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RPMCapture: refactor to clarify scheduling

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This commit is contained in:
Matthias Grob
2024-12-10 19:37:37 +01:00
parent c406e0a3a2
commit 9ca06be4f5
1 changed files with 2 additions and 4 deletions
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6
src/drivers/rpm_capture/RPMCapture.cpp
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@@ -119,16 +119,14 @@ void RPMCapture::Run()
pwm_input.error_count = _error_count;
_pwm_input_pub.publish(pwm_input);
// Schedule for next timeout
ScheduleClear();
ScheduleDelayed(RPM_PULSE_TIMEOUT);
ScheduleClear(); // Do not run on previously scheduled timeout
} else {
// Timeout for no interrupts
_period = UINT32_MAX;
ScheduleDelayed(RPM_PULSE_TIMEOUT);
}
ScheduleDelayed(RPM_PULSE_TIMEOUT); // Schule a new timeout
if (_period > _min_pulse_period_us) {
// Only update if the period is above the min pulse period threshold