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Code Issues Releases Activity

Fix special cases round setting widths of 0 and 100%

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This commit is contained in:
Richard Hirst 2013-11-28 21:03:51 +00:00
parent ab34d81e53
commit 1b78f9ad6b
1 changed files with 18 additions and 3 deletions
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21
ServoBlaster/user/servod.c
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@ -432,11 +432,26 @@ set_servo(int servo, int width)
int i; int i;
uint32_t mask = 1 << servo2gpio[servo]; uint32_t mask = 1 << servo2gpio[servo];
if (width == servowidth[servo]) /* If requested width is 0 just remove the 'turn-on' action and allow
return; * the 'turn-off' action at the end of the current pulse to turn it
* off. Special case if current width is 100%; in that case there will
* be no 'turn-off' action, so we will need to force the output off
* here.
*/
if (width == 0) { if (width == 0) {
ctl->turnon[servo] = 0; ctl->turnon[servo] = 0;
if (servowidth[servo] == NUM_SAMPLES)
gpio_set(servo2gpio[servo], invert ? 1 : 0);
return;
}
/* Requested width is non-zero, and it is the same as the last non-zero
* pulse width. In this case just make sure the 'turn-on' action is
* present, and reactivate the idle timer.
*/
if (width == servowidth[servo]) {
ctl->turnon[servo] = mask;
update_idle_time(servo);
return; return;
} }