Remove telemetry_*.c's dependency on mw.h/board.h.

Finally, the only dependency on mw.h/board.h is now mw.c itself.

src/config.c

@@ -91,7 +91,8 @@ void activateConfig(void)
     generatePitchCurve(&currentProfile.controlRateConfig);
     generateThrottleCurve(&currentProfile.controlRateConfig, &masterConfig.escAndServoConfig);
 
-	useGyroConfig(&masterConfig.gyroConfig);
+    useGyroConfig(&masterConfig.gyroConfig);
+    useTelemetryConfig(&masterConfig.telemetryConfig);
     setPIDController(currentProfile.pidController);
     gpsUseProfile(&currentProfile.gpsProfile);
     gpsUsePIDs(&currentProfile.pidProfile);
@@ -271,6 +272,13 @@ void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
     flight3DConfig->deadband3d_throttle = 50;
 }
 
+void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
+{
+    telemetryConfig->telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
+    telemetryConfig->telemetry_port = TELEMETRY_PORT_UART;
+    telemetryConfig->telemetry_switch = 0;
+
+}
 // Default settings
 static void resetConf(void)
 {
@@ -307,9 +315,9 @@ static void resetConf(void)
     masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
     masterConfig.batteryConfig.vbatmincellvoltage = 33;
     masterConfig.power_adc_channel = 0;
-    masterConfig.telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
+
-    masterConfig.telemetry_port = TELEMETRY_PORT_UART;
+    resetTelemetryConfig(&masterConfig.telemetryConfig);
-    masterConfig.telemetry_switch = 0;
+
     masterConfig.rxConfig.serialrx_type = 0;
     masterConfig.rxConfig.midrc = 1500;
     masterConfig.rxConfig.mincheck = 1100;

src/config_master.h

@@ -55,9 +55,8 @@ typedef struct master_t {
     int8_t gps_baudrate;                    // See GPSBaudRates enum.
 
     serialConfig_t serialConfig;
-    uint8_t telemetry_provider;             // See TelemetryProvider enum.
+
-    uint8_t telemetry_port;                 // See TelemetryPort enum.
+    telemetryConfig_t telemetryConfig;
-    uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
     profile_t profile[3];                   // 3 separate profiles
     uint8_t current_profile_index;          // currently loaded profile
 

src/flight_imu.c

@@ -23,11 +23,13 @@
 #include "gimbal.h"
 #include "flight_mixer.h"
 
+// FIXME remove dependency on config.h
 #include "boardalignment.h"
 #include "battery.h"
 #include "escservo.h"
 #include "rc_controls.h"
 #include "rx_common.h"
+#include "telemetry_common.h"
 #include "drivers/serial_common.h"
 #include "serial_common.h"
 #include "failsafe.h"

src/mw.h

@@ -24,6 +24,7 @@ enum {
 #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"

src/serial_cli.c

@@ -176,9 +176,9 @@ const clivalue_t valueTable[] = {
 
     { "serialrx_type", VAR_UINT8, &masterConfig.rxConfig.serialrx_type, 0, 3 },
 
-    { "telemetry_provider", VAR_UINT8, &masterConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
+    { "telemetry_provider", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
-    { "telemetry_port", VAR_UINT8, &masterConfig.telemetry_port, 0, TELEMETRY_PORT_MAX },
+    { "telemetry_port", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_port, 0, TELEMETRY_PORT_MAX },
-    { "telemetry_switch", VAR_UINT8, &masterConfig.telemetry_switch, 0, 1 },
+    { "telemetry_switch", VAR_UINT8, &masterConfig.telemetryConfig.telemetry_switch, 0, 1 },
 
