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Mixer protection for not enough motors initialised

This commit is contained in:
blckmn 2017-01-30 10:59:38 +11:00 committed by borisbstyle
parent 638ed22fa8
commit a7f50ad30a
4 changed files with 15 additions and 4 deletions
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13
src/main/drivers/pwm_output.c
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@ -17,6 +17,7 @@
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <string.h>
#include <math.h> #include <math.h>
#include "platform.h" #include "platform.h"
@ -134,7 +135,9 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
void pwmWriteMotor(uint8_t index, uint16_t value) void pwmWriteMotor(uint8_t index, uint16_t value)
{ {
pwmWritePtr(index, value); if (motors[index].enabled) {
pwmWritePtr(index, value);
}
} }
void pwmShutdownPulsesForAllMotors(uint8_t motorCount) void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@ -166,6 +169,11 @@ bool pwmAreMotorsEnabled(void)
static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{ {
for (int index = 0; index < motorCount; index++) { for (int index = 0; index < motorCount; index++) {
if (!motors[index].enabled) {
continue;
}
bool overflowed = false; bool overflowed = false;
// If we have not already overflowed this timer // If we have not already overflowed this timer
for (int j = 0; j < index; j++) { for (int j = 0; j < index; j++) {
@ -192,6 +200,8 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount) void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{ {
memset(motors, 0, sizeof(motors));
uint32_t timerMhzCounter = 0; uint32_t timerMhzCounter = 0;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm; bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
bool isDigital = false; bool isDigital = false;
@ -277,6 +287,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
} }
motors[motorIndex].enabled = true; motors[motorIndex].enabled = true;
} }
pwmMotorsEnabled = true; pwmMotorsEnabled = true;
} }

2
src/main/drivers/pwm_output_stm32f3xx.c
View File

@ -61,7 +61,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index]; motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaChannel) { if (!motor->timerHardware || !motor->timerHardware->dmaChannel) {
return; return;
} }

2
src/main/drivers/pwm_output_stm32f4xx.c
View File

@ -59,7 +59,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index]; motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaStream) { if (!motor->timerHardware || !motor->timerHardware->dmaStream) {
return; return;
} }

2
src/main/drivers/pwm_output_stm32f7xx.c
View File

@ -58,7 +58,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index]; motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaStream) { if (!motor->timerHardware || !motor->timerHardware->dmaStream) {
return; return;
} }