From eb120e518c12922f3e12fb40d11142ffa27a9829 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 18 Nov 2016 21:53:45 -0600 Subject: [PATCH] Followup to new endstop interrupts feature - Fix typos, verbiage - Fix naming of `setup_endstop_interrupts` - Some formatting, indentation, spacing --- Marlin/Configuration.h | 4 +- Marlin/Marlin_main.cpp | 3 +- Marlin/endstop_interrupts.h | 321 +++++++++--------- .../Cartesio/Configuration.h | 4 +- .../Felix/Configuration.h | 4 +- .../Felix/DUAL/Configuration.h | 4 +- .../Hephestos/Configuration.h | 4 +- .../Hephestos_2/Configuration.h | 4 +- .../K8200/Configuration.h | 4 +- .../K8400/Configuration.h | 4 +- .../K8400/Dual-head/Configuration.h | 4 +- .../RepRapWorld/Megatronics/Configuration.h | 4 +- .../RigidBot/Configuration.h | 4 +- .../SCARA/Configuration.h | 4 +- .../TAZ4/Configuration.h | 4 +- .../WITBOX/Configuration.h | 4 +- .../adafruit/ST7565/Configuration.h | 4 +- .../delta/biv2.5/Configuration.h | 4 +- .../delta/generic/Configuration.h | 4 +- .../delta/kossel_mini/Configuration.h | 4 +- .../delta/kossel_pro/Configuration.h | 4 +- .../delta/kossel_xl/Configuration.h | 4 +- .../makibox/Configuration.h | 4 +- .../tvrrug/Round2/Configuration.h | 4 +- Marlin/stepper.cpp | 20 +- 25 files changed, 215 insertions(+), 217 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 83c2bedbc..6155dde80 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index a45911858..e898122c3 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -92,6 +92,7 @@ #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #include "endstop_interrupts.h" #endif + /** * Look here for descriptions of G-codes: * - http://linuxcnc.org/handbook/gcode/g-code.html @@ -10020,7 +10021,7 @@ void setup() { #endif #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) - setup_enstop_interrupts(); + setup_endstop_interrupts(); #endif } diff --git a/Marlin/endstop_interrupts.h b/Marlin/endstop_interrupts.h index db8691d19..1aea16a47 100644 --- a/Marlin/endstop_interrupts.h +++ b/Marlin/endstop_interrupts.h @@ -21,191 +21,186 @@ */ /** - * Endstop interrupts - * Without endstop interrups the stepper-ISR must always test all endstops when interested in their states (endstops.update()). - * Most time the test will result in finding out nothing has changed. - * With endstop interrupts endstops.update() is called only when we know that at least one endstop has changed its state. + * Endstop Interrupts * - * This can work only if all __used__ endstop pins can provide ether an 'external interrupt' or a 'pin change interrupt'. - * You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (Marlin\buildroot\share\pin_interrupt_test\pin_interrupt_test.ino) + * Without endstop interrupts the endstop pins must be polled continually in + * the stepper-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_ + #define _ENDSTOP_INTERRUPTS_H_ - /** - * 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 this 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) ( (((p) >= 10) && ((p) <= 15)) || \ - (((p) >= 50) && ((p) <= 53)) || \ - (((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) ) - #undef digitalPinToPCICRbit - #define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \ - ( (((p) >= 14) && ((p) <= 15)) ? 1 : \ - ( (((p) >= 62) && ((p) <= 69)) ? 2 : \ - 0 ) ) ) - #undef digitalPinToPCMSK - #define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \ - ( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \ - ( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \ - ((uint8_t *)0) ) ) ) - #undef digitalPinToPCMSKbit - #define digitalPinToPCMSKbit(p) ( (((p) >= 10) && ((p) <= 13)) ? ((p) - 6) : \ - ( ((p) == 14) ? 2 : \ - ( ((p) == 15) ? 1 : \ - ( ((p) == 50) ? 3 : \ - ( ((p) == 51) ? 2 : \ - ( ((p) == 52) ? 1 : \ - ( ((p) == 53) ? 0 : \ - ( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \ - 0 ) ) ) ) ) ) ) ) +/** + * 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) ( (((p) >= 10) && ((p) <= 15)) || \ + (((p) >= 50) && ((p) <= 53)) || \ + (((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) ) + #undef digitalPinToPCICRbit + #define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \ + ( (((p) >= 14) && ((p) <= 15)) ? 1 : \ + ( (((p) >= 62) && ((p) <= 69)) ? 2 : \ + 0 ) ) ) + #undef digitalPinToPCMSK + #define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \ + ( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \ + ( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \ + ((uint8_t *)0) ) ) ) + #undef digitalPinToPCMSKbit + #define digitalPinToPCMSKbit(p) ( (((p) >= 10) && ((p) <= 13)) ? ((p) - 6) : \ + ( ((p) == 14) ? 2 : \ + ( ((p) == 15) ? 1 : \ + ( ((p) == 50) ? 3 : \ + ( ((p) == 51) ? 2 : \ + ( ((p) == 52) ? 1 : \ + ( ((p) == 53) ? 