     { "vbatscale", VAR_UINT8, &masterConfig.batteryConfig.vbatscale, 10, 200 },
     { "vbatmaxcellvoltage", VAR_UINT8, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },

src/serial_msp.c

@@ -21,6 +21,7 @@
 #include "rx_common.h"
 #include "battery.h"
 #include "gimbal.h"
+#include "telemetry_common.h"
 #include "sensors_common.h"
 #include "sensors_acceleration.h"
 #include "sensors_barometer.h"
@@ -308,7 +309,7 @@ void mspInit(void)
     if (feature(FEATURE_INFLIGHT_ACC_CAL))
         availableBoxes[idx++] = BOXCALIB;
     availableBoxes[idx++] = BOXOSD;
-    if (feature(FEATURE_TELEMETRY && masterConfig.telemetry_switch))
+    if (feature(FEATURE_TELEMETRY && masterConfig.telemetryConfig.telemetry_switch))
         availableBoxes[idx++] = BOXTELEMETRY;
     numberBoxItems = idx;
 }

src/telemetry_common.c

@@ -1,9 +1,16 @@
-#include "board.h"
+#include <stdbool.h>
-#include "mw.h"
+#include <stdint.h>
 
+#include "platform.h"
+
+#include "drivers/timer_common.h"
 #include "drivers/serial_common.h"
+#include "drivers/serial_softserial.h"
 #include "serial_common.h"
 
+#include "runtime_config.h"
+#include "config.h"
+
 #include "telemetry_frsky.h"
 #include "telemetry_hott.h"
 
@@ -11,14 +18,21 @@
 
 static bool isTelemetryConfigurationValid = false; // flag used to avoid repeated configuration checks
 
+telemetryConfig_t *telemetryConfig;
+
+void useTelemetryConfig(telemetryConfig_t *telemetryConfigToUse)
+{
+    telemetryConfig = telemetryConfigToUse;
+}
+
 bool isTelemetryProviderFrSky(void)
 {
-    return masterConfig.telemetry_provider == TELEMETRY_PROVIDER_FRSKY;
+    return telemetryConfig->telemetry_provider == TELEMETRY_PROVIDER_FRSKY;
 }
 
 bool isTelemetryProviderHoTT(void)
 {
-    return masterConfig.telemetry_provider == TELEMETRY_PROVIDER_HOTT;
+    return telemetryConfig->telemetry_provider == TELEMETRY_PROVIDER_HOTT;
 }
 
 bool canUseTelemetryWithCurrentConfiguration(void)
@@ -28,14 +42,14 @@ bool canUseTelemetryWithCurrentConfiguration(void)
     }
 
     if (!feature(FEATURE_SOFTSERIAL)) {
-        if (masterConfig.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1 || masterConfig.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2) {
+        if (telemetryConfig->telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1 || telemetryConfig->telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2) {
             // softserial feature must be enabled to use telemetry on softserial ports
             return false;
         }
     }
 
     if (isTelemetryProviderHoTT()) {
-        if (masterConfig.telemetry_port == TELEMETRY_PORT_UART) {
+        if (telemetryConfig->telemetry_port == TELEMETRY_PORT_UART) {
             // HoTT requires a serial port that supports RX/TX mode swapping
             return false;
         }
@@ -48,20 +62,20 @@ void initTelemetry(serialPorts_t *serialPorts)
 {
     // Force telemetry to uart when softserial disabled
     if (!feature(FEATURE_SOFTSERIAL))
-        masterConfig.telemetry_port = TELEMETRY_PORT_UART;
+        telemetryConfig->telemetry_port = TELEMETRY_PORT_UART;
 
 #ifdef FY90Q
     // FY90Q does not support softserial
-    masterConfig.telemetry_port = TELEMETRY_PORT_UART;
+    telemetryConfig->telemetry_port = TELEMETRY_PORT_UART;
     serialPorts->telemport = serialPorts->mainport;
 #endif
 
     isTelemetryConfigurationValid = canUseTelemetryWithCurrentConfiguration();
 
 #ifndef FY90Q
-    if (masterConfig.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
+    if (telemetryConfig->telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
         serialPorts->telemport = &(softSerialPorts[0].port);
-    else if (masterConfig.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
+    else if (telemetryConfig->telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
         serialPorts->telemport = &(softSerialPorts[1].port);
     else
         serialPorts->telemport = serialPorts->mainport;
@@ -76,8 +90,8 @@ bool determineNewTelemetryEnabledState(void)
 {
     bool enabled = true;
 
