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Followup to new endstop interrupts feature

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- Fix typos, verbiage
- Fix naming of `setup_endstop_interrupts`
- Some formatting, indentation, spacing
2.0.x
Scott Lahteine 8 years ago
parent 832fe284b4
commit eb120e518c
25 changed files with 215 additions and 217 deletions
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4
Marlin/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

3
Marlin/Marlin_main.cpp
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstop_interrupts.h" #include "endstop_interrupts.h"
#endif #endif
/** /**
* Look here for descriptions of G-codes: * Look here for descriptions of G-codes:
* - http://linuxcnc.org/handbook/gcode/g-code.html * - http://linuxcnc.org/handbook/gcode/g-code.html
@ -10020,7 +10021,7 @@ void setup() {
#endif #endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_enstop_interrupts(); setup_endstop_interrupts();
#endif #endif
} }

321
Marlin/endstop_interrupts.h
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@ -21,191 +21,186 @@
*/ */
/** /**
* Endstop interrupts * 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.
* *
* This can work only if all __used__ endstop pins can provide ether an 'external interrupt' or a 'pin change interrupt'. * Without endstop interrupts the endstop pins must be polled continually in
* You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (Marlin\buildroot\share\pin_interrupt_test\pin_interrupt_test.ino) * 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_ #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 ) ) ) ) ) ) ) )
#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();
}
#endif
#ifdef PCINT1_vect
ISR(PCINT1_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT2_vect /**
ISR(PCINT2_vect) { // handle pin change interrupt * Patch for pins_arduino.h (...\Arduino\hardware\arduino\avr\variants\mega\pins_arduino.h)
endstop_ISR_worker(); *
} * These macros for the Arduino MEGA do not include the two connected pins on Port J (D13, D14).
#endif * 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.
#ifdef PCINT3_vect */
ISR(PCINT3_vect) { // handle pin change interrupt #if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
endstop_ISR_worker(); #undef digitalPinToPCICR
} #define digitalPinToPCICR(p) ( (((p) >= 10) && ((p) <= 15)) || \
#endif (((p) >= 50) && ((p) <= 53)) || \
(((p) >= 62) && ((p) <= 69)) ? (&PCICR) : ((uint8_t *)0) )
void setup_enstop_interrupts( void ) { #undef digitalPinToPCICRbit
#define digitalPinToPCICRbit(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? 0 : \
#if HAS_X_MAX ( (((p) >= 14) && ((p) <= 15)) ? 1 : \
#if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt ( (((p) >= 62) && ((p) <= 69)) ? 2 : \
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it 0 ) ) )
#else #undef digitalPinToPCMSK
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! #define digitalPinToPCMSK(p) ( (((p) >= 10) && ((p) <= 13)) || (((p) >= 50) && ((p) <= 53)) ? (&PCMSK0) : \
static_assert(digitalPinToPCICR(X_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR"); // if pin has no pin change interrupt - error ( (((p) >= 14) && ((p) <= 15)) ? (&PCMSK1) : \
pciSetup(X_MAX_PIN); // assign it ( (((p) >= 62) && ((p) <= 69)) ? (&PCMSK2) : \
#endif ((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
#endif
#if HAS_X_MIN #if HAS_X_MIN
#if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(X_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(X_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(X_MIN_PIN); pciSetup(X_MIN_PIN);
#endif
#endif #endif
#endif
#if HAS_Y_MAX #if HAS_Y_MAX
#if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Y_MAX_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Y_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Y_MAX_PIN); pciSetup(Y_MAX_PIN);
#endif
#endif #endif
#endif
#if HAS_Y_MIN #if HAS_Y_MIN
#if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Y_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Y_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Y_MIN_PIN); pciSetup(Y_MIN_PIN);
#endif
#endif #endif
#endif
#if HAS_Z_MAX #if HAS_Z_MAX
#if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Z_MAX_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Z_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z_MAX_PIN); pciSetup(Z_MAX_PIN);
#endif
#endif #endif
#endif
#if HAS_Z_MIN #if HAS_Z_MIN
#if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Z_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z_MIN_PIN); pciSetup(Z_MIN_PIN);
#endif
#endif #endif
#endif
#if HAS_Z2_MAX #if HAS_Z2_MAX
#if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Z2_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z2_MAX_PIN); pciSetup(Z2_MAX_PIN);
#endif
#endif #endif
#endif
#if HAS_Z2_MIN #if HAS_Z2_MIN
#if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Z2_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z2_MIN_PIN); pciSetup(Z2_MIN_PIN);
#endif
#endif #endif
#endif
#if HAS_Z_MIN_PROBE_PIN #if HAS_Z_MIN_PROBE_PIN
#if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT) #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE); attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#else #else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration! // 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"); static_assert(digitalPinToPCICR(Z_MIN_PROBE_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
pciSetup(Z_MIN_PROBE_PIN); pciSetup(Z_MIN_PROBE_PIN);
#endif
#endif #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_ #endif //_ENDSTOP_INTERRUPTS_H_

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Marlin/example_configurations/Cartesio/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/Felix/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/Felix/DUAL/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/Hephestos/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/Hephestos_2/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/K8200/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/K8400/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/K8400/Dual-head/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/RigidBot/Configuration.h
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@ -442,8 +442,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/SCARA/Configuration.h
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@ -460,8 +460,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/TAZ4/Configuration.h
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@ -466,8 +466,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

4
Marlin/example_configurations/WITBOX/Configuration.h
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@ -437,8 +437,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/adafruit/ST7565/Configuration.h
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@ -445,8 +445,8 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

4
Marlin/example_configurations/delta/biv2.5/Configuration.h
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@ -489,8 +489,8 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/delta/generic/Configuration.h
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@ -489,8 +489,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -489,8 +489,8 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -478,8 +478,8 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -487,8 +487,8 @@
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/makibox/Configuration.h
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@ -448,8 +448,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/example_configurations/tvrrug/Round2/Configuration.h
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@ -435,8 +435,8 @@
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop. #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. #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. // Enable this feature if all enabled endstop pins are interrupt-capable.
// Then the function testing the endstops will only be called, if the state of one of the endstops changed. // This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE //#define ENDSTOP_INTERRUPTS_FEATURE
//============================================================================= //=============================================================================

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Marlin/stepper.cpp
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@ -378,19 +378,21 @@ void Stepper::isr() {
} }
// Update endstops state, if enabled // Update endstops state, if enabled
if (endstops.enabled if ((endstops.enabled
#if HAS_BED_PROBE #if HAS_BED_PROBE
|| endstops.z_probe_enabled || endstops.z_probe_enabled
#endif #endif
) )
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if(e_hit) { && e_hit
#endif #endif
endstops.update(); ) {
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) endstops.update();
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit--; e_hit--;
} #endif
#endif }
// Take multiple steps per interrupt (For high speed moves) // Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false; bool all_steps_done = false;

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