From 9dd101c26fff95e596039d6168d4ad25e080071c Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 8 Jun 2016 20:51:00 -0400
Subject: [PATCH] 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>
---
 src/adccmds.c  | 8 ++++----
 src/endstop.c  | 6 +++---
 src/gpiocmds.c | 6 +++---
 src/stepper.c  | 6 +++---
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/adccmds.c b/src/adccmds.c
index 2ae7f43c..9c70ab88 100644
--- a/src/adccmds.c
+++ b/src/adccmds.c
@@ -6,7 +6,7 @@
 
 #include "basecmd.h" // alloc_oid
 #include "board/gpio.h" // struct gpio_adc
-#include "board/irq.h" // irq_save
+#include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // DECL_TASK
 
@@ -90,15 +90,15 @@ analog_in_task(void)
     foreach_oid(oid, a, command_config_analog_in) {
         if (a->state != a->sample_count)
             continue;
-        uint8_t flag = irq_save();
+        irq_disable();
         if (a->state != a->sample_count) {
-            irq_restore(flag);
+            irq_enable();
             continue;
         }
         uint16_t value = a->value;
         uint32_t next_begin_time = a->next_begin_time;
         a->state++;
-        irq_restore(flag);
+        irq_enable();
         sendf("analog_in_state oid=%c next_clock=%u value=%hu"
               , oid, next_begin_time, value);
     }
diff --git a/src/endstop.c b/src/endstop.c
index bc177605..6f155cda 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -7,7 +7,7 @@
 #include <stddef.h> // offsetof
 #include "basecmd.h" // alloc_oid
 #include "board/gpio.h" // struct gpio
-#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" // stepper_stop
@@ -73,11 +73,11 @@ DECL_COMMAND(command_end_stop_home,
 static void
 end_stop_report(uint8_t oid, struct end_stop *e)
 {
-    uint8_t flag = irq_save();
+    irq_disable();
     uint32_t position = stepper_get_position(e->stepper);
     uint8_t eflags = e->flags;
     e->flags &= ~ESF_REPORT;
-    irq_restore(flag);
+    irq_enable();
 
     sendf("end_stop_state oid=%c homing=%c pin=%c pos=%i"
           , oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin)
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index 70608a6f..864d6526 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -6,7 +6,7 @@
 
 #include "basecmd.h" // alloc_oid
 #include "board/gpio.h" // struct gpio_out
-#include "board/irq.h" // irq_save
+#include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // sched_timer
 
@@ -188,7 +188,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
         if (s->max_duration)
             next_flags |= SPF_NEXT_CHECK_END;
     }
-    uint8_t flag = irq_save();
+    irq_disable();
     if (s->flags & SPF_CHECK_END && sched_is_before(s->end_time, time))
         shutdown("next soft pwm extends existing pwm");
     s->end_time = time;
@@ -204,7 +204,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
         s->timer.func = soft_pwm_load_event;
         sched_timer(&s->timer);
     }
-    irq_restore(flag);
+    irq_enable();
 }
 DECL_COMMAND(command_schedule_soft_pwm_out,
              "schedule_soft_pwm_out oid=%c clock=%u value=%c");
diff --git a/src/stepper.c b/src/stepper.c
index 9dedaf45..0d4754f9 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -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");