From 1afb4753ec66feffc397ecb32d778fc829a3e779 Mon Sep 17 00:00:00 2001
From: Asbelos <asbelos@btinternet.com>
Date: Wed, 23 Feb 2022 16:03:15 +0000
Subject: [PATCH] Cleaner ack check

And drop CPU specific stuff no longer needed.
---
 DCCACK.cpp      |  2 +-
 MotorDriver.cpp | 30 +++++++++++++++---------------
 MotorDriver.h   |  1 +
 3 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/DCCACK.cpp b/DCCACK.cpp
index 9198893..8afe0f9 100644
--- a/DCCACK.cpp
+++ b/DCCACK.cpp
@@ -423,7 +423,7 @@ void DCCACK::checkAck(byte sentResetsSincePacket) {
         return; 
     }
       
-    int current=progDriver->getCurrentRaw();
+    int current=progDriver->getCurrentRawInInterrupt();
     numAckSamples++;
     if (current > ackMaxCurrent) ackMaxCurrent=current;
     // An ACK is a pulse lasting between minAckPulseDuration and maxAckPulseDuration uSecs (refer @haba)
diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 79167bc..c441f8a 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -156,28 +156,28 @@ bool MotorDriver::canMeasureCurrent() {
 int MotorDriver::getCurrentRaw() {
   if (currentPin==UNUSED_PIN) return 0; 
   int current;
-#if defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY41)
-  bool irq = disableInterrupts();
+  // This function should NOT be called in an interruot so we 
+  // dont need to fart about saving and restoring CPU specific 
+  // interrupt registers. 
+  noInterrupts();
   current = analogRead(currentPin)-senseOffset;
-  enableInterrupts(irq);
-#else // Uno, Mega and all the TEENSY3* but not TEENSY4* 
-  unsigned char sreg_backup;
-  sreg_backup = SREG;   /* save interrupt enable/disable state */
-  cli();
-  current = analogRead(currentPin)-senseOffset;
-#if defined(ARDUINO_TEENSY32) || defined(ARDUINO_TEENSY35)|| defined(ARDUINO_TEENSY36)
-  overflow_count = 0;
-#endif
-  if (sreg_backup & 128) sei();  /* restore interrupt state */
-#endif // outer #
+  interrupts();
   if (current<0) current=0-current;
   if ((faultPin != UNUSED_PIN)  && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
       return (current == 0 ? -1 : -current);
   return current;
-  // IMPORTANT:  This function can be called in Interrupt() time within the 56uS timer
+   
+}
+
+int MotorDriver::getCurrentRawInInterrupt() {
+  
+  // IMPORTANT:  This function must be called in Interrupt() time within the 56uS timer
   //             The default analogRead takes ~100uS which is catastrphic
   //             so DCCTimer has set the sample time to be much faster.  
-}
+
+  if (currentPin==UNUSED_PIN) return 0; 
+  return analogRead(currentPin)-senseOffset;
+}  
 
 unsigned int MotorDriver::raw2mA( int raw) {
   return (unsigned int)(raw * senseFactor);
diff --git a/MotorDriver.h b/MotorDriver.h
index 105bff6..80453ea 100644
--- a/MotorDriver.h
+++ b/MotorDriver.h
@@ -55,6 +55,7 @@ class MotorDriver {
     virtual void setSignal( bool high);
     virtual void setBrake( bool on);
     virtual int  getCurrentRaw();
+    virtual int getCurrentRawInInterrupt();
     virtual unsigned int raw2mA( int raw);
     virtual int mA2raw( unsigned int mA);
     inline int getRawCurrentTripValue() {