From 9bb0bd0341ba252ef93f8b2e1726e00a5cd3fd91 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 26 Dec 2011 19:11:50 +1100
Subject: [PATCH] desktop: added attachInterrupt() support

---
 libraries/Desktop/support/Arduino.cpp  | 25 +++++++++++++++++++++++++
 libraries/Desktop/support/sitl_adc.cpp |  1 +
 libraries/Desktop/support/util.h       |  1 +
 3 files changed, 27 insertions(+)

diff --git a/libraries/Desktop/support/Arduino.cpp b/libraries/Desktop/support/Arduino.cpp
index 34db6f58be..bbcb0c9918 100644
--- a/libraries/Desktop/support/Arduino.cpp
+++ b/libraries/Desktop/support/Arduino.cpp
@@ -156,3 +156,28 @@ char *ltoa(long __val, char *__s, int __radix)
 	return __s;
 }
 
+#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
+
+static struct {
+	void (*call)(void);
+} interrupt_table[7];
+
+void attachInterrupt(uint8_t inum, void (*call)(void), int mode)
+{
+	if (inum >= ARRAY_LENGTH(interrupt_table)) {
+		fprintf(stderr, "Bad attachInterrupt to interrupt %u\n", inum);
+		exit(1);
+	}
+	interrupt_table[inum].call = call;
+}
+
+void runInterrupt(uint8_t inum)
+{
+	if (inum >= ARRAY_LENGTH(interrupt_table)) {
+		fprintf(stderr, "Bad runInterrupt to interrupt %u\n", inum);
+		exit(1);
+	}
+	if (interrupt_table[inum].call != NULL) {
+		interrupt_table[inum].call();
+	}
+}
diff --git a/libraries/Desktop/support/sitl_adc.cpp b/libraries/Desktop/support/sitl_adc.cpp
index 8f7c75a2d5..7b241a9a21 100644
--- a/libraries/Desktop/support/sitl_adc.cpp
+++ b/libraries/Desktop/support/sitl_adc.cpp
@@ -86,6 +86,7 @@ void sitl_update_adc(float roll, float pitch, float yaw,
 		UDR2.set(sensor_map[i], adc[i]);
 	}
 
+	runInterrupt(6);
 
 	// set the airspeed sensor input
 	UDR2.set(7, airspeed_sensor(airspeed));
diff --git a/libraries/Desktop/support/util.h b/libraries/Desktop/support/util.h
index 7a028f16df..3cfc729292 100644
--- a/libraries/Desktop/support/util.h
+++ b/libraries/Desktop/support/util.h
@@ -6,3 +6,4 @@
 void set_nonblocking(int fd);
 double normalise(double v, double min, double max);
 double normalise180(double v);
+void runInterrupt(uint8_t inum);