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@ -21,13 +21,18 @@
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*/
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/**
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* Endstop interrupts
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* Without endstop interrups the stepper-ISR must always test all endstops when interested in their states (endstops.update()).
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* Most time the test will result in finding out nothing has changed.
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* With endstop interrupts endstops.update() is called only when we know that at least one endstop has changed its state.
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* Endstop Interrupts
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*
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* This can work only if all __used__ endstop pins can provide ether an 'external interrupt' or a 'pin change interrupt'.
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* You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (Marlin\buildroot\share\pin_interrupt_test\pin_interrupt_test.ino)
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* Without endstop interrupts the endstop pins must be polled continually in
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* the stepper-ISR via endstops.update(), most of the time finding no change.
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* With this feature endstops.update() is called only when we know that at
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* least one endstop has changed state, saving valuable CPU cycles.
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*
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* This feature only works when all used endstop pins can generate either an
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* 'external interrupt' or a 'pin change interrupt'.
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*
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* Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
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* (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
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*/
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#ifndef _ENDSTOP_INTERRUPTS_H_
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@ -37,8 +42,8 @@
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* Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
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*
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* These macros for the Arduino MEGA do not include the two connected pins on Port J (D13, D14).
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* So we extend them here because this are the normal pins for Y_MIN and Y_MAX on RAMPS.
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* There are more PCI enabled processor pins on Port J, but they are not connected to Arduino MEGA.
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* So we extend them here because these are the normal pins for Y_MIN and Y_MAX on RAMPS.
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* There are more PCI-enabled processor pins on Port J, but they are not connected to Arduino MEGA.
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*/
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#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
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#undef digitalPinToPCICR
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@ -70,7 +75,7 @@
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volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail.
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// Must be reset to 0 by the test function when the tests are finished.
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// Install Pin change interrupt for a pin, can be called multiple times
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// Install Pin change interrupt for a pin. Can be called multiple times.
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void pciSetup(byte pin) {
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*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
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PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
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@ -84,35 +89,26 @@
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// Use one Routine to handle each group
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// One ISR for all EXT-Interrupts
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void endstop_ISR(void) {
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endstop_ISR_worker();
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}
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void endstop_ISR(void) { endstop_ISR_worker(); }
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// Handlers for pin change interrupts
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#ifdef PCINT0_vect
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ISR(PCINT0_vect) { // handle pin change interrupt
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endstop_ISR_worker();
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}
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ISR(PCINT0_vect) { endstop_ISR_worker(); }
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#endif
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#ifdef PCINT1_vect
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ISR(PCINT1_vect) { // handle pin change interrupt
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endstop_ISR_worker();
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}
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ISR(PCINT1_vect) { endstop_ISR_worker(); }
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#endif
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#ifdef PCINT2_vect
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ISR(PCINT2_vect) { // handle pin change interrupt
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endstop_ISR_worker();
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}
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ISR(PCINT2_vect) { endstop_ISR_worker(); }
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#endif
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#ifdef PCINT3_vect
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ISR(PCINT3_vect) { // handle pin change interrupt
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endstop_ISR_worker();
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}
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ISR(PCINT3_vect) { endstop_ISR_worker(); }
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#endif
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void setup_enstop_interrupts( void ) {
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void setup_endstop_interrupts( void ) {
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#if HAS_X_MAX
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#if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt
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@ -204,8 +200,7 @@
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#endif
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#endif
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// When we arive here without error each pin has ether a EXT-interrupt or a PCI.
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// If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
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}
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#endif //_ENDSTOP_INTERRUPTS_H_
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