Solved a bug in the schdulers when the timer has 32 bits intstead of 16.

src/darwin_sch.c

@@ -80,7 +80,8 @@ void darwin_sch_set_pulse(unsigned short int channel_id,unsigned short int pulse
   else
   {
     capture = HAL_TIM_ReadCapturedValue(&darwin_sch_timer_handle, channel_id);
-    __HAL_TIM_SetCompare(&darwin_sch_timer_handle,channel_id, capture+pulse);
+    capture+=pulse;
+    __HAL_TIM_SetCompare(&darwin_sch_timer_handle,channel_id, capture);
   } 
 }
 

src/darwin_sch2.c

@@ -80,7 +80,8 @@ void darwin_sch2_set_pulse(unsigned short int channel_id,unsigned short int puls
   else
   {
     capture = HAL_TIM_ReadCapturedValue(&darwin_sch2_timer_handle, channel_id);
-    __HAL_TIM_SetCompare(&darwin_sch2_timer_handle,channel_id, capture+pulse);
+    capture+=pulse;
+    __HAL_TIM_SetCompare(&darwin_sch2_timer_handle,channel_id, capture);
   } 
 }
 
@@ -93,9 +94,9 @@ TScheduler *darwin_sch2_init(void)
   __HAL_RCC_TIM2_CLK_ENABLE();
 
   darwin_sch2_timer_handle.Instance = TIM2;
-  darwin_sch2_timer_handle.Init.Prescaler = 168;
+  darwin_sch2_timer_handle.Init.Prescaler = 84;
   darwin_sch2_timer_handle.Init.CounterMode = TIM_COUNTERMODE_UP;
-  darwin_sch2_timer_handle.Init.Period = 0xFFFF;
+  darwin_sch2_timer_handle.Init.Period = 0x0000FFFF;
   darwin_sch2_timer_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   HAL_TIM_Base_Init(&darwin_sch2_timer_handle);