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@@ -21,191 +21,186 @@
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*/
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/**
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- * Endstop interrupts
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- * Without endstop interrups the stepper-ISR must always test all endstops when interested in their states (endstops.update()).
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- * Most time the test will result in finding out nothing has changed.
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- * With endstop interrupts endstops.update() is called only when we know that at least one endstop has changed its state.
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+ * Endstop Interrupts
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*
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- * This can work only if all __used__ endstop pins can provide ether an 'external interrupt' or a 'pin change interrupt'.
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- * You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (Marlin\buildroot\share\pin_interrupt_test\pin_interrupt_test.ino)
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+ * Without endstop interrupts the endstop pins must be polled continually in
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+ * the stepper-ISR via endstops.update(), most of the time finding no change.
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+ * With this feature endstops.update() is called only when we know that at
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+ * least one endstop has changed state, saving valuable CPU cycles.
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+ *
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+ * This feature only works when all used endstop pins can generate either an
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+ * 'external interrupt' or a 'pin change interrupt'.
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+ *
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+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
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+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
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*/
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#ifndef _ENDSTOP_INTERRUPTS_H_
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- #define _ENDSTOP_INTERRUPTS_H_
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-
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- /**
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- * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
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- *
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- * These macros for the Arduino MEGA do not include the two connected pins on Port J (D13, D14).
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- * So we extend them here because this are the normal pins for Y_MIN and Y_MAX on RAMPS.
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- * There are more PCI enabled processor pins on Port J, but they are not connected to Arduino MEGA.
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- */
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- #if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
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- #undef digitalPinToPCICR
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- #define digitalPinToPCICR(p) ( (((p) >= 10) && ((p) <= 15)) || \
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- (((p) >= 50) && ((p) <= 53)) || \
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- (((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) )
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- #undef digitalPinToPCICRbit
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- #define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \
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- ( (((p) >= 14) && ((p) <= 15)) ? 1 : \
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- ( (((p) >= 62) && ((p) <= 69)) ? 2 : \
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- 0 ) ) )
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- #undef digitalPinToPCMSK
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- #define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \
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- ( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \
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- ( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \
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- ((uint8_t *)0) ) ) )
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- #undef digitalPinToPCMSKbit
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- #define digitalPinToPCMSKbit(p) ( (((p) >= 10) && ((p) <= 13)) ? ((p) - 6) : \
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- ( ((p) == 14) ? 2 : \
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- ( ((p) == 15) ? 1 : \
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- ( ((p) == 50) ? 3 : \
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- ( ((p) == 51) ? 2 : \
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- ( ((p) == 52) ? 1 : \
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- ( ((p) == 53) ? 0 : \
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- ( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \
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- 0 ) ) ) ) ) ) ) )
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- #endif
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-
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- volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail.
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- // Must be reset to 0 by the test function when the tests are finished.
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-
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- // Install Pin change interrupt for a pin, can be called multiple times
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- void pciSetup(byte pin) {
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- *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
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- PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
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- PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
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- }
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-
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- // This is what is really done inside the interrupts.
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- FORCE_INLINE void endstop_ISR_worker( void ) {
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- e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
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- }
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-
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- // Use one Routine to handle each group
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- // One ISR for all EXT-Interrupts
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- void endstop_ISR(void) {
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- endstop_ISR_worker();
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- }
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-
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- #ifdef PCINT0_vect
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- ISR(PCINT0_vect) { // handle pin change interrupt
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- endstop_ISR_worker();
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- }
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- #endif
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-
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- #ifdef PCINT1_vect
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- ISR(PCINT1_vect) { // handle pin change interrupt
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- endstop_ISR_worker();
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- }
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- #endif
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+ #define _ENDSTOP_INTERRUPTS_H_
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- #ifdef PCINT2_vect
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- ISR(PCINT2_vect) { // handle pin change interrupt
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- endstop_ISR_worker();
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- }
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- #endif
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-
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- #ifdef PCINT3_vect
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- ISR(PCINT3_vect) { // handle pin change interrupt
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- endstop_ISR_worker();
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- }
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- #endif
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-
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- void setup_enstop_interrupts( void ) {
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-
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- #if HAS_X_MAX
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- #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt
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- attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
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- #else
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- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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- static_assert(digitalPinToPCICR(X_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR"); // if pin has no pin change interrupt - error
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- pciSetup(X_MAX_PIN); // assign it
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- #endif
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+/**
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+ * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
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+ *
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+ * These macros for the Arduino MEGA do not include the two connected pins on Port J (D13, D14).
