dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

output drivers: init SmartLock after exit_and_cleanup 

This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
This commit is contained in:
Beat Küng 2022-05-12 11:04:58 +02:00 committed by Daniel Agar
parent 0a9378e0f6
commit 9166b6953d
7 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/drivers/dshot/DShot.cpp
View File

@ -498,8 +498,6 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
void DShot::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -508,6 +506,8 @@ void DShot::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
_mixing_output.update();

4
src/drivers/linux_pwm_out/linux_pwm_out.cpp
View File

@ -126,8 +126,6 @@ bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
void LinuxPWMOut::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -136,6 +134,8 @@ void LinuxPWMOut::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
perf_count(_interval_perf);

4
src/drivers/pca9685_pwm_out/main.cpp
View File

@ -376,8 +376,6 @@ bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned
void PCA9685Wrapper::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -391,6 +389,8 @@ void PCA9685Wrapper::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
switch (_state) {

4
src/drivers/pwm_out/PWMOut.cpp
View File

@ -439,8 +439,6 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
void PWMOut::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -449,6 +447,8 @@ void PWMOut::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
perf_count(_interval_perf);

4
src/drivers/pwm_out_sim/PWMSim.cpp
View File

@ -58,8 +58,6 @@ PWMSim::PWMSim(bool hil_mode_enabled) :
void
PWMSim::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -68,6 +66,8 @@ PWMSim::Run()
return;
}
SmartLock lock_guard(_lock);
_mixing_output.update();
// check for parameter updates

4
src/drivers/px4io/px4io.cpp
View File

@ -525,8 +525,6 @@ void PX4IO::updateFailsafe()
void PX4IO::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -535,6 +533,8 @@ void PX4IO::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
perf_count(_interval_perf);

4
src/drivers/tap_esc/TAP_ESC.cpp
View File

@ -329,8 +329,6 @@ bool TAP_ESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], u
void TAP_ESC::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@ -339,6 +337,8 @@ void TAP_ESC::Run()
return;
}
SmartLock lock_guard(_lock);
// push backup schedule
ScheduleDelayed(20_ms);