mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: re-format and fix chibios_hwdef.py for flake8
This commit is contained in:
Andrew Tridgell
parent
9c2b5a05bd
commit
296a4cb086
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@ -3,7 +3,14 @@
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setup board.h for chibios
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'''
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import argparse, sys, fnmatch, os, dma_resolver, shlex, pickle, re
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import argparse
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import sys
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import fnmatch
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import os
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import dma_resolver
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import shlex
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import pickle
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import re
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import shutil
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parser = argparse.ArgumentParser("chibios_pins.py")
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@ -84,6 +91,7 @@ baro_list = []
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mcu_type = None
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def is_int(str):
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'''check if a string is an integer'''
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try:
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@ -107,6 +115,7 @@ def get_mcu_lib(mcu):
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except ImportError:
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error("Unable to find module for MCU %s" % mcu)
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def setup_mcu_type_defaults():
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'''setup defaults for given mcu type'''
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global pincount, ports, portmap, vtypes, mcu_type
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@ -124,6 +133,7 @@ def setup_mcu_type_defaults():
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for pin in range(pincount[port]):
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portmap[port].append(generic_pin(port, pin, None, 'INPUT', []))
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def get_alt_function(mcu, pin, function):
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'''return alternative function number for a pin'''
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lib = get_mcu_lib(mcu)
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@ -131,7 +141,7 @@ def get_alt_function(mcu, pin, function):
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if function.endswith('_TXINV') or function.endswith('_RXINV'):
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# RXINV and TXINV are special labels for inversion pins, not alt-functions
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return None
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if hasattr(lib, "AltFunction_map"):
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alt_map = lib.AltFunction_map
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else:
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@ -149,7 +159,7 @@ def get_alt_function(mcu, pin, function):
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for l in af_labels:
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if function.startswith(l):
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s = pin + ":" + function
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if not s in alt_map:
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if s not in alt_map:
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error("Unknown pin function %s for MCU %s" % (s, mcu))
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return alt_map[s]
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return None
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@ -162,6 +172,7 @@ def have_type_prefix(ptype):
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return True
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return False
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def get_ADC1_chan(mcu, pin):
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'''return ADC1 channel for an analog pin'''
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import importlib
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@ -171,7 +182,7 @@ def get_ADC1_chan(mcu, pin):
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except ImportError:
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error("Unable to find ADC1_Map for MCU %s" % mcu)
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if not pin in ADC1_map:
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if pin not in ADC1_map:
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error("Unable to find ADC1 channel for pin %s" % pin)
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return ADC1_map[pin]
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@ -206,16 +217,16 @@ class generic_pin(object):
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error("Peripheral prefix mismatch for %s %s %s" % (self.portpin, label, type))
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def f1_pin_setup(self):
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for l in af_labels:
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if self.label.startswith(l):
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for label in af_labels:
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if self.label.startswith(label):
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if self.label.endswith(tuple(f1_input_sigs)):
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self.sig_dir = 'INPUT'
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self.extra.append('FLOATING')
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elif self.label.endswith(tuple(f1_output_sigs)):
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self.sig_dir = 'OUTPUT'
