replace TRUE/FALSE by stdbool true/false

sw/airborne/arch/linux/mcu_periph/i2c_arch.c

@@ -44,7 +44,7 @@ void i2c_setbitrate(struct i2c_periph *p  __attribute__((unused)), int bitrate _
 
 bool i2c_idle(struct i2c_periph *p __attribute__((unused)))
 {
-  return TRUE;
+  return true;
 }
 
 #pragma GCC diagnostic push
@@ -68,7 +68,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
         /* if write failed, increment error counter queue_full_cnt */
         p->errors->queue_full_cnt++;
         t->status = I2CTransFailed;
-        return TRUE;
+        return true;
       }
       break;
       // Just reading
@@ -79,7 +79,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
         /* if read failed, increment error counter ack_fail_cnt */
         p->errors->ack_fail_cnt++;
         t->status = I2CTransFailed;
-        return TRUE;
+        return true;
       }
       break;
       // First Transmit and then read with repeated start
@@ -96,7 +96,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
         /* if write/read failed, increment error counter miss_start_stop_cnt */
         p->errors->miss_start_stop_cnt++;
         t->status = I2CTransFailed;
-        return TRUE;
+        return true;
       }
       break;
     default:
@@ -105,7 +105,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
 
   // Successfull transfer
   t->status = I2CTransSuccess;
-  return TRUE;
+  return true;
 }
 #pragma GCC diagnostic pop
 

sw/airborne/arch/linux/mcu_periph/spi_arch.c

@@ -89,7 +89,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
 
   if (ioctl(fd, SPI_IOC_MESSAGE(1), &xfer) < 0) {
     t->status = SPITransFailed;
-    return FALSE;
+    return false;
   }
 
   /* copy recieved data if we had to use an extra rx_buffer */
@@ -98,20 +98,20 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
   }
 
   t->status = SPITransSuccess;
-  return TRUE;
+  return true;
 }
 #pragma GCC diagnostic pop
 
 bool spi_lock(struct spi_periph *p, uint8_t slave)
 {
   // not implemented
-  return FALSE;
+  return false;
 }
 
 bool spi_resume(struct spi_periph *p, uint8_t slave)
 {
   // not implemented
-  return FALSE;
+  return false;
 }
 
 

sw/airborne/arch/linux/mcu_periph/sys_time_arch.c

@@ -136,7 +136,7 @@ static void sys_tick_handler(void)
     if (sys_time.timer[i].in_use &&
         sys_time.nb_tick >= sys_time.timer[i].end_time) {
       sys_time.timer[i].end_time += sys_time.timer[i].duration;
-      sys_time.timer[i].elapsed = TRUE;
+      sys_time.timer[i].elapsed = true;
       /* call registered callbacks, WARNING: they will be executed in the sys_time thread! */
       if (sys_time.timer[i].cb) {
         sys_time.timer[i].cb(i);

sw/airborne/arch/lpc21/ADS8344.c

@@ -88,7 +88,7 @@ static uint8_t channel;
 void ADS8344_init(void)
 {
   channel = 0;
-  ADS8344_available = FALSE;
+  ADS8344_available = false;
 
   /* setup pins for SSP (SCK, MISO, MOSI) */
   PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
@@ -146,7 +146,7 @@ void SPI1_ISR(void)
   channel++;
   if (channel > 7) {
     channel = 0;
-    ADS8344_available = TRUE;
+    ADS8344_available = true;
   }
   send_request();
   SpiClearRti();

sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c

@@ -356,7 +356,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
     /* queue full */
     p->errors->queue_full_cnt++;
     t->status = I2CTransFailed;
-    return FALSE;
+    return false;
   }
   t->status = I2CTransPending;
 
@@ -378,7 +378,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
   //VICIntEnable = VIC_BIT(*vic);
   enableIRQ();
 
-  return TRUE;
+  return true;
 }
 
 void i2c_event(void) { }

sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c

@@ -89,10 +89,10 @@ void pwm_input_isr1(void)
     T0CCR &= ~TCCR_CR3_F;
 #if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
     pwm_input_duty_tics[0] = t_fall - t_rise;
-    pwm_input_duty_valid[0] = TRUE;
+    pwm_input_duty_valid[0] = true;
 #elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
     pwm_input_period_tics[0] = t_fall - t_oldfall;
-    pwm_input_period_valid[0] = TRUE;
+    pwm_input_period_valid[0] = true;
     t_oldfall = t_fall;
 #endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR3_R) {
@@ -101,10 +101,10 @@ void pwm_input_isr1(void)
     T0CCR &= ~TCCR_CR3_R;
 #if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
     pwm_input_duty_tics[0] = t_rise - t_fall;
-    pwm_input_duty_valid[0] = TRUE;
+    pwm_input_duty_valid[0] = true;
 #elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
     pwm_input_period_tics[0] = t_rise - t_oldrise;
-    pwm_input_period_valid[0] = TRUE;
+    pwm_input_period_valid[0] = true;
     t_oldrise = t_rise;
 #endif //ACTIVE_LOW
   }
@@ -128,10 +128,10 @@ void pwm_input_isr2(void)
     T0CCR &= ~TCCR_CR0_F;
 #if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
     pwm_input_duty_tics[1] = t_fall - t_rise;
-    pwm_input_duty_valid[1] = TRUE;
+    pwm_input_duty_valid[1] = true;
 #elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
     pwm_input_period_tics[1] = t_fall - t_oldfall;
-    pwm_input_period_valid[1] = TRUE;
+    pwm_input_period_valid[1] = true;
     t_oldfall = t_fall;
 #endif //ACTIVE_HIGH
   } else if (T0CCR & TCCR_CR0_R) {
@@ -140,10 +140,10 @@ void pwm_input_isr2(void)
     T0CCR &= ~TCCR_CR0_R;
 #if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
     pwm_input_duty_tics[1] = t_rise - t_fall;
-    pwm_input_duty_valid[1] = TRUE;
+    pwm_input_duty_valid[1] = true;
 #elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
     pwm_input_period_tics[1] = t_rise - t_oldrise;
-    pwm_input_period_valid[1] = TRUE;
+    pwm_input_period_valid[1] = true;
     t_oldrise = t_rise;
 #endif //ACTIVE_LOW
   }

sw/airborne/arch/lpc21/mcu_periph/spi_arch.c

@@ -499,7 +499,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
   if (idx >= SPI_TRANSACTION_QUEUE_LEN) { idx = 0; }
   if (idx == p->trans_extract_idx) {
     t->status = SPITransFailed;
-    return FALSE; /* queue full */
+    return false; /* queue full */
   }
   t->status = SPITransPending;
 
@@ -521,7 +521,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
   //VICIntEnable = VIC_BIT(*vic);
   //restoreIRQ(cpsr);                                   // restore global interrupts
   enableIRQ();
-  return TRUE;
+  return true;
 }
 
