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#569

This commit is contained in:
rusefi 2018-02-25 21:37:42 -05:00
parent 09949293c8
commit 051775bad2
1 changed files with 13 additions and 2 deletions
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15
firmware/hw_layer/servo.cpp
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@ -33,13 +33,24 @@ static int countServos() {
} }
static scheduling_s servoTurnSignalOff;
// todo: extract common 'pin off' callback?
static void servoTachPinLow(void) {
pin.setValue(false);
}
static msg_t seThread(void *arg) { static msg_t seThread(void *arg) {
(void)arg; (void)arg;
chRegSetThreadName("servo"); chRegSetThreadName("servo");
while (true) { while (true) {
int count = countServos(); pin.setValue(1);
float durationMs = 1.3;
chThdSleepMilliseconds(19 - 2 * count); scheduleForLater(&servoTurnSignalOff, (int)MS2US(durationMs), (schfunc_t) &servoTachPinLow, NULL);
chThdSleepMilliseconds(19);
} }
return 0; return 0;
} }