From e2c8fe27efe02d0c590f0bf0c74314ad715934d9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2018 09:04:42 +1100
Subject: [PATCH] HAL_ChibiOS: fixed memory handling in SoftSigReader

---
 libraries/AP_HAL_ChibiOS/SoftSigReader.cpp | 10 ++++++----
 libraries/AP_HAL_ChibiOS/SoftSigReader.h   |  3 ++-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
index dfab765a40..067d6df87a 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
@@ -49,7 +49,7 @@ bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan,
     dmaStreamSetMode(dma, dmamode | STM32_DMA_CR_DIR_P2M | STM32_DMA_CR_PSIZE_WORD |
                             STM32_DMA_CR_MSIZE_WORD | STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
     
-    icucfg.mode = ICU_INPUT_ACTIVE_HIGH;
+    icucfg.mode = ICU_INPUT_ACTIVE_LOW;
     icucfg.frequency = INPUT_CAPTURE_FREQUENCY;
     icucfg.channel = chan;
     icucfg.width_cb = NULL;
@@ -104,8 +104,10 @@ bool SoftSigReader::read(uint32_t &widths0, uint32_t &widths1)
 bool SoftSigReader::set_bounce_buf_size(uint16_t buf_size)
 {
     if (buf_size > _bounce_buf_size) {
-        delete[] signal;
-        signal = (uint32_t*)hal.util->malloc_type(sizeof(uint32_t)*_bounce_buf_size, AP_HAL::Util::MEM_DMA_SAFE);
+        if (signal) {
+            hal.util->free_type(signal, sizeof(uint32_t)*_bounce_buf_size, AP_HAL::Util::MEM_DMA_SAFE);
+        }
+        signal = (uint32_t*)hal.util->malloc_type(sizeof(uint32_t)*buf_size, AP_HAL::Util::MEM_DMA_SAFE);
         if (signal == nullptr) {
             return false;
         }
@@ -117,4 +119,4 @@ bool SoftSigReader::set_bounce_buf_size(uint16_t buf_size)
 }
 
 
-#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
\ No newline at end of file
+#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.h b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
index df88689115..c28fe51e12 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
@@ -22,7 +22,8 @@
 
 #define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds
 #define MAX_SIGNAL_TRANSITIONS 256
-#define DEFAULT_BOUNCE_BUF_SIZE 16
+#define DEFAULT_BOUNCE_BUF_SIZE 32
+
 class ChibiOS::SoftSigReader {
 public:
     bool attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan, uint8_t dma_stream, uint32_t dma_channel);