From 430eedf5c09fe48b1e5ee470f57d7cc5f13b017a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Fri, 16 Aug 2024 14:35:29 -0500
Subject: [PATCH] =?UTF-8?q?=F0=9F=91=B7=20Optional=20IJKUVW=20endstops?=
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---
 Marlin/src/module/endstops.cpp | 61 +++++++++++++++++-----------------
 1 file changed, 30 insertions(+), 31 deletions(-)

diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 5cee425bef8c..8d6f384689a7 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -823,19 +823,16 @@ void Endstops::update() {
   #endif
 
   #if ENABLED(CALIBRATION_GCODE)
-    if (calibration_probe_enabled) {
-      #if HAS_CALIBRATION_STATE
-        if (TEST(live_state, CALIBRATION) == calibration_stop_state) stepper.quick_stop();
-      #else
-        if (TEST(live_state, Z_MIN_PROBE) == calibration_stop_state) stepper.quick_stop();
-      #endif
-    }
+    if (calibration_probe_enabled
+        && calibration_stop_state == TEST(live_state, TERN(HAS_CALIBRATION_STATE, CALIBRATION, Z_MIN_PROBE)))
+      stepper.quick_stop();
   #endif
+
   // Signal, after validation, if an endstop limit is pressed or not
 
   #if HAS_X_AXIS
     if (stepper.axis_is_moving(X_AXIS)) {
-      if (!stepper.motor_direction(X_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(X_AXIS_HEAD)) {
         #if HAS_X_MIN_STATE
           PROCESS_ENDSTOP_X(MIN);
           #if   CORE_DIAG(XY, Y, MIN)
@@ -849,7 +846,7 @@ void Endstops::update() {
           #endif
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_X_MAX_STATE
           PROCESS_ENDSTOP_X(MAX);
           #if   CORE_DIAG(XY, Y, MIN)
@@ -868,7 +865,7 @@ void Endstops::update() {
 
   #if HAS_Y_AXIS
     if (stepper.axis_is_moving(Y_AXIS)) {
-      if (!stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(Y_AXIS_HEAD)) {
         #if HAS_Y_MIN_STATE
           PROCESS_ENDSTOP_Y(MIN);
           #if   CORE_DIAG(XY, X, MIN)
@@ -882,7 +879,7 @@ void Endstops::update() {
           #endif
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_Y_MAX_STATE
           PROCESS_ENDSTOP_Y(MAX);
           #if   CORE_DIAG(XY, X, MIN)
@@ -901,7 +898,8 @@ void Endstops::update() {
 
   #if HAS_Z_AXIS
     if (stepper.axis_is_moving(Z_AXIS)) {
-      if (!stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
+      if (!stepper.motor_direction(Z_AXIS_HEAD)) {
+        // Z- : Gantry down, bed up
         #if HAS_Z_MIN_STATE
           // If the Z_MIN_PIN is being used for the probe there's no
           // separate Z_MIN endstop. But a Z endstop could be wired
@@ -927,7 +925,8 @@ void Endstops::update() {
           if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE);
         #endif
       }
-      else { // Z +direction. Gantry up, bed down.
+      else {
+        // Z+ : Gantry up, bed down
         #if HAS_Z_MAX_STATE
           PROCESS_ENDSTOP_Z(MAX);
           #if   CORE_DIAG(XZ, X, MIN)
@@ -944,14 +943,14 @@ void Endstops::update() {
     }
   #endif // HAS_Z_AXIS
 
-  #if HAS_I_AXIS
+  #if HAS_I_AXIS && HAS_I_STATE
     if (stepper.axis_is_moving(I_AXIS)) {
-      if (!stepper.motor_direction(I_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(I_AXIS_HEAD)) {
         #if HAS_I_MIN_STATE
           PROCESS_ENDSTOP(I, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_I_MAX_STATE
           PROCESS_ENDSTOP(I, MAX);
         #endif
@@ -959,14 +958,14 @@ void Endstops::update() {
     }
   #endif // HAS_I_AXIS
 
-  #if HAS_J_AXIS
+  #if HAS_J_AXIS && HAS_J_STATE
     if (stepper.axis_is_moving(J_AXIS)) {
-      if (!stepper.motor_direction(J_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(J_AXIS_HEAD)) {
         #if HAS_J_MIN_STATE
           PROCESS_ENDSTOP(J, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_J_MAX_STATE
           PROCESS_ENDSTOP(J, MAX);
         #endif
@@ -974,14 +973,14 @@ void Endstops::update() {
     }
   #endif // HAS_J_AXIS
 
-  #if HAS_K_AXIS
+  #if HAS_K_AXIS && HAS_K_STATE
     if (stepper.axis_is_moving(K_AXIS)) {
-      if (!stepper.motor_direction(K_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(K_AXIS_HEAD)) {
         #if HAS_K_MIN_STATE
           PROCESS_ENDSTOP(K, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_K_MAX_STATE
           PROCESS_ENDSTOP(K, MAX);
         #endif
@@ -989,14 +988,14 @@ void Endstops::update() {
     }
   #endif // HAS_K_AXIS
 
-  #if HAS_U_AXIS
+  #if HAS_U_AXIS && HAS_U_STATE
     if (stepper.axis_is_moving(U_AXIS)) {
-      if (!stepper.motor_direction(U_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(U_AXIS_HEAD)) {
         #if HAS_U_MIN_STATE
           PROCESS_ENDSTOP(U, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_U_MAX_STATE
           PROCESS_ENDSTOP(U, MAX);
         #endif
@@ -1004,14 +1003,14 @@ void Endstops::update() {
     }
   #endif // HAS_U_AXIS
 
-  #if HAS_V_AXIS
+  #if HAS_V_AXIS && HAS_V_STATE
     if (stepper.axis_is_moving(V_AXIS)) {
-      if (!stepper.motor_direction(V_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(V_AXIS_HEAD)) {
         #if HAS_V_MIN_STATE
           PROCESS_ENDSTOP(V, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_V_MAX_STATE
           PROCESS_ENDSTOP(V, MAX);
         #endif
@@ -1019,14 +1018,14 @@ void Endstops::update() {
     }
   #endif // HAS_V_AXIS
 
-  #if HAS_W_AXIS
+  #if HAS_W_AXIS && HAS_W_STATE
     if (stepper.axis_is_moving(W_AXIS)) {
-      if (!stepper.motor_direction(W_AXIS_HEAD)) { // -direction
+      if (!stepper.motor_direction(W_AXIS_HEAD)) {
         #if HAS_W_MIN_STATE
           PROCESS_ENDSTOP(W, MIN);
         #endif
       }
-      else { // +direction
+      else {
         #if HAS_W_MAX_STATE
           PROCESS_ENDSTOP(W, MAX);
         #endif