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drivers/motor_driver: Use irq_restore

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chrysn 2021-12-21 18:23:11 +01:00
parent 49ff487ea2
commit ffe2ef3da6
1 changed files with 4 additions and 4 deletions
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8
drivers/motor_driver/motor_driver.c
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@ -168,12 +168,12 @@ int motor_set(const motor_driver_t motor_driver, uint8_t motor_id, \
int32_t pwm_duty_cycle_abs = pwm_duty_cycle; int32_t pwm_duty_cycle_abs = pwm_duty_cycle;
pwm_duty_cycle_abs *= (pwm_duty_cycle < 0) ? -1 : 1; pwm_duty_cycle_abs *= (pwm_duty_cycle < 0) ? -1 : 1;
irq_disable(); unsigned irqstate = irq_disable();
gpio_write(dev->gpio_dir0, gpio_dir0_value); gpio_write(dev->gpio_dir0, gpio_dir0_value);
gpio_write(dev->gpio_dir1_or_brake, gpio_dir1_or_brake_value); gpio_write(dev->gpio_dir1_or_brake, gpio_dir1_or_brake_value);
pwm_set(motor_driver_conf->pwm_dev, dev->pwm_channel, \ pwm_set(motor_driver_conf->pwm_dev, dev->pwm_channel, \
(uint16_t)pwm_duty_cycle_abs); (uint16_t)pwm_duty_cycle_abs);
irq_enable(); irq_restore(irqstate);
motor_driver_cb_t cb = motor_driver_conf->cb; motor_driver_cb_t cb = motor_driver_conf->cb;
if (cb) { if (cb) {
@ -233,11 +233,11 @@ int motor_brake(const motor_driver_t motor_driver, uint8_t motor_id)
goto motor_brake_err; goto motor_brake_err;
} }
irq_disable(); unsigned irqstate = irq_disable();
gpio_write(dev->gpio_dir0, gpio_dir0_value); gpio_write(dev->gpio_dir0, gpio_dir0_value);
gpio_write(dev->gpio_dir1_or_brake, gpio_dir1_or_brake_value); gpio_write(dev->gpio_dir1_or_brake, gpio_dir1_or_brake_value);
pwm_set(motor_driver_conf->pwm_dev, dev->pwm_channel, 0); pwm_set(motor_driver_conf->pwm_dev, dev->pwm_channel, 0);
irq_enable(); irq_restore(irqstate);
return 0; return 0;