diff --git a/Makefile b/Makefile
index a56244d..149d70d 100644
--- a/Makefile
+++ b/Makefile
@@ -102,7 +102,7 @@ OBJCOPY = $(ARCH)objcopy
 
 OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -mcall-prologues
 # OPTIMIZE = -O0
-CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
+CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps -Winline
 LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
 LIBS = -lm
 LIBDEPS =
diff --git a/dda_maths.h b/dda_maths.h
index 23d284c..01c0023 100644
--- a/dda_maths.h
+++ b/dda_maths.h
@@ -13,14 +13,36 @@
 const int32_t muldivQR(int32_t multiplicand, uint32_t qn, uint32_t rn,
                        uint32_t divisor);
 
-// convert micrometer distances to motor step distances
-#define um_to_steps_x(distance) muldivQR(distance, \
-  STEPS_PER_M_X / 1000000UL, STEPS_PER_M_X % 1000000UL, 1000000UL);
-#define um_to_steps_y(distance) muldivQR(distance, \
-  STEPS_PER_M_Y / 1000000UL, STEPS_PER_M_Y % 1000000UL, 1000000UL);
-#define um_to_steps_z(distance) muldivQR(distance, \
-  STEPS_PER_M_Z / 1000000UL, STEPS_PER_M_Z % 1000000UL, 1000000UL);
-#define um_to_steps_e(distance) muldivQR(distance, \
-  STEPS_PER_M_E / 1000000UL, STEPS_PER_M_E % 1000000UL, 1000000UL);
+/*
+	micrometer distance <=> motor step distance conversions
+*/
+// Like shown in the patch attached to this post:
+// http://forums.reprap.org/read.php?147,89710,130225#msg-130225 ,
+// it might be worth pre-calculating muldivQR()'s qn and rn in dda_init()
+// as soon as STEPS_PER_M_{XYZE} is no longer a compile-time variable.
+
+static int32_t um_to_steps_x(int32_t) __attribute__ ((always_inline));
+inline int32_t um_to_steps_x(int32_t distance) {
+    return muldivQR(distance, STEPS_PER_M_X / 1000000UL,
+                    STEPS_PER_M_X % 1000000UL, 1000000UL);
+}
+
+static int32_t um_to_steps_y(int32_t) __attribute__ ((always_inline));
+inline int32_t um_to_steps_y(int32_t distance) {
+    return muldivQR(distance, STEPS_PER_M_Y / 1000000UL,
+                    STEPS_PER_M_Y % 1000000UL, 1000000UL);
+}
+
+static int32_t um_to_steps_z(int32_t) __attribute__ ((always_inline));
+inline int32_t um_to_steps_z(int32_t distance) {
+    return muldivQR(distance, STEPS_PER_M_Z / 1000000UL,
+                    STEPS_PER_M_Z % 1000000UL, 1000000UL);
+}
+
+static int32_t um_to_steps_e(int32_t) __attribute__ ((always_inline));
+inline int32_t um_to_steps_e(int32_t distance) {
+    return muldivQR(distance, STEPS_PER_M_E / 1000000UL,
+                    STEPS_PER_M_E % 1000000UL, 1000000UL);
+}
 
 #endif	/* _DDA_MATHS_H */