Cleanup for dual endstops homing

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)

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:

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

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();
     }