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[paparazzi-commits] [4172] some macros to static inline functions
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From: |
Felix Ruess |
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Subject: |
[paparazzi-commits] [4172] some macros to static inline functions |
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Date: |
Fri, 18 Sep 2009 11:57:14 +0000 |
Revision: 4172
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4172
Author: flixr
Date: 2009-09-18 11:57:13 +0000 (Fri, 18 Sep 2009)
Log Message:
-----------
some macros to static inline functions
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_analog_hw.h
paparazzi3/trunk/sw/airborne/booz/booz2_analog_baro.h
paparazzi3/trunk/sw/airborne/booz/booz2_battery.c
paparazzi3/trunk/sw/airborne/booz/booz2_battery.h
paparazzi3/trunk/sw/airborne/booz/booz2_gps.h
Modified: paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_analog_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_analog_hw.h
2009-09-18 11:57:07 UTC (rev 4171)
+++ paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_analog_hw.h
2009-09-18 11:57:13 UTC (rev 4172)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,15 +18,18 @@
* 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.
*/
#ifndef BOOZ2_ANALOG_HW_H
#define BOOZ2_ANALOG_HW_H
#include "LPC21xx.h"
+#include "std.h"
-#define Booz2AnalogSetDAC(x) { DACR = x << 6; }
+static inline void Booz2AnalogSetDAC(uint16_t x) {
+ DACR = x << 6;
+}
extern void booz2_analog_init_hw(void);
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_analog_baro.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_analog_baro.h 2009-09-18
11:57:07 UTC (rev 4171)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_analog_baro.h 2009-09-18
11:57:13 UTC (rev 4172)
@@ -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.
*/
#ifndef BOOZ2_ANALOG_BARO_H
@@ -42,27 +42,27 @@
extern void booz2_analog_baro_calibrate(void);
-#define Booz2AnalogBaroEvent(_handler) { \
- if (booz2_analog_baro_data_available) { \
- _handler(); \
+#define Booz2AnalogBaroEvent(_handler) { \
+ if (booz2_analog_baro_data_available) { \
+ _handler(); \
booz2_analog_baro_data_available = FALSE; \
- } \
+ } \
}
-#define booz2_analog_baro_SetOffset(_o) { \
- booz2_analog_baro_offset = _o; \
- Booz2AnalogSetDAC(((uint16_t)_o)); \
- }
+static inline void booz2_analog_baro_SetOffset(uint16_t _o) {
+ booz2_analog_baro_offset = _o;
+ Booz2AnalogSetDAC(_o);
+}
-#define Booz2BaroISRHandler(_val) { \
- booz2_analog_baro_value = _val; \
- booz2_analog_baro_value_filtered = (3*booz2_analog_baro_value_filtered +
booz2_analog_baro_value)/4; \
- if (booz2_analog_baro_status == BOOZ2_ANALOG_BARO_UNINIT) {
\
- RunOnceEvery(10, { booz2_analog_baro_calibrate();}); \
- } \
- /* else */
\
- booz2_analog_baro_data_available = TRUE; \
+static inline void Booz2BaroISRHandler(uint16_t _val) {
+ booz2_analog_baro_value = _val;
+ booz2_analog_baro_value_filtered = (3*booz2_analog_baro_value_filtered +
booz2_analog_baro_value)/4;
+ if (booz2_analog_baro_status == BOOZ2_ANALOG_BARO_UNINIT) {
+ RunOnceEvery(10, { booz2_analog_baro_calibrate();});
}
+ /* else */
+ booz2_analog_baro_data_available = TRUE;
+}
#endif /* BOOZ2_ANALOG_BARO_H */
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_battery.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_battery.c 2009-09-18 11:57:07 UTC
(rev 4171)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_battery.c 2009-09-18 11:57:13 UTC
(rev 4172)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,13 +18,13 @@
* 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 "booz2_battery.h"
uint8_t booz2_battery_voltage;
-extern void booz2_battery_init(void) {
+void booz2_battery_init(void) {
booz2_battery_voltage = 0;
}
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_battery.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_battery.h 2009-09-18 11:57:07 UTC
(rev 4171)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_battery.h 2009-09-18 11:57:13 UTC
(rev 4172)
@@ -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.
