Removing final dependency on board.h.

board.h is no-longer required.

src/board.h

@@ -1,86 +0,0 @@
-/*
- * This file is deprecated.  All this code belongs elsewhere - create appropriate headers and include them.
- */
-
-#pragma once
-
-#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 "platform.h"
-
-#include "common/axis.h"
-
-#include "sensors_common.h"
-#include "drivers/accgyro_common.h"
-#include "drivers/gpio_common.h"
-#include "drivers/system_common.h"
-#include "drivers/barometer_common.h"
-#include "sensors_common.h"
-
-#include "platform.h"
-#include "drivers/light_led.h"
-#include "drivers/sound_beeper.h"
-#include "boardalignment.h"
-#include "battery.h"
-
-#ifdef FY90Q
- // FY90Q
-#include "drivers/accgyro_fy90q.h"
-#include "drivers/adc_common.h"
-#include "drivers/adc_fy90q.h"
-#include "drivers/bus_i2c.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
-// OLIMEXINO
-#include "drivers/adc_common.h"
-#include "drivers/bus_i2c.h"
-#include "drivers/bus_spi.h"
-#include "drivers/accgyro_adxl345.h"
-#include "drivers/accgyro_mpu3050.h"
-#include "drivers/accgyro_mpu6050.h"
-#include "drivers/accgyro_l3g4200d.h"
-#include "drivers/pwm_common.h"
-#include "drivers/timer_common.h"
-#include "drivers/serial_common.h"
-#include "drivers/serial_uart.h"
-#include "drivers/serial_softserial.h"
-#else
-
- // AfroFlight32
-#include "drivers/adc_common.h"
-#include "drivers/accgyro_adxl345.h"
-#include "drivers/accgyro_bma280.h"
-#include "drivers/barometer_bmp085.h"
-#include "drivers/barometer_ms5611.h"
-#include "drivers/compass_hmc5883l.h"
-#include "drivers/bus_i2c.h"
-#include "drivers/bus_spi.h"
-#include "drivers/light_ledring.h"
-#include "drivers/accgyro_mma845x.h"
-#include "drivers/accgyro_mpu3050.h"
-#include "drivers/accgyro_mpu6050.h"
-#include "drivers/accgyro_l3g4200d.h"
-#include "drivers/pwm_common.h"
-#include "drivers/timer_common.h"
-#include "drivers/serial_common.h"
-#include "drivers/serial_uart.h"
-#include "drivers/serial_softserial.h"
-#include "drivers/sonar_hcsr04.h"
-
-#endif
-#endif

src/flight_imu.h

@@ -0,0 +1,8 @@
+#pragma once
+
+extern int32_t errorAltitudeI;
+extern int32_t BaroPID;
+extern int16_t throttleAngleCorrection;
+
+int getEstimatedAltitude(void);
+void computeIMU(void);

src/flight_mixer.h

@@ -81,6 +81,9 @@ void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerResetMotors(void);
+void mixTable(void);
+void writeServos(void);
+void writeMotors(void);
 
 // from mixer.c
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];

src/mw.c

@@ -1,28 +1,60 @@
-#include "board.h"
+#include <stdbool.h>
-#include "mw.h"
+#include <stdlib.h>
+#include <stdint.h>
+#include <math.h>
+
+#include "platform.h"
 
 #include "common/maths.h"
-#include "common/typeconversion.h"
+#include "common/axis.h"
 
+#include "drivers/accgyro_common.h"
+#include "drivers/light_ledring.h"
+#include "drivers/light_led.h"
+#include "drivers/gpio_common.h"
+#include "drivers/system_common.h"
+#include "drivers/serial_common.h"
+
+#include "boardalignment.h"
+#include "battery.h"
 #include "buzzer.h"
-#include "sensors_sonar.h"
+#include "escservo.h"
-#include "sensors_gyro.h"
-#include "sensors_compass.h"
-#include "sensors_barometer.h"
-#include "sensors_acceleration.h"
-#include "flight_common.h"
-#include "serial_cli.h"
-#include "telemetry_common.h"
-#include "gps_common.h"
-#include "rx_common.h"
-#include "rx_sbus.h"
-#include "rx_sumd.h"
-#include "rx_spektrum.h"
 #include "failsafe.h"
+#include "flight_imu.h"
+#include "flight_common.h"
+#include "flight_mixer.h"
+#include "gimbal.h"
+#include "gps_common.h"
+#include "sensors_common.h"
+#include "sensors_sonar.h"
+#include "sensors_compass.h"
+#include "sensors_acceleration.h"
+#include "sensors_barometer.h"
+#include "sensors_gyro.h"
+#include "serial_cli.h"
+#include "serial_common.h"
 #include "statusindicator.h"
+#include "rc_controls.h"
+#include "rc_curves.h"
+#include "rx_common.h"
+#include "telemetry_common.h"
+
+#include "runtime_config.h"
+#include "config.h"
+#include "config_profile.h"
+#include "config_master.h"
 
 // June 2013     V2.2-dev
 
+enum {
+    ALIGN_GYRO = 0,
+    ALIGN_ACCEL = 1,
+    ALIGN_MAG = 2
+};
+
+/* for VBAT monitoring frequency */
+#define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
+
 int16_t debug[4];
 uint32_t currentTime = 0;
 uint32_t previousTime = 0;
@@ -125,7 +157,7 @@ void annexCode(void)
 
     buzzer(batteryWarningEnabled); // external buzzer routine that handles buzzer events globally now
 
