[paparazzi-commits] [4171] some macros to static inline

[Felix Ruess]

Revision: 4171
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4171
Author:   flixr
Date:     2009-09-18 11:57:07 +0000 (Fri, 18 Sep 2009)
Log Message:
-----------
some macros to static inline

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c
    paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2009-09-18 11:57:00 UTC (rev 4170)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_supervision.c      
2009-09-18 11:57:07 UTC (rev 4171)
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #include "actuators/booz_supervision.h"
@@ -43,26 +43,26 @@
   uint8_t i;
   for (i=0; i<SUPERVISION_NB_MOTOR; i++) {
     supervision.commands[i] = 0;
-    supervision.trim[i] = 
+    supervision.trim[i] =
       roll_coef[i]  * SUPERVISION_TRIM_A +
-      pitch_coef[i] * SUPERVISION_TRIM_E + 
+      pitch_coef[i] * SUPERVISION_TRIM_E +
       yaw_coef[i]   * SUPERVISION_TRIM_R;
   }
   supervision.nb_failure = 0;
 }
 
-#define OFFSET_COMMANDS(_o) {                                  \
-    uint8_t j;                                                 \
-    for (j=0; j<SUPERVISION_NB_MOTOR; j++)                     \
-      supervision.commands[j] += (_o);                         \
-  }
+static inline void offset_commands(int32_t offset) {
+  uint8_t j;
+  for (j=0; j<SUPERVISION_NB_MOTOR; j++)
+    supervision.commands[j] += (offset);
+}
 
-#define BOUND_COMMANDS() {                                     \
-    uint8_t j;                                                 \
-    for (j=0; j<SUPERVISION_NB_MOTOR; j++)                     \
-      Bound(supervision.commands[j],                           \
-           SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR);      \
-  }
+static inline void bound_commands() {
+  uint8_t j;
+  for (j=0; j<SUPERVISION_NB_MOTOR; j++)
+    Bound(supervision.commands[j],
+          SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR);
+}
 
 void supervision_run(bool_t motors_on, int32_t in_cmd[] ) {
   uint8_t i;
@@ -70,24 +70,24 @@
     int32_t min_cmd = INT32_MAX;
     int32_t max_cmd = INT32_MIN;
     for (i=0; i<SUPERVISION_NB_MOTOR; i++) {
-      supervision.commands[i] = 
-       (thrust_coef[i] * in_cmd[COMMAND_THRUST] +
-        roll_coef[i]   * in_cmd[COMMAND_ROLL]   +
-        pitch_coef[i]  * in_cmd[COMMAND_PITCH]  +
-        yaw_coef[i]    * in_cmd[COMMAND_YAW]    +
+      supervision.commands[i] =
+        (thrust_coef[i] * in_cmd[COMMAND_THRUST] +
+         roll_coef[i]   * in_cmd[COMMAND_ROLL]   +
+         pitch_coef[i]  * in_cmd[COMMAND_PITCH]  +
+         yaw_coef[i]    * in_cmd[COMMAND_YAW]    +
          supervision.trim[i]) / SUPERVISION_SCALE;
       if (supervision.commands[i] < min_cmd)
-       min_cmd = supervision.commands[i];
+        min_cmd = supervision.commands[i];
       if (supervision.commands[i] > max_cmd)
-       max_cmd = supervision.commands[i];
+        max_cmd = supervision.commands[i];
     }
     if (min_cmd < SUPERVISION_MIN_MOTOR && max_cmd > SUPERVISION_MAX_MOTOR)
       supervision.nb_failure++;
     if (min_cmd < SUPERVISION_MIN_MOTOR)
-      OFFSET_COMMANDS(-(min_cmd - SUPERVISION_MIN_MOTOR));
+      offset_commands(-(min_cmd - SUPERVISION_MIN_MOTOR));
     if (max_cmd > SUPERVISION_MAX_MOTOR)
-      OFFSET_COMMANDS(-(max_cmd - SUPERVISION_MAX_MOTOR));
-    BOUND_COMMANDS(); 
+      offset_commands(-(max_cmd - SUPERVISION_MAX_MOTOR));
+    bound_commands();
   }
   else
     for (i=0; i<SUPERVISION_NB_MOTOR; i++)

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-18 11:57:00 UTC 
(rev 4170)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_autopilot.h 2009-09-18 11:57:07 UTC 
(rev 4171)
@@ -102,14 +102,14 @@
 #ifndef TRESHOLD_GROUND_DETECT
 #define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.)
 #endif
-#define BoozDetectGroundEvent() {                                      \
-    if (booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE || 
booz2_autopilot_detect_ground_once) { \
-      if (booz_ins_ltp_accel.z < -TRESHOLD_GROUND_DETECT || \
-               booz_ins_ltp_accel.z > TRESHOLD_GROUND_DETECT) { \
-        booz2_autopilot_detect_ground = TRUE; \
-        booz2_autopilot_detect_ground_once = FALSE; \
-      } \
-    } \
+static inline void BoozDetectGroundEvent() {
+  if (booz2_autopilot_mode == BOOZ2_AP_MODE_FAILSAFE || 
booz2_autopilot_detect_ground_once) {
+    if (booz_ins_ltp_accel.z < -TRESHOLD_GROUND_DETECT ||
+        booz_ins_ltp_accel.z > TRESHOLD_GROUND_DETECT) {
+      booz2_autopilot_detect_ground = TRUE;
+      booz2_autopilot_detect_ground_once = FALSE;
+    }
   }
+}
 
 #endif /* BOOZ2_AUTOPILOT_H */