Added timer trigger for continuous ADC, added command to set the ADC read timer interval

servo_controller/src/adc.c

@@ -32,6 +32,14 @@ K_THREAD_STACK_DEFINE(adc_thread_stack, ADC_THREAD_STACK_SIZE);
 char adc_mask_msgq_buffer[ADC_MASK_BUFFER_SIZE * sizeof(uint32_t)];
 struct k_msgq adc_mask_msgq;
 
+// ADC TIMER
+struct k_timer adc_timer;
+
+
+static void adc_timer_handler(struct k_timer *timer) {
+    // Timer trigger
+	adc_add_mask(0b1111111111111111);
+}
 
 static void adc_thread(void *p1, void *p2, void *p3) {
 	ARG_UNUSED(p1);
@@ -65,8 +73,12 @@ static void adc_thread(void *p1, void *p2, void *p3) {
 int adc_init_all(void) {
 	int ret;
 
+	// MSGQ
 	k_msgq_init(&adc_mask_msgq, adc_mask_msgq_buffer, sizeof(uint32_t), ADC_MASK_BUFFER_SIZE);
 
+	// TIMER
+	k_timer_init(&adc_timer, adc_timer_handler, NULL);
+
 	// ret = mux_init();
 	// if (ret != 0) {
 	// 	LOG_ERR("Failed to setup multiplexer: %d", ret);
@@ -181,5 +193,17 @@ int adc_read_id(int id) {
 int adc_add_mask(uint32_t mask) {
 	k_msgq_put(&adc_mask_msgq, &mask, K_NO_WAIT);
 
+	return 0;
+}
+
+int adc_timer_set(int interval_ms) {
+
+	if (interval_ms > 0) {
+		k_timer_start(&adc_timer, K_MSEC(interval_ms), K_MSEC(interval_ms));
+	}
+	else {
+		k_timer_stop(&adc_timer);
+	}
+	
 	return 0;
 }

servo_controller/src/adc.h

@@ -12,6 +12,7 @@
 int adc_init_all();
 int adc_read_id(int id);
 int adc_add_mask(uint32_t mask);
+int adc_timer_set(int interval_ms);
 
 
 #endif // ADC_H

servo_controller/src/command_handler.c

@@ -96,6 +96,7 @@ int command_handler(struct command_message_t *msg) {
 
 			break;
 		}
+
 		case ADC_READ_ALL: {
 			uint32_t mask = 0b1111111111111111;
 
@@ -104,6 +105,15 @@ int command_handler(struct command_message_t *msg) {
 			break;
 		}
 
+		case ADC_SET_READ: {
+			int interval_ms;
+			memcpy(&interval_ms, &msg->data[0], sizeof(int));
+
+			adc_timer_set(interval_ms);
+			
+			break;
+		}
+
 		default: {
 			LOG_WRN("Unknown command received: %d", msg->command);
 			return -EINVAL;