AP_HAL: move function definitions to cpp to save flash

libraries/AP_HAL/Device.cpp

@@ -54,6 +54,26 @@ bool AP_HAL::Device::setup_checked_registers(uint8_t nregs, uint8_t frequency)
     return true;
 }
 
+void AP_HAL::Device::set_device_type(uint8_t devtype) {
+    _bus_id.devid_s.devtype = devtype;
+}
+
+
+bool AP_HAL::Device::read_bank_registers(uint8_t bank, uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
+{
+    first_reg |= _read_flag;
+    return transfer_bank(bank, &first_reg, 1, recv, recv_len);
+}
+
+bool AP_HAL::Device::write_bank_register(uint8_t bank, uint8_t reg, uint8_t val, bool checked)
+{
+    uint8_t buf[2] = { reg, val };
+    if (checked) {
+        set_checked_register(bank, reg, val);
+    }
+    return transfer_bank(bank, buf, sizeof(buf), nullptr, 0);
+}
+
 /*
   set value of one checked register
  */
@@ -143,3 +163,111 @@ bool AP_HAL::Device::check_next_register(struct checkreg &fail)
     fail = _checked.last_reg_fail;
     return false;
 }
+
+
+bool AP_HAL::Device::write_register(uint8_t reg, uint8_t val, bool checked)
+{
+    uint8_t buf[2] = { reg, val };
+    if (checked) {
+        set_checked_register(reg, val);
+    }
+    bool result = transfer(buf, sizeof(buf), nullptr, 0);
+    if (_register_rw_callback && result) {
+        _register_rw_callback(reg, &val, 1, true);
+    }
+    return result;
+}
+
+
+bool AP_HAL::Device::read_registers(uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
+{
+    uint8_t read_reg = first_reg;
+    first_reg |= _read_flag;
+    bool result = transfer(&first_reg, 1, recv, recv_len);
+    if (_register_rw_callback != nullptr && result) {
+        _register_rw_callback(read_reg, recv, recv_len, false);
+    }
+    return result;
+}
+
+bool AP_HAL::Device::transfer_bank(uint8_t bank, const uint8_t *send, uint32_t send_len,
+                        uint8_t *recv, uint32_t recv_len)
+{
+    if (_bank_select) {
+        if (!_bank_select(bank)) {
+            return false;
+        }
+    }
+    return transfer(send, send_len, recv, recv_len);
+}
+
+
+/**
+ * Some devices connected on the I2C or SPI bus require a bit to be set on
+ * the register address in order to perform a read operation. This sets a
+ * flag to be used by #read_registers(). The flag's default value is zero.
+ */
+void AP_HAL::Device::set_read_flag(uint8_t flag)
+{
+    _read_flag = flag;
+}
+
+
+/**
+ * make a bus id given bus type, bus number, bus address and
+ * device type This is for use by devices that do not use one of
+ * the standard HAL Device types, such as UAVCAN devices
+ */
+uint32_t AP_HAL::Device::make_bus_id(enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype) {
+    union DeviceId d {};
+    d.devid_s.bus_type = bus_type;
+    d.devid_s.bus = bus;
+    d.devid_s.address = address;
+    d.devid_s.devtype = devtype;
+    return d.devid;
+}
+
+/**
+ * return a new bus ID for the same bus connection but a new device type.
+ * This is used for auxiliary bus connections
+ */
+uint32_t AP_HAL::Device::change_bus_id(uint32_t old_id, uint8_t devtype) {
+    union DeviceId d;
+    d.devid = old_id;
+    d.devid_s.devtype = devtype;
+    return d.devid;
+}
+
+/**
+ * return bus ID with a new devtype
+ */
+uint32_t AP_HAL::Device::get_bus_id_devtype(uint8_t devtype) const {
+    return change_bus_id(get_bus_id(), devtype);
+}
+
+/**
+ * get bus type
+ */
+enum AP_HAL::Device::BusType AP_HAL::Device::devid_get_bus_type(uint32_t dev_id) {
+    union DeviceId d;
+    d.devid = dev_id;
+    return d.devid_s.bus_type;
+}
+
+uint8_t AP_HAL::Device::devid_get_bus(uint32_t dev_id) {
+    union DeviceId d;
+    d.devid = dev_id;
+    return d.devid_s.bus;
+}
+
+uint8_t AP_HAL::Device::devid_get_address(uint32_t dev_id) {
+    union DeviceId d;
+    d.devid = dev_id;
+    return d.devid_s.address;
+}
+
+uint8_t AP_HAL::Device::devid_get_devtype(uint32_t dev_id) {
+    union DeviceId d;
+    d.devid = dev_id;
+    return d.devid_s.devtype;
+}

libraries/AP_HAL/Device.h

@@ -88,10 +88,7 @@ public:
     }
 
     // set device type within a device class (eg. AP_COMPASS_TYPE_LSM303D)
-    void set_device_type(uint8_t devtype) {
-        _bus_id.devid_s.devtype = devtype;
-    }
-
+    void set_device_type(uint8_t devtype);
 
     virtual ~Device() {
         delete[] _checked.regs;
@@ -144,16 +141,7 @@ public:
      *
      * Return: true on a successful transfer, false on failure.
      */
-    bool read_registers(uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
-    {
-        uint8_t read_reg = first_reg;
-        first_reg |= _read_flag;
-        bool result = transfer(&first_reg, 1, recv, recv_len);
-        if (_register_rw_callback != nullptr && result) {
-            _register_rw_callback(read_reg, recv, recv_len, false);
-        }
-        return result;
-    }
+    bool read_registers(uint8_t first_reg, uint8_t *recv, uint32_t recv_len);
 
