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Removing -fsingle-precision-constant (#14444)

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* Removing -fsingle-precision-constant

This is so that -Wdouble-promotion raises a warning as it should.

* Adding -Wunsuffixed-float-constants

* Not ideal.

* Moving to a named constant

* Named constant update

* Using M_PIf

* Updated following feedback from @ledvinap
This commit is contained in:
Jay Blackman 2025-06-18 04:45:47 +10:00 • committed by GitHub
parent 2f9ee19cbf
commit 7fed816cb3
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
27 changed files with 64 additions and 68 deletions
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24
src/main/drivers/barometer/barometer_qmp6988.c
View file

@ -243,22 +243,22 @@ bool qmp6988Detect(baroDev_t *baro)
else
Coe_a0_ = temp2;
qmp6988_cal.Coe_a0=(float)Coe_a0_/16.0;
qmp6988_cal.Coe_a1=(-6.30E-03)+(4.30E-04)*(float)Coe_a1_/32767.0;
qmp6988_cal.Coe_a2=(-1.9E-11)+(1.2E-10)*(float)Coe_a2_/32767.0;
qmp6988_cal.Coe_a0 = (float)Coe_a0_/16.0f;
qmp6988_cal.Coe_a1 = (-6.30E-03f)+(4.30E-04f)*(float)Coe_a1_/32767.0f;
qmp6988_cal.Coe_a2 = (-1.9E-11f)+(1.2E-10f)*(float)Coe_a2_/32767.0f;
qmp6988_cal.Coe_b00 = Coe_b00_/16.0;
qmp6988_cal.Coe_bt1 = (1.00E-01)+(9.10E-02)*(float)Coe_bt1_/32767.0;
qmp6988_cal.Coe_bt2= (1.20E-08)+(1.20E-06)*(float)Coe_bt2_/32767.0;
qmp6988_cal.Coe_b00 = Coe_b00_/16.0f;
qmp6988_cal.Coe_bt1 = (1.00E-01f)+(9.10E-02f)*(float)Coe_bt1_/32767.0f;
qmp6988_cal.Coe_bt2 = (1.20E-08f)+(1.20E-06f)*(float)Coe_bt2_/32767.0f;
qmp6988_cal.Coe_bp1 = (3.30E-02)+(1.90E-02)*(float)Coe_bp1_/32767.0;
qmp6988_cal.Coe_b11= (2.10E-07)+(1.40E-07)*(float)Coe_b11_/32767.0;
qmp6988_cal.Coe_bp1 = (3.30E-02f)+(1.90E-02f)*(float)Coe_bp1_/32767.0f;
qmp6988_cal.Coe_b11 = (2.10E-07f)+(1.40E-07f)*(float)Coe_b11_/32767.0f;
qmp6988_cal.Coe_bp2 = (-6.30E-10)+(3.50E-10)*(float)Coe_bp2_/32767.0;
qmp6988_cal.Coe_b12= (2.90E-13)+(7.60E-13)*(float)Coe_b12_/32767.0;
qmp6988_cal.Coe_bp2 = (-6.30E-10f)+(3.50E-10f)*(float)Coe_bp2_/32767.0f;
qmp6988_cal.Coe_b12 = (2.90E-13f)+(7.60E-13f)*(float)Coe_b12_/32767.0f;
qmp6988_cal.Coe_b21 = (2.10E-15)+(1.20E-14)*(float)Coe_b21_/32767.0;
qmp6988_cal.Coe_bp3= (1.30E-16)+(7.90E-17)*(float)Coe_bp3_/32767.0;
qmp6988_cal.Coe_b21 = (2.10E-15f)+(1.20E-14f)*(float)Coe_b21_/32767.0f;
qmp6988_cal.Coe_bp3 = (1.30E-16f)+(7.90E-17f)*(float)Coe_bp3_/32767.0f;
// Set power mode and sample times
busWriteRegister(dev, QMP6988_CTRL_MEAS_REG, QMP6988_PWR_SAMPLE_MODE);

