Global: change Device::PeriodicCb signature

Remove bool return as it's never being used and not supported on PX4.
Yukong · Jan 13, 2017 · 5472bc4 · 5472bc4
1 parent 5aa4bc4
commit 5472bc4
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Showing 64 changed files with 135 additions and 185 deletions.
diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.cpp b/libraries/AP_ADC/AP_ADC_ADS1115.cpp
@@ -130,7 +130,7 @@ bool AP_ADC_ADS1115::init()
 
     _gain = ADS1115_PGA_4P096;
 
-    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, bool));
+    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void));
 
     return true;
 }
@@ -200,23 +200,23 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
     return (float) word * pga;
 }
 
-bool AP_ADC_ADS1115::_update()
+void AP_ADC_ADS1115::_update()
 {
     uint8_t config[2];
     be16_t val;
 
     if (!_dev->read_registers(ADS1115_RA_CONFIG, config, sizeof(config))) {
         error("_dev->read_registers failed in ADS1115");
-        return true;
+        return;
     }
 
     /* check rdy bit */
     if ((config[1] & 0x80) != 0x80 ) {
-        return true;
+        return;
     }
 
     if (!_dev->read_registers(ADS1115_RA_CONVERSION, (uint8_t *)&val,  sizeof(val))) {
-        return true;
+        return;
     }
 
     float sample = _convert_register_data_to_mv(be16toh(val));
@@ -227,6 +227,4 @@ bool AP_ADC_ADS1115::_update()
     /* select next channel */
     _channel_to_read = (_channel_to_read + 1) % _channels_number;
     _start_conversion(_channel_to_read);
-
-    return true;
 }
diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.h b/libraries/AP_ADC/AP_ADC_ADS1115.h
@@ -36,7 +36,7 @@ class AP_ADC_ADS1115
     int                 _channel_to_read;
     adc_report_s        *_samples;
 
-    bool _update();
+    void _update();
     bool _start_conversion(uint8_t channel);
 
     float _convert_register_data_to_mv(int16_t word) const;

diff --git a/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp b/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
@@ -84,7 +84,7 @@ bool AP_Airspeed_MS4525::init()
     _dev->set_retries(2);
 
     _dev->register_periodic_callback(20000,
-                                     FUNCTOR_BIND_MEMBER(&AP_Airspeed_MS4525::_timer, bool));
+                                     FUNCTOR_BIND_MEMBER(&AP_Airspeed_MS4525::_timer, void));
     return true;
 }
 
@@ -173,18 +173,17 @@ void AP_Airspeed_MS4525::_voltage_correction(float &diff_press_pa, float &temper
 }
 
 // 50Hz timer
-bool AP_Airspeed_MS4525::_timer()
+void AP_Airspeed_MS4525::_timer()
 {
     if (_measurement_started_ms == 0) {
         _measure();
-        return true;
+        return;
     }
     if ((AP_HAL::millis() - _measurement_started_ms) > 10) {
         _collect();
         // start a new measurement
         _measure();
     }
-    return true;
 }
 
 // return the current differential_pressure in Pascal

diff --git a/libraries/AP_Airspeed/AP_Airspeed_MS4525.h b/libraries/AP_Airspeed/AP_Airspeed_MS4525.h
@@ -45,7 +45,7 @@ class AP_Airspeed_MS4525 : public AP_Airspeed_Backend
 private:
     void _measure();
     void _collect();
-    bool _timer();
+    void _timer();
     void _voltage_correction(float &diff_press_pa, float &temperature);
 
     float _temp_sum;

diff --git a/libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp b/libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp
@@ -96,7 +96,7 @@ bool AP_Airspeed_MS5525::init()
 
     // read at 80Hz
     dev->register_periodic_callback(1000000UL/80U,
-                                    FUNCTOR_BIND_MEMBER(&AP_Airspeed_MS5525::timer, bool));
+                                    FUNCTOR_BIND_MEMBER(&AP_Airspeed_MS5525::timer, void));
     return true;
 }
 
@@ -219,7 +219,7 @@ void AP_Airspeed_MS5525::calculate(void)
 }
 
 // 50Hz timer
-bool AP_Airspeed_MS5525::timer()
+void AP_Airspeed_MS5525::timer()
 {
     uint32_t adc_val = read_adc();
 
