diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 7eff6a1e68ae41201019c4ac4f4ce8d71d54e9b3..be0f9606b3a0fd6714bc99efac066c325135c9e5 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -33,6 +33,7 @@
#define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0)
+#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
#define RADIANS(d) ((d)*M_PI/180.0)
#define DEGREES(r) ((d)*180.0/M_PI)
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
@@ -198,7 +199,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
*/
enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
-enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6};
+enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8};
void enable_all_steppers();
void disable_all_steppers();
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index e614f5a89abc42d26699e12d3a51ac7f2ca4ccf8..cd982264216de7f0bb9953229cf922bdf996eb31 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -76,6 +76,13 @@ volatile long endstops_trigsteps[3] = { 0 };
volatile long endstops_stepsTotal, endstops_stepsDone;
static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value
+#ifndef Z_DUAL_ENDSTOPS
+ static byte
+#else
+ static uint16_t
+#endif
+ old_endstop_bits = 0; // use X_MIN, X_MAX... Z_MAX, Z_PROBE, Z2_MIN, Z2_MAX
+
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
#endif
@@ -84,31 +91,6 @@ static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROB
int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
#endif
-#if HAS_X_MIN
- static bool old_x_min_endstop = false;
-#endif
-#if HAS_X_MAX
- static bool old_x_max_endstop = false;
-#endif
-#if HAS_Y_MIN
- static bool old_y_min_endstop = false;
-#endif
-#if HAS_Y_MAX
- static bool old_y_max_endstop = false;
-#endif
-
-static bool old_z_min_endstop = false;
-static bool old_z_max_endstop = false;
-
-#ifdef Z_DUAL_ENDSTOPS
- static bool old_z2_min_endstop = false;
- static bool old_z2_max_endstop = false;
-#endif
-
-#ifdef Z_PROBE_ENDSTOP // No need to check for valid pin, SanityCheck.h already does this.
- static bool old_z_probe_endstop = false;
-#endif
-
static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0 };
@@ -155,11 +137,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#define Z_APPLY_STEP(v,Q) \
if (performing_homing) { \
if (Z_HOME_DIR > 0) {\
- if (!(old_z_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
- if (!(old_z2_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+ if (!(TEST(old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+ if (!(TEST(old_endstop_bits, Z2_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
} else {\
- if (!(old_z_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
- if (!(old_z2_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+ if (!(TEST(old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+ if (!(TEST(old_endstop_bits, Z2_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
} \
} else { \
Z_STEP_WRITE(v); \
@@ -266,7 +248,7 @@ void endstops_hit_on_purpose() {
}
void checkHitEndstops() {
- if (endstop_hit_bits) { // #ifdef || endstop_z_probe_hit to save space if needed.
+ if (endstop_hit_bits) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_hit_bits & BIT(X_MIN)) {
@@ -447,7 +429,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect) {
- if(cleaning_buffer_counter)
+ if (cleaning_buffer_counter)
{
current_block = NULL;
plan_discard_current_block();
@@ -492,22 +474,33 @@ ISR(TIMER1_COMPA_vect) {
// Check endstops
if (check_endstops) {
- #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
+ #ifdef Z_DUAL_ENDSTOPS
+ uint16_t
+ #else
+ byte
+ #endif
+ current_endstop_bits;
+
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
- #define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
#define _AXIS(AXIS) AXIS ##_AXIS
- #define _HIT_BIT(AXIS) AXIS ##_MIN
- #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
-
- #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
- bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
- if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
+ #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
+ #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
+
+ // SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
+ #define SET_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
+ // COPY_BIT: copy the value of COPY_BIT to BIT in bits
+ #define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
+ // TEST_ENDSTOP: test the old and the current status of an endstop
+ #define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
+
+ #define UPDATE_ENDSTOP(AXIS,MINMAX) \
+ SET_ENDSTOP_BIT(AXIS, MINMAX); \
+ if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
- } \
- _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
+ }
#ifdef COREXY
// Head direction in -X axis for CoreXY bots.