 
@@ -567,10 +567,10 @@ bool spi_lock(struct spi_periph *p, uint8_t slave)
   if (slave < 254 && p->suspend == 0) {
     p->suspend = slave + 1; // 0 is reserved for unlock state
     VICIntEnable = VIC_BIT(*vic);
-    return TRUE;
+    return true;
   }
   VICIntEnable = VIC_BIT(*vic);
-  return FALSE;
+  return false;
 }
 
 bool spi_resume(struct spi_periph *p, uint8_t slave)
@@ -584,10 +584,10 @@ bool spi_resume(struct spi_periph *p, uint8_t slave)
       SpiStart(p, p->trans[p->trans_extract_idx]);
     }
     VICIntEnable = VIC_BIT(*vic);
-    return TRUE;
+    return true;
   }
   VICIntEnable = VIC_BIT(*vic);
-  return FALSE;
+  return false;
 }
 
 #endif /* SPI_MASTER */
@@ -681,7 +681,7 @@ bool spi_slave_register(struct spi_periph *p, struct spi_transaction *t)
 
   if (p->trans_insert_idx >= 1) {
     t->status = SPITransFailed;
-    return FALSE;
+    return false;
   }
   t->status = SPITransPending;
   p->status = SPIIdle;
@@ -697,18 +697,18 @@ bool spi_slave_register(struct spi_periph *p, struct spi_transaction *t)
 
   SpiSetDataSize(p, t->dss);
 
-  return TRUE;
+  return true;
 }
 
 bool spi_slave_wait(struct spi_periph *p)
 {
   if (p->trans_insert_idx == 0) {
     // no transaction registered
-    return FALSE;
+    return false;
   }
   // Start waiting
   SpiSlaveStart(p, p->trans[p->trans_extract_idx]);
-  return TRUE;
+  return true;
 }
 
 #endif /* SPI_SLAVE */

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c

@@ -107,7 +107,7 @@ static void SSP_ISR(void) __attribute__((naked));
 // Functions for the generic device API
 static int spi_slave_hs_check_free_space(struct spi_slave_hs *p __attribute__((unused)), uint8_t len __attribute__((unused)))
 {
-  return TRUE;
+  return true;
 }
 
 static void spi_slave_hs_transmit(struct spi_slave_hs *p __attribute__((unused)), uint8_t byte)

sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c

@@ -168,7 +168,7 @@ static inline void sys_tick_irq_handler(void)
     if (sys_time.timer[i].in_use &&
         sys_time.nb_tick >= sys_time.timer[i].end_time) {
       sys_time.timer[i].end_time += sys_time.timer[i].duration;
-      sys_time.timer[i].elapsed = TRUE;
+      sys_time.timer[i].elapsed = true;
       if (sys_time.timer[i].cb) {
         sys_time.timer[i].cb(i);
       }

sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c

@@ -36,7 +36,7 @@ void TRIG_ISR()
   if (msec_of_cpu_ticks(delta_t0_temp) > 10) {
     trigger_delta_t0 = delta_t0_temp;
     last = trigger_t0;
-    trigger_ext_valid = TRUE;
+    trigger_ext_valid = true;
   }
 }
 
@@ -52,6 +52,6 @@ void trigger_ext_init(void)
 #else
 #error "trig_ext_hw.h: Unknown PULSE_TYPE"
 #endif
-  trigger_ext_valid = FALSE;
+  trigger_ext_valid = false;
 }
 

sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c

@@ -19,7 +19,7 @@ void TRIG_ISR()
   if (msec_of_cpu_ticks(delta_t0_temp) > 10) {
     delta_t0 = delta_t0_temp;
     last = trigger_t0;
-    trig_ext_valid = TRUE;
+    trig_ext_valid = true;
   }
 }
 
@@ -35,6 +35,6 @@ void trig_ext_init(void)
 #else
 #error "trig_ext_hw.h: Unknown PULSE_TYPE"
 #endif
-  trig_ext_valid = FALSE;
+  trig_ext_valid = false;
 }
 

sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c

@@ -37,7 +37,7 @@ void exti15_10_irq_handler(void)
 //  if(EXTI_GetITStatus(EXTI_Line14) != RESET)
 //    EXTI_ClearITPendingBit(EXTI_Line14);
 
-  //imu_aspirin.gyro_eoc = TRUE;
+  //imu_aspirin.gyro_eoc = true;
   //imu_aspirin.status = AspirinStatusReadingGyro;
 }
 
@@ -59,5 +59,5 @@ void exti2_irq_handler(void)
 void dma1_c4_irq_handler(void)
 {
 
-  //imu_aspirin.accel_available = TRUE;
+  //imu_aspirin.accel_available = true;
 }

sw/airborne/arch/lpc21/subsystems/imu/imu_crista_arch.c

@@ -114,7 +114,7 @@ void SPI1_ISR(void)
   channel++;
   if (channel > 7 - 1) {
     channel = 0;
-    ADS8344_available = TRUE;
+    ADS8344_available = true;
     ADS8344Unselect();
   } else {
     send_request();

sw/airborne/arch/sim/mcu_periph/i2c_arch.c

@@ -27,8 +27,8 @@
 #include "mcu_periph/i2c.h"
 
 
-bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { return TRUE; }
+bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { return true; }
-bool i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return TRUE;}
+bool i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return true;}
 void i2c_event(void) { }
 void i2c2_setbitrate(int bitrate __attribute__((unused))) { }
 

sw/airborne/arch/sim/mcu_periph/spi_arch.c

@@ -27,7 +27,7 @@
 #include "mcu_periph/spi.h"
 
 
-bool spi_submit(struct spi_periph *p __attribute__((unused)), struct spi_transaction *t __attribute__((unused))) { return TRUE;}
+bool spi_submit(struct spi_periph *p __attribute__((unused)), struct spi_transaction *t __attribute__((unused))) { return true;}
 
 void spi_init_slaves(void) {}
 
@@ -35,7 +35,7 @@ void spi_slave_select(uint8_t slave __attribute__((unused))) {}
 
 void spi_slave_unselect(uint8_t slave __attribute__((unused))) {}
 
-bool spi_lock(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return TRUE; }
+bool spi_lock(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return true; }
 
-bool spi_resume(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return TRUE; }
+bool spi_resume(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return true; }
 

sw/airborne/arch/sim/mcu_periph/sys_time_arch.c

@@ -47,7 +47,7 @@ void sys_tick_handler(void)
     if (sys_time.timer[i].in_use &&
         sys_time.nb_tick >= sys_time.timer[i].end_time) {
       sys_time.timer[i].end_time += sys_time.timer[i].duration;
-      sys_time.timer[i].elapsed = TRUE;
+      sys_time.timer[i].elapsed = true;
       if (sys_time.timer[i].cb) {
         sys_time.timer[i].cb(i);
       }

sw/airborne/arch/sim/modules/core/trigger_ext_hw.c

@@ -26,6 +26,6 @@
 
 void trigger_ext_init(void)
 {
-  trigger_ext_valid = FALSE;
+  trigger_ext_valid = false;
 }
 

sw/airborne/arch/sim/sim_ap.c

@@ -138,7 +138,7 @@ value set_datalink_message(value s)
     dl_buffer[i] = ss[i];
   }
 
