src/main/fc/dispatch.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdlib.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #include "common/utils.h"
  28
  29 #include "drivers/time.h"
  30
  31 #include "fc/dispatch.h"
  32
  33 #include "scheduler/scheduler.h"
  34
  35 static dispatchEntry_t *head = NULL;
  36 static bool dispatchEnabled = false;
  37
  38 bool dispatchIsEnabled(void)
  39 {
  40     return dispatchEnabled;
  41 }
  42
  43 void dispatchEnable(void)
  44 {
  45     dispatchEnabled = true;
  46 }
  47
  48 void dispatchProcess(uint32_t currentTimeUs)
  49 {
  50     for (dispatchEntry_t **p = &head; *p; ) {
  51         if (cmp32(currentTimeUs, (*p)->delayedUntil) < 0)
  52             break;
  53         // unlink entry first, so handler can replan self
  54         dispatchEntry_t *current = *p;
  55         *p = (*p)->next;
  56         current->inQue = false;
  57         (*current->dispatch)(current);
  58     }
  59 }
  60
  61 void dispatchAdd(dispatchEntry_t *entry, int delayUs)
  62 {
  63     uint32_t delayedUntil = micros() + delayUs;
  64     dispatchEntry_t **p = &head;
  65
  66     if (entry->inQue) {
  67       return;    // Allready in Queue, abort
  68     }
  69
  70     while (*p && cmp32((*p)->delayedUntil, delayedUntil) < 0)
  71         p = &(*p)->next;
  72
  73     entry->next = *p;
  74     entry->delayedUntil = delayedUntil;
  75     entry->inQue = true;
  76     *p = entry;
  77 }