diff --git a/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h b/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
index 609fed98b8b972a4575581cdeed04235ffb4e06f..358b97f6ab4e2c1282312193f22c128c99c7909f 100644
--- a/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
@@ -43,7 +43,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
/**
* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
diff --git a/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h b/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
index b662804cd1063a2415ecde1b41e8b912b11a1a75..42cdba19fcaed5e3645e36b47ccfafcff59f3d25 100644
--- a/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
@@ -40,7 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
/**
* Endstop interrupts for Due based targets.
diff --git a/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h b/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
index 6ba9c8100dadd98959051e839cb8c08c09c0e089..b064f16bf53ed206c685ef9bbf1adefeb91e1654 100644
--- a/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
@@ -40,9 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void ICACHE_RAM_ATTR endstop_ISR(void) {
- endstops.check_possible_change();
-}
+void ICACHE_RAM_ATTR endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
diff --git a/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h b/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
index 25da1f95faab3079e96146326c494c4dedbb7bb5..9167361c6d9a88927b4f052e025d7824bfba1fa6 100644
--- a/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
@@ -43,7 +43,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
diff --git a/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h b/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
index c2a07a7cf1f2e61178cdaa18db077642da9434b5..27ef0a487c6f7a137000029ecd1f7df39f128b75 100644
--- a/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
@@ -52,7 +52,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
diff --git a/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h b/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
index 1b1cffc49f370e53a45955afa76b61ef637117e8..2ccfd570663c9e091918941ea277c39b9b13be44 100644
--- a/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
@@ -27,7 +27,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
diff --git a/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h b/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
index 5ae338d76adb6b108821a39438cd5bb0ec9e3a65..5b2cdb3a9e03a72801733dff8042fce86dd86c6d 100644
--- a/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
@@ -29,7 +29,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h b/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
index 3ba40bdc875c274860d27924973e0ca7e9f4c470..00e1b8b38ac12c9098e246573084559edf9dc17c 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
@@ -40,7 +40,7 @@
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
-void endstop_ISR(void) { endstops.check_possible_change(); }
+void endstop_ISR(void) { endstops.update(); }
/**
* Endstop interrupts for Due based targets.
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index acf0be796be8325be2a42f8f4869da7aff0274ad..0b3baf5dc282a02bc9417a3b078bcf458e118729 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -36,12 +36,6 @@
#include HAL_PATH(../HAL, endstop_interrupts.h)
#endif
-#if HAS_BED_PROBE
- #define ENDSTOPS_ENABLED (enabled || z_probe_enabled)
-#else
- #define ENDSTOPS_ENABLED enabled
-#endif
-
Endstops endstops;
// public:
@@ -50,9 +44,9 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
volatile uint8_t Endstops::hit_state;
Endstops::esbits_t Endstops::live_state = 0;
+
#if ENABLED(ENDSTOP_NOISE_FILTER)
- Endstops::esbits_t Endstops::old_live_state,
- Endstops::validated_live_state;
+ Endstops::esbits_t Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count;
#endif
@@ -222,9 +216,6 @@ void Endstops::init() {
} // Endstops::init
-// Called from ISR. A change was detected. Find out what happened!
-void Endstops::check_possible_change() { if (ENDSTOPS_ENABLED) update(); }
-
// Called from ISR: Poll endstop state if required
void Endstops::poll() {
@@ -232,8 +223,10 @@ void Endstops::poll() {
run_monitor(); // report changes in endstop status
#endif
- #if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
- if (ENDSTOPS_ENABLED) update();
+ #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) && ENABLED(ENDSTOP_NOISE_FILTER)
+ if (endstop_poll_count) update();
+ #elif DISABLED(ENDSTOP_INTERRUPTS_FEATURE) || ENABLED(ENDSTOP_NOISE_FILTER)
+ update();
#endif
}
@@ -241,7 +234,7 @@ void Endstops::enable_globally(const bool onoff) {
enabled_globally = enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- if (onoff) update(); // If enabling, update state now
+ update();
#endif
}
@@ -250,7 +243,7 @@ void Endstops::enable(const bool onoff) {
enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- if (onoff) update(); // If enabling, update state now
+ update();
#endif
}
@@ -259,7 +252,7 @@ void Endstops::not_homing() {
enabled = enabled_globally;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- if (enabled) update(); // If enabling, update state now
+ update();
#endif
}
@@ -269,7 +262,7 @@ void Endstops::not_homing() {
z_probe_enabled = onoff;
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- if (enabled) update(); // If enabling, update state now
+ update();
#endif
}
#endif
@@ -396,10 +389,12 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR!
