FC refactorization and Servo calibration finished

Author: J1m1-P

embedded-software/firmware/ulysses-flight-controller/Core/Inc/motor_drivers/esc_driver.h

@@ -35,8 +35,8 @@ typedef struct {
 
 void esc_pair_init(const pwm_output_t *pwm_upper, const pwm_output_t *pwm_lower);
 void esc_pair_set_armed(bool armed);
-void esc_pair_arm(void);
-void esc_pair_disarm(void);
+// void esc_pair_arm(void);
+// void esc_pair_disarm(void);
 void esc_pair_set_force(float thrust, float torque);
 void esc_pair_apply(void);
 

embedded-software/firmware/ulysses-flight-controller/Core/Src/motor_drivers/esc_driver.c

@@ -115,7 +115,7 @@ void esc_pair_set_armed(bool armed)
     }
 }
 
-void esc_pair_arm(void)
+static void esc_pair_arm(void)
 {
     if (!g_esc_pair.initialized) {
         return;
@@ -125,7 +125,7 @@ void esc_pair_arm(void)
     esc_arm(&g_esc_pair.esc_lower);
 }
 
-void esc_pair_disarm(void)
+static void esc_pair_disarm(void)
 {
     if (!g_esc_pair.initialized) {
         return;

embedded-software/firmware/ulysses-flight-controller/Core/Src/motor_drivers/pwm_output.c

@@ -18,7 +18,7 @@ uint32_t pwm_us_to_ticks(const pwm_output_t *pwm, uint16_t us) {
 }
 
 uint32_t pwm_clamp_ticks(const pwm_output_t *pwm, uint32_t ticks) {
-    if (pwm == NULL || pwm->period_ticks == 0U) {
+    if (pwm == NULL || pwm->htim == NULL || pwm->period_ticks == 0U) {
         return 0U;
     }