0 : \ + ( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \ + 0 ) ) ) ) ) ) ) ) +#endif + +volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail. + // Must be reset to 0 by the test function when the tests are finished. + +// Install Pin change interrupt for a pin. Can be called multiple times. +void pciSetup(byte pin) { + *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin + PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt + PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group +} + +// This is what is really done inside the interrupts. +FORCE_INLINE void endstop_ISR_worker( void ) { + e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice. +} + +// Use one Routine to handle each group +// One ISR for all EXT-Interrupts +void endstop_ISR(void) { endstop_ISR_worker(); } + +// Handlers for pin change interrupts +#ifdef PCINT0_vect + ISR(PCINT0_vect) { endstop_ISR_worker(); } +#endif + +#ifdef PCINT1_vect + ISR(PCINT1_vect) { endstop_ISR_worker(); } +#endif + +#ifdef PCINT2_vect + ISR(PCINT2_vect) { endstop_ISR_worker(); } +#endif + +#ifdef PCINT3_vect + ISR(PCINT3_vect) { endstop_ISR_worker(); } +#endif + +void setup_endstop_interrupts( void ) { + + #if HAS_X_MAX + #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); // if pin has no pin change interrupt - error + pciSetup(X_MAX_PIN); // assign it + #endif #endif - volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail. - // Must be reset to 0 by the test function when the tests are finished. - - // Install Pin change interrupt for a pin, can be called multiple times - void pciSetup(byte pin) { - *digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin - PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt - PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group - } - - // This is what is really done inside the interrupts. - FORCE_INLINE void endstop_ISR_worker( void ) { - e_hit = 2; // Because the detection of a e-stop hit has a 1 step debouncer it has to be called at least twice. - } - - // Use one Routine to handle each group - // One ISR for all EXT-Interrupts - void endstop_ISR(void) { - endstop_ISR_worker(); - } - - #ifdef PCINT0_vect - ISR(PCINT0_vect) { // handle pin change interrupt - endstop_ISR_worker(); - } + #if HAS_X_MIN + #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(X_MIN_PIN); + #endif #endif - #ifdef PCINT1_vect - ISR(PCINT1_vect) { // handle pin change interrupt - endstop_ISR_worker(); - } + #if HAS_Y_MAX + #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Y_MAX_PIN); + #endif #endif - #ifdef PCINT2_vect - ISR(PCINT2_vect) { // handle pin change interrupt - endstop_ISR_worker(); - } + #if HAS_Y_MIN + #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Y_MIN_PIN); + #endif #endif - #ifdef PCINT3_vect - ISR(PCINT3_vect) { // handle pin change interrupt - endstop_ISR_worker(); - } + #if HAS_Z_MAX + #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Z_MAX_PIN); + #endif #endif - void setup_enstop_interrupts( void ) { - - #if HAS_X_MAX - #if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); // if pin has no pin change interrupt - error - pciSetup(X_MAX_PIN); // assign it - #endif + #if HAS_Z_MIN + #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Z_MIN_PIN); #endif + #endif - #if HAS_X_MIN - #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(X_MIN_PIN); - #endif + #if HAS_Z2_MAX + #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Z2_MAX_PIN); #endif + #endif - #if HAS_Y_MAX - #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Y_MAX_PIN); - #endif + #if HAS_Z2_MIN + #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Z2_MIN_PIN); #endif + #endif - #if HAS_Y_MIN - #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Y_MIN_PIN); - #endif + #if HAS_Z_MIN_PROBE_PIN + #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT) + attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); + pciSetup(Z_MIN_PROBE_PIN); #endif + #endif - #if HAS_Z_MAX - #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Z_MAX_PIN); - #endif - #endif - - #if HAS_Z_MIN - #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Z_MIN_PIN); - #endif - #endif - - #if HAS_Z2_MAX - #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Z2_MAX_PIN); - #endif - #endif - - #if HAS_Z2_MIN - #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Z2_MIN_PIN); - #endif - #endif - - #if HAS_Z_MIN_PROBE_PIN - #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT) - attachInterrupt(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, "ENDSTOP_INTERRUPT_ERROR"); - pciSetup(Z_MIN_PROBE_PIN); - #endif - #endif - - // When we arive here without error each pin has ether a EXT-interrupt or a PCI. - } - + // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI. +} #endif //_ENDSTOP_INTERRUPTS_H_ diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h index 107132aad..d9937ea47 100644 --- a/Marlin/example_configurations/Cartesio/Configuration.h +++ b/Marlin/example_configurations/Cartesio/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h index 6fa394538..b37924de2 100644 --- a/Marlin/example_configurations/Felix/Configuration.h +++ b/Marlin/example_configurations/Felix/Configuration.h @@ -427,8 +427,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h index 34ffdbfba..65746d5a5 