remove AP_PeriodicProcess library, deprecated under AP_HAL

libraries/AP_PeriodicProcess/AP_PeriodicProcess.h

@@ -1,9 +0,0 @@
-
-#ifndef __AP_PERIODIC_PROCESS_H__
-#define __AP_PERIODIC_PROCESS_H__
-
-#include "PeriodicProcess.h"
-#include "AP_PeriodicProcessStub.h"
-#include "AP_TimerProcess.h"
-
-#endif // __AP_PERIODIC_PROCESS_H__

libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.cpp

@@ -1,22 +0,0 @@
-
-#include "AP_PeriodicProcessStub.h"
-AP_PeriodicProcessStub::AP_PeriodicProcessStub(uint8_t period) {
-}
-void AP_PeriodicProcessStub::init( Arduino_Mega_ISR_Registry * isr_reg ){
-}
-void AP_PeriodicProcessStub::register_process(ap_procedure proc) {
-}
-void AP_PeriodicProcessStub::set_failsafe(ap_procedure proc) {
-}
-bool AP_PeriodicProcessStub::queue_process(ap_procedure proc) {
-	return true;
-}
-void AP_PeriodicProcessStub::suspend_timer(void) {
-}
-void AP_PeriodicProcessStub::resume_timer(void) {
-}
-bool AP_PeriodicProcessStub::running(void) {
-    return false;
-}
-void AP_PeriodicProcessStub::run(void) {
-}

libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.h

@@ -1,29 +0,0 @@
-
-#ifndef __AP_PERIODIC_PROCESS_STUB_H__
-#define __AP_PERIODIC_PROCESS_STUB_H__
-
-#include "PeriodicProcess.h"
-#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
-
-
-class AP_PeriodicProcessStub : public AP_PeriodicProcess
-{
-public:
-    AP_PeriodicProcessStub(uint8_t period = 0);
-    void                    init( Arduino_Mega_ISR_Registry * isr_reg );
-    void                    register_process(ap_procedure proc);
-    void                    set_failsafe(ap_procedure proc);
-    bool                    queue_process(ap_procedure proc);   // queue process to run as soon as possible after any currently running ap_processes complete.  returns true if it ran immediately
-    void                    suspend_timer(void);
-    void                    resume_timer(void);
-    bool                    running();
-    static void             run(void);
-protected:
-    static uint8_t          _period;
-    static void             (*_proc)(void);
-    static void             (*_failsafe)(void);
-    static void             (*_queued_proc)(void);
-    static bool             _suspended;
-};
-
-#endif

libraries/AP_PeriodicProcess/AP_TimerProcess.cpp

@@ -1,162 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#include "AP_TimerProcess.h"
-
-extern "C" {
-#include <inttypes.h>
-#include <stdint.h>
-#include <avr/interrupt.h>
-}
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WConstants.h"
-#endif
-
-uint8_t AP_TimerProcess::_period;
-ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS];
-ap_procedure AP_TimerProcess::_failsafe;
-ap_procedure AP_TimerProcess::_queued_proc = NULL;
-bool AP_TimerProcess::_in_timer_call;
-uint8_t AP_TimerProcess::_pidx = 0;
-bool AP_TimerProcess::_suspended;
-
-AP_TimerProcess::AP_TimerProcess(uint8_t period)
-{
-    _period = period;
-}
-
-void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
-{
-    // Enable Timer2 Overflow interrupt to trigger process.
-    TIMSK2 = 0;                     // Disable interrupts
-    TCCR2A = 0;                     // normal counting mode
-    TCCR2B = _BV(CS21) | _BV(CS22);     // Set prescaler of clk/256
-    TCNT2  = 0;                     // Set count to zero, so it goes off right away.
-    TIFR2  = _BV(TOV2);                 // clear pending interrupts;
-    TIMSK2 = _BV(TOIE2);            // enable the overflow interrupt
-
-    _failsafe = NULL;
-    _suspended = false;
-    _in_timer_call = false;
-
-    for (uint8_t i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++)
-        _proc[i] = NULL;
-
-    isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run);
-}
-
-/*
- *  register a process to be called at the timer interrupt rate
- */
-void AP_TimerProcess::register_process(ap_procedure proc)
-{
-    // see if its already registered (due to double initialisation
-    // of a driver)
-    for (uint8_t i=0; i<_pidx; i++) {
-        if (_proc[i] == proc) return;
-    }
-    uint8_t oldSREG = SREG;
-    cli();
-    if (_pidx < AP_TIMERPROCESS_MAX_PROCS)
-        _proc[_pidx++] = proc;
-    SREG = oldSREG;
-}
-
-void AP_TimerProcess::set_failsafe(ap_procedure proc)
-{
-    _failsafe = proc;
-}
-
-/*
- *  queue a process to be run as soon as any currently running ap_processes complete
- */
-bool AP_TimerProcess::queue_process(ap_procedure proc)
-{
-    // check if we are running any ap_processes
-    if( _in_timer_call || _suspended ) {
-         // queue the process to run after current processes finish
-        _queued_proc = proc;
-        return false;
-    }else{
-        // run process immediately
-        _suspended = true;
-        proc(micros());
-        _suspended = false;
-        return true;
-    }
-}
-
-void AP_TimerProcess::suspend_timer(void)
-{
-    _suspended = true;
-}
-
-void AP_TimerProcess::resume_timer(void)
-{
-    _suspended = false;
-}
-
-bool AP_TimerProcess::running(void) {
-    return !_suspended;
-}
-
-void AP_TimerProcess::run(void)
-{
-    // we enable the interrupt again immediately and also enable
-    // interrupts. This allows other time critical interrupts to
-    // run (such as the serial receive interrupt). We catch the
-    // timer calls taking too long using _in_timer_call.
-    // This approach also gives us a nice uniform spacing between
-    // timer calls
-    TCNT2 = _period;
-    sei();
-
-    uint32_t tnow = micros();
-
-    if (_in_timer_call) {
-        // the timer calls took longer than the period of the
-        // timer. This is bad, and may indicate a serious
-        // driver failure. We can't just call the drivers
-        // again, as we could run out of stack. So we only
-        // call the _failsafe call. It's job is to detect if
-        // the drivers or the main loop are indeed dead and to
-        // activate whatever failsafe it thinks may help if
-        // need be.  We assume the failsafe code can't
-        // block. If it does then we will recurse and die when
-        // we run out of stack
-        if (_failsafe != NULL) {
-            _failsafe(tnow);
-        }
-        return;
-    }
-    _in_timer_call = true;
-
-    if (!_suspended) {
-        // now call the timer based drivers
-        for (int i = 0; i < _pidx; i++) {
-            if (_proc[i] != NULL) {
-                _proc[i](tnow);
-            }
-        }
-
-        // run any queued processes
-        uint8_t oldSREG = SREG;
-        cli();
-        ap_procedure qp = _queued_proc;
-        _queued_proc = NULL;
-        SREG = oldSREG;
-        if( qp != NULL ) {
-            _suspended = true;
-            qp(tnow);
-            _suspended = false;
-        }
-    }
-
-    // and the failsafe, if one is setup
-    if (_failsafe != NULL) {
-        _failsafe(tnow);
-    }
-
-    _in_timer_call = false;
-}

