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disarm motor if brake is disarmed

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samuelsadok
2018-11-30 08:46:51 +01:00
committed by Samuel Sadok
parent 167f00e622
commit 78bf4a7320
1 changed files with 2 additions and 2 deletions
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Firmware/MotorControl/low_level.cpp
+2 -2
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@@ -125,7 +125,7 @@ bool safety_critical_disarm_motor_pwm(Motor& motor) {
void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3]) {
uint32_t mask = cpu_enter_critical();
if (!brake_resistor_armed) {
motor.armed_state_ = Motor::ARMED_STATE_ARMED;
motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
}
motor.hw_config_.timer->Instance->CCR1 = timings[0];
@@ -713,4 +713,4 @@ void pwm_in_cb(int channel, uint32_t timestamp) {
last_timestamp[gpio_num - 1] = timestamp;
last_pin_state[gpio_num - 1] = current_pin_state;
last_sample_valid[gpio_num - 1] = true;
}
}