rename sensor_t to acc_t and gyro_t and remove unused variables from

each.  relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.

src/board.h

@@ -19,6 +19,7 @@
 
 #include "common/axis.h"
 
+#include "sensors_common.h"
 #include "drivers/accgyro_common.h"
 #include "drivers/gpio_common.h"
 #include "drivers/system_common.h"

src/config.c

@@ -7,10 +7,12 @@
 #include "common/axis.h"
 #include "flight_common.h"
 
+#include "sensors_common.h"
+
+#include "drivers/accgyro_common.h"
 #include "drivers/system_common.h"
 
 #include "statusindicator.h"
-#include "sensors_common.h"
 #include "sensors_acceleration.h"
 #include "telemetry_common.h"
 #include "gps_common.h"

src/drivers/accgyro_adxl345.c

@@ -3,9 +3,10 @@
 
 #include <platform.h>
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 
-#include "sensors_common.h"
 #include "system_common.h"
 #include "bus_i2c.h"
 
@@ -48,7 +49,7 @@ static void adxl345Read(int16_t *accelData);
 static bool useFifo = false;
 static sensor_align_e accAlign = CW270_DEG;
 
-bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc)
+bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;

src/drivers/accgyro_adxl345.h

@@ -5,4 +5,4 @@ typedef struct drv_adxl345_config_t {
     uint16_t dataRate;
 } drv_adxl345_config_t;
 
-bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc);
+bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc);

src/drivers/accgyro_bma280.c

@@ -3,8 +3,8 @@
 
 #include <platform.h>
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include <sensors_common.h>
 
 #include "accgyro_bma280.h"
 
@@ -24,7 +24,7 @@ static void bma280Read(int16_t *accelData);
 
 static sensor_align_e accAlign = CW0_DEG;
 
-bool bma280Detect(sensor_t *acc)
+bool bma280Detect(acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;

src/drivers/accgyro_bma280.h

@@ -1,3 +1,3 @@
 #pragma once
 
-bool bma280Detect(sensor_t *acc);
+bool bma280Detect(acc_t *acc);

src/drivers/accgyro_common.h

@@ -1,3 +1,22 @@
 #pragma once
 
 extern uint16_t acc_1G;
+
+typedef void (* sensorInitFuncPtr)(sensor_align_e align);   // sensor init prototype
+typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
+
+typedef struct gyro_s
+{
+    sensorInitFuncPtr init;                                 // initialize function
+    sensorReadFuncPtr read;                                 // read 3 axis data function
+    sensorReadFuncPtr temperature;                          // read temperature if available
+    float scale;                                            // scalefactor
+} gyro_t;
+
+typedef struct acc_s
+{
+    sensorInitFuncPtr init;                                 // initialize function
+    sensorReadFuncPtr read;                                 // read 3 axis data function
+    sensorReadFuncPtr temperature;                          // read temperature if available
+    char revisionCode;                                      // a revision code for the sensor, if known
+} acc_t;

src/drivers/accgyro_fy90q.c

@@ -5,8 +5,8 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include "sensors_common.h"
 
 #include "system_common.h"
 

src/drivers/accgyro_l3g4200d.c

@@ -5,8 +5,8 @@
 
 #include "common/axis.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include "sensors_common.h"
 
 #include "accgyro_l3g4200d.h"
 
@@ -47,7 +47,7 @@ static sensor_align_e gyroAlign = CW0_DEG;
 static void l3g4200dInit(sensor_align_e align);
 static void l3g4200dRead(int16_t *gyroData);
 
-bool l3g4200dDetect(sensor_t *gyro, uint16_t lpf)
+bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
 {
     uint8_t deviceid;
 

src/drivers/accgyro_l3g4200d.h

@@ -1,3 +1,3 @@
 #pragma once
 
-bool l3g4200dDetect(sensor_t *gyro, uint16_t lpf);
+bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf);

src/drivers/accgyro_mma845x.c

@@ -3,10 +3,11 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 #include "gpio_common.h"
-#include "sensors_common.h"
 
 #include "accgyro_mma845x.h"
 
@@ -67,7 +68,7 @@ static sensor_align_e accAlign = CW90_DEG;
 static void mma8452Init(sensor_align_e align);
 static void mma8452Read(int16_t *accelData);
 
-bool mma8452Detect(sensor_t *acc)
+bool mma8452Detect(acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;

src/drivers/accgyro_mma845x.h

@@ -1,3 +1,3 @@
 #pragma once
 
-bool mma8452Detect(sensor_t *acc);
+bool mma8452Detect(acc_t *acc);

src/drivers/accgyro_mpu3050.c

@@ -5,11 +5,11 @@
 
 #include "common/maths.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 
-#include "sensors_common.h"
-
 #include "accgyro_mpu3050.h"
 
