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printerfw/Marlin/src/HAL/HAL_AVR/endstop_interrupts.h

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#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 "../../module/endstops.h"
#include <stdint.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.
}
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