From c702e2f7e50653d8330543421df7ff67fad04187 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Thu, 11 Oct 2018 21:52:53 -0700
Subject: [PATCH] fix early return in critical section entry

---
 Firmware/MotorControl/low_level.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 0b594e34..605db9ba 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -54,8 +54,9 @@ void pwm_in_init();
 void update_brake_current();
 
 inline uint32_t cpu_enter_critical() {
-    return __get_PRIMASK();
+    uint32_t primask = __get_PRIMASK();
     __disable_irq();
+    return primask;
 }
 
 inline void cpu_exit_critical(uint32_t priority_mask) {