src/main/fc/fc_dispatch.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdlib.h>
  20 #include <stdint.h>
  21
  22 #include <platform.h>
  23
  24 #include "common/utils.h"
  25
  26 #include "drivers/system.h"
  27 #include "fc/fc_dispatch.h"
  28
  29 static dispatchEntry_t *head = NULL;
  30 static bool dispatchEnabled = false;
  31
  32 bool dispatchIsEnabled(void)
  33 {
  34     return dispatchEnabled;
  35 }
  36
  37 void dispatchEnable(void)
  38 {
  39     dispatchEnabled = true;
  40 }
  41
  42 void dispatchProcess(uint32_t currentTime)
  43 {
  44     for(dispatchEntry_t **p = &head; *p; ) {
  45         if(cmp32(currentTime, (*p)->delayedUntil) < 0)
  46             break;
  47         // unlink entry first, so handler can replan self
  48         dispatchEntry_t *current = *p;
  49         *p = (*p)->next;
  50         (*current->dispatch)(current);
  51     }
  52 }
  53
  54 void dispatchAdd(dispatchEntry_t *entry, int delayUs)
  55 {
  56     uint32_t delayedUntil = micros() + delayUs;
  57     dispatchEntry_t **p = &head;
  58     while(*p && cmp32((*p)->delayedUntil, delayedUntil) < 0)
  59         p = &(*p)->next;
  60     entry->next = *p;
  61     *p = entry;
  62 }