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AP_HAL_Linux: RCOutput_ZYNQ: check for valid channel

This commit is contained in:
davidaroyer 2017-04-05 10:05:10 -05:00 committed by Francisco Ferreira
parent 46d910539c
commit 512cd11125
1 changed files with 14 additions and 2 deletions
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16
libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
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@ -61,7 +61,11 @@ void RCOutput_ZYNQ::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB
uint16_t RCOutput_ZYNQ::get_freq(uint8_t ch) uint16_t RCOutput_ZYNQ::get_freq(uint8_t ch)
{ {
return TICK_PER_S/sharedMem_cmd->periodhi[ch].period;; if (ch >= PWM_CHAN_COUNT) {
return 0;
}
return TICK_PER_S/sharedMem_cmd->periodhi[ch].period;
} }
void RCOutput_ZYNQ::enable_ch(uint8_t ch) void RCOutput_ZYNQ::enable_ch(uint8_t ch)
@ -76,6 +80,10 @@ void RCOutput_ZYNQ::disable_ch(uint8_t ch)
void RCOutput_ZYNQ::write(uint8_t ch, uint16_t period_us) void RCOutput_ZYNQ::write(uint8_t ch, uint16_t period_us)
{ {
if (ch >= PWM_CHAN_COUNT) {
return;
}
if (corked) { if (corked) {
pending[ch] = period_us; pending[ch] = period_us;
pending_mask |= (1U << ch); pending_mask |= (1U << ch);
@ -86,7 +94,11 @@ void RCOutput_ZYNQ::write(uint8_t ch, uint16_t period_us)
uint16_t RCOutput_ZYNQ::read(uint8_t ch) uint16_t RCOutput_ZYNQ::read(uint8_t ch)
{ {
return (sharedMem_cmd->periodhi[ch].hi/TICK_PER_US); if (ch >= PWM_CHAN_COUNT) {
return 0;
}
return sharedMem_cmd->periodhi[ch].hi/TICK_PER_US;
} }
void RCOutput_ZYNQ::read(uint16_t* period_us, uint8_t len) void RCOutput_ZYNQ::read(uint16_t* period_us, uint8_t len)