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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-26 21:27:33 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-26 21:27:33 +0100 |
| commit | dee0a30e16e3d4d9725eb16f7205cb1dfa1063cd (patch) | |
| tree | ebecb63647a7f102503e6aff5208aa8e6c7063e4 /apps/drivers/stm32/drv_pwm_servo.c | |
| parent | a9b933b7e6652ba7d710ffe356a1843329ad9520 (diff) | |
| download | px4-firmware-dee0a30e16e3d4d9725eb16f7205cb1dfa1063cd.tar.gz px4-firmware-dee0a30e16e3d4d9725eb16f7205cb1dfa1063cd.tar.bz2 px4-firmware-dee0a30e16e3d4d9725eb16f7205cb1dfa1063cd.zip | |
Hotfix: ensure PWM output on IO and FMU stops when disarming
Diffstat (limited to 'apps/drivers/stm32/drv_pwm_servo.c')
| -rw-r--r-- | apps/drivers/stm32/drv_pwm_servo.c | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c index 954b458f5..2b8641f00 100644 --- a/apps/drivers/stm32/drv_pwm_servo.c +++ b/apps/drivers/stm32/drv_pwm_servo.c @@ -299,8 +299,12 @@ up_pwm_servo_arm(bool armed) rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE; } else { - /* on disarm, just stop auto-reload so we don't generate runts */ - rCR1(i) &= ~GTIM_CR1_ARPE; + // XXX This leads to FMU PWM being still active + // but uncontrollable. Just disable the timer + // and risk a runt. + ///* on disarm, just stop auto-reload so we don't generate runts */ + //rCR1(i) &= ~GTIM_CR1_ARPE; + rCR1(i) = 0; } } } |