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fmu:Add Range checking for PWM5 modes

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This commit is contained in:
David Sidrane
2018-10-23 08:15:28 +02:00
committed by Lorenz Meier
parent d832b4fe28
commit 99294b2040
1 changed files with 11 additions and 2 deletions
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src/drivers/px4fmu/fmu.cpp
+11 -2
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@@ -1835,10 +1835,14 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* FALLTHROUGH */
case PWM_SERVO_SET(5):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
if (_mode < MODE_5PWM1CAP) {
ret = -EINVAL;
break;
}
@@ -1901,12 +1905,17 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* FALLTHROUGH */
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
case PWM_SERVO_GET(4):
if (_mode < MODE_5PWM1CAP) {
ret = -EINVAL;
break;
}
#endif
/* FALLTHROUGH */