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Merge pull request #6679 from jflyper/bfdev-fix-servoDevInit

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Initialize timers assigned to servos appropriately
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Michael Keller 2018-09-02 14:30:52 +12:00 • committed by GitHub
commit 09b52975fb
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1 changed files with 7 additions and 5 deletions
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12
src/main/drivers/pwm_output.c
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@ -557,16 +557,18 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
IOInit(servos[servoIndex].io, OWNER_SERVO, RESOURCE_INDEX(servoIndex)); IOInit(servos[servoIndex].io, OWNER_SERVO, RESOURCE_INDEX(servoIndex));
const timerHardware_t *timer = timerGetByTag(tag); const timerHardware_t *timer = timerGetByTag(tag);
#if defined(USE_HAL_DRIVER)
IOConfigGPIOAF(servos[servoIndex].io, IOCFG_AF_PP, timer->alternateFunction);
#else
IOConfigGPIO(servos[servoIndex].io, IOCFG_AF_PP);
#endif
if (timer == NULL) { if (timer == NULL) {
/* flag failure and disable ability to arm */ /* flag failure and disable ability to arm */
break; break;
} }
#if defined(STM32F1)
IOConfigGPIO(servos[servoIndex].io, IOCFG_AF_PP);
#else
IOConfigGPIOAF(servos[servoIndex].io, IOCFG_AF_PP, timer->alternateFunction);
#endif
pwmOutConfig(&servos[servoIndex].channel, timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0); pwmOutConfig(&servos[servoIndex].channel, timer, PWM_TIMER_1MHZ, PWM_TIMER_1MHZ / servoConfig->servoPwmRate, servoConfig->servoCenterPulse, 0);
servos[servoIndex].enabled = true; servos[servoIndex].enabled = true;
} }