From 68c13981b3424339e7c1adc0c0aa0ef6c562e1b4 Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@simens.local>
Date: Fri, 30 Jan 2009 11:26:08 +0100
Subject: [PATCH] enabled interrupts and mad buffer flushing atomic

---
 stepper.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/stepper.c b/stepper.c
index d17fd24..0e4fb9b 100644
--- a/stepper.c
+++ b/stepper.c
@@ -83,6 +83,8 @@ void st_init()
   TCCR2B = 1<<CS20; // Full speed, no prescaler
   TIMSK2 = 0; // All interrupts disabled
   
+  sei();
+  
 	// start off with a slow pace
   st_set_pace(1000000);
   st_start();
@@ -113,7 +115,9 @@ void st_synchronize()
 // Cancel all pending steps
 void st_flush()
 {
+  cli();
   step_buffer_tail = step_buffer_head;
+  sei();
 }
 
 // Start the stepper subsystem
@@ -155,6 +159,7 @@ void st_set_pace(uint32_t microseconds)
 		ceiling = (ticks >> 10);
     prescaler = 4; // prescaler: 1024
 	} else {
+	  // Okay, that was slower than we actually go. Just set the slowest speed
 		ceiling = 0xffff;
     prescaler = 4;
 	}