Revision 1:0f8209567b7d, committed 2018-07-28

Comitter:

babylonica

Date:

Sat Jul 28 18:22:05 2018 +0000

Parent:

0:26fa30c35f74

Commit message:

minor changes

Changed in this revision

--- 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;
 }

--- 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.