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Tidy of mixer code. Remove motorCount extern

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This commit is contained in:
Martin Budden 2016-12-14 18:36:55 +00:00
parent 1475138e75
commit ae1944b78c
7 changed files with 71 additions and 61 deletions
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14
src/main/blackbox/blackbox.c
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@ -289,9 +289,6 @@ typedef struct blackboxSlowState_s {
bool rxFlightChannelsValid;
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From mixer.c:
extern uint8_t motorCount;
//From rc_controls.c
extern uint32_t rcModeActivationMask;
@ -367,7 +364,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
return motorCount >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
@ -472,7 +469,6 @@ static void blackboxSetState(BlackboxState newState)
static void writeIntraframe(void)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
int x;
blackboxWrite('I');
@ -483,7 +479,7 @@ static void writeIntraframe(void)
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_I, XYZ_AXIS_COUNT);
// Don't bother writing the current D term if the corresponding PID setting is zero
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x]);
}
@ -543,7 +539,8 @@ static void writeIntraframe(void)
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
for (x = 1; x < motorCount; x++) {
const int motorCount = getMotorCount();
for (int x = 1; x < motorCount; x++) {
blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
}
@ -667,7 +664,7 @@ static void writeInterframe(void)
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), 4);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), motorCount);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
blackboxWriteSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
@ -1002,6 +999,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->debug[i] = debug[i];
}
const int motorCount = getMotorCount();
for (i = 0; i < motorCount; i++) {
blackboxCurrent->motor[i] = motor[i];
}