stepper: Introduce and use gpio_out_toggle_noirq()

The gpio_out_toggle() function in the sam3x8e and stm32f1 code was
only valid if it was called with irqs disabled.

Commits 018c5daa and 9c52ad43 enabled the lcd code which called
gpio_out_toggle() with irqs enabled.  This could cause corruption of
the gpio state.

Introduce a gpio_out_toggle_noirq() function that will only be invoked
with irqs disabled, and fix gpio_out_toggle() on sam3x8e and stm32f1
so that it safe to call even if irqs are enabled.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 9 insertions, 1 deletions

diff --git a/src/sam3x8e/gpio.c b/src/sam3x8e/gpio.c
index 205528d5..acfe0d90 100644
--- a/src/sam3x8e/gpio.c
+++ b/src/sam3x8e/gpio.c
@@ -69,13 +69,21 @@ fail:
 }
 
 void
-gpio_out_toggle(struct gpio_out g)
+gpio_out_toggle_noirq(struct gpio_out g)
 {
     Pio *regs = g.regs;
     regs->PIO_ODSR ^= g.bit;
 }
 
 void
+gpio_out_toggle(struct gpio_out g)
+{
+    irqstatus_t flag = irq_save();
+    gpio_out_toggle_noirq(g);
+    irq_restore(flag);
+}
+
+void
 gpio_out_write(struct gpio_out g, uint8_t val)
 {
     Pio *regs = g.regs;