From f06c8bb99b1e9fe95a10a04fa5abf057fc1e0a15 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Thu, 17 Apr 2014 23:50:13 +0100
Subject: [PATCH] Relocate common code which can be used by drivers and by main
 into 'common'.  Cleanup includes.  Fix FY90Q target compilation.

---
 Makefile                       |  2 +-
 src/board.h                    |  4 +++-
 src/boardalignment.c           | 10 +++++-----
 src/{ => common}/axis.h        |  0
 src/{ => common}/maths.c       |  0
 src/{ => common}/maths.h       |  0
 src/drivers/accgyro_l3g4200d.c |  8 ++++----
 src/drivers/accgyro_mpu3050.c  |  3 ++-
 src/drivers/accgyro_mpu6050.c  |  4 ++--
 src/drivers/compass_hmc5883l.c |  5 +++--
 src/drivers/light_ledring.c    |  5 +++--
 src/failsafe.c                 |  4 ++--
 src/flight_imu.c               |  5 +++--
 src/flight_mixer.c             |  5 +++--
 src/gps_common.c               |  5 +++--
 src/mw.c                       |  5 +++--
 src/rx_common.c                |  7 +------
 src/sensors_compass.c          |  2 +-
 src/sensors_gyro.c             |  3 ++-
 19 files changed, 41 insertions(+), 36 deletions(-)
 rename src/{ => common}/axis.h (100%)
 rename src/{ => common}/maths.c (100%)
 rename src/{ => common}/maths.h (100%)

diff --git a/Makefile b/Makefile
index e1a84bff4a..b294c75e46 100644
--- a/Makefile
+++ b/Makefile
@@ -47,6 +47,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   boardalignment.c \
 		   buzzer.c \
 		   config.c \
+		   common/maths.c \
 		   failsafe.c \
 		   main.c \
 		   mw.c \
@@ -57,7 +58,6 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   sensors_gyro.c \
 		   sensors_initialisation.c \
 		   sensors_sonar.c \
-		   maths.c \
 		   typeconversion.c \
 		   drivers/bus_i2c.c \
 		   drivers/bus_i2c_soft.c \
diff --git a/src/board.h b/src/board.h
index a3bb64563f..ce156221ea 100755
--- a/src/board.h
+++ b/src/board.h
@@ -16,12 +16,14 @@
 #include <stdio.h>
 
 #include "platform.h"
+
+#include "common/axis.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 "axis.h"
 
 #include "platform.h"
 #include "drivers/light_led.h"
diff --git a/src/boardalignment.c b/src/boardalignment.c
index 32ccef84b5..bb1369c5ac 100644
--- a/src/boardalignment.c
+++ b/src/boardalignment.c
@@ -1,10 +1,10 @@
-#include "stdbool.h"
-#include "stdint.h"
+#include <stdbool.h>
+#include <stdint.h>
+#include <math.h>
 
-#include "math.h"
+#include "common/maths.h"
+#include "common/axis.h"
 
-#include "maths.h"
-#include "axis.h"
 #include "sensors_common.h"
 
 #include "boardalignment.h"
diff --git a/src/axis.h b/src/common/axis.h
similarity index 100%
rename from src/axis.h
rename to src/common/axis.h
diff --git a/src/maths.c b/src/common/maths.c
similarity index 100%
rename from src/maths.c
rename to src/common/maths.c
diff --git a/src/maths.h b/src/common/maths.h
similarity index 100%
rename from src/maths.h
rename to src/common/maths.h
diff --git a/src/drivers/accgyro_l3g4200d.c b/src/drivers/accgyro_l3g4200d.c
index dec54197a9..4685f00d6f 100644
--- a/src/drivers/accgyro_l3g4200d.c
+++ b/src/drivers/accgyro_l3g4200d.c
@@ -3,10 +3,10 @@
 
 #include <platform.h>
 
-#include "accgyro_common.h"
-#include "axis.h"
-#include "sensors_common.h"
+#include "common/axis.h"
 
+#include "accgyro_common.h"
+#include "sensors_common.h"
 
 #include "accgyro_l3g4200d.h"
 
@@ -15,7 +15,7 @@
 
 #include "boardalignment.h"
 
-#include "maths.h"
+#include "common/maths.h"
 
 // L3G4200D, Standard address 0x68
 #define L3G4200D_ADDRESS         0x68
diff --git a/src/drivers/accgyro_mpu3050.c b/src/drivers/accgyro_mpu3050.c
index 939fbcf39f..0ec8004d21 100755
--- a/src/drivers/accgyro_mpu3050.c
+++ b/src/drivers/accgyro_mpu3050.c
@@ -3,6 +3,8 @@
 
 #include "platform.h"
 
+#include "common/maths.h"
+
 #include "accgyro_common.h"
 #include "system_common.h"
 
@@ -14,7 +16,6 @@
 
 #include "boardalignment.h"
 
-#include "maths.h"
 
 // MPU3050, Standard address 0x68
 #define MPU3050_ADDRESS         0x68
diff --git a/src/drivers/accgyro_mpu6050.c b/src/drivers/accgyro_mpu6050.c
index 1bb15a2421..170e5b16f5 100644
--- a/src/drivers/accgyro_mpu6050.c
+++ b/src/drivers/accgyro_mpu6050.c
@@ -3,6 +3,8 @@
 
 #include "platform.h"
 
+#include "common/maths.h"
+
 #include "accgyro_common.h"
 #include "system_common.h"
 #include "gpio_common.h"
@@ -15,8 +17,6 @@
 
 #include "boardalignment.h"
 
