Poll all endstops, even when stationary (#11123)

Marlin/src/inc/SanityCheck.h

@@ -1528,6 +1528,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
       #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING when homing to Y_MIN."
     #elif Y_HOME_DIR ==  1 && DISABLED(Y_MAX_ENDSTOP_INVERTING)
       #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING when homing to Y_MAX."
+    #elif ENABLED(ENDSTOP_NOISE_FILTER)
+      #error "SENSORLESS_HOMING is incompatible with ENDSTOP_NOISE_FILTER."
     #endif
   #endif
 

Marlin/src/module/endstops.cpp

@@ -429,10 +429,8 @@ void Endstops::update() {
   #endif
 
   /**
-   * Check and update endstops according to conditions
+   * Check and update endstops
    */
-  if (stepper.axis_is_moving(X_AXIS)) {
-    if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
   #if HAS_X_MIN
     #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR < 0
       UPDATE_ENDSTOP_BIT(X, MIN);
@@ -442,11 +440,10 @@ void Endstops::update() {
         COPY_LIVE_STATE(X_MIN, X2_MIN);
       #endif
     #else
-          if (X_MIN_TEST) UPDATE_ENDSTOP_BIT(X, MIN);
+      UPDATE_ENDSTOP_BIT(X, MIN);
     #endif
   #endif
-    }
-    else { // +direction
+
   #if HAS_X_MAX
     #if ENABLED(X_DUAL_ENDSTOPS) && X_HOME_DIR > 0
       UPDATE_ENDSTOP_BIT(X, MAX);
@@ -456,14 +453,10 @@ void Endstops::update() {
         COPY_LIVE_STATE(X_MAX, X2_MAX);
       #endif
     #else
-          if (X_MAX_TEST) UPDATE_ENDSTOP_BIT(X, MAX);
+      UPDATE_ENDSTOP_BIT(X, MAX);
     #endif
   #endif
-    }
-  }
 
-  if (stepper.axis_is_moving(Y_AXIS)) {
-    if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
   #if HAS_Y_MIN && Y_HOME_DIR < 0
     #if ENABLED(Y_DUAL_ENDSTOPS)
       UPDATE_ENDSTOP_BIT(Y, MIN);
@@ -476,8 +469,7 @@ void Endstops::update() {
       UPDATE_ENDSTOP_BIT(Y, MIN);
     #endif
   #endif
-    }
-    else { // +direction
+
   #if HAS_Y_MAX && Y_HOME_DIR > 0
     #if ENABLED(Y_DUAL_ENDSTOPS)
       UPDATE_ENDSTOP_BIT(Y, MAX);
@@ -490,11 +482,7 @@ void Endstops::update() {
       UPDATE_ENDSTOP_BIT(Y, MAX);
     #endif
   #endif
-    }
-  }
 
-  if (stepper.axis_is_moving(Z_AXIS)) {
-    if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
   #if HAS_Z_MIN
     #if ENABLED(Z_DUAL_ENDSTOPS) && Z_HOME_DIR < 0
       UPDATE_ENDSTOP_BIT(Z, MIN);
@@ -504,7 +492,7 @@ void Endstops::update() {
         COPY_LIVE_STATE(Z_MIN, Z2_MIN);
       #endif
     #elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
-          if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN);
+      UPDATE_ENDSTOP_BIT(Z, MIN);
     #elif Z_HOME_DIR < 0
       UPDATE_ENDSTOP_BIT(Z, MIN);
     #endif
@@ -512,10 +500,9 @@ void Endstops::update() {
 
   // When closing the gap check the enabled probe
   #if ENABLED(Z_MIN_PROBE_ENDSTOP)
-        if (z_probe_enabled) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
+    UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
   #endif
-    }
-    else { // Z +direction. Gantry up, bed down.
+
   #if HAS_Z_MAX && Z_HOME_DIR > 0
     // Check both Z dual endstops
     #if ENABLED(Z_DUAL_ENDSTOPS)
@@ -530,8 +517,6 @@ void Endstops::update() {
       UPDATE_ENDSTOP_BIT(Z, MAX);
     #endif
   #endif
-    }
-  }
 
   #if ENABLED(ENDSTOP_NOISE_FILTER)
     /**