AP_HAL: removed the defer_timer_process() function

this is now unused

libraries/AP_HAL/Scheduler.h

@@ -18,7 +18,6 @@ public:
     virtual void     register_delay_callback(AP_HAL::Proc,
                         uint16_t min_time_ms) = 0;
     virtual void     register_timer_process(AP_HAL::TimedProc) = 0;
-    virtual bool     defer_timer_process(AP_HAL::TimedProc) = 0;
     virtual void     register_timer_failsafe(AP_HAL::TimedProc,
                         uint32_t period_us) = 0;
     virtual void     suspend_timer_procs() = 0;

libraries/AP_HAL_AVR/Scheduler.cpp

@@ -23,7 +23,6 @@ AVRTimer AVRScheduler::_timer;
 AP_HAL::TimedProc AVRScheduler::_failsafe = NULL;
 volatile bool AVRScheduler::_timer_suspended = false;
 AP_HAL::TimedProc AVRScheduler::_timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
-AP_HAL::TimedProc AVRScheduler::_defered_timer_proc = NULL;
 uint8_t AVRScheduler::_num_timer_procs = 0;
 bool AVRScheduler::_in_timer_proc = false;
 
@@ -108,19 +107,6 @@ void AVRScheduler::register_timer_process(AP_HAL::TimedProc proc) {
 
 }
 
-bool AVRScheduler::defer_timer_process(AP_HAL::TimedProc proc) {
-    if ( _in_timer_proc || _timer_suspended ) {
-        _defered_timer_proc = proc;
-        return false;
-    } else {
-        _timer_suspended = true;
-        sei();
-        proc(_timer.micros());
-        _timer_suspended = false;
-        return true;
-    }
-}
-
 void AVRScheduler::register_timer_failsafe(
         AP_HAL::TimedProc failsafe, uint32_t period_us) {
     /* XXX Assert period_us == 1000 */
@@ -174,18 +160,6 @@ void AVRScheduler::_timer_event() {
         }
     }
 
-    /* Run any defered procedures, if they exist.*/
-    cli();
-    /* Atomic read and clear: */
-    AP_HAL::TimedProc defered = _defered_timer_proc;
-    _defered_timer_proc = NULL;
-    sei();
-    if (defered != NULL) {
-        _timer_suspended = true;
-        defered(tnow);
-        _timer_suspended = false;
-    }
-
     // and the failsafe, if one is setup
     if (_failsafe != NULL) {
         _failsafe(tnow);

libraries/AP_HAL_AVR/Scheduler.h

@@ -31,7 +31,6 @@ public:
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
     void     register_timer_process(AP_HAL::TimedProc);
-    bool     defer_timer_process(AP_HAL::TimedProc);
     void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
     void     suspend_timer_procs();
     void     resume_timer_procs();
@@ -54,7 +53,6 @@ private:
 
     static volatile bool _timer_suspended;
     static AP_HAL::TimedProc _timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS];
-    static AP_HAL::TimedProc _defered_timer_proc;
     static uint8_t _num_timer_procs;
     static bool    _in_timer_proc;
 

libraries/AP_HAL_AVR_SITL/Scheduler.cpp

@@ -16,7 +16,6 @@ extern const AP_HAL::HAL& hal;
 AP_HAL::TimedProc SITLScheduler::_failsafe = NULL;
 volatile bool SITLScheduler::_timer_suspended = false;
 AP_HAL::TimedProc SITLScheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
-AP_HAL::TimedProc SITLScheduler::_defered_timer_proc = NULL;
 uint8_t SITLScheduler::_num_timer_procs = 0;
 bool SITLScheduler::_in_timer_proc = false;
 struct timeval SITLScheduler::_sketch_start_time;
@@ -100,19 +99,6 @@ void SITLScheduler::register_timer_process(AP_HAL::TimedProc proc)
 
 }
 
-bool SITLScheduler::defer_timer_process(AP_HAL::TimedProc proc) 
-{
-    if ( _in_timer_proc || _timer_suspended ) {
-        _defered_timer_proc = proc;
-        return false;
-    } else {
-        _timer_suspended = true;
-        proc(micros());
-        _timer_suspended = false;
-        return true;
-    }
-}
-
 void SITLScheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe, uint32_t period_us) 
 {
     _failsafe = failsafe;
@@ -173,16 +159,6 @@ void SITLScheduler::timer_event()
         }
     }
 
-    /* Run any defered procedures, if they exist.*/
-    /* Atomic read and clear: */
-    AP_HAL::TimedProc defered = _defered_timer_proc;
-    _defered_timer_proc = NULL;
-    if (defered != NULL) {
-        _timer_suspended = true;
-        defered(tnow);
-        _timer_suspended = false;
-    }
-
     // and the failsafe, if one is setup
     if (_failsafe != NULL) {
         _failsafe(tnow);

libraries/AP_HAL_AVR_SITL/Scheduler.h

@@ -22,7 +22,6 @@ public:
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
     void     register_timer_process(AP_HAL::TimedProc);
-    bool     defer_timer_process(AP_HAL::TimedProc);
     void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
     void     suspend_timer_procs();
     void     resume_timer_procs();
@@ -47,7 +46,6 @@ private:
 
     static volatile bool _timer_suspended;
     static AP_HAL::TimedProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
-    static AP_HAL::TimedProc _defered_timer_proc;
     static uint8_t _num_timer_procs;
     static bool    _in_timer_proc;
 

libraries/AP_HAL_Empty/Scheduler.cpp

@@ -32,11 +32,6 @@ void EmptyScheduler::register_delay_callback(AP_HAL::Proc k,
 void EmptyScheduler::register_timer_process(AP_HAL::TimedProc k)
 {}
 
-bool EmptyScheduler::defer_timer_process(AP_HAL::TimedProc k) {
-    if (k) k(5000);
-    return true;
-}
-
 void EmptyScheduler::register_timer_failsafe(AP_HAL::TimedProc,
             uint32_t period_us)
 {}

libraries/AP_HAL_Empty/Scheduler.h

@@ -15,7 +15,6 @@ public:
     void     register_delay_callback(AP_HAL::Proc,
                 uint16_t min_time_ms);
     void     register_timer_process(AP_HAL::TimedProc);
-    bool     defer_timer_process(AP_HAL::TimedProc);
     void     register_timer_failsafe(AP_HAL::TimedProc,
                 uint32_t period_us);
     void     suspend_timer_procs();