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elif l == 'I2C':
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elif label == 'I2C':
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self.sig_dir = 'OUTPUT'
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elif l == 'OTG':
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elif label == 'OTG':
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self.sig_dir = 'OUTPUT'
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else:
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error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
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@ -273,15 +284,10 @@ class generic_pin(object):
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v = "INPUT"
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return v
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def get_MODER_mode(self):
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'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
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return 'PAL_STM32_MODE_' + v
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def get_MODER(self):
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'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
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return "PIN_MODE_%s(%uU)" % (self.get_MODER_value(), self.pin)
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def get_OTYPER_value(self):
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'''return one of PUSHPULL, OPENDRAIN'''
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v = 'PUSHPULL'
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@ -312,10 +318,10 @@ class generic_pin(object):
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'''return value from 0 to 3 for speed'''
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values = ['SPEED_VERYLOW', 'SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = self.get_OSPEEDR_value()
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if not v in values:
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if v not in values:
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error("Bad OSPEED %s" % v)
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return values.index(v)
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def get_OSPEEDR(self):
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'''return one of SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH'''
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return "PIN_O%s(%uU)" % (self.get_OSPEEDR_value(), self.pin)
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@ -333,7 +339,7 @@ class generic_pin(object):
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self.label.endswith('_RX') or
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self.label.endswith('_CTS') or
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self.label.endswith('_RTS'))):
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v = "PULLUP"
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v = "PULLUP"
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# generate pullups for SDIO and SDMMC
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if (self.type.startswith('SDIO') or
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self.type.startswith('SDMMC')) and (
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@ -342,7 +348,7 @@ class generic_pin(object):
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self.label.endswith('_D2') or
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self.label.endswith('_D3') or
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self.label.endswith('_CMD'))):
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v = "PULLUP"
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v = "PULLUP"
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for e in self.extra:
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if e in values:
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v = e
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@ -363,7 +369,7 @@ class generic_pin(object):
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for e in self.extra:
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if e in values:
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v = e
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#for some controllers input pull up down is selected by ODR
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# for some controllers input pull up down is selected by ODR
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if self.type == "INPUT":
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v = 'LOW'
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if 'PULLUP' in self.extra:
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@ -410,7 +416,7 @@ class generic_pin(object):
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def get_CR_F1(self):
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'''return CR FLAGS for STM32F1xx'''
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#Check Speed
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# Check Speed
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if self.sig_dir != "INPUT" or self.af is not None:
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speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = 'SPEED_MEDIUM'
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@ -462,7 +468,7 @@ class generic_pin(object):
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speed_str = "PIN_%s(%uU) |" % (v, self.pin)
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else:
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speed_str = ""
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#Check Alternate function
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# Check Alternate function
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if self.type.startswith('I2C'):
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v = "AF_OD"
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elif self.sig_dir == 'OUTPUT':
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@ -520,7 +526,7 @@ class generic_pin(object):
