set_priority(param); /*set priority*/
pocatek = spi_read(tx);
while(1){
- prepare_tx(tx); /*save the data to send*/
sem_wait(&thd_par_sem); /*---take semaphore---*/
+ prepare_tx(tx); /*save the data to send*/
data = spi_read(tx); /*exchange data*/
/*subtract initiate postion */
rps.tf_count++;
simple_hall_commutator(rps.duty);
}
sem_post(&thd_par_sem); /*--post semaphore---*/
- usleep(1000); /*1kHz*/
+ usleep(500); /*1kHz*/
}
}