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[LPC176x] Endstop Interrupts Feature (#11202) 

Enable the endstop interrupts feature for LPC176x boards. Although Smoothieboard chose to use non-interrupt capable pins for their endstops, and this has been copied by clones, so they can't use it.
pull/1/head
Chris Pepper 7 years ago
committed by Scott Lahteine
parent
5abf5bc8a7
commit
55f4744e54
3 changed files with 65 additions and 67 deletions
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  1. 97
      Marlin/src/HAL/HAL_LPC1768/WInterrupts.cpp
  2. 32
      Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
  3. 3
      Marlin/src/HAL/HAL_LPC1768/include/pinmapping.h

97
Marlin/src/HAL/HAL_LPC1768/WInterrupts.cpp
View File

@ -19,29 +19,20 @@
#ifdef TARGET_LPC1768
#include "../../inc/MarlinConfig.h"
#include <Arduino.h>
#include <pinmapping.h>
//#include "HAL_timers.h"
#include "fastio.h"
#define GNUM 31
typedef void (*interruptCB)(void);
static interruptCB callbacksP0[GNUM];
static interruptCB callbacksP2[GNUM];
static interruptCB callbacksP0[GNUM] = {};
static interruptCB callbacksP2[GNUM] = {};
extern "C" void GpioEnableInt(const uint32_t port, const uint32_t pin, const uint32_t mode);
extern "C" void GpioDisableInt(const uint32_t port, const uint32_t pin);
//void deadloop(void) {}
/* Configure PIO interrupt sources */
static void __initialize() {
for (uint8_t i = 0; i < GNUM; i++) {
callbacksP0[i] = 0;
callbacksP2[i] = 0;
}
NVIC_SetPriority(EINT3_IRQn, NVIC_EncodePriority(0, 1, 0));
NVIC_EnableIRQ(EINT3_IRQn);
}
@ -54,6 +45,7 @@ void attachInterrupt(const pin_t pin, void (*callback)(void), uint32_t mode) {
__initialize();
++enabled;
}
uint8_t myport = LPC1768_PIN_PORT(pin),
mypin = LPC1768_PIN_PIN(pin);
@ -130,60 +122,41 @@ extern "C" void GpioDisableInt(const uint32_t port, const uint32_t pin) {
}
}
constexpr bool isPowerOf2(const uint16_t n) {
return IS_POWER_OF_2(n);
}
#if 0
extern "C" void EINT3_IRQHandler () {
LPC_GPIOINT->IO0IntClr = LPC_GPIOINT->IO2IntClr = 0xFFFFFFFF;
TOGGLE(13);
//NVIC_ClearPendingIRQ(EINT3_IRQn);
extern "C" void EINT3_IRQHandler(void) {
// Read in all current interrupt registers. We do this once as the
// GPIO interrupt registers are on the APB bus, and this is slow.
uint32_t rise0 = LPC_GPIOINT->IO0IntStatR,
fall0 = LPC_GPIOINT->IO0IntStatF,
rise2 = LPC_GPIOINT->IO2IntStatR,
fall2 = LPC_GPIOINT->IO2IntStatF;
// Clear the interrupts ASAP
LPC_GPIOINT->IO0IntClr = LPC_GPIOINT->IO2IntClr = 0xFFFFFFFF;
NVIC_ClearPendingIRQ(EINT3_IRQn);
while (rise0 > 0) { // If multiple pins changes happened continue as long as there are interrupts pending
const uint8_t bitloc = 31 - __CLZ(rise0); // CLZ returns number of leading zeros, 31 minus that is location of first pending interrupt
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
rise0 -= _BV(bitloc);
}
#else
extern "C" void EINT3_IRQHandler(void) {
// Read in all current interrupt registers. We do this once as the
// GPIO interrupt registers are on the APB bus, and this is slow.
uint32_t rise0 = LPC_GPIOINT->IO0IntStatR,
fall0 = LPC_GPIOINT->IO0IntStatF,
rise2 = LPC_GPIOINT->IO2IntStatR,
fall2 = LPC_GPIOINT->IO2IntStatF;
// Clear the interrupts ASAP
LPC_GPIOINT->IO0IntClr = LPC_GPIOINT->IO2IntClr = 0xFFFFFFFF;
NVIC_ClearPendingIRQ(EINT3_IRQn);
/* multiple pins changes happened.*/
if (rise0) while (rise0 > 0) { // Continue as long as there are interrupts pending
const uint8_t bitloc = 31 - __CLZ(rise0); //CLZ returns number of leading zeros, 31 minus that is location of first pending interrupt
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
rise0 -= _BV(bitloc);
}
if (fall0) while (fall0 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall0);
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
fall0 -= _BV(bitloc);
}
if (rise2) while(rise2 > 0) {
const uint8_t bitloc = 31 - __CLZ(rise2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
//LPC_GPIOINT->IO2IntClr = 1 << bitloc;
rise2 -= _BV(bitloc);
}
while (fall0 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall0);
if (callbacksP0[bitloc] != NULL) callbacksP0[bitloc]();
fall0 -= _BV(bitloc);
}
if (fall2) while (fall2 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
//LPC_GPIOINT->IO2IntClr = 1 << bitloc;
fall2 -= _BV(bitloc);
}
//NVIC_ClearPendingIRQ(EINT3_IRQn);
//LPC_GPIOINT->IO0IntClr = LPC_GPIOINT->IO2IntClr = 0xFFFFFFFF;
//NVIC_ClearPendingIRQ(EINT3_IRQn);
while(rise2 > 0) {
const uint8_t bitloc = 31 - __CLZ(rise2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
rise2 -= _BV(bitloc);
}
#endif
while (fall2 > 0) {
const uint8_t bitloc = 31 - __CLZ(fall2);
if (callbacksP2[bitloc] != NULL) callbacksP2[bitloc]();
fall2 -= _BV(bitloc);
}
}
#endif // TARGET_LPC1768

