {
- if (stepper.motor_direction(X_HEAD))
+ #if ENABLED(COREXY) || ENABLED(COREXZ)
+ #define X_CMP ==
#else
- if (stepper.current_block->steps[X_AXIS] > 0)
- if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
+ #define X_CMP !=
#endif
- { // -direction
- #if ENABLED(DUAL_X_CARRIAGE)
- // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0)
- || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)
- )
- #endif
- {
- #if HAS_X_MIN
- UPDATE_ENDSTOP(X, MIN);
- #endif
- }
- }
- else { // +direction
- #if ENABLED(DUAL_X_CARRIAGE)
- // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0)
- || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)
- )
- #endif
- {
- #if HAS_X_MAX
- UPDATE_ENDSTOP(X, MAX);
- #endif
- }
- }
- #if CORE_IS_XY || CORE_IS_XZ
- }
- #endif
-
- // Handle swapped vs. typical Core axis order
- #if ENABLED(COREYX) || ENABLED(COREYZ)
- #define CORE_YZ_CMP ==
- #elif ENABLED(COREXY) || ENABLED(COREZY)
- #define CORE_YZ_CMP !=
+ #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
+ #define X_AXIS_HEAD X_HEAD
+ #else
+ #define X_MOVE_TEST stepper.current_block->steps[X_AXIS] > 0
+ #define X_AXIS_HEAD X_AXIS
#endif
#if CORE_IS_XY || CORE_IS_YZ
@@ -347,35 +315,16 @@ void Endstops::update() {
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
- || ( stepper.current_block->steps[CORE_AXIS_1] > 0
- && stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
- )
- ) {
- if (stepper.motor_direction(Y_HEAD))
+ #if ENABLED(COREYX) || ENABLED(COREYZ)
+ #define Y_CMP ==
+ #else
+ #define Y_CMP !=
+ #endif
+ #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
+ #define Y_AXIS_HEAD Y_HEAD
#else
- if (stepper.current_block->steps[Y_AXIS] > 0)
- if (stepper.motor_direction(Y_AXIS)) // -direction
- #endif
- { // -direction
- #if HAS_Y_MIN
- UPDATE_ENDSTOP(Y, MIN);
- #endif
- }
- else { // +direction
- #if HAS_Y_MAX
- UPDATE_ENDSTOP(Y, MAX);
- #endif
- }
- #if CORE_IS_XY || CORE_IS_YZ
- }
- #endif
-
-
- #if ENABLED(COREZX) || ENABLED(COREZY)
- #define CORE_YZ_CMP ==
- #elif ENABLED(COREXZ) || ENABLED(COREYZ)
- #define CORE_YZ_CMP !=
+ #define Y_MOVE_TEST stepper.current_block->steps[Y_AXIS] > 0
+ #define Y_AXIS_HEAD Y_AXIS
#endif
#if CORE_IS_XZ || CORE_IS_YZ
@@ -386,76 +335,119 @@ void Endstops::update() {
* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
- || ( stepper.current_block->steps[CORE_AXIS_1] > 0
- && stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
- )
- ) {
- if (stepper.motor_direction(Z_HEAD))
+ #if ENABLED(COREZX) || ENABLED(COREZY)
+ #define Z_CMP ==
+ #else
+ #define Z_CMP !=
+ #endif
+ #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
+ #define Z_AXIS_HEAD Z_HEAD
#else
- if (stepper.current_block->steps[Z_AXIS] > 0)
- if (stepper.motor_direction(Z_AXIS))
+ #define Z_MOVE_TEST stepper.current_block->steps[Z_AXIS] > 0
+ #define Z_AXIS_HEAD Z_AXIS
#endif
- { // Z -direction. Gantry down, bed up.