20
src/main/drivers/rx/rx_sx127x.c
View file

@ -305,25 +305,25 @@ uint32_t sx127xGetCurrBandwidth(const sx127xBandwidth_e bw)
{
switch (bw) {
case SX127x_BW_7_80_KHZ:
return 7.8E3;
return 7.8E3f;
case SX127x_BW_10_40_KHZ:
return 10.4E3;
return 10.4E3f;
case SX127x_BW_15_60_KHZ:
return 15.6E3;
return 15.6E3f;
case SX127x_BW_20_80_KHZ:
return 20.8E3;
return 20.8E3f;
case SX127x_BW_31_25_KHZ:
return 31.25E3;
return 31.25E3f;
case SX127x_BW_41_70_KHZ:
return 41.7E3;
return 41.7E3f;
case SX127x_BW_62_50_KHZ:
return 62.5E3;
return 62.5E3f;
case SX127x_BW_125_00_KHZ:
return 125E3;
return 125E3f;
case SX127x_BW_250_00_KHZ:
return 250E3;
return 250E3f;
case SX127x_BW_500_00_KHZ:
return 500E3;
return 500E3f;
}
return -1;
}

2
src/main/drivers/rx/rx_sx127x.h
View file

@ -292,7 +292,7 @@ typedef enum {
#define SX127x_MAX_POWER 0x0F //17dBm
#define SX127x_FREQ_STEP 61.03515625
#define SX127x_FREQ_STEP (61.03515625) // 61.03515625 Hz, used for frequency calculations
#define SX127x_FREQ_CORRECTION_MAX ((int32_t)(100000 / SX127x_FREQ_STEP))
#define SX127x_FREQ_CORRECTION_MIN ((int32_t)(-100000 / SX127x_FREQ_STEP))

10
src/main/fc/core.c
View file

@ -600,7 +600,7 @@ void tryArm(void)
resetMaxFFT();
#endif
disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1e6; // start disarm timeout, will be extended when throttle is nonzero
disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1000 * 1000; // start disarm timeout, will be extended when throttle is nonzero
lastArmingDisabledReason = 0;
@ -926,7 +926,7 @@ void processRxModes(timeUs_t currentTimeUs)
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6f;
if (ARMING_FLAG(ARMED)
&& featureIsEnabled(FEATURE_MOTOR_STOP)
&& !isFixedWing()
@ -1019,7 +1019,7 @@ void processRxModes(timeUs_t currentTimeUs)
#ifdef USE_ALTITUDE_HOLD
// only if armed; can coexist with position hold
if (ARMING_FLAG(ARMED)
if (ARMING_FLAG(ARMED)
// and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
&& !FLIGHT_MODE(GPS_RESCUE_MODE)
// and either the alt_hold switch is activated, or are in failsafe landing mode
@ -1040,7 +1040,7 @@ void processRxModes(timeUs_t currentTimeUs)
#ifdef USE_POSITION_HOLD
// only if armed; can coexist with altitude hold
if (ARMING_FLAG(ARMED)
if (ARMING_FLAG(ARMED)
// and not in GPS_RESCUE_MODE, to give it priority over Position Hold
&& !FLIGHT_MODE(GPS_RESCUE_MODE)
// and either the alt_hold switch is activated, or are in failsafe landing mode
@ -1254,7 +1254,7 @@ static FAST_CODE_NOINLINE void subTaskPidSubprocesses(timeUs_t currentTimeUs)
}
#ifdef USE_TELEMETRY
#define GYRO_TEMP_READ_DELAY_US 3e6 // Only read the gyro temp every 3 seconds
#define GYRO_TEMP_READ_DELAY_US (3 * 1000 * 1000) // Only read the gyro temp every 3 seconds
void subTaskTelemetryPollSensors(timeUs_t currentTimeUs)
{
static timeUs_t lastGyroTempTimeUs = 0;

