diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index ee312da2d02153c400120b60750282155054e5ce..d6842a580004c959ce7efa7ea5738dad4c8c4235 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -396,7 +396,6 @@ void Endstops::M119() {
// Check endstops - Could be called from ISR!
void Endstops::update() {
- #define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#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
@@ -590,7 +589,7 @@ void Endstops::update() {
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
- if (!stepper.performing_homing || dual_hit == 0x3) \
+ if (!stepper.homing_dual_axis || dual_hit == 0x3) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 94f810e7d22367cae257183d922f00da433de52b..846d99b2dddf0fbe910d00af30be95bee174a5b7 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1052,9 +1052,14 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
- SERIAL_ECHOPAIR(", ", fr_mm_s);
- SERIAL_ECHOPAIR(" [", fr_mm_s ? fr_mm_s : homing_feedrate(axis));
- SERIAL_ECHOLNPGM("])");
+ SERIAL_ECHOPGM(", ");
+ if (fr_mm_s)
+ SERIAL_ECHO(fr_mm_s);
+ else {
+ SERIAL_ECHOPAIR("[", homing_feedrate(axis));
+ SERIAL_CHAR(']');
+ }
+ SERIAL_ECHOLNPGM(")");
}
#endif
@@ -1262,11 +1267,12 @@ void homeaxis(const AxisEnum axis) {
}
#endif
- const int axis_home_dir =
+ const int axis_home_dir = (
#if ENABLED(DUAL_X_CARRIAGE)
- (axis == X_AXIS) ? x_home_dir(active_extruder) :
+ axis == X_AXIS ? x_home_dir(active_extruder) :
#endif
- home_dir(axis);
+ home_dir(axis)
+ );
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
@@ -1274,14 +1280,20 @@ void homeaxis(const AxisEnum axis) {
#endif
// Set flags for X, Y, Z motor locking
- #if ENABLED(X_DUAL_ENDSTOPS)
- if (axis == X_AXIS) stepper.set_homing_flag_x(true);
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
- #endif
- #if ENABLED(Z_DUAL_ENDSTOPS)
- if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
+ #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+ switch (axis) {
+ #if ENABLED(X_DUAL_ENDSTOPS)
+ case X_AXIS:
+ #endif
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ case Y_AXIS:
+ #endif
+ #if ENABLED(Z_DUAL_ENDSTOPS)
+ case Z_AXIS:
+ #endif
+ stepper.set_homing_dual_axis(true);
+ default: break;
+ }
#endif
// Fast move towards endstop until triggered
@@ -1321,37 +1333,32 @@ void homeaxis(const AxisEnum axis) {
const bool pos_dir = axis_home_dir > 0;
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) {
- const bool lock_x1 = pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0);
- float adj = ABS(endstops.x_endstop_adj);
- if (pos_dir) adj = -adj;
- if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
- do_homing_move(axis, adj);
- if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
- stepper.set_homing_flag_x(false);
+ const float adj = ABS(endstops.x_endstop_adj);
+ if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
+ do_homing_move(axis, pos_dir ? adj : -adj);
+ stepper.set_x_lock(false);
+ stepper.set_x2_lock(false);
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) {
- const bool lock_y1 = pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0);
- float adj = ABS(endstops.y_endstop_adj);
- if (pos_dir) adj = -adj;
- if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
- do_homing_move(axis, adj);
- if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
- stepper.set_homing_flag_y(false);
+ const float adj = ABS(endstops.y_endstop_adj);
+ if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
+ do_homing_move(axis, pos_dir ? adj : -adj);
+ stepper.set_y_lock(false);
+ stepper.set_y2_lock(false);
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
- const bool lock_z1 = pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0);
- float adj = ABS(endstops.z_endstop_adj);
- if (pos_dir) adj = -adj;
- if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
- do_homing_move(axis, adj);
- if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
- stepper.set_homing_flag_z(false);
+ const float adj = ABS(endstops.z_endstop_adj);
+ if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
+ do_homing_move(axis, pos_dir ? adj : -adj);
+ stepper.set_z_lock(false);
+ stepper.set_z2_lock(false);
}
#endif
+ stepper.set_homing_dual_axis(false);
#endif
#if IS_SCARA
