From eaa1c39a159b5e4113056358bd049466e7991b19 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 19 Jul 2016 09:44:52 -0300
Subject: [PATCH] AP_HAL_Linux: update Device interface

---
 libraries/AP_HAL_Linux/I2CDevice.cpp | 12 ++++++++++++
 libraries/AP_HAL_Linux/I2CDevice.h   | 12 ++++++------
 libraries/AP_HAL_Linux/SPIDevice.h   |  4 ++--
 3 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_Linux/I2CDevice.cpp b/libraries/AP_HAL_Linux/I2CDevice.cpp
index 59e48b907d..d2654c535f 100644
--- a/libraries/AP_HAL_Linux/I2CDevice.cpp
+++ b/libraries/AP_HAL_Linux/I2CDevice.cpp
@@ -219,6 +219,18 @@ int I2CDevice::get_fd()
     return _bus.fd;
 }
 
+AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(
+    uint32_t period_usec, AP_HAL::Device::PeriodicCb)
+{
+    return nullptr;
+}
+
+bool I2CDevice::adjust_periodic_callback(
+    AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
+{
+    return false;
+}
+
 I2CDeviceManager::I2CDeviceManager()
 {
     /* Reserve space up-front for 4 buses */
diff --git a/libraries/AP_HAL_Linux/I2CDevice.h b/libraries/AP_HAL_Linux/I2CDevice.h
index b5cebd30f3..37a155cfc8 100644
--- a/libraries/AP_HAL_Linux/I2CDevice.h
+++ b/libraries/AP_HAL_Linux/I2CDevice.h
@@ -69,12 +69,12 @@ public:
     AP_HAL::Semaphore *get_semaphore() override;
 
     /* See AP_HAL::Device::register_periodic_callback() */
-    AP_HAL::Device::PeriodicHandle *register_periodic_callback(
-        uint32_t period_usec, AP_HAL::MemberProc) override
-    {
-        /* Not implemented yet */
-        return nullptr;
-    };
+    AP_HAL::Device::PeriodicHandle register_periodic_callback(
+        uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
+
+    /* See AP_HAL::Device::adjust_periodic_callback() */
+    bool adjust_periodic_callback(
+        AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
 
     /* See AP_HAL::Device::get_fd() */
     int get_fd() override;
diff --git a/libraries/AP_HAL_Linux/SPIDevice.h b/libraries/AP_HAL_Linux/SPIDevice.h
index 0070a5f5cd..7227502f10 100644
--- a/libraries/AP_HAL_Linux/SPIDevice.h
+++ b/libraries/AP_HAL_Linux/SPIDevice.h
@@ -51,8 +51,8 @@ public:
     AP_HAL::Semaphore *get_semaphore() override;
 
     /* See AP_HAL::Device::register_periodic_callback() */
-    AP_HAL::Device::PeriodicHandle *register_periodic_callback(
-        uint32_t period_usec, AP_HAL::MemberProc) override
+    AP_HAL::Device::PeriodicHandle register_periodic_callback(
+        uint32_t period_usec, AP_HAL::Device::PeriodicCb) override
     {
         return nullptr;
     }