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Added simple dispatcher task for executing func after specified period.

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This commit is contained in:
blckmn 2017-01-05 20:58:56 +11:00
parent 56f0083237
commit c9dac34cac
6 changed files with 127 additions and 2 deletions
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17
src/main/fc/fc_tasks.c
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@ -40,6 +40,7 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "fc/serial_cli.h"
#include "fc/fc_dispatch.h"
#include "flight/pid.h"
#include "flight/altitudehold.h"
@ -217,6 +218,13 @@ void taskVtxControl(uint32_t currentTime)
}
#endif
/* simplified task for dispatching a call to *(void x(void)) after a set period of time */
void taskDispatch(uint32_t currentTime)
{
UNUSED(currentTime);
dispatchProcess();
}
void fcTasksInit(void)
{
schedulerInit();
@ -233,6 +241,8 @@ void fcTasksInit(void)
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
@ -347,6 +357,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_DISPATCH] = {
.taskName = "DISPATCH",
.taskFunc = taskDispatch,
.desiredPeriod = TASK_PERIOD_US(100),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,