Add option to only check endstop when homing

Marlin/Configuration.h

@@ -170,6 +170,7 @@ const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
 // For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
 
+//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 #define X_ENABLE_ON 0

Marlin/Marlin.pde

@@ -528,6 +528,8 @@ FORCE_INLINE void process_commands()
       saved_feedmultiply = feedmultiply;
       feedmultiply = 100;
       
+      enable_endstops(true);
+      
       for(int8_t i=0; i < NUM_AXIS; i++) {
         destination[i] = current_position[i];
       }
@@ -563,6 +565,9 @@ FORCE_INLINE void process_commands()
         HOMEAXIS(Z);
 	current_position[2]=code_value()+add_homeing[2];
       }       
+      #ifdef ENDSTOPS_ONLY_FOR_HOMING
+        enable_endstops(false);
+      #endif
       
       feedrate = saved_feedrate;
       feedmultiply = saved_feedmultiply;

Marlin/stepper.cpp

@@ -79,6 +79,8 @@ static bool old_y_max_endstop=false;
 static bool old_z_min_endstop=false;
 static bool old_z_max_endstop=false;
 
+static bool check_endstops = true;
+
 volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
 volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
 
@@ -191,6 +193,11 @@ void endstops_hit_on_purpose()
   endstop_z_hit=false;
 }
 
+void enable_endstops(bool check)
+{
+  check_endstops = check;
+}
+
 //         __________________________
 //        /|                        |\     _________________         ^
 //       / |                        | \   /|               |\        |
@@ -309,6 +316,7 @@ ISR(TIMER1_COMPA_vect)
     if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       WRITE(X_DIR_PIN, INVERT_X_DIR);
       count_direction[X_AXIS]=-1;
+      if(check_endstops) {
         #if X_MIN_PIN > -1
           bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
           if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
@@ -319,9 +327,11 @@ ISR(TIMER1_COMPA_vect)
           old_x_min_endstop = x_min_endstop;
         #endif
       }
+    }
     else { // +direction 
       WRITE(X_DIR_PIN,!INVERT_X_DIR);
       count_direction[X_AXIS]=1;
+      if(check_endstops) {
         #if X_MAX_PIN > -1
           bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
           if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
@@ -332,10 +342,12 @@ ISR(TIMER1_COMPA_vect)
           old_x_max_endstop = x_max_endstop;
         #endif
       }
+    }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
       WRITE(Y_DIR_PIN,INVERT_Y_DIR);
       count_direction[Y_AXIS]=-1;
+      if(check_endstops) {
         #if Y_MIN_PIN > -1
           bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
@@ -346,9 +358,11 @@ ISR(TIMER1_COMPA_vect)
           old_y_min_endstop = y_min_endstop;
         #endif
       }
+    }
     else { // +direction
     WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
       count_direction[Y_AXIS]=1;
+      if(check_endstops) {
         #if Y_MAX_PIN > -1
           bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
@@ -359,10 +373,12 @@ ISR(TIMER1_COMPA_vect)
           old_y_max_endstop = y_max_endstop;
         #endif
       }
+    }
 
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
       count_direction[Z_AXIS]=-1;
+      if(check_endstops) {
         #if Z_MIN_PIN > -1
           bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
           if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
@@ -373,9 +389,11 @@ ISR(TIMER1_COMPA_vect)
           old_z_min_endstop = z_min_endstop;
         #endif
       }
+    }
     else { // +direction
       WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
       count_direction[Z_AXIS]=1;
+      if(check_endstops) {
         #if Z_MAX_PIN > -1
           bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
           if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
@@ -386,6 +404,7 @@ ISR(TIMER1_COMPA_vect)
           old_z_max_endstop = z_max_endstop;
         #endif
       }
+    }
 
     #ifndef ADVANCE
       if ((out_bits & (1<<E_AXIS)) != 0) {  // -direction
@@ -666,6 +685,13 @@ void st_init()
     e_steps = 0;
     TIMSK0 |= (1<<OCIE0A);
   #endif //ADVANCE
+  
+  #ifdef ENDSTOPS_ONLY_FOR_HOMING
+    enable_endstops(false);
+  #else
+    enable_endstops(true);
+  #endif
+  
   sei();
 }
 

Marlin/stepper.h

@@ -44,6 +44,8 @@ void st_wake_up();
 void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
 void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
 
+void enable_endstops(bool check); // Enable/disable endstop checking
+
 void checkStepperErrors(); //Print errors detected by the stepper
 
 void finishAndDisableSteppers();