-    if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) {      // Calibration phasis
+    if ((!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete())) {      // Calibration phasis
         LED0_TOGGLE;
     } else {
         if (f.ACC_CALIBRATED)
@@ -177,7 +209,7 @@ void annexCode(void)
 
 static void mwArm(void)
 {
-    if (calibratingG == 0 && f.ACC_CALIBRATED) {
+    if (isGyroCalibrationComplete() && f.ACC_CALIBRATED) {
         // TODO: feature(FEATURE_FAILSAFE) && failsafeCnt < 2
         // TODO: && ( !feature || ( feature && ( failsafecnt > 2) )
         if (!f.ARMED) {         // arm now!
@@ -211,18 +243,7 @@ void loop(void)
 
     // calculate rc stuff from serial-based receivers (spek/sbus)
     if (feature(FEATURE_SERIALRX)) {
-        switch (masterConfig.rxConfig.serialrx_type) {
+        rcReady = isSerialRxFrameComplete(&masterConfig.rxConfig);
-            case SERIALRX_SPEKTRUM1024:
-            case SERIALRX_SPEKTRUM2048:
-                rcReady = spektrumFrameComplete();
-                break;
-            case SERIALRX_SBUS:
-                rcReady = sbusFrameComplete();
-                break;
-            case SERIALRX_SUMD:
-                rcReady = sumdFrameComplete();
-                break;
-        }
     }
 
     if (((int32_t)(currentTime - rcTime) >= 0) || rcReady) { // 50Hz or data driven
@@ -292,11 +313,13 @@ void loop(void)
                 i = 0;
                 // GYRO calibration
                 if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
-                    calibratingG = CALIBRATING_GYRO_CYCLES;
+                    gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
                     if (feature(FEATURE_GPS))
                         GPS_reset_home_position();
+#ifdef BARO
                     if (sensors(SENSOR_BARO))
-                        calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+                        baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+#endif
                     if (!sensors(SENSOR_MAG))
                         heading = 0; // reset heading to zero after gyro calibration
                 // Inflight ACC Calibration

src/mw.h

@@ -1,79 +0,0 @@
-#pragma once
-
-#include "rc_controls.h"
-#include "escservo.h"
-#include "rc_curves.h"
-#include "runtime_config.h"
-#include "flight_common.h"
-#include "failsafe.h"
-
-/* for VBAT monitoring frequency */
-#define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
-
-#include "gimbal.h"
-#include "flight_mixer.h"
-
-enum {
-    ALIGN_GYRO = 0,
-    ALIGN_ACCEL = 1,
-    ALIGN_MAG = 2
-};
-
-#include "sensors_barometer.h"
-#include "sensors_gyro.h"
-#include "serial_common.h"
-#include "rx_common.h"
-#include "gps_common.h"
-#include "telemetry_common.h"
-#include "config.h"
-#include "config_profile.h"
-#include "config_master.h"
-
-extern int16_t debug[4];
-extern uint16_t acc_1G;
-extern uint32_t accTimeSum;
-extern int accSumCount;
-extern uint32_t currentTime;
-extern uint16_t cycleTime;
-extern uint16_t calibratingA;
-extern uint16_t calibratingB;
-extern uint16_t calibratingG;
-extern int16_t heading;
-extern int32_t baroPressure;
-extern int32_t baroTemperature;
-extern uint32_t baroPressureSum;
-extern int32_t BaroAlt;
-extern int32_t sonarAlt;
-extern int32_t EstAlt;
-extern int32_t AltHold;
-extern int32_t errorAltitudeI;
-extern int32_t BaroPID;
-extern int32_t vario;
-extern int16_t throttleAngleCorrection;
-extern int16_t headFreeModeHold;
-extern int16_t motor[MAX_SUPPORTED_MOTORS];
-extern int16_t servo[MAX_SUPPORTED_SERVOS];
-extern uint16_t rssi;                  // range: [0;1023]
-extern int16_t telemTemperature1;      // gyro sensor temperature
-extern uint8_t toggleBeep;
-
-extern flags_t f;
-
-// IMU
-void annexCode(void);
-void computeIMU(void);
-int getEstimatedAltitude(void);
-
-// Output
-void mixerResetMotors(void);
-void writeServos(void);
-void writeMotors(void);
-void writeAllMotors(int16_t mc);
-void mixTable(void);
-
-// buzzer
-void buzzer(bool warn_vbat);
-void systemBeep(bool onoff);
-
-// cli
-void cliProcess(void);

src/rx_common.c

@@ -65,6 +65,20 @@ void serialRxInit(rxConfig_t *rxConfig, failsafe_t *failsafe)
     }
 }
 
+bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
+{
+    switch (rxConfig->serialrx_type) {
+        case SERIALRX_SPEKTRUM1024:
+        case SERIALRX_SPEKTRUM2048:
+            return spektrumFrameComplete();
+        case SERIALRX_SBUS:
+            return sbusFrameComplete();
+        case SERIALRX_SUMD:
+            return sumdFrameComplete();
+    }
+    return false;
+}
+
 void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
 {
     uint8_t chan;

src/rx_common.h

@@ -41,4 +41,4 @@ typedef uint16_t (* rcReadRawDataPtr)(rxConfig_t *rxConfig, rxRuntimeConfig_t *r
 void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
 
 void parseRcChannels(const char *input, rxConfig_t *rxConfig);
-
+bool isSerialRxFrameComplete(rxConfig_t *rxConfig);

src/sensors_acceleration.h

@@ -13,8 +13,8 @@ typedef enum AccelSensors {
 extern uint8_t accHardware;
 extern sensor_align_e accAlign;
 extern acc_t acc;
-extern uint16_t calibratingA;
 
+bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims);
 void setAccelerationTrims(int16_flightDynamicsTrims_t *accelerationTrimsToUse);

src/sensors_gyro.h

@@ -11,4 +11,5 @@ typedef struct gyroConfig_s {
 void useGyroConfig(gyroConfig_t *gyroConfigToUse);
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 void gyroGetADC(void);
+bool isGyroCalibrationComplete(void);