Merge pull request #6353 from thinkyhead/rc_endstop_coolness

Clean up endstop triggering code

Marlin/endstops.cpp

@@ -278,12 +278,16 @@ void Endstops::update() {
     }
   #endif
 
-    #if ENABLED(COREXY) || ENABLED(COREXZ)
+  /**
-      #define CORE_X_CMP ==
+   * Define conditions for checking endstops
-    #elif ENABLED(COREYX) || ENABLED(COREZX)
+   */
-      #define CORE_X_CMP !=
+
+  #if IS_CORE
+    #define S_(N) stepper.current_block->steps[CORE_AXIS_##N]
+    #define D_(N) stepper.motor_direction(CORE_AXIS_##N)
   #endif
 
+  #if CORE_IS_XY || CORE_IS_XZ
     /**
      * Head direction in -X axis for CoreXY and CoreXZ bots.
      *
@@ -291,52 +295,16 @@ void Endstops::update() {
      * 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 ENABLED(COREXY) || ENABLED(COREXZ)
-      if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
+      #define X_CMP ==
-        || (    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
-      if (stepper.current_block->steps[X_AXIS] > 0)
+      #define X_CMP !=
-        if (stepper.motor_direction(X_AXIS))   // stepping along -X axis (regular Cartesian bot)
     #endif
-      { // -direction
+    #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
-        #if ENABLED(DUAL_X_CARRIAGE)
+    #define X_AXIS_HEAD X_HEAD
-          // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+  #else
-          if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0)
+    #define X_MOVE_TEST stepper.current_block->steps[X_AXIS] > 0
-            || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)
+    #define X_AXIS_HEAD X_AXIS
-          )
-        #endif
-          {
-            #if HAS_X_MIN
-              UPDATE_ENDSTOP(X, MIN);
-            #endif
-          }
-      }
-      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)
-          )
-        #endif
-          {
-            #if HAS_X_MAX
-              UPDATE_ENDSTOP(X, MAX);
-            #endif
-          }
-      }
-  #if CORE_IS_XY || CORE_IS_XZ
-    }
-  #endif
-
-  // Handle swapped vs. typical Core axis order
-  #if ENABLED(COREYX) || ENABLED(COREYZ)
-    #define CORE_YZ_CMP ==
-  #elif ENABLED(COREXY) || ENABLED(COREZY)
-    #define CORE_YZ_CMP !=
   #endif
 
   #if CORE_IS_XY || CORE_IS_YZ
@@ -347,35 +315,16 @@ void Endstops::update() {
      * 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]
+    #if ENABLED(COREYX) || ENABLED(COREYZ)
-      || (    stepper.current_block->steps[CORE_AXIS_1] > 0
+      #define Y_CMP ==
-           && 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)
+      #define Y_CMP !=
-      if (stepper.motor_direction(Y_AXIS))   // -direction
     #endif
-      { // -direction
+    #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
-        #if HAS_Y_MIN
+    #define Y_AXIS_HEAD Y_HEAD
-          UPDATE_ENDSTOP(Y, MIN);
+  #else
-        #endif
+    #define Y_MOVE_TEST stepper.current_block->steps[Y_AXIS] > 0
-      }
+    #define Y_AXIS_HEAD Y_AXIS
-      else { // +direction
-        #if HAS_Y_MAX
-          UPDATE_ENDSTOP(Y, MAX);
-        #endif
-      }
-  #if CORE_IS_XY || CORE_IS_YZ
-    }
-  #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
@@ -386,17 +335,62 @@ void Endstops::update() {
      * 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]
+    #if ENABLED(COREZX) || ENABLED(COREZY)
-      || (    stepper.current_block->steps[CORE_AXIS_1] > 0
+      #define Z_CMP ==
-           && 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)
+      #define Z_CMP !=
-      if (stepper.motor_direction(Z_AXIS))
     #endif
-      { // Z -direction. Gantry down, bed up.
+    #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
+    #define Z_AXIS_HEAD Z_HEAD
+  #else
+    #define Z_MOVE_TEST stepper.current_block->steps[Z_AXIS] > 0
+    #define Z_AXIS_HEAD Z_AXIS
+  #endif
+
+  // With Dual X, endstops are only checked in the homing direction for the active extruder
+  #if ENABLED(DUAL_X_CARRIAGE)
+    #define E0_ACTIVE stepper.current_block->active_extruder == 0
+    #define X_MIN_TEST ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE))
+    #define X_MAX_TEST ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE))
+  #else
+    #define X_MIN_TEST true
+    #define X_MAX_TEST true
+  #endif
+
+  /**
+   * Check and update endstops according to conditions
+   */
+
+  if (X_MOVE_TEST) {
+    if (stepper.motor_direction(X_AXIS_HEAD)) {
+      if (X_MIN_TEST) { // -direction
+        #if HAS_X_MIN
+          UPDATE_ENDSTOP(X, MIN);
+        #endif
+      }
+    }
+    else if (X_MAX_TEST) { // +direction
+      #if HAS_X_MAX
+        UPDATE_ENDSTOP(X, MAX);
+      #endif
+    }
+  }
+
+  if (Y_MOVE_TEST) {
+    if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
+      #if HAS_Y_MIN
+        UPDATE_ENDSTOP(Y, MIN);
+      #endif
+    }
+    else { // +direction
+      #if HAS_Y_MAX
+        UPDATE_ENDSTOP(Y, MAX);
+      #endif
+    }
+  }
+
+  if (Z_MOVE_TEST) {
+    if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
       #if HAS_Z_MIN
         #if ENABLED(Z_DUAL_ENDSTOPS)
 
@@ -453,9 +447,7 @@ void Endstops::update() {
         #endif // !Z_MIN_PROBE_PIN...
       #endif // Z_MAX_PIN
     }
-  #if CORE_IS_XZ || CORE_IS_YZ
   }
-  #endif
 
   old_endstop_bits = current_endstop_bits;