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+ * So we extend them here because these are the normal pins for Y_MIN and Y_MAX on RAMPS.
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+ * There are more PCI-enabled processor pins on Port J, but they are not connected to Arduino MEGA.
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+ */
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+#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
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+ #undef digitalPinToPCICR
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+ #define digitalPinToPCICR(p) ( (((p) >= 10) && ((p) <= 15)) || \
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+ (((p) >= 50) && ((p) <= 53)) || \
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+ (((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) )
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+ #undef digitalPinToPCICRbit
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+ #define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \
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+ ( (((p) >= 14) && ((p) <= 15)) ? 1 : \
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+ ( (((p) >= 62) && ((p) <= 69)) ? 2 : \
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+ 0 ) ) )
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+ #undef digitalPinToPCMSK
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+ #define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \
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+ ( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \
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+ ( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \
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+ ((uint8_t *)0) ) ) )
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+ #undef digitalPinToPCMSKbit
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+ #define digitalPinToPCMSKbit(p) ( (((p) >= 10) && ((p) <= 13)) ? ((p) - 6) : \
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+ ( ((p) == 14) ? 2 : \
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+ ( ((p) == 15) ? 1 : \
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+ ( ((p) == 50) ? 3 : \
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+ ( ((p) == 51) ? 2 : \
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+ ( ((p) == 52) ? 1 : \
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+ ( ((p) == 53) ? 0 : \
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+ ( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \
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+ 0 ) ) ) ) ) ) ) )
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+#endif
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+
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+volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail.
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+ // Must be reset to 0 by the test function when the tests are finished.
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+
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+// Install Pin change interrupt for a pin. Can be called multiple times.
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+void pciSetup(byte pin) {
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+ *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
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+ PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
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+ PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
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+}
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+
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+// This is what is really done inside the interrupts.
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+FORCE_INLINE void endstop_ISR_worker( void ) {
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+ e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice.
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+}
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+
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+// Use one Routine to handle each group
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+// One ISR for all EXT-Interrupts
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+void endstop_ISR(void) { endstop_ISR_worker(); }
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+
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+// Handlers for pin change interrupts
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+#ifdef PCINT0_vect
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+ ISR(PCINT0_vect) { endstop_ISR_worker(); }
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+#endif
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+
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+#ifdef PCINT1_vect
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+ ISR(PCINT1_vect) { endstop_ISR_worker(); }
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+#endif
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+
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+#ifdef PCINT2_vect
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+ ISR(PCINT2_vect) { endstop_ISR_worker(); }
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+#endif
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+
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+#ifdef PCINT3_vect
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+ ISR(PCINT3_vect) { endstop_ISR_worker(); }
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+#endif
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+
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+void setup_endstop_interrupts( void ) {
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+
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+ #if HAS_X_MAX
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+ #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt
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+ attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
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+ #else
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+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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+ static_assert(digitalPinToPCICR(X_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR"); // if pin has no pin change interrupt - error
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+ pciSetup(X_MAX_PIN); // assign it
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#endif
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+ #endif
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- #if HAS_X_MIN
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- #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
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- attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
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- #else
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- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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- static_assert(digitalPinToPCICR(X_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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- pciSetup(X_MIN_PIN);
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- #endif
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+ #if HAS_X_MIN
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+ #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
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+ attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
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+ #else
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+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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+ static_assert(digitalPinToPCICR(X_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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+ pciSetup(X_MIN_PIN);
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#endif
