diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index c248e4814b1b281e52086ef7a32c144719daa629..d1f5fe53b60d57687f8f8f1969346b59006296e7 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -687,9 +687,12 @@ void idle(
#if ENABLED(I2C_POSITION_ENCODERS)
static millis_t i2cpem_next_update_ms;
- if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
- I2CPEM.update();
- i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
+ if (planner.has_blocks_queued()) {
+ const millis_t ms = millis();
+ if (ELAPSED(ms, i2cpem_next_update_ms)) {
+ I2CPEM.update();
+ i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS;
+ }
}
#endif
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index 1df9a1a3b3ce7ee736d24cef5fecdb188218f888..a3eb49a1e0a75436ea7936901326f6cbbb655fb8 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -348,17 +348,15 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
#endif
/**
- * TMC2130 specific sensorless homing using stallGuard2.
+ * TMC2130-specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
- * spreadCycle and stealthChop are mutually exclusive.
+ * spreadCycle and stealthChop are mutually-exclusive.
*
* Defined here because of limitations with templates and headers.
*/
#if USE_SENSORLESS
// Track enabled status of stealthChop and only re-enable where applicable
- struct sensorless_t {
- bool x, y, z, x2, y2, z2, z3;
- };
+ struct sensorless_t { bool x, y, z, x2, y2, z2, z3; };
bool tmc_enable_stallguard(TMC2130Stepper &st);
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 8e12f4b06ad468b5d41ba9f7a1215dd05fdeaa0d..f39d3bae104770ebb6ef725a7825f65bb20a736b 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -78,7 +78,7 @@
fr_mm_s = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
#if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states { false, false, false, false, false, false, false };
+ sensorless_t stealth_states { false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
#if AXIS_HAS_STALLGUARD(X2)
diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp
index 3e966414746d6bc7f9e22d1e098b9b834ceb36f8..c43b889244a29decd79ab13c8ea8ef7a68e77cfa 100644
--- a/Marlin/src/gcode/config/M200-M205.cpp
+++ b/Marlin/src/gcode/config/M200-M205.cpp
@@ -65,7 +65,7 @@ void GcodeSuite::M201() {
planner.settings.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
}
}
- // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
+
planner.reset_acceleration_rates();
}
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index d4c7467c6792674f7718649214dec0eeca16b8b5..f362ba87309751e3a67d5b96d8f7e65a40c98f5d 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -2060,22 +2060,24 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if ENABLED(DELTA) && !BOTH(STEALTHCHOP_XY, STEALTHCHOP_Z)
#error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP_XY and STEALTHCHOP_Z."
- #elif X_SENSORLESS && X_HOME_DIR == -1 && (X_MIN_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMIN))
- #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMIN when homing to X_MIN."
- #elif X_SENSORLESS && X_HOME_DIR == 1 && (X_MAX_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMAX))
- #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMAX when homing to X_MAX."
- #elif Y_SENSORLESS && Y_HOME_DIR == -1 && (Y_MIN_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMIN))
- #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMIN when homing to Y_MIN."
- #elif Y_SENSORLESS && Y_HOME_DIR == 1 && (Y_MAX_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMAX))
- #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMAX when homing to Y_MAX."
- #elif Z_SENSORLESS && Z_HOME_DIR == -1 && (Z_MIN_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMIN))
- #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN."
- #elif Z_SENSORLESS && Z_HOME_DIR == 1 && (Z_MAX_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMAX))
- #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX."
#elif ENDSTOP_NOISE_THRESHOLD
#error "SENSORLESS_HOMING is incompatible with ENDSTOP_NOISE_THRESHOLD."
#elif !(X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS)
#error "SENSORLESS_HOMING requires a TMC stepper driver with StallGuard on X, Y, or Z axes."
+ #elif DISABLED(SPI_ENDSTOPS)
+ #if X_SENSORLESS && X_HOME_DIR < 0 && (X_MIN_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMIN))
+ #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMIN when homing to X_MIN."