-  dl_msg_available = TRUE;
+  dl_msg_available = true;
   DlCheckAndParse();
 
   return Val_unit;

sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c

@@ -68,7 +68,7 @@ void radio_control_feed(void)
                                           RADIO_MODE_NEUTRAL,          \
                                           RADIO_MODE_MIN,              \
                                           RADIO_MODE_MAX);
-  ppm_frame_available = TRUE;
+  ppm_frame_available = true;
 }
 #else //RADIO_CONTROL
 void radio_control_feed(void) {}
@@ -84,7 +84,7 @@ value update_rc_channel(value c, value v)
 
 value send_ppm(value unit)
 {
-  ppm_frame_available = TRUE;
+  ppm_frame_available = true;
   return unit;
 }
 #else // RADIO_CONTROL

sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c

@@ -43,7 +43,7 @@ void radio_control_spektrum_try_bind(void) {}
 
 void radio_control_impl_init(void)
 {
-  spektrum_available = FALSE;
+  spektrum_available = false;
 }
 void RadioControlEventImp(void (*frame_handler)(void))
 {
@@ -53,7 +53,7 @@ void RadioControlEventImp(void (*frame_handler)(void))
     radio_control.status = RC_OK;
     (*frame_handler)();
   }
-  spektrum_available = FALSE;
+  spektrum_available = false;
 }
 
 #if USE_NPS
@@ -65,7 +65,7 @@ void radio_control_feed(void)
   radio_control.values[RADIO_YAW]      = nps_radio_control.yaw * MAX_PPRZ;
   radio_control.values[RADIO_THROTTLE] = nps_radio_control.throttle * MAX_PPRZ;
   radio_control.values[RADIO_MODE]     = nps_radio_control.mode * MAX_PPRZ;
-  spektrum_available = TRUE;
+  spektrum_available = true;
 }
 #else //RADIO_CONTROL
 void radio_control_feed(void) {}
@@ -89,7 +89,7 @@ value update_rc_channel(value c, value v)
 
 value send_ppm(value unit)
 {
-  spektrum_available = TRUE;
+  spektrum_available = true;
   return unit;
 }
 #else // RADIO_CONTROL

sw/airborne/arch/stm32/led_hw.h

@@ -82,11 +82,11 @@ extern uint8_t led_status[NB_LED];
                   GPIO_CNF_OUTPUT_PUSHPULL,             \
                   GPIO15);                              \
     for(uint8_t _cnt=0; _cnt<NB_LED; _cnt++)            \
-      led_status[_cnt] = FALSE;                         \
+      led_status[_cnt] = false;                         \
   }
 
-#define LED_ON(i)  { led_status[i] = TRUE;  }
+#define LED_ON(i)  { led_status[i] = true;  }
-#define LED_OFF(i) { led_status[i] = FALSE; }
+#define LED_OFF(i) { led_status[i] = false; }
 #define LED_TOGGLE(i) {led_status[i] = !led_status[i];}
 
 #define LED_PERIODIC() {                                    \

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -1285,7 +1285,7 @@ static inline void i2c_scl_toggle(uint32_t i2c)
 
 static inline bool i2c_sda_get(uint32_t i2c)
 {
-  bool res = FALSE;
+  bool res = false;
 #if USE_I2C1
   if (i2c == I2C1) {
     res = gpio_get(I2C1_GPIO_PORT, I2C1_GPIO_SDA);
@@ -1418,7 +1418,7 @@ void i2c_event(void)
 bool i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t)
 {
   if (periph->watchdog > WD_DELAY) {
-    return FALSE;
+    return false;
   }
 
   uint8_t temp;
@@ -1428,7 +1428,7 @@ bool i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t)
     // queue full
     periph->errors->queue_full_cnt++;
     t->status = I2CTransFailed;
-    return FALSE;
+    return false;
   }
 
   t->status = I2CTransPending;
@@ -1462,7 +1462,7 @@ bool i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t)
   /* else it will be started by the interrupt handler when the previous transactions completes */
   __enable_irq();
 
-  return TRUE;
+  return true;
 }
 
 bool i2c_idle(struct i2c_periph *periph)
@@ -1475,7 +1475,7 @@ bool i2c_idle(struct i2c_periph *periph)
 #ifdef I2C_DEBUG_LED
 #if USE_I2C1
   if (periph == &i2c1) {
-    return TRUE;
+    return true;
   }
 #endif
 #endif
@@ -1484,6 +1484,6 @@ bool i2c_idle(struct i2c_periph *periph)
   if (periph->status == I2CIdle) {
     return !(BIT_X_IS_SET_IN_REG(I2C_SR2_BUSY, I2C_SR2(i2c)));
   } else {
-    return FALSE;
+    return false;
   }
 }

sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c

@@ -208,12 +208,12 @@ void tim1_cc_isr(void) {
   if ((TIM1_SR & TIM1_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM1, TIM1_CC_IF_PERIOD);
     pwm_input_period_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_PERIOD;
-    pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = true;
   }
   if ((TIM1_SR & TIM1_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM1, TIM1_CC_IF_DUTY);
     pwm_input_duty_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_DUTY;
-    pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = true;
   }
 }
 
@@ -225,12 +225,12 @@ void tim2_isr(void) {
   if ((TIM2_SR & TIM2_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM2, TIM2_CC_IF_PERIOD);
     pwm_input_period_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_PERIOD;
-    pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = true;
   }
   if ((TIM2_SR & TIM2_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM2, TIM2_CC_IF_DUTY);
     pwm_input_duty_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_DUTY;
-    pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = true;
   }
   if ((TIM2_SR & TIM_SR_UIF) != 0) {
     timer_clear_flag(TIM2, TIM_SR_UIF);
@@ -246,12 +246,12 @@ void tim3_isr(void) {
   if ((TIM3_SR & TIM3_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM3, TIM3_CC_IF_PERIOD);
     pwm_input_period_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_PERIOD;
-    pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = true;
   }
   if ((TIM3_SR & TIM3_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM3, TIM3_CC_IF_DUTY);
     pwm_input_duty_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_DUTY;
-    pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = true;
   }
   if ((TIM3_SR & TIM_SR_UIF) != 0) {
     timer_clear_flag(TIM3, TIM_SR_UIF);
@@ -267,12 +267,12 @@ void tim5_isr(void) {
   if ((TIM5_SR & TIM5_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM5, TIM5_CC_IF_PERIOD);
     pwm_input_period_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_PERIOD;
-    pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = true;
   }
   if ((TIM5_SR & TIM5_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM5, TIM5_CC_IF_DUTY);
     pwm_input_duty_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_DUTY;
-    pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = true;
   }
   if ((TIM5_SR & TIM_SR_UIF) != 0) {
     timer_clear_flag(TIM5, TIM_SR_UIF);
@@ -300,12 +300,12 @@ void tim8_cc_isr(void) {
   if ((TIM8_SR & TIM8_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM8, TIM8_CC_IF_PERIOD);
     pwm_input_period_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_PERIOD;
-    pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = true;
   }
   if ((TIM8_SR & TIM8_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM8, TIM8_CC_IF_DUTY);
     pwm_input_duty_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_DUTY;
-    pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = true;
   }
 }
 