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+ #endif
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- #if HAS_Y_MAX
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- #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
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- attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
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- #else
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- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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- static_assert(digitalPinToPCICR(Y_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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- pciSetup(Y_MAX_PIN);
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- #endif
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+ #if HAS_Y_MAX
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+ #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
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+ attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
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+ #else
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+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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+ static_assert(digitalPinToPCICR(Y_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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+ pciSetup(Y_MAX_PIN);
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#endif
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+ #endif
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- #if HAS_Y_MIN
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- #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
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- attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
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- #else
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- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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- static_assert(digitalPinToPCICR(Y_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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- pciSetup(Y_MIN_PIN);
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- #endif
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+ #if HAS_Y_MIN
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+ #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
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+ attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
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+ #else
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+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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+ static_assert(digitalPinToPCICR(Y_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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+ pciSetup(Y_MIN_PIN);
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#endif
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+ #endif
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- #if HAS_Z_MAX
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- #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
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- attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
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- #else
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- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
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- static_assert(digitalPinToPCICR(Z_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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- pciSetup(Z_MAX_PIN);
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- #endif
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+ #if HAS_Z_MAX
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154
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+ #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
|
|
|
155
|
+ attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
|
|
|
156
|
+ #else
|
|
|
157
|
+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
|
158
|
+ static_assert(digitalPinToPCICR(Z_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
|
159
|
+ pciSetup(Z_MAX_PIN);
|
|
165
|
160
|
#endif
|
|
|
161
|
+ #endif
|
|
166
|
162
|
|
|
167
|
|
- #if HAS_Z_MIN
|
|
168
|
|
- #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
|
|
169
|
|
- attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
|
|
170
|
|
- #else
|
|
171
|
|
- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
172
|
|
- static_assert(digitalPinToPCICR(Z_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
173
|
|
- pciSetup(Z_MIN_PIN);
|
|
174
|
|
- #endif
|
|
|
163
|
+ #if HAS_Z_MIN
|
|
|
164
|
+ #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
|
|
|
165
|
+ attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
|
|
|
166
|
+ #else
|
|
|
167
|
+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
|
168
|
+ static_assert(digitalPinToPCICR(Z_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
|
169
|
+ pciSetup(Z_MIN_PIN);
|
|
175
|
170
|
#endif
|
|
|
171
|
+ #endif
|
|
176
|
172
|
|
|
177
|
|
- #if HAS_Z2_MAX
|
|
178
|
|
- #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
|
|
179
|
|
- attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
|
|
180
|
|
- #else
|
|
181
|
|
- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
182
|
|
- static_assert(digitalPinToPCICR(Z2_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
183
|
|
- pciSetup(Z2_MAX_PIN);
|
|
184
|
|
- #endif
|
|
|
173
|
+ #if HAS_Z2_MAX
|
|
|
174
|
+ #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
|
|
|
175
|
+ attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
|
|
|
176
|
+ #else
|
|
|
177
|
+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
|
178
|
+ static_assert(digitalPinToPCICR(Z2_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
|
179
|
+ pciSetup(Z2_MAX_PIN);
|
|
185
|
180
|
#endif
|
|
|
181
|
+ #endif
|
|
186
|
182
|
|
|
187
|
|
- #if HAS_Z2_MIN
|
|
188
|
|
- #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
|
|
189
|
|
- attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
|
|
190
|
|
- #else
|
|
191
|
|
- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
192
|
|
- static_assert(digitalPinToPCICR(Z2_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
193
|
|
- pciSetup(Z2_MIN_PIN);
|
|
194
|
|
- #endif
|
|
|
183
|
+ #if HAS_Z2_MIN
|
|
|
184
|
+ #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
|
|
|
185
|
+ attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
|
|
|
186
|
+ #else
|
|
|
187
|
+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
|
188
|
+ static_assert(digitalPinToPCICR(Z2_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
|
189
|
+ pciSetup(Z2_MIN_PIN);
|
|
195
|
190
|
#endif
|
|
|
191
|
+ #endif
|
|
196
|
192
|
|
|
197
|
|
- #if HAS_Z_MIN_PROBE_PIN
|
|
198
|
|
- #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
|
|
199
|
|
- attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
|
|
200
|
|
- #else
|
|
201
|
|
- // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
202
|
|
- static_assert(digitalPinToPCICR(Z_MIN_PROBE_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
203
|
|
- pciSetup(Z_MIN_PROBE_PIN);
|
|
204
|
|
- #endif
|
|
|
193
|
+ #if HAS_Z_MIN_PROBE_PIN
|
|
|
194
|
+ #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
|
|
|
195
|
+ attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
|
|
|
196
|
+ #else
|
|
|
197
|
+ // Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
|
|
|
198
|
+ static_assert(digitalPinToPCICR(Z_MIN_PROBE_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
|
|
|
199
|
+ pciSetup(Z_MIN_PROBE_PIN);
|
|
205
|
200
|
#endif
|
|
|
201
|
+ #endif
|
|
206
|
202
|
|
|
207
|
|
- // When we arive here without error each pin has ether a EXT-interrupt or a PCI.
|
|
208
|
|
- }
|
|
209
|
|
-
|
|
|
203
|
+ // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
|
|
|
204
|
+}
|
|
210
|
205
|
|
|
211
|
206
|
#endif //_ENDSTOP_INTERRUPTS_H_
|
Scott Lahteine
8 years ago