diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 827444ab4262f25a841f0bf3da9f28f5479dc67c..83c2bedbc85cc5918f65b4092f6c5d21af18b0a4 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2dd6610f2a973c21dcebaffc630d3c2dadb59ed1..a45911858feca99df0ef9ebe8e3a13db9cfeb389 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -89,6 +89,9 @@
#include "twibus.h"
#endif
+#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
@@ -10015,6 +10018,10 @@ void setup() {
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
+
+ #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
+ setup_enstop_interrupts();
+ #endif
}
/**
diff --git a/Marlin/endstop_interrupts.h b/Marlin/endstop_interrupts.h
new file mode 100644
index 0000000000000000000000000000000000000000..db8691d19215b6ca88d6bcba376314d65294cc4d
--- /dev/null
+++ b/Marlin/endstop_interrupts.h
@@ -0,0 +1,211 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * 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'.
+ * You can find out about pins issuing interrupts by running 'pin_interrupt_test.ino' (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.
+ */
+ #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
+ endstop_ISR_worker();
+ }
+ #endif
+
+ #ifdef PCINT3_vect
+ ISR(PCINT3_vect) { // handle pin change interrupt
+ endstop_ISR_worker();
+ }
+ #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
+ #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
+ #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
+ #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
+ #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.
+ }
+
+
+#endif //_ENDSTOP_INTERRUPTS_H_
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index f606aea221eb34b827842e194a66a4a72b3ebade..107132aad719b2f63863745b5038a2ccc6e8693a 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index cc8e8e67d4fe9604dfe9845e0548671449ef860c..6fa394538851a5368c420822e2b3fddc3e875d6f 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -427,6 +427,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 94d4edbf8a9fc9963c292ac84804255feb934917..34ffdbfba091906db3db25a355291a4945860d53 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -427,6 +427,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 2a55cbf756a7d06431c93cb625e21afa6efe295e..fba7318ad55ce7307da4868715bd753a2ac22b7e 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -437,6 +437,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index 0c4f078400144777bb2065f97efab4a0ad65de3c..d26986eca53cd9c91ed0bbceb4e10fb3123a29e9 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -439,6 +439,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index a74e2082a37868fb4580c849f614ba0de1406fb5..424d786d365b94f97d456f7cabd8eb82170ccd83 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -462,6 +462,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index b6806be19b99a042d740a0f8fa57265aaecacaf0..43bef5ad5130d66f1bde70d208800b406e797d50 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 07038e64fab89184f916d4ce987b8a72dcc0d4e1..61e6c454d383fe4790fdad3cd43f6cac8372948f 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 372fc3fe62c2c4a64825bd326d3ed59b1ef0031d..12f7ac8b16bae93d4f525ef2d2c23eaab6eae12d 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 673f2b75a0d9005baa360e6dfc9194f27ab26c28..c41ca134bad9819c8ee27f58a69deb8b71ba30f5 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -442,6 +442,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index f0d8f194fedb6d8bef55c951904e8a09290f75ea..31b9d5559767ff7a4d5153a125eea58fd0130d99 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -460,6 +460,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index 2c94543224ed0c7801c81df0ee8d5bd61fe219d7..c056168b164d823e749d5449570b12af3ae0029d 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -466,6 +466,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 81f6ef36f0ca1526819b448955ce19bd2a16f9c7..1ede76f5f8074d5ae2dcf197a191d1c71d945c3c 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -437,6 +437,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index 31224923097d80618ee16f1a6a7ff586ad1e054f..429c4efc24c641f05260eba4ae1df76904bd2704 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -445,6 +445,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index eb640ebe981cef7bc5f742f9610c6635ac23c7da..8c1c508f94e5f72a2b569a2ef81085730f27142d 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -489,6 +489,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 02b014c39f62bc902bb4d80345b8b0966fce9cc2..e0023377d3362a0d3914b2af2d9ed6efb4f217c7 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -489,6 +489,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index a2daec9e8813f1a262da2b33161ff60025a43ccb..83878546627757439df837d819f3a61ce66bcbb9 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -489,6 +489,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 085c7641215eb22f51f53269616d440f1674b3a9..73289f88f41888175656555d32d06238a8fdddf8 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -478,6 +478,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 3d0b242b9bfb67c28b3adf43502e75425c1f045a..dec2c11a07c22d62bc83a68b73add97c27293e61 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -487,6 +487,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index b8d5bbcb9558c0ede9d32589d9b470f47a6ba903..0f28212e515bab04b8504edd6f4589fc3c4cbbde 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -448,6 +448,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index cbe2a54052f347396e9f55c009af1e25b7ee735f..95a5e87d4b77b0d2df20d0a4fdbd20a7ad100a74 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -435,6 +435,9 @@
#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.
+//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index dd35990a56415cd88383bc20f2add096d51378b2..9f712faad8b90085668daedae5a99737158a5b1f 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -310,6 +310,10 @@ void Stepper::set_directions() {
#endif // !ADVANCE && !LIN_ADVANCE
}
+#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
+ extern volatile uint8_t e_hit;
+#endif
+
/**
* Stepper Driver Interrupt
*
@@ -378,7 +382,15 @@ void Stepper::isr() {
#if HAS_BED_PROBE
|| endstops.z_probe_enabled
#endif
- ) endstops.update();
+ )
+ #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
+ if(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;
diff --git a/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino b/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino
new file mode 100644
index 0000000000000000000000000000000000000000..8650a3d1329816afb740dcb53cf002105fb5b8ac
--- /dev/null
+++ b/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino
@@ -0,0 +1,32 @@
+// Search pins uasable for endstop-interupts
+// Compile with the same settings you'd use with Marlin.
+
+#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) )
+#endif
+
+void setup() {
+ Serial.begin(9600);
+ Serial.println("PINs causing interrups are:");
+ for(int i=2; i<NUM_DIGITAL_PINS; i++){
+ if( digitalPinToPCICR(i) != NULL || (int)digitalPinToInterrupt(i) != -1 ) {
+ for (int j= 0; j<NUM_ANALOG_INPUTS; j++){
+ if(analogInputToDigitalPin(j) == i) {
+ Serial.print("A");
+ Serial.print(j);
+ Serial.print(" = ");
+ }
+ }
+ Serial.print("D");
+ Serial.println(i);
+ }
+ }
+ Serial.println("Arduino pin numbering!");
+}
+
+void loop() {
+ // put your main code here, to run repeatedly:
+}