Subversion Repositories MK-Marlin

/**

 * 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 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)

 */

#ifndef _ENDSTOP_INTERRUPTS_H_

#define _ENDSTOP_INTERRUPTS_H_

#include "macros.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 : (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 : \

  #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) : \

#endif

// Install Pin change interrupt for a pin. Can be called multiple times.

void pciSetup(const int8_t 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

}

// Handlers for pin change interrupts

#ifdef PCINT0_vect

  ISR(PCINT0_vect) { endstop_ISR(); }

#endif

#ifdef PCINT1_vect

  ISR(PCINT1_vect) { endstop_ISR(); }

#endif

#ifdef PCINT2_vect

  ISR(PCINT2_vect) { endstop_ISR(); }

#endif

#ifdef PCINT3_vect

  ISR(PCINT3_vect) { endstop_ISR(); }

#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_