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def get_config(name, column=0, required=True, default=None, type=None, spaces=False):
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'''get a value from config dictionary'''
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if not name in config:
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if name not in config:
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if required and default is None:
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error("missing required value %s in hwdef.dat" % name)
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return default
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@ -533,11 +539,11 @@ def get_config(name, column=0, required=True, default=None, type=None, spaces=Fa
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ret = ' '.join(config[name][column:])
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else:
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ret = config[name][column]
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if type is not None:
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if type == int and ret.startswith('0x'):
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try:
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ret = int(ret,16)
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ret = int(ret, 16)
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except Exception:
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error("Badly formed config value %s (got %s)" % (name, ret))
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else:
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@ -547,17 +553,19 @@ def get_config(name, column=0, required=True, default=None, type=None, spaces=Fa
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error("Badly formed config value %s (got %s)" % (name, ret))
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return ret
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def get_mcu_config(name, required=False):
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'''get a value from the mcu dictionary'''
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lib = get_mcu_lib(mcu_type)
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if not hasattr(lib, 'mcu'):
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error("Missing mcu config for %s" % mcu_type)
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if not name in lib.mcu:
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if name not in lib.mcu:
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if required:
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error("Missing required mcu config %s for %s" % (name, mcu_type))
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return None
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return lib.mcu[name]
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def make_line(label):
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'''return a line for a label'''
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if label in bylabel:
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@ -567,11 +575,13 @@ def make_line(label):
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line = "0"
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return line
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def enable_can(f):
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'''setup for a CAN enabled board'''
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f.write('#define HAL_WITH_UAVCAN 1\n')
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env_vars['HAL_WITH_UAVCAN'] = '1'
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def has_sdcard_spi():
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'''check for sdcard connected to spi bus'''
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for dev in spidev:
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@ -579,6 +589,7 @@ def has_sdcard_spi():
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return True
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return False
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def write_mcu_config(f):
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'''write MCU config defines'''
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f.write('// MCU type (ChibiOS define)\n')
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@ -606,12 +617,12 @@ def write_mcu_config(f):
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f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n')
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build_flags.append('USE_FATFS=yes')
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elif has_sdcard_spi():
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f.write('// MMC via SPI available, enable POSIX filesystem support\n')
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f.write('#define USE_POSIX\n\n')
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f.write('#define HAL_USE_MMC_SPI TRUE\n')
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f.write('#define HAL_USE_SDC FALSE\n')
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f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
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build_flags.append('USE_FATFS=yes')
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f.write('// MMC via SPI available, enable POSIX filesystem support\n')
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f.write('#define USE_POSIX\n\n')
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f.write('#define HAL_USE_MMC_SPI TRUE\n')
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f.write('#define HAL_USE_SDC FALSE\n')
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f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
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build_flags.append('USE_FATFS=yes')
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else:
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f.write('#define HAL_USE_SDC FALSE\n')
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build_flags.append('USE_FATFS=no')
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@ -622,7 +633,7 @@ def write_mcu_config(f):
