Update gpio/ledring drivers so they do not include "board.h". It is now

clear what all gpio/ledring drivers need to compile and what was
unnecessarily included before.
 
In attempting this it was clear that ledring had a dependency on the
multiwii code, this was removed by passing the led status update method
the values it needs.

It also turned out that the ROLL/PITCH defines were coming from
rc_alias_e and much unrelated code is coupled to these defines.  This
commit also includes some cleanups relating to that problem.

src/axis.h

@@ -0,0 +1,10 @@
+#pragma once
+
+typedef enum {
+    X = 0,
+    Y,
+    Z
+} axis_e;
+
+#define XYZ_AXIS_COUNT 3
+

src/board.h

@@ -21,6 +21,7 @@
 #include "drivers/system_common.h"
 #include "drivers/altimeter_common.h"
 #include "sensors_common.h"
+#include "axis.h"
 
 typedef enum {
     SENSOR_GYRO = 1 << 0, // always present

src/drivers/accgyro_l3g4200d.c

@@ -4,7 +4,9 @@
 #include <platform.h>
 
 #include "accgyro_common.h"
-#include <sensors_common.h>
+#include "axis.h"
+#include "sensors_common.h"
+
 
 #include "accgyro_l3g4200d.h"
 

src/drivers/compass_hmc5883l.c

@@ -12,6 +12,7 @@
 #include "light_led.h"
 
 #include "boardalignment.h"
+#include "axis.h"
 #include "sensors_common.h"
 #include "maths.h"
 

src/drivers/gpio_common.c

@@ -1,4 +1,10 @@
-#include "board.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "gpio_common.h"
 
 void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
 {

src/drivers/light_ledring.c

@@ -1,5 +1,13 @@
-#include "board.h"
+
-#include "mw.h"
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "bus_i2c.h"
+#include "sensors_common.h"
+#include "axis.h"
+#include "flight_common.h"
 
 #include "maths.h"
 
@@ -17,7 +25,8 @@ bool ledringDetect(void)
     return true;
 }
 
-void ledringState(void)
+// pitch/roll are absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
+void ledringState(bool armed, int16_t pitch, int16_t roll)
 {
     uint8_t b[10];
     static uint8_t state;
@@ -29,14 +38,14 @@ void ledringState(void)
         state = 1;
     } else if (state == 1) {
         b[0] = 'y';
-        b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180);
+        b[1] = constrain(roll / 10 + 90, 0, 180);
-        b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180);
+        b[2] = constrain(pitch / 10 + 90, 0, 180);
         i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b);
         state = 2;
     } else if (state == 2) {
         b[0] = 'd';		// all unicolor GREEN
         b[1] = 1;
-        if (f.ARMED)
+        if (armed)
             b[2] = 1;
         else
             b[2] = 0;

src/drivers/light_ledring.h

@@ -1,5 +1,5 @@
 #pragma once
 
 bool ledringDetect(void);
-void ledringState(void);
+void ledringState(bool armed, int16_t pitch, int16_t roll);
 void ledringBlink(void);

src/flight_common.h

@@ -0,0 +1,24 @@
+#pragma once
+
+enum {
+    AI_ROLL = 0,
+    AI_PITCH,
+} angle_index_t;
+
+#define ANGLE_INDEX_COUNT 2
+
+extern int16_t angle[ANGLE_INDEX_COUNT]; // see angle_index_t
+
+enum {
+    GI_ROLL = 0,
+    GI_PITCH,
+    GI_YAW
+} gyro_index_t;
+
+#define GYRO_INDEX_COUNT 3
+
+extern int16_t gyroData[GYRO_INDEX_COUNT]; // see gyro_index_t
+extern int16_t gyroZero[GYRO_INDEX_COUNT]; // see gyro_index_t
+
+extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
+extern int32_t accSum[XYZ_AXIS_COUNT];

src/flight_imu.c

@@ -3,8 +3,12 @@
 
 #include "maths.h"
 
-int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
+#include "sensors_compass.h"
-int32_t accSum[3];
+#include "flight_common.h"
+
+int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
+int32_t accSum[XYZ_AXIS_COUNT];
+
 uint32_t accTimeSum = 0;        // keep track for integration of acc
 int accSumCount = 0;
 int16_t accZ_25deg = 0;
@@ -26,8 +30,9 @@ float throttleAngleScale;
 // **************
 // gyro+acc IMU
 // **************
-int16_t gyroData[3] = { 0, 0, 0 };
+int16_t gyroData[GYRO_INDEX_COUNT] = { 0, 0, 0 };
-int16_t gyroZero[3] = { 0, 0, 0 };
+int16_t gyroZero[GYRO_INDEX_COUNT] = { 0, 0, 0 };
+
 int16_t angle[2] = { 0, 0 };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
 float anglerad[2] = { 0.0f, 0.0f };    // absolute angle inclination in radians
 
