make rx_aux_on a macro

BossHobby · Aug 13, 2023 · 3a89cff · 3a89cff
1 parent 60bdd83
commit 3a89cff
Show file tree

Hide file tree

Showing 5 changed files with 6 additions and 8 deletions.
diff --git a/src/flight/imu.c b/src/flight/imu.c
@@ -5,6 +5,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#include "core/profile.h"
 #include "core/project.h"
 #include "driver/time.h"
 #include "flight/control.h"

diff --git a/src/flight/pid.c b/src/flight/pid.c
@@ -129,7 +129,7 @@ void pid_precalc() {
 }
 
 // (iwindup = 0  windup is not allowed)   (iwindup = 1 windup is allowed)
-static float pid_compute_iterm_windup(uint8_t x, float pid_output) {
+static inline float pid_compute_iterm_windup(uint8_t x, float pid_output) {
   const float *out_limit = target.brushless ? out_limit_brushless : out_limit_brushed;
   if ((pid_output >= out_limit[x]) && (state.error.axis[x] > 0)) {
     return 0.0f;
@@ -157,7 +157,7 @@ static float pid_compute_iterm_windup(uint8_t x, float pid_output) {
   return 1.0f;
 }
 
-static float pid_filter_dterm(uint8_t x, float dterm) {
+static inline float pid_filter_dterm(uint8_t x, float dterm) {
   dterm = filter_step(profile.filter.dterm[0].type, &filter[0], &filter_state[0][x], dterm);
   dterm = filter_step(profile.filter.dterm[1].type, &filter[1], &filter_state[1][x], dterm);
 

diff --git a/src/io/buzzer.c b/src/io/buzzer.c
@@ -1,6 +1,7 @@
 
 #include "io/buzzer.h"
 
+#include "core/profile.h"
 #include "core/project.h"
 #include "driver/gpio.h"
 #include "driver/time.h"
@@ -39,7 +40,7 @@ void buzzer_init() {
   gpio_init.mode = GPIO_OUTPUT;
   gpio_init.output = GPIO_PUSHPULL;
   gpio_init.pull = GPIO_NO_PULL;
-  gpio_pin_init( target.buzzer.pin, gpio_init);
+  gpio_pin_init(target.buzzer.pin, gpio_init);
 
   buzzer_off();
 }

diff --git a/src/rx/rx.c b/src/rx/rx.c
@@ -26,10 +26,6 @@ static uint32_t frames_received = 0;
 static filter_lp_pt2 rx_filter;
 static filter_state_t rx_filter_state[4];
 
-uint8_t rx_aux_on(aux_function_t function) {
-  return state.aux[profile.receiver.aux[function]];
-}
-
 void rx_lqi_lost_packet() {
   frames_missed++;
 

diff --git a/src/rx/rx.h b/src/rx/rx.h
@@ -76,7 +76,7 @@ typedef enum {
   AUX_FUNCTION_MAX
 } __attribute__((__packed__)) aux_function_t;
 
-uint8_t rx_aux_on(aux_function_t function);
+#define rx_aux_on(function) (state.aux[profile.receiver.aux[function]])
 
 void rx_init();
 void rx_update();