AP_HAL_Linux: use init() method without arguments

Override the init() method from parent class that doesn't have a
parameter since it's not used here.

libraries/AP_HAL_Linux/AnalogIn.cpp

@@ -37,7 +37,7 @@ void AnalogSource::set_settle_time(uint16_t settle_time_ms)
 AnalogIn::AnalogIn()
 {}
 
-void AnalogIn::init(void* machtnichts)
+void AnalogIn::init()
 {}
 
 AP_HAL::AnalogSource* AnalogIn::channel(int16_t n) {

libraries/AP_HAL_Linux/AnalogIn.h

@@ -22,7 +22,7 @@ private:
 class Linux::AnalogIn : public AP_HAL::AnalogIn {
 public:
     AnalogIn();
-    void init(void* implspecific);
+    void init();
     AP_HAL::AnalogSource* channel(int16_t n);
 
     // we don't yet know how to get the board voltage

libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp

@@ -74,7 +74,7 @@ AP_HAL::AnalogSource* ADS1115AnalogIn::channel(int16_t pin)
     return NULL;
 }
 
-void ADS1115AnalogIn::init(void* implspecific)
+void ADS1115AnalogIn::init()
 {
     _adc->init();
     hal.scheduler->suspend_timer_procs();

libraries/AP_HAL_Linux/AnalogIn_ADS1115.h

@@ -26,7 +26,7 @@ private:
 class ADS1115AnalogIn: public AP_HAL::AnalogIn {
 public:
     ADS1115AnalogIn();
-    void init(void* implspecific);
+    void init();
     AP_HAL::AnalogSource* channel(int16_t n);
 
     /* Board voltage is not available */

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -246,7 +246,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         }
     }
 
-    scheduler->init(NULL);
+    scheduler->init();
     gpio->init();
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
     i2c->begin();
@@ -258,12 +258,12 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
 #else
     i2c->begin();
 #endif
-    spi->init(NULL);
-    rcout->init(NULL);
-    rcin->init(NULL);
+    spi->init();
+    rcout->init();
+    rcin->init();
     uartA->begin(115200);    
     uartE->begin(115200);    
-    analogin->init(NULL);
+    analogin->init();
     utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
 
     // NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct

libraries/AP_HAL_Linux/RCInput.cpp

@@ -28,7 +28,7 @@ RCInput::RCInput() :
     ppm_state._channel_counter = -1;
 }
 
-void RCInput::init(void* machtnichts)
+void RCInput::init()
 {
 }
 

libraries/AP_HAL_Linux/RCInput.h

@@ -14,7 +14,7 @@ public:
         return static_cast<RCInput*>(rcinput);
     }
 
-    virtual void init(void* machtnichts);
+    virtual void init();
     bool new_input();
     uint8_t num_channels();
     uint16_t read(uint8_t ch);

libraries/AP_HAL_Linux/RCInput_AioPRU.cpp

@@ -34,7 +34,7 @@ extern const AP_HAL::HAL& hal;
 
 using namespace Linux;
 
-void RCInput_AioPRU::init(void*)
+void RCInput_AioPRU::init()
 {
     int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
     if (mem_fd == -1) {

libraries/AP_HAL_Linux/RCInput_AioPRU.h

@@ -27,7 +27,7 @@
 class Linux::RCInput_AioPRU : public Linux::RCInput
 {
 public:
-    void init(void*);
+    void init();
     void _timer_tick(void);
 
  private:

libraries/AP_HAL_Linux/RCInput_PRU.cpp

@@ -24,7 +24,7 @@ extern const AP_HAL::HAL& hal;
 
 using namespace Linux;
 
-void RCInput_PRU::init(void*)
+void RCInput_PRU::init()
 {
     int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
     if (mem_fd == -1) {

libraries/AP_HAL_Linux/RCInput_PRU.h

@@ -16,7 +16,7 @@
 class Linux::RCInput_PRU : public Linux::RCInput
 {
 public:
-    void init(void*);
+    void init();
     void _timer_tick(void);
 
  private:

libraries/AP_HAL_Linux/RCInput_RPI.cpp

@@ -423,7 +423,7 @@ void RCInput_RPI::init_registers()
     clk_reg = (uint32_t*)map_peripheral(clk_base, RCIN_RPI_CLK_LEN);
 }
 
-void RCInput_RPI::init(void*)
+void RCInput_RPI::init()
 {
     
     init_registers();

libraries/AP_HAL_Linux/RCInput_RPI.h

@@ -77,7 +77,7 @@ public:
 class Linux::RCInput_RPI : public Linux::RCInput
 { 
 public:
-    void init(void*);
+    void init();
     void _timer_tick(void);
     RCInput_RPI();
     ~RCInput_RPI();

libraries/AP_HAL_Linux/RCInput_Raspilot.cpp

@@ -19,7 +19,7 @@ static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 using namespace Linux;
 
