Guard ISR-processed data in ATOMIC_BLOCK

src/modules/pulse_gen.cpp

@@ -1,6 +1,12 @@
 /// @file pulse_gen.cpp
 #include "pulse_gen.h"
 
+#ifdef AVR
+#include <util/atomic.h>
+#else
+#define ATOMIC_BLOCK(x) /**/
+#endif
+
 namespace modules {
 namespace pulse_gen {
 
@@ -90,6 +96,7 @@ void PulseGen::CalculateTrapezoid(block_t *block, steps_t entry_speed, steps_t e
 }
 
 bool PulseGen::PlanMoveTo(pos_t target, steps_t feed_rate, steps_t end_rate) {
+    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
         // Prepare to set up new block
         if (block_index.full())
             return false;
@@ -123,12 +130,14 @@ bool PulseGen::PlanMoveTo(pos_t target, steps_t feed_rate, steps_t end_rate) {
 
         // Move forward and update the state
         block_index.push();
+    }
     position = target;
     return true;
 }
 
 pos_t PulseGen::CurPosition() const {
     pos_t cur_pos = position;
+    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { // manipulating current_block needs sync
         circular_index_t iter = block_index;
 
         // if we have a live block remove the partial offset
@@ -142,7 +151,7 @@ pos_t PulseGen::CurPosition() const {
             cur_pos -= BlockShift(&block_buffer[iter.front()]);
             iter.pop();
         }
-
+    }
     return cur_pos;
 }
 
@@ -150,6 +159,7 @@ void PulseGen::AbortPlannedMoves(bool halt) {
     // always update to effective position
     position = CurPosition();
 
+    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { // manipulating current_block needs sync
         // destroy the current block
         if (current_block) {
             last_rate = acc_step_rate;
@@ -157,10 +167,11 @@ void PulseGen::AbortPlannedMoves(bool halt) {
             while (!block_index.empty()) // drop all remaining blocks
                 block_index.pop();
         }
-
+    }
     // truncate the last rate if halting
-    if (halt)
+    if (halt) {
         last_rate = 0;
+    }
 }
 
 } // namespace motor

src/modules/pulse_gen.h

@@ -74,6 +74,7 @@ public:
     bool Full() const { return block_index.full(); }
 
     /// Single-step the axis
+    /// Called from ISR
     /// @returns the interval for the next tick
     inline st_timer_t Step(const hal::tmc2130::MotorParams &motorParams) {
         if (!current_block) {