libraries/AP_PeriodicProcess/AP_TimerProcess.h

@@ -1,35 +0,0 @@
-
-#ifndef __AP_TIMERPROCESS_H__
-#define __AP_TIMERPROCESS_H__
-
-#include "PeriodicProcess.h"
-#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
-
-// default to 1kHz timer interrupt
-#define TIMERPROCESS_PER_DEFAULT (256-62) // 1kHz
-
-#define AP_TIMERPROCESS_MAX_PROCS 5
-
-class AP_TimerProcess : public AP_PeriodicProcess
-{
-public:
-    AP_TimerProcess(uint8_t period = TIMERPROCESS_PER_DEFAULT);
-    void                        init( Arduino_Mega_ISR_Registry * isr_reg );
-    void                        register_process(ap_procedure proc);
-    bool                        queue_process(ap_procedure proc);   // queue process to run as soon as possible after any currently running ap_processes complete.  returns true if it ran immediately
-    void                        set_failsafe(ap_procedure proc);
-    void                        suspend_timer(void);
-    void                        resume_timer(void);
-    bool                        running();
-    static void                 run(void);
-protected:
-    static uint8_t              _period;
-    static ap_procedure         _proc[AP_TIMERPROCESS_MAX_PROCS];
-    static ap_procedure         _failsafe;
-    static ap_procedure         _queued_proc;
-    static uint8_t              _pidx;
-    static bool                 _in_timer_call;
-    static bool                 _suspended;
-};
-
-#endif // __AP_TIMERPROCESS_H__

libraries/AP_PeriodicProcess/PeriodicProcess.h

@@ -1,23 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#ifndef __PERIODICPROCESS_H__
-#define __PERIODICPROCESS_H__
-
-#include <stdint.h>
-
-// the callback type for periodic processes. They are passed the time
-// in microseconds since boot
-typedef void (*ap_procedure)(uint32_t );
-
-class AP_PeriodicProcess
-{
-public:
-    virtual void        register_process(ap_procedure proc) = 0;
-    virtual void        set_failsafe(ap_procedure proc) = 0;
-    virtual bool        queue_process(ap_procedure proc) = 0;   // queue process to run as soon as possible after any currently running ap_processes complete.  returns true if it ran immediately
-    virtual void        suspend_timer(void) = 0;
-    virtual void        resume_timer(void) = 0;
-    virtual bool        running() = 0;
-};
-
-#endif // __PERIODICPROCESS_H__

libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/AP_TimerProcess_Test.pde

@@ -1,49 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-//
-// Simple test for the AP_TimerProcess library
-//
-
-#include <FastSerial.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <AP_PeriodicProcess.h>
-#include <AP_Math.h>
-#include <AP_Common.h>
-
-FastSerialPort0(Serial);
-FastSerialPort1(Serial1);
-
-Arduino_Mega_ISR_Registry isr_registry;
-AP_TimerProcess scheduler;
-
-uint32_t counter;
-
-void ping(uint32_t now)
-{
-    counter++;
-}
-
-void setup(void)
-{
-    Serial.begin(115200);
-    Serial.println("AP_TimerProcess Test ver 0.1");
-
-    isr_registry.init();
-    scheduler.init(&isr_registry);
-
-    // register our ping function
-    scheduler.register_process(ping);
-}
-
-void loop(void)
-{
-    static uint32_t secs = 0;
-
-    // check if 1second has passed
-    if( counter >= 1000 ) {
-        counter -= 1000;
-        secs++;
-        Serial.print("Seconds: ");
-        Serial.println(secs);
-    }
-}

libraries/AP_PeriodicProcess/examples/AP_TimerProcess_Test/Makefile

@@ -1,4 +0,0 @@
-include ../../../AP_Common/Arduino.mk
-
-sitl:
-	make -f ../../../../libraries/Desktop/Desktop.mk