     /**
      * Wrapper function over #transfer() to write a byte to the register reg.
@@ -161,19 +149,7 @@ public:
      *
      * Return: true on a successful transfer, false on failure.
      */
-    bool write_register(uint8_t reg, uint8_t val, bool checked=false)
-    {
-        uint8_t buf[2] = { reg, val };
-        if (checked) {
-            set_checked_register(reg, val);
-        }
-        bool result = transfer(buf, sizeof(buf), nullptr, 0);
-        if (_register_rw_callback && result) {
-            _register_rw_callback(reg, &val, 1, true);
-        }
-        return result;
-    }
-
+    bool write_register(uint8_t reg, uint8_t val, bool checked=false);
     
     /*
      * Sets a callback to be called when a register is read or written.
@@ -189,14 +165,7 @@ public:
      * Return: true on a successful transfer, false on failure.
      */
     bool transfer_bank(uint8_t bank, const uint8_t *send, uint32_t send_len,
-                          uint8_t *recv, uint32_t recv_len) {
-        if (_bank_select) {
-            if (!_bank_select(bank)) {
-                return false;
-            }
-        }
-        return transfer(send, send_len, recv, recv_len);
-    }
+                          uint8_t *recv, uint32_t recv_len);
 
     /**
      * Wrapper function over #transfer_bank() to read recv_len registers, starting
@@ -206,11 +175,7 @@ public:
      *
      * Return: true on a successful transfer, false on failure.
      */
-    bool read_bank_registers(uint8_t bank, uint8_t first_reg, uint8_t *recv, uint32_t recv_len)
-    {
-        first_reg |= _read_flag;
-        return transfer_bank(bank, &first_reg, 1, recv, recv_len);
-    }
+    bool read_bank_registers(uint8_t bank, uint8_t first_reg, uint8_t *recv, uint32_t recv_len);
 
     /**
      * Wrapper function over #transfer_bank() to write a byte to the register reg.
@@ -218,14 +183,7 @@ public:
      *
      * Return: true on a successful transfer, false on failure.
      */
-    bool write_bank_register(uint8_t bank, uint8_t reg, uint8_t val, bool checked=false)
-    {
-        uint8_t buf[2] = { reg, val };
-        if (checked) {
-            set_checked_register(bank, reg, val);
-        }
-        return transfer_bank(bank, buf, sizeof(buf), nullptr, 0);
-    }
+    bool write_bank_register(uint8_t bank, uint8_t reg, uint8_t val, bool checked=false);
 
     /**
      * set a value for a checked register in a bank
@@ -347,70 +305,36 @@ public:
      * the register address in order to perform a read operation. This sets a
      * flag to be used by #read_registers(). The flag's default value is zero.
      */
-    void set_read_flag(uint8_t flag)
-    {
-        _read_flag = flag;
-    }
-
+    void set_read_flag(uint8_t flag);
 
     /**
      * make a bus id given bus type, bus number, bus address and
      * device type This is for use by devices that do not use one of
      * the standard HAL Device types, such as UAVCAN devices
      */
-    static uint32_t make_bus_id(enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype) {
-        union DeviceId d {};
-        d.devid_s.bus_type = bus_type;
-        d.devid_s.bus = bus;
-        d.devid_s.address = address;
-        d.devid_s.devtype = devtype;
-        return d.devid;
-    }
+    static uint32_t make_bus_id(enum BusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype);
 
     /**
      * return a new bus ID for the same bus connection but a new device type.
      * This is used for auxiliary bus connections
      */
-    static uint32_t change_bus_id(uint32_t old_id, uint8_t devtype) {
-        union DeviceId d;
-        d.devid = old_id;
-        d.devid_s.devtype = devtype;
-        return d.devid;
-    }
+    static uint32_t change_bus_id(uint32_t old_id, uint8_t devtype);
 
     /**
      * return bus ID with a new devtype
      */
-    uint32_t get_bus_id_devtype(uint8_t devtype) const {
-        return change_bus_id(get_bus_id(), devtype);
-    }
+    uint32_t get_bus_id_devtype(uint8_t devtype) const;
 
     /**
      * get bus type
      */
-    static enum BusType devid_get_bus_type(uint32_t dev_id) {
-        union DeviceId d;
-        d.devid = dev_id;
-        return d.devid_s.bus_type;
-    }
+    static enum BusType devid_get_bus_type(uint32_t dev_id);
 
-    static uint8_t devid_get_bus(uint32_t dev_id) {
-        union DeviceId d;
-        d.devid = dev_id;
-        return d.devid_s.bus;
-    }
+    static uint8_t devid_get_bus(uint32_t dev_id);
 
-    static uint8_t devid_get_address(uint32_t dev_id) {
-        union DeviceId d;
-        d.devid = dev_id;
-        return d.devid_s.address;
-    }
+    static uint8_t devid_get_address(uint32_t dev_id);
 
-    static uint8_t devid_get_devtype(uint32_t dev_id) {
-        union DeviceId d;
-        d.devid = dev_id;
-        return d.devid_s.devtype;
-    }
+    static uint8_t devid_get_devtype(uint32_t dev_id);
 
 
     /* set number of retries on transfers */