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3D_Printer_Firmware_Sparkcu.../electronic/Marlin-2.0.x-OCTOPUS/Marlin/src/HAL/AVR/endstop_interrupts.h

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/**
* 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_I_MAX
#if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable");
pciSetup(I_MAX_PIN);
#endif
#elif HAS_I_MIN
#if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable");
pciSetup(I_MIN_PIN);
#endif
#endif
#if HAS_J_MAX
#if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable");
pciSetup(J_MAX_PIN);
#endif
#elif HAS_J_MIN
#if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable");
pciSetup(J_MIN_PIN);
#endif
#endif
#if HAS_K_MAX
#if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable");
pciSetup(K_MAX_PIN);
#endif
#elif HAS_K_MIN
#if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable");
pciSetup(K_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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