diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 2cc872a885a320f2b425d747be524e91f077f8d7..d5b1525027685f4884be73fb1c525533841e1a9e 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -266,39 +266,48 @@ void Endstops::update() {
} while(0)
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
- // If G38 command then check Z_MIN_PROBE for every axis and every direction
+ // If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
- if (stepper.current_block->steps[_AXIS(X)] > 0) {_ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X));}
- else if (stepper.current_block->steps[_AXIS(Y)] > 0) {_ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y));}
- else if (stepper.current_block->steps[_AXIS(Z)] > 0) {_ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z));}
+ if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X)); }
+ else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y)); }
+ else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z)); }
G38_endstop_hit = true;
}
}
#endif
- #if CORE_IS_XY || CORE_IS_XZ
- #if ENABLED(COREYX) || ENABLED(COREZX)
+ #if ENABLED(COREXY) || ENABLED(COREXZ)
+ #define CORE_X_CMP ==
+ #elif ENABLED(COREYX) || ENABLED(COREZX)
#define CORE_X_CMP !=
- #define CORE_X_NOT !
+ #endif
+
+ /**
+ * Head direction in -X axis for CoreXY and CoreXZ bots.
+ *
+ * If steps differ, both axes are moving.
+ * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
+ * If DeltaA == DeltaB, the movement is only in the 1st axis (X)
+ */
+ #if CORE_IS_XY || CORE_IS_XZ
+ if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
+ || ( stepper.current_block->steps[CORE_AXIS_1] > 0
+ && stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)
+ )
+ ) {
+ if (stepper.motor_direction(X_HEAD))
#else
- #define CORE_X_CMP ==
- #define CORE_X_NOT
+ if (stepper.current_block->steps[X_AXIS] > 0)
+ if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
- // Head direction in -X axis for CoreXY and CoreXZ bots.
- // If steps differ, both axes are moving.
- // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
- // If DeltaA == DeltaB, the movement is only in the 1st axis (X)
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)) {
- if (CORE_X_NOT stepper.motor_direction(X_HEAD))
- #else
- if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
- #endif
{ // -direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
+ if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0)
+ || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)
+ )
#endif
{
#if HAS_X_MIN
@@ -309,7 +318,9 @@ void Endstops::update() {
else { // +direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
+ if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0)
+ || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)
+ )
#endif
{
#if HAS_X_MAX
@@ -322,22 +333,28 @@ void Endstops::update() {
#endif
// Handle swapped vs. typical Core axis order
- #if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
+ #if ENABLED(COREYX) || ENABLED(COREYZ)
#define CORE_YZ_CMP ==
- #define CORE_YZ_NOT !
- #elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
+ #elif ENABLED(COREXY) || ENABLED(COREZY)
#define CORE_YZ_CMP !=
- #define CORE_YZ_NOT
#endif
#if CORE_IS_XY || CORE_IS_YZ
- // Head direction in -Y axis for CoreXY / CoreYZ bots.
- // If steps differ, both axes are moving
- // If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
- // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
- if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD))
+ /**
+ * Head direction in -Y axis for CoreXY / CoreYZ bots.
+ *
+ * If steps differ, both axes are moving
+ * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
+ * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
+ */
+ if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
+ || ( stepper.current_block->steps[CORE_AXIS_1] > 0
+ && stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
+ )
+ ) {
+ if (stepper.motor_direction(Y_HEAD))
#else
+ if (stepper.current_block->steps[Y_AXIS] > 0)
if (stepper.motor_direction(Y_AXIS)) // -direction
#endif
{ // -direction
@@ -354,19 +371,33 @@ void Endstops::update() {
}
#endif
+
+ #if ENABLED(COREZX) || ENABLED(COREZY)
+ #define CORE_YZ_CMP ==
+ #elif ENABLED(COREXZ) || ENABLED(COREYZ)
+ #define CORE_YZ_CMP !=
+ #endif
+
#if CORE_IS_XZ || CORE_IS_YZ
- // Head direction in -Z axis for CoreXZ or CoreYZ bots.
- // If steps differ, both axes are moving
- // If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
- // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
- if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) {
- if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD))
+ /**
+ * Head direction in -Z axis for CoreXZ or CoreYZ bots.
+ *
+ * If steps differ, both axes are moving
+ * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
+ * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
+ */
+ if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
+ || ( stepper.current_block->steps[CORE_AXIS_1] > 0
+ && stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
+ )
+ ) {
+ if (stepper.motor_direction(Z_HEAD))
#else
+ if (stepper.current_block->steps[Z_AXIS] > 0)
if (stepper.motor_direction(Z_AXIS))
#endif
{ // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
-
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);