Moving constrain and constrainf to the include file to be inlined.

src/main/common/maths.c

@@ -111,26 +111,6 @@ int32_t applyDeadband(int32_t value, int32_t deadband)
     return value;
 }
 
-int constrain(int amt, int low, int high)
-{
-    if (amt < low)
-        return low;
-    else if (amt > high)
-        return high;
-    else
-        return amt;
-}
-
-float constrainf(float amt, float low, float high)
-{
-    if (amt < low)
-        return low;
-    else if (amt > high)
-        return high;
-    else
-        return amt;
-}
-
 void devClear(stdev_t *dev)
 {
     dev->m_n = 0;

src/main/common/maths.h

@@ -116,3 +116,25 @@ void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
 int16_t qPercent(fix12_t q);
 int16_t qMultiply(fix12_t q, int16_t input);
 fix12_t qConstruct(int16_t num, int16_t den);
+
+// Defining constrain and constrainf as inline in the include file
+// because these functions are used universally and should be fast.
+inline int constrain(int amt, int low, int high)
+{
+    if (amt < low)
+        return low;
+    else if (amt > high)
+        return high;
+    else
+        return amt;
+}
+
+inline float constrainf(float amt, float low, float high)
+{
+    if (amt < low)
+        return low;
+    else if (amt > high)
+        return high;
+    else
+        return amt;
+}