4
src/main/fc/rc.c
View file

@ -263,8 +263,8 @@ static void scaleRawSetpointToFpvCamAngle(void)
{
//recalculate sin/cos only when rxConfig()->fpvCamAngleDegrees changed
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosFactor = 1.0;
static float sinFactor = 0.0;
static float cosFactor = 1.0f;
static float sinFactor = 0.0f;
if (lastFpvCamAngleDegrees != rxConfig()->fpvCamAngleDegrees) {
lastFpvCamAngleDegrees = rxConfig()->fpvCamAngleDegrees;

2
src/main/fc/rc_modes.c
View file

@ -44,7 +44,7 @@
#include "rc_modes.h"
#define STICKY_MODE_BOOT_DELAY_US 5e6
#define STICKY_MODE_BOOT_DELAY_US (5 * 1000 * 1000)
boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
static boxBitmask_t stickyModesEverDisabled;

4
src/main/flight/mixer_init.c
View file

@ -371,7 +371,7 @@ void mixerInitProfile(void)
mixerRuntime.rpmLimiterPGain = mixerConfig()->rpm_limit_p * 15e-6f;
mixerRuntime.rpmLimiterIGain = mixerConfig()->rpm_limit_i * 1e-3f * pidGetDT();
mixerRuntime.rpmLimiterDGain = mixerConfig()->rpm_limit_d * 3e-7f * pidGetPidFrequency();
mixerRuntime.rpmLimiterI = 0.0;
mixerRuntime.rpmLimiterI = 0.0f;
pt1FilterInit(&mixerRuntime.rpmLimiterAverageRpmFilter, pt1FilterGain(6.0f, pidGetDT()));
pt1FilterInit(&mixerRuntime.rpmLimiterThrottleScaleOffsetFilter, pt1FilterGain(2.0f, pidGetDT()));
mixerResetRpmLimiter();
@ -385,7 +385,7 @@ void mixerInitProfile(void)
#ifdef USE_RPM_LIMIT
void mixerResetRpmLimiter(void)
{
mixerRuntime.rpmLimiterI = 0.0;
mixerRuntime.rpmLimiterI = 0.0f;
mixerRuntime.rpmLimiterThrottleScale = constrainf(mixerRuntime.rpmLimiterRpmLimit / motorEstimateMaxRpm(), 0.0f, 1.0f);
mixerRuntime.rpmLimiterInitialThrottleScale = mixerRuntime.rpmLimiterThrottleScale;
}

2
src/main/io/ledstrip.c
View file

@ -105,7 +105,7 @@ static uint8_t previousProfileColorIndex = COLOR_UNDEFINED;
// Decay the estimated max task duration by 1/(1 << LED_EXEC_TIME_SHIFT) on every invocation
#define LED_EXEC_TIME_SHIFT 7
#define PROFILE_COLOR_UPDATE_INTERVAL_US 1e6 // normally updates when color changes but this is a 1 second forced update
#define PROFILE_COLOR_UPDATE_INTERVAL_US 1e6f // normally updates when color changes but this is a 1 second forced update
#define VISUAL_BEEPER_COLOR COLOR_WHITE

2
src/main/osd/osd.c
View file

@ -1196,7 +1196,7 @@ static timeDelta_t osdShowArmed(void)
uint8_t midRow = osdDisplayPort->rows / 2;
uint8_t midCol = osdDisplayPort->cols / 2;
osdDrawLogo(midCol - (OSD_LOGO_COLS) / 2, midRow - 5, osdConfig()->arming_logo);
ret = osdConfig()->logo_on_arming_duration * 1e5;
ret = osdConfig()->logo_on_arming_duration * 100 * 1000; // convert to microseconds
} else {
ret = (REFRESH_1S / 2);
}

