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Cleaner ack check

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And drop CPU specific stuff no longer needed.
This commit is contained in:
Asbelos
2022-02-23 16:03:15 +00:00
parent a7740d652d
commit 1afb4753ec
3 changed files with 17 additions and 16 deletions
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30
MotorDriver.cpp
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@@ -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);