@@ -318,12 +318,12 @@ void tim1_brk_tim9_isr(void) {
   if ((TIM9_SR & TIM9_CC_IF_PERIOD) != 0) {
     timer_clear_flag(TIM9, TIM9_CC_IF_PERIOD);
     pwm_input_period_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_PERIOD;
-    pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = TRUE;
+    pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = true;
   }
   if ((TIM9_SR & TIM9_CC_IF_DUTY) != 0) {
     timer_clear_flag(TIM9, TIM9_CC_IF_DUTY);
     pwm_input_duty_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_DUTY;
-    pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = TRUE;
+    pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = true;
   }
   if ((TIM9_SR & TIM_SR_UIF) != 0) {
     timer_clear_flag(TIM9, TIM_SR_UIF);

sw/airborne/arch/stm32/mcu_periph/spi_arch.c

@@ -267,7 +267,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
   if (idx >= SPI_TRANSACTION_QUEUE_LEN) { idx = 0; }
   if ((idx == p->trans_extract_idx) || ((t->input_length == 0) && (t->output_length == 0))) {
     t->status = SPITransFailed;
-    return FALSE; /* queue full or input_length and output_length both 0 */
+    return false; /* queue full or input_length and output_length both 0 */
     // TODO can't tell why it failed here if it does
   }
 
@@ -287,7 +287,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
   }
   //FIXME
   spi_arch_int_enable(p);
-  return TRUE;
+  return true;
 }
 
 bool spi_lock(struct spi_periph *p, uint8_t slave)
@@ -296,10 +296,10 @@ bool spi_lock(struct spi_periph *p, uint8_t slave)
   if (slave < 254 && p->suspend == 0) {
     p->suspend = slave + 1; // 0 is reserved for unlock state
     spi_arch_int_enable(p);
-    return TRUE;
+    return true;
   }
   spi_arch_int_enable(p);
-  return FALSE;
+  return false;
 }
 
 bool spi_resume(struct spi_periph *p, uint8_t slave)
@@ -312,10 +312,10 @@ bool spi_resume(struct spi_periph *p, uint8_t slave)
       spi_start_dma_transaction(p, p->trans[p->trans_extract_idx]);
     }
     spi_arch_int_enable(p);
-    return TRUE;
+    return true;
   }
   spi_arch_int_enable(p);
-  return FALSE;
+  return false;
 }
 
 
@@ -603,7 +603,7 @@ static void spi_start_dma_transaction(struct spi_periph *periph, struct spi_tran
     /* use dummy rx dma for the rest */
     if (trans->output_length > trans->input_length) {
       /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */
-      dma->rx_extra_dummy_dma = TRUE;
+      dma->rx_extra_dummy_dma = true;
     }
   }
 #ifdef STM32F1
@@ -634,7 +634,7 @@ static void spi_start_dma_transaction(struct spi_periph *periph, struct spi_tran
                       (uint32_t)trans->output_buf, trans->output_length, trans->dss, TRUE);
     if (trans->input_length > trans->output_length) {
       /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */
-      dma->tx_extra_dummy_dma = TRUE;
+      dma->tx_extra_dummy_dma = true;
     }
   }
 #ifdef STM32F1
@@ -696,9 +696,9 @@ void spi1_arch_init(void)
   spi1_dma.tx_nvic_irq = NVIC_DMA2_STREAM5_IRQ;
 #endif
   spi1_dma.tx_dummy_buf = 0;
-  spi1_dma.tx_extra_dummy_dma = FALSE;
+  spi1_dma.tx_extra_dummy_dma = false;
   spi1_dma.rx_dummy_buf = 0;
-  spi1_dma.rx_extra_dummy_dma = FALSE;
+  spi1_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi1_dma.comm);
@@ -784,9 +784,9 @@ void spi2_arch_init(void)
   spi2_dma.tx_nvic_irq = NVIC_DMA1_STREAM4_IRQ;
 #endif
   spi2_dma.tx_dummy_buf = 0;
-  spi2_dma.tx_extra_dummy_dma = FALSE;
+  spi2_dma.tx_extra_dummy_dma = false;
   spi2_dma.rx_dummy_buf = 0;
-  spi2_dma.rx_extra_dummy_dma = FALSE;
+  spi2_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi2_dma.comm);
@@ -873,9 +873,9 @@ void spi3_arch_init(void)
   spi3_dma.tx_nvic_irq = NVIC_DMA1_STREAM5_IRQ;
 #endif
   spi3_dma.tx_dummy_buf = 0;
-  spi3_dma.tx_extra_dummy_dma = FALSE;
+  spi3_dma.tx_extra_dummy_dma = false;
   spi3_dma.rx_dummy_buf = 0;
-  spi3_dma.rx_extra_dummy_dma = FALSE;
+  spi3_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi3_dma.comm);
@@ -1087,7 +1087,7 @@ void process_rx_dma_interrupt(struct spi_periph * periph) {
      */
 
     /* Reset the flag so this only happens once in a transaction */
-    dma->rx_extra_dummy_dma = FALSE;
+    dma->rx_extra_dummy_dma = false;
 
     /* Use the difference in length between rx and tx */
     uint16_t len_remaining = trans->output_length - trans->input_length;
@@ -1161,7 +1161,7 @@ void process_tx_dma_interrupt(struct spi_periph * periph) {
      */
 
     /* Reset the flag so this only happens once in a transaction */
-    dma->tx_extra_dummy_dma = FALSE;
+    dma->tx_extra_dummy_dma = false;
 
     /* Use the difference in length between tx and rx */
     uint16_t len_remaining = trans->input_length - trans->output_length;
@@ -1236,9 +1236,9 @@ void spi1_slave_arch_init(void) {
   spi1_dma.tx_nvic_irq = NVIC_DMA2_STREAM5_IRQ;
 #endif
   spi1_dma.tx_dummy_buf = 0;
-  spi1_dma.tx_extra_dummy_dma = FALSE;
+  spi1_dma.tx_extra_dummy_dma = false;
   spi1_dma.rx_dummy_buf = 0;
-  spi1_dma.rx_extra_dummy_dma = FALSE;
+  spi1_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi1_dma.comm);
@@ -1362,9 +1362,9 @@ void spi2_slave_arch_init(void) {
   spi2_dma.tx_nvic_irq = NVIC_DMA1_STREAM4_IRQ;
 #endif
   spi2_dma.tx_dummy_buf = 0;
-  spi2_dma.tx_extra_dummy_dma = FALSE;
+  spi2_dma.tx_extra_dummy_dma = false;
   spi2_dma.rx_dummy_buf = 0;
-  spi2_dma.rx_extra_dummy_dma = FALSE;
+  spi2_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi2_dma.comm);
@@ -1491,9 +1491,9 @@ void spi3_slave_arch_init(void) {
   spi3_dma.tx_nvic_irq = NVIC_DMA1_STREAM5_IRQ;
 #endif
   spi3_dma.tx_dummy_buf = 0;
-  spi3_dma.tx_extra_dummy_dma = FALSE;
+  spi3_dma.tx_extra_dummy_dma = false;
   spi3_dma.rx_dummy_buf = 0;
-  spi3_dma.rx_extra_dummy_dma = FALSE;
+  spi3_dma.rx_extra_dummy_dma = false;
 
