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, 5 insertions, 5 deletions

diff --git a/src/stepper.c b/src/stepper.c
index 521e0ab8..2b967413 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -88,7 +88,7 @@ stepper_load_next(struct stepper *s, uint32_t min_next_time)
     }
     if (m->flags & MF_DIR) {
         s->position = -s->position + m->count;
-        gpio_out_toggle(s->dir_pin);
+        gpio_out_toggle_noirq(s->dir_pin);
     } else {
         s->position += m->count;
     }
@@ -108,24 +108,24 @@ stepper_event(struct timer *t)
     if (CONFIG_NO_UNSTEP_DELAY) {
         // On slower mcus it is possible to simply step and unstep in
         // the same timer event.
-        gpio_out_toggle(s->step_pin);
+        gpio_out_toggle_noirq(s->step_pin);
         uint16_t count = s->count - 1;
         if (likely(count)) {
             s->count = count;
             s->time.waketime += s->interval;
-            gpio_out_toggle(s->step_pin);
+            gpio_out_toggle_noirq(s->step_pin);
             if (s->flags & SF_HAVE_ADD)
                 s->interval += s->add;
             return SF_RESCHEDULE;
         }
         uint_fast8_t ret = stepper_load_next(s, 0);
-        gpio_out_toggle(s->step_pin);
+        gpio_out_toggle_noirq(s->step_pin);
         return ret;
     }
 
     // On faster mcus, it is necessary to schedule the unstep event
     uint32_t min_next_time = timer_read_time() + UNSTEP_TIME;
-    gpio_out_toggle(s->step_pin);
+    gpio_out_toggle_noirq(s->step_pin);
     s->count--;
     if (likely(s->count & 1))
         // Schedule unstep event