Make adc_generic a module.

conf/airframes/mm/fixed-wing/funjetmm.xml

@@ -10,15 +10,6 @@
 <airframe name="Funjet mm 1">
 
   <firmware name="fixedwing">
-    <target name="sim"                 board="pc">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="USE_I2C0"/>
-    </target>
-
     <target name="ap"                  board="tiny_2.11">
       <define name="AGR_CLIMB"/>
       <define name="LOITER_TRIM"/>
@@ -26,10 +17,19 @@
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
       <define name="USE_I2C0"/>
-      <define name="SPI_MASTER"/>
-      <define name="USE_MICROMAG_FW"/>
-      <define name="MICROMAG_DRDY_VIC_SLOT" value="12"/>
-      <define name="SSP_VIC_SLOT" value="11"/>
+      <define name="SENSOR_SYNC_SEND"/>
+      <define name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>
+      <define name="ADC_CHANNEL_GENERIC2" value="ADC_4"/>
+      <define name="USE_ADC_3"/>
+      <define name="USE_ADC_4"/>
+    </target>
+
+    <target name="sim"                 board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
     </target>
 
     <!-- RC -->
@@ -49,7 +49,6 @@
     <subsystem name="navigation"/>
     <!-- Interfaces -->
     <subsystem name="i2c"/>
-    <subsystem name="spi"/>
   </firmware>
 
   <firmware name="setup">
@@ -61,8 +60,12 @@
 
   <!-- modules -->
   <modules>
+    <load name="adc_generic.xml"/>
+    <!--load name="windturbine.xml"/>
+    <load name="trig_test.xml"/>
+    <load name="temp_temod.xml"/>
+    <load name="airspeed_ets.xml"/>
     <load name="dust_gp2y.xml"/>
-    <!--load name="adc_generic.xml"/>
     <load name="alt_srf08.xml"/>
     <load name="mag_micromag_fw.xml"/>
     <load name="baro_bmp.xml"/>

conf/modules/adc_generic.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Generic ADC module
+     @param ADC_CHANNEL_GENERIC1 on which ADC input 1 is measured
+     @param ADC_CHANNEL_GENERIC2 on which ADC input 2 is measured
+     -->
+
+<module name="adc_generic" dir="adcs">
+  <header>
+    <file name="adc_generic.h"/>
+  </header>
+  <init fun="adc_generic_init()"/>
+  <periodic fun="adc_generic_periodic()" freq="4"/>
+  <makefile target="ap">
+    <file name="adc_generic.c"/>
+    <flag name="USE_$(ADC_CHANNEL_GENERIC1)"/>
+    <flag name="USE_$(ADC_CHANNEL_GENERIC2)"/>
+  </makefile>
+</module>
+

sw/airborne/main_ap.c

@@ -67,10 +67,6 @@
 #include "led.h"
 #endif
 
-#ifdef USE_ADC_GENERIC
-#include "adc_generic.h"
-#endif
-
 #if defined USE_I2C0 || USE_I2C1
 #include "i2c.h"
 #endif
@@ -87,10 +83,6 @@
 #include "usb_serial.h"
 #endif
 
-#ifdef USE_BARO_ETS
-#include "baro_ets.h"
-#endif // USE_BARO_ETS
-
 #if ! defined CATASTROPHIC_BAT_LEVEL && defined LOW_BATTERY
 #warning "LOW_BATTERY deprecated. Renamed into CATASTROPHIC_BAT_LEVEL (in airframe file)"
 #define CATASTROPHIC_BAT_LEVEL LOW_BATTERY
@@ -446,13 +438,6 @@ void periodic_task_ap( void ) {
     break;
 #endif
 
-#ifdef USE_ADC_GENERIC
-  case 6:
-    adc_generic_periodic();
-    DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &adc_generic_val1, &adc_generic_val2);
-    break;
-#endif
-
     /*  default: */
   }
 
@@ -543,10 +528,6 @@ void init_ap( void ) {
   i2c1_init();
 #endif
 
-#ifdef USE_ADC_GENERIC
-  adc_generic_init();
-#endif
-
   /************* Links initialization ***************/
 #if defined USE_SPI
   spi_init();
@@ -673,15 +654,6 @@ void event_task_ap( void ) {
   }
 #endif
 
-#if defined(USE_BARO_ETS)
-  if (baro_ets_updated) {
-    baro_ets_updated = FALSE;
-    if (baro_ets_valid) {
-      EstimatorSetAlt(baro_ets_altitude);
-    }
-  }
-#endif
-
   if (inter_mcu_received_fbw) {
     /* receive radio control task from fbw */
     inter_mcu_received_fbw = FALSE;

sw/airborne/modules/adcs/adc_generic.c

@@ -1,10 +1,21 @@
 #include "adc_generic.h"
 #include "adc.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
 #include BOARD_CONFIG
 
-#ifdef USE_ADC_GENERIC
 uint16_t adc_generic_val1;
 uint16_t adc_generic_val2;
+
+#ifndef ADC_CHANNEL_GENERIC1
+#ifndef ADC_CHANNEL_GENERIC2
+#error "at least one ADC_CHANNEL_GENERIC1/2 needs to be defined to use the generic_adc module"
+#endif
+#endif
+
+#ifndef ADC_CHANNEL_GENERIC_NB_SAMPLES
+#define ADC_CHANNEL_GENERIC_NB_SAMPLES DEFAULT_AV_NB_SAMPLE
 #endif
 
 #ifdef ADC_CHANNEL_GENERIC1
@@ -31,4 +42,7 @@ void adc_generic_periodic( void ) {
 #ifdef ADC_CHANNEL_GENERIC2
   adc_generic_val2 = buf_generic2.sum / buf_generic2.av_nb_sample;
 #endif
+
+  DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &adc_generic_val1, &adc_generic_val2);
 }
+