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AP_HAL_Linux: PCA9685: Check for device before accessing it

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2019-09-25 11:34:56 -03:00 committed by Andrew Tridgell
parent 5f34ec6578
commit 29fadc2417
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
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@ -96,7 +96,7 @@ void RCOutput_PCA9685::init()
void RCOutput_PCA9685::reset_all_channels() void RCOutput_PCA9685::reset_all_channels()
{ {
if (!_dev->get_semaphore()->take(10)) { if (!_dev || !_dev->get_semaphore()->take(10)) {
return; return;
} }
@ -117,7 +117,7 @@ void RCOutput_PCA9685::set_freq(uint32_t chmask, uint16_t freq_hz)
write(i, _pulses_buffer[i]); write(i, _pulses_buffer[i]);
} }
if (!_dev->get_semaphore()->take(10)) { if (!_dev || !_dev->get_semaphore()->take(10)) {
return; return;
} }
@ -225,7 +225,7 @@ void RCOutput_PCA9685::push()
*d++ = length >> 8; *d++ = length >> 8;
} }
if (!_dev->get_semaphore()->take_nonblocking()) { if (!_dev || !_dev->get_semaphore()->take_nonblocking()) {
return; return;
} }