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f.write('#define HAL_USE_SERIAL_USB TRUE\n')
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if 'OTG2' in bytype:
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f.write('#define STM32_USB_USE_OTG2 TRUE\n')
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if have_type_prefix('CAN') and not 'AP_PERIPH' in env_vars:
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if have_type_prefix('CAN') and 'AP_PERIPH' not in env_vars:
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enable_can(f)
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if get_config('PROCESS_STACK', required=False):
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@ -689,12 +700,12 @@ def write_mcu_config(f):
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build_info = lib.build
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if mcu_series.startswith("STM32F1"):
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cortex = "cortex-m3"
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cortex = "cortex-m3"
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env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
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build_info['MCU'] = cortex
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else:
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cortex = "cortex-m4"
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env_vars['CPU_FLAGS'] = [ "-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
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env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
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build_info['MCU'] = cortex
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if not args.bootloader:
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env_vars['CPU_FLAGS'].append('-u_printf_float')
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@ -706,7 +717,7 @@ def write_mcu_config(f):
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# setup for bootloader build
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if args.bootloader:
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f.write('''
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#define HAL_BOOTLOADER_BUILD TRUE
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#define HAL_BOOTLOADER_BUILD TRUE
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#define HAL_USE_ADC FALSE
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#define HAL_USE_EXT FALSE
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#define HAL_NO_UARTDRIVER
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@ -721,7 +732,7 @@ def write_mcu_config(f):
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#define CH_CFG_USE_OBJ_FIFOS FALSE
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#define CH_DBG_FILL_THREADS FALSE
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#define CH_CFG_USE_SEMAPHORES FALSE
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#define CH_CFG_USE_HEAP FALSE
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#define CH_CFG_USE_HEAP FALSE
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#define CH_CFG_USE_MUTEXES FALSE
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#define CH_CFG_USE_CONDVARS FALSE
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#define CH_CFG_USE_CONDVARS_TIMEOUT FALSE
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@ -737,6 +748,7 @@ def write_mcu_config(f):
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if env_vars.get('ROMFS_UNCOMPRESSED', False):
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f.write('#define HAL_ROMFS_UNCOMPRESSED\n')
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def write_ldscript(fname):
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'''write ldscript.ld for this board'''
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flash_size = get_config('FLASH_USE_MAX_KB', type=int, default=0)
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@ -782,13 +794,13 @@ MEMORY
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INCLUDE common.ld
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''' % (flash_base, flash_length, ram0_start, ram0_len))
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def copy_common_linkerscript(outdir, hwdef):
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dirpath = os.path.dirname(hwdef)
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shutil.copy(os.path.join(dirpath, "../common/common.ld"),
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os.path.join(outdir, "common.ld"))
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def write_USB_config(f):
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'''write USB config defines'''
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if not have_type_prefix('OTG'):
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@ -820,13 +832,13 @@ def write_SPI_table(f):
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mode = dev[4]
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lowspeed = dev[5]
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highspeed = dev[6]
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if not bus.startswith('SPI') or not bus in spi_list:
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if not bus.startswith('SPI') or bus not in spi_list:
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error("Bad SPI bus in SPIDEV line %s" % dev)
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if not devid.startswith('DEVID') or not is_int(devid[5:]):
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error("Bad DEVID in SPIDEV line %s" % dev)
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if not cs in bylabel or not bylabel[cs].is_CS():
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if cs not in bylabel or not bylabel[cs].is_CS():
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error("Bad CS pin in SPIDEV line %s" % dev)
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if not mode in ['MODE0', 'MODE1', 'MODE2', 'MODE3']:
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if mode not in ['MODE0', 'MODE1', 'MODE2', 'MODE3']:
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error("Bad MODE in SPIDEV line %s" % dev)