-    if (masterConfig.telemetry_port == TELEMETRY_PORT_UART) {
+    if (telemetryConfig->telemetry_port == TELEMETRY_PORT_UART) {
-        if (!masterConfig.telemetry_switch)
+        if (!telemetryConfig->telemetry_switch)
             enabled = f.ARMED;
         else
             enabled = rcOptions[BOXTELEMETRY];

src/telemetry_common.h

@@ -21,7 +21,15 @@ typedef enum {
     TELEMETRY_PORT_MAX = TELEMETRY_PORT_SOFTSERIAL_2
 } TelemetryPort;
 
+typedef struct telemetryConfig_s {
+    uint8_t telemetry_provider;             // See TelemetryProvider enum.
+    uint8_t telemetry_port;                 // See TelemetryPort enum.
+    uint8_t telemetry_switch;               // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
+} telemetryConfig_t;
+
 void checkTelemetryState(void);
 void handleTelemetry(void);
 
+void useTelemetryConfig(telemetryConfig_t *telemetryConfig);
+
 #endif /* TELEMETRY_COMMON_H_ */

src/telemetry_frsky.c

@@ -1,19 +1,36 @@
 /*
  * FrSky Telemetry implementation by silpstream @ rcgroups
  */
-#include "board.h"
+#include <stdbool.h>
-#include "mw.h"
+#include <stdint.h>
 
-#include "flight_common.h"
+#include "platform.h"
 
+#include "common/maths.h"
+#include "common/axis.h"
+
+#include "drivers/system_common.h"
+#include "drivers/accgyro_common.h"
+#include "drivers/timer_common.h"
 #include "drivers/serial_common.h"
 #include "serial_common.h"
 
+#include "runtime_config.h"
+#include "config.h"
+
+#include "sensors_common.h"
+#include "sensors_gyro.h"
+#include "sensors_barometer.h"
+#include "flight_common.h"
 #include "gps_common.h"
+#include "battery.h"
 
 #include "telemetry_common.h"
 #include "telemetry_frsky.h"
 
+extern telemetryConfig_t *telemetryConfig;
+int16_t telemTemperature1; // FIXME dependency on mw.c
+
 #define CYCLETIME             125
 
 #define PROTOCOL_HEADER       0x5E
@@ -57,9 +74,6 @@
 
 #define ID_VERT_SPEED         0x30 //opentx vario
 
-// from sensors.c
-extern uint8_t batteryCellCount;
-
 static void sendDataHead(uint8_t id)
 {
     serialWrite(serialPorts.telemport, PROTOCOL_HEADER);
@@ -224,14 +238,14 @@ static void sendHeading(void)
 
 void freeFrSkyTelemetryPort(void)
 {
-    if (masterConfig.telemetry_port == TELEMETRY_PORT_UART) {
+    if (telemetryConfig->telemetry_port == TELEMETRY_PORT_UART) {
         resetMainSerialPort();
     }
 }
 
 void configureFrSkyTelemetryPort(void)
 {
-    if (masterConfig.telemetry_port == TELEMETRY_PORT_UART) {
+    if (telemetryConfig->telemetry_port == TELEMETRY_PORT_UART) {
         openMainSerialPort(9600);
     }
 }

src/telemetry_hott.c

@@ -40,17 +40,32 @@
  * There is a technical discussion (in German) about HoTT here
  * http://www.rc-network.de/forum/showthread.php/281496-Graupner-HoTT-Telemetrie-Sensoren-Eigenbau-DIY-Telemetrie-Protokoll-entschl%C3%BCsselt/page21
  */
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
 
-#include "board.h"
+#include "platform.h"
-#include "mw.h"
+
+#include "common/axis.h"
+
+#include "drivers/system_common.h"
 
 #include "drivers/serial_common.h"
 #include "serial_common.h"
 
-#include "gps_common.h"
+#include "runtime_config.h"
 
+#include "sensors_common.h"
+
+#include "flight_common.h"
+#include "gps_common.h"
+#include "battery.h"
+
+#include "telemetry_common.h"
 #include "telemetry_hott.h"
 
+extern telemetryConfig_t *telemetryConfig;
+
 
 const uint8_t kHoTTv4BinaryPacketSize = 45;
 const uint8_t kHoTTv4TextPacketSize = 173;