Tidy of mixer code. Remove motorCount extern

src/main/blackbox/blackbox.c

@@ -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];
     }

src/main/drivers/pwm_output.c

@@ -101,7 +101,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    if (index < MAX_SUPPORTED_MOTORS && pwmMotorsEnabled && motors[index].pwmWritePtr) {
+    if (motors[index].pwmWritePtr) {
         motors[index].pwmWritePtr(index, value);
     }
 }
@@ -127,6 +127,11 @@ void pwmEnableMotors(void)
     pwmMotorsEnabled = true;
 }
 
+bool pwmAreMotorsEnabled(void)
+{
+    return pwmMotorsEnabled;
+}
+
 static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
     for (int index = 0; index < motorCount; index++) {

src/main/drivers/pwm_output.h

@@ -114,3 +114,4 @@ pwmOutputPort_t *pwmGetMotors(void);
 bool pwmIsSynced(void);
 void pwmDisableMotors(void);
 void pwmEnableMotors(void);
+bool pwmAreMotorsEnabled(void);

src/main/drivers/pwm_output_hal.c

@@ -113,7 +113,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value)
 
 void pwmWriteMotor(uint8_t index, uint16_t value)
 {
-    if (index < MAX_SUPPORTED_MOTORS && pwmMotorsEnabled && motors[index].pwmWritePtr) {
+    if (motors[index].pwmWritePtr) {
         motors[index].pwmWritePtr(index, value);
     }
 }
@@ -136,6 +136,11 @@ void pwmEnableMotors(void)
     pwmMotorsEnabled = true;
 }
 
+bool pwmAreMotorsEnabled(void)
+{
+    return pwmMotorsEnabled;
+}
+
 static void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
     for (int index = 0; index < motorCount; index++) {

src/main/flight/mixer.c

@@ -55,7 +55,7 @@
 #define EXTERNAL_CONVERSION_MIN_VALUE 1000
 #define EXTERNAL_CONVERSION_MAX_VALUE 2000
 
-uint8_t motorCount;
+static uint8_t motorCount;
 
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@@ -239,7 +239,8 @@ static motorMixer_t *customMixers;
 static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
 static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
 
-uint8_t getMotorCount() {
+uint8_t getMotorCount()
+{
     return motorCount;
 }
 
@@ -306,13 +307,11 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
 
 void mixerConfigureOutput(void)
 {
-    int i;
-
     motorCount = 0;
 
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
-        for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             // check if done
             if (customMixers[i].throttle == 0.0f)
                 break;
@@ -321,9 +320,12 @@ void mixerConfigureOutput(void)
         }
     } else {
         motorCount = mixers[currentMixerMode].motorCount;
+        if (motorCount > MAX_SUPPORTED_MOTORS) {
+            motorCount = MAX_SUPPORTED_MOTORS;
+        }
         // copy motor-based mixers
         if (mixers[currentMixerMode].motor) {
-            for (i = 0; i < motorCount; i++)
+            for (int i = 0; i < motorCount; i++)
                 currentMixer[i] = mixers[currentMixerMode].motor[i];
         }
     }
@@ -331,7 +333,7 @@ void mixerConfigureOutput(void)
     // in 3D mode, mixer gain has to be halved
     if (feature(FEATURE_3D)) {
         if (motorCount > 1) {
-            for (i = 0; i < motorCount; i++) {
+            for (int i = 0; i < motorCount; i++) {
                 currentMixer[i].pitch *= 0.5f;
                 currentMixer[i].roll *= 0.5f;
                 currentMixer[i].yaw *= 0.5f;
@@ -344,18 +346,18 @@ void mixerConfigureOutput(void)
 
 void mixerLoadMix(int index, motorMixer_t *customMixers)
 {
-    int i;
-
     // we're 1-based
     index++;
     // clear existing
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
         customMixers[i].throttle = 0.0f;
+    }
 
     // do we have anything here to begin with?
     if (mixers[index].motor != NULL) {
-        for (i = 0; i < mixers[index].motorCount; i++)
+        for (int i = 0; i < mixers[index].motorCount; i++) {
             customMixers[i] = mixers[index].motor[i];
+        }
     }
 }
 #else
@@ -363,7 +365,7 @@ void mixerConfigureOutput(void)
 {
     motorCount = QUAD_MOTOR_COUNT;
 
-    for (uint8_t i = 0; i < motorCount; i++) {
+    for (int i = 0; i < motorCount; i++) {
         currentMixer[i] = mixerQuadX[i];
     }
 
@@ -373,16 +375,18 @@ void mixerConfigureOutput(void)
 
 void mixerResetDisarmedMotors(void)
 {
-    int i;
     // set disarmed motor values
-    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
         motor_disarmed[i] = disarmMotorOutput;
+    }
 }
 
 void writeMotors(void)
 {
-    for (uint8_t i = 0; i < motorCount; i++) {
+    if (pwmAreMotorsEnabled()) {
-        pwmWriteMotor(i, motor[i]);
+        for (int i = 0; i < motorCount; i++) {
+            pwmWriteMotor(i, motor[i]);
+        }
     }
 
     pwmCompleteMotorUpdate(motorCount);
@@ -391,7 +395,7 @@ void writeMotors(void)
 static void writeAllMotors(int16_t mc)
 {
     // Sends commands to all motors
-    for (uint8_t i = 0; i < motorCount; i++) {
+    for (int i = 0; i < motorCount; i++) {
         motor[i] = mc;
     }
 
