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/*** 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-Interruptsvoid 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 : \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// Install Pin change interrupt for a pin. Can be called multiple times.void pciSetup(const int8_t pin) {SBI(*digitalPinToPCMSK(pin), digitalPinToPCMSKbit(pin)); // enable pinSBI(PCIFR, digitalPinToPCICRbit(pin)); // clear any outstanding interruptSBI(PCICR, digitalPinToPCICRbit(pin)); // enable interrupt for the group}// Handlers for pin change interrupts#ifdef PCINT0_vectISR(PCINT0_vect) { endstop_ISR(); }#endif#ifdef PCINT1_vectISR(PCINT1_vect) { endstop_ISR(); }#endif#ifdef PCINT2_vectISR(PCINT2_vect) { endstop_ISR(); }#endif#ifdef PCINT3_vectISR(PCINT3_vect) { endstop_ISR(); }#endifvoid setup_endstop_interrupts( void ) {#if HAS_X_MAX#if digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT // if pin has an external interruptattachInterrupt(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 - errorpciSetup(X_MAX_PIN); // assign it#endif#endif#if HAS_X_MIN#if digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_INTERRUPTattachInterrupt(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_