Comments (2)
PeterJohnson
commented on July 17, 2024
To ensure this, there needs to be a separate recursive mutex that's used only for PIDWrite and Disable. You do not want to hold the main pidcontroller mutex over the PIDWrite call. Disable grabs the main pidcontroller mutex and the PIDWrite mutex, then clears the enabled flag. Calculate grabs in the same order, checks the enable flag, but releases only the pidcontroller mutex before calling PIDWrite, releasing the PIDWrite mutex only after that function has returned.
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calcmogul
commented on July 17, 2024
In addition to this, we could stop the Notifier when Disable() is called. Calculate() doesn't do anything unless the controller is enabled anyway.
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