From 7a39f5f55c2ee9fe3034d4f65c20ba392dd142be Mon Sep 17 00:00:00 2001
From: gussy <gussy>
Date: Wed, 2 Dec 2009 21:49:31 +0000
Subject: [PATCH] Added in ADC hooks to OpenPilot.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@52 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/inc/openpilot.h |  2 ++
 flight/OpenPilot/openpilot.c     | 23 +++++------------------
 flight/PiOS/STM32F10x/pios_adc.c |  2 +-
 flight/PiOS/pios.c               | 31 +++++++++++++++++++++++++++++--
 4 files changed, 37 insertions(+), 21 deletions(-)

diff --git a/flight/OpenPilot/inc/openpilot.h b/flight/OpenPilot/inc/openpilot.h
index 51e484821..c7c8e34ae 100644
--- a/flight/OpenPilot/inc/openpilot.h
+++ b/flight/OpenPilot/inc/openpilot.h
@@ -43,5 +43,7 @@
 extern void OpenPilotInit(void);
 extern void vApplicationIdleHook(void);
 
+/* Hooks */
+extern void ADCNotifyChange(uint32_t pin, uint32_t pin_value);
 
 #endif /* OPENPILOT_H */
diff --git a/flight/OpenPilot/openpilot.c b/flight/OpenPilot/openpilot.c
index 218da915c..02b271ece 100644
--- a/flight/OpenPilot/openpilot.c
+++ b/flight/OpenPilot/openpilot.c
@@ -29,8 +29,7 @@
 
 
 /* Local Variables */
-static uint32_t ulIdleCycleCount = 0;
-static uint32_t IdleTimePercent = 0;
+static uint16_t adc_pin_values[4];
 
 /* Local Functions */
 static void ServosTask(void *pvParameters);
@@ -67,23 +66,11 @@ static void ServosTask(void *pvParameters)
 	}
 }
 
-
-
 /**
-* Idle hook function
+* This hook is called every time the 
 */
-void vApplicationIdleHook(void)
+void ADCNotifyChange(uint32_t pin, uint32_t pin_value)
 {
-	/* Called when the scheduler has no tasks to run */
-	/* In here we could implement full stats for FreeRTOS
-	Although this would need us to enable stats in FreeRTOS
-	which is *very* costly. With the function below we can
-	either print it out or just watch the variable using JTAG */
-	
-	/* This can give a basic indication of how much time the system spends in idle */
-	/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
-	/* For example a value of 75 would mean we are spending 75% of FreeRTOS Cycles in idle */
-	ulIdleCycleCount++;
-	IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
+	/* All we really need to do here is store the values in a local array. */
+	adc_pin_values[pin] = (uint16_t) pin_value;
 }
-
diff --git a/flight/PiOS/STM32F10x/pios_adc.c b/flight/PiOS/STM32F10x/pios_adc.c
index 2ec2fdb05..7664d6c04 100644
--- a/flight/PiOS/STM32F10x/pios_adc.c
+++ b/flight/PiOS/STM32F10x/pios_adc.c
@@ -192,7 +192,7 @@ int32_t ADCHandler(void *_callback)
 		/* Call application hook */
 		/* Note that due to dual conversion approach, we have to convert the pin number */
 		/* If an uneven number of channels selected */
-		callback(pin, pin_value);	
+		callback(pin, pin_value);
 	}
 
 	/* Start next scan */
diff --git a/flight/PiOS/pios.c b/flight/PiOS/pios.c
index 60aee74e7..702062d67 100644
--- a/flight/PiOS/pios.c
+++ b/flight/PiOS/pios.c
@@ -34,6 +34,10 @@
 /* Task Priorities */
 #define PRIORITY_TASK_HOOKS             ( tskIDLE_PRIORITY + 3 )
 
+/* Local Variables */
+static uint32_t ulIdleCycleCount = 0;
+static uint32_t IdleTimePercent = 0;
+
 /* Function Prototypes */
 static void HooksTask(void *pvParameters);
 
@@ -45,7 +49,9 @@ int main()
 {
 	/* Setup Hardware */
 	SysInit();
-
+	COMInit();
+	ADCInit();
+	
 	/* Initialise OpenPilot */
 	OpenPilotInit();
 	
@@ -77,8 +83,29 @@ static void HooksTask(void *pvParameters)
 			xLastExecutionTime = xCurrentTickCount;
 		}		
 		
+		/* Check for ADC pin changes, call ADCNotifyChange on each pin change */
+		ADCHandler(ADCNotifyChange);
 		
 		/* Check for incoming COM messages */
 		COMReceiveHandler();
 	}
-}
\ No newline at end of file
+}
+
+
+/**
+* Idle hook function
+*/
+void vApplicationIdleHook(void)
+{
+	/* Called when the scheduler has no tasks to run */
+	/* In here we could implement full stats for FreeRTOS
+	Although this would need us to enable stats in FreeRTOS
+	which is *very* costly. With the function below we can
+	either print it out or just watch the variable using JTAG */
+	
+	/* This can give a basic indication of how much time the system spends in idle */
+	/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
+	/* For example a value of 75 would mean we are spending 75% of FreeRTOS Cycles in idle */
+	ulIdleCycleCount++;
+	IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
+}