Removed the inline modifiers.

include/action.h

@@ -10,8 +10,8 @@ extern "C" {
 
 // public functions
 void action_init(uint16_t period_us);
-inline void action_set_period(uint16_t period_us);
-inline uint16_t action_get_period(void);
+void action_set_period(uint16_t period_us);
+uint16_t action_get_period(void);
 uint8_t action_load_page(uint8_t page_id);
 void action_start_page(void);
 void action_stop_page(void);

include/adc_dma.h

@@ -15,7 +15,7 @@ typedef enum {ADC_CH1=0,ADC_CH2=1,ADC_CH3=2,ADC_CH4=3,ADC_CH5=4,ADC_CH6=5,ADC_CH
 void adc_init(void);
 void adc_start(void);
 void adc_set_period(uint8_t period_ms);
-inline uint8_t adc_get_period(void);
+uint8_t adc_get_period(void);
 unsigned short adc_get_channel(adc_ch_t channel);
 unsigned short adc_get_channel_raw(adc_ch_t channel);
 unsigned short adc_get_temperature(void);

include/darwin_dyn_master.h

@@ -12,8 +12,8 @@ extern "C" {
 extern TDynamixelMaster darwin_dyn_master;
 
 void darwin_dyn_master_init(void);
-inline void darwin_dyn_master_enable_power(void);
-inline void darwin_dyn_master_disable_power(void);
+void darwin_dyn_master_enable_power(void);
+void darwin_dyn_master_disable_power(void);
 
 #ifdef __cplusplus
 }

include/darwin_dyn_master_v2.h

@@ -12,8 +12,8 @@ extern "C" {
 extern TDynamixelMaster darwin_dyn_master_v2;
 
 void darwin_dyn_master_v2_init(void);
-inline void darwin_dyn_master_v2_enable_power(void);
-inline void darwin_dyn_master_v2_disable_power(void);
+void darwin_dyn_master_v2_enable_power(void);
+void darwin_dyn_master_v2_disable_power(void);
 
 #ifdef __cplusplus
 }

include/grippers.h

@@ -12,8 +12,8 @@ typedef enum {GRIPPER_LEFT,GRIPPER_RIGHT} grippers_t;
 
 // public functions
 void grippers_init(uint16_t period_us);
-inline void grippers_set_period(uint16_t period_us);
-inline uint16_t grippers_get_period(void);
+void grippers_set_period(uint16_t period_us);
+uint16_t grippers_get_period(void);
 void grippers_open(grippers_t gripper);
 void grippers_close(grippers_t gripper);
 void grippers_stop(grippers_t gripper);

include/head_tracking.h

@@ -10,8 +10,8 @@ extern "C" {
 
 // public functions
 void head_tracking_init(uint16_t period_us);
-inline void head_tracking_set_period(uint16_t period_us);
-inline uint16_t head_tracking_get_period(void);
+void head_tracking_set_period(uint16_t period_us);
+uint16_t head_tracking_get_period(void);
 void head_tracking_start(void);
 void head_tracking_stop(void);
 uint8_t head_is_tracking(void);

include/joint_motion.h

@@ -12,8 +12,8 @@ extern "C" {
 
 // public functions
 void joint_motion_init(uint16_t period_us);
-inline void joint_motion_set_period(uint16_t period_us);
-inline uint16_t joint_motion_get_period(void);
+void joint_motion_set_period(uint16_t period_us);
+uint16_t joint_motion_get_period(void);
 void joint_motion_set_group_servos(uint8_t group_id,uint32_t servos);
 uint32_t joint_motion_get_group_servos(uint8_t group_id);
 void joint_motion_start(uint8_t group_id);

include/motion_manager.h

@@ -7,7 +7,7 @@ extern "C" {
 #endif
 
 #include "stm32f1xx.h"
-#include "dynamixel_common.h"
+#include "dyn_common.h"
 
 typedef enum {
   R_SHOULDER_PITCH     = 1,
@@ -86,25 +86,25 @@ extern int8_t manager_current_slopes[MANAGER_MAX_NUM_SERVOS];
 /** \brief Initialize motion manager module
  */
 void manager_init(uint16_t period_us);
-inline uint16_t manager_get_period(void);
-inline uint16_t manager_get_period_us(void);
-inline void manager_set_period(uint16_t period_us);
-inline void manager_enable(void);
-inline void manager_disable(void);
-inline uint8_t manager_is_enabled(void);
+uint16_t manager_get_period(void);
+uint16_t manager_get_period_us(void);
+void manager_set_period(uint16_t period_us);
+void manager_enable(void);
+void manager_disable(void);
+uint8_t manager_is_enabled(void);
 void manager_enable_balance(void);
 void manager_disable_balance(void);
-inline uint8_t manager_has_fallen(void);
+uint8_t manager_has_fallen(void);
 TFall manager_get_fallen_position(void);
-inline uint8_t manager_get_num_servos(void);
+uint8_t manager_get_num_servos(void);
 void manager_set_module(uint8_t servo_id,TModules module);
-inline TModules manager_get_module(uint8_t servo_id);
+TModules manager_get_module(uint8_t servo_id);
 void manager_enable_servo(uint8_t servo_id);
-inline void manager_disable_servo(uint8_t servo_id);
-inline uint8_t manager_is_servo_enabled(uint8_t servo_id);
+void manager_disable_servo(uint8_t servo_id);
+uint8_t manager_is_servo_enabled(uint8_t servo_id);
 void manager_set_offset(uint8_t servo_id,int8_t offset);
-inline int16_t manager_get_cw_angle_limit(uint8_t servo_id);
-inline int16_t manager_get_ccw_angle_limit(uint8_t servo_id);
+int16_t manager_get_cw_angle_limit(uint8_t servo_id);
+int16_t manager_get_ccw_angle_limit(uint8_t servo_id);
 // motion modules handling
 // operation functions
 uint8_t manager_in_range(unsigned short int address, unsigned short int length);

