removed AperiodicProcess code

this code was never being used, and was more complex than it was
worth.

ArduCopter/ArduCopter.pde

@@ -61,10 +61,9 @@ And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_IMU.h>         // ArduPilot Mega IMU Library
-#include <AP_PeriodicProcess.h>         // Parent header of Timer and TimerAperiodic
+#include <AP_PeriodicProcess.h>         // Parent header of Timer
                                         // (only included for makefile libpath to work)
 #include <AP_TimerProcess.h>            // TimerProcess is the scheduler for MPU6000 reads.
-#include <AP_TimerAperiodicProcess.h>   // TimerAperiodicProcess is the scheduler for ADC reads.
 #include <AP_DCM.h>         // ArduPilot Mega DCM Library
 #include <APM_PI.h>            	// PI library
 #include <RC_Channel.h>     // RC Channel Library

ArduPlane/ArduPlane.pde

@@ -34,7 +34,7 @@ version 2.1 of the License, or (at your option) any later version.
 #include <DataFlash.h>      // ArduPilot Mega Flash Memory Library
 #include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
 #include <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter
-#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess and TimerAperiodicProcess
+#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess
 #include <AP_Baro.h>        // ArduPilot barometer library
 #include <AP_Compass.h>     // ArduPilot Mega Magnetometer Library
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library

libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde

@@ -12,7 +12,7 @@
 FastSerialPort0(Serial);        // FTDI/console
 
 Arduino_Mega_ISR_Registry isr_registry;
-AP_TimerAperiodicProcess  adc_scheduler;
+AP_PeriodicProcess  adc_scheduler;
 
 
 unsigned long timer;

libraries/AP_IMU/examples/AP_IMU_MPU6000/AP_IMU_MPU6000.pde

@@ -7,10 +7,9 @@
 #include <FastSerial.h>
 #include <AP_IMU.h>
 #include <AP_IMU_MPU6000.h>             // Experimental MPU6000 IMU library
-#include <AP_PeriodicProcess.h>         // Parent header of Timer and TimerAperiodic
+#include <AP_PeriodicProcess.h>         // Parent header of Timer
                                         // (only included for makefile libpath to work)
 #include <AP_TimerProcess.h>            // TimerProcess is the scheduler for MPU6000 reads.
-#include <AP_TimerAperiodicProcess.h>   // TimerAperiodicProcess is the scheduler for ADC reads.
 #include <AP_ADC.h>
 #include <AP_Math.h>
 #include <AP_Common.h>

libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde

@@ -17,7 +17,7 @@
 FastSerialPort(Serial, 0);
 
 Arduino_Mega_ISR_Registry isr_registry;
-AP_TimerAperiodicProcess  adc_scheduler;
+AP_TimerPeriodicProcess  adc_scheduler;
 
 AP_ADC_ADS7844	adc;
 AP_InertialSensor_Oilpan oilpan_ins(&adc);

libraries/AP_PeriodicProcess/AP_PeriodicProcess.h

@@ -5,6 +5,5 @@
 #include "PeriodicProcess.h"
 #include "AP_PeriodicProcessStub.h"
 #include "AP_TimerProcess.h"
-#include "AP_TimerAperiodicProcess.h"
 
 #endif // __AP_PERIODIC_PROCESS_H__

libraries/AP_PeriodicProcess/AP_TimerAperiodicProcess.cpp

@@ -1,41 +0,0 @@
-
-#include "AP_TimerAperiodicProcess.h"
-
-extern "C" {
-#include <inttypes.h>
-#include <stdint.h>
-#include "WConstants.h"
-}
-// TCNT2 values for various interrupt rates,
-// assuming 256 prescaler. Note that these values
-// assume a zero-time ISR. The actual rate will be a
-// bit lower than this
-#define TCNT2_781_HZ   (256-80)
-#define TCNT2_1008_HZ  (256-62)
-#define TCNT2_1302_HZ  (256-48)
-
-uint8_t AP_TimerAperiodicProcess::_timer_offset;
-
-void AP_TimerAperiodicProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
-{
-	// Enable Timer2 Overflow interrupt to trigger process.
-	TIMSK2 = 0;                 // Disable interrupts
-	TCCR2A = 0;                 // normal counting mode
-	TCCR2B = _BV(CS21) | _BV(CS22);	// Set prescaler of clk/256
-	TCNT2  = 0;                 // Set count to zero, so it goes off right away.
-	TIFR2  = _BV(TOV2);	        // clear pending interrupts;
-	TIMSK2 = _BV(TOIE2);        // enable the overflow interrupt
-
-    isr_reg->register_signal(ISR_REGISTRY_TIMER2_OVF, AP_TimerAperiodicProcess::run);
-}
-
-void AP_TimerAperiodicProcess::run(void)
-{
-    _timer_offset = (_timer_offset + 49) % 32;
-    _period = TCNT2_781_HZ + _timer_offset;
-    TCNT2 = _period;
-    for (int i = 0; i < _pidx; i++) {
-        if (_proc[i] != NULL)
-            _proc[i]();
-    }
-}

libraries/AP_PeriodicProcess/AP_TimerAperiodicProcess.h

@@ -1,19 +0,0 @@
-
-#ifndef __AP_TIMER_APERIODIC_PROCESS_H__
-#define __AP_TIMER_APERIODIC_PROCESS_H__
-
-#include <stdint.h>
-
-#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
-#include "AP_TimerProcess.h"
-
-class AP_TimerAperiodicProcess : public AP_TimerProcess
-{
-    public:
-        void init( Arduino_Mega_ISR_Registry * isr_reg );
-        static void run(void);
-    private:
-        static uint8_t _timer_offset;
-};
-
-#endif // __AP_TIMER_APERIODIC_PROCESS_H__

libraries/Desktop/support/sitl.cpp

@@ -25,7 +25,6 @@
 #include <wiring.h>
 #include <AP_PeriodicProcess.h>
 #include <AP_TimerProcess.h>
-#include <AP_TimerAperiodicProcess.h>
 #include "sitl_adc.h"
 #include "sitl_rc.h"
 #include "desktop.h"