X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager_core.c;h=e3311a9007b789cdf90c5b25f53b3b4486926c86;hp=e3afa27c91c45469530a08a2a5f16bee9f09b146;hb=4abb0bf96078e303a8f43a0ba020a1801b908ae4;hpb=580718729e72aa18b9e247b8647b188ee195eabf

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index e3afa27..e3311a9 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -191,8 +191,6 @@ void trajectory_stop(struct trajectory *traj)
 				  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 
-#include <stackdump.h>
-
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */
 void trajectory_hardstop(struct trajectory *traj)
@@ -320,8 +318,12 @@ uint8_t trajectory_distance_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);
+	IRQ_UNLOCK(flags);
+	return ret;
 }
 
 /** return true if traj is nearly finished */
@@ -1057,7 +1059,8 @@ int8_t trajectory_clitoid(struct trajectory *traj,
 	if (calc_clitoid(traj, x, y, a_rad, alpha_deg, beta_deg, R_mm,
 			 Vd, traj->a_acc, d_inter_mm,
 			 &Aa, &Va, &remain) < 0) {
-		DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error");
+		DEBUG(E_TRAJECTORY, "%s() calc_clitoid returned an error",
+		      __FUNCTION__);
 		return -1;
 	}