Relocate common code which can be used by drivers and by main into

'common'.  Cleanup includes.  Fix FY90Q target compilation.

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 \

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"

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"

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

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

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

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"
 

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

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

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];
 

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];

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"
 

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
 

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]
 

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];
 

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)
 {