On 11/03/2012 08:55 PM, Charles Steinkuehler wrote: > While it looks to me like all the HAL code currently runs on system > timers, I intend to drive the HAL timing from lower-level processes > (either real hardware or the real-time uC on the AM3558) via > Interrupts, so I *WILL* want the ability to declare an ISR and hook it > to a DPC or have it wake a thread based on a physical IRQ event. Yes, I also suggest keeping this in, if possible. My boards have the capability to provide an interrupt through the parallel port. They are capable of sampling encoder position to latches and then interrupting the CPU to read the position and do the servo loop. If it could then interrupt the CPU, you could have latency jitter of a couple hundred ns, as long as the servo thread completed before the next interrupt.
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