This is the implementation for CC which doesn't use sensors.c.  This is to reduce memory and the sensor code is consolidated with the attitude estimation.  So basically Attitude/attitude.c does the same thing as sensors.c + Attitude/revolution/attitude.c.

In addition for CC (not CC3D) I couldn't find a way to actually move the formatting the data into the general pios_sensors API into the drivers.  That because the gyros are in the pios_adc layer and the ADXL345 doesn't have it's own task (or ISR) so the reading is done from this task.  Basically it could be done but it would cost memory and doesn't seem worth it.