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HAL_AVR: fixed attach_interrupt race condition

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This commit is contained in:
Andrew Tridgell 2012-12-21 09:09:15 +11:00
parent d54c6989ab
commit 47358929e2
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_HAL_AVR/GPIO.cpp
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@ -97,9 +97,12 @@ bool AVRGPIO::attach_interrupt(
uint8_t interrupt_num, AP_HAL::Proc proc, uint8_t mode) {
if (!((mode == 0)||(mode == 1)||(mode==3))) return false;
if (interrupt_num == 6) {
uint8_t oldSREG = SREG;
cli();
_interrupt_6 = proc;
EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
EIMSK |= (1 << INT6);
SREG = oldSREG;
return true;
} else {
return false;