add some checks to current-sense init

simplefoc · Sep 12, 2023 · 5ef4d9d · 5ef4d9d
1 parent 7677c85
commit 5ef4d9d
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Showing 3 changed files with 20 additions and 1 deletion.
diff --git a/src/current_sense/GenericCurrentSense.cpp b/src/current_sense/GenericCurrentSense.cpp
@@ -62,6 +62,8 @@ int GenericCurrentSense::driverAlign(float voltage){
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (!initialized) return 0;
+
     // // set phase A active and phases B and C down
     // driver->setPwm(voltage, 0, 0);
     // _delay(200);

diff --git a/src/current_sense/InlineCurrentSense.cpp b/src/current_sense/InlineCurrentSense.cpp
@@ -1,4 +1,5 @@
 #include "InlineCurrentSense.h"
+#include "communication/SimpleFOCDebug.h"
 // InlineCurrentSensor constructor
 //  - shunt_resistor  - shunt resistor value
 //  - gain  - current-sense op-amp gain
@@ -93,6 +94,13 @@ int InlineCurrentSense::driverAlign(float voltage){
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (driver==nullptr) {
+        SIMPLEFOC_DEBUG("CUR: No driver linked!");
+        return 0;
+    }
+
+    if (!initialized) return 0;
+
     if(_isset(pinA)){
         // set phase A active and phases B and C down
         driver->setPwm(voltage, 0, 0);

diff --git a/src/current_sense/LowsideCurrentSense.cpp b/src/current_sense/LowsideCurrentSense.cpp
@@ -1,4 +1,5 @@
 #include "LowsideCurrentSense.h"
+#include "communication/SimpleFOCDebug.h"
 // LowsideCurrentSensor constructor
 //  - shunt_resistor  - shunt resistor value
 //  - gain  - current-sense op-amp gain
@@ -35,6 +36,12 @@ LowsideCurrentSense::LowsideCurrentSense(float _mVpA, int _pinA, int _pinB, int
 
 // Lowside sensor init function
 int LowsideCurrentSense::init(){
+
+    if (driver==nullptr) {
+        SIMPLEFOC_DEBUG("CUR: Driver not linked!");
+        return 0;
+    }
+
     // configure ADC variables
     params = _configureADCLowSide(driver->params,pinA,pinB,pinC);
     // if init failed return fail
@@ -89,10 +96,12 @@ PhaseCurrent_s LowsideCurrentSense::getPhaseCurrents(){
 // 3 - success but gains inverted
 // 4 - success but pins reconfigured and gains inverted
 int LowsideCurrentSense::driverAlign(float voltage){
-
+        
     int exit_flag = 1;
     if(skip_align) return exit_flag;
 
+    if (!initialized) return 0;
+
     if(_isset(pinA)){
         // set phase A active and phases B and C down
         driver->setPwm(voltage, 0, 0);