void remote488_device::update_signals_from_rem(uint8_t to_set , uint8_t to_clear)
{
uint8_t diff = m_in_signals;
m_in_signals |= to_set;
m_in_signals &= ~to_clear;
diff ^= m_in_signals;
m_out_signals = m_in_signals;
//LOG("REM SIG %02x %02x\n" , m_in_signals , diff);
m_no_propagation = true;
uint8_t tmp = m_out_signals;
if (BIT(diff , SIGNAL_ATN_BIT)) {
m_bus->atn_w(this , BIT(m_in_signals , SIGNAL_ATN_BIT));
COPY_BIT(m_bus->atn_r() , tmp , SIGNAL_ATN_BIT);
}
if (BIT(diff , SIGNAL_IFC_BIT)) {
m_bus->ifc_w(this , BIT(m_in_signals , SIGNAL_IFC_BIT));
COPY_BIT(m_bus->ifc_r() , tmp , SIGNAL_IFC_BIT);
}
if (BIT(diff , SIGNAL_REN_BIT)) {
m_bus->ren_w(this , BIT(m_in_signals , SIGNAL_REN_BIT));
COPY_BIT(m_bus->ren_r() , tmp , SIGNAL_REN_BIT);
}
if (BIT(diff , SIGNAL_SRQ_BIT)) {
m_bus->srq_w(this , BIT(m_in_signals , SIGNAL_SRQ_BIT));
COPY_BIT(m_bus->srq_r() , tmp , SIGNAL_SRQ_BIT);
}
m_no_propagation = false;
update_state(tmp);
}
void remote488_device::update_signal(signal_bit bit , int state)
{
if (!m_no_propagation) {
uint8_t tmp = m_out_signals;
COPY_BIT(state , tmp , bit);
update_state(tmp);
}
}
void soft_usart__rx__thread__run(void) {
VT_BEGIN(soft_usart__rx__thread, soft_usart__rx__thread__ip);
led_red__set(0);
uint8_t pin_data0 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data0, SOFT_USART__RX__PIN, soft_usart__rx__data, 0);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data1 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data1, SOFT_USART__RX__PIN, soft_usart__rx__data, 1);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data2 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data2, SOFT_USART__RX__PIN, soft_usart__rx__data, 2);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data3 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data3, SOFT_USART__RX__PIN, soft_usart__rx__data, 3);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data4 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data4, SOFT_USART__RX__PIN, soft_usart__rx__data, 4);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data5 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data5, SOFT_USART__RX__PIN, soft_usart__rx__data, 5);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data6 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data6, SOFT_USART__RX__PIN, soft_usart__rx__data, 6);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
uint8_t pin_data7 = PIN_REG(SOFT_USART__RX__PORT);
COPY_BIT(pin_data7, SOFT_USART__RX__PIN, soft_usart__rx__data, 7);
VT_YIELD(soft_usart__rx__thread, soft_usart__rx__thread__ip);
// In the middle of stop bit
soft_usart__timer__stop();
int0__start();
led_red__set(1);
if (soft_usart__rx__data == 42) {
led_green__set(0);
}
else {
led_green__set(1);
}
VT_UNREACHEABLE_END(soft_usart__rx__thread);
}
void hp9845_printer_device::insert_char(uint8_t ch)
{
if (m_pos == 80) {
crlf();
}
COPY_BIT(m_current_big , m_attrs[ m_pos ] , ATTRS_BIG_BIT);
COPY_BIT(m_current_u_l , m_attrs[ m_pos ] , ATTRS_U_L_BIT);
if (ch == '_') {
BIT_SET(m_attrs[ m_pos ] , ATTRS_U_L_BIT);
} else {
m_line[ m_pos ] = ch;
// Check for redefined characters
unsigned redef_idx;
if (is_ch_redef(ch , redef_idx)) {
m_attrs[ m_pos ] = (m_attrs[ m_pos ] & ~ATTRS_REDEF_NO_MASK) | (uint8_t)redef_idx | ATTRS_NEW_MASK;
} else {
BIT_CLR(m_attrs[ m_pos ] , ATTRS_NEW_BIT);
}
}
m_pos++;
}
// Check endstops - Called from ISR!
void Endstops::update() {
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
// UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
#define UPDATE_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))
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
_ENDSTOP_HIT(AXIS); \
stepper.endstop_triggered(_AXIS(AXIS)); \
} \
} while(0)
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If DeltaA == -DeltaB, the movement is only in Y or Z axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) {
if (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 == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#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 == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if HAS_X_MAX
UPDATE_ENDSTOP(X, MAX);
#endif
}
}
#if ENABLED(COREXY) || ENABLED(COREXZ)
}
#endif
#if ENABLED(COREXY) || ENABLED(COREYZ)
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
#endif
{ // -direction
#if HAS_Y_MIN
UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if ENABLED(COREXY) || ENABLED(COREYZ)
}
#endif
#if ENABLED(COREXZ) || ENABLED(COREYZ)
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) {
if (stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))
#endif
{ // z -direction
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
#endif
test_dual_z_endstops(Z_MIN, Z2_MIN);
#else // !Z_DUAL_ENDSTOPS
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
if (z_probe_enabled) UPDATE_ENDSTOP(Z, MIN);
#else
UPDATE_ENDSTOP(Z, MIN);
#endif
#endif // !Z_DUAL_ENDSTOPS
#endif // HAS_Z_MIN
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
if (z_probe_enabled) {
UPDATE_ENDSTOP(Z, MIN_PROBE);
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
}
#endif
}
else { // z +direction
#if HAS_Z_MAX
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX);
#endif
test_dual_z_endstops(Z_MAX, Z2_MAX);
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MAX);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
}
#if ENABLED(COREXZ)
}
#endif
old_endstop_bits = current_endstop_bits;
} // Endstops::update()
// Check endstops
inline void update_endstops() {
#ifdef Z_DUAL_ENDSTOPS
uint16_t
#else
byte
#endif
current_endstop_bits = 0;
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _AXIS(AXIS) AXIS ##_AXIS
#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; \
}
#ifdef COREXY
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, X_HEAD))
#elif defined(COREXZ)
// Head direction in -X axis for CoreXZ bots.
// If DeltaX == -DeltaZ, the movement is only in Z axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
if (TEST(out_bits, X_HEAD))
#else
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
{ // -direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#endif
{
#if HAS_X_MIN
UPDATE_ENDSTOP(X, MIN);
#endif
}
}
else { // +direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if HAS_X_MAX
UPDATE_ENDSTOP(X, MAX);
#endif
}
}
#if defined(COREXY) || defined(COREXZ)
}
#endif
#ifdef COREXY
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, Y_HEAD))
#else
if (TEST(out_bits, Y_AXIS)) // -direction
#endif
{ // -direction
#if HAS_Y_MIN
UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if defined(COREXY)
}
#endif
#ifdef COREXZ
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
if (TEST(out_bits, Z_HEAD))
#else
if (TEST(out_bits, Z_AXIS))
#endif
{ // z -direction
#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
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 || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MIN);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MIN_PIN
#ifdef Z_PROBE_ENDSTOP
#ifdef HAKANS_FSR
if (hakans_fsr_endstop_active) {
#endif
UPDATE_ENDSTOP(Z, PROBE);
if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
}
#ifdef HAKANS_FSR
}
#endif
#endif
}
else { // z +direction
#if HAS_Z_MAX
#ifdef Z_DUAL_ENDSTOPS
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
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
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 || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MAX);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
#ifdef Z_PROBE_ENDSTOP
#ifdef HAKANS_FSR
if (hakans_fsr_endstop_active) {
#endif
UPDATE_ENDSTOP(Z, PROBE);
if (TEST_ENDSTOP(Z_PROBE))
{
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
}
#ifdef HAKANS_FSR
}
#endif
#endif
}
#if defined(COREXZ)
}
#endif
old_endstop_bits = current_endstop_bits;
}
// __________________________
// /| |\ _________________ ^
// / | | \ /| |\ |
// / | | \ / | | \ s
// / | | | | | \ p
// / | | | | | \ e
// +-----+------------------------+---+--+---------------+----+ e
// | BLOCK 1 | BLOCK 2 | d
//
// time ----->
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
FORCE_INLINE unsigned long calc_timer(unsigned long step_rate) {
unsigned long timer;
if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
#if defined(ENABLE_HIGH_SPEED_STEPPING)
if(step_rate > (2 * DOUBLE_STEP_FREQUENCY)) { // If steprate > 2*DOUBLE_STEP_FREQUENCY >> step 4 times
step_rate = (step_rate >> 2);
step_loops = 4;
}
// Check endstops - Called from ISR!
