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Faster code when endstops/probe are not enabled

This commit is contained in:
Alex Voinea 2022-02-10 16:24:52 +01:00
parent 42b91a83cd
commit 18dde3fb61
1 changed files with 12 additions and 6 deletions
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18
Firmware/stepper.cpp
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@ -482,11 +482,11 @@ FORCE_INLINE void stepper_next_block()
// Check limit switches.
FORCE_INLINE void stepper_check_endstops()
{
uint8_t _endstop_hit = endstop_hit;
uint8_t _endstop = endstop;
uint8_t _old_endstop = old_endstop;
if(check_endstops)
{
uint8_t _endstop_hit = endstop_hit;
uint8_t _endstop = endstop;
uint8_t _old_endstop = old_endstop;
#ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) // stepping along -X axis
#else
@ -603,11 +603,17 @@ FORCE_INLINE void stepper_check_endstops()
}
#endif
}
endstop = _endstop;
old_endstop = _endstop; //apply current endstop state to the old endstop
endstop_hit = _endstop_hit;
}
// Supporting stopping on a trigger of the Z-stop induction sensor, not only for the Z-minus movements.
#if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
if (check_z_endstop) {
uint8_t _endstop_hit = endstop_hit;
uint8_t _endstop = endstop;
uint8_t _old_endstop = old_endstop;
// Check the Z min end-stop no matter what.
// Good for searching for the center of an induction target.
#ifdef TMC2130_SG_HOMING
@ -626,11 +632,11 @@ FORCE_INLINE void stepper_check_endstops()
_endstop_hit |= _BV(Z_AXIS);
step_events_completed.wide = current_block->step_event_count.wide;
}
endstop = _endstop;
old_endstop = _endstop; //apply current endstop state to the old endstop
endstop_hit = _endstop_hit;
}
#endif
endstop = _endstop;
old_endstop = _endstop; //apply current endstop state to the old endstop
endstop_hit = _endstop_hit;
}