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irq: Prefer irq_disable/enable instead of irq_save/restore in cmds/tasks
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>
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commit
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4 changed files with 13 additions and 13 deletions
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@ -8,7 +8,7 @@
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#include "autoconf.h" // CONFIG_*
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#include "basecmd.h" // alloc_oid
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#include "board/gpio.h" // gpio_out_write
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#include "board/irq.h" // irq_save
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#include "board/irq.h" // irq_disable
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // struct timer
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#include "stepper.h" // command_config_stepper
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@ -113,7 +113,7 @@ command_queue_step(uint32_t *args)
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m->next = NULL;
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m->flags = 0;
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uint8_t flag = irq_save();
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irq_disable();
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if (!!(s->flags & SF_LAST_DIR) != !!(s->flags & SF_NEXT_DIR)) {
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s->flags ^= SF_LAST_DIR;
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m->flags |= MF_DIR;
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@ -129,7 +129,7 @@ command_queue_step(uint32_t *args)
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stepper_load_next(s);
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sched_timer(&s->time);
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}
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irq_restore(flag);
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irq_enable();
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}
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DECL_COMMAND(command_queue_step,
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"queue_step oid=%c interval=%u count=%hu add=%hi");
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