fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 06:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Moved Switching IO to the point of ARMing

Browse Source
This commit is contained in:
David Sidrane
2016-02-01 10:10:34 +01:00
committed by Lorenz Meier
parent 1843eea917
commit 5e47ffdaf9
1 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/stm32/drv_pwm_servo.c
+7 -3
View File
@@ -140,9 +140,6 @@ pwm_channel_init(unsigned channel)
{ {
unsigned timer = pwm_channels[channel].timer_index; unsigned timer = pwm_channels[channel].timer_index;
/* configure the GPIO first */
stm32_configgpio(pwm_channels[channel].gpio);
/* configure the channel */ /* configure the channel */
switch (pwm_channels[channel].timer_channel) { switch (pwm_channels[channel].timer_channel) {
case 1: case 1:
@@ -333,9 +330,16 @@ up_pwm_servo_arm(bool armed)
for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
if (pwm_timers[i].base != 0) { if (pwm_timers[i].base != 0) {
if (armed) { if (armed) {
/* force an update to preload all registers */ /* force an update to preload all registers */
rEGR(i) = GTIM_EGR_UG; rEGR(i) = GTIM_EGR_UG;
for (unsigned c = 0; c < PWM_SERVO_MAX_CHANNELS; c++) {
if (pwm_channels[c].gpio) {
stm32_configgpio(pwm_channels[c].gpio);
}
}
/* arm requires the timer be enabled */ /* arm requires the timer be enabled */
rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE; rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;