@@ -413,13 +417,9 @@ void stopPwmAllMotors(void)
 
 void mixTable(pidProfile_t *pidProfile)
 {
-    uint32_t i = 0;
-    float vbatCompensationFactor = 1;
-
     // Scale roll/pitch/yaw uniformly to fit within throttle range
     // Initial mixer concept by bdoiron74 reused and optimized for Air Mode
-    float motorMix[MAX_SUPPORTED_MOTORS];
+    float throttle = 0, currentThrottleInputRange = 0;
-    float motorOutputRange = 0, throttle = 0, currentThrottleInputRange = 0, motorMixRange = 0, motorMixMax = 0, motorMixMin = 0;
     uint16_t motorOutputMin, motorOutputMax;
     static uint16_t throttlePrevious = 0;   // Store the last throttle direction for deadband transitions
     bool mixerInversion = false;
@@ -461,33 +461,41 @@ void mixTable(pidProfile_t *pidProfile)
     }
 
     throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
-    motorOutputRange = motorOutputMax - motorOutputMin;
+    const float motorOutputRange = motorOutputMax - motorOutputMin;
 
     float scaledAxisPIDf[3];
     // Limit the PIDsum
-    for (int axis = 0; axis < 3; axis++)
+    for (int axis = 0; axis < 3; axis++) {
         scaledAxisPIDf[axis] = constrainf(axisPIDf[axis] / PID_MIXER_SCALING, -pidProfile->pidSumLimit, pidProfile->pidSumLimit);
-
-    // Calculate voltage compensation
-    if (batteryConfig && pidProfile->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation();
-
-    // Find roll/pitch/yaw desired output
-    for (i = 0; i < motorCount; i++) {
-        motorMix[i] =
-            scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
-            scaledAxisPIDf[ROLL] * currentMixer[i].roll +
-            -mixerConfig->yaw_motor_direction * scaledAxisPIDf[YAW] * currentMixer[i].yaw;
-
-        if (vbatCompensationFactor > 1.0f) motorMix[i] *= vbatCompensationFactor;  // Add voltage compensation
-
-        if (motorMix[i] > motorMixMax) motorMixMax = motorMix[i];
-        if (motorMix[i] < motorMixMin) motorMixMin = motorMix[i];
     }
 
-    motorMixRange = motorMixMax - motorMixMin;
+    // Calculate voltage compensation
+    const float vbatCompensationFactor = (batteryConfig && pidProfile->vbatPidCompensation)  ? calculateVbatPidCompensation() : 1.0f;
+
+    // Find roll/pitch/yaw desired output
+    float motorMix[MAX_SUPPORTED_MOTORS];
+    float motorMixMax = 0, motorMixMin = 0;
+    for (int i = 0; i < motorCount; i++) {
+        motorMix[i] =
+            scaledAxisPIDf[PITCH] * currentMixer[i].pitch +
+            scaledAxisPIDf[ROLL]  * currentMixer[i].roll +
+            scaledAxisPIDf[YAW]   * currentMixer[i].yaw * (-mixerConfig->yaw_motor_direction);
+
+        if (vbatCompensationFactor > 1.0f) {
+            motorMix[i] *= vbatCompensationFactor;  // Add voltage compensation
+        }
+
+        if (motorMix[i] > motorMixMax) {
+            motorMixMax = motorMix[i];
+        } else if (motorMix[i] < motorMixMin) {
+            motorMixMin = motorMix[i];
+        }
+    }
+
+    const float motorMixRange = motorMixMax - motorMixMin;
 
     if (motorMixRange > 1.0f) {
-        for (i = 0; i < motorCount; i++) {
+        for (int i = 0; i < motorCount; i++) {
             motorMix[i] /= motorMixRange;
         }
         // Get the maximum correction by setting offset to center
@@ -499,6 +507,7 @@ void mixTable(pidProfile_t *pidProfile)
 
     // Now add in the desired throttle, but keep in a range that doesn't clip adjusted
     // roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
+    uint32_t i = 0;
     for (i = 0; i < motorCount; i++) {
         motor[i] = motorOutputMin + lrintf(motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle)));
 

src/main/flight/mixer.h

@@ -110,7 +110,6 @@ typedef struct airplaneConfig_s {
 
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 
-extern uint8_t motorCount;
 extern const mixer_t mixers[];
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];

src/main/main.c

@@ -271,17 +271,10 @@ void init(void)
     }
 
     mixerConfigureOutput();
+    motorInit(&masterConfig.motorConfig, idlePulse, getMotorCount());
+
 #ifdef USE_SERVOS
     servoConfigureOutput();
-#endif
-
-#ifdef USE_QUAD_MIXER_ONLY
-    motorInit(motorConfig(), idlePulse, QUAD_MOTOR_COUNT);
-#else
-    motorInit(motorConfig(), idlePulse, motorCount);
-#endif
-
-#ifdef USE_SERVOS
     if (isMixerUsingServos()) {
         //pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
         servoInit(&masterConfig.servoConfig);