Diff: AsyncStepper.cpp

Revision:

1:0f8209567b7d

Parent:

0:26fa30c35f74

diff -r 26fa30c35f74 -r 0f8209567b7d AsyncStepper.cpp
--- a/AsyncStepper.cpp	Thu Jul 12 01:27:04 2018 +0000
+++ b/AsyncStepper.cpp	Sat Jul 28 18:22:05 2018 +0000
@@ -46,6 +46,8 @@
 
 void AsyncStepper::ISR_PULSEOUT( void )
 {
+  DISABLE_INTERRUPTS;
+  
   if ( !stopPulseOut ) {
     stepOut->write( !stepOut->read() );
 
@@ -58,16 +60,20 @@
     }
   }
   
+  RESTORE_INTERRUPTS;
   return;
 }
 
 void AsyncStepper::SetRPM( uint32_t rpm )
 {
+  DISABLE_INTERRUPTS;
+  
   ticker->detach();
   oneRotationSteps = oneRotationFullSteps * ( stepMode + 1 );
   pulseWidth_us = (uint64_t)( 30000000 / ( rpm * oneRotationSteps ) );
   ticker->attach_us( callback(this, &AsyncStepper::ISR_PULSEOUT), pulseWidth_us );
   
+  RESTORE_INTERRUPTS;
   return;
 }
 
@@ -101,11 +107,14 @@
 
 void AsyncStepper::Rotate( direction_e direction, uint32_t steps )
 {
+  DISABLE_INTERRUPTS;
+  
   dirOut->write( direction );
   
   AsyncStepper::Enable();
   currentMaxStepCount = steps;
   stopPulseOut = false;
   
+  RESTORE_INTERRUPTS;
   return;
 }