@@ -241,12 +241,10 @@ bool AP_Airspeed_MS5525::timer()
 
     uint8_t next_cmd = next_state == 0 ? REG_CONVERT_TEMPERATURE : REG_CONVERT_PRESSURE;
     if (!dev->transfer(&next_cmd, 1, nullptr, 0)) {
-        return true;
+        return;
     }
 
     state = next_state;
-
-    return true;
 }
 
 // return the current differential_pressure in Pascal

diff --git a/libraries/AP_Airspeed/AP_Airspeed_MS5525.h b/libraries/AP_Airspeed/AP_Airspeed_MS5525.h
@@ -45,7 +45,7 @@ class AP_Airspeed_MS5525 : public AP_Airspeed_Backend
 private:
     void measure();
     void collect();
-    bool timer();
+    void timer();
     bool read_prom(void);
     uint16_t crc4_prom(void);
     int32_t read_adc();

diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -81,16 +81,16 @@ AP_Baro_BMP085::AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::I2CDevice>
 
     sem->give();
 
-    _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP085::_timer, bool));
+    _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP085::_timer, void));
 }
 
 /*
   This is a state machine. Acumulate a new sensor reading.
  */
-bool AP_Baro_BMP085::_timer(void)
+void AP_Baro_BMP085::_timer(void)
 {
     if (!_data_ready()) {
-        return true;
+        return;
     }
 
     if (_state == 0) {
@@ -106,7 +106,6 @@ bool AP_Baro_BMP085::_timer(void)
     } else {
         _cmd_read_pressure();
     }
-    return true;
 }
 
 /*

diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -23,8 +23,8 @@ class AP_Baro_BMP085 : public AP_Baro_Backend
     void _calculate();
     bool _data_ready();
 
-    bool _timer(void);
-    
+    void _timer(void);
+
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
     AP_HAL::DigitalSource *_eoc;
 

diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -137,7 +137,7 @@ bool AP_Baro_MS56XX::_init()
 
     /* Request 100Hz update */
     _dev->register_periodic_callback(10 * USEC_PER_MSEC,
-                                     FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, bool));
+                                     FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void));
     return true;
 }
 
@@ -259,7 +259,7 @@ bool AP_Baro_MS56XX::_read_prom_5637(uint16_t prom[8])
  * as fast as pressure. Hence we reuse the same temperature for 4 samples of
  * pressure.
 */
-bool AP_Baro_MS56XX::_timer(void)
+void AP_Baro_MS56XX::_timer(void)
 {
     uint8_t next_cmd;
     uint8_t next_state;
@@ -278,21 +278,21 @@ bool AP_Baro_MS56XX::_timer(void)
     next_cmd = next_state == 0 ? ADDR_CMD_CONVERT_TEMPERATURE
                                : ADDR_CMD_CONVERT_PRESSURE;
     if (!_dev->transfer(&next_cmd, 1, nullptr, 0)) {
-        return true;
+        return;
     }
 
     /* if we had a failed read we are all done */
     if (adc_val == 0) {
         // a failed read can mean the next returned value will be
         // corrupt, we must discard it
         _discard_next = true;
-        return true;
+        return;
     }
 
     if (_discard_next) {
         _discard_next = false;
         _state = next_state;
-        return true;
+        return;
     }
 
     if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
@@ -306,8 +306,6 @@ bool AP_Baro_MS56XX::_timer(void)
         _sem->give();
         _state = next_state;
     }
-
-    return true;
 }
 
 void AP_Baro_MS56XX::_update_and_wrap_accumulator(uint32_t *accum, uint32_t val,

diff --git a/libraries/AP_Baro/AP_Baro_MS5611.h b/libraries/AP_Baro/AP_Baro_MS5611.h
@@ -46,7 +46,7 @@ class AP_Baro_MS56XX : public AP_Baro_Backend
     uint16_t _read_prom_word(uint8_t word);
     uint32_t _read_adc();
 
-    bool _timer();
+    void _timer();
 
     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
 

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.cpp
@@ -30,7 +30,7 @@ AP_BattMonitor_SMBus_I2C::AP_BattMonitor_SMBus_I2C(AP_BattMonitor &mon, uint8_t
     : AP_BattMonitor_SMBus(mon, instance, mon_state)
     , _dev(std::move(dev))
 {
-    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_I2C::timer, bool));
+    _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_I2C::timer, void));
 }
 