-void RCInput_Raspilot::init(void*)
+void RCInput_Raspilot::init()
 {
     _spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
     _spi_sem = _spi->get_semaphore();

libraries/AP_HAL_Linux/RCInput_Raspilot.h

@@ -8,7 +8,7 @@
 class Linux::RCInput_Raspilot : public Linux::RCInput
 {
 public:
-    void init(void*);
+    void init();
     
 private:
     uint32_t _last_timer;

libraries/AP_HAL_Linux/RCInput_UART.cpp

@@ -31,7 +31,7 @@ RCInput_UART::~RCInput_UART()
     close(_fd);
 }
 
-void RCInput_UART::init(void*)
+void RCInput_UART::init()
 {
     struct termios options;
 

libraries/AP_HAL_Linux/RCInput_UART.h

@@ -13,7 +13,7 @@ public:
     RCInput_UART(const char *path);
     ~RCInput_UART();
 
-    void init(void*) override;
+    void init() override;
     void _timer_tick(void) override;
 
 private:

libraries/AP_HAL_Linux/RCInput_UDP.cpp

@@ -14,7 +14,7 @@ RCInput_UDP::RCInput_UDP() :
     _last_buf_seq(0)
 {}
 
-void RCInput_UDP::init(void *)
+void RCInput_UDP::init()
 {
     _port = RCINPUT_UDP_DEF_PORT;
     if(!_socket.bind("0.0.0.0", _port)) {

libraries/AP_HAL_Linux/RCInput_UDP.h

@@ -12,7 +12,7 @@ class Linux::RCInput_UDP : public Linux::RCInput
 {
 public:
     RCInput_UDP();
-    void init(void*);
+    void init();
     void _timer_tick(void);
 private:
     SocketAPM   _socket{true};

libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp

@@ -21,7 +21,7 @@ extern const AP_HAL::HAL& hal;
 
 using namespace Linux;
 
-void RCInput_ZYNQ::init(void*)
+void RCInput_ZYNQ::init()
 {
     int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
     if (mem_fd == -1) {

libraries/AP_HAL_Linux/RCInput_ZYNQ.h

@@ -15,7 +15,7 @@
 class Linux::RCInput_ZYNQ : public Linux::RCInput
 {
 public:
-    void init(void*);
+    void init();
     void _timer_tick(void);
 
  private:

libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp

@@ -31,7 +31,7 @@ static void catch_sigbus(int sig)
 {
     AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
 }
-void RCOutput_AioPRU::init(void* machtnicht)
+void RCOutput_AioPRU::init()
 {
    uint32_t mem_fd;
    uint32_t *iram;

libraries/AP_HAL_Linux/RCOutput_AioPRU.h

@@ -20,7 +20,7 @@
 #define PWM_CHAN_COUNT 12
 
 class Linux::RCOutput_AioPRU : public AP_HAL::RCOutput {
-    void     init(void* machtnichts);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_Bebop.cpp

@@ -238,7 +238,7 @@ uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
     return (uint16_t)rpm_fl;
 }
 
-void RCOutput_Bebop::init(void* dummy)
+void RCOutput_Bebop::init()
 {
     int ret=0;
     struct sched_param param = { .sched_priority = RCOUT_BEBOP_RTPRIO };

libraries/AP_HAL_Linux/RCOutput_Bebop.h

@@ -55,7 +55,7 @@ public:
         return static_cast<RCOutput_Bebop*>(rcout);
     }
 
-    void     init(void* dummy);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp

@@ -80,7 +80,7 @@ RCOutput_PCA9685::~RCOutput_PCA9685()
     delete [] _pulses_buffer;
 }
 
-void RCOutput_PCA9685::init(void* machtnicht)
+void RCOutput_PCA9685::init()
 {
     _i2c_sem = hal.i2c->get_semaphore();
     if (_i2c_sem == NULL) {

libraries/AP_HAL_Linux/RCOutput_PCA9685.h

@@ -13,7 +13,7 @@ class Linux::RCOutput_PCA9685 : public AP_HAL::RCOutput {
     RCOutput_PCA9685(uint8_t addr, bool external_clock, uint8_t channel_offset,
                           int16_t oe_pin_number);
     ~RCOutput_PCA9685();
-    void     init(void* machtnichts);
+    void     init();
     void     reset_all_channels();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_PRU.cpp

