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=e4f2df6ac7179e778378edd42bc3ff10dafe96bf;hb=8933c04126fa2885cdcc255271632bd4a5a51afe;hpb=98771f58df62cfce41b04d866a91752fcda12c80

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
--- 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)
 {
-	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 */