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Initialize the beeper before setting up LEDs #98

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Merged
lukash merged 1 commit into from
Sep 30, 2026
Merged

Initialize the beeper before setting up LEDs #98

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13 changes: 8 additions & 5 deletions src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1212,6 +1212,14 @@ static void data_init(Data *d) {
alert_tracker_init(&d->alert_tracker);
reverse_stop_init(&d->reverse_stop);

// Must run before leds_setup(): beeper_init() configures VESC_PIN_PPM as a GPIO
// output, which on some hardware is the same pad as LED_PIN_B6. Whichever is
// configured last owns the pin, so the LED driver has to come second.
if ((d->float_conf.is_beeper_enabled) ||
(d->float_conf.inputtilt_remote_type != INPUTTILT_PPM)) {
beeper_init();
}

leds_init(&d->leds);
leds_setup(&d->leds, &d->float_conf.hardware.leds, &d->float_conf.leds);
lcm_init(&d->lcm, &d->float_conf.hardware.leds);
Expand Down Expand Up @@ -2689,11 +2697,6 @@ INIT_FUN(lib_info *info) {
&d->motor, d->float_conf.tiltback_lv, d->float_conf.tiltback_hv
);

if ((d->float_conf.is_beeper_enabled) ||
(d->float_conf.inputtilt_remote_type != INPUTTILT_PPM)) {
beeper_init();
}

d->main_thread = VESC_IF->spawn(refloat_thd, 1536, "Refloat Main", d);
if (!d->main_thread) {
log_error("Failed to spawn Refloat Main thread.");
Expand Down
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