pbio/drv_adc: Drop on-complete callback hook.

Most process that use the ADC are slow and don't need to get called back every other millisecond now that we increased the sample frequency.  They can poll it at their own reduced independent frequency, as we do in most device detection loops.

Author: laurensvalk

lib/pbio/drv/adc/adc_ev3.c

@@ -94,15 +94,6 @@ static const uint32_t channel_cmd[PBDRV_CONFIG_ADC_EV3_ADC_NUM_CHANNELS + PBDRV_
 };
 static volatile uint16_t channel_data[PBDRV_CONFIG_ADC_EV3_ADC_NUM_CHANNELS + PBDRV_ADC_EV3_NUM_DELAY_SAMPLES];
 
-static pbdrv_adc_callback_t pbdrv_adc_callbacks[1];
-static uint32_t pbdrv_adc_callback_count = 0;
-
-void pbdrv_adc_set_callback(pbdrv_adc_callback_t callback) {
-    if (pbdrv_adc_callback_count < PBIO_ARRAY_SIZE(pbdrv_adc_callbacks)) {
-        pbdrv_adc_callbacks[pbdrv_adc_callback_count++] = callback;
-    }
-}
-
 pbio_error_t pbdrv_adc_get_ch(uint8_t ch, uint16_t *value) {
     if (ch >= PBDRV_CONFIG_ADC_EV3_ADC_NUM_CHANNELS) {
         return PBIO_ERROR_INVALID_ARG;
@@ -156,10 +147,6 @@ static pbio_error_t pbdrv_adc_ev3_process_thread(pbio_os_state_t *state, void *c
         // Await for actual transfer to complete.
         PBIO_OS_AWAIT_WHILE(state, pbdrv_block_device_ev3_is_busy());
 
-        for (uint32_t i = 0; i < pbdrv_adc_callback_count; i++) {
-            pbdrv_adc_callbacks[i]();
-        }
-
         pbio_os_timer_set(&timer, ADC_SAMPLE_PERIOD);
         PBIO_OS_AWAIT_UNTIL(state, pbdrv_adc_ev3_process.request || pbio_os_timer_is_expired(&timer));
     }

lib/pbio/drv/adc/adc_stm32_hal.c

@@ -47,9 +47,6 @@ static uint32_t pbdrv_adc_last_error;
 
 PROCESS(pbdrv_adc_process, "ADC");
 
-void pbdrv_adc_set_callback(pbdrv_adc_callback_t callback) {
-}
-
 pbio_error_t pbdrv_adc_await_new_samples(pbio_os_state_t *state) {
     return PBIO_ERROR_NOT_SUPPORTED;
 }

lib/pbio/drv/adc/adc_stm32f0.c

@@ -66,9 +66,6 @@ void pbdrv_adc_init(void) {
     process_start(&pbdrv_adc_process);
 }
 
-void pbdrv_adc_set_callback(pbdrv_adc_callback_t callback) {
-}
-
 pbio_error_t pbdrv_adc_await_new_samples(pbio_os_state_t *state) {
     return PBIO_ERROR_NOT_SUPPORTED;
 }

lib/pbio/drv/counter/counter_ev3.c

@@ -130,10 +130,11 @@ static lego_device_type_id_t pbdrv_counter_ev3_get_type(uint16_t adc) {
     return LEGO_DEVICE_TYPE_ID_NONE;
 }
 
+#define PBDRV_COUNTER_EV3_TYPE_LOOP_TIME (10)
+#define PBDRV_COUNTER_EV3_TYPE_MIN_STABLE_COUNT (20)
+
 /**
  * Updates the type of all EV3 motors based on the current ADC values.
- *
- * This is called periodically by the ADC process.
  */
 static void pbdrv_counter_ev3_update_type(void) {
 
@@ -155,12 +156,32 @@ static void pbdrv_counter_ev3_update_type(void) {
 
         // Update stable type if we have seen enough identical detections,
         // including none detections.
-        if (dev->type_id_count >= 20) {
+        if (dev->type_id_count >= PBDRV_COUNTER_EV3_TYPE_MIN_STABLE_COUNT) {
             dev->stable_type_id = type_id;
         }
     }
 }
 
+static pbio_os_process_t pbdrv_counter_device_detect_process;
+
+/**
+ * Background process to periodically read the ADC values to detect devices.
+ */
+static pbio_error_t pbdrv_counter_device_detect_process_thread(pbio_os_state_t *state, void *context) {
+
+    static pbio_os_timer_t timer;
+
+    PBIO_OS_ASYNC_BEGIN(state);
+
+    for (;;) {
+        pbdrv_counter_ev3_update_type();
+        PBIO_OS_AWAIT_MS(state, &timer, PBDRV_COUNTER_EV3_TYPE_LOOP_TIME);
+    }
+
+    PBIO_OS_ASYNC_END(PBIO_SUCCESS);
+}
+
+
 pbio_error_t pbdrv_counter_assert_type(pbdrv_counter_dev_t *dev, lego_device_type_id_t *expected_type_id) {
 
     if (dev->stable_type_id == LEGO_DEVICE_TYPE_ID_NONE) {
@@ -256,7 +277,8 @@ void pbdrv_counter_init(void) {
     HWREG(baseAddr + GPIO_SET_RIS_TRIG(3)) = HWREG(baseAddr + GPIO_SET_RIS_TRIG(3)) | 0x00000200;
     HWREG(baseAddr + GPIO_SET_FAL_TRIG(3)) = HWREG(baseAddr + GPIO_SET_FAL_TRIG(3)) | 0x00000200;
 
-    pbdrv_adc_set_callback(pbdrv_counter_ev3_update_type);
+    // Monitor attached counter devices
+    pbio_os_process_start(&pbdrv_counter_device_detect_process, pbdrv_counter_device_detect_process_thread, NULL);
 }
 
 #endif // PBDRV_CONFIG_COUNTER_EV3

lib/pbio/include/pbdrv/adc.h

@@ -29,15 +29,6 @@ typedef void (*pbdrv_adc_callback_t)(void);
  */
 pbio_error_t pbdrv_adc_get_ch(uint8_t ch, uint16_t *value);
 
-/**
- * Sets a callback to be called when the ADC has new data.
- *
- * NB: Not implemented on all platforms.
- *
- * @param [in] callback The callback function.
- */
-void pbdrv_adc_set_callback(pbdrv_adc_callback_t callback);
-
 /**
  * Awaits for ADC to have new samples ready to be read.
  *
@@ -54,9 +45,6 @@ static inline pbio_error_t pbdrv_adc_get_ch(uint8_t ch, uint16_t *value) {
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
-static inline void pbdrv_adc_set_callback(pbdrv_adc_callback_t callback) {
-}
-
 static inline pbio_error_t pbdrv_adc_await_new_samples(pbio_os_state_t *state) {
     return PBIO_ERROR_NOT_SUPPORTED;
 }