Attempt to improve CPU use by declaring things const

flight/Modules/Autotune/autotune.c

@@ -93,7 +93,8 @@ static bool save_needed = false;
 static uint16_t decim_wiggle_points;
 
 // Private functions
-static void autotune_step(UAVObjEvent* ev, void *ctx, void *obj, int len);
+static void autotune_step(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 
 /**
  * Initialise the module, called on startup
@@ -143,7 +144,8 @@ int32_t AutotuneStart(void)
 
 MODULE_INITCALL(AutotuneInitialize, AutotuneStart)
 
-static void at_new_actuators(UAVObjEvent * ev, void *ctx, void *obj, int len) {
+static void at_new_actuators(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len) {
 	(void) ev; (void) ctx;
 
 	static bool first_cycle = false;
@@ -257,7 +259,8 @@ static int autotune_save_averaging() {
 /**
  * Module periodic task.
  */
-static void autotune_step(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void autotune_step(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 

flight/Modules/CameraStab/camerastab.c

@@ -81,13 +81,16 @@ static struct CameraStab_data {
 } *csd;
 
 // Private functions
-static void attitudeUpdated(UAVObjEvent* ev, void *ctx, void *obj, int len);
-static void settings_updated_cb(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void attitudeUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
+static void settings_updated_cb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static void applyFF(uint8_t index, float dT_ms, float *attitude, CameraStabSettingsData* cameraStab);
 static void gimbal_can_message();
 
 #if defined(CAMERASTAB_POI_MODE)
-static void tablet_info_flag_update(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void tablet_info_flag_update(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static void tablet_info_process();
 static bool tablet_info_updated = false;
 #endif /* CAMERASTAB_POI_MODE */
@@ -177,7 +180,8 @@ MODULE_INITCALL(CameraStabInitialize, CameraStabStart)
  * Periodic callback that processes changes in the attitude
  * and recalculates the desied gimbal angle.
  */
-static void attitudeUpdated(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void attitudeUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {	
 	(void) ev; (void) ctx; (void) obj; (void) len;
 	if (ev->obj != AttitudeActualHandle())
@@ -358,7 +362,8 @@ static void applyFF(uint8_t index, float dT_ms, float *attitude, CameraStabSetti
  * Called when the settings are updated to store a local copy
  * @param[in] ev The update event
  */
-static void settings_updated_cb(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void settings_updated_cb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 
@@ -370,7 +375,8 @@ static void settings_updated_cb(UAVObjEvent * ev, void *ctx, void *obj, int len)
  * When the tablet info changes update the POI location to match
  * the current tablet location
  */
-static void tablet_info_flag_update(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void tablet_info_flag_update(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -71,11 +71,12 @@ static uint32_t lastResetSysTime;
 static uint8_t board_rev = 0;
 
 // Private functions
-static void FirmwareIAPCallback(UAVObjEvent* ev, void *ctx, void *obj, int len);
+static void FirmwareIAPCallback(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 
 static uint32_t	get_time(void);
 
-static void resetTask(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void resetTask(const UAVObjEvent *ev, void *ctx, void *obj, int len);
 
 /**
  * Initialise the module, called on startup.
@@ -123,11 +124,12 @@ int32_t FirmwareIAPInitialize()
  * \note
  *
  */
-static uint8_t    iap_state = IAP_STATE_READY;
-static void FirmwareIAPCallback(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void FirmwareIAPCallback(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ctx; (void) obj; (void) len;
 
+	static uint8_t    iap_state = IAP_STATE_READY;
 	static uint32_t   last_time = 0;
 	uint32_t          this_time;
 	uint32_t          delta;
@@ -231,7 +233,7 @@ static uint32_t get_time(void)
 /**
  * Executed by event dispatcher callback to reset INS before resetting OP 
  */
-static void resetTask(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void resetTask(const UAVObjEvent *ev, void *ctx, void *obj, int len)
 {
 	(void) ctx; (void) obj; (void) len;
 

flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c

@@ -92,10 +92,12 @@ static FixedWingAirspeedsData fixedWingAirspeeds;
 
 // Private functions
 static void pathfollowerTask(void *parameters);
-static void SettingsUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void SettingsUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static void updatePathVelocity();
 static uint8_t updateFixedDesiredAttitude();
-static void airspeedActualUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void airspeedActualUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 
 /**
  * Initialise the module, called on startup
@@ -691,7 +693,8 @@ static uint8_t updateFixedDesiredAttitude()
 	return result;
 }
 
