From cff2201629ecebbf6f7f80cdea9a83bb00842b77 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 27 Jun 2018 04:19:05 -0400 Subject: [PATCH] Poll all endstops, even when stationary (#11125) Co-Authored-By: ejtagle --- 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 f474487da..1b9832ebc 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 959a79bed..25e891508 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) /**