inline void update_endstops() {
#if ENABLED(Z_DUAL_ENDSTOPS)
uint16_t
#else
byte
#endif
current_endstop_bits = 0;
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _AXIS(AXIS) AXIS ##_AXIS
#define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _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))
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define _SET_TRIGSTEPS(AXIS) do { \
float axis_pos = count_position[_AXIS(AXIS)]; \
if (_AXIS(AXIS) == A_AXIS) \
axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2; \
else if (_AXIS(AXIS) == CORE_AXIS_2) \
axis_pos = (count_position[A_AXIS] - axis_pos) / 2; \
endstops_trigsteps[_AXIS(AXIS)] = axis_pos; \
} while(0)
#else
#define _SET_TRIGSTEPS(AXIS) endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]
#endif // COREXY || COREXZ
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
SET_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && current_block->steps[_AXIS(AXIS)] > 0) { \
_SET_TRIGSTEPS(AXIS); \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
} \
} while(0)
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If Delta1 == -Delta2, the movement is only in Y or Z axis
if ((current_block->steps[A_AXIS] != current_block->steps[CORE_AXIS_2]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, CORE_AXIS_2))) {
if (TEST(out_bits, X_HEAD))
#else
if (TEST(out_bits, 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 ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#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 ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if HAS_X_MAX
UPDATE_ENDSTOP(X, MAX);
#endif
}
}
#if ENABLED(COREXY) || ENABLED(COREXZ)
}
#endif
#if ENABLED(COREXY)
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, Y_HEAD))
#else
if (TEST(out_bits, Y_AXIS)) // -direction
#endif
{ // -direction
#if HAS_Y_MIN
UPDATE_ENDSTOP(Y, MIN);
#endif
}
else { // +direction
#if HAS_Y_MAX
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if ENABLED(COREXY)
}
#endif
#if ENABLED(COREXZ)
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
if (TEST(out_bits, Z_HEAD))
#else
if (TEST(out_bits, Z_AXIS))
#endif
{ // z -direction
#if HAS_Z_MIN
#if ENABLED(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) | (TEST_ENDSTOP(Z2_MIN) << 1); // bit 0 for Z, bit 1 for Z2
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
SBI(endstop_hit_bits, Z_MIN);
if (!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;
}
#else // !Z_DUAL_ENDSTOPS
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
if (z_probe_is_active) UPDATE_ENDSTOP(Z, MIN);
#else
UPDATE_ENDSTOP(Z, MIN);
#endif
#endif // !Z_DUAL_ENDSTOPS
#endif
#if ENABLED(Z_MIN_PROBE_ENDSTOP) && DISABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && ENABLED(HAS_Z_MIN_PROBE)
if (z_probe_is_active) {
UPDATE_ENDSTOP(Z, MIN_PROBE);
if (TEST_ENDSTOP(Z_MIN_PROBE)) SBI(endstop_hit_bits, Z_MIN_PROBE);
}
#endif
}
else { // z +direction
#if HAS_Z_MAX
#if ENABLED(Z_DUAL_ENDSTOPS)
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
byte z_test = TEST_ENDSTOP(Z_MAX) | (TEST_ENDSTOP(Z2_MAX) << 1); // bit 0 for Z, bit 1 for Z2
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
SBI(endstop_hit_bits, Z_MIN);
if (!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;
}
#else // !Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(Z, MAX);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
}
#if ENABLED(COREXZ)
}
#endif
old_endstop_bits = current_endstop_bits;
}