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irq: Prefer irq_disable/enable instead of irq_save/restore in cmds/tasks

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Task and command handlers always run with irqs enabled, so it is not
necessary to save/restore the irq state when disabling irqs in these
handlers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-06-08 20:51:00 -04:00
parent 4fcf5a31f5
commit 9dd101c26f
4 changed files with 13 additions and 13 deletions
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6
src/stepper.c
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@ -8,7 +8,7 @@
#include "autoconf.h" // CONFIG_*
#include "basecmd.h" // alloc_oid
#include "board/gpio.h" // gpio_out_write
#include "board/irq.h" // irq_save
#include "board/irq.h" // irq_disable
#include "command.h" // DECL_COMMAND
#include "sched.h" // struct timer
#include "stepper.h" // command_config_stepper
@ -113,7 +113,7 @@ command_queue_step(uint32_t *args)
m->next = NULL;
m->flags = 0;
uint8_t flag = irq_save();
irq_disable();
if (!!(s->flags & SF_LAST_DIR) != !!(s->flags & SF_NEXT_DIR)) {
s->flags ^= SF_LAST_DIR;
m->flags |= MF_DIR;
@ -129,7 +129,7 @@ command_queue_step(uint32_t *args)
stepper_load_next(s);
sched_timer(&s->time);
}
irq_restore(flag);
irq_enable();
}
DECL_COMMAND(command_queue_step,
"queue_step oid=%c interval=%u count=%hu add=%hi");