Move FY90q acc/gyro code to accgyro_fy90q.c. Update ADC drivers so they

do not include "board.h". It is now clear what all ADC drivers need to
compile and what was unnecessarily included before.

Note: FY90Q make target now compiles successfully, it was broken for
various reasons before.

Makefile

@@ -61,7 +61,6 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/bus_i2c_soft.c \
 		   drivers/gpio_common.c \
 		   drivers/serial_common.c \
-		   drivers/serial_softserial.c \
 		   drivers/serial_uart.c \
 		   drivers/system_common.c \
 		   flight_imu.c \
@@ -94,12 +93,15 @@ NAZE_SRC	 = drivers/accgyro_adxl345.c \
 		   drivers/light_ledring.c \
 		   drivers/sonar_hcsr04.c \
 		   drivers/pwm_common.c \
+		   drivers/serial_softserial.c \
 		   drivers/timer_common.c \
 		   $(COMMON_SRC)
 
 # Source files for the FY90Q target
-FY90Q_SRC	 = drivers/adc_fy90q.c \
+FY90Q_SRC	 = drivers/accgyro_fy90q.c \
+		   drivers/adc_fy90q.c \
 		   drivers/pwm_fy90q.c \
+		   drivers/bus_spi.c \
 		   $(COMMON_SRC)
 
 # Source files for the OLIMEXINO target
@@ -110,6 +112,7 @@ OLIMEXINO_SRC	 = drivers/accgyro_adxl345.c \
 		   drivers/adc_common.c \
 		   drivers/bus_spi.c \
 		   drivers/pwm_common.c \
+		   drivers/serial_softserial.c \
 		   drivers/timer_common.c \
 		   $(COMMON_SRC)
 		   

src/board.h

@@ -233,10 +233,14 @@ typedef struct baro_t
 
 #ifdef FY90Q
  // FY90Q
-#include "drivers/adc/drv_adc.h"
+#include "drivers/adc_common.h"
-#include "drv_i2c.h"
+#include "drivers/adc_fy90q.h"
-#include "drv_pwm.h"
+#include "drivers/bus_i2c.h"
-#include "drivers/serial/drv_uart.h"
+#include "drivers/bus_spi.h"
+#include "drivers/pwm_common.h"
+#include "drivers/timer_common.h"
+#include "drivers/serial_common.h"
+#include "drivers/serial_uart.h"
 #else
 
 #ifdef OLIMEXINO

src/drivers/accgyro_fy90q.c

@@ -0,0 +1,72 @@
+#ifdef FY90Q
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+#include "sensors_common.h"
+
+#include "system_common.h"
+
+#include "adc_fy90q.h"
+
+//#include "boardalignment.h"
+
+extern uint16_t acc_1G;
+
+static void adcAccRead(int16_t *accelData);
+static void adcGyroRead(int16_t *gyroData);
+static void adcDummyInit(sensor_align_e align);
+
+void adcSensorInit(sensor_t *acc, sensor_t *gyro)
+{
+    acc->init = adcDummyInit;
+    acc->read = adcAccRead;
+
+    gyro->init = adcDummyInit;
+    gyro->read = adcGyroRead;
+    gyro->scale = 1.0f;
+
+    acc_1G = 376;
+}
+
+static void adcAccRead(int16_t *accelData)
+{
+    // ADXL335
+    // 300mV/g
+    // Vcc 3.0V
+    accelData[0] = adcData[3];
+    accelData[1] = adcData[4];
+    accelData[2] = adcData[5];
+}
+
+static void adcGyroRead(int16_t *gyroData)
+{
+    // Vcc: 3.0V
+    // Pitch/Roll: LPR550AL, 2000dps mode.
+    // 0.5mV/dps
+    // Zero-rate: 1.23V
+    // Yaw: LPY550AL, 2000dps mode.
+    // 0.5mV/dps
+    // Zero-rate: 1.23V
+
+    // Need to match with: 14.375lsb per dps
+    // 12-bit ADC
+
+    gyroData[0] = adcData[0] * 2;
+    gyroData[1] = adcData[1] * 2;
+    gyroData[2] = adcData[2] * 2;
+}
+
+static void adcDummyInit(sensor_align_e align)
+{
+    // nothing to init here
+}
+
+uint16_t adcGetBattery(void)
+{
+    return 0;
+}
+#endif

src/drivers/adc_common.c

@@ -5,10 +5,7 @@
 
 #include "accgyro_common.h"
 