- #if HAS_Z_MIN
- #if ENABLED(Z_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Z, MIN);
- #if HAS_Z2_MIN
- UPDATE_ENDSTOP_BIT(Z2, MIN);
- #else
- COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
- #endif
+ // With Dual X, endstops are only checked in the homing direction for the active extruder
+ #if ENABLED(DUAL_X_CARRIAGE)
+ #define E0_ACTIVE stepper.current_block->active_extruder == 0
+ #define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
+ #define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
+ #else
+ #define X_MIN_TEST true
+ #define X_MAX_TEST true
+ #endif
- test_dual_z_endstops(Z_MIN, Z2_MIN);
+ /**
+ * Check and update endstops according to conditions
+ */
- #else // !Z_DUAL_ENDSTOPS
-
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
- #else
- UPDATE_ENDSTOP(Z, MIN);
- #endif
-
- #endif // !Z_DUAL_ENDSTOPS
-
- #endif // HAS_Z_MIN
-
- // When closing the gap check the enabled probe
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- if (z_probe_enabled) {
- UPDATE_ENDSTOP(Z, MIN_PROBE);
- if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
- }
+ if (X_MOVE_TEST) {
+ if (stepper.motor_direction(X_AXIS_HEAD)) {
+ if (X_MIN_TEST) { // -direction
+ #if HAS_X_MIN
+ UPDATE_ENDSTOP(X, MIN);
#endif
}
- else { // Z +direction. Gantry up, bed down.
- #if HAS_Z_MAX
-
- // Check both Z dual endstops
- #if ENABLED(Z_DUAL_ENDSTOPS)
-
- UPDATE_ENDSTOP_BIT(Z, MAX);
- #if HAS_Z2_MAX
- UPDATE_ENDSTOP_BIT(Z2, MAX);
- #else
- COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
- #endif
-
- test_dual_z_endstops(Z_MAX, Z2_MAX);
-
- // If this pin is not hijacked for the bed probe
- // then it belongs to the Z endstop
- #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
-
- UPDATE_ENDSTOP(Z, MAX);
-
- #endif // !Z_MIN_PROBE_PIN...
- #endif // Z_MAX_PIN
- }
- #if CORE_IS_XZ || CORE_IS_YZ
}
- #endif
+ else if (X_MAX_TEST) { // +direction
+ #if HAS_X_MAX
+ UPDATE_ENDSTOP(X, MAX);
+ #endif
+ }
+ }
+
+ if (Y_MOVE_TEST) {
+ if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
+ #if HAS_Y_MIN
+ UPDATE_ENDSTOP(Y, MIN);
+ #endif
+ }
+ else { // +direction
+ #if HAS_Y_MAX
+ UPDATE_ENDSTOP(Y, MAX);
+ #endif
+ }
+ }
+
+ if (Z_MOVE_TEST) {
+ if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
+ #if HAS_Z_MIN
+ #if ENABLED(Z_DUAL_ENDSTOPS)
+
+ UPDATE_ENDSTOP_BIT(Z, MIN);
+ #if HAS_Z2_MIN
+ UPDATE_ENDSTOP_BIT(Z2, MIN);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
+ #endif
+
+ test_dual_z_endstops(Z_MIN, Z2_MIN);
+
+ #else // !Z_DUAL_ENDSTOPS
+
+ #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+ if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
+ #else
+ UPDATE_ENDSTOP(Z, MIN);
+ #endif
+
+ #endif // !Z_DUAL_ENDSTOPS
+
+ #endif // HAS_Z_MIN
+
+ // When closing the gap check the enabled probe
+ #if ENABLED(Z_MIN_PROBE_ENDSTOP)
+ if (z_probe_enabled) {
+ UPDATE_ENDSTOP(Z, MIN_PROBE);
+ if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
+ }
+ #endif
+ }
+ else { // Z +direction. Gantry up, bed down.
+ #if HAS_Z_MAX
+
+ // Check both Z dual endstops
+ #if ENABLED(Z_DUAL_ENDSTOPS)
+
+ UPDATE_ENDSTOP_BIT(Z, MAX);
+ #if HAS_Z2_MAX
+ UPDATE_ENDSTOP_BIT(Z2, MAX);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
+ #endif
+
+ test_dual_z_endstops(Z_MAX, Z2_MAX);
+
+ // If this pin is not hijacked for the bed probe
+ // then it belongs to the Z endstop
+ #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
+
+ UPDATE_ENDSTOP(Z, MAX);
+
+ #endif // !Z_MIN_PROBE_PIN...
+ #endif // Z_MAX_PIN
+ }
+ }
old_endstop_bits = current_endstop_bits;