From 0aa14deb5d2d462843b19ce7b98e4285f728228d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 29 Jun 2021 12:20:07 -0400
Subject: [PATCH] drivers/distance_sensor/broadcom/afbrs50: minimize
 IRQ_LOCK()/IRQ_UNLOCK() calls

---
 .../broadcom/afbrs50/API/Src/s2pi.c           | 24 +++++++++----------
 .../broadcom/afbrs50/argus_hal_test.c         |  6 +++--
 2 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c b/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c
index 7aac79a5e3..4442be32f0 100644
--- a/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c
+++ b/src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c
@@ -138,16 +138,16 @@ status_t S2PI_SetBaudRate(uint32_t baudRate_Bps)
 status_t S2PI_CaptureGpioControl(void)
 {
 	/* Check if something is ongoing. */
-	IRQ_LOCK();
+	irqstate_t irqstate_flags = px4_enter_critical_section();
 	status_t status = s2pi_.Status;
 
 	if (status != STATUS_IDLE) {
-		IRQ_UNLOCK();
+		px4_leave_critical_section(irqstate_flags);
 		return status;
 	}
 
 	s2pi_.Status = STATUS_S2PI_GPIO_MODE;
-	IRQ_UNLOCK();
+	px4_leave_critical_section(irqstate_flags);
 
 	// GPIO mode (output push pull)
 	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_SET(s2pi_.GPIOs[S2PI_CLK]));
@@ -167,16 +167,16 @@ status_t S2PI_CaptureGpioControl(void)
 status_t S2PI_ReleaseGpioControl(void)
 {
 	/* Check if something is ongoing. */
-	IRQ_LOCK();
+	irqstate_t irqstate_flags = px4_enter_critical_section();
 	status_t status = s2pi_.Status;
 
 	if (status != STATUS_S2PI_GPIO_MODE) {
-		IRQ_UNLOCK();
+		px4_leave_critical_section(irqstate_flags);
 		return status;
 	}
 
 	s2pi_.Status = STATUS_IDLE;
-	IRQ_UNLOCK();
+	px4_leave_critical_section(irqstate_flags);
 
 	// SPI alternate
 	stm32_configgpio(s2pi_.GPIOs[S2PI_CLK]);
@@ -254,16 +254,16 @@ status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value)
 status_t S2PI_CycleCsPin(s2pi_slave_t slave)
 {
 	/* Check the driver status. */
-	IRQ_LOCK();
+	irqstate_t irqstate_flags = px4_enter_critical_section();
 	status_t status = s2pi_.Status;
 
 	if (status != STATUS_IDLE) {
-		IRQ_UNLOCK();
+		px4_leave_critical_section(irqstate_flags);
 		return status;
 	}
 
 	s2pi_.Status = STATUS_BUSY;
-	IRQ_UNLOCK();
+	px4_leave_critical_section(irqstate_flags);
 
 	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
 	px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
@@ -339,11 +339,11 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
 	}
 
 	/* Check the driver status, lock if idle. */
-	IRQ_LOCK();
+	irqstate_t irqstate_flags = px4_enter_critical_section();
 	status_t status = s2pi_.Status;
 
 	if (status != STATUS_IDLE) {
-		IRQ_UNLOCK();
+		px4_leave_critical_section(irqstate_flags);
 		return status;
 	}
 
@@ -358,7 +358,7 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
 	s2pi_.spi_frame_size = frameSize;
 	work_queue(HPWORK, &broadcom_s2pi_transfer_work, broadcom_s2pi_transfer_callout, NULL, 0);
 
-	IRQ_UNLOCK();
+	px4_leave_critical_section(irqstate_flags);
 
 	return STATUS_OK;
 }
diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c
index 520a438bf3..0a6a9f956f 100644
--- a/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c
+++ b/src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c
@@ -46,6 +46,8 @@
 #include "platform/argus_nvm.h"
 #include "platform/argus_irq.h"
 
+#include <px4_platform_common/micro_hal.h>
+
 /*******************************************************************************
  * Definitions
  ******************************************************************************/
@@ -466,9 +468,9 @@ static status_t SpiConnectionTest(s2pi_slave_t slave)
  *****************************************************************************/
 static void DataReadyCallback(void *param)
 {
-	IRQ_LOCK();
+	irqstate_t irqstate_flags = px4_enter_critical_section();
 	*((bool *) param) = true;
-	IRQ_UNLOCK();
+	px4_leave_critical_section(irqstate_flags);
 }
 
 /*!***************************************************************************