   // set the default configuration
   set_default_comm_config(&spi3_dma.comm);
@@ -1687,7 +1687,7 @@ bool spi_slave_register(struct spi_periph * periph, struct spi_transaction * tra
   /* enable dma interrupt */
   spi_arch_int_enable(periph);
 
-  return TRUE;
+  return true;
 }
 
 void process_slave_rx_dma_interrupt(struct spi_periph * periph) {

sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c

@@ -89,7 +89,7 @@ void sys_tick_handler(void)
     if (sys_time.timer[i].in_use &&
         sys_time.nb_tick >= sys_time.timer[i].end_time) {
       sys_time.timer[i].end_time += sys_time.timer[i].duration;
-      sys_time.timer[i].elapsed = TRUE;
+      sys_time.timer[i].elapsed = true;
       if (sys_time.timer[i].cb) {
         sys_time.timer[i].cb(i);
       }

sw/airborne/arch/stm32/mcu_periph/uart_arch.c

@@ -125,7 +125,7 @@ void uart_put_byte(struct uart_periph *p, uint8_t data)
     p->tx_buf[p->tx_insert_idx] = data;
     p->tx_insert_idx = temp;
   } else { // no, set running flag and write to output register
-    p->tx_running = TRUE;
+    p->tx_running = true;
     usart_send((uint32_t)p->reg_addr, data);
   }
 
@@ -144,7 +144,7 @@ static inline void usart_isr(struct uart_periph *p)
       p->tx_extract_idx++;
       p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
     } else {
-      p->tx_running = FALSE;   // clear running flag
+      p->tx_running = false;   // clear running flag
       USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt
     }
   }

sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c

@@ -97,7 +97,7 @@ void exti15_10_isr(void)
   exti_reset_request(EXTI14);
 
 #ifdef ASPIRIN_USE_GYRO_INT
-  imu_aspirin.gyro_eoc = TRUE;
+  imu_aspirin.gyro_eoc = true;
   imu_aspirin.status = AspirinStatusReadingGyro;
 #endif
 

sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c

@@ -160,7 +160,7 @@ void dma1_c4_irq_handler(void)
   ADS8344_values[channel] = (buf_in[1] << 8 | buf_in[2]) << 1 | buf_in[3] >> 7;
   channel++;
   if (channel > 6) {
-    ADS8344_available = TRUE;
+    ADS8344_available = true;
     ADS8344Unselect();
     DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);
     /* Disable SPI_2 Rx and TX request */

sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c

@@ -30,10 +30,10 @@ void exti9_5_isr(void)
   /* clear EXTI */
   if (EXTI_PR & EXTI6) {
     exti_reset_request(EXTI6);
-    imu_krooz.hmc_eoc = TRUE;
+    imu_krooz.hmc_eoc = true;
   }
   if (EXTI_PR & EXTI5) {
     exti_reset_request(EXTI5);
-    imu_krooz.mpu_eoc = TRUE;
+    imu_krooz.mpu_eoc = true;
   }
 }

sw/airborne/arch/stm32/usb_ser_hw.c

@@ -291,7 +291,7 @@ static bool usb_connected;
 // use suspend callback to detect disconnect
 static void suspend_cb(void)
 {
-  usb_connected = FALSE;
+  usb_connected = false;
 }
 
 /**
@@ -312,7 +312,7 @@ static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
                                  cdcacm_control_request);
 
   // use config and suspend callback to detect connect
-  usb_connected = TRUE;
+  usb_connected = true;
   usbd_register_suspend_callback(usbd_dev, suspend_cb);
 }
 
@@ -334,13 +334,13 @@ bool fifo_put(fifo_t *fifo, uint8_t c)
   next = (fifo->head + 1) % VCOM_FIFO_SIZE;
   if (next == fifo->tail) {
     // full
-    return FALSE;
+    return false;
   }
 
   fifo->buf[fifo->head] = c;
   fifo->head = next;
 
-  return TRUE;
+  return true;
 }
 
 
@@ -350,7 +350,7 @@ bool fifo_get(fifo_t *fifo, uint8_t *pc)
 
   // check if FIFO has data
   if (fifo->head == fifo->tail) {
-    return FALSE;
+    return false;
   }
 
   next = (fifo->tail + 1) % VCOM_FIFO_SIZE;
@@ -358,7 +358,7 @@ bool fifo_get(fifo_t *fifo, uint8_t *pc)
   *pc = fifo->buf[fifo->tail];
   fifo->tail = next;
 
-  return TRUE;
+  return true;
 }
 
 
@@ -552,7 +552,7 @@ void VCOM_init(void)
   usbd_register_set_config_callback(my_usbd_dev, cdcacm_set_config);
 
   // disconnected by default
-  usb_connected = FALSE;
+  usb_connected = false;
 
   // Configure generic device
   usb_serial.device.periph = (void *)(&usb_serial);

sw/airborne/boards/apogee/baro_board.c

@@ -83,7 +83,7 @@ void baro_init(void)
   startup_cnt = BARO_STARTUP_COUNTER;
 
 #if APOGEE_BARO_SDLOG
-  log_apogee_baro_started = FALSE;
+  log_apogee_baro_started = false;
 #endif
 
 }
@@ -97,7 +97,7 @@ void baro_periodic(void)
     if (startup_cnt > 0 && apogee_baro.data_available) {
       // Run some loops to get correct readings from the adc
       --startup_cnt;
-      apogee_baro.data_available = FALSE;
+      apogee_baro.data_available = false;
 #ifdef BARO_LED
       LED_TOGGLE(BARO_LED);
       if (startup_cnt == 0) {
@@ -118,13 +118,13 @@ void apogee_baro_event(void)
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     float temp = apogee_baro.temperature / 16.0f;
     AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-    apogee_baro.data_available = FALSE;
+    apogee_baro.data_available = false;
 
 #if APOGEE_BARO_SDLOG
   if (pprzLogFile != -1) {
     if (!log_apogee_baro_started) {
       sdLogWriteLog(pprzLogFile, "APOGEE_BARO: Pres(Pa) Temp(degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7deg) climb(cm/s)\n");
-      log_apogee_baro_started = TRUE;
+      log_apogee_baro_started = true;
     }
     sdLogWriteLog(pprzLogFile, "apogee_baro: %9.4f %9.4f %d %d %d   %d %d %d   %d %d %d\n",
 		  pressure,temp,

sw/airborne/boards/apogee/chibios-libopencm3/board.c

@@ -66,7 +66,7 @@ void __early_init(void) {
  */
 bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
   (void)sdcp;
-  return FALSE;
+  return false;
 }
 