include/ram.h

@@ -19,15 +19,15 @@ extern "C" {
 extern uint8_t ram_data[RAM_SIZE];
 
 void ram_init(void);
-inline void ram_read_byte(uint16_t address, uint8_t *data);
-inline void ram_read_word(uint16_t address, uint16_t *data);
+void ram_read_byte(uint16_t address, uint8_t *data);
+void ram_read_word(uint16_t address, uint16_t *data);
 uint8_t ram_read_table(uint16_t address, uint16_t length,uint8_t *data);
 uint8_t ram_set_bit(uint16_t address, uint8_t bit);
 uint8_t ram_clear_bit(uint16_t address, uint8_t bit);
 uint8_t ram_write_byte(uint16_t address, uint8_t data);
 uint8_t ram_write_word(uint16_t address, uint16_t data);
 uint8_t ram_write_table(uint16_t address, uint16_t length,uint8_t *data);
-inline uint8_t ram_in_range(uint16_t reg,uint16_t address,uint16_t length);
+uint8_t ram_in_range(uint16_t reg,uint16_t address,uint16_t length);
 uint8_t ram_in_window(uint16_t start_reg,uint16_t reg_length,uint16_t start_address,uint16_t address_length);
 
 #ifdef __cplusplus

include/smart_charger.h

@@ -37,13 +37,13 @@ void smart_charger_init(uint16_t period_us);
  * 
  * \param master pointer to a TDynamixelMaster structure ((darwin_dyn_master or darwin_dyn_master_v2).
  */
-inline void smart_charger_set_master(TDynamixelMaster *master);
+void smart_charger_set_master(TDynamixelMaster *master);
 /**
  * \brief Function to get the master version of the Dynamixel protocol set to the module
 
  * \return the Dynamixel master structure associated to the smart charger module (darwin_dyn_master or darwin_dyn_master_v2).
  */
-inline TDynamixelMaster* smart_charger_get_master(void);
+TDynamixelMaster* smart_charger_get_master(void);
 /**
  * \brief Function to set smart charger's period
  * 

include/stairs.h

@@ -10,8 +10,8 @@ extern "C" {
 
 // public functions
 void stairs_init(uint16_t period_us);
-inline void stairs_set_period(uint16_t period_us);
-inline uint16_t stairs_get_period(void);
+void stairs_set_period(uint16_t period_us);
+uint16_t stairs_get_period(void);
 void stairs_start(uint8_t up);
 void stairs_stop(void);
 uint8_t is_climbing_stairs(void);

include/walking.h

@@ -10,8 +10,8 @@ extern "C" {
 
 // public functions
 void walking_init(uint16_t period_us);
-inline void walking_set_period(uint16_t period_us);
-inline uint16_t walking_get_period(void);
+void walking_set_period(uint16_t period_us);
+uint16_t walking_get_period(void);
 void walking_start(void);
 void walking_stop(void);
 uint8_t is_walking(void);

src/action.c

@@ -273,13 +273,13 @@ void action_init(uint16_t period_us)
   action_period_us=period_us;
 }
 
-inline void action_set_period(uint16_t period_us)
+void action_set_period(uint16_t period_us)
 {
   action_period=(period_us<<16)/1000000;
   action_period_us=period_us;
 }
 
-inline uint16_t action_get_period(void)
+uint16_t action_get_period(void)
 {
   return action_period_us;
 }

src/adc_dma.c

@@ -379,7 +379,7 @@ void adc_set_period(uint8_t period_ms)
   ram_data[DARWIN_ADC_PERIOD]=period_ms;
 }
 
-inline uint8_t adc_get_period(void)
+uint8_t adc_get_period(void)
 {
   return ram_data[DARWIN_ADC_PERIOD];
 }

src/darwin_dyn_master.c

@@ -89,16 +89,16 @@ void darwin_dyn_master_init(void)
 
   /* configure dynamixel master module */
   dyn_master_set_rx_timeout(&darwin_dyn_master,50);
-  dyn_master_set_return_level(&darwin_dyn_master,return_all);
+  dyn_master_set_return_level(&darwin_dyn_master,RETURN_ALL);
 }
 
