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Add MOE Bit disable for Motor Outputs in Hardfault #184

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Add MOE Bit disable for Motor Outputs in Hardfault #184

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7 changes: 6 additions & 1 deletion Safety/boardfiles/Src/stm32f0xx_it.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,8 @@
/* External variables --------------------------------------------------------*/
extern SPI_HandleTypeDef hspi1;
extern TIM_HandleTypeDef htim15;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim3;

/******************************************************************************/
/* Cortex-M0 Processor Interruption and Exception Handlers */
Expand All @@ -66,7 +68,10 @@ void NMI_Handler(void)
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */

// Shut down outputs here
__HAL_TIM_MOE_DISABLE(&htim1);
__HAL_TIM_MOE_DISABLE(&htim3);
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great! Is there any way we can run a restart() function to reset the MCU possible? Would help us recover if its flying at a relatively high altitude. Try looking into nvic_systemreset() maybe.


/* USER CODE END HardFault_IRQn 0 */
while (1)
{
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