Beta - Board wont crash if limit switch for steppers is configured (#276

)
MobiFlight · Nov 12, 2023 · e8d8656 · e8d8656
1 parent d874cf8
commit e8d8656
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Showing 3 changed files with 27 additions and 7 deletions.
diff --git a/src/Config.cpp b/src/Config.cpp
@@ -387,7 +387,7 @@ void readConfig()
             params[6] = (uint8_t)0; // backlash
             params[7] = false;      // deactivate output
 
-            if (command == kTypeStepperDeprecated2) {
+            if (command == kTypeStepperDeprecated2 || command == kTypeStepper) {
                 params[4] = readUintFromEEPROM(&addreeprom); // Button number
             }
 

diff --git a/src/MF_Stepper/MFStepper.cpp b/src/MF_Stepper/MFStepper.cpp
@@ -82,6 +82,9 @@ void MFStepper::detach()
 
 void MFStepper::moveTo(long newPosition)
 {
+    if (!_initialized)
+        return;
+
     _resetting           = false;
     long currentPosition = _stepper->currentPosition();
 
@@ -100,13 +103,11 @@ void MFStepper::moveTo(long newPosition)
     }
 }
 
-uint8_t MFStepper::getZeroPin()
-{
-    return _zeroPin;
-}
-
 void MFStepper::setZero()
 {
+    if (!_initialized)
+        return;
+
     _stepper->setCurrentPosition(0);
     if (_inMove == MOVE_CW) {
         _stepper->moveTo(-_backlash);
@@ -115,6 +116,9 @@ void MFStepper::setZero()
 
 void MFStepper::setZeroInReset()
 {
+    if (!_initialized)
+        return;
+
     if (_resetting) {
         _stepper->setCurrentPosition(0);
         _resetting = false;
@@ -123,6 +127,9 @@ void MFStepper::setZeroInReset()
 
 void MFStepper::checkZeroPin()
 {
+    if (!_initialized)
+        return;
+
     uint8_t newState = (uint8_t)digitalRead(_zeroPin);
     if (newState != _zeroPinState) {
         _zeroPinState = newState;
@@ -132,6 +139,9 @@ void MFStepper::checkZeroPin()
 
 void MFStepper::update()
 {
+    if (!_initialized)
+        return;
+
     _stepper->run();
     checkZeroPin();
     if (_stepper->currentPosition() == (_targetPos + _backlash * _inMove) && _deactivateOutput) {
@@ -142,6 +152,9 @@ void MFStepper::update()
 
 void MFStepper::reset()
 {
+    if (!_initialized)
+        return;
+
     // we are not a auto reset stepper if this pin is 0
     if (_zeroPin == 0)
         return;
@@ -159,16 +172,24 @@ void MFStepper::reset()
 
 void MFStepper::setMaxSpeed(uint16_t speed)
 {
+    if (!_initialized)
+        return;
+
     _stepper->setMaxSpeed(speed);
 }
 
 void MFStepper::setAcceleration(uint16_t acceleration)
 {
+    if (!_initialized)
+        return;
+
     _stepper->setAcceleration(acceleration);
 }
 
 void MFStepper::powerSavingMode(bool state)
 {
+    if (!_initialized)
+        return;
     if (state)
         _stepper->disableOutputs();
     else

diff --git a/src/MF_Stepper/MFStepper.h b/src/MF_Stepper/MFStepper.h
@@ -24,7 +24,6 @@ class MFStepper
     void    setMaxSpeed(uint16_t speed);
     void    setAcceleration(uint16_t acceleration);
     void    setZero();
-    uint8_t getZeroPin();
     void    powerSavingMode(bool state);
 
 private: