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Code Issues Wiki Activity

Initialize timers assigned to servos appropriately

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This commit is contained in:
jflyper 2018-09-02 01:02:26 +09:00
parent 8c47db882f
commit 5d7f6b6c3d
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));
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) {
/* flag failure and disable ability to arm */
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);
servos[servoIndex].enabled = true;
}