From 023d20abc1b5b31d17cdb24dca67c1ab995f35a1 Mon Sep 17 00:00:00 2001
From: Thomas Clark <tjclark@wpi.edu>
Date: Sun, 19 Oct 2014 16:27:47 -0400
Subject: [PATCH] Fix segfault in DIO PWM generators [artf3653]

The HAL PWM generator functions tried to interpret ID numbers as int pointers
instead of ints, leading to segfaults whenever PWM generators were used.

Change-Id: I51d50162a8fc04a04795e7ca20a23de26b9e848d
---
 hal/lib/Athena/Digital.cpp | 29 +++++------------------------
 1 file changed, 5 insertions(+), 24 deletions(-)

diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index 8581ed864e..2528d52d55 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -256,7 +256,7 @@ void* allocatePWM(int32_t *status) {
  * @param pwmGenerator The pwmGen to free that was allocated with AllocateDO_PWM()
  */
 void freePWM(void* pwmGenerator, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
+  uint32_t id = (uint32_t) pwmGenerator;
   if (id == ~0ul) return;
   DO_PWMGenerators->Free(id);
 }
@@ -283,7 +283,7 @@ void setPWMRate(double rate, int32_t *status) {
  * @param dutyCycle The percent duty cycle to output [0..1].
  */
 void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
+  uint32_t id = (uint32_t) pwmGenerator;
   if (id == ~0ul) return;
   if (dutyCycle > 1.0) dutyCycle = 1.0;
   if (dutyCycle < 0.0) dutyCycle = 0.0;
@@ -308,28 +308,9 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
  * @param channel The Digital Output channel to output on
  */
 void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status) {
-  uint32_t id = *((uint32_t*) pwmGenerator);
-  if (id == ~0ul) return;
-  switch(id) {
-  case 0:
-    digitalSystem->writePWMOutputSelect(0, pin, status);
-    break;
-  case 1:
-    digitalSystem->writePWMOutputSelect(1, pin, status);
-    break;
-  case 2:
-    digitalSystem->writePWMOutputSelect(2, pin, status);
-    break;
-  case 3:
-    digitalSystem->writePWMOutputSelect(3, pin, status);
-    break;
-  case 4:
-    digitalSystem->writePWMOutputSelect(4, pin, status);
-    break;
-  case 5:
-    digitalSystem->writePWMOutputSelect(5, pin, status);
-    break;
-  }
+  uint32_t id = (uint32_t) pwmGenerator;
+  if (id > 5) return;
+  digitalSystem->writePWMOutputSelect(id, pin, status);
 }
 
 /**