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63 lines
1.6 KiB
C
63 lines
1.6 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <platform.h>
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#include "common/utils.h"
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#include "drivers/time.h"
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#include "fc/fc_dispatch.h"
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static dispatchEntry_t *head = NULL;
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static bool dispatchEnabled = false;
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bool dispatchIsEnabled(void)
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{
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return dispatchEnabled;
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}
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void dispatchEnable(void)
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{
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dispatchEnabled = true;
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}
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void dispatchProcess(uint32_t currentTime)
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{
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for(dispatchEntry_t **p = &head; *p; ) {
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if(cmp32(currentTime, (*p)->delayedUntil) < 0)
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break;
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// unlink entry first, so handler can replan self
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dispatchEntry_t *current = *p;
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*p = (*p)->next;
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(*current->dispatch)(current);
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}
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}
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void dispatchAdd(dispatchEntry_t *entry, int delayUs)
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{
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uint32_t delayedUntil = micros() + delayUs;
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dispatchEntry_t **p = &head;
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while(*p && cmp32((*p)->delayedUntil, delayedUntil) < 0)
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p = &(*p)->next;
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entry->next = *p;
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*p = entry;
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}
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