@@ -28,7 +28,7 @@ static void catch_sigbus(int sig)
 {
     AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
 }
-void RCOutput_PRU::init(void* machtnicht)
+void RCOutput_PRU::init()
 {
     uint32_t mem_fd;
     signal(SIGBUS,catch_sigbus);

libraries/AP_HAL_Linux/RCOutput_PRU.h

@@ -16,7 +16,7 @@
 #define PWM_CMD_TEST	         6	/* various crap */
 
 class Linux::RCOutput_PRU : public AP_HAL::RCOutput {
-    void     init(void* machtnichts);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp

@@ -22,7 +22,7 @@ using namespace Linux;
 
 static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-void RCOutput_Raspilot::init(void* machtnicht)
+void RCOutput_Raspilot::init()
 {
     _spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
     _spi_sem = _spi->get_semaphore();

libraries/AP_HAL_Linux/RCOutput_Raspilot.h

@@ -5,7 +5,7 @@
 #include "AP_HAL_Linux.h"
 
 class Linux::RCOutput_Raspilot : public AP_HAL::RCOutput {
-    void     init(void* machtnichts);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp

@@ -43,7 +43,7 @@ RCOutput_Sysfs::~RCOutput_Sysfs()
     delete _pwm_channels;
 }
 
-void RCOutput_Sysfs::init(void *machtnichts)
+void RCOutput_Sysfs::init()
 {
     for (uint8_t i = 0; i < _channel_count; i++) {
         _pwm_channels[i] = new PWM_Sysfs(_chip, i);

libraries/AP_HAL_Linux/RCOutput_Sysfs.h

@@ -13,7 +13,7 @@ public:
         return static_cast<RCOutput_Sysfs *>(rcoutput);
     }
 
-    void init(void *machtnichts);
+    void init();
     void set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp

@@ -24,7 +24,7 @@ static void catch_sigbus(int sig)
 {
     AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
 }
-void RCOutput_ZYNQ::init(void* machtnicht)
+void RCOutput_ZYNQ::init()
 {
     uint32_t mem_fd;
     signal(SIGBUS,catch_sigbus);

libraries/AP_HAL_Linux/RCOutput_ZYNQ.h

@@ -15,7 +15,7 @@
 
 
 class Linux::RCOutput_ZYNQ : public AP_HAL::RCOutput {
-    void     init(void* machtnichts);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);

libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp

@@ -83,7 +83,7 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
     return NULL;
 }
 
-void RaspilotAnalogIn::init(void* implspecific)
+void RaspilotAnalogIn::init()
 {
     _vcc_pin_analog_source = channel(4);
     

libraries/AP_HAL_Linux/RaspilotAnalogIn.h

@@ -26,7 +26,7 @@ private:
 class RaspilotAnalogIn: public AP_HAL::AnalogIn {
 public:
     RaspilotAnalogIn();
-    void init(void* implspecific);
+    void init();
     AP_HAL::AnalogSource* channel(int16_t n);
 
     /* Board voltage is not available */

libraries/AP_HAL_Linux/SPIDriver.cpp

@@ -146,7 +146,7 @@ void SPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
     transaction(data, NULL, len);
 }
 
-void SPIDeviceManager::init(void *)
+void SPIDeviceManager::init()
 {
     for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
         if (_device[i]._bus >= LINUX_SPI_MAX_BUSES) {

libraries/AP_HAL_Linux/SPIDriver.h

@@ -48,7 +48,7 @@ private:
 
 class Linux::SPIDeviceManager : public AP_HAL::SPIDeviceManager {
 public:
-    void init(void *);
+    void init();
     AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice, uint8_t index = 0);
 
     static AP_HAL::Semaphore *get_semaphore(uint16_t bus);

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -77,7 +77,7 @@ void Scheduler::_create_realtime_thread(pthread_t *ctx, int rtprio,
     }
 }
 
-void Scheduler::init(void* machtnichts)
+void Scheduler::init()
 {
     mlockall(MCL_CURRENT|MCL_FUTURE);
 

libraries/AP_HAL_Linux/Scheduler.h

@@ -23,7 +23,7 @@ public:
         return static_cast<Scheduler*>(scheduler);
     }
 
-    void     init(void* machtnichts);
+    void     init();
     void     delay(uint16_t ms);
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc,

libraries/AP_HAL_Linux/Storage.h

@@ -25,7 +25,7 @@ public:
         return static_cast<Storage*>(storage);
     }
 
-    void init(void* machtnichts) {}
+    void init() {}
     uint8_t  read_byte(uint16_t loc);
     uint16_t read_word(uint16_t loc);
     uint32_t read_dword(uint16_t loc);