any and all changes

crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c

@@ -69,22 +69,22 @@ static bool isInit = false;
 
 static uint16_t motorsBLConvBitsTo16(uint16_t bits)
 {
-  return  motorsConv16ToBits_uCart23(bits); //(0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
+  return  (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
 }
 
 static uint16_t motorsBLConv16ToBits(uint16_t bits)
 {
-  return  motorsConv16ToBits_uCart23(bits); //(MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
+  return  (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
 }
 
 static uint16_t motorsConvBitsTo16(uint16_t bits)
 {
-  return  motorsConv16ToBits_uCart23(bits); //((bits) << (16 - MOTORS_PWM_BITS));
+  return  ((bits) << (16 - MOTORS_PWM_BITS));
 }
 
 static uint16_t motorsConv16ToBits(uint16_t bits)
 {
-  return  motorsConv16ToBits_uCart23(bits); //((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
+  return  ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
 }
 
 static uint16_t motorsConv16ToBits_uCart23(uint16_t bits)