From 9ce886a2580e84ddb7397df36c9874df7c1c687e Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@rapyuta-robotics.com>
Date: Wed, 1 Mar 2017 20:43:41 +0100
Subject: [PATCH] guard uninited semaphore use in IRQ

---
 Src/stm32f4xx_it.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Src/stm32f4xx_it.c b/Src/stm32f4xx_it.c
index ead1bf2a..76a9d20e 100644
--- a/Src/stm32f4xx_it.c
+++ b/Src/stm32f4xx_it.c
@@ -203,7 +203,9 @@ void OTG_FS_IRQHandler(void)
   // Mask interrupt, and signal processing of interrupt by usb_cmd_thread
   // The thread will re-enable the interrupt when all pending irqs are clear.
   HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
-  osSemaphoreRelease(sem_usb_irq);
+  if (sem_usb_irq) {
+    osSemaphoreRelease(sem_usb_irq);
+  }
   // Bypass interrupt processing here
   return;