 /**
@@ -90,7 +90,7 @@ bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
 
   (void)mmcp;
   /* TODO: Fill the implementation.*/
-  return TRUE;
+  return true;
 }
 
 /**
@@ -100,7 +100,7 @@ bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
 
   (void)mmcp;
   /* TODO: Fill the implementation.*/
-  return FALSE;
+  return false;
 }
 #endif
 

sw/airborne/boards/apogee/imu_apogee.c

@@ -84,7 +84,7 @@ PRINT_CONFIG_VAR(MAG_PRESCALER)
 bool configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
 bool configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused)))
 {
-  return TRUE;
+  return true;
 }
 
 #endif
@@ -95,7 +95,7 @@ struct ImuApogee imu_apogee;
 bool configure_baro_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
 bool configure_baro_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused)))
 {
-  return TRUE;
+  return true;
 }
 
 void imu_impl_init(void)
@@ -111,7 +111,7 @@ void imu_impl_init(void)
   // set MPU in bypass mode for the baro
   imu_apogee.mpu.config.nb_slaves = 1;
   imu_apogee.mpu.config.slaves[0].configure = &configure_baro_slave;
-  imu_apogee.mpu.config.i2c_bypass = TRUE;
+  imu_apogee.mpu.config.i2c_bypass = true;
 #if APOGEE_USE_MPU9150
   // if using MPU9150, internal mag needs to be configured
   ak8975_init(&imu_apogee.ak, &(IMU_APOGEE_I2C_DEV), AK8975_I2C_SLV_ADDR);
@@ -161,7 +161,7 @@ void imu_apogee_event(void)
         (int32_t)(-imu_apogee.mpu.data_accel.value[IMU_APOGEE_CHAN_Z])
     };
     VECT3_COPY(imu.accel_unscaled, accel);
-    imu_apogee.mpu.data_available = FALSE;
+    imu_apogee.mpu.data_available = false;
     imu_scale_gyro(&imu);
     imu_scale_accel(&imu);
     AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
@@ -177,7 +177,7 @@ void imu_apogee_event(void)
         (int32_t)( imu_apogee.ak.data.value[IMU_APOGEE_CHAN_Z])
     };
     VECT3_COPY(imu.mag_unscaled, mag);
-    imu_apogee.ak.data_available = FALSE;
+    imu_apogee.ak.data_available = false;
     imu_scale_mag(&imu);
     AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
   }

sw/airborne/boards/ardrone/actuators.c

@@ -169,7 +169,7 @@ int actuators_ardrone_cmd(uint8_t cmd, uint8_t *reply, int replylen)
 void actuators_ardrone_motor_status(void);
 void actuators_ardrone_motor_status(void)
 {
-  static bool last_motor_on = FALSE;
+  static bool last_motor_on = false;
 
   // Reset Flipflop sequence
   static bool reset_flipflop_counter = 0;

sw/airborne/boards/ardrone/baro_board.c

@@ -103,6 +103,6 @@ void ardrone_baro_event(void)
       float pressure = (float)press_pascal;
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     }
-    navdata.baro_available = FALSE;
+    navdata.baro_available = false;
   }
 }

sw/airborne/boards/ardrone/navdata.c

@@ -61,7 +61,7 @@ struct navdata_t navdata;
 /** Buffer filled in the thread (maximum one navdata packet) */
 static uint8_t navdata_buffer[NAVDATA_PACKET_SIZE];
 /** flag to indicate new packet is available in buffer */
-static bool navdata_available = FALSE;
+static bool navdata_available = false;
 
 /* syncronization variables */
 static pthread_mutex_t navdata_mutex = PTHREAD_MUTEX_INITIALIZER;
@@ -178,7 +178,7 @@ bool navdata_init()
 
     if (navdata.fd < 0) {
       printf("[navdata] Unable to open navdata board connection(/dev/ttyO1)\n");
-      return FALSE;
+      return false;
     }
 
     /* Update the settings of the UART connection */
@@ -201,10 +201,10 @@ bool navdata_init()
   }
 
   // Reset available flags
-  navdata_available = FALSE;
+  navdata_available = false;
-  navdata.baro_calibrated = FALSE;
+  navdata.baro_calibrated = false;
-  navdata.baro_available = FALSE;
+  navdata.baro_available = false;
-  navdata.imu_lost = FALSE;
+  navdata.imu_lost = false;
 
   // Set all statistics to 0
   navdata.checksum_errors = 0;
@@ -219,9 +219,9 @@ bool navdata_init()
   /* Read the baro calibration(blocking) */
   if (!navdata_baro_calib()) {
     printf("[navdata] Could not acquire baro calibration!\n");
-    return FALSE;
+    return false;
   }
-  navdata.baro_calibrated = TRUE;
+  navdata.baro_calibrated = true;
 
   /* Start acquisition */
   navdata_cmd_send(NAVDATA_CMD_START);
@@ -234,7 +234,7 @@ bool navdata_init()
   pthread_t navdata_thread;
   if (pthread_create(&navdata_thread, NULL, navdata_read, NULL) != 0) {
     printf("[navdata] Could not create navdata reading thread!\n");
-    return FALSE;
+    return false;
   }
 
 #if PERIODIC_TELEMETRY
@@ -242,8 +242,8 @@ bool navdata_init()
 #endif
 
   /* Set to initialized */
-  navdata.is_initialized = TRUE;
+  navdata.is_initialized = true;
-  return TRUE;
+  return true;
 }
 
 
@@ -313,7 +313,7 @@ static void *navdata_read(void *data __attribute__((unused)))
 
       /* Set flag that we have new valid navdata */
       pthread_mutex_lock(&navdata_mutex);
-      navdata_available = TRUE;
+      navdata_available = true;
       pthread_mutex_unlock(&navdata_mutex);
     }
   }
@@ -356,7 +356,7 @@ void navdata_update()
     memcpy(&navdata.measure, navdata_buffer, NAVDATA_PACKET_SIZE);
 
     /* reset the flag */
-    navdata_available = FALSE;
+    navdata_available = false;
     /* signal that we copied the buffer and new packet can be read */
     pthread_cond_signal(&navdata_cond);
     pthread_mutex_unlock(&navdata_mutex);
@@ -422,7 +422,7 @@ static bool navdata_baro_calib(void)
   uint8_t calibBuffer[22];
   if (full_read(navdata.fd, calibBuffer, sizeof calibBuffer) < 0) {
     printf("[navdata] Could not read calibration data.");
-    return FALSE;
+    return false;
   }
 
   /* Convert the read bytes */
@@ -438,7 +438,7 @@ static bool navdata_baro_calib(void)
   navdata.bmp180_calib.mc  = calibBuffer[18] << 8 | calibBuffer[19];
   navdata.bmp180_calib.md  = calibBuffer[20] << 8 | calibBuffer[21];
 
-  return TRUE;
+  return true;
 }
 
 /**
@@ -459,7 +459,7 @@ static void mag_freeze_check(void)
       fprintf(stderr, "mag freeze detected, resetting!\n");
 