void Endstops::update() {
- // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
+ #if DISABLED(ENDSTOP_NOISE_FILTER)
+ if (!abort_enabled()) return;
+ #endif
+
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
- // COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
- #define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT_TO(DST, DST_BIT, TEST(DST, SRC_BIT))
+ #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command is active check Z_MIN_PROBE for ALL movement
@@ -444,7 +439,7 @@ void Endstops::update() {
#if HAS_X2_MIN
UPDATE_ENDSTOP_BIT(X2, MIN);
#else
- COPY_BIT(live_state, X_MIN, X2_MIN);
+ COPY_LIVE_STATE(X_MIN, X2_MIN);
#endif
#else
if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
@@ -458,7 +453,7 @@ void Endstops::update() {
#if HAS_X2_MAX
UPDATE_ENDSTOP_BIT(X2, MAX);
#else
- COPY_BIT(live_state, X_MAX, X2_MAX);
+ COPY_LIVE_STATE(X_MAX, X2_MAX);
#endif
#else
if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
@@ -475,7 +470,7 @@ void Endstops::update() {
#if HAS_Y2_MIN
UPDATE_ENDSTOP_BIT(Y2, MIN);
#else
- COPY_BIT(live_state, Y_MIN, Y2_MIN);
+ COPY_LIVE_STATE(Y_MIN, Y2_MIN);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MIN);
@@ -489,7 +484,7 @@ void Endstops::update() {
#if HAS_Y2_MAX
UPDATE_ENDSTOP_BIT(Y2, MAX);
#else
- COPY_BIT(live_state, Y_MAX, Y2_MAX);
+ COPY_LIVE_STATE(Y_MAX, Y2_MAX);
#endif
#else
UPDATE_ENDSTOP_BIT(Y, MAX);
@@ -506,7 +501,7 @@ void Endstops::update() {
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
- COPY_BIT(live_state, Z_MIN, Z2_MIN);
+ 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);
@@ -528,7 +523,7 @@ void Endstops::update() {
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
- COPY_BIT(live_state, Z_MAX, Z2_MAX);
+ 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
@@ -538,36 +533,31 @@ void Endstops::update() {
}
}
- // All endstops were updated.
#if ENABLED(ENDSTOP_NOISE_FILTER)
- if (old_live_state != live_state) { // We detected a change. Reinit the timeout
- /**
- * Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
- * that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
- * of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample
- * also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes
- * 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It
- * reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances
- * still exist. The only way to reduce them further is to increase the number of samples.
- * To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
- */
+ /**
+ * Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise,
+ * that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution
+ * of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample
+ * also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes
+ * 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It
+ * reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances
+ * still exist. The only way to reduce them further is to increase the number of samples.
+ * To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
+ */
+ static esbits_t old_live_state;
+ if (old_live_state != live_state) {
endstop_poll_count = 7;
old_live_state = live_state;
}
else if (endstop_poll_count && !--endstop_poll_count)
validated_live_state = live_state;
- #else
-
- // Lets accept the new endstop values as valid - We assume hardware filtering of lines
- esbits_t validated_live_state = live_state;
+ if (!abort_enabled()) return;
#endif
- // Endstop readings are validated in validated_live_state
-
// Test the current status of an endstop
- #define TEST_ENDSTOP(ENDSTOP) (TEST(validated_live_state, ENDSTOP))
+ #define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP))
// Record endstop was hit
#define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX))
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index fe5c3a7b76bf431b924aec24e52a8bdffbe1b614..830b1515b11b92d6193adee05bec50667dc6314d 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -70,9 +70,10 @@ class Endstops {
private:
static esbits_t live_state;
static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
+
#if ENABLED(ENDSTOP_NOISE_FILTER)
- static esbits_t old_live_state, // Old endstop value for debouncing and denoising
- validated_live_state; // The validated (accepted as true) endstop bits
+ static esbits_t validated_live_state;
+ uint8_t Endstops::endstop_poll_count;
static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif
@@ -85,10 +86,15 @@ class Endstops {
static void init();
/**
- * A change was detected or presumed to be in endstops pins. Find out what
- * changed, if anything. Called from ISR contexts
+ * Are endstops or the probe set to abort the move?
*/
- static void check_possible_change();
+ FORCE_INLINE static bool abort_enabled() {
+ return (enabled
+ #if HAS_BED_PROBE
+ || z_probe_enabled
+ #endif
+ );
+ }
/**
* Periodic call to poll endstops if required. Called from temperature ISR
@@ -96,7 +102,9 @@ class Endstops {
static void poll();
/**
- * Update the endstops bits from the pins
+ * Update endstops bits from the pins. Apply filtering to get a verified state.
+ * If abort_enabled() and moving towards a triggered switch, abort the current move.
+ * Called from ISR contexts.
*/
static void update();
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 369cadfb544c1520d1de13561285e08d953460b5..45f23b7a182a17c28b163c457c2f5c87b5a8817e 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1742,7 +1742,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// done against the endstop. So, check the limits here: If the movement
// is against the limits, the block will be marked as to be killed, and
// on the next call to this ISR, will be discarded.
- endstops.check_possible_change();
+ endstops.update();
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with