@@ -524,7 +517,7 @@ ISR(TIMER1_COMPA_vect) {
#endif
{
#if HAS_X_MIN
- UPDATE_ENDSTOP(x, X, min, MIN);
+ UPDATE_ENDSTOP(X, MIN);
#endif
}
}
@@ -535,7 +528,7 @@ ISR(TIMER1_COMPA_vect) {
#endif
{
#if HAS_X_MAX
- UPDATE_ENDSTOP(x, X, max, MAX);
+ UPDATE_ENDSTOP(X, MAX);
#endif
}
}
@@ -550,12 +543,12 @@ ISR(TIMER1_COMPA_vect) {
#endif
{ // -direction
#if HAS_Y_MIN
- UPDATE_ENDSTOP(y, Y, min, MIN);
+ UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
- UPDATE_ENDSTOP(y, Y, max, MAX);
+ UPDATE_ENDSTOP(Y, MAX);
#endif
}
#ifdef COREXY
@@ -565,45 +558,36 @@ ISR(TIMER1_COMPA_vect) {
#if HAS_Z_MIN
#ifdef Z_DUAL_ENDSTOPS
+ SET_ENDSTOP_BIT(Z, MIN);
+ #if HAS_Z2_MIN
+ SET_ENDSTOP_BIT(Z2, MIN);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN)
+ #endif
+
+ byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
- bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
- z2_min_endstop =
- #if HAS_Z2_MIN
- READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
- #else
- z_min_endstop
- #endif
- ;
-
- bool z_min_both = z_min_endstop && old_z_min_endstop,
- z2_min_both = z2_min_endstop && old_z2_min_endstop;
- if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
+ if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_MIN);
- if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
- step_events_completed = current_block->step_event_count;
+ if (!performing_homing || (performing_homing && !((~z_test) & 0x3))) //if not performing home or if both endstops were trigged during homing...
+ step_events_completed = current_block->step_event_count; //!((~z_test) & 0x3) = Z_MIN && Z2_MIN
}
- old_z_min_endstop = z_min_endstop;
- old_z2_min_endstop = z2_min_endstop;
-
#else // !Z_DUAL_ENDSTOPS
- UPDATE_ENDSTOP(z, Z, min, MIN);
-
+ UPDATE_ENDSTOP(Z, MIN);
#endif // !Z_DUAL_ENDSTOPS
-
#endif // Z_MIN_PIN
#ifdef Z_PROBE_ENDSTOP
- UPDATE_ENDSTOP(z, Z, probe, PROBE);
- z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
- if(z_probe_endstop && old_z_probe_endstop)
+ UPDATE_ENDSTOP(Z, PROBE);
+ SET_ENDSTOP_BIT(Z, PROBE);
+
+ if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
- // if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
- old_z_probe_endstop = z_probe_endstop;
#endif
}
else { // z +direction
@@ -611,55 +595,43 @@ ISR(TIMER1_COMPA_vect) {
#ifdef Z_DUAL_ENDSTOPS
- bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
- z2_max_endstop =
- #if HAS_Z2_MAX
- READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
- #else
- z_max_endstop
- #endif
- ;
-
- bool z_max_both = z_max_endstop && old_z_max_endstop,
- z2_max_both = z2_max_endstop && old_z2_max_endstop;
- if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_hit_bits |= BIT(Z_MIN);
+ SET_ENDSTOP_BIT(Z, MAX);
+ #if HAS_Z2_MAX
+ SET_ENDSTOP_BIT(Z2, MAX);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
+ #endif
- // if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
- // if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");
+ byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
- if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
- step_events_completed = current_block->step_event_count;
+ if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_hit_bits |= BIT(Z_MIN);
+ if (!performing_homing || (performing_homing && !((~z_test) & 0x3))) //if not performing home or if both endstops were trigged during homing...
+ step_events_completed = current_block->step_event_count; //!((~z_test) & 0x3) = Z_MAX && Z2_MAX
}
- old_z_max_endstop = z_max_endstop;
- old_z2_max_endstop = z2_max_endstop;
#else // !Z_DUAL_ENDSTOPS
- UPDATE_ENDSTOP(z, Z, max, MAX);
+ UPDATE_ENDSTOP(Z, MAX);
#endif // !Z_DUAL_ENDSTOPS
-
#endif // Z_MAX_PIN
#ifdef Z_PROBE_ENDSTOP
- UPDATE_ENDSTOP(z, Z, probe, PROBE);
- z_probe_endstop=(READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
- if(z_probe_endstop && old_z_probe_endstop)
+ UPDATE_ENDSTOP(Z, PROBE);
+ SET_ENDSTOP_BIT(Z, PROBE);
+ if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
-// if (z_probe_endstop && old_z_probe_endstop) SERIAL_ECHOLN("z_probe_endstop = true");
}
- old_z_probe_endstop = z_probe_endstop;
#endif
}
-
+ old_endstop_bits = current_endstop_bits;
}
-
// Take multiple steps per interrupt (For high speed moves)
for (int8_t i = 0; i < step_loops; i++) {
#ifndef AT90USB