git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
fix rasta condition
[aversive.git]
/
modules
/
devices
/
robot
/
trajectory_manager
/
trajectory_manager_core.c
diff --git
a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index
e4f2df6
..
e3311a9
100644
(file)
--- a/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/
modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@
-318,8
+318,12
@@
uint8_t trajectory_distance_finished(struct trajectory *traj)
* distance. */
uint8_t trajectory_finished(struct trajectory *traj)
{
* distance. */
uint8_t trajectory_finished(struct trajectory *traj)
{
- return trajectory_angle_finished(traj) &&
+ uint8_t flags, ret;
+ IRQ_LOCK(flags);
+ ret = trajectory_angle_finished(traj) &&
trajectory_distance_finished(traj);
trajectory_distance_finished(traj);
+ IRQ_UNLOCK(flags);
+ return ret;
}
/** return true if traj is nearly finished */
}
/** return true if traj is nearly finished */