Merge pull request #1025 from martinbudden/bf_servos

Moved #defines out of mixer function definitions

src/main/config/config.c

@@ -678,10 +678,6 @@ void activateConfig(void)
     setAccelerationFilter(masterConfig.acc_lpf_hz);
 
     mixerUseConfigs(
-#ifdef USE_SERVOS
-        masterConfig.servoConf,
-        &masterConfig.gimbalConfig,
-#endif
         &masterConfig.flight3DConfig,
         &masterConfig.escAndServoConfig,
         &masterConfig.mixerConfig,
@@ -689,6 +685,10 @@ void activateConfig(void)
         &masterConfig.rxConfig
     );
 
+#ifdef USE_SERVOS
+    servoUseConfigs(masterConfig.servoConf, &masterConfig.gimbalConfig);
+#endif
+
     imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
     imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
     imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;

src/main/flight/mixer.c

@@ -336,20 +336,12 @@ static servoMixer_t *customServoMixers;
 static motorMixer_t *customMixers;
 
 void mixerUseConfigs(
-#ifdef USE_SERVOS
-        servoParam_t *servoConfToUse,
-        gimbalConfig_t *gimbalConfigToUse,
-#endif
         flight3DConfig_t *flight3DConfigToUse,
         escAndServoConfig_t *escAndServoConfigToUse,
         mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse,
         rxConfig_t *rxConfigToUse)
 {
-#ifdef USE_SERVOS
-    servoConf = servoConfToUse;
-    gimbalConfig = gimbalConfigToUse;
-#endif
     flight3DConfig = flight3DConfigToUse;
     escAndServoConfig = escAndServoConfigToUse;
     mixerConfig = mixerConfigToUse;
@@ -358,6 +350,12 @@ void mixerUseConfigs(
 }
 
 #ifdef USE_SERVOS
+void servoUseConfigs(servoParam_t *servoConfToUse, gimbalConfig_t *gimbalConfigToUse)
+{
+    servoConf = servoConfToUse;
+    gimbalConfig = gimbalConfigToUse;
+}
+
 int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
 {
     uint8_t channelToForwardFrom = servoConf[servoIndex].forwardFromChannel;
@@ -378,8 +376,31 @@ int servoDirection(int servoIndex, int inputSource)
     else
         return 1;
 }
+
+void servoInit(servoMixer_t *initialCustomServoMixers)
+{
+    customServoMixers = initialCustomServoMixers;
+
+    // enable servos for mixes that require them. note, this shifts motor counts.
+    useServo = mixers[currentMixerMode].useServo;
+    // if we want camstab/trig, that also enables servos, even if mixer doesn't
+    if (feature(FEATURE_SERVO_TILT))
+        useServo = 1;
+
+    // give all servos a default command
+    for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+        servo[i] = DEFAULT_SERVO_MIDDLE;
+    }
+}
 #endif
 
+void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
+{
+    currentMixerMode = mixerMode;
+
+    customMixers = initialCustomMixers;
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 
 void loadCustomServoMixer(void)
@@ -401,25 +422,6 @@ void loadCustomServoMixer(void)
     }
 }
 
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, servoMixer_t *initialCustomServoMixers)
-{
-    currentMixerMode = mixerMode;
-
-    customMixers = initialCustomMotorMixers;
-    customServoMixers = initialCustomServoMixers;
-
-    // enable servos for mixes that require them. note, this shifts motor counts.
-    useServo = mixers[currentMixerMode].useServo;
-    // if we want camstab/trig, that also enables servos, even if mixer doesn't
-    if (feature(FEATURE_SERVO_TILT))
-        useServo = 1;
-
-    // give all servos a default command
-    for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-        servo[i] = DEFAULT_SERVO_MIDDLE;
-    }
-}
-
 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
 {
     int i;
@@ -521,13 +523,6 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
 
 #else
 
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
-{
-    currentMixerMode = mixerMode;
-
-    customMixers = initialCustomMixers;
-}
-
 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
 {
     UNUSED(pwmOutputConfiguration);

src/main/flight/mixer.h

@@ -193,10 +193,6 @@ struct escAndServoConfig_s;
 struct rxConfig_s;
 
 void mixerUseConfigs(
-#ifdef USE_SERVOS
-        servoParam_t *servoConfToUse,
-        struct gimbalConfig_s *gimbalConfigToUse,
-#endif
         flight3DConfig_t *flight3DConfigToUse,
         struct escAndServoConfig_s *escAndServoConfigToUse,
         mixerConfig_t *mixerConfigToUse,
@@ -206,13 +202,15 @@ void mixerUseConfigs(
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 #ifdef USE_SERVOS
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
+void servoInit(servoMixer_t *customServoMixers);
+struct servoParam_s;
+struct gimbalConfig_s;
+void servoUseConfigs(struct servoParam_s *servoConfToUse, struct gimbalConfig_s *gimbalConfigToUse);
 void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
 void loadCustomServoMixer(void);
 int servoDirection(int servoIndex, int fromChannel);
-#else
-void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 #endif
+void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 struct pwmOutputConfiguration_s;
 void mixerUsePWMOutputConfiguration(struct pwmOutputConfiguration_s *pwmOutputConfiguration, bool use_unsyncedPwm);
 void mixerResetDisarmedMotors(void);

src/main/main.c

@@ -240,10 +240,9 @@ void init(void)
     serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
 #endif
 
-#ifdef USE_SERVOS
-    mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
-#else
     mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
+#ifdef USE_SERVOS
+    servoInit(masterConfig.customServoMixer);
 #endif
 
     drv_pwm_config_t pwm_params;