 /// Read the battery voltage and current.  Should be called at 10hz
@@ -39,7 +39,7 @@ void AP_BattMonitor_SMBus_I2C::read()
     // nothing to do - all done in timer()
 }
 
-bool AP_BattMonitor_SMBus_I2C::timer()
+void AP_BattMonitor_SMBus_I2C::timer()
 {
     uint16_t data;
     uint8_t buff[4];
@@ -62,7 +62,6 @@ bool AP_BattMonitor_SMBus_I2C::timer()
     if ((tnow - _state.last_time_micros) > AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) {
         _state.healthy = false;
     }
-    return true;
 }
 
 // read word from register

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.h
@@ -23,7 +23,7 @@ class AP_BattMonitor_SMBus_I2C : public AP_BattMonitor_SMBus
 
 private:
 
-    bool timer(void);
+    void timer(void);
 
     // read word from register
     // returns true if read was successful, false if failed

diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -103,7 +103,7 @@ bool AP_Compass_AK09916::init()
 
     // call timer() at 100Hz
     dev->register_periodic_callback(10000,
-                                    FUNCTOR_BIND_MEMBER(&AP_Compass_AK09916::timer, bool));
+                                    FUNCTOR_BIND_MEMBER(&AP_Compass_AK09916::timer, void));
 
     return true;
 
@@ -112,7 +112,7 @@ bool AP_Compass_AK09916::init()
     return false;
 }
 
-bool AP_Compass_AK09916::timer()
+void AP_Compass_AK09916::timer()
 {
     struct PACKED {
         int16_t magx;
@@ -131,7 +131,7 @@ bool AP_Compass_AK09916::timer()
     if (!dev->read_registers(REG_ST1, &st1, 1) || !(st1 & 1)) {
         goto check_registers;
     }
-    
+
     if (!dev->read_registers(REG_HXL, (uint8_t *)&data, sizeof(data))) {
         goto check_registers;
     }
@@ -155,7 +155,6 @@ bool AP_Compass_AK09916::timer()
 
 check_registers:
     dev->check_next_register();
-    return true;
 }
 
 void AP_Compass_AK09916::read()

diff --git a/libraries/AP_Compass/AP_Compass_AK09916.h b/libraries/AP_Compass/AP_Compass_AK09916.h
@@ -49,7 +49,7 @@ class AP_Compass_AK09916 : public AP_Compass_Backend
      * Device periodic callback to read data from the sensor.
      */
     bool init();
-    bool timer();
+    void timer();
 
     uint8_t compass_instance;
     Vector3f accum;

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -168,7 +168,7 @@ bool AP_Compass_AK8963::init()
     bus_sem->give();
 
     /* timer needs to be called every 10ms so set the freq_div to 10 */
-    if (!_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, bool))) {
+    if (!_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void))) {
         // fallback to timer
         _timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void), 10);
     }
@@ -215,26 +215,26 @@ void AP_Compass_AK8963::_make_factory_sensitivity_adjustment(Vector3f& field) co
     field.z *= _magnetometer_ASA[2];
 }
 
-bool AP_Compass_AK8963::_update()
+void AP_Compass_AK8963::_update()
 {
     struct sample_regs regs;
     Vector3f raw_field;
     uint32_t time_us = AP_HAL::micros();
 
     if (!_bus->block_read(AK8963_HXL, (uint8_t *) &regs, sizeof(regs))) {
-        goto fail;
+        return;
     }
 
     /* Check for overflow. See AK8963's datasheet, section
      * 6.4.3.6 - Magnetic Sensor Overflow. */
     if ((regs.st2 & 0x08)) {
-        goto fail;
+        return;
     }
 
     raw_field = Vector3f(regs.val[0], regs.val[1], regs.val[2]);
 
     if (is_zero(raw_field.x) && is_zero(raw_field.y) && is_zero(raw_field.z)) {
-        goto fail;
+        return;
     }
 
     _make_factory_sensitivity_adjustment(raw_field);
@@ -263,9 +263,6 @@ bool AP_Compass_AK8963::_update()
         }
         _sem->give();
     }
-
-fail:
-    return true;
 }
 
 /*

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -50,7 +50,7 @@ class AP_Compass_AK8963 : public AP_Compass_Backend
     bool _check_id();
     bool _calibrate();
 
-    bool _update();
+    void _update();
     void _update_timer();
 
     AP_AK8963_BusDriver *_bus;