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212 lines
9.2 KiB
C
212 lines
9.2 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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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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*
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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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*/
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#ifndef _ENDSTOP_INTERRUPTS_H_
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#define _ENDSTOP_INTERRUPTS_H_
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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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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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// 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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// 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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// 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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#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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#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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#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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#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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void setup_enstop_interrupts( void ) {
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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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#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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#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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#endif
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#if HAS_Z_MIN
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#if (digitalPinToInterrupt(Z_MIN_PIN) != NOT_AN_INTERRUPT)
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attachInterrupt(digitalPinToInterrupt(Z_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(Z_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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pciSetup(Z_MIN_PIN);
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#endif
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#endif
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#if HAS_Z2_MAX
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#if (digitalPinToInterrupt(Z2_MAX_PIN) != NOT_AN_INTERRUPT)
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attachInterrupt(digitalPinToInterrupt(Z2_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(Z2_MAX_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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pciSetup(Z2_MAX_PIN);
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#endif
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#endif
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#if HAS_Z2_MIN
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#if (digitalPinToInterrupt(Z2_MIN_PIN) != NOT_AN_INTERRUPT)
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attachInterrupt(digitalPinToInterrupt(Z2_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(Z2_MIN_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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pciSetup(Z2_MIN_PIN);
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#endif
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#endif
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#if HAS_Z_MIN_PROBE_PIN
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#if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
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attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_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_MIN_PROBE_PIN) != NULL, "ENDSTOP_INTERRUPT_ERROR");
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pciSetup(Z_MIN_PROBE_PIN);
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#endif
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#endif
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// When we arive here without error each pin has ether a EXT-interrupt or a PCI.
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}
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#endif //_ENDSTOP_INTERRUPTS_H_
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