/** * Marlin 3D Printer Firmware * Copyright (C) 2019 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 . * */ #pragma once /** * Endstop Interrupts * * Without endstop interrupts the endstop pins must be polled continually in * the temperature-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) */ #include "../../core/macros.h" #include #include "../../module/endstops.h" // One ISR for all EXT-Interrupts void endstop_ISR(void) { endstops.update(); } /** * 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 : nullptr ) #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 : \ nullptr ) #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 // Install Pin change interrupt for a pin. Can be called multiple times. void pciSetup(const int8_t pin) { if (digitalPinToPCMSK(pin) != nullptr) { SBI(*digitalPinToPCMSK(pin), digitalPinToPCMSKbit(pin)); // enable pin SBI(PCIFR, digitalPinToPCICRbit(pin)); // clear any outstanding interrupt SBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group } } // Handlers for pin change interrupts #ifdef PCINT0_vect ISR(PCINT0_vect) { endstop_ISR(); } #endif #ifdef PCINT1_vect ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect)); #endif #ifdef PCINT2_vect ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect)); #endif #ifdef PCINT3_vect ISR(PCINT3_vect, ISR_ALIASOF(PCINT0_vect)); #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), "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), "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), "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), "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), "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), "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), "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), "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), "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), "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), "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), "Z2_MIN_PIN is not interrupt-capable"); pciSetup(Z2_MIN_PIN); #endif #endif #if HAS_Z3_MAX #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(Z3_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(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable"); pciSetup(Z3_MAX_PIN); #endif #endif #if HAS_Z3_MIN #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT) attachInterrupt(digitalPinToInterrupt(Z3_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(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable"); pciSetup(Z3_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), "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. }