+ #elif X_SENSORLESS && X_HOME_DIR > 0 && (X_MAX_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMAX))
+ #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMAX when homing to X_MAX."
+ #elif Y_SENSORLESS && Y_HOME_DIR < 0 && (Y_MIN_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMIN))
+ #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMIN when homing to Y_MIN."
+ #elif Y_SENSORLESS && Y_HOME_DIR > 0 && (Y_MAX_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMAX))
+ #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMAX when homing to Y_MAX."
+ #elif Z_SENSORLESS && Z_HOME_DIR < 0 && (Z_MIN_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMIN))
+ #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN."
+ #elif Z_SENSORLESS && Z_HOME_DIR > 0 && (Z_MAX_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMAX))
+ #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX."
+ #endif
#endif
#undef X_ENDSTOP_INVERTING
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 466f552274431025e0633cec48925396ffde76ae..51f20b2519f8082a77657d378718664497b9f946 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -227,7 +227,7 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
- sensorless_t stealth_states { false, false, false, false, false, false, false };
+ sensorless_t stealth_states { false };
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);
stealth_states.z = tmc_enable_stallguard(stepperZ);
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 7234bf47697897112509146cbf5c70b2e9e5d88c..abc93e9f1dc013cd355a5f5048e54f30941f4e7e 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -783,14 +783,13 @@ void Endstops::update() {
bool Endstops::monitor_flag = false;
/**
- * monitors endstops & Z probe for changes
+ * Monitor Endstops and Z Probe for changes
*
* If a change is detected then the LED is toggled and
- * a message is sent out the serial port
+ * a message is sent out the serial port.
*
* Yes, we could miss a rapid back & forth change but
* that won't matter because this is all manual.
- *
*/
void Endstops::monitor() {
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index d20e61f702a4a1188dbd8a30eecb486664607476..604befdbb96af0e342ccef221b97081e6bf5cb52 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -29,27 +29,16 @@
#include <stdint.h>
enum EndstopEnum : char {
- X_MIN,
- Y_MIN,
- Z_MIN,
- Z_MIN_PROBE,
- X_MAX,
- Y_MAX,
- Z_MAX,
- X2_MIN,
- X2_MAX,
- Y2_MIN,
- Y2_MAX,
- Z2_MIN,
- Z2_MAX,
- Z3_MIN,
- Z3_MAX
+ X_MIN, Y_MIN, Z_MIN, Z_MIN_PROBE,
+ X_MAX, Y_MAX, Z_MAX,
+ X2_MIN, X2_MAX,
+ Y2_MIN, Y2_MAX,
+ Z2_MIN, Z2_MAX,
+ Z3_MIN, Z3_MAX
};
class Endstops {
-
public:
-
#if HAS_EXTRA_ENDSTOPS
typedef uint16_t esbits_t;
#if ENABLED(X_DUAL_ENDSTOPS)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index ee46fc3f99effddbc0be62e06dffaead536915f6..69b5905b200a638f66e4cc6484a499a46aa72b0a 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1071,7 +1071,7 @@ float get_homing_bump_feedrate(const AxisEnum axis) {
* Set sensorless homing if the axis has it, accounting for Core Kinematics.
*/
sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) {
- sensorless_t stealth_states { false, false, false, false, false, false, false };
+ sensorless_t stealth_states { false };
switch (axis) {
default: break;
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index dbd14ed5b5627f5bb5053e015b2851dae880fcb7..2d29084367fe7a784dae76998f590d06514fe7bd 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -540,7 +540,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_PROBING)
- sensorless_t stealth_states { false, false, false, false, false, false, false };
+ sensorless_t stealth_states { false };
#if ENABLED(DELTA)
stealth_states.x = tmc_enable_stallguard(stepperX);
stealth_states.y = tmc_enable_stallguard(stepperY);