removed some double promotions that sneaked in, as well as replaced f…

…abs() with float-only fabsf() version. trashed doubles from _atof(). Considering trashing that whole function for KEIL builds.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@439 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -258,44 +258,44 @@ char *itoa(int i, char *a, int r)
 static float _atof(const char *p)
 {
     int frac = 0;
-    double sign, value, scale;
+    float sign, value, scale;
 
     // Skip leading white space, if any.
     while (white_space(*p) ) {
         p += 1;
     }
 
     // Get sign, if any.
-    sign = 1.0;
+    sign = 1.0f;
     if (*p == '-') {
-        sign = -1.0;
+        sign = -1.0f;
         p += 1;
 
     } else if (*p == '+') {
         p += 1;
     }
 
     // Get digits before decimal point or exponent, if any.
-    value = 0.0;
+    value = 0.0f;
     while (valid_digit(*p)) {
-        value = value * 10.0 + (*p - '0');
+        value = value * 10.0f + (*p - '0');
         p += 1;
     }
 
     // Get digits after decimal point, if any.
     if (*p == '.') {
-        double pow10 = 10.0;
+        float pow10 = 10.0f;
         p += 1;
 
         while (valid_digit(*p)) {
             value += (*p - '0') / pow10;
-            pow10 *= 10.0;
+            pow10 *= 10.0f;
             p += 1;
         }
     }
 
     // Handle exponent, if any.
-    scale = 1.0;
+    scale = 1.0f;
     if ((*p == 'e') || (*p == 'E')) {
         unsigned int expon;
         p += 1;
@@ -316,12 +316,13 @@ static float _atof(const char *p)
             expon = expon * 10 + (*p - '0');
             p += 1;
         }
-        if (expon > 308) expon = 308;
+        if (expon > 308) 
+            expon = 308;
 
         // Calculate scaling factor.
-        while (expon >= 50) { scale *= 1E50; expon -= 50; }
-        while (expon >=  8) { scale *= 1E8;  expon -=  8; }
-        while (expon >   0) { scale *= 10.0; expon -=  1; }
+        // while (expon >= 50) { scale *= 1E50f; expon -= 50; }
+        while (expon >=  8) { scale *= 1E8f;  expon -=  8; }
+        while (expon >   0) { scale *= 10.0f; expon -=  1; }
     }
 
     // Return signed and scaled floating point result.
@@ -445,7 +446,7 @@ static void cliCMix(char *cmdline)
         }
         cliPrint("Sanity check:\t");
         for (i = 0; i < 3; i++)
-            cliPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
+            cliPrint(fabsf(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
         cliPrint("\r\n");
         return;
     } else if (strncasecmp(cmdline, "reset", 5) == 0) {

src/drv_hmc5883l.c

@@ -157,9 +157,9 @@ void hmc5883lInit(void)
         LED1_TOGGLE;
     }
 
-    magGain[X] = fabs(660.0f * HMC58X3_X_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[X]);
-    magGain[Y] = fabs(660.0f * HMC58X3_Y_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Y]);
-    magGain[Z] = fabs(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Z]);
+    magGain[X] = fabsf(660.0f * HMC58X3_X_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[X]);
+    magGain[Y] = fabsf(660.0f * HMC58X3_Y_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Y]);
+    magGain[Z] = fabsf(660.0f * HMC58X3_Z_SELF_TEST_GAUSS * 2.0f * 10.0f / xyz_total[Z]);
 
     // leave test mode
     i2cWrite(MAG_ADDRESS, HMC58X3_R_CONFA, 0x70);   // Configuration Register A  -- 0 11 100 00  num samples: 8 ; output rate: 15Hz ; normal measurement mode

src/imu.c

@@ -350,7 +350,7 @@ int getEstimatedAltitude(void)
     BaroAlt_tmp = 153.8462f * (baroTemperature + 27315) * (1.0f - expf(0.190259f * logf(PressureScaling))); // in cm
     BaroAlt = (float)BaroAlt * cfg.baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf); // additional LPF to reduce baro noise
 
-    dt = accTimeSum * 1e-6; // delta acc reading time in seconds
+    dt = accTimeSum * 1e-6f; // delta acc reading time in seconds
 
     // Integrator - velocity, cm/sec
     vel_acc = (float)accSum[2] * accVelScale * (float)accTimeSum / (float)accSumCount;