diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 10 |
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 |