bugfix for #188

Author: askuric

README.md

@@ -27,6 +27,7 @@ Therefore this is an attempt to:
 > - bugfixing
 >    - leonardo
 >    - mega2560
+>    - inline current sense without driver #188
 > - `initFOC` fails if current sense not initialised
 >    - driver and cs have to be well initialised for `initFOC` to start
 >    - `cs.init()` and `driver.init()` return `1` if well initialised and `0` if failed 

src/common/base_classes/CurrentSense.h

@@ -28,7 +28,7 @@ class CurrentSense{
     // variables
     bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
 
-    BLDCDriver* driver; //!< driver link
+    BLDCDriver* driver = nullptr; //!< driver link
     bool initialized = false; // true if current sense was successfully initialized   
     void* params = 0; //!< pointer to hardware specific parameters of current sensing
 

src/current_sense/InlineCurrentSense.cpp

@@ -21,8 +21,11 @@ InlineCurrentSense::InlineCurrentSense(float _shunt_resistor, float _gain, int _
 
 // Inline sensor init function
 int InlineCurrentSense::init(){
+    // if no linked driver its fine in this case 
+    // at least for init()
+    void* drv_params = driver ? driver->params : nullptr;
     // configure ADC variables
-    params = _configureADCInline(driver->params,pinA,pinB,pinC);
+    params = _configureADCInline(drv_params,pinA,pinB,pinC);
     // if init failed return fail
     if (params == SIMPLEFOC_CURRENT_SENSE_INIT_FAILED) return 0; 
     // calibrate zero offsets