4
src/main/osd/osd_elements.c
View file

@ -799,7 +799,7 @@ static void osdElementUpDownReference(osdElementParms_t *element)
char *symbol[2] = {"U", "D"}; // character buffer
int direction;
if(attitude.values.pitch>0.0){ //nose down
if (attitude.values.pitch > 0.0f){ //nose down
thetaB = -earthUpinBodyFrame[2]; // get pitch w/re to nadir (use small angle approx for sine)
psiB = -earthUpinBodyFrame[1]; // calculate the yaw w/re to nadir (use small angle approx for sine)
direction = DOWN;
@ -1589,7 +1589,7 @@ static void osdElementRemainingTimeEstimate(osdElementParms_t *element)
element->attr = DISPLAYPORT_SEVERITY_CRITICAL;
}
if (mAhDrawn <= 0.1 * osdConfig()->cap_alarm) { // also handles the mAhDrawn == 0 condition
if (mAhDrawn <= 0.1f * osdConfig()->cap_alarm) { // also handles the mAhDrawn == 0 condition
tfp_sprintf(element->buff, "--:--");
} else if (mAhDrawn > osdConfig()->cap_alarm) {
tfp_sprintf(element->buff, "00:00");

2
src/main/rx/expresslrs_common.h
View file

@ -52,7 +52,7 @@
#define ELRS_MODELMATCH_MASK 0x3F
#define FREQ_HZ_TO_REG_VAL_900(freq) ((uint32_t)(freq / SX127x_FREQ_STEP))
#define FREQ_HZ_TO_REG_VAL_24(freq) ((uint32_t)(freq / SX1280_FREQ_STEP))
#define FREQ_HZ_TO_REG_VAL_24(freq) ((uint32_t)(freq / SX1280_FREQ_STEP))
#define ELRS_RATE_MAX_24 6
#define ELRS_RATE_MAX_900 4

2
src/main/scheduler/scheduler.c
View file

@ -667,7 +667,7 @@ FAST_CODE void scheduler(void)
minGyroPeriod = gyroCyclesNow;
}
// Crude detection of missed cycles caused by configurator traffic
if ((gyroCyclesNow > maxGyroPeriod) && (gyroCyclesNow < (1.5 * minGyroPeriod))) {
if ((gyroCyclesNow > maxGyroPeriod) && (gyroCyclesNow < minGyroPeriod + minGyroPeriod / 2)) { // 1.5 * minGyroPeriod
maxGyroPeriod = gyroCyclesNow;
}
}

4
src/main/scheduler/scheduler.h
View file

@ -52,8 +52,8 @@
#define TASK_AGE_EXPEDITE_RX schedulerConfig()->rxRelaxDeterminism // Make RX tasks more schedulable if it's failed to be scheduled this many times
#define TASK_AGE_EXPEDITE_OSD schedulerConfig()->osdRelaxDeterminism // Make OSD tasks more schedulable if it's failed to be scheduled this many times
#define TASK_AGE_EXPEDITE_COUNT 1 // Make aged tasks more schedulable
#define TASK_AGE_EXPEDITE_SCALE 0.9 // By scaling their expected execution time
#define TASK_AGE_EXPEDITE_COUNT 1 // Make aged tasks more schedulable
#define TASK_AGE_EXPEDITE_SCALE 0.9f // By scaling their expected execution time
// Gyro interrupt counts over which to measure loop time and skew
#define GYRO_RATE_COUNT 25000

2
src/main/sensors/battery.c
View file

@ -242,7 +242,7 @@ void batteryUpdatePresence(void)
batteryCriticalVoltage = 0;
batteryWarningHysteresisVoltage = 0;
batteryCriticalHysteresisVoltage = 0;
wattHoursDrawn = 0.0;
wattHoursDrawn = 0.0f;
}
}

