HAL_FLYMAPLE: updates for AP_HAL::MemberProc

libraries/AP_HAL_FLYMAPLE/AnalogIn.cpp

@@ -32,19 +32,13 @@ extern const AP_HAL::HAL& hal;
  * This seems to be determined empirically */
 #define CHANNEL_READ_REPEAT 2
 
-/* Static variable instances */
-FLYMAPLEAnalogSource* FLYMAPLEAnalogIn::_channels[FLYMAPLE_INPUT_MAX_CHANNELS] = {NULL};
-int16_t FLYMAPLEAnalogIn::_num_channels = 0;
-int16_t FLYMAPLEAnalogIn::_active_channel = 0;
-uint16_t FLYMAPLEAnalogIn::_channel_repeat_count = 0;
-
 FLYMAPLEAnalogIn::FLYMAPLEAnalogIn() :
     _vcc(FLYMAPLEAnalogSource(ANALOG_INPUT_BOARD_VCC))
 {}
 
 void FLYMAPLEAnalogIn::init(void* machtnichts) {
     /* Register FLYMAPLEAnalogIn::_timer_event with the scheduler. */
-    hal.scheduler->register_timer_process(reinterpret_cast<AP_HAL::TimedProc>(&FLYMAPLEAnalogIn::_timer_event), this);
+    hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&FLYMAPLEAnalogIn::_timer_event));
     /* Register each private channel with FLYMAPLEAnalogIn. */
     _register_channel(&_vcc);
 }
@@ -74,7 +68,7 @@ void FLYMAPLEAnalogIn::_register_channel(FLYMAPLEAnalogSource* ch) {
     regs->CR2 |= ADC_CR2_SWSTART;
 }
 
-void FLYMAPLEAnalogIn::_timer_event(uint32_t t) 
+void FLYMAPLEAnalogIn::_timer_event(void) 
 {
     adc_reg_map *regs = ADC1->regs;
     if (_channels[_active_channel]->_pin == ANALOG_INPUT_NONE) {

libraries/AP_HAL_FLYMAPLE/AnalogIn.h

@@ -86,13 +86,13 @@ public:
     AP_HAL::AnalogSource* channel(int16_t n);
 
 protected: 
-    static FLYMAPLEAnalogSource* _create_channel(int16_t num);
-    static void _register_channel(FLYMAPLEAnalogSource*);
-    static void _timer_event(uint32_t);
-    static FLYMAPLEAnalogSource* _channels[FLYMAPLE_INPUT_MAX_CHANNELS];
-    static int16_t _num_channels;
-    static int16_t _active_channel;
-    static uint16_t _channel_repeat_count;
+    FLYMAPLEAnalogSource* _create_channel(int16_t num);
+    void _register_channel(FLYMAPLEAnalogSource*);
+    void _timer_event(void);
+    FLYMAPLEAnalogSource* _channels[FLYMAPLE_INPUT_MAX_CHANNELS];
+    int16_t _num_channels;
+    int16_t _active_channel;
+    uint16_t _channel_repeat_count;
 
 private:
     // On Flymaple, VCC measurement is at pin 20. VCC (=VIN) of 5V is only present

libraries/AP_HAL_FLYMAPLE/Scheduler.cpp

@@ -36,12 +36,11 @@ using namespace AP_HAL_FLYMAPLE_NS;
 
 extern const AP_HAL::HAL& hal;
 
-AP_HAL::TimedProc FLYMAPLEScheduler::_failsafe = NULL;
+AP_HAL::Proc FLYMAPLEScheduler::_failsafe = NULL;
 volatile bool     FLYMAPLEScheduler::_timer_suspended = false;
 volatile bool     FLYMAPLEScheduler::_timer_event_missed = false;
 volatile bool     FLYMAPLEScheduler::_in_timer_proc = false;
-AP_HAL::TimedProc FLYMAPLEScheduler::_timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
-void *            FLYMAPLEScheduler::_timer_arg[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
+AP_HAL::MemberProc FLYMAPLEScheduler::_timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
 uint8_t           FLYMAPLEScheduler::_num_timer_procs = 0;
 
 FLYMAPLEScheduler::FLYMAPLEScheduler() :
@@ -109,7 +108,7 @@ void FLYMAPLEScheduler::register_delay_callback(AP_HAL::Proc proc, uint16_t min_
     _min_delay_cb_ms = min_time_ms;
 }
 
-void FLYMAPLEScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
+void FLYMAPLEScheduler::register_timer_process(AP_HAL::MemberProc proc)
 {
     for (int i = 0; i < _num_timer_procs; i++) {
         if (_timer_proc[i] == proc) {
@@ -122,7 +121,6 @@ void FLYMAPLEScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg
          * because that memory won't be used until _num_timer_procs is
          * incremented. */
         _timer_proc[_num_timer_procs] = proc;
-        _timer_arg[_num_timer_procs] = arg;
         /* _num_timer_procs is used from interrupt, and multiple bytes long. */
         noInterrupts();
         _num_timer_procs++;
@@ -130,12 +128,12 @@ void FLYMAPLEScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg
     }
 }
 
-void FLYMAPLEScheduler::register_io_process(AP_HAL::TimedProc k, void *arg)
+void FLYMAPLEScheduler::register_io_process(AP_HAL::MemberProc k)
 {
     // IO processes not supported on FLYMAPLE
 }
 
-void FLYMAPLEScheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe, uint32_t period_us)
+void FLYMAPLEScheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
 {
     /* XXX Assert period_us == 1000 */
     _failsafe = failsafe;
@@ -168,7 +166,7 @@ void FLYMAPLEScheduler::_failsafe_timer_event()
 {
     // run the failsafe, if one is setup
     if (_failsafe != NULL)
-        _failsafe(NULL);
+        _failsafe();
 }
 
 void FLYMAPLEScheduler::begin_atomic()
@@ -189,7 +187,7 @@ void FLYMAPLEScheduler::_run_timer_procs(bool called_from_isr)
         // now call the timer based drivers
         for (int i = 0; i < _num_timer_procs; i++) {
             if (_timer_proc[i] != NULL) {
-                _timer_proc[i](_timer_arg[i]);
+                _timer_proc[i]();
             }
         }
     } else if (called_from_isr) {

libraries/AP_HAL_FLYMAPLE/Scheduler.h

@@ -34,17 +34,16 @@ public:
     void     register_delay_callback(AP_HAL::Proc,
                 uint16_t min_time_ms);
 
-    void     register_timer_process(AP_HAL::TimedProc, void *);
+    void     register_timer_process(AP_HAL::MemberProc);
 
-    void     register_io_process(AP_HAL::TimedProc, void *);
+    void     register_io_process(AP_HAL::MemberProc);
 
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
     bool     in_timerprocess();
 
-    void     register_timer_failsafe(AP_HAL::TimedProc,
-                uint32_t period_us);
+    void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
 
     void     begin_atomic();
     void     end_atomic();
@@ -68,12 +67,11 @@ private:
     static void _run_timer_procs(bool called_from_isr);
 
     static void _failsafe_timer_event();
-    static AP_HAL::TimedProc _failsafe;
+    static AP_HAL::Proc _failsafe;
 
     static volatile bool _timer_suspended;
     static volatile bool _timer_event_missed;
-    static AP_HAL::TimedProc _timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
-    static void * _timer_arg[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
+    static AP_HAL::MemberProc _timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
     static uint8_t _num_timer_procs;
 };