       /* set imu_lost flag */
-      navdata.imu_lost = TRUE;
+      navdata.imu_lost = true;
       navdata.lost_imu_frames++;
 
       /* Stop acquisition */
@@ -478,7 +478,7 @@ static void mag_freeze_check(void)
       MagFreezeCounter = 0; /* reset counter back to zero */
     }
   } else {
-    navdata.imu_lost = FALSE;
+    navdata.imu_lost = false;
     /* Reset counter if value _does_ change */
     MagFreezeCounter = 0;
   }
@@ -505,34 +505,34 @@ static void baro_update_logic(void)
 
   if (temp_or_press_was_updated_last == 0) { /* Last update was press so we are now waiting for temp */
     /* temp was updated */
-    temp_or_press_was_updated_last = TRUE;
+    temp_or_press_was_updated_last = true;
 
     /* This means that press must remain constant */
     if (lastpressval != 0) {
       /* If pressure was updated: this is a sync error */
       if (lastpressval != navdata.measure.pressure) {
         /* wait for temp again */
-        temp_or_press_was_updated_last = FALSE;
+        temp_or_press_was_updated_last = false;
         sync_errors++;
         //printf("Baro-Logic-Error (expected updated temp, got press)\n");
       }
     }
   } else {
     /* press was updated */
-    temp_or_press_was_updated_last = FALSE;
+    temp_or_press_was_updated_last = false;
 
     /* This means that temp must remain constant */
     if (lasttempval != 0) {
       /* If temp was updated: this is a sync error */
       if (lasttempval != navdata.measure.temperature_pressure) {
         /* wait for press again */
-        temp_or_press_was_updated_last = TRUE;
+        temp_or_press_was_updated_last = true;
         sync_errors++;
         //printf("Baro-Logic-Error (expected updated press, got temp)\n");
 
       } else {
         /* We now got valid pressure and temperature */
-        navdata.baro_available = TRUE;
+        navdata.baro_available = true;
       }
     }
   }
@@ -540,13 +540,13 @@ static void baro_update_logic(void)
   /* Detected a pressure swap */
   if (lastpressval != 0 && lasttempval != 0
       && ABS(lastpressval - navdata.measure.pressure) > ABS(lasttempval - navdata.measure.pressure)) {
-    navdata.baro_available = FALSE;
+    navdata.baro_available = false;
   }
 
   /* Detected a temprature swap */
   if (lastpressval != 0 && lasttempval != 0
       && ABS(lasttempval - navdata.measure.temperature_pressure) > ABS(lastpressval - navdata.measure.temperature_pressure)) {
-    navdata.baro_available = FALSE;
+    navdata.baro_available = false;
   }
 
   lasttempval = navdata.measure.temperature_pressure;
@@ -600,7 +600,7 @@ static void baro_update_logic(void)
 
   if (spike_detected > 0) {
     /* disable kalman filter use */
-    navdata.baro_available = FALSE;
+    navdata.baro_available = false;
 
     // override both to last good
     navdata.measure.pressure = lastpressval_nospike;

sw/airborne/boards/baro_board_ms5611_i2c.c

@@ -106,7 +106,7 @@ void baro_event(void)
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
       float temp = bb_ms5611.data.temperature / 100.0f;
       AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-      bb_ms5611.data_available = FALSE;
+      bb_ms5611.data_available = false;
 
 #ifdef BARO_LED
       RunOnceEvery(10, LED_TOGGLE(BARO_LED));

sw/airborne/boards/baro_board_ms5611_spi.c

@@ -94,7 +94,7 @@ void baro_event(void)
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
       float temp = bb_ms5611.data.temperature / 100.0f;
       AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-      bb_ms5611.data_available = FALSE;
+      bb_ms5611.data_available = false;
 
 #ifdef BARO_LED
       RunOnceEvery(10, LED_TOGGLE(BARO_LED));

sw/airborne/boards/bebop/video.c

@@ -66,11 +66,11 @@ static bool write_reg(int fd, char *addr_val, uint8_t cnt)
 
   if (write(fd, addr_val, cnt) != cnt) {
     printf("Write failed!\n");
-    return FALSE;
+    return false;
   }
   if (write(fd, addr_val, 2) != 2) {
     printf("Write2 failed!\n");
-    return FALSE;
+    return false;
   }
   while (read(fd, resp, cnt - 2) != cnt - 2) { ; }
   for (i = 0; i < cnt - 2; i++) {
@@ -79,7 +79,7 @@ static bool write_reg(int fd, char *addr_val, uint8_t cnt)
       return write_reg(fd, addr_val, cnt);
     }
   }
-  return TRUE;
+  return true;
 }
 
 static bool _write(int fd, char *data, uint8_t cnt)
@@ -87,7 +87,7 @@ static bool _write(int fd, char *data, uint8_t cnt)
   if (write(fd, data, cnt) != cnt) {
     printf("Failed!\n");
   }
-  return TRUE;
+  return true;
 }
 
 #pragma GCC diagnostic push

sw/airborne/boards/hbmini/baro_board.c

@@ -58,7 +58,7 @@ void bmp_baro_event(void)
   if (baro_bmp085.data_available) {
     float pressure = (float)baro_bmp085.pressure;
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
-    baro_bmp085.data_available = FALSE;
+    baro_bmp085.data_available = false;
 #ifdef BARO_LED
     RunOnceEvery(10, LED_TOGGLE(BARO_LED));
 #endif

sw/airborne/boards/hbmini/imu_hbmini.c

@@ -117,7 +117,7 @@ void imu_hbmini_event(void)
     imu.mag_unscaled.y = imu_hbmini.hmc.data.value[IMU_MAG_Y_CHAN];
     imu.mag_unscaled.x = imu_hbmini.hmc.data.value[IMU_MAG_Z_CHAN];
 
-    imu_hbmini.hmc.data_available = FALSE;
+    imu_hbmini.hmc.data_available = false;
     imu_scale_mag(&imu);
     AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
   }

sw/airborne/boards/krooz/imu_krooz.c

@@ -75,7 +75,7 @@ void imu_impl_init(void)
   imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
   imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
   imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
-  imu_krooz.mpu.config.drdy_int_enable = TRUE;
+  imu_krooz.mpu.config.drdy_int_enable = true;
 
   hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);
 
@@ -89,8 +89,8 @@ void imu_impl_init(void)
   VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
   imu_krooz.meas_nb = 0;
 
-  imu_krooz.hmc_eoc = FALSE;
+  imu_krooz.hmc_eoc = false;
-  imu_krooz.mpu_eoc = FALSE;
+  imu_krooz.mpu_eoc = false;
 
   imu_krooz_sd_arch_init();
 }
@@ -147,7 +147,7 @@ void imu_krooz_event(void)
 {
   if (imu_krooz.mpu_eoc) {
     mpu60x0_i2c_read(&imu_krooz.mpu);
-    imu_krooz.mpu_eoc = FALSE;
+    imu_krooz.mpu_eoc = false;
   }
 
