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HAL_ChibiOS: fixed a race in DShot code

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this fixes a problem found by Daniel Met with the copter 3.6 beta
release
This commit is contained in:
Andrew Tridgell 2018-10-02 18:37:25 +10:00
parent d858569544
commit 8c391291a3
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -815,7 +815,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx) {
chSysLock();
dmaStreamAllocate(group.dma, 10, dma_irq_callback, &group);
chSysUnlock();
}
}
}
@ -828,7 +830,9 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx) {
chSysLock();
dmaStreamRelease(group.dma);
chSysUnlock();
}
}
}