-static void SettingsUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void SettingsUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ctx; (void) obj; (void) len;
 
@@ -701,7 +704,8 @@ static void SettingsUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len)
 		FixedWingAirspeedsGet(&fixedWingAirspeeds);
 }
 
-static void airspeedActualUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj,
+static void airspeedActualUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj,
 	int len)
 {
 	(void) ctx;

flight/Modules/Geofence/geofence.c

@@ -49,8 +49,10 @@
 // Private variables
 
 // Private functions
-static void settingsUpdated(UAVObjEvent* ev, void *ctx, void *obj, int len);
-static void checkPosition(UAVObjEvent* ev, void *ctx, void *obj, int len);
+static void settingsUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
+static void checkPosition(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 
 // Private variables
 static GeoFenceSettingsData *geofenceSettings;
@@ -121,7 +123,8 @@ MODULE_INITCALL(GeofenceInitialize, GeofenceStart);
  * Periodic callback that processes changes in position and
  * sets the alarm.
  */
-static void checkPosition(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void checkPosition(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 	if (PositionActualHandle()) {
@@ -144,7 +147,8 @@ static void checkPosition(UAVObjEvent* ev, void *ctx, void *obj, int len)
 /**
  * Update the settings
  */
-static void settingsUpdated(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void settingsUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 	GeoFenceSettingsGet(geofenceSettings);

flight/Modules/Logging/logging.c

@@ -482,7 +482,8 @@ static int32_t send_data_nonblock(void *ctx, uint8_t *data, int32_t length)
  * @brief Callback for adding an object to the logging queue
  * @param ev the event
  */
-static void obj_updated_callback(UAVObjEvent * ev, void* cb_ctx, void *uavo_data, int uavo_len)
+static void obj_updated_callback(const UAVObjEvent *ev, void *cb_ctx,
+		void *uavo_data, int uavo_len)
 {
 	(void) cb_ctx; (void) uavo_data; (void) uavo_len;
 

flight/Modules/PathPlanner/pathplanner.c

@@ -63,8 +63,10 @@ static void activateWaypoint(int idx);
 static void pathPlannerTask(void *parameters);
 static void process_pp_settings();
 
-static void waypointsUpdated(UAVObjEvent * ev, void *ctx, void *obj, int len);
-static void pathStatusUpdated(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void waypointsUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
+static void pathStatusUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static void createPathBox();
 static void createPathLogo();
 
@@ -217,7 +219,8 @@ static void pathPlannerTask(void *parameters)
  * On changed waypoints or active waypoint update position desired
  * if we are in charge
  */
-static void waypointsUpdated(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void waypointsUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 
@@ -237,7 +240,8 @@ static void waypointsUpdated(UAVObjEvent * ev, void *ctx, void *obj, int len)
 /**
  * When the PathStatus is updated indicate a new one is available to consume
  */
-static void pathStatusUpdated(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void pathStatusUpdated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 

flight/Modules/RadioComBridge/radiocombridge.c

@@ -108,7 +108,8 @@ static void ProcessRadioStream(UAVTalkConnection inConnectionHandle,
 
 static RadioComBridgeData *data;
 
-static void NewReceiverData(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void NewReceiverData(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ctx; (void) obj; (void) len;
 

flight/Modules/System/systemmod.c

@@ -140,14 +140,21 @@ static volatile bool config_check_needed;
 static const char * volatile custom_blink_string;
 
 // Private functions
-static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len);
-static void objectUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void systemPeriodicCb(const UAVObjEvent *ev,
+		void *ctx, void *obj_data, int len);
+static void objectUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static uint32_t processPeriodicUpdates();
-static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, struct pios_queue *queue, uint16_t periodMs);
-static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, struct pios_queue *queue, uint16_t periodMs);
+static int32_t eventPeriodicCreate(UAVObjEvent *ev,
+		UAVObjEventCallback cb, struct pios_queue *queue,
+		uint16_t periodMs);
+static int32_t eventPeriodicUpdate(UAVObjEvent *ev,
+		UAVObjEventCallback cb, struct pios_queue *queue,
+		uint16_t periodMs);
 
 #ifndef NO_SENSORS
-static void configurationUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len);
+static void configurationUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 #endif
 
 void system_task();
@@ -412,7 +419,9 @@ void system_annunc_custom_string(const char *string)
 	custom_blink_string = string;
 }
 
