/** * Marlin 3D Printer Firmware * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . * */ /** * Endstop Interrupts * * Without endstop interrupts the endstop pins must be polled continually in * the stepper-ISR via endstops.update(), most of the time finding no change. * With this feature endstops.update() is called only when we know that at * least one endstop has changed state, saving valuable CPU cycles. * * This feature only works when all used endstop pins can generate either an * 'external interrupt' or a 'pin change interrupt'. * * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'. * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino) */ #ifndef _ENDSTOP_INTERRUPTS_H_ #define _ENDSTOP_INTERRUPTS_H_ #include "macros.h" /** * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h) * * These macros for the Arduino MEGA do not include the two connected pins on Port J (D13, D14). * So we extend them here because these are the normal pins for Y_MIN and Y_MAX on RAMPS. * There are more PCI-enabled processor pins on Port J, but they are not connected to Arduino MEGA. */ #if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA) #undef digitalPinToPCICR #define digitalPinToPCICR(p) ( WITHIN(p, 10, 15) || \ WITHIN(p, 50, 53) || \ WITHIN(p, 62, 69) ? &PCICR : (uint8_t*)0 ) #undef digitalPinToPCICRbit #define digitalPinToPCICRbit(p) ( WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? 0 : \ WITHIN(p, 14, 15) ? 1 : \ WITHIN(p, 62, 69) ? 2 : \ 0 ) #undef digitalPinToPCMSK #define digitalPinToPCMSK(p) ( WITHIN(p, 10, 13) || WITHIN(p, 50, 53) ? &PCMSK0 : \ WITHIN(p, 14, 15) ? &PCMSK1 : \ WITHIN(p, 62, 69) ? &PCMSK2 : \ (uint8_t *)0 ) #undef digitalPinToPCMSKbit #define digitalPinToPCMSKbit(p) ( WITHIN(p, 10, 13) ? ((p) - 6) : \ (p) == 14 || (p) == 51 ? 2 : \ (p) == 15 || (p) == 52 ? 1 : \ (p) == 50 ? 3 : \ (p) == 53 ? 0 : \ WITHIN(p, 62, 69) ? ((p) - 62) : \ 0 ) #endif volatile uint8_t e_hit = 0; // Different from 0 when the endstops should be tested in detail. // Must be reset to 0 by the test function when finished. // Install Pin change interrupt for a pin. Can be called multiple times. void pciSetup(byte pin) { SBI(*digitalPinToPCMSK(pin), digitalPinToPCMSKbit(pin)); // enable pin SBI(PCIFR, digitalPinToPCICRbit(pin)); // clear any outstanding interrupt SBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group } // This is what is really done inside the interrupts. FORCE_INLINE void endstop_ISR_worker( void ) { e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice. } // Use one Routine to handle each group // One ISR for all EXT-Interrupts void endstop_ISR(void) { endstop_ISR_worker(); } // Handlers for pin change interrupts #ifdef PCINT0_vect ISR(PCINT0_vect) { endstop_ISR_worker(); } #endif #ifdef PCINT1_vect ISR(PCINT1_vect) { endstop_ISR_worker(); } #endif #ifdef PCINT2_vect ISR(PCINT2_vect) { endstop_ISR_worker(); } #endif #ifdef PCINT3_vect ISR(PCINT3_vect) { endstop_ISR_worker(); } #endif void setup_endstop_interrupts( void ) { #if HAS_X_MAX #if digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT // if pin has an external interrupt attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(X_MAX_PIN) != NULL, "X_MAX_PIN is not interrupt-capable"); // if pin has no pin change interrupt - error pciSetup(X_MAX_PIN); // assign it #endif #endif #if HAS_X_MIN #if digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(X_MIN_PIN) != NULL, "X_MIN_PIN is not interrupt-capable"); pciSetup(X_MIN_PIN); #endif #endif #if HAS_Y_MAX #if digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Y_MAX_PIN) != NULL, "Y_MAX_PIN is not interrupt-capable"); pciSetup(Y_MAX_PIN); #endif #endif #if HAS_Y_MIN #if digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Y_MIN_PIN) != NULL, "Y_MIN_PIN is not interrupt-capable"); pciSetup(Y_MIN_PIN); #endif #endif #if HAS_Z_MAX #if digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Z_MAX_PIN) != NULL, "Z_MAX_PIN is not interrupt-capable"); pciSetup(Z_MAX_PIN); #endif #endif #if HAS_Z_MIN #if digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Z_MIN_PIN) != NULL, "Z_MIN_PIN is not interrupt-capable"); pciSetup(Z_MIN_PIN); #endif #endif #if HAS_X2_MAX #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(X2_MAX_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(X2_MAX_PIN) != NULL, "X2_MAX_PIN is not interrupt-capable"); pciSetup(X2_MAX_PIN); #endif #endif #if HAS_X2_MIN #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(X2_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(X2_MIN_PIN) != NULL, "X2_MIN_PIN is not interrupt-capable"); pciSetup(X2_MIN_PIN); #endif #endif #if HAS_Y2_MAX #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(Y2_MAX_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Y2_MAX_PIN) != NULL, "Y2_MAX_PIN is not interrupt-capable"); pciSetup(Y2_MAX_PIN); #endif #endif #if HAS_Y2_MIN #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(Y2_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Y2_MIN_PIN) != NULL, "Y2_MIN_PIN is not interrupt-capable"); pciSetup(Y2_MIN_PIN); #endif #endif #if HAS_Z2_MAX #if digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Z2_MAX_PIN) != NULL, "Z2_MAX_PIN is not interrupt-capable"); pciSetup(Z2_MAX_PIN); #endif #endif #if HAS_Z2_MIN #if digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Z2_MIN_PIN) != NULL, "Z2_MIN_PIN is not interrupt-capable"); pciSetup(Z2_MIN_PIN); #endif #endif #if HAS_Z_MIN_PROBE_PIN #if digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE); #else // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! static_assert(digitalPinToPCICR(Z_MIN_PROBE_PIN) != NULL, "Z_MIN_PROBE_PIN is not interrupt-capable"); pciSetup(Z_MIN_PROBE_PIN); #endif #endif // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI. } #endif // _ENDSTOP_INTERRUPTS_H_