AP_ChibiOS: Remove timer process suspension interface

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -222,19 +222,6 @@ void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_u
     _failsafe = failsafe;
 }
 
-void Scheduler::suspend_timer_procs()
-{
-    _timer_suspended = true;
-}
-
-void Scheduler::resume_timer_procs()
-{
-    _timer_suspended = false;
-    if (_timer_event_missed == true) {
-        _run_timers(false);
-        _timer_event_missed = false;
-    }
-}
 extern void Reset_Handler();
 void Scheduler::reboot(bool hold_in_bootloader)
 {
@@ -252,22 +239,18 @@ void Scheduler::reboot(bool hold_in_bootloader)
     NVIC_SystemReset();
 }
 
-void Scheduler::_run_timers(bool called_from_timer_thread)
+void Scheduler::_run_timers()
 {
     if (_in_timer_proc) {
         return;
     }
     _in_timer_proc = true;
 
-    if (!_timer_suspended) {
-        // now call the timer based drivers
-        for (int i = 0; i < _num_timer_procs; i++) {
-            if (_timer_proc[i]) {
-                _timer_proc[i]();
-            }
+    // now call the timer based drivers
+    for (int i = 0; i < _num_timer_procs; i++) {
+        if (_timer_proc[i]) {
+            _timer_proc[i]();
         }
-    } else if (called_from_timer_thread) {
-        _timer_event_missed = true;
     }
 
     // and the failsafe, if one is setup
@@ -295,7 +278,7 @@ void Scheduler::_timer_thread(void *arg)
         sched->delay_microseconds(1000);
 
         // run registered timers
-        sched->_run_timers(true);
+        sched->_run_timers();
 
         // process any pending RC output requests
         hal.rcout->timer_tick();
@@ -356,12 +339,10 @@ void Scheduler::_run_io(void)
     }
     _in_io_proc = true;
 
-    if (!_timer_suspended) {
-        // now call the IO based drivers
-        for (int i = 0; i < _num_io_procs; i++) {
-            if (_io_proc[i]) {
-                _io_proc[i]();
-            }
+    // now call the IO based drivers
+    for (int i = 0; i < _num_io_procs; i++) {
+        if (_io_proc[i]) {
+            _io_proc[i]();
         }
     }
 

libraries/AP_HAL_ChibiOS/Scheduler.h

@@ -73,8 +73,6 @@ public:
     void     register_timer_process(AP_HAL::MemberProc) override;
     void     register_io_process(AP_HAL::MemberProc) override;
     void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
-    void     suspend_timer_procs() override;
-    void     resume_timer_procs() override;
     void     reboot(bool hold_in_bootloader) override;
 
     bool     in_main_thread() const override;
@@ -102,7 +100,6 @@ private:
     bool _called_boost;
     bool _priority_boosted;
     
-    volatile bool _timer_suspended;
 
     AP_HAL::MemberProc _timer_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_timer_procs;
@@ -112,8 +109,6 @@ private:
     uint8_t _num_io_procs;
     volatile bool _in_io_proc;
 
-    volatile bool _timer_event_missed;
-
     thread_t* _timer_thread_ctx;
     thread_t* _rcin_thread_ctx;
     thread_t* _io_thread_ctx;
@@ -131,7 +126,7 @@ private:
 #if HAL_WITH_UAVCAN
     static void _uavcan_thread(void *arg);
 #endif
-    void _run_timers(bool called_from_timer_thread);
+    void _run_timers();
     void _run_io(void);
 };
 #endif