From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit
---
Marlin/src/HAL/AVR/endstop_interrupts.h | 261 ++++++++++++++++++++++++++++++++
1 file changed, 261 insertions(+)
create mode 100644 Marlin/src/HAL/AVR/endstop_interrupts.h
(limited to 'Marlin/src/HAL/AVR/endstop_interrupts.h')
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 .
+ *
+ */
+#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
+
+// 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.
+}
--
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