4
src/main/sensors/compass.c
View file

@ -376,7 +376,7 @@ bool compassInit(void)
if (magDev.magOdrHz) {
// For Mags that send data at a fixed ODR, we wait some quiet period after a read before checking for new data
// allow two re-check intervals, plus a margin for clock variations in mag vs FC
uint16_t odrInterval = 1e6 / magDev.magOdrHz;
uint16_t odrInterval = (1000 * 1000) / magDev.magOdrHz;
compassReadIntervalUs = odrInterval - (2 * COMPASS_RECHECK_INTERVAL_US) - (odrInterval / 20);
} else {
// Mags which have no specified ODR will be pinged at the compass task rate
@ -522,7 +522,7 @@ uint32_t compassUpdate(timeUs_t currentTimeUs)
static timeUs_t previousTimeUs = 0;
const timeDelta_t dataIntervalUs = cmpTimeUs(currentTimeUs, previousTimeUs); // time since last data received
previousTimeUs = currentTimeUs;
const uint16_t actualCompassDataRateHz = 1e6 / dataIntervalUs;
const uint16_t actualCompassDataRateHz = 1e6f / dataIntervalUs;
timeDelta_t executeTimeUs = micros() - currentTimeUs;
DEBUG_SET(DEBUG_MAG_TASK_RATE, 0, TASK_COMPASS_RATE_HZ);
DEBUG_SET(DEBUG_MAG_TASK_RATE, 1, actualCompassDataRateHz);

2
src/main/telemetry/mavlink.c
View file

@ -413,7 +413,7 @@ static void mavlinkSendHUDAndHeartbeat(void)
}
#endif
mavAltitude = getEstimatedAltitudeCm() / 100.0;
mavAltitude = getEstimatedAltitudeCm() / 100.0f;
mavlink_msg_vfr_hud_pack(0, 200, &mavMsg,
// airspeed Current airspeed in m/s

2
src/platform/APM32/mk/APM32F4.mk
View file

@ -127,7 +127,7 @@ INCLUDE_DIRS += \
$(SRC_DIR)/msc
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
DEVICE_FLAGS = -DUSE_DAL_DRIVER -DHSE_VALUE=$(HSE_VALUE) -DAPM32

2
src/platform/AT32/mk/AT32F4.mk
View file

@ -78,7 +78,7 @@ else
LD_SCRIPT = $(LINKER_DIR)/at32_flash_f43xg.ld
endif
ARCH_FLAGS = -std=c99 -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
ARCH_FLAGS = -std=c99 -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
DEVICE_FLAGS += -DUSE_ATBSP_DRIVER -DAT32F43x -DHSE_VALUE=$(HSE_VALUE) -DAT32 -DUSE_OTG_HOST_MODE
MCU_COMMON_SRC = \

6
src/platform/SIMULATOR/sitl.c
View file

@ -425,8 +425,7 @@ uint64_t micros64(void)
out += (now - last) * simRate;
last = now;
return out*1e-3;
// return micros64_real();
return out / 1000;
}
uint64_t millis64(void)
@ -438,8 +437,7 @@ uint64_t millis64(void)
out += (now - last) * simRate;
last = now;
return out*1e-6;
// return millis64_real();
return out / (1000 * 1000);
}
uint32_t micros(void)

2
src/platform/STM32/mk/STM32F4.mk
View file

@ -150,7 +150,7 @@ DEVICE_FLAGS += -DUSE_STDPERIPH_DRIVER
endif
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
ifeq ($(TARGET_MCU),STM32F411xE)
DEVICE_FLAGS += -DSTM32F411xE -finline-limit=20

2
src/platform/STM32/mk/STM32F7.mk
View file

@ -97,7 +97,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_PLATFORM_DIR)/vcp_hal
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
# Flags that are used in the STM32 libraries
DEVICE_FLAGS = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER

2
src/platform/STM32/mk/STM32G4.mk
View file

@ -90,7 +90,7 @@ INCLUDE_DIRS := \
$(TARGET_PLATFORM_DIR)/vcp_hal
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16
DEVICE_FLAGS = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DUSE_DMA_RAM -DMAX_MPU_REGIONS=16

2
src/platform/STM32/mk/STM32H5.mk
View file

@ -99,7 +99,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_PLATFORM_DIR)/vcp_hal
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
# Flags that are used in the STM32 libraries
DEVICE_FLAGS = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER

2
src/platform/STM32/mk/STM32H7.mk
View file

@ -103,7 +103,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_PLATFORM_DIR)/vcp_hal
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant
ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16
# Flags that are used in the STM32 libraries
DEVICE_FLAGS = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER