mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: allow double allocate call in RCOutput
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@ -819,8 +819,7 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
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{
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for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
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pwm_group &group = pwm_group_list[i];
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if (group.dma_handle == ctx) {
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osalDbgAssert(group.dma == nullptr, "double DMA allocation");
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if (group.dma_handle == ctx && group.dma == nullptr) {
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chSysLock();
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group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_irq_callback, &group);
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chSysUnlock();
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