@@ -62,10 +67,10 @@ void computeIMU(void)
     }
 
     if (mcfg.mixerConfiguration == MULTITYPE_TRI) {
-        gyroData[YAW] = (gyroYawSmooth * 2 + gyroADC[YAW]) / 3;
+        gyroData[GI_YAW] = (gyroYawSmooth * 2 + gyroADC[GI_YAW]) / 3;
-        gyroYawSmooth = gyroData[YAW];
+        gyroYawSmooth = gyroData[GI_YAW];
-        gyroData[ROLL] = gyroADC[ROLL];
+        gyroData[GI_ROLL] = gyroADC[GI_ROLL];
-        gyroData[PITCH] = gyroADC[PITCH];
+        gyroData[GI_PITCH] = gyroADC[GI_PITCH];
     } else {
         for (axis = 0; axis < 3; axis++)
             gyroData[axis] = gyroADC[axis];
@@ -102,6 +107,12 @@ typedef union {
 
 t_fp_vector EstG;
 
+typedef struct fp_angles {
+    float roll;
+    float pitch;
+    float yaw;
+} fp_angles_t;
+
 // Normalize a vector
 void normalizeV(struct fp_vector *src, struct fp_vector *dest)
 {
@@ -116,7 +127,7 @@ void normalizeV(struct fp_vector *src, struct fp_vector *dest)
 }
 
 // Rotate Estimated vector(s) with small angle approximation, according to the gyro data
-void rotateV(struct fp_vector *v, float *delta)
+void rotateAnglesV(struct fp_vector *v, fp_angles_t *delta)
 {
     struct fp_vector v_tmp = *v;
 
@@ -125,12 +136,12 @@ void rotateV(struct fp_vector *v, float *delta)
     float cosx, sinx, cosy, siny, cosz, sinz;
     float coszcosx, coszcosy, sinzcosx, coszsinx, sinzsinx;
 
-    cosx = cosf(delta[ROLL]);
+    cosx = cosf(delta->roll);
-    sinx = sinf(delta[ROLL]);
+    sinx = sinf(delta->roll);
-    cosy = cosf(delta[PITCH]);
+    cosy = cosf(delta->pitch);
-    siny = sinf(delta[PITCH]);
+    siny = sinf(delta->pitch);
-    cosz = cosf(delta[YAW]);
+    cosz = cosf(delta->yaw);
-    sinz = sinf(delta[YAW]);
+    sinz = sinf(delta->yaw);
 
     coszcosx = cosz * cosx;
     coszcosy = cosz * cosy;
@@ -153,6 +164,16 @@ void rotateV(struct fp_vector *v, float *delta)
     v->Z = v_tmp.X * mat[0][2] + v_tmp.Y * mat[1][2] + v_tmp.Z * mat[2][2];
 }
 
+// deprecated - it uses legacy indices for ROLL/PITCH/YAW, see rc_alias_e - use rotateAnglesV instead
+void rotateV(struct fp_vector *v, float *delta) {
+    fp_angles_t temp;
+    temp.roll = delta[ROLL];
+    temp.pitch = delta[PITCH];
+    temp.yaw = delta[YAW];
+
+    rotateAnglesV(v, &temp);
+}
+
 int32_t applyDeadband(int32_t value, int32_t deadband)
 {
     if (abs(value) < deadband) {
@@ -173,19 +194,19 @@ void acc_calc(uint32_t deltaT)
 {
     static int32_t accZoffset = 0;
     static float accz_smooth;
-    float rpy[3];
+    fp_angles_t rpy;
     t_fp_vector accel_ned;
 
     // the accel values have to be rotated into the earth frame
-    rpy[0] = -(float)anglerad[ROLL];
+    rpy.roll = -(float)anglerad[AI_ROLL];
-    rpy[1] = -(float)anglerad[PITCH];
+    rpy.pitch = -(float)anglerad[AI_PITCH];
-    rpy[2] = -(float)heading * RAD;
+    rpy.yaw = -(float)heading * RAD;
 
     accel_ned.V.X = accSmooth[0];
     accel_ned.V.Y = accSmooth[1];
     accel_ned.V.Z = accSmooth[2];
 
-    rotateV(&accel_ned.V, rpy);
+    rotateAnglesV(&accel_ned.V, &rpy);
 
     if (cfg.acc_unarmedcal == 1) {
         if (!f.ARMED) {
@@ -226,10 +247,10 @@ static int16_t calculateHeading(t_fp_vector *vec)
 {
     int16_t head;
 
-    float cosineRoll = cosf(anglerad[ROLL]);
+    float cosineRoll = cosf(anglerad[AI_ROLL]);
-    float sineRoll = sinf(anglerad[ROLL]);
+    float sineRoll = sinf(anglerad[AI_ROLL]);
-    float cosinePitch = cosf(anglerad[PITCH]);
+    float cosinePitch = cosf(anglerad[AI_PITCH]);
-    float sinePitch = sinf(anglerad[PITCH]);
+    float sinePitch = sinf(anglerad[AI_PITCH]);
     float Xh = vec->A[X] * cosinePitch + vec->A[Y] * sineRoll * sinePitch + vec->A[Z] * sinePitch * cosineRoll;
     float Yh = vec->A[Y] * cosineRoll - vec->A[Z] * sineRoll;
     float hd = (atan2f(Yh, Xh) * 1800.0f / M_PI + magneticDeclination) / 10.0f;
@@ -295,10 +316,10 @@ static void getEstimatedAttitude(void)
         f.SMALL_ANGLES_25 = 0;
 
