Updating accgyro files so they do not include "board.h". It is now

clear what all accgyro drivers need to compile and what was
unnecessarily included before.

src/board.h

@@ -1,45 +1,25 @@
-#pragma once
+/*
+ * This file is deprecated.  All this code belongs elsewhere - create appropriate headers and include them.
+ */
 
-// for roundf()
+#pragma once
-#define __USE_C99_MATH
 
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdint.h>
+
+#define __USE_C99_MATH // for roundf()
 #include <math.h>
+
 #include <ctype.h>
 #include <string.h>
 #include <stdio.h>
 
-#include "stm32f10x_conf.h"
+#include "platform.h"
-#include "core_cm3.h"
+#include "drivers/accgyro_common.h"
-
-#ifndef __CC_ARM
-// only need this garbage on gcc
-#define USE_LAME_PRINTF
-#define PRINTF_LONG_SUPPORT
-
-#include "printf.h"
-#endif
-
-#include "drivers/system_common.h"         // timers, delays, etc
 #include "drivers/gpio_common.h"
-
+#include "drivers/system_common.h"
-#ifndef M_PI
+#include "sensors_common.h"
-#define M_PI       3.14159265358979323846f
-#endif /* M_PI */
-
-#define RADX10 (M_PI / 1800.0f)                  // 0.001745329252f
-#define RAD    (M_PI / 180.0f)
-
-#define min(a, b) ((a) < (b) ? (a) : (b))
-#define max(a, b) ((a) > (b) ? (a) : (b))
-#define abs(x) ((x) > 0 ? (x) : -(x))
-
-// Chip Unique ID on F103
-#define U_ID_0 (*(uint32_t*)0x1FFFF7E8)
-#define U_ID_1 (*(uint32_t*)0x1FFFF7EC)
-#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
 
 typedef enum {
     SENSOR_GYRO = 1 << 0, // always present
@@ -117,24 +97,6 @@ typedef enum {
     TELEMETRY_PORT_MAX = TELEMETRY_PORT_SOFTSERIAL_2
 } TelemetryPort;
 
-typedef enum {
-    X = 0,
-    Y,
-    Z
-} sensor_axis_e;
-
-typedef enum {
-    ALIGN_DEFAULT = 0,                                      // driver-provided alignment
-    CW0_DEG = 1,
-    CW90_DEG = 2,
-    CW180_DEG = 3,
-    CW270_DEG = 4,
-    CW0_DEG_FLIP = 5,
-    CW90_DEG_FLIP = 6,
-    CW180_DEG_FLIP = 7,
-    CW270_DEG_FLIP = 8
-} sensor_align_e;
-
 enum {
     GYRO_UPDATED = 1 << 0,
     ACC_UPDATED = 1 << 1,
@@ -151,22 +113,11 @@ typedef struct sensor_data_t
     int updated;
 } sensor_data_t;
 
-typedef void (* sensorInitFuncPtr)(sensor_align_e align);   // sensor init prototype
-typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
 typedef void (* baroOpFuncPtr)(void);                       // baro start operation
 typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature);             // baro calculation (filled params are pressure and temperature)
-typedef void (* serialReceiveCallbackPtr)(uint16_t data);   // used by serial drivers to return frames to app
 typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan);        // used by receiver driver to return channel data
 typedef void (* pidControllerFuncPtr)(void);                // pid controller function 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)
-} sensor_t;
-
 typedef struct baro_t
 {
     uint16_t ut_delay;

src/drivers/accgyro_adxl345.c

@@ -1,4 +1,17 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "accgyro_common.h"
+#include <sensors_common.h>
+
+#include "accgyro_adxl345.h"
+
+#include "system_common.h"
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
 
 // ADXL345, Alternative address mode 0x53
 #define ADXL345_ADDRESS     0x53

src/drivers/accgyro_bma280.c

@@ -1,4 +1,17 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "accgyro_common.h"
+#include <sensors_common.h>
+
+#include "accgyro_bma280.h"
+
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
+
 