-inline void darwin_dyn_master_enable_power(void)
+void darwin_dyn_master_enable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_SET);
   ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR;
 }
 
-inline void darwin_dyn_master_disable_power(void)
+void darwin_dyn_master_disable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_RESET);
   ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR);

src/darwin_dyn_master_v2.c

@@ -82,17 +82,17 @@ void darwin_dyn_master_v2_init(void)
 
   /* configure dynamixel master module */
   dyn_master_set_rx_timeout(&darwin_dyn_master_v2,50);
-  dyn_master_set_return_level(&darwin_dyn_master_v2,return_all);
+  dyn_master_set_return_level(&darwin_dyn_master_v2,RETURN_ALL);
   darwin_dyn_master_v2_disable_power();
 }
 
-inline void darwin_dyn_master_v2_enable_power(void)
+void darwin_dyn_master_v2_enable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_SET);
   ram_data[DARWIN_MM_CNTRL]|=MANAGER_EN_PWR_V2;
 }
 
-inline void darwin_dyn_master_v2_disable_power(void)
+void darwin_dyn_master_v2_disable_power(void)
 {
   HAL_GPIO_WritePin(POWER_GPIO_PORT,POWER_PIN,GPIO_PIN_RESET);
   ram_data[DARWIN_MM_CNTRL]&=(~MANAGER_EN_PWR_V2);

src/darwin_dyn_slave.c

@@ -28,11 +28,24 @@ TComm darwin_dyn_slave_comm;
 UART_InitTypeDef darwin_comm_init;
 TIM_HandleTypeDef darwin_dyn_slave_tim_handle;
 
+/* interrupt service routines */
+void DYN_SLAVE_TIMER_IRQHandler(void)
+{
+  if(__HAL_TIM_GET_FLAG(&darwin_dyn_slave_tim_handle, TIM_FLAG_UPDATE) != RESET)
+  {
+    if(__HAL_TIM_GET_IT_SOURCE(&darwin_dyn_slave_tim_handle, TIM_IT_UPDATE) !=RESET)
+    {
+      __HAL_TIM_CLEAR_IT(&darwin_dyn_slave_tim_handle, TIM_IT_UPDATE);
+      dyn_slave_loop(&darwin_dyn_slave);
+    }
+  }
+}
+
 // private functions
 unsigned char darwin_on_read(unsigned short int address,unsigned short int length,unsigned char *data)
 {
   unsigned char error;
- 
+
   if(ram_in_window(GPIO_BASE_ADDRESS,GPIO_MEM_LENGTH,address,length))
     gpio_process_read_cmd(address,length,data);
   /* dynamixel slave internal operation registers */
@@ -109,20 +122,7 @@ unsigned char darwin_on_write(unsigned short int address,unsigned short int leng
 void darwin_on_ping(void)
 {
 }
-
-/* interrupt service routines */
-void DYN_SLAVE_TIMER_IRQHandler(void)
-{
-  if(__HAL_TIM_GET_FLAG(&darwin_dyn_slave_tim_handle, TIM_FLAG_UPDATE) != RESET)
-  {
-    if(__HAL_TIM_GET_IT_SOURCE(&darwin_dyn_slave_tim_handle, TIM_IT_UPDATE) !=RESET)
-    {
-      __HAL_TIM_CLEAR_IT(&darwin_dyn_slave_tim_handle, TIM_IT_UPDATE);
-      dyn_slave_loop(&darwin_dyn_slave);
-    }
-  }
-}
-
+                                                                              
 // public functions
 void darwin_dyn_slave_init(void)
 {

src/grippers.c

@@ -46,13 +46,13 @@ void grippers_init(uint16_t period_us)
   grippers_close(GRIPPER_RIGHT);
 }
 
-inline void grippers_set_period(uint16_t period_us)
+void grippers_set_period(uint16_t period_us)
 {
   grippers_period=(period_us<<16)/1000000;
   grippers_period_us=period_us;
 }
 
-inline uint16_t grippers_get_period(void)
+uint16_t grippers_get_period(void)
 {
   return grippers_period_us;
 }

src/head_tracking.c

@@ -55,13 +55,13 @@ void head_tracking_init(uint16_t period_us)
   head_tracking_enabled=0x00;
 }
 
-inline void head_tracking_set_period(uint16_t period_us)
+void head_tracking_set_period(uint16_t period_us)
 {
   head_tracking_period=(period_us<<16)/1000000;
   head_tracking_period_us=period_us;
 }
 
-inline uint16_t head_tracking_get_period(void)
+uint16_t head_tracking_get_period(void)
 {
   return head_tracking_period_us;
 }

src/imu.c

@@ -118,7 +118,7 @@ SPI_HandleTypeDef hspi2;
 TIM_HandleTypeDef htim;
 
 // private functions
-inline void imu_wait_op_done(void)
+void imu_wait_op_done(void)
 {
   while(imu_op_state!=IMU_DONE);
 }