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Followup to new endstop interrupts feature

Browse Source 
- Fix typos, verbiage
- Fix naming of `setup_endstop_interrupts`
- Some formatting, indentation, spacing
This commit is contained in:
Scott Lahteine 2016-11-18 21:53:45 -06:00
parent 832fe284b4
commit eb120e518c
25 changed files with 215 additions and 217 deletions
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4
Marlin/Configuration.h
View File

@ -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
//=============================================================================

3
Marlin/Marlin_main.cpp
View File

@ -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
}

89
Marlin/endstop_interrupts.h
View File

@ -21,26 +21,31 @@
*/
/**
* 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_
/**
/**
* 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.
* 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)
#if defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_AVR_MEGA)
#undef digitalPinToPCICR
#define digitalPinToPCICR(p) ( (((p) >= 10) && ((p) <= 15)) || \
(((p) >= 50) && ((p) <= 53)) || \
@ -65,54 +70,45 @@
( ((p) == 53) ? 0 : \
( (((p) >= 62) && ((p) <= 69)) ? ((p) - 62) : \
0 ) ) ) ) ) ) ) )
#endif
#endif
volatile uint8_t e_hit = 0; // Different from 0 when the endstops shall be tested in detail.
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) {
// 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 ) {
// 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();
}
// 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
// Handlers for pin change interrupts
#ifdef PCINT0_vect
ISR(PCINT0_vect) { endstop_ISR_worker(); }
#endif
#ifdef PCINT1_vect
ISR(PCINT1_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT1_vect
ISR(PCINT1_vect) { endstop_ISR_worker(); }
#endif
#ifdef PCINT2_vect
ISR(PCINT2_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT2_vect
ISR(PCINT2_vect) { endstop_ISR_worker(); }
#endif
#ifdef PCINT3_vect
ISR(PCINT3_vect) { // handle pin change interrupt
endstop_ISR_worker();
}
#endif
#ifdef PCINT3_vect
ISR(PCINT3_vect) { endstop_ISR_worker(); }
#endif
void setup_enstop_interrupts( void ) {
void setup_endstop_interrupts( void ) {
#if HAS_X_MAX
#if (digitalPinToInterrupt(X_MAX_PIN) != NOT_AN_INTERRUPT) // if pin has an external interrupt
@ -204,8 +200,7 @@
#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_

4
Marlin/example_configurations/Cartesio/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/Felix/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/Felix/DUAL/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/Hephestos/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/Hephestos_2/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/K8200/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/K8400/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/K8400/Dual-head/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/RigidBot/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/SCARA/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/TAZ4/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/WITBOX/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/delta/biv2.5/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/delta/generic/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/makibox/Configuration.h
View File

@ -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
//=============================================================================

4
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View File

@ -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
//=============================================================================

8
Marlin/stepper.cpp
View File

@ -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) {
&& e_hit
#endif
) {
endstops.update();
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit--;
}
#endif
}
// Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false;