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raster: do not show a running raster as disabled mid-cycle #4684

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raster: do not show a running raster as disabled mid-cycle #4684

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9 changes: 8 additions & 1 deletion src/hal/components/raster.comp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,16 +193,21 @@ static bool read_pixel_data(const hal_port_t port, int bits_per_pixel, hal_real_
FUNCTION(_) {

output_set(-1.0);
enabled_set(0);

// enabled is written once per state, never cleared at the top: a
// non-realtime reader polls it while this runs and must not see a
// running raster as stopped
if (reset) {
enabled_set(0);
state_set(IDLE);
fault_set(0);
fault_code_set(ERROR_NONE);
hal_port_clear(program_ptr);
} else if (state == FAULT) {
enabled_set(0);
fault_set(1);
} else if (state == IDLE) {
enabled_set(0);
bitmap_position_set(0.0);
current_pixel_value_set(-1.0);
previous_pixel_value_set(-1.0);
Expand Down Expand Up @@ -237,6 +242,7 @@ FUNCTION(_) {
if(!run) {
state_set(IDLE);
hal_port_clear(program_ptr);
enabled_set(0);
} else {
enabled_set(1);

Expand All @@ -246,6 +252,7 @@ FUNCTION(_) {
previous_pixel_value_set(current_pixel_value);

if(!read_pixel_data(program_ptr, bpp, current_pixel_value_ptr)) {
enabled_set(0);
state_set(FAULT);
fault_code_set(ERROR_BADPIXELDATA);
return;
Expand Down
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