-#include "board.h"
+#include "adc_common.h"
-
-#define ADC_BATTERY     0
-#define ADC_CURRENT     1
 
 // static volatile uint16_t adc1Ch4Value = 0;
 static volatile uint16_t adcValues[2];

src/drivers/adc_fy90q.c

@@ -1,30 +1,20 @@
 #ifdef FY90Q
-#include "board.h"
 
-#define ADC_CHANNELS 9
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+#include "sensors_common.h"
+
+#include "system_common.h"
+
+#include "adc_fy90q.h"
+
+//#include "boardalignment.h"
 
 volatile uint16_t adcData[ADC_CHANNELS] = { 0, };
-extern uint16_t acc_1G;
-
-static void adcAccRead(int16_t *accelData);
-static void adcAccAlign(int16_t *accelData);
-static void adcGyroRead(int16_t *gyroData);
-static void adcGyroAlign(int16_t *gyroData);
-static void adcDummyInit(void);
-
-void adcSensorInit(sensor_t *acc, sensor_t *gyro)
-{
-    acc->init = adcDummyInit;
-    acc->read = adcAccRead;
-    acc->align = adcAccAlign;
-
-    gyro->init = adcDummyInit;
-    gyro->read = adcGyroRead;
-    gyro->align = adcGyroAlign;
-    gyro->scale = 1.0f;
-
-    acc_1G = 376;
-}
 
 void adcCalibrateADC(ADC_TypeDef *ADCx, int n)
 {
@@ -95,51 +85,9 @@ void adcInit(void)
     ADC_SoftwareStartConvCmd(ADC1, ENABLE);
 }
 
-static void adcAccRead(int16_t *accelData)
+uint16_t adcGetChannel(uint8_t channel)
 {
-    // ADXL335
+    return 0; // Not Supported
-    // 300mV/g
-    // Vcc 3.0V
-    accelData[0] = adcData[3];
-    accelData[1] = adcData[4];
-    accelData[2] = adcData[5];
 }
 
-static void adcAccAlign(int16_t *accelData)
-{
-    // align  OK
-}
-
-static void adcGyroRead(int16_t *gyroData)
-{
-    // Vcc: 3.0V
-    // Pitch/Roll: LPR550AL, 2000dps mode.
-    // 0.5mV/dps
-    // Zero-rate: 1.23V
-    // Yaw: LPY550AL, 2000dps mode.
-    // 0.5mV/dps
-    // Zero-rate: 1.23V
-
-    // Need to match with: 14.375lsb per dps
-    // 12-bit ADC
-
-    gyroData[0] = adcData[0] * 2;
-    gyroData[1] = adcData[1] * 2;
-    gyroData[2] = adcData[2] * 2;
-}
-
-static void adcGyroAlign(int16_t *gyroData)
-{
-    // align OK
-}
-
-static void adcDummyInit(void)
-{
-    // nothing to init here
-}
-
-uint16_t adcGetBattery(void)
-{
-    return 0;
-}
 #endif

src/drivers/adc_fy90q.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#define ADC_CHANNELS 9
+
+extern volatile uint16_t adcData[ADC_CHANNELS];

src/drivers/pwm_fy90q.c

@@ -1,5 +1,14 @@
 #ifdef FY90Q
-#include "board.h"
+
+#include "stdbool.h"
+#include "stdint.h"
+#include "platform.h"
+
+#include "serial_common.h"
+
+#include "pwm_common.h"
+
+static uint16_t failsafeThreshold = 985;
 
