AP_ADC: use new scheduler API

libraries/AP_ADC/AP_ADC_ADS7844.cpp

@@ -81,11 +81,7 @@ static volatile uint32_t _ch6_delta_time_start_micros = 0;
 // time latest sample was collected
 static volatile uint32_t _ch6_last_sample_time_micros = 0;
 
-AP_HAL::SPIDeviceDriver* AP_ADC_ADS7844::_spi = NULL;
+void AP_ADC_ADS7844::read(void)
-AP_HAL::Semaphore* AP_ADC_ADS7844::_spi_sem = NULL;
-
-
-void AP_ADC_ADS7844::read(uint32_t tnow)
 {
     static int semfail_ctr = 0;
     uint8_t ch;
@@ -175,7 +171,7 @@ void AP_ADC_ADS7844::Init()
 
     _ch6_last_sample_time_micros = hal.scheduler->micros();
 
-    hal.scheduler->register_timer_process( AP_ADC_ADS7844::read );
+    hal.scheduler->register_timer_process( reinterpret_cast<AP_HAL::TimedProc>(&AP_ADC_ADS7844::read), this );
     hal.scheduler->resume_timer_procs();
 
 }

libraries/AP_ADC/AP_ADC_ADS7844.h

@@ -26,10 +26,9 @@ public:
     uint16_t            num_samples_available(const uint8_t *channel_numbers);
 
 private:
-    static void         read(uint32_t);
+    void read(void);
-    static AP_HAL::SPIDeviceDriver *_spi;
+    AP_HAL::SPIDeviceDriver *_spi;
-    static AP_HAL::Semaphore  *_spi_sem;
+    AP_HAL::Semaphore  *_spi_sem;
-
 };
 
 #endif

libraries/AP_ADC/AP_ADC_HIL.cpp

@@ -30,8 +30,6 @@ const float AP_ADC_HIL::accelBias[3]    = {2025,2025,2025};
 const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
 const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
     
-uint16_t  AP_ADC_HIL::_count; // number of samples captured
-
 AP_ADC_HIL::AP_ADC_HIL()
 {
     // gyros set to zero for calibration
@@ -51,7 +49,7 @@ AP_ADC_HIL::AP_ADC_HIL()
 
 void AP_ADC_HIL::Init()
 {
-    hal.scheduler->register_timer_process( AP_ADC_HIL::read );
+    hal.scheduler->register_timer_process( reinterpret_cast<AP_HAL::TimedProc>(&AP_ADC_HIL::read), this);
 }
 
 // Read one channel value

libraries/AP_ADC/AP_ADC_HIL.h

@@ -103,12 +103,12 @@ private:
     void        setGyroTemp(int16_t val) {
     }
     
-        // read function that pretends to capture new data
+    // read function that pretends to capture new data
-    static void read(uint32_t tnow) {
+    void read(void) {
        _count++;
     }
 
-    static uint16_t  _count;                    // number of samples captured
+    uint16_t  _count;                    // number of samples captured
 };
 
 #endif