diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index a7edfa4b9e..f51a11b8af 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -421,119 +421,123 @@ void Endstops::update() {
/**
* Check and update endstops according to conditions
*/
- if (X_MOVE_TEST) {
- if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
- #if HAS_X_MIN
- #if ENABLED(X_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(X, MIN);
- #if HAS_X2_MIN
- UPDATE_ENDSTOP_BIT(X2, MIN);
- #else
- COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
- #endif
- test_dual_x_endstops(X_MIN, X2_MIN);
- #else
- if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
- #endif
- #endif
- }
- else { // +direction
- #if HAS_X_MAX
- #if ENABLED(X_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(X, MAX);
- #if HAS_X2_MAX
- UPDATE_ENDSTOP_BIT(X2, MAX);
- #else
- COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
- #endif
- test_dual_x_endstops(X_MAX, X2_MAX);
- #else
- if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
- #endif
- #endif
- }
- }
+ if (stepper.current_block) {
- if (Y_MOVE_TEST) {
- if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
- #if HAS_Y_MIN
- #if ENABLED(Y_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Y, MIN);
- #if HAS_Y2_MIN
- UPDATE_ENDSTOP_BIT(Y2, MIN);
+ if (X_MOVE_TEST) {
+ if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
+ #if HAS_X_MIN
+ #if ENABLED(X_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(X, MIN);
+ #if HAS_X2_MIN
+ UPDATE_ENDSTOP_BIT(X2, MIN);
+ #else
+ COPY_BIT(current_endstop_bits, X_MIN, X2_MIN);
+ #endif
+ test_dual_x_endstops(X_MIN, X2_MIN);
#else
- COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
+ if (X_MIN_TEST) UPDATE_ENDSTOP(X, MIN);
#endif
- test_dual_y_endstops(Y_MIN, Y2_MIN);
- #else
- UPDATE_ENDSTOP(Y, MIN);
#endif
- #endif
- }
- else { // +direction
- #if HAS_Y_MAX
- #if ENABLED(Y_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Y, MAX);
- #if HAS_Y2_MAX
- UPDATE_ENDSTOP_BIT(Y2, MAX);
+ }
+ else { // +direction
+ #if HAS_X_MAX
+ #if ENABLED(X_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(X, MAX);
+ #if HAS_X2_MAX
+ UPDATE_ENDSTOP_BIT(X2, MAX);
+ #else
+ COPY_BIT(current_endstop_bits, X_MAX, X2_MAX);
+ #endif
+ test_dual_x_endstops(X_MAX, X2_MAX);
#else
- COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
+ if (X_MAX_TEST) UPDATE_ENDSTOP(X, MAX);
#endif
- test_dual_y_endstops(Y_MAX, Y2_MAX);
- #else
- UPDATE_ENDSTOP(Y, MAX);
#endif
- #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);
+ if (Y_MOVE_TEST) {
+ if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
+ #if HAS_Y_MIN
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(Y, MIN);
+ #if HAS_Y2_MIN
+ UPDATE_ENDSTOP_BIT(Y2, MIN);
+ #else
+ COPY_BIT(current_endstop_bits, Y_MIN, Y2_MIN);
+ #endif
+ test_dual_y_endstops(Y_MIN, Y2_MIN);
#else
- COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
- #endif
- test_dual_z_endstops(Z_MIN, Z2_MIN);
- #else
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
- #else
- UPDATE_ENDSTOP(Z, MIN);
+ UPDATE_ENDSTOP(Y, MIN);
#endif
#endif
- #endif
+ }
+ else { // +direction
+ #if HAS_Y_MAX
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(Y, MAX);
+ #if HAS_Y2_MAX
+ UPDATE_ENDSTOP_BIT(Y2, MAX);
+ #else
+ COPY_BIT(current_endstop_bits, Y_MAX, Y2_MAX);
+ #endif
+ test_dual_y_endstops(Y_MAX, Y2_MAX);
+ #else
+ UPDATE_ENDSTOP(Y, MAX);
+ #endif
+ #endif
+ }
+ }
- // 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);
+ 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
- COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
+ #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
- 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
- #endif
+
+ // 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
+ #endif
+ }
}
- }
+
+ } // stepper.current_block
old_endstop_bits = current_endstop_bits;