-static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len) {
+static void systemPeriodicCb(const UAVObjEvent *ev,
+		void *ctx, void *obj_data, int len)
+{
 	(void) ev; (void) ctx; (void) obj_data; (void) len;
 
 	static unsigned int counter=0;
@@ -622,7 +631,8 @@ static void systemPeriodicCb(UAVObjEvent *ev, void *ctx, void *obj_data, int len
 /**
  * Function called in response to object updates
  */
-static void objectUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj_data, int len)
+static void objectUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj_data, int len)
 {
 	(void) ctx; (void) obj_data; (void) len;
 
@@ -694,7 +704,8 @@ static void objectUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj_data, int len
  * Called whenever a critical configuration component changes
  */
 
-static void configurationUpdatedCb(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void configurationUpdatedCb(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 	config_check_needed = true;

flight/Modules/TxPID/txpid.c

@@ -88,7 +88,8 @@ struct txpid_struct {
 static struct txpid_struct *txpid_data;
 
 // Private functions
-static void updatePIDs(UAVObjEvent* ev, void *ctx, void *obj, int len);
+static void updatePIDs(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len);
 static bool update(float *var, float val);
 static float scale(float val, float inMin, float inMax, float outMin, float outMax);
 
@@ -172,7 +173,8 @@ MODULE_INITCALL(TxPIDInitialize, TxPIDStart);
 /**
  * Update PIDs callback function
  */
-static void updatePIDs(UAVObjEvent* ev, void *ctx, void *obj, int len)
+static void updatePIDs(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	(void) ev; (void) ctx; (void) obj; (void) len;
 

flight/PiOS/Common/pios_thread.c

@@ -36,8 +36,14 @@ struct pios_thread
 	Thread *threadp;
 };
 
+DONT_BUILD_IF(CH_FREQUENCY != 1000, ChFreqMs);
+#define CVT_MS2ST(msec) (msec)
+#define CVT_ST2MS(n) (n)
+
+#if 0
 #define CVT_MS2ST(msec) ((systime_t)(((((uint32_t)(msec)) * ((uint64_t)CH_FREQUENCY) - 1UL) / 1000UL) + 1UL))
 #define CVT_ST2MS(n) (((((n) - 1ULL) * 1000ULL) / ((uint64_t)CH_FREQUENCY)) + 1UL)
+#endif
 
 /**
  * Compute size that is at rounded up to the nearest

flight/PiOS/Common/pios_uavtalkrcvr.c

@@ -86,7 +86,8 @@ static struct pios_uavtalkrcvr_dev *PIOS_uavtalkrcvr_alloc(void)
 	return(uavtalkrcvr_dev);
 }
 
-static void uavreceiver_updated(UAVObjEvent * ev, void *ctx, void *obj, int len)
+static void uavreceiver_updated(const UAVObjEvent *ev,
+		void *ctx, void *obj, int len)
 {
 	struct pios_uavtalkrcvr_dev *uavtalkrcvr_dev = global_uavtalkrcvr_dev;
 	if (ev->obj == UAVTalkReceiverHandle()) {

flight/UAVObjects/inc/uavobjectmanager.h

@@ -127,7 +127,7 @@ typedef struct {
  * will be executed in the event task. The ev parameter should be copied if needed
  * after the function returns.
  */
-typedef void (*UAVObjEventCallback)(UAVObjEvent* ev, void* cb_ctx,
+typedef void (*UAVObjEventCallback)(const UAVObjEvent *ev, void* cb_ctx,
 	void *uavo_data, int uavo_len);
 
 /**
@@ -214,8 +214,8 @@ void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
 int32_t getEventMask(UAVObjHandle obj_handle, struct pios_queue *queue);
 uint8_t UAVObjCount();
 uint32_t UAVObjIDByIndex(uint8_t index);
-void UAVObjCbSetFlag(UAVObjEvent *objEv, void *ctx, void *obj, int len);
-void UAVObjCbCopyData(UAVObjEvent *objEv, void *ctx, void *obj, int len);
+void UAVObjCbSetFlag(const UAVObjEvent *objEv, void *ctx, void *obj, int len);
+void UAVObjCbCopyData(const UAVObjEvent *objEv, void *ctx, void *obj, int len);
 
 #endif // UAVOBJECTMANAGER_H