100644 --- a/Marlin/example_configurations/Felix/DUAL/Configuration.h +++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h @@ -427,8 +427,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h index fba7318ad..b94352f3f 100644 --- a/Marlin/example_configurations/Hephestos/Configuration.h +++ b/Marlin/example_configurations/Hephestos/Configuration.h @@ -437,8 +437,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h index d26986eca..9a15c70bd 100644 --- a/Marlin/example_configurations/Hephestos_2/Configuration.h +++ b/Marlin/example_configurations/Hephestos_2/Configuration.h @@ -439,8 +439,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h index 424d786d3..f9bcff256 100644 --- a/Marlin/example_configurations/K8200/Configuration.h +++ b/Marlin/example_configurations/K8200/Configuration.h @@ -462,8 +462,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h index 43bef5ad5..7d131080d 100644 --- a/Marlin/example_configurations/K8400/Configuration.h +++ b/Marlin/example_configurations/K8400/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h index 61e6c454d..2f37770cb 100644 --- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h +++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h index 12f7ac8b1..2658ed7b7 100644 --- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h +++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h index c41ca134b..fb0e96f76 100644 --- a/Marlin/example_configurations/RigidBot/Configuration.h +++ b/Marlin/example_configurations/RigidBot/Configuration.h @@ -442,8 +442,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h index 31b9d5559..175d110c9 100644 --- a/Marlin/example_configurations/SCARA/Configuration.h +++ b/Marlin/example_configurations/SCARA/Configuration.h @@ -460,8 +460,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h index c056168b1..4084102f4 100644 --- a/Marlin/example_configurations/TAZ4/Configuration.h +++ b/Marlin/example_configurations/TAZ4/Configuration.h @@ -466,8 +466,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h index 1ede76f5f..f605f0959 100644 --- a/Marlin/example_configurations/WITBOX/Configuration.h +++ b/Marlin/example_configurations/WITBOX/Configuration.h @@ -437,8 +437,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h index 429c4efc2..f3db087b5 100644 --- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h +++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h @@ -445,8 +445,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h index 8c1c508f9..461a279cf 100644 --- a/Marlin/example_configurations/delta/biv2.5/Configuration.h +++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h @@ -489,8 +489,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h index e0023377d..be3f457df 100644 --- a/Marlin/example_configurations/delta/generic/Configuration.h +++ b/Marlin/example_configurations/delta/generic/Configuration.h @@ -489,8 +489,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h index 838785466..81afe3b4c 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -489,8 +489,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h index 73289f88f..5473e1855 100644 --- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h @@ -478,8 +478,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h index dec2c11a0..ea69803cf 100644 --- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h @@ -487,8 +487,8 @@ #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h index 0f28212e5..80a650ebd 100644 --- a/Marlin/example_configurations/makibox/Configuration.h +++ b/Marlin/example_configurations/makibox/Configuration.h @@ -448,8 +448,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h index 95a5e87d4..b5d50413a 100644 --- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h +++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h @@ -435,8 +435,8 @@ #define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. -// If all used endstop pins are able to cause interrupts, you can enable ENDSTOP_INTERRUPTS_FEATURE. -// Then the function testing the endstops will only be called, if the state of one of the endstops changed. +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. //#define ENDSTOP_INTERRUPTS_FEATURE //============================================================================= diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 9f712faad..7e0c744f1 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -378,19 +378,21 @@ void Stepper::isr() { } // Update endstops state, if enabled - if (endstops.enabled + if ((endstops.enabled #if HAS_BED_PROBE || endstops.z_probe_enabled #endif - ) - #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) - if(e_hit) { - #endif - endstops.update(); - #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) + ) + #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) + && e_hit + #endif + ) { + endstops.update(); + + #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) e_hit--; - } - #endif + #endif + } // Take multiple steps per interrupt (For high speed moves) bool all_steps_done = false;