From cff2201629ecebbf6f7f80cdea9a83bb00842b77 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Wed, 27 Jun 2018 04:19:05 -0400
Subject: [PATCH] Poll all endstops, even when stationary (#11125)
Co-Authored-By: ejtagle <ejtagle@hotmail.com>
---
Marlin/SanityCheck.h | 2 +
Marlin/endstops.cpp | 179 +++++++++++++++++++------------------------
2 files changed, 81 insertions(+), 100 deletions(-)
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index f474487da13..1b9832ebc6e 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -1494,6 +1494,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN."
#elif Z_SENSORLESS && Z_HOME_DIR == 1 && (DISABLED(Z_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_ZMAX))
#error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX."
+ #elif ENABLED(ENDSTOP_NOISE_FILTER)
+ #error "SENSORLESS_HOMING is incompatible with ENDSTOP_NOISE_FILTER."
#endif
#endif
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 959a79bed92..25e891508b7 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -35,12 +35,6 @@
#include "endstop_interrupts.h"
#endif
-#if HAS_BED_PROBE
- #define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
-#else
- #define ENDSTOPS_ENABLED enabled
-#endif
-
Endstops endstops;
// public:
@@ -408,109 +402,94 @@ void Endstops::update() {
#endif
/**
- * Check and update endstops according to conditions
+ * Check and update endstops
*/
- if (stepper.axis_is_moving(X_AXIS)) {
- if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
- #if HAS_X_MIN
- #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
- UPDATE_ENDSTOP_BIT(X, MIN);
- #if HAS_X2_MIN
- UPDATE_ENDSTOP_BIT(X2, MIN);
- #else
- COPY_LIVE_STATE(X_MIN, X2_MIN);
- #endif
- #else
- if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
- #endif
+ #if HAS_X_MIN
+ #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
+ UPDATE_ENDSTOP_BIT(X, MIN);
+ #if HAS_X2_MIN
+ UPDATE_ENDSTOP_BIT(X2, MIN);
+ #else
+ COPY_LIVE_STATE(X_MIN, X2_MIN);
#endif
- }
- else { // +direction
- #if HAS_X_MAX
- #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
- UPDATE_ENDSTOP_BIT(X, MAX);
- #if HAS_X2_MAX
- UPDATE_ENDSTOP_BIT(X2, MAX);
- #else
- COPY_LIVE_STATE(X_MAX, X2_MAX);
- #endif
- #else
- if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
- #endif
- #endif
- }
- }
+ #else
+ UPDATE_ENDSTOP_BIT(X, MIN);
+ #endif
+ #endif
- if (stepper.axis_is_moving(Y_AXIS)) {
- if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
- #if HAS_Y_MIN && Y_HOME_DIR < 0
- #if ENABLED(Y_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Y, MIN);
- #if HAS_Y2_MIN
- UPDATE_ENDSTOP_BIT(Y2, MIN);
- #else
- COPY_LIVE_STATE(Y_MIN, Y2_MIN);
- #endif
- #else
- UPDATE_ENDSTOP_BIT(Y, MIN);
- #endif
+ #if HAS_X_MAX
+ #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
+ UPDATE_ENDSTOP_BIT(X, MAX);
+ #if HAS_X2_MAX
+ UPDATE_ENDSTOP_BIT(X2, MAX);
+ #else
+ COPY_LIVE_STATE(X_MAX, X2_MAX);
#endif
- }
- else { // +direction
- #if HAS_Y_MAX && Y_HOME_DIR > 0
- #if ENABLED(Y_DUAL_ENDSTOPS)
- UPDATE_ENDSTOP_BIT(Y, MAX);
- #if HAS_Y2_MAX
- UPDATE_ENDSTOP_BIT(Y2, MAX);
- #else
- COPY_LIVE_STATE(Y_MAX, Y2_MAX);
- #endif
- #else
- UPDATE_ENDSTOP_BIT(Y, MAX);
- #endif
- #endif
- }
- }
+ #else
+ UPDATE_ENDSTOP_BIT(X, MAX);
+ #endif
+ #endif
- if (stepper.axis_is_moving(Z_AXIS)) {
- if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
- #if HAS_Z_MIN
- #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
- UPDATE_ENDSTOP_BIT(Z, MIN);
- #if HAS_Z2_MIN
- UPDATE_ENDSTOP_BIT(Z2, MIN);
- #else
- COPY_LIVE_STATE(Z_MIN, Z2_MIN);
- #endif
- #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
- #elif Z_HOME_DIR < 0
- UPDATE_ENDSTOP_BIT(Z, MIN);
- #endif
+ #if HAS_Y_MIN && Y_HOME_DIR < 0
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(Y, MIN);
+ #if HAS_Y2_MIN
+ UPDATE_ENDSTOP_BIT(Y2, MIN);
+ #else
+ COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#endif
+ #else
+ UPDATE_ENDSTOP_BIT(Y, MIN);
+ #endif
+ #endif
- // When closing the gap check the enabled probe
- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
- if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
+ #if HAS_Y_MAX && Y_HOME_DIR > 0
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ UPDATE_ENDSTOP_BIT(Y, MAX);
+ #if HAS_Y2_MAX
+ UPDATE_ENDSTOP_BIT(Y2, MAX);
+ #else
+ COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif
- }
- else { // Z +direction. Gantry up, bed down.
- #if HAS_Z_MAX && Z_HOME_DIR > 0
- // 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_LIVE_STATE(Z_MAX, Z2_MAX);
- #endif
- #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
- // If this pin isn't the bed probe it's the Z endstop
- UPDATE_ENDSTOP_BIT(Z, MAX);
- #endif
+ #else
+ UPDATE_ENDSTOP_BIT(Y, MAX);
+ #endif
+ #endif
+
+ #if HAS_Z_MIN
+ #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
+ UPDATE_ENDSTOP_BIT(Z, MIN);
+ #if HAS_Z2_MIN
+ UPDATE_ENDSTOP_BIT(Z2, MIN);
+ #else
+ COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif
- }
- }
+ #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+ UPDATE_ENDSTOP_BIT(Z, MIN);
+ #elif Z_HOME_DIR < 0
+ UPDATE_ENDSTOP_BIT(Z, MIN);
+ #endif
+ #endif
+
+ // When closing the gap check the enabled probe
+ #if ENABLED(Z_MIN_PROBE_ENDSTOP)
+ UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
+ #endif
+
+ #if HAS_Z_MAX && Z_HOME_DIR > 0
+ // 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_LIVE_STATE(Z_MAX, Z2_MAX);
+ #endif
+ #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
+ // If this pin isn't the bed probe it's the Z endstop
+ UPDATE_ENDSTOP_BIT(Z, MAX);
+ #endif
+ #endif
#if ENABLED(ENDSTOP_NOISE_FILTER)
/**