Diff: AsyncStepper.hpp

Revision:

1:0f8209567b7d

Parent:

0:26fa30c35f74

--- a/AsyncStepper.hpp	Thu Jul 12 01:27:04 2018 +0000
+++ b/AsyncStepper.hpp	Sat Jul 28 18:22:05 2018 +0000
@@ -17,6 +17,17 @@
 
 #include "mbed.h"
 
+/**
+	 Disable all interuupts and save the status of interrupts.
+	 This macro is usable at ONLY Cortex-M Series. 
+*/
+#define DISABLE_INTERRUPTS uint32_t primask = __get_PRIMASK();	__disable_irq()
+/**
+	 Enable all interuupts when the status of interrupts is ENABLED.
+	 This macro is usable at ONLY Cortex-M Series. 
+*/
+#define RESTORE_INTERRUPTS if( !(primask & 1) )	__enable_irq()
+
 using namespace std;
 
 enum stepMode_e {
@@ -49,12 +60,13 @@
   stopMode_e stopMode;
   uint32_t oneRotationSteps;
   uint64_t pulseWidth_us;
-  uint32_t halfPulseCount;
-  uint32_t currentMaxStepCount;
-  bool stopPulseOut;
+  volatile uint32_t halfPulseCount;
+  volatile uint32_t currentMaxStepCount;
+  volatile bool stopPulseOut;
   
   void ISR_PULSEOUT( void );
   
+  
 public:
   /*!
     @brief Create a new AsyncStepper port.