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if not lowspeed.endswith('*MHZ') and not lowspeed.endswith('*KHZ'):
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error("Bad lowspeed value %s in SPIDEV line %s" % (lowspeed, dev))
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@ -864,6 +876,7 @@ def write_SPI_config(f):
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f.write('#define HAL_SPI_BUS_LIST %s\n\n' % ','.join(devlist))
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write_SPI_table(f)
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def parse_spi_device(dev):
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'''parse a SPI:xxx device item'''
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a = dev.split(':')
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@ -871,12 +884,13 @@ def parse_spi_device(dev):
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error("Bad SPI device: %s" % dev)
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return 'hal.spi->get_device("%s")' % a[1]
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def parse_i2c_device(dev):
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'''parse a I2C:xxx:xxx device item'''
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a = dev.split(':')
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if len(a) != 3:
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error("Bad I2C device: %s" % dev)
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busaddr = int(a[2],base=0)
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busaddr = int(a[2], base=0)
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if a[1] == 'ALL_EXTERNAL':
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return ('FOREACH_I2C_EXTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
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elif a[1] == 'ALL_INTERNAL':
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@ -886,10 +900,12 @@ def parse_i2c_device(dev):
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busnum = int(a[1])
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return ('', 'GET_I2C_DEVICE(%u,0x%02x)' % (busnum, busaddr))
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def seen_str(dev):
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'''return string representation of device for checking for duplicates'''
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return str(dev[:2])
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def write_IMU_config(f):
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'''write IMU config defines'''
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global imu_list
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@ -901,7 +917,7 @@ def write_IMU_config(f):
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error("Duplicate IMU: %s" % seen_str(dev))
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seen.add(seen_str(dev))
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driver = dev[0]
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for i in range(1,len(dev)):
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for i in range(1, len(dev)):
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if dev[i].startswith("SPI:"):
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dev[i] = parse_spi_device(dev[i])
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elif dev[i].startswith("I2C:"):
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@ -914,6 +930,7 @@ def write_IMU_config(f):
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if len(devlist) > 0:
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f.write('#define HAL_INS_PROBE_LIST %s\n\n' % ';'.join(devlist))
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def write_MAG_config(f):
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'''write MAG config defines'''
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global compass_list
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@ -930,7 +947,7 @@ def write_MAG_config(f):
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driver = a[0]
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if len(a) > 1 and a[1].startswith('probe'):
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probe = a[1]
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for i in range(1,len(dev)):
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for i in range(1, len(dev)):
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if dev[i].startswith("SPI:"):
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dev[i] = parse_spi_device(dev[i])
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elif dev[i].startswith("I2C:"):
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@ -943,6 +960,7 @@ def write_MAG_config(f):
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if len(devlist) > 0:
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f.write('#define HAL_MAG_PROBE_LIST %s\n\n' % ';'.join(devlist))
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def write_BARO_config(f):
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'''write barometer config defines'''
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global baro_list
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@ -959,7 +977,7 @@ def write_BARO_config(f):
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|||
driver = a[0]
|
||||
if len(a) > 1 and a[1].startswith('probe'):
|
||||
probe = a[1]
|
||||
for i in range(1,len(dev)):
|
||||
for i in range(1, len(dev)):
|
||||
if dev[i].startswith("SPI:"):
|
||||
dev[i] = parse_spi_device(dev[i])
|
||||
elif dev[i].startswith("I2C:"):
|
||||
|
|
@ -973,7 +991,8 @@ def write_BARO_config(f):
|
|||
% (n, wrapper, driver, probe, ','.join(dev[1:])))
|
||||
if len(devlist) > 0:
|
||||
f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist))
|
||||
|
||||
|
||||
|
||||
def get_gpio_bylabel(label):
|
||||
'''get GPIO(n) setting on a pin label, or -1'''
|
||||
p = bylabel.get(label)
|
||||
|
|
@ -981,6 +1000,7 @@ def get_gpio_bylabel(label):
|
|||
return -1
|
||||
return p.extra_value('GPIO', type=int, default=-1)
|
||||
|
||||
|
||||
def get_extra_bylabel(label, name, default=None):
|
||||
'''get extra setting for a label by name'''
