diff options
Diffstat (limited to 'Marlin/src/HAL/AVR/endstop_interrupts.h')
| -rw-r--r-- | Marlin/src/HAL/AVR/endstop_interrupts.h | 261 |
1 files changed, 261 insertions, 0 deletions
diff --git a/Marlin/src/HAL/AVR/endstop_interrupts.h b/Marlin/src/HAL/AVR/endstop_interrupts.h new file mode 100644 index 0000000..9fd9c38 --- /dev/null +++ b/Marlin/src/HAL/AVR/endstop_interrupts.h @@ -0,0 +1,261 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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 <https://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 "../../module/endstops.h" + +#include <stdint.h> + +// One ISR for all EXT-Interrupts +void endstop_ISR() { 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 (D14, D15). + * 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) + + #define digitalPinHasPCICR(p) (WITHIN(p, 10, 15) || WITHIN(p, 50, 53) || WITHIN(p, 62, 69)) + + #undef digitalPinToPCICR + #define digitalPinToPCICR(p) (digitalPinHasPCICR(p) ? (&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) + +#elif defined(__AVR_ATmega164A__) || defined(__AVR_ATmega164P__) || defined(__AVR_ATmega324A__) || \ + defined(__AVR_ATmega324P__) || defined(__AVR_ATmega324PA__) || defined(__AVR_ATmega324PB__) || \ + defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284__) || \ + defined(__AVR_ATmega1284P__) + + #define digitalPinHasPCICR(p) WITHIN(p, 0, NUM_DIGITAL_PINS) + +#else + + #error "Unsupported AVR variant!" + +#endif + + +// Install Pin change interrupt for a pin. Can be called multiple times. +void pciSetup(const int8_t pin) { + if (digitalPinHasPCICR(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, 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() { + #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE) + #if HAS_X_MAX + #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(X_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(X_MAX_PIN), "X_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(X_MAX_PIN); + #endif + #endif + #if HAS_X_MIN + #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(X_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(X_MIN_PIN), "X_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(X_MIN_PIN); + #endif + #endif + #if HAS_Y_MAX + #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Y_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Y_MAX_PIN), "Y_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Y_MAX_PIN); + #endif + #endif + #if HAS_Y_MIN + #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Y_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Y_MIN_PIN), "Y_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Y_MIN_PIN); + #endif + #endif + #if HAS_Z_MAX + #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Z_MAX_PIN), "Z_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z_MAX_PIN); + #endif + #endif + #if HAS_Z_MIN + #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Z_MIN_PIN), "Z_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z_MIN_PIN); + #endif + #endif + #if HAS_X2_MAX + #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(X2_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(X2_MAX_PIN), "X2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(X2_MAX_PIN); + #endif + #endif + #if HAS_X2_MIN + #if (digitalPinToInterrupt(X2_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(X2_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(X2_MIN_PIN), "X2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(X2_MIN_PIN); + #endif + #endif + #if HAS_Y2_MAX + #if (digitalPinToInterrupt(Y2_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Y2_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Y2_MAX_PIN), "Y2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Y2_MAX_PIN); + #endif + #endif + #if HAS_Y2_MIN + #if (digitalPinToInterrupt(Y2_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Y2_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Y2_MIN_PIN), "Y2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Y2_MIN_PIN); + #endif + #endif + #if HAS_Z2_MAX + #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z2_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Z2_MAX_PIN), "Z2_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z2_MAX_PIN); + #endif + #endif + #if HAS_Z2_MIN + #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z2_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Z2_MIN_PIN), "Z2_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z2_MIN_PIN); + #endif + #endif + #if HAS_Z3_MAX + #if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z3_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Z3_MAX_PIN), "Z3_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z3_MAX_PIN); + #endif + #endif + #if HAS_Z3_MIN + #if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z3_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Z3_MIN_PIN), "Z3_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z3_MIN_PIN); + #endif + #endif + #if HAS_Z4_MAX + #if (digitalPinToInterrupt(Z4_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z4_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(Z4_MAX_PIN), "Z4_MAX_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z4_MAX_PIN); + #endif + #endif + #if HAS_Z4_MIN + #if (digitalPinToInterrupt(Z4_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z4_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(Z4_MIN_PIN), "Z4_MIN_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + pciSetup(Z4_MIN_PIN); + #endif + #endif + #if HAS_Z_MIN_PROBE_PIN + #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT) + _ATTACH(Z_MIN_PROBE_PIN); + #else + static_assert(digitalPinHasPCICR(Z_MIN_PROBE_PIN), "Z_MIN_PROBE_PIN is not interrupt-capable. Disable ENDSTOP_INTERRUPTS_FEATURE to continue."); + 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. +} |