-#include "maths.h"
-
 // MPU6050, Standard address 0x68
 // MPU_INT on PB13 on rev4 hardware
 #define MPU6050_ADDRESS         0x68
diff --git a/src/drivers/compass_hmc5883l.c b/src/drivers/compass_hmc5883l.c
index 9866a971b6..f3c9f91c32 100755
--- a/src/drivers/compass_hmc5883l.c
+++ b/src/drivers/compass_hmc5883l.c
@@ -6,15 +6,16 @@
 
 #include "platform.h"
 
+#include "common/axis.h"
+#include "common/maths.h"
+
 #include "system_common.h"
 #include "gpio_common.h"
 #include "bus_i2c.h"
 #include "light_led.h"
 
 #include "boardalignment.h"
-#include "axis.h"
 #include "sensors_common.h"
-#include "maths.h"
 
 #include "compass_hmc5883l.h"
 
diff --git a/src/drivers/light_ledring.c b/src/drivers/light_ledring.c
index d8388af2af..4245bc94da 100644
--- a/src/drivers/light_ledring.c
+++ b/src/drivers/light_ledring.c
@@ -4,12 +4,13 @@
 
 #include "platform.h"
 
+#include "common/axis.h"
+#include "common/maths.h"
+
 #include "bus_i2c.h"
 #include "sensors_common.h"
-#include "axis.h"
 #include "flight_common.h"
 
-#include "maths.h"
 
 // Driver for DFRobot I2C Led Ring
 #define LED_RING_ADDRESS    0x6D
diff --git a/src/failsafe.c b/src/failsafe.c
index bc0955b8fb..645618e2a7 100644
--- a/src/failsafe.c
+++ b/src/failsafe.c
@@ -1,12 +1,12 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "rx_common.h"
+#include "common/axis.h" // FIXME this file should not have a dependency axis
 
+#include "rx_common.h"
 
 #include "drivers/serial_common.h" // FIXME this file should not have a dependency on serial ports, see core_t from runtime_config.h
 #include "flight_mixer.h" // FIXME this file should not have a dependency on the flight mixer, see config_t, servoParam_t, etc from config_storage.h
-#include "axis.h" // FIXME this file should not have a dependency axis
 #include "flight_common.h" // FIXME this file should not have a dependency on the flight common, see config_t from config_storage.h
 #include "sensors_common.h" // FIXME this file should not have a dependency on the sensors, see sensor_align_e from config_storage.h
 #include "boardalignment.h" // FIXME this file should not have a dependency on board alignment
diff --git a/src/flight_imu.c b/src/flight_imu.c
index 45098d5319..3703896761 100644
--- a/src/flight_imu.c
+++ b/src/flight_imu.c
@@ -1,11 +1,12 @@
 #include "board.h"
-#include "flight_common.h"
 #include "mw.h"
 
-#include "maths.h"
+#include "common/maths.h"
 
 #include "sensors_compass.h"
 
+#include "flight_common.h"
+
 int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
 
diff --git a/src/flight_mixer.c b/src/flight_mixer.c
index 4eb6ddafc5..b9dfa646d9 100755
--- a/src/flight_mixer.c
+++ b/src/flight_mixer.c
@@ -1,10 +1,11 @@
 #include "board.h"
-#include "flight_common.h"
 #include "mw.h"
 
+#include "common/maths.h"
+
 #include "rx_common.h"
 
-#include "maths.h"
+#include "flight_common.h"
 
 static uint8_t numberMotor = 0;
 int16_t motor[MAX_MOTORS];
diff --git a/src/gps_common.c b/src/gps_common.c
index 02ab05aba1..fbe2ed65dd 100644
--- a/src/gps_common.c
+++ b/src/gps_common.c
@@ -1,8 +1,9 @@
 #include "board.h"
-#include "flight_common.h"
 #include "mw.h"
 
-#include "maths.h"
+#include "common/maths.h"
+
+#include "flight_common.h"
 
 #include "gps_common.h"
 
diff --git a/src/mw.c b/src/mw.c
index 7a0ef39444..b22e8ff4e5 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -1,14 +1,15 @@
 #include "board.h"
-#include "flight_common.h"
 #include "mw.h"
 
+#include "common/maths.h"
+
+#include "flight_common.h"
 #include "serial_cli.h"
 #include "telemetry_common.h"
 #include "typeconversion.h"
 #include "rx_common.h"
 #include "rx_sbus.h"
 #include "failsafe.h"
-#include "maths.h"
 
 // June 2013     V2.2-dev
 
diff --git a/src/rx_common.c b/src/rx_common.c
index 120ecf5c89..b4542dbb8a 100644
--- a/src/rx_common.c
+++ b/src/rx_common.c
@@ -7,13 +7,8 @@
 #include "rx_common.h"
 #include "config.h"
 
-// FIXME all includes below are just for pwmReadRawRC because it uses mcfg
-#ifdef FY90Q
-#include "drivers/pwm_fy90q.h"
-#else
 #include "drivers/pwm_common.h"
-#endif
-
+
 
 int16_t rcData[RC_CHANS];       // interval [1000;2000]
 
diff --git a/src/sensors_compass.c b/src/sensors_compass.c
index 4790f91719..4f71518ffb 100644
--- a/src/sensors_compass.c
+++ b/src/sensors_compass.c
@@ -1,7 +1,7 @@
 #include "board.h"
 #include "mw.h"
 
-#include "axis.h"
+#include "common/axis.h"
 
 int16_t magADC[XYZ_AXIS_COUNT];
 
diff --git a/src/sensors_gyro.c b/src/sensors_gyro.c
index 55fb840011..71ecbfe9b4 100644
--- a/src/sensors_gyro.c
+++ b/src/sensors_gyro.c
@@ -1,9 +1,10 @@
 #include "board.h"
 #include "mw.h"
 
+#include "common/maths.h"
+
 #include "flight_common.h"
 
-#include "maths.h"
 
 void GYRO_Common(void)
 {