Disable mixer configuration on CJMCU to save flash size.

KyotoFox · Dec 21, 2014 · 13305dd · 13305dd
1 parent d605ded
commit 13305dd
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Showing 3 changed files with 67 additions and 7 deletions.
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+#include "build_config.h"
+
 #include "common/axis.h"
 #include "common/maths.h"
 
@@ -62,6 +64,14 @@ static gimbalConfig_t *gimbalConfig;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 static MultiType currentMixerConfiguration;
 
+static const motorMixer_t mixerQuadX[] = {
+    { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
+    { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
+    { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
+    { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
+};
+
+#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
@@ -75,13 +85,6 @@ static const motorMixer_t mixerQuadP[] = {
     { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
 };
 
-static const motorMixer_t mixerQuadX[] = {
-    { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
-    { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
-    { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
-    { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
-};
-
 static const motorMixer_t mixerBi[] = {
     { 1.0f,  1.0f,  0.0f,  0.0f },          // LEFT
     { 1.0f, -1.0f,  0.0f,  0.0f },          // RIGHT
@@ -210,6 +213,7 @@ const mixer_t mixers[] = {
     { 4, 0, mixerAtail4 },         // MULTITYPE_ATAIL4
     { 0, 0, NULL },                // MULTITYPE_CUSTOM
 };
+#endif
 
 void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfigToUse, gimbalConfig_t *gimbalConfigToUse)
 {
@@ -253,6 +257,8 @@ int servoDirection(int nr, int lr)
 
 static motorMixer_t *customMixers;
 
+
+#ifndef CJMCU
 void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
 {
     currentMixerConfiguration = mixerConfiguration;
@@ -310,6 +316,32 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
 
     mixerResetMotors();
 }
+#else
+
+void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
+{
+    currentMixerConfiguration = mixerConfiguration;
+
+    customMixers = initialCustomMixers;
+
+    useServo = false;
+}
+
+void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
+{
+    UNUSED(pwmOutputConfiguration);
+    motorCount = 4;
+    servoCount = 0;
+
+    uint8_t i;
+    for (i = 0; i < motorCount; i++) {
+        currentMixer[i] = mixerQuadX[i];
+    }
+
+    mixerResetMotors();
+}
+#endif
+
 
 void mixerResetMotors(void)
 {
@@ -319,6 +351,7 @@ void mixerResetMotors(void)
         motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
 }
 
+#ifndef CJMCU
 void mixerLoadMix(int index, motorMixer_t *customMixers)
 {
     int i;
@@ -335,6 +368,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
             customMixers[i] = mixers[index].motor[i];
     }
 }
+#endif
 
 static void updateGimbalServos(void)
 {

diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -87,7 +87,9 @@ static void cliMap(char *cmdline);
 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);
@@ -163,7 +165,9 @@ const clicmd_t cmdTable[] = {
     { "led", "configure leds", cliLed },
 #endif
     { "map", "mapping of rc channel order", cliMap },
+#ifndef CJMCU
     { "mixer", "mixer name or list", cliMixer },
+#endif
     { "motor", "get/set motor output value", cliMotor },
     { "profile", "index (0 to 2)", cliProfile },
     { "rateprofile", "index (0 to 2)", cliRateProfile },
@@ -563,6 +567,9 @@ static void cliAdjustmentRange(char *cmdline)
 
 static void cliCMix(char *cmdline)
 {
+#ifdef CJMCU
+    UNUSED(cmdline);
+#else
     int i, check = 0;
     int num_motors = 0;
     uint8_t len;
@@ -649,6 +656,7 @@ static void cliCMix(char *cmdline)
             printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
         }
     }
+#endif
 }
 
 #ifdef LED_STRIP
@@ -1000,6 +1008,7 @@ static void cliMap(char *cmdline)
     printf("%s\r\n", out);
 }
 
+#ifndef CJMCU
 static void cliMixer(char *cmdline)
 {
     int i;
@@ -1033,6 +1042,7 @@ static void cliMixer(char *cmdline)
         }
     }
 }
+#endif
 
 static void cliMotor(char *cmdline)
 {

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
@@ -910,9 +910,15 @@ static bool processOutCommand(uint8_t cmdMSP)
 
         serialize16(currentProfile->failsafeConfig.failsafe_throttle);
 
+#ifdef GPS
         serialize8(masterConfig.gpsConfig.provider); // gps_type
         serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
         serialize8(masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
+#else
+        serialize8(0); // gps_type
+        serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
+        serialize8(0); // gps_ubx_sbas
+#endif
         serialize8(masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
         serialize8(masterConfig.rxConfig.rssi_channel);
         serialize8(0);
@@ -1209,9 +1215,15 @@ static bool processInCommand(void)
 
         currentProfile->failsafeConfig.failsafe_throttle = read16();
 
+#ifdef GPS
         masterConfig.gpsConfig.provider = read8(); // gps_type
         read8(); // gps_baudrate
         masterConfig.gpsConfig.sbasMode = read8(); // gps_ubx_sbas
+#else
+        read8(); // gps_type
+        read8(); // gps_baudrate
+        read8(); // gps_ubx_sbas
+#endif
         masterConfig.batteryConfig.multiwiiCurrentMeterOutput = read8();
         masterConfig.rxConfig.rssi_channel = read8();
         read8();
@@ -1348,7 +1360,11 @@ static bool processInCommand(void)
 
     case MSP_SET_CONFIG:
 
+#ifdef CJMCU
         masterConfig.mixerConfiguration = read8(); // multitype
+#else
+        read8(); // multitype
+#endif
 
         featureClearAll();
         featureSet(read32()); // features bitmap