Cleanup disabling of mixers for CJMCU, this might be usefulfor the

AlienWii32 target too.

Deleted old out of date comments.  Various other minor cleanups.

src/main/flight/mixer.c

@@ -62,7 +62,7 @@ static rxConfig_t *rxConfig;
 static gimbalConfig_t *gimbalConfig;
 
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
-static MultiType currentMixerConfiguration;
+static multiType_e currentMixerConfiguration;
 
 static const motorMixer_t mixerQuadX[] = {
     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
@@ -70,8 +70,7 @@ static const motorMixer_t mixerQuadX[] = {
     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 };
-
+#ifndef USE_QUAD_MIXER_ONLY
-#ifndef CJMCU
 static const motorMixer_t mixerTri[] = {
     { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
     { 1.0f, -1.0f, -0.666667f,  0.0f },     // RIGHT
@@ -258,8 +257,8 @@ int servoDirection(int nr, int lr)
 static motorMixer_t *customMixers;
 
 
-#ifndef CJMCU
+#ifndef USE_QUAD_MIXER_ONLY
-void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
+void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
 {
     currentMixerConfiguration = mixerConfiguration;
 
@@ -316,9 +315,27 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
 
     mixerResetMotors();
 }
+
+void mixerLoadMix(int index, motorMixer_t *customMixers)
+{
+    int i;
+
+    // we're 1-based
+    index++;
+    // clear existing
+    for (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++)
+            customMixers[i] = mixers[index].motor[i];
+    }
+}
+
 #else
 
-void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
+void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
 {
     currentMixerConfiguration = mixerConfiguration;
 
@@ -351,25 +368,6 @@ void mixerResetMotors(void)
         motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
 }
 
-#ifndef CJMCU
-void mixerLoadMix(int index, motorMixer_t *customMixers)
-{
-    int i;
-
-    // we're 1-based
-    index++;
-    // clear existing
-    for (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++)
-            customMixers[i] = mixers[index].motor[i];
-    }
-}
-#endif
-
 static void updateGimbalServos(void)
 {
     pwmWriteServo(0, servo[0]);
@@ -454,6 +452,7 @@ void writeAllMotors(int16_t mc)
     writeMotors();
 }
 
+#ifndef USE_QUAD_MIXER_ONLY
 static void airplaneMixer(void)
 {
     int16_t flapperons[2] = { 0, 0 };
@@ -499,6 +498,7 @@ static void airplaneMixer(void)
         servo[i] += determineServoMiddleOrForwardFromChannel(i);
     }
 }
+#endif
 
 void mixTable(void)
 {
@@ -515,6 +515,7 @@ void mixTable(void)
         for (i = 0; i < motorCount; i++)
             motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
 
+#ifndef USE_QUAD_MIXER_ONLY
     // airplane / servo mixes
     switch (currentMixerConfiguration) {
         case MULTITYPE_BI:
@@ -572,6 +573,7 @@ void mixTable(void)
         default:
             break;
     }
+#endif
 
     // do camstab
     if (feature(FEATURE_SERVO_TILT)) {

src/main/flight/mixer.h

@@ -20,7 +20,6 @@
 #define MAX_SUPPORTED_MOTORS 12
 #define MAX_SUPPORTED_SERVOS 8
 
-// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
 typedef enum MultiType
 {
     MULTITYPE_TRI = 1,
@@ -33,9 +32,9 @@ typedef enum MultiType
     MULTITYPE_FLYING_WING = 8,
     MULTITYPE_Y4 = 9,
     MULTITYPE_HEX6X = 10,
-    MULTITYPE_OCTOX8 = 11,          // Java GUI is same for the next 3 configs
+    MULTITYPE_OCTOX8 = 11,
-    MULTITYPE_OCTOFLATP = 12,       // MultiWinGui shows this differently
+    MULTITYPE_OCTOFLATP = 12,
-    MULTITYPE_OCTOFLATX = 13,       // MultiWinGui shows this differently
+    MULTITYPE_OCTOFLATX = 13,
     MULTITYPE_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
     MULTITYPE_HELI_120_CCPM = 15,
     MULTITYPE_HELI_90_DEG = 16,
@@ -47,7 +46,7 @@ typedef enum MultiType
     MULTITYPE_ATAIL4 = 22,
     MULTITYPE_CUSTOM = 23,
     MULTITYPE_LAST = 24
-} MultiType;
+} multiType_e;
 
 // Custom mixer data per motor
 typedef struct motorMixer_t {

src/main/io/serial_cli.c

@@ -74,8 +74,10 @@
 
 #include "serial_cli.h"
 
-// we unset this on 'exit'
+extern uint16_t cycleTime; // FIXME dependency on mw.c
-extern uint8_t cliMode;
+
+static serialPort_t *cliPort;
+
 static void cliAux(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliCMix(char *cmdline);
@@ -83,18 +85,6 @@ static void cliDefaults(char *cmdline);
 static void cliDump(char *cmdLine);
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
-#ifdef GPS
-static void cliGpsPassthrough(char *cmdline);
-#endif
-static void cliHelp(char *cmdline);
-static void cliMap(char *cmdline);
-#ifdef LED_STRIP
-static void cliLed(char *cmdline);
-static void cliColor(char *cmdline);
-#endif
-#ifndef CJMCU
-static void cliMixer(char *cmdline);
-#endif
 static void cliMotor(char *cmdline);
 static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
@@ -105,9 +95,21 @@ static void cliGet(char *cmdline);
 static void cliStatus(char *cmdline);
 static void cliVersion(char *cmdline);
 
