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@@ -429,109 +429,94 @@ void Endstops::update() {
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#endif
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/**
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- * Check and update endstops according to conditions
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+ * Check and update endstops
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*/
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- if (stepper.axis_is_moving(X_AXIS)) {
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- if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
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- #if HAS_X_MIN
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- #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
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- UPDATE_ENDSTOP_BIT(X, MIN);
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- #if HAS_X2_MIN
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- UPDATE_ENDSTOP_BIT(X2, MIN);
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- #else
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- COPY_LIVE_STATE(X_MIN, X2_MIN);
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- #endif
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- #else
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- if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
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- #endif
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- #endif
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- }
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- else { // +direction
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- #if HAS_X_MAX
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- #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
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- UPDATE_ENDSTOP_BIT(X, MAX);
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- #if HAS_X2_MAX
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- UPDATE_ENDSTOP_BIT(X2, MAX);
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- #else
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- COPY_LIVE_STATE(X_MAX, X2_MAX);
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- #endif
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- #else
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- if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
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- #endif
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+ #if HAS_X_MIN
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+ #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
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+ UPDATE_ENDSTOP_BIT(X, MIN);
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+ #if HAS_X2_MIN
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+ UPDATE_ENDSTOP_BIT(X2, MIN);
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+ #else
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+ COPY_LIVE_STATE(X_MIN, X2_MIN);
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#endif
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- }
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- }
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+ #else
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+ UPDATE_ENDSTOP_BIT(X, MIN);
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+ #endif
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+ #endif
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- if (stepper.axis_is_moving(Y_AXIS)) {
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- if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
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- #if HAS_Y_MIN && Y_HOME_DIR < 0
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- #if ENABLED(Y_DUAL_ENDSTOPS)
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- UPDATE_ENDSTOP_BIT(Y, MIN);
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- #if HAS_Y2_MIN
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- UPDATE_ENDSTOP_BIT(Y2, MIN);
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- #else
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- COPY_LIVE_STATE(Y_MIN, Y2_MIN);
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- #endif
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- #else
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- UPDATE_ENDSTOP_BIT(Y, MIN);
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- #endif
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+ #if HAS_X_MAX
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+ #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
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+ UPDATE_ENDSTOP_BIT(X, MAX);
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+ #if HAS_X2_MAX
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+ UPDATE_ENDSTOP_BIT(X2, MAX);
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+ #else
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+ COPY_LIVE_STATE(X_MAX, X2_MAX);
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#endif
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- }
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- else { // +direction
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- #if HAS_Y_MAX && Y_HOME_DIR > 0
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- #if ENABLED(Y_DUAL_ENDSTOPS)
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- UPDATE_ENDSTOP_BIT(Y, MAX);
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- #if HAS_Y2_MAX
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- UPDATE_ENDSTOP_BIT(Y2, MAX);
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- #else
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- COPY_LIVE_STATE(Y_MAX, Y2_MAX);
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- #endif
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- #else
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- UPDATE_ENDSTOP_BIT(Y, MAX);
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- #endif
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+ #else
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+ UPDATE_ENDSTOP_BIT(X, MAX);
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+ #endif
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+ #endif
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+
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+ #if HAS_Y_MIN && Y_HOME_DIR < 0
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+ #if ENABLED(Y_DUAL_ENDSTOPS)
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+ UPDATE_ENDSTOP_BIT(Y, MIN);
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+ #if HAS_Y2_MIN
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+ UPDATE_ENDSTOP_BIT(Y2, MIN);
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+ #else
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+ COPY_LIVE_STATE(Y_MIN, Y2_MIN);
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#endif
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- }
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- }
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+ #else
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+ UPDATE_ENDSTOP_BIT(Y, MIN);
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+ #endif
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+ #endif
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- if (stepper.axis_is_moving(Z_AXIS)) {
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- if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
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- #if HAS_Z_MIN
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- #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
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- UPDATE_ENDSTOP_BIT(Z, MIN);
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- #if HAS_Z2_MIN
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- UPDATE_ENDSTOP_BIT(Z2, MIN);
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- #else
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- COPY_LIVE_STATE(Z_MIN, Z2_MIN);
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- #endif
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- #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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- if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
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- #elif Z_HOME_DIR < 0
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- UPDATE_ENDSTOP_BIT(Z, MIN);
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- #endif
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+ #if HAS_Y_MAX && Y_HOME_DIR > 0
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+ #if ENABLED(Y_DUAL_ENDSTOPS)
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+ UPDATE_ENDSTOP_BIT(Y, MAX);
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+ #if HAS_Y2_MAX
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+ UPDATE_ENDSTOP_BIT(Y2, MAX);
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+ #else
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+ COPY_LIVE_STATE(Y_MAX, Y2_MAX);
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#endif
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+ #else
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+ UPDATE_ENDSTOP_BIT(Y, MAX);
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+ #endif
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+ #endif
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- // When closing the gap check the enabled probe
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- #if ENABLED(Z_MIN_PROBE_ENDSTOP)
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- if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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+ #if HAS_Z_MIN
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+ #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
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+ UPDATE_ENDSTOP_BIT(Z, MIN);
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+ #if HAS_Z2_MIN
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+ UPDATE_ENDSTOP_BIT(Z2, MIN);
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+ #else
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+ COPY_LIVE_STATE(Z_MIN, Z2_MIN);
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#endif
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- }
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- else { // Z +direction. Gantry up, bed down.
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- #if HAS_Z_MAX && Z_HOME_DIR > 0
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- // Check both Z dual endstops
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- #if ENABLED(Z_DUAL_ENDSTOPS)
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- UPDATE_ENDSTOP_BIT(Z, MAX);
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- #if HAS_Z2_MAX
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- UPDATE_ENDSTOP_BIT(Z2, MAX);
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- #else
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- COPY_LIVE_STATE(Z_MAX, Z2_MAX);
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- #endif
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- #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
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- // If this pin isn't the bed probe it's the Z endstop
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- UPDATE_ENDSTOP_BIT(Z, MAX);
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- #endif
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+ #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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+ UPDATE_ENDSTOP_BIT(Z, MIN);
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+ #elif Z_HOME_DIR < 0
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+ UPDATE_ENDSTOP_BIT(Z, MIN);
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+ #endif
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+ #endif
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+
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+ // When closing the gap check the enabled probe
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+ #if ENABLED(Z_MIN_PROBE_ENDSTOP)
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+ UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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+ #endif
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+
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+ #if HAS_Z_MAX && Z_HOME_DIR > 0
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+ // Check both Z dual endstops
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+ #if ENABLED(Z_DUAL_ENDSTOPS)
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+ UPDATE_ENDSTOP_BIT(Z, MAX);
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+ #if HAS_Z2_MAX
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+ UPDATE_ENDSTOP_BIT(Z2, MAX);
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+ #else
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+ COPY_LIVE_STATE(Z_MAX, Z2_MAX);
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#endif
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- }
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- }
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+ #elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
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+ // If this pin isn't the bed probe it's the Z endstop
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+ UPDATE_ENDSTOP_BIT(Z, MAX);
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+ #endif
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+ #endif
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#if ENABLED(ENDSTOP_NOISE_FILTER)
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/**
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