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Фикс: гонка _state с _e0/_e1 в uEncoderISR::tick (общий байт битовых полей) #2

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Фикс: гонка _state с _e0/_e1 в uEncoderISR::tick (общий байт битовых полей) #2

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5 changes: 4 additions & 1 deletion src/uEncoderISR.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,12 @@ class uEncoderISR : public uEncoderVirt {
noInterrupts();
uint8_t state = _buf & 0xf;
_buf >>= 4;
// _state лежит в одном байте с _e0/_e1, а их пишет tickISR. Запись
// битового поля это read-modify-write всего байта, поэтому вне
// критической секции прерывание потеряет своё обновление ног
_state = state ? state : State::Idle;
interrupts();

_state = state ? state : State::Idle;
return state;
}

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