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Merge pull request #5184 from AnHardt/endstop_interrupts

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Introduce endstop interrupts
This commit is contained in:
Scott Lahteine 2016-11-18 20:50:24 -06:00 committed by GitHub
commit 832fe284b4
26 changed files with 329 additions and 1 deletions
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3
Marlin/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

7
Marlin/Marlin_main.cpp
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@ -89,6 +89,9 @@
#include "twibus.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstop_interrupts.h"
#endif
/**
* Look here for descriptions of G-codes:
* - http://linuxcnc.org/handbook/gcode/g-code.html
@ -10015,6 +10018,10 @@ void setup() {
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_enstop_interrupts();
#endif
}
/**

211
Marlin/endstop_interrupts.h Normal file
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@ -0,0 +1,211 @@
/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Endstop interrupts
* Without endstop interrups the stepper-ISR must always test all endstops when interested in their states (endstops.update()).
* Most time the test will result in finding out nothing has changed.
* With endstop interrupts endstops.update() is called only when we know that at least one endstop has changed its state.
*
* This can work only if all __used__ endstop pins can provide ether an 'external interrupt' or a 'pin change interrupt'.
* You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (Marlin\buildroot\share\pin_interrupt_test\pin_interrupt_test.ino)
*/
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_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 this 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) ( (((p) >= 10) && ((p) <= 15)) || \
(((p) >= 50) && ((p) <= 53)) || \
(((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) )
#undef digitalPinToPCICRbit
#define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \
( (((p) >= 14) && ((p) <= 15)) ? 1 : \
( (((p) >= 62) && ((p) <= 69)) ? 2 : \
0 ) ) )
#undef digitalPinToPCMSK
#define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \
( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \
( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \
((uint8_t *)0) ) ) )
#undef digitalPinToPCMSKbit
#define digitalPinToPCMSKbit(p) ( (((p) >= 10) && ((p) <= 13)) ? ((p) - 6) : \
( ((p) == 14) ? 2 : \
( ((p) == 15) ? 1 : \
( ((p) == 50) ? 3 : \
( ((p) == 51) ? 2 : \
( ((p) == 52) ? 1 : \
( ((p) == 53) ? 0 : \
( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \
0 ) ) ) ) ) ) ) )
#endif
volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail.
// Must be reset to 0 by the test function when the tests are finished.
// Install Pin change interrupt for a pin, can be called multiple times
void pciSetup(byte pin) {
*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
PCICR |= bit (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();
}
#ifdef PCINT0_vect
ISR(PCINT0_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT1_vect
ISR(PCINT1_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT2_vect
ISR(PCINT2_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT3_vect
ISR(PCINT3_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
void setup_enstop_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, "ENDSTOP_INTERRUPT_ERROR"); // 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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z_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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
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, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z_MIN_PROBE_PIN);
#endif
#endif
// When we arive here without error each pin has ether a EXT-interrupt or a PCI.
}
#endif //_ENDSTOP_INTERRUPTS_H_

3
Marlin/example_configurations/Cartesio/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/Felix/Configuration.h
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@ -427,6 +427,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/Felix/DUAL/Configuration.h
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@ -427,6 +427,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/Hephestos/Configuration.h
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@ -437,6 +437,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/Hephestos_2/Configuration.h
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@ -439,6 +439,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/K8200/Configuration.h
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@ -462,6 +462,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/K8400/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/K8400/Dual-head/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/RigidBot/Configuration.h
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@ -442,6 +442,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/SCARA/Configuration.h
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@ -460,6 +460,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/TAZ4/Configuration.h
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@ -466,6 +466,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/WITBOX/Configuration.h
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@ -437,6 +437,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/adafruit/ST7565/Configuration.h
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@ -445,6 +445,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/delta/biv2.5/Configuration.h
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@ -489,6 +489,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/delta/generic/Configuration.h
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@ -489,6 +489,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -489,6 +489,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -478,6 +478,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -487,6 +487,9 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/makibox/Configuration.h
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@ -448,6 +448,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

3
Marlin/example_configurations/tvrrug/Round2/Configuration.h
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@ -435,6 +435,9 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================

14
Marlin/stepper.cpp
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@ -310,6 +310,10 @@ void Stepper::set_directions() {
#endif // !ADVANCE && !LIN_ADVANCE
}
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
#endif
/**
* Stepper Driver Interrupt
*
@ -378,7 +382,15 @@ void Stepper::isr() {
#if HAS_BED_PROBE
|| endstops.z_probe_enabled
#endif
) endstops.update();
)
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if(e_hit) {
#endif
endstops.update();
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit--;
}
#endif
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;

32
buildroot/share/pin_interrupt_test/pin_interrupt_test.ino Normal file
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@ -0,0 +1,32 @@
// Search pins uasable for endstop-interupts
// Compile with the same settings you'd use with Marlin.
#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
#undef digitalPinToPCICR
#define digitalPinToPCICR(p) ( (((p) >= 10) && ((p) <= 15)) || \
(((p) >= 50) && ((p) <= 53)) || \
(((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) )
#endif
void setup() {
Serial.begin(9600);
Serial.println("PINs causing interrups are:");
for(int i=2; i<NUM_DIGITAL_PINS; i++){
if( digitalPinToPCICR(i) != NULL || (int)digitalPinToInterrupt(i) != -1 ) {
for (int j= 0; j<NUM_ANALOG_INPUTS; j++){
if(analogInputToDigitalPin(j) == i) {
Serial.print("A");
Serial.print(j);
Serial.print(" = ");
}
}
Serial.print("D");
Serial.println(i);
}
}
Serial.println("Arduino pin numbering!");
}
void loop() {
// put your main code here, to run repeatedly:
}