 #include "bus_i2c.h"
@@ -48,7 +48,7 @@ static void mpu3050Init(sensor_align_e align);
 static void mpu3050Read(int16_t *gyroData);
 static void mpu3050ReadTemp(int16_t *tempData);
 
-bool mpu3050Detect(sensor_t *gyro, uint16_t lpf)
+bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
 {
     bool ack;
 

src/drivers/accgyro_mpu3050.h

@@ -1,3 +1,3 @@
 #pragma once
 
-bool mpu3050Detect(sensor_t *gyro, uint16_t lpf);
+bool mpu3050Detect(gyro_t *gyro, uint16_t lpf);

src/drivers/accgyro_mpu6050.c

@@ -5,11 +5,12 @@
 
 #include "common/maths.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 #include "gpio_common.h"
 
-#include "sensors_common.h"
 
 #include "accgyro_mpu6050.h"
 
@@ -139,7 +140,7 @@ typedef enum {
 
 static mpu6050Resolution_e mpuAccelTrim;
 
-bool mpu6050Detect(sensor_t *acc, sensor_t *gyro, uint16_t lpf)
+bool mpu6050Detect(acc_t *acc, gyro_t *gyro, uint16_t lpf)
 {
     bool ack;
     uint8_t sig, rev;

src/drivers/accgyro_mpu6050.h

@@ -1,5 +1,5 @@
 #pragma once
 
-bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint16_t lpf);
+bool mpu6050Detect(acc_t * acc, gyro_t * gyro, uint16_t lpf);
 void mpu6050DmpLoop(void);
 void mpu6050DmpResetFifo(void);

src/drivers/adc_common.c

@@ -3,6 +3,8 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 
 #include "adc_common.h"

src/flight_imu.c

@@ -5,13 +5,14 @@
 #include "common/maths.h"
 
 #include "platform.h"
-//
+
 #include "common/axis.h"
 #include "flight_common.h"
-//
+
 #include "drivers/system_common.h"
-//
+
 #include "sensors_common.h"
+#include "drivers/accgyro_common.h"
 #include "sensors_gyro.h"
 #include "sensors_compass.h"
 #include "sensors_acceleration.h"

src/main.c

@@ -7,6 +7,8 @@
 
 #include "gps_common.h"
 #include "rx_common.h"
+#include "sensors_common.h"
+#include "drivers/accgyro_common.h"
 #include "drivers/serial_common.h"
 #include "telemetry_common.h"
 #include "boardalignment.h"

src/sensors_acceleration.c

@@ -6,7 +6,7 @@
 
 #include "sensors_acceleration.h"
 
-sensor_t acc;                       // acc access functions
+acc_t acc;                       // acc access functions
 uint8_t accHardware = ACC_DEFAULT;  // which accel chip is used/detected
 
 uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.

src/sensors_acceleration.h

@@ -11,7 +11,7 @@ typedef enum AccelSensors {
 } AccelSensors;
 
 extern uint8_t accHardware;
-extern sensor_t acc;
+extern acc_t acc;
 
 void ACC_Common(void);
 void ACC_getADC(void);

src/sensors_common.h

@@ -22,16 +22,4 @@ typedef enum {
     CW270_DEG_FLIP = 8
 } sensor_align_e;
 
-typedef void (* sensorInitFuncPtr)(sensor_align_e align);   // sensor init prototype
-typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
-
-typedef struct sensor_t
-{
-    sensorInitFuncPtr init;                                 // initialize function
-    sensorReadFuncPtr read;                                 // read 3 axis data function
-    sensorReadFuncPtr temperature;                          // read temperature if available
-    float scale;                                            // scalefactor (currently used for gyro only, todo for accel)
-    char revisionCode;                                      // a revision code for the sensor, if known
-} sensor_t;
-
 extern int16_t heading;

src/sensors_gyro.c

@@ -8,7 +8,7 @@
 
 uint16_t calibratingG = 0;
 uint16_t acc_1G = 256;          // this is the 1G measured acceleration.
-sensor_t gyro;                      // gyro access functions
+gyro_t gyro;                      // gyro access functions
 
 void GYRO_Common(void)
 {

src/sensors_gyro.h

@@ -1,7 +1,7 @@
 #pragma once
 
 extern uint16_t acc_1G;
-extern sensor_t gyro;
+extern gyro_t gyro;
 
 void GYRO_Common(void);
 void Gyro_getADC(void);

src/sensors_initialisation.c

@@ -13,9 +13,9 @@ extern uint16_t batteryWarningVoltage;
 extern uint8_t batteryCellCount;
 extern float magneticDeclination;
 
-extern sensor_t gyro;
+extern gyro_t gyro;
 extern baro_t baro;
-extern sensor_t acc;
+extern acc_t acc;
 
 #ifdef FY90Q
 // FY90Q analog gyro/acc