*/
#ifndef BOOZ2_BATTERY_H
@@ -31,11 +31,11 @@
/* decivolts */
extern uint8_t booz2_battery_voltage;
-#define Booz2BatteryISRHandler(_val) { \
- uint32_t cal_v = (uint32_t)(_val) * BATTERY_SENS_NUM / BATTERY_SENS_DEN; \
- uint32_t sum = (uint32_t)booz2_battery_voltage + cal_v; \
- booz2_battery_voltage = (uint8_t)(sum/2); \
- }
+static inline void Booz2BatteryISRHandler(uint16_t _val) {
+ uint32_t cal_v = (uint32_t)(_val) * BATTERY_SENS_NUM / BATTERY_SENS_DEN;
+ uint32_t sum = (uint32_t)booz2_battery_voltage + cal_v;
+ booz2_battery_voltage = (uint8_t)(sum/2);
+}
extern void booz2_battery_init(void);
Modified: paparazzi3/trunk/sw/airborne/booz/booz2_gps.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_gps.h 2009-09-18 11:57:07 UTC
(rev 4171)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_gps.h 2009-09-18 11:57:13 UTC
(rev 4172)
@@ -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.
*/
#ifndef BOOZ2_GPS_H
@@ -56,34 +56,36 @@
#define GPS_LINKChAvailable() (FALSE)
#define GPS_LINKGetch() (TRUE)
#include "nps_sensors.h"
-#define booz_gps_feed_value() { \
- booz_gps_state.ecef_pos.x = sensors.gps.ecef_pos.x * 100.; \
- booz_gps_state.ecef_pos.y = sensors.gps.ecef_pos.y * 100.; \
- booz_gps_state.ecef_pos.z = sensors.gps.ecef_pos.z * 100.; \
- booz_gps_state.ecef_vel.x = sensors.gps.ecef_vel.x * 100.; \
- booz_gps_state.ecef_vel.y = sensors.gps.ecef_vel.y * 100.; \
- booz_gps_state.ecef_vel.z = sensors.gps.ecef_vel.z * 100.; \
- booz_gps_state.fix = BOOZ2_GPS_FIX_3D; \
- booz_gps_available = TRUE; \
+
+static inline void booz_gps_feed_value() {
+ booz_gps_state.ecef_pos.x = sensors.gps.ecef_pos.x * 100.;
+ booz_gps_state.ecef_pos.y = sensors.gps.ecef_pos.y * 100.;
+ booz_gps_state.ecef_pos.z = sensors.gps.ecef_pos.z * 100.;
+ booz_gps_state.ecef_vel.x = sensors.gps.ecef_vel.x * 100.;
+ booz_gps_state.ecef_vel.y = sensors.gps.ecef_vel.y * 100.;
+ booz_gps_state.ecef_vel.z = sensors.gps.ecef_vel.z * 100.;
+ booz_gps_state.fix = BOOZ2_GPS_FIX_3D;
+ booz_gps_available = TRUE;
+}
+
+#define Booz2GpsEvent(_sol_available_callback) { \
+ if (booz_gps_available) { \
+ _sol_available_callback(); \
+ booz_gps_available = FALSE; \
+ } \
}
-#define Booz2GpsEvent(_sol_available_callback) { \
- if (booz_gps_available) { \
- _sol_available_callback(); \
- booz_gps_available = FALSE; \
- } \
- }
#else /* ! SITL */
-#define Booz2GpsEvent(_sol_available_callback) { \
- if (GpsBuffer()) { \
- ReadGpsBuffer(); \
- } \
- if (ubx_msg_available) { \
- booz2_gps_read_ubx_message(); \
+#define Booz2GpsEvent(_sol_available_callback) { \
+ if (GpsBuffer()) { \
+ ReadGpsBuffer(); \
+ } \
+ if (ubx_msg_available) { \
+ booz2_gps_read_ubx_message(); \
if (ubx_class == UBX_NAV_ID && ubx_id == UBX_NAV_SOL_ID) { \
- _sol_available_callback(); \
- }
\
- ubx_msg_available = FALSE; \
- } \
+ _sol_available_callback(); \
+ } \
+ ubx_msg_available = FALSE; \
+ } \
}
#endif
@@ -96,9 +98,9 @@
#define GpsLink(_x) _GpsLink(GPS_LINK, _x)
#define GpsBuffer() GpsLink(ChAvailable())
-#define ReadGpsBuffer() { \
- while (GpsLink(ChAvailable())&&!ubx_msg_available) \
- ubx_parse(GpsLink(Getch())); \
+#define ReadGpsBuffer() { \
+ while (GpsLink(ChAvailable())&&!ubx_msg_available) \
+ ubx_parse(GpsLink(Getch())); \
}
/* UBX parsing - copied from gps_ubx.c */
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