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HAL_ChibiOS: fixed DMA lock in SoftSigReader

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This commit is contained in:
Andrew Tridgell 2018-02-06 08:14:02 +11:00
parent 1aa6a0068a
commit 7e19f49e42
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
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@ -36,11 +36,13 @@ bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan,
_icu_drv = icu_drv;
//Setup Burst transfer of period and width measurement
dma = STM32_DMA_STREAM(dma_stream);
chSysLock();
bool dma_allocated = dmaStreamAllocate(dma,
12, //IRQ Priority
(stm32_dmaisr_t)_irq_handler,
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
chSysUnlock();
//setup address for full word transfer from Timer
dmaStreamSetPeripheral(dma, &icu_drv->tim->DMAR);