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PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore

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This commit is contained in:
Andrew Tridgell 2012-11-20 22:30:35 +11:00
parent 3646b4b846
commit da6f6f3e41
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
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@ -56,10 +56,11 @@ void AP_TimerProcess::register_process(ap_procedure proc)
for (uint8_t i=0; i<_pidx; i++) {
if (_proc[i] == proc) return;
}
uint8_t oldSREG = SREG;
cli();
if (_pidx < AP_TIMERPROCESS_MAX_PROCS)
_proc[_pidx++] = proc;
sei();
SREG = oldSREG;
}
void AP_TimerProcess::set_failsafe(ap_procedure proc)
@ -140,10 +141,11 @@ void AP_TimerProcess::run(void)
}
// run any queued processes
uint8_t oldSREG = SREG;
cli();
ap_procedure qp = _queued_proc;
_queued_proc = NULL;
sei();
SREG = oldSREG;
if( qp != NULL ) {
_suspended = true;
qp(tnow);