     // Attitude of the estimated vector
-    anglerad[ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
+    anglerad[AI_ROLL] = atan2f(EstG.V.Y, EstG.V.Z);
-    anglerad[PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
+    anglerad[AI_PITCH] = atan2f(-EstG.V.X, sqrtf(EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z));
-    angle[ROLL] = lrintf(anglerad[ROLL] * (1800.0f / M_PI));
+    angle[AI_ROLL] = lrintf(anglerad[AI_ROLL] * (1800.0f / M_PI));
-    angle[PITCH] = lrintf(anglerad[PITCH] * (1800.0f / M_PI));
+    angle[AI_PITCH] = lrintf(anglerad[AI_PITCH] * (1800.0f / M_PI));
 
     if (sensors(SENSOR_MAG))
         heading = calculateHeading(&EstM);

src/flight_mixer.c

@@ -1,6 +1,8 @@
 #include "board.h"
 #include "mw.h"
 
+#include "flight_common.h"
+
 #include "maths.h"
 
 static uint8_t numberMotor = 0;

src/mw.c

@@ -3,6 +3,7 @@
 
 #include "serial_cli.h"
 #include "telemetry_common.h"
+#include "flight_common.h"
 #include "typeconversion.h"
 #include "maths.h"
 
@@ -185,7 +186,7 @@ void annexCode(void)
         static uint32_t LEDTime;
         if ((int32_t)(currentTime - LEDTime) >= 0) {
             LEDTime = currentTime + 50000;
-            ledringState();
+            ledringState(f.ARMED, angle[AI_PITCH], angle[AI_ROLL]);
         }
     }
 #endif

src/mw.h

@@ -57,7 +57,7 @@ typedef enum GimbalFlags {
 } GimbalFlags;
 
 /*********** RC alias *****************/
-enum {
+typedef enum rc_alias {
     ROLL = 0,
     PITCH,
     YAW,
@@ -66,7 +66,7 @@ enum {
     AUX2,
     AUX3,
     AUX4
-};
+} rc_alias_e;
 
 enum {
     PIDROLL,
@@ -315,17 +315,12 @@ typedef struct flags_t {
     uint8_t FIXED_WING;                     // set when in flying_wing or airplane mode. currently used by althold selection code
 } flags_t;
 
-extern int16_t gyroZero[3];
-extern int16_t gyroData[3];
-extern int16_t angle[2];
 extern int16_t axisPID[3];
 extern int16_t rcCommand[4];
 extern uint8_t rcOptions[CHECKBOXITEMS];
 extern int16_t failsafeCnt;
 
 extern int16_t debug[4];
-extern int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
-extern int32_t accSum[3];
 extern uint16_t acc_1G;
 extern uint32_t accTimeSum;
 extern int accSumCount;

src/sensors_acceleration.c

@@ -1,6 +1,8 @@
 #include "board.h"
 #include "mw.h"
 
+#include "flight_common.h"
+
 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.
 
 extern uint16_t InflightcalibratingA;

src/sensors_common.h

@@ -23,8 +23,4 @@ typedef struct sensor_t
     float scale;                                            // scalefactor (currently used for gyro only, todo for accel)
 } sensor_t;
 
-typedef enum {
+extern int16_t heading;
-    X = 0,
-    Y,
-    Z
-} sensor_axis_e;

src/sensors_compass.c

@@ -1,6 +1,10 @@
 #include "board.h"
 #include "mw.h"
 
+#include "axis.h"
+
+int16_t magADC[XYZ_AXIS_COUNT];
+
 #ifdef MAG
 static uint8_t magInit = 0;
 

src/sensors_compass.h

@@ -4,3 +4,5 @@
 void Mag_init(void);
 int Mag_getADC(void);
 #endif
+
+extern int16_t magADC[XYZ_AXIS_COUNT];

src/sensors_gyro.c

@@ -1,6 +1,8 @@
 #include "board.h"
 #include "mw.h"
 
+#include "flight_common.h"
+
 #include "maths.h"
 
 void GYRO_Common(void)

src/serial_msp.c

@@ -3,6 +3,8 @@
 
 #include "serial_cli.h"
 #include "telemetry_common.h"
+#include "flight_common.h"
+#include "sensors_compass.h"
 
 // Multiwii Serial Protocol 0
 #define MSP_VERSION              0

src/telemetry_frsky.c

@@ -4,6 +4,8 @@
 #include "board.h"
 #include "mw.h"
 
+#include "flight_common.h"
+
 #include "telemetry_common.h"
 #include "telemetry_frsky.h"