From 38247d6fcf7f354793b50f3bc03254323c0bd5cb Mon Sep 17 00:00:00 2001
From: rusefi <arro239+rusefi@gmail.com>
Date: Sun, 28 May 2017 22:10:35 -0400
Subject: [PATCH] progress

---
 firmware/controllers/math/pid.cpp | 5 +++++
 firmware/controllers/math/pid.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/firmware/controllers/math/pid.cpp b/firmware/controllers/math/pid.cpp
index 9e0c0f869b..101cef2a90 100644
--- a/firmware/controllers/math/pid.cpp
+++ b/firmware/controllers/math/pid.cpp
@@ -118,6 +118,11 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
 }
 #endif
 
+void Pid::sleep() {
+	int period = maxI(10, 10);
+	chThdSleepMilliseconds(period);
+}
+
 void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
 	// todo: dTime should be taken from pid_s
 	scheduleMsg(logging, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",
diff --git a/firmware/controllers/math/pid.h b/firmware/controllers/math/pid.h
index a7d458067c..67c7078729 100644
--- a/firmware/controllers/math/pid.h
+++ b/firmware/controllers/math/pid.h
@@ -43,6 +43,7 @@ public:
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes
 	void showPidStatus(Logging *logging, const char*msg, int dTime);
+	void sleep();
 private:
 	pid_s *pid;