   // If the MPU6050 I2C transaction has succeeded: convert the data
@@ -156,12 +156,12 @@ void imu_krooz_event(void)
     RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
     VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect);
     imu_krooz.meas_nb++;
-    imu_krooz.mpu.data_available = FALSE;
+    imu_krooz.mpu.data_available = false;
   }
 
   if (imu_krooz.hmc_eoc) {
     hmc58xx_read(&imu_krooz.hmc);
-    imu_krooz.hmc_eoc = FALSE;
+    imu_krooz.hmc_eoc = false;
   }
 
   // If the HMC5883 I2C transaction has succeeded: convert the data
@@ -169,7 +169,7 @@ void imu_krooz_event(void)
   if (imu_krooz.hmc.data_available) {
     VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
-    imu_krooz.hmc.data_available = FALSE;
+    imu_krooz.hmc.data_available = false;
     imu_scale_mag(&imu);
     AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, get_sys_time_usec(), &imu.mag);
   }

sw/airborne/boards/krooz/imu_krooz_memsic.c

@@ -76,7 +76,7 @@ void imu_impl_init(void)
   imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
   imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
   imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
-  imu_krooz.mpu.config.drdy_int_enable = TRUE;
+  imu_krooz.mpu.config.drdy_int_enable = true;
 
   hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);
 
@@ -90,8 +90,8 @@ void imu_impl_init(void)
   VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
   imu_krooz.meas_nb = 0;
 
-  imu_krooz.hmc_eoc = FALSE;
+  imu_krooz.hmc_eoc = false;
-  imu_krooz.mpu_eoc = FALSE;
+  imu_krooz.mpu_eoc = false;
 
   imu_krooz.ad7689_trans.slave_idx     = IMU_KROOZ_SPI_SLAVE_IDX;
   imu_krooz.ad7689_trans.select        = SPISelectUnselect;
@@ -162,7 +162,7 @@ void imu_krooz_event(void)
 {
   if (imu_krooz.mpu_eoc) {
     mpu60x0_i2c_read(&imu_krooz.mpu);
-    imu_krooz.mpu_eoc = FALSE;
+    imu_krooz.mpu_eoc = false;
   }
 
   // If the MPU6050 I2C transaction has succeeded: convert the data
@@ -170,7 +170,7 @@ void imu_krooz_event(void)
   if (imu_krooz.mpu.data_available) {
     RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
     imu_krooz.meas_nb++;
-    imu_krooz.mpu.data_available = FALSE;
+    imu_krooz.mpu.data_available = false;
   }
 
   if (SysTimeTimer(ad7689_event_timer) > 215) {
@@ -216,7 +216,7 @@ void imu_krooz_event(void)
 
   if (imu_krooz.hmc_eoc) {
     hmc58xx_read(&imu_krooz.hmc);
-    imu_krooz.hmc_eoc = FALSE;
+    imu_krooz.hmc_eoc = false;
   }
 
   // If the HMC5883 I2C transaction has succeeded: convert the data
@@ -224,7 +224,7 @@ void imu_krooz_event(void)
   if (imu_krooz.hmc.data_available) {
     VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
-    imu_krooz.hmc.data_available = FALSE;
+    imu_krooz.hmc.data_available = false;
     imu_scale_mag(&imu);
     AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, get_sys_time_usec(), &imu.mag);
   }

sw/airborne/boards/lisa_l/baro_board.c

@@ -77,7 +77,7 @@ void baro_init(void)
   LED_OFF(BARO_LED);
 #endif
   baro_board.status = LBS_UNINITIALIZED;
-  baro_board.running = FALSE;
+  baro_board.running = false;
 }
 
 
@@ -109,7 +109,7 @@ void baro_periodic(void)
       //    baro_board.status = LBS_UNINITIALIZED;
       break;
     case LBS_INITIALIZING_DIFF_1:
-      baro_board.running = TRUE;
+      baro_board.running = true;
     case LBS_READ_DIFF:
       baro_board_read_from_current_register(BARO_ABS_ADDR);
       baro_board.status = LBS_READING_ABS;

sw/airborne/boards/lisa_m/baro_board.c

@@ -78,7 +78,7 @@ void baro_event(void)
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     float temp = baro_bmp085.temperature / 10.0f;
     AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-    baro_bmp085.data_available = FALSE;
+    baro_bmp085.data_available = false;
 #ifdef BARO_LED
     RunOnceEvery(10, LED_TOGGLE(BARO_LED));
 #endif

sw/airborne/boards/lisa_mx/baro_board.c

@@ -77,7 +77,7 @@ void baro_event(void)
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     float temp = baro_bmp085.temperature / 10.0f;
     AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-    baro_bmp085.data_available = FALSE;
+    baro_bmp085.data_available = false;
 #ifdef BARO_LED
     RunOnceEvery(10, LED_TOGGLE(BARO_LED));
 #endif

sw/airborne/boards/navgo/baro_board.c

@@ -88,6 +88,6 @@ void navgo_baro_event(void)
       float pressure = NAVGO_BARO_SENS * (mcp355x_data + NAVGO_BARO_OFFSET);
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     }
-    mcp355x_data_available = FALSE;
+    mcp355x_data_available = false;
   }
 }

sw/airborne/boards/navgo/imu_navgo.c

@@ -128,7 +128,7 @@ void imu_navgo_event(void)
 #if NAVGO_USE_MEDIAN_FILTER
     UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
 #endif
-    imu_navgo.itg.data_available = FALSE;
+    imu_navgo.itg.data_available = false;
     imu_scale_gyro(&imu);
     AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
   }
@@ -140,7 +140,7 @@ void imu_navgo_event(void)
 #if NAVGO_USE_MEDIAN_FILTER
     UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
 #endif
-    imu_navgo.adxl.data_available = FALSE;
+    imu_navgo.adxl.data_available = false;
     imu_scale_accel(&imu);
     AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
   }
@@ -152,7 +152,7 @@ void imu_navgo_event(void)
 #if NAVGO_USE_MEDIAN_FILTER
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
 #endif
-    imu_navgo.hmc.data_available = FALSE;
+    imu_navgo.hmc.data_available = false;
     imu_scale_mag(&imu);
     AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
   }

sw/airborne/boards/navstik/baro_board.c

@@ -63,7 +63,7 @@ void baro_event(void)
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     float temp = baro_bmp085.temperature / 10.0f;
     AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp);
-    baro_bmp085.data_available = FALSE;
+    baro_bmp085.data_available = false;
 #ifdef BARO_LED
     RunOnceEvery(10, LED_TOGGLE(BARO_LED));
 #endif

sw/airborne/boards/umarim/baro_board.c

@@ -80,7 +80,7 @@ void umarim_baro_event(void)
       float pressure = UMARIM_BARO_SENS * Ads1114GetValue(BARO_ABS_ADS);
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure);
     }
-    BARO_ABS_ADS.data_available = FALSE;
+    BARO_ABS_ADS.data_available = false;
   }
 }