 #define PULSE_1MS       (1000) // 1ms pulse width
 // #define PULSE_PERIOD    (2500) // pulse period (400Hz)
@@ -71,7 +80,6 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
     if (TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
         last = now;
         now = TIM_GetCapture1(tim);
-        rcActive = true;
     }
 
     TIM_ClearITPendingBit(tim, TIM_IT_CC1);
@@ -87,7 +95,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
     } else {
         if (diff > 750 && diff < 2250 && chan < 8) {   // 750 to 2250 ms is our 'valid' channel range
             Inputs[chan].capture = diff;
-            if (chan < 4 && diff > FAILSAFE_DETECT_TRESHOLD)
+            if (chan < 4 && diff > failsafeThreshold)
                 GoodPulses |= (1 << chan);      // if signal is valid - mark channel as OK
             if (GoodPulses == 0x0F) {   // If first four chanells have good pulses, clear FailSafe counter
                 GoodPulses = 0;
@@ -203,7 +211,7 @@ static void pwmInitializeInput(bool usePPM)
         TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
         TIM_Cmd(TIM2, ENABLE);
 
-        // configure number of PWM outputs, in PPM mode, we use bottom 4 channels more more motors
+        // configure number of PWM outputs, in PPM mode, we use bottom 4 channels for more motors
         numOutputChannels = 10;
     } else {
         // Configure TIM2 all 4 channels
@@ -331,12 +339,17 @@ bool pwmInit(drv_pwm_config_t *init)
     return false;
 }
 
-void pwmWrite(uint8_t channel, uint16_t value)
+void pwmWriteMotor(uint8_t channel, uint16_t value)
 {
     if (channel < numOutputChannels)
         *OutputChannels[channel] = value;
 }
 
+void pwmWriteServo(uint8_t channel, uint16_t value)
+{
+    // Not supported
+}
+
 uint16_t pwmRead(uint8_t channel)
 {
     return Inputs[channel].capture;

src/main.c

@@ -148,6 +148,7 @@ int main(void)
 
     serialInit(mcfg.serial_baudrate);
 
+#ifndef FY90Q
     if (feature(FEATURE_SOFTSERIAL)) {
         //mcfg.softserial_baudrate = 19200; // Uncomment to override config value
 
@@ -163,6 +164,7 @@ int main(void)
 #endif
         //core.mainport = (serialPort_t*)&(softSerialPorts[0]); // Uncomment to switch the main port to use softserial.
     }
+#endif
 
     if (feature(FEATURE_TELEMETRY))
         initTelemetry();

src/serial_cli.c

@@ -58,7 +58,11 @@ static const char * const mixerNames[] = {
 // sync this with AvailableFeatures enum from board.h
 static const char * const featureNames[] = {
     "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SERIALRX", "MOTOR_STOP",
-    "SERVO_TILT", "SOFTSERIAL", "LED_RING", "GPS",
+    "SERVO_TILT",
+#ifndef FY90Q
+    "SOFTSERIAL",
+#endif
+    "LED_RING", "GPS",
     "FAILSAFE", "SONAR", "TELEMETRY", "POWERMETER", "VARIO", "3D",
     NULL
 };

src/telemetry_common.c

@@ -46,14 +46,22 @@ void initTelemetry(void)
     if (!feature(FEATURE_SOFTSERIAL))
         mcfg.telemetry_port = TELEMETRY_PORT_UART;
 
+#ifdef FY90Q
+    // FY90Q does not support softserial
+    mcfg.telemetry_port = TELEMETRY_PORT_UART;
+    core.telemport = core.mainport;
+#endif
+
     isTelemetryConfigurationValid = canUseTelemetryWithCurrentConfiguration();
 
+#ifndef FY90Q
     if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
         core.telemport = &(softSerialPorts[0].port);
     else if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
         core.telemport = &(softSerialPorts[1].port);
     else
         core.telemport = core.mainport;
+#endif
 
     checkTelemetryState();
 }