 // BMA280, default I2C address mode 0x18
 #define BMA280_ADDRESS     0x18

src/drivers/accgyro_common.h

@@ -0,0 +1,13 @@
+#pragma once
+
+typedef enum {
+    ALIGN_DEFAULT = 0,                                      // driver-provided alignment
+    CW0_DEG = 1,
+    CW90_DEG = 2,
+    CW180_DEG = 3,
+    CW270_DEG = 4,
+    CW0_DEG_FLIP = 5,
+    CW90_DEG_FLIP = 6,
+    CW180_DEG_FLIP = 7,
+    CW270_DEG_FLIP = 8
+} sensor_align_e;

src/drivers/accgyro_l3g4200d.c

@@ -1,4 +1,19 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "accgyro_common.h"
+#include <sensors_common.h>
+
+#include "accgyro_l3g4200d.h"
+
+#include "system_common.h"
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
+
+#include "maths.h"
 
 // L3G4200D, Standard address 0x68
 #define L3G4200D_ADDRESS         0x68

src/drivers/accgyro_mma845x.c

@@ -1,4 +1,18 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+#include "system_common.h"
+#include "gpio_common.h"
+#include "sensors_common.h"
+
+#include "accgyro_mma845x.h"
+
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
 
 // MMA8452QT, Standard address 0x1C
 // ACC_INT2 routed to PA5

src/drivers/accgyro_mpu3050.c

@@ -1,4 +1,20 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+#include "system_common.h"
+
+#include "sensors_common.h"
+
+#include "accgyro_mpu3050.h"
+
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
+
+#include "maths.h"
 
 // MPU3050, Standard address 0x68
 #define MPU3050_ADDRESS         0x68

src/drivers/accgyro_mpu6050.c

@@ -1,4 +1,21 @@
-#include "board.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+#include "system_common.h"
+#include "gpio_common.h"
+
+#include "sensors_common.h"
+
+#include "accgyro_mpu6050.h"
+
+#include "bus_i2c.h"
+
+#include "boardalignment.h"
+
+#include "maths.h"
 
 // MPU6050, Standard address 0x68
 // MPU_INT on PB13 on rev4 hardware

src/drivers/adc_common.c

@@ -1,3 +1,10 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "accgyro_common.h"
+
 #include "board.h"
 
 #define ADC_BATTERY     0

src/drivers/compass_hmc5883l.c

@@ -1,5 +1,7 @@
 #include "board.h"
 
+#include "maths.h"
+
 // HMC5883L, default address 0x1E
 // PB12 connected to MAG_DRDY on rev4 hardware
 // PC14 connected to MAG_DRDY on rev5 hardware

src/drivers/serial_common.h

@@ -7,6 +7,8 @@ typedef enum portMode_t {
     MODE_SBUS = 1 << 2,
 } portMode_t;
 
+typedef void (* serialReceiveCallbackPtr)(uint16_t data);   // used by serial drivers to return frames to app
+
 typedef struct serialPort {
     
     const struct serialPortVTable *vTable;

src/maths.h

@@ -5,6 +5,17 @@
 #define sq(x) ((x)*(x))
 #endif
 
+#ifndef M_PI
+#define M_PI       3.14159265358979323846f
+#endif /* M_PI */
+
+#define RADX10 (M_PI / 1800.0f)                  // 0.001745329252f
+#define RAD    (M_PI / 180.0f)
+
+#define min(a, b) ((a) < (b) ? (a) : (b))
+#define max(a, b) ((a) > (b) ? (a) : (b))
+#define abs(x) ((x) > 0 ? (x) : -(x))
+
 typedef struct stdev_t
 {
     float m_oldM, m_newM, m_oldS, m_newS;

src/mw.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "runtime_config.h"
+
 /* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
 #define BARO_TAB_SIZE_MAX   48
@@ -293,17 +295,6 @@ typedef struct master_t {
     uint8_t chk;                            // XOR checksum
 } master_t;
 
