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[1.1.x] Poll all endstops, even when stationary #11125

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Merged
thinkyhead merged 1 commit into from
Jun 27, 2018
Merged

[1.1.x] Poll all endstops, even when stationary #11125

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2 changes: 2 additions & 0 deletions Marlin/SanityCheck.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
177 changes: 78 additions & 99 deletions Marlin/endstops.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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
#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
#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
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
#else
UPDATE_ENDSTOP_BIT(X, MAX);
#endif
#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

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_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

// 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_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
}
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
#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)
/**
Expand Down