Switched to more generic ISR prefix and suffix for extra HAL code insertion

Author: hjd1964

Timer.ino

@@ -96,24 +96,12 @@ ISR(TIMER1_COMPA_vect,ISR_NOBLOCK)
 IRAM_ATTR ISR(TIMER1_COMPA_vect)
 #endif
 {
-#ifdef HAL_TIMER1_INT_CLEAR
-  HAL_TIMER1_INT_CLEAR;
-#endif
-#ifdef ESP32
-  portENTER_CRITICAL_ISR(&siderealTimerMux);
+#ifdef HAL_TIMER1_PREFIX
+  HAL_TIMER1_PREFIX;
 #endif
 
   // run 1/3 of the time at 3x the rate, unless a goto is happening
-  if (trackingState!=TrackingMoveTo) { 
-    cnt++; 
-    if (cnt%3!=0) {
-#ifdef ESP32
-      portEXIT_CRITICAL_ISR(&siderealTimerMux);
-#endif
-      return;
-    }
-    cnt=0; 
-  }
+  if (trackingState!=TrackingMoveTo) { cnt++; if (cnt%3!=0) goto done; cnt=0; }
   lst++;
 
   // handle buzzer
@@ -123,9 +111,10 @@ IRAM_ATTR ISR(TIMER1_COMPA_vect)
   timerSuper();
 #endif
 
-#ifdef ESP32
-  portEXIT_CRITICAL_ISR(&siderealTimerMux);
-#endif 
+done: {}
+#ifdef HAL_TIMER1_SUFFIX
+  HAL_TIMER1_SUFFIX;
+#endif
 }
 
 void timerSuper() {
@@ -248,22 +237,11 @@ void timerSuper() {
 
 IRAM_ATTR ISR(TIMER3_COMPA_vect)
 {
-  #ifdef HAL_TIMER3_INT_CLEAR
-  HAL_TIMER3_INT_CLEAR;
-  #endif
-#ifdef ESP32
-  portENTER_CRITICAL_ISR(&motorTimerMux);
+#ifdef HAL_TIMER3_PREFIX
+  HAL_TIMER3_PREFIX;
 #endif
 
-  if (!fastAxis1) {
-    t3cnt++;
-    if (t3cnt%t3rep!=0) {
-#ifdef ESP32
-      portEXIT_CRITICAL_ISR(&motorTimerMux);
-#endif
-      return;
-    }
-  }
+  if (!fastAxis1) { t3cnt++; if (t3cnt%t3rep!=0) goto done; }
 
   StepPinAxis1_LOW;
 
@@ -325,29 +303,19 @@ IRAM_ATTR ISR(TIMER3_COMPA_vect)
   }
 #endif
 
-#ifdef ESP32
-  portEXIT_CRITICAL_ISR(&motorTimerMux);
+done: {}
+#ifdef HAL_TIMER3_SUFFIX
+  HAL_TIMER3_SUFFIX;
 #endif
 }
 
 IRAM_ATTR ISR(TIMER4_COMPA_vect)
 {
-  #ifdef HAL_TIMER4_INT_CLEAR
-  HAL_TIMER4_INT_CLEAR;
-  #endif
-#ifdef ESP32
-  portENTER_CRITICAL_ISR(&motorTimerMux);
+#ifdef HAL_TIMER4_PREFIX
+  HAL_TIMER4_PREFIX;
 #endif
 
-  if (!fastAxis2) {
-    t4cnt++;
-    if (t4cnt%t4rep!=0) {
-#ifdef ESP32
-      portEXIT_CRITICAL_ISR(&motorTimerMux);
-#endif
-      return;
-    }
-  }
+  if (!fastAxis2) { t4cnt++; if (t4cnt%t4rep!=0) goto done; }
 
   StepPinAxis2_LOW;
 
@@ -409,8 +377,9 @@ IRAM_ATTR ISR(TIMER4_COMPA_vect)
   }
 #endif
 
-#ifdef ESP32
-  portEXIT_CRITICAL_ISR(&motorTimerMux);
+done: {}
+#ifdef HAL_TIMER4_SUFFIX
+  HAL_TIMER4_SUFFIX;
 #endif
 }
 
@@ -453,4 +422,3 @@ void clockSync() {
   PPSlastMicroS=t;
 }
 #endif
-

src/HAL/HAL_ESP32/HAL_ESP32.h

@@ -48,6 +48,13 @@ void TIMER4_COMPA_vect(void);
 portMUX_TYPE siderealTimerMux = portMUX_INITIALIZER_UNLOCKED;
 portMUX_TYPE motorTimerMux = portMUX_INITIALIZER_UNLOCKED;
 
+#define HAL_TIMER1_PREFIX portENTER_CRITICAL_ISR( &siderealTimerMux )
+#define HAL_TIMER3_PREFIX portENTER_CRITICAL_ISR( &motorTimerMux )
+#define HAL_TIMER4_PREFIX portENTER_CRITICAL_ISR( &motorTimerMux )
+#define HAL_TIMER1_SUFFIX portEXIT_CRITICAL_ISR( &siderealTimerMux )
+#define HAL_TIMER3_SUFFIX portEXIT_CRITICAL_ISR( &motorTimerMux )
+#define HAL_TIMER4_SUFFIX portEXIT_CRITICAL_ISR( &motorTimerMux )
+
 // Override cli/sei and use for muxes
 #undef cli
 IRAM_ATTR void cli() { portENTER_CRITICAL(&motorTimerMux); portENTER_CRITICAL(&siderealTimerMux); }
@@ -140,4 +147,3 @@ IRAM_ATTR void QuickSetIntervalAxis2(uint32_t r) {
 #define StepPinAxis2_LOW digitalWrite(Axis2StepPin, LOW)
 #define DirPinAxis2_HIGH digitalWrite(Axis2DirPin, HIGH)
 #define DirPinAxis2_LOW digitalWrite(Axis2DirPin, LOW)
-

src/HAL/HAL_Tiva_C/HAL_Tiva_C.h

@@ -39,9 +39,9 @@
 // Interrupts
 #define cli() noInterrupts()
 #define sei() interrupts()
-#define HAL_TIMER1_INT_CLEAR TimerIntClear( Timer1_base, TIMER_TIMA_TIMEOUT )
-#define HAL_TIMER3_INT_CLEAR TimerIntClear( Timer3_base, TIMER_TIMA_TIMEOUT )
-#define HAL_TIMER4_INT_CLEAR TimerIntClear( Timer4_base, TIMER_TIMA_TIMEOUT )
+#define HAL_TIMER1_PREFIX TimerIntClear( Timer1_base, TIMER_TIMA_TIMEOUT )
+#define HAL_TIMER3_PREFIX TimerIntClear( Timer3_base, TIMER_TIMA_TIMEOUT )
+#define HAL_TIMER4_PREFIX TimerIntClear( Timer4_base, TIMER_TIMA_TIMEOUT )
 
 // Lower limit (fastest) step rate in uS for this platform
 #if defined(__TM4C1294NCPDT__) || defined(__TM4C1294XNCZAD__)
@@ -212,4 +212,3 @@ void QuickSetIntervalAxis2(uint32_t r) {
 #define StepPinAxis2_LOW CLR(Axis2StepPORT, Axis2StepBit)
 #define DirPinAxis2_HIGH SET(Axis2DirPORT, Axis2DirBit)
 #define DirPinAxis2_LOW CLR(Axis2DirPORT, Axis2DirBit)
-