-// Core runtime settings
-typedef struct core_t {
-    serialPort_t *mainport;
-    serialPort_t *gpsport;
-    serialPort_t *telemport;
-    serialPort_t *rcvrport;
-    uint8_t mpu6050_scale;                  // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
-    uint8_t numRCChannels;                  // number of rc channels as reported by current input driver
-    bool useServo;                          // feature SERVO_TILT or wing/airplane mixers will enable this
-} core_t;
-
 typedef struct flags_t {
     uint8_t OK_TO_ARM;
     uint8_t ARMED;
@@ -391,7 +382,6 @@ extern uint8_t  GPS_svinfo_svid[16];                         // Satellite ID
 extern uint8_t  GPS_svinfo_quality[16];                      // Bitfield Qualtity
 extern uint8_t  GPS_svinfo_cno[16];                          // Carrier to Noise Ratio (Signal Strength)
 
-extern core_t core;
 extern master_t mcfg;
 extern config_t cfg;
 extern flags_t f;

src/platform.h

@@ -0,0 +1,10 @@
+
+#pragma once
+
+#include "stm32f10x_conf.h"
+#include "core_cm3.h"
+
+// Chip Unique ID on F103
+#define U_ID_0 (*(uint32_t*)0x1FFFF7E8)
+#define U_ID_1 (*(uint32_t*)0x1FFFF7EC)
+#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)

src/printf.c

@@ -29,10 +29,22 @@
  * OF SUCH DAMAGE.
  */
 
-#include "board.h"
+#include <stdbool.h>
-#include "mw.h"
+#include <stdint.h>
 
+#include <stdarg.h>
+
+#include "drivers/serial_common.h"
+#include "runtime_config.h"
+
+#include "printf_config.h"
+
+#include "printf.h"
+
+#ifdef PRINTF_LONG_SUPPORT
 #include "typeconversion.h"
+#endif
+
 
 #ifdef USE_LAME_PRINTF
 

src/printf.h

@@ -102,12 +102,9 @@ For further details see source code.
 regs Kusti, 23.10.2004
 */
 
-
 #ifndef __TFP_PRINTF__
 #define __TFP_PRINTF__
 
-#include <stdarg.h>
-
 void init_printf(void *putp, void (*putf) (void *, char));
 
 void tfp_printf(char *fmt, ...);

src/printf_config.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#ifndef __CC_ARM
+#define USE_LAME_PRINTF
+#define PRINTF_LONG_SUPPORT
+#endif

src/runtime_config.h

@@ -0,0 +1,12 @@
+// Core runtime settings
+typedef struct core_t {
+    serialPort_t *mainport;
+    serialPort_t *gpsport;
+    serialPort_t *telemport;
+    serialPort_t *rcvrport;
+    uint8_t mpu6050_scale;                  // es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. automatically set by mpu6050 driver.
+    uint8_t numRCChannels;                  // number of rc channels as reported by current input driver
+    bool useServo;                          // feature SERVO_TILT or wing/airplane mixers will enable this
+} core_t;
+
+extern core_t core;

src/sensors_common.h

@@ -0,0 +1,18 @@
+#pragma once
+
+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)
+} sensor_t;
+
+typedef enum {
+    X = 0,
+    Y,
+    Z
+} sensor_axis_e;

src/serial_cli.c

@@ -1,6 +1,11 @@
+#include <stdarg.h>
+
 #include "board.h"
 #include "mw.h"
 
+#include "printf.h"
+
+
 // we unset this on 'exit'
 extern uint8_t cliMode;
 static void cliAux(char *cmdline);

src/typeconversion.c

@@ -1,6 +1,7 @@
 #include "board.h"
 #include "mw.h"
 
+#include "printf_config.h"
 #ifdef PRINTF_LONG_SUPPORT
 
 void uli2a(unsigned long int num, unsigned int base, int uc, char *bf)