-extern uint16_t cycleTime; // FIXME dependency on mw.c
+#ifdef GPS
+static void cliGpsPassthrough(char *cmdline);
+#endif
 
-static serialPort_t *cliPort;
+static void cliHelp(char *cmdline);
+static void cliMap(char *cmdline);
+
+#ifdef LED_STRIP
+static void cliLed(char *cmdline);
+static void cliColor(char *cmdline);
+#endif
+
+#ifndef USE_QUAD_MIXER_ONLY
+static void cliMixer(char *cmdline);
+#endif
 
 // signal that we're in cli mode
 uint8_t cliMode = 0;
@@ -116,7 +118,8 @@ uint8_t cliMode = 0;
 static char cliBuffer[48];
 static uint32_t bufferIndex = 0;
 
-// sync this with mutiType_e
+#ifndef USE_QUAD_MIXER_ONLY
+// sync this with multiType_e
 static const char * const mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
     "GIMBAL", "Y6", "HEX6",
@@ -125,6 +128,7 @@ static const char * const mixerNames[] = {
     "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
     "ATAIL4", "CUSTOM", NULL
 };
+#endif
 
 // sync this with features_e
 static const char * const featureNames[] = {
@@ -170,7 +174,7 @@ const clicmd_t cmdTable[] = {
     { "led", "configure leds", cliLed },
 #endif
     { "map", "mapping of rc channel order", cliMap },
-#ifndef CJMCU
+#ifndef USE_QUAD_MIXER_ONLY
     { "mixer", "mixer name or list", cliMixer },
 #endif
     { "motor", "get/set motor output value", cliMotor },
@@ -573,7 +577,7 @@ static void cliAdjustmentRange(char *cmdline)
 
 static void cliCMix(char *cmdline)
 {
-#ifdef CJMCU
+#ifdef USE_QUAD_MIXER_ONLY
     UNUSED(cmdline);
 #else
     int i, check = 0;
@@ -753,9 +757,12 @@ static void cliDump(char *cmdline)
 {
     unsigned int i;
     char buf[16];
-    float thr, roll, pitch, yaw;
     uint32_t mask;
 
+#ifndef USE_QUAD_MIXER_ONLY
+    float thr, roll, pitch, yaw;
+#endif
+
     uint8_t dumpMask = DUMP_ALL;
     if (strcasecmp(cmdline, "master") == 0) {
         dumpMask = DUMP_MASTER; // only
@@ -775,6 +782,7 @@ static void cliDump(char *cmdline)
         printf("\r\n# dump master\r\n");
         printf("\r\n# mixer\r\n");
 
+#ifndef USE_QUAD_MIXER_ONLY
         printf("mixer %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]);
 
         if (masterConfig.customMixer[0].throttle != 0.0f) {
@@ -801,6 +809,7 @@ static void cliDump(char *cmdline)
             }
             printf("cmix %d 0 0 0 0\r\n", i + 1);
         }
+#endif
 
         printf("\r\n\r\n# feature\r\n");
 
@@ -1014,7 +1023,7 @@ static void cliMap(char *cmdline)
     printf("%s\r\n", out);
 }
 
-#ifndef CJMCU
+#ifndef USE_QUAD_MIXER_ONLY
 static void cliMixer(char *cmdline)
 {
     int i;

src/main/io/serial_msp.c

@@ -1340,9 +1340,11 @@ static bool processInCommand(void)
         masterConfig.batteryConfig.currentMeterOffset = read16();
         break;
 
+#ifndef USE_QUAD_MIXER_ONLY
     case MSP_SET_MIXER:
         masterConfig.mixerConfiguration = read8();
         break;
+#endif
 
     case MSP_SET_RX_CONFIG:
         masterConfig.rxConfig.serialrx_provider = read8();
@@ -1364,8 +1366,8 @@ static bool processInCommand(void)
 
     case MSP_SET_CONFIG:
 
-#ifdef CJMCU
+#ifdef USE_QUAD_MIXER_ONLY
-        read8(); // multitype
+        read8(); // multitype ignored
 #else
         masterConfig.mixerConfiguration = read8(); // multitype
 #endif

src/main/main.c

@@ -96,7 +96,7 @@ void initTelemetry(void);
 void serialInit(serialConfig_t *initialSerialConfig);
 failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
 pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
-void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
+void mixerInit(multiType_e mixerConfiguration, motorMixer_t *customMixers);
 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
 void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
 void beepcodeInit(failsafe_t *initialFailsafe);

src/main/target/CJMCU/target.h

@@ -67,3 +67,6 @@
 // USART2, PA3
 #define BIND_PORT  GPIOA
 #define BIND_PIN   Pin_3
+
+// Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
+#define USE_QUAD_MIXER_ONLY