Added simple dispatcher task for executing func after specified period.

Makefile

@@ -523,6 +523,7 @@ COMMON_SRC = \
             drivers/timer.c \
             fc/config.c \
             fc/fc_init.c \
+            fc/fc_dispatch.c \
             fc/fc_hardfaults.c \
             fc/fc_main.c \
             fc/fc_msp.c \

src/main/fc/fc_dispatch.c

@@ -0,0 +1,81 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "drivers/system.h"
+#include "fc/fc_dispatch.h"
+
+#define DISPATCH_QUEUE_SIZE     5
+
+typedef struct {
+    dispatchFuncPtr ptr;
+    uint32_t delayedUntil;
+} dispatchItem_t;
+
+static dispatchItem_t queue[DISPATCH_QUEUE_SIZE];
+static int next = 0;
+
+static void dispatchRemove(int index)
+{
+    if (index == (DISPATCH_QUEUE_SIZE-1)) {
+        queue[index].ptr = NULL;
+        next = index;
+        return;
+    }
+
+    for (int i = index; i < DISPATCH_QUEUE_SIZE-1; i++) {
+        queue[i].ptr = queue[i+1].ptr;
+
+        if (queue[i].ptr == NULL) {
+            next = i;
+            break;
+        }
+        queue[i].delayedUntil = queue[i+1].delayedUntil;
+    }
+}
+
+void dispatchProcess(void)
+{
+    if (queue[0].ptr == NULL) {
+        return;
+    }
+
+    for (int i = 0; i < DISPATCH_QUEUE_SIZE; i++) {
+        if (queue[i].ptr == NULL) {
+            break;
+        }
+        if (queue[i].delayedUntil < micros()) {
+            (*queue[i].ptr)();
+            queue[i].ptr = NULL;
+            dispatchRemove(i);
+        }
+    }
+}
+
+void dispatchAdd(dispatchFuncPtr ptr, uint32_t delayUs)
+{
+    if (next < DISPATCH_QUEUE_SIZE) {
+        queue[next].ptr = ptr;
+        queue[next].delayedUntil = micros() + delayUs;
+        next++;
+    }
+}

src/main/fc/fc_dispatch.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef void (*dispatchFuncPtr)(void);
+
+void dispatchProcess(void);
+void dispatchAdd(dispatchFuncPtr ptr, uint32_t delayUs);

src/main/fc/fc_tasks.c

@@ -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,

src/main/rx/spektrum.c

@@ -34,6 +34,7 @@
 #include "io/serial.h"
 
 #include "fc/config.h"
+#include "fc/fc_dispatch.h"
 
 #ifdef TELEMETRY
 #include "telemetry/telemetry.h"
@@ -153,8 +154,9 @@ static uint8_t spektrumFrameStatus(void)
         }
     }
 
-    if (telemetryBufLen) {
-        srxlRxSendTelemetryData();
+    /* only process if 2048, some data in buffer AND servos in phase 0 */
+    if (spekHiRes && telemetryBufLen && (spekFrame[2] & 0x80)) {
+        dispatchAdd(srxlRxSendTelemetryData, 100);
     }
     return RX_FRAME_COMPLETE;
 }

src/main/scheduler/scheduler.h

@@ -54,6 +54,7 @@ typedef enum {
     TASK_ATTITUDE,
     TASK_RX,
     TASK_SERIAL,
+    TASK_DISPATCH,
     TASK_BATTERY,
 #ifdef BEEPER
     TASK_BEEPER,