mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.6 KiB
C
99 lines
2.6 KiB
C
/*
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LUFA Library
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Copyright (C) Dean Camera, 2010.
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dean [at] fourwalledcubicle [dot] com
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www.fourwalledcubicle.com
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*/
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/*
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Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Permission to use, copy, modify, distribute, and sell this
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software and its documentation for any purpose is hereby granted
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without fee, provided that the above copyright notice appear in
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all copies and that both that the copyright notice and this
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permission notice and warranty disclaimer appear in supporting
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documentation, and that the name of the author not be used in
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advertising or publicity pertaining to distribution of the
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software without specific, written prior permission.
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The author disclaim all warranties with regard to this
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software, including all implied warranties of merchantability
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and fitness. In no event shall the author be liable for any
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special, indirect or consequential damages or any damages
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whatsoever resulting from loss of use, data or profits, whether
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in an action of contract, negligence or other tortious action,
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arising out of or in connection with the use or performance of
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this software.
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*/
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#include "Scheduler.h"
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volatile SchedulerDelayCounter_t Scheduler_TickCounter;
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volatile uint8_t Scheduler_TotalTasks;
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bool Scheduler_HasDelayElapsed(const uint16_t Delay,
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SchedulerDelayCounter_t* const DelayCounter)
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{
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SchedulerDelayCounter_t CurrentTickValue_LCL;
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SchedulerDelayCounter_t DelayCounter_LCL;
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ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
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{
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CurrentTickValue_LCL = Scheduler_TickCounter;
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}
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DelayCounter_LCL = *DelayCounter;
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if (CurrentTickValue_LCL >= DelayCounter_LCL)
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{
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if ((CurrentTickValue_LCL - DelayCounter_LCL) >= Delay)
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{
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*DelayCounter = CurrentTickValue_LCL;
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return true;
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}
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}
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else
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{
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if (((MAX_DELAYCTR_COUNT - DelayCounter_LCL) + CurrentTickValue_LCL) >= Delay)
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{
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*DelayCounter = CurrentTickValue_LCL;
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return true;
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}
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}
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return false;
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}
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void Scheduler_SetTaskMode(const TaskPtr_t Task,
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const bool TaskStatus)
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{
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TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
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while (CurrTask != &Scheduler_TaskList[Scheduler_TotalTasks])
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{
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if (CurrTask->Task == Task)
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{
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CurrTask->TaskStatus = TaskStatus;
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break;
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}
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CurrTask++;
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}
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}
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void Scheduler_SetGroupTaskMode(const uint8_t GroupID,
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const bool TaskStatus)
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{
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TaskEntry_t* CurrTask = &Scheduler_TaskList[0];
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while (CurrTask != &Scheduler_TaskList[Scheduler_TotalTasks])
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{
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if (CurrTask->GroupID == GroupID)
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CurrTask->TaskStatus = TaskStatus;
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CurrTask++;
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}
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}
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