32
Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
View File

@ -37,9 +37,6 @@
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
//Currently this is untested and broken
#error "Please disable Endstop Interrupts LPC176x is currently an unsupported platform"
#include "../../module/endstops.h"
// One ISR for all EXT-Interrupts
@ -47,30 +44,57 @@ void endstop_ISR(void) { endstops.update(); }
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
#if !LPC1768_PIN_INTERRUPT_M(X_MAX_PIN)
#error "X_MAX_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_X_MIN
#if !LPC1768_PIN_INTERRUPT_M(X_MIN_PIN)
#error "X_MIN_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MAX
#if !LPC1768_PIN_INTERRUPT_M(Y_MAX_PIN)
#error "Y_MAX_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MIN
#if !LPC1768_PIN_INTERRUPT_M(Y_MIN_PIN)
#error "Y_MIN_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MAX
#if !LPC1768_PIN_INTERRUPT_M(Z_MAX_PIN)
#error "Z_MAX_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN
#if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PIN)
#error "Z_MIN_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MAX
#if !LPC1768_PIN_INTERRUPT_M(Z2_MAX_PIN)
#error "Z2_MAX_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MIN
#if !LPC1768_PIN_INTERRUPT_M(Z2_MIN_PIN)
#error "Z2_MIN_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
#if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
#error "Z_MIN_PROBE_PIN is not an INTERRUPT capable pin."
#endif
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif
}

3
Marlin/src/HAL/HAL_LPC1768/include/pinmapping.h
View File

@ -267,7 +267,7 @@ constexpr pin_t adc_pin_table[] = {
// Get the digital pin for an analog index
pin_t analogInputToDigitalPin(const int8_t p);
#define digitalPinToInterrupt(pin) (pin)
// Return the index of a pin number
// The pin number given here is in the form ppp:nnnnn
int16_t GET_PIN_MAP_INDEX(const pin_t pin);
@ -283,6 +283,7 @@ bool PWM_PIN(const pin_t p);
// Test whether the pin is interruptable
bool INTERRUPT_PIN(const pin_t p);
#define LPC1768_PIN_INTERRUPT_M(pin) (((pin >> 8) & 0b1) != 0)
// Get the pin number at the given index
pin_t GET_PIN_MAP_PIN(const int16_t ind);

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