@@ -1393,10 +1400,9 @@ void homeaxis(const AxisEnum axis) {
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
- // Clear z_lift if homing the Z axis
+ // Clear retracted status if homing the Z axis
#if ENABLED(FWRETRACT)
- if (axis == Z_AXIS)
- fwretract.hop_amount = 0.0;
+ if (axis == Z_AXIS) fwretract.hop_amount = 0.0;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1470,7 +1476,7 @@ void homeaxis(const AxisEnum axis) {
#endif
#if ENABLED(DELTA)
- switch(axis) {
+ switch (axis) {
#if HAS_SOFTWARE_ENDSTOPS
case X_AXIS:
case Y_AXIS:
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index a69d65d419afdbf0d1c2d32e520d811e74693a3d..e4e42eda2506be94db33bfcf514051129c6b9a06 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -87,7 +87,7 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- bool Stepper::performing_homing = false;
+ bool Stepper::homing_dual_axis = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
@@ -166,7 +166,7 @@ bool Stepper::all_steps_done = false;
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
-volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
+int8_t Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
int32_t Stepper::counter_m[MIXING_STEPPERS];
@@ -183,7 +183,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
- if (performing_homing) { \
+ if (homing_dual_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
@@ -1144,7 +1144,6 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM);
- // Call the ISR
Stepper::isr();
HAL_timer_isr_epilogue(STEP_TIMER_NUM);
@@ -1175,7 +1174,7 @@ void Stepper::isr() {
// We need this variable here to be able to use it in the following loop
hal_timer_t min_ticks;
do {
- // Enable ISRs so the USART processing latency is reduced
+ // Enable ISRs to reduce USART processing latency
ENABLE_ISRS();
// Run main stepping pulse phase ISR if we have to
@@ -1193,11 +1192,9 @@ void Stepper::isr() {
uint32_t interval =
#if ENABLED(LIN_ADVANCE)
- // Select the closest interval in time
- MIN(nextAdvanceISR, nextMainISR)
+ MIN(nextAdvanceISR, nextMainISR) // Nearest time interval
#else
- // The interval is just the remaining time to the stepper ISR
- nextMainISR
+ nextMainISR // Remaining stepper ISR time
#endif
;
@@ -1239,7 +1236,7 @@ void Stepper::isr() {
next_isr_ticks += interval;
/**
- * The following section must be done with global interrupts disabled.
+ * The following section must be done with global interrupts disabled.
* We want nothing to interrupt it, as that could mess the calculations
* we do for the next value to program in the period register of the
* stepper timer and lead to skipped ISRs (if the value we happen to program
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index d3dd06aa5ee44c02bf52dda9f51d8adebc4504b8..951847d54f0d3f95e1bc8ee0552b3d74922c1ac8 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -63,7 +63,7 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
- static bool performing_homing;
+ static bool homing_dual_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
@@ -143,7 +143,7 @@ class Stepper {
//
// Current direction of stepper motors (+1 or -1)
//
- static volatile signed char count_direction[NUM_AXIS];
+ static int8_t count_direction[NUM_AXIS];
//
// Mixing extruder mix counters
@@ -220,18 +220,18 @@ class Stepper {
static void microstep_readings();
#endif
+ #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
+ FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
+ #endif
#if ENABLED(X_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_homing_flag_x(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; }
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_homing_flag_y(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
- FORCE_INLINE static void set_homing_flag_z(const bool state) { performing_homing = state; }
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
@@ -247,15 +247,9 @@ class Stepper {
// Set the current position in steps
inline static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
-
- // Disable stepper interrupts, to ensure atomic setting of all the position variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
-
- // Set position
_set_position(a, b, c, e);
-
- // Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}