diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 75ab781a7e25735d79277dc57a59e52ce0134e67..5b15c3f3f79ba2c30449aded6316e3b30695cd28 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 5473f5387d4a279d6cb0b38c8a1126b0b9b08110..862f7dfc51da1de82119a3b6907824c5a06a0554 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
@@ -10000,6 +10003,10 @@ 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 634afc7ddbcddc365efbff7345f9056f590291e9..b25931b58e02898b3862b2a89dcd254516da45df 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 f59173cba8ee41f61effb8121fd995e1560aa77b..f11ec8a80aca9004f2f6901693938d8402ce1bda 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 af0af94278d0b2888037a84854549fe2cc96c0c6..5f65aa52fff2a9ec73bef31e3289aaaee151c51f 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 2d5f51997dd1911a9cec01a8dfbdcd42bd5d1a96..d2cce0106d799fcf70da97f1a66e0e7582b7855d 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 162a2628b65b5cba28f600be3059449d13b5b1e4..7a352d802a458dbcd012e238f3cd022de3a28e98 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 9f8b54d07b9b1b876c69e7d5fa98160ac023e87e..fb2adee3e8a48599723e081e9c6db372911ac6ee 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 8b52c085c21eee19fb7c0d26fdde25916b50eeb7..4ea9328f083c8dae40715219c32c2fd615df7a74 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 79fcf4726aab30d0d8a7fcdb78a0ce9227ee3e35..b290503f5a5988b0fbfdcaee479439f6b39d3dba 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 14de17911c45836958ed1bbb8e16809bfb8c7786..c8f4ac97aa8917ecc48d31cf8de1e9d7002ac746 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 fb329ca09e25eca5f30ddc817ff679f98ce1a748..f6c0dc1ee2396e490ee09ad861a5a108a54d085a 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 ec244874fecf3140b7c8f07807cf71ac003e95b3..c2c0e6a8b80f30b738ea7edfda50f9c8994c9748 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 92a9c033dc2c084f1e602368c8ada92338016db9..d7f6aefc74cd5c57a178da492b1c868478c8cdcd 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 60d79d52f2381a74c90daebf56626c9dc52b6ed7..0d933e805abc5eab6c94628ad1f2eef18c0babd5 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 fdd8d79ea6c6461fb3d4b48c1623d2499923e16b..3e9da7b7940ef0285d5613d0591c07c37f0a92ba 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 f6a1b8cdd3ac26f9bb88d2f3843c39c69e5049b4..e939c4b72815b073dcf903a127fc8b2b2b8b3468 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 6dd1b8191dfae53e33963cd3bf05b316cfdebcde..107ccb65d2f553983c7af52c9e9ec1906f315d6b 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 057320b31a624b14235724dc51167266679193ed..cf2d63b7a40ebf322a9f2e975c493b4140bb76b4 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 2cd160adc642504507e09c753bcf7f0a23088059..233ce8b1b86b5bea871a27e54fc18344ea1cd62a 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 679fa5564f529965e3ffed432f9113ae096ce3bd..c6ca06f4e54cba250605d3de2dd5526adba51793 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 802c9bbbc5ae676c949e83011a74457bc944feb0..5f5ad1d8a30ca5874f54c57a9aadc9eb28b0ef4a 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 75bbded7fa7c0f23bdc96ef64ccddd9db9e1d75c..03bb14b5bf720086e93470c5fdbcb88ae50538fd 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:
+}