|
||||
p = bylabel.get(label)
|
||||
|
|
@ -988,6 +1008,7 @@ def get_extra_bylabel(label, name, default=None):
|
|||
return default
|
||||
return p.extra_value(name, type=str, default=default)
|
||||
|
||||
|
||||
def write_UART_config(f):
|
||||
'''write UART config defines'''
|
||||
if get_config('UART_ORDER', required=False) is None:
|
||||
|
|
@ -1003,7 +1024,7 @@ def write_UART_config(f):
|
|||
for dev in uart_list:
|
||||
if dev == 'EMPTY':
|
||||
f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' %
|
||||
(devnames[idx], devnames[idx]))
|
||||
(devnames[idx], devnames[idx]))
|
||||
num_empty_uarts += 1
|
||||
else:
|
||||
f.write(
|
||||
|
|
@ -1103,6 +1124,7 @@ def write_UART_config(f):
|
|||
num_uarts -= 1
|
||||
f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % (num_uarts+num_empty_uarts))
|
||||
|
||||
|
||||
def write_UART_config_bootloader(f):
|
||||
'''write UART config defines'''
|
||||
if get_config('UART_ORDER', required=False) is None:
|
||||
|
|
@ -1132,6 +1154,7 @@ def write_UART_config_bootloader(f):
|
|||
#endif
|
||||
''')
|
||||
|
||||
|
||||
def write_I2C_config(f):
|
||||
'''write I2C config defines'''
|
||||
if not have_type_prefix('I2C'):
|
||||
|
|
@ -1142,7 +1165,7 @@ def write_I2C_config(f):
|
|||
#endif
|
||||
''')
|
||||
return
|
||||
if not 'I2C_ORDER' in config:
|
||||
if 'I2C_ORDER' not in config:
|
||||
print("Missing I2C_ORDER config")
|
||||
return
|
||||
i2c_list = config['I2C_ORDER']
|
||||
|
|
@ -1166,9 +1189,10 @@ def write_I2C_config(f):
|
|||
#define HAL_I2C%u_CONFIG { &I2CD%u, SHARED_DMA_NONE, SHARED_DMA_NONE, %s, %s }
|
||||
#endif
|
||||
'''
|
||||
% (n, n, n, n, n, n, scl_line, sda_line, n, n, scl_line, sda_line))
|
||||
% (n, n, n, n, n, n, scl_line, sda_line, n, n, scl_line, sda_line))
|
||||
f.write('\n#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
|
||||
|
||||
|
||||
def parse_timer(str):
|
||||
'''parse timer channel string, i.e TIM8_CH2N'''
|
||||
result = re.match(r'TIM([0-9]*)_CH([1234])(N?)', str)
|
||||
|
|
@ -1181,7 +1205,8 @@ def parse_timer(str):
|
|||
return (tim, chan, compl)
|
||||
else:
|
||||
error("Bad timer definition %s" % str)
|
||||
|
||||
|
||||
|
||||
def write_PWM_config(f):
|
||||
'''write PWM config defines'''
|
||||
rc_in = None
|
||||
|
|
@ -1211,7 +1236,7 @@ def write_PWM_config(f):
|
|||
#define HAL_USE_PWM FALSE
|
||||
#endif
|
||||
''')
|
||||
|
||||
|
||||
if rc_in is not None:
|
||||
(n, chan, compl) = parse_timer(rc_in.label)
|
||||
if compl:
|
||||
|
|
@ -1228,11 +1253,11 @@ def write_PWM_config(f):
|
|||
f.write('#define STM32_RCIN_DMA_STREAM STM32_TIM_TIM%u_CH%u_DMA_STREAM\n' % (n, chan))
|
||||
f.write('#define STM32_RCIN_DMA_CHANNEL STM32_TIM_TIM%u_CH%u_DMA_CHAN\n' % (n, chan))
|
||||
f.write('\n')
|
||||
|
||||
|
||||
if rc_in_int is not None:
|
||||
(n, chan, compl) = parse_timer(rc_in_int.label)
|
||||
if compl:
|
||||
error('Complementary channel is not supported for RCININT %s' % rc_in_int.label)
|
||||
error('Complementary channel is not supported for RCININT %s' % rc_in_int.label)
|
||||
f.write('// RC input config\n')
|
||||
f.write('#define HAL_USE_EICU TRUE\n')
|
||||
f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n)
|
||||
|
|
@ -1243,7 +1268,7 @@ def write_PWM_config(f):
|
|||
if alarm is not None:
|
||||
(n, chan, compl) = parse_timer(alarm.label)
|
||||
if compl:
|
||||
error("Complementary channel is not supported for ALARM %s" % alarm.label)
|
||||
error("Complementary channel is not supported for ALARM %s" % alarm.label)
|
||||
f.write('\n')
|
||||
f.write('// Alarm PWM output config\n')
|
||||
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
|
||||
|
|
@ -1275,8 +1300,8 @@ def write_PWM_config(f):
|
|||
}, \\
|
||||
&PWMD%u /* PWMDriver* */ \\
|
||||
}\n''' %
|
||||
(chan-1, pwm_clock, period, chan_mode[0],
|
||||
chan_mode[1], chan_mode[2], chan_mode[3], n))
|
||||
(chan-1, pwm_clock, period, chan_mode[0],
|
||||
chan_mode[1], chan_mode[2], chan_mode[3], n))
|
||||
else:
|
||||
f.write('\n')
|
||||
f.write('// No Alarm output pin defined\n')
|
||||
|
|
@ -1300,8 +1325,8 @@ def write_PWM_config(f):
|
|||
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED',
|
||||
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED'
|
||||
]
|
||||
alt_functions = [ 0, 0, 0, 0 ]
|
||||
pal_lines = [ '0', '0', '0', '0' ]
|
||||
alt_functions = [0, 0, 0, 0]
|
||||
pal_lines = ['0', '0', '0', '0']
|
||||
for p in pwm_out:
|
||||
if p.type != t:
|
||||
continue
|
||||
|
|
@ -1429,6 +1454,7 @@ def write_GPIO_config(f):
|
|||
(label, p.port, p.pin))
|
||||
f.write('\n')
|
||||
|
||||
|
||||
def bootloader_path():
|
||||
# always embed a bootloader if it is available
|
||||
this_dir = os.path.realpath(__file__)
|
||||
|
|
@ -1444,12 +1470,14 @@ def bootloader_path():
|
|||
|
||||
return None
|
||||
|
||||
|
||||
def add_bootloader():
|
||||
'''added bootloader to ROMFS'''
|
||||
bp = bootloader_path()
|
||||
if bp is not None:
|
||||
romfs["bootloader.bin"] = bp
|
||||
|
||||
|
||||
def write_ROMFS(outdir):
|
||||
'''create ROMFS embedded header'''
|
||||
romfs_list = []
|
||||
|
|
@ -1457,11 +1485,13 @@ def write_ROMFS(outdir):
|
|||
romfs_list.append((k, romfs[k]))
|
||||
env_vars['ROMFS_FILES'] = romfs_list
|
||||
|
||||
|
||||
def setup_apj_IDs():
|
||||
'''setup the APJ board IDs'''
|
||||
env_vars['APJ_BOARD_ID'] = get_config('APJ_BOARD_ID')
|
||||
env_vars['APJ_BOARD_TYPE'] = get_config('APJ_BOARD_TYPE', default=mcu_type)
|
||||
|
||||
|
||||
def write_peripheral_enable(f):
|
||||
'''write peripheral enable lines'''
|
||||
f.write('// peripherals enabled\n')
|
||||
|
|
@ -1478,6 +1508,7 @@ def write_peripheral_enable(f):
|
|||
if type.startswith('I2C'):
|
||||
f.write('#define STM32_I2C_USE_%s TRUE\n' % type)
|
||||
|
||||
|
||||
def get_dma_exclude(periph_list):
|
||||
'''return list of DMA devices to exclude from DMA'''
|
||||
dma_exclude = []
|
||||
|
|
@ -1489,6 +1520,7 @@ def get_dma_exclude(periph_list):
|
|||
dma_exclude.append(periph)
|
||||
return dma_exclude
|
||||
|
||||
|
||||
def write_alt_config(f):
|
||||
'''write out alternate config settings'''
|
||||
if len(altmap.keys()) == 0:
|
||||
|
|
@ -1507,6 +1539,7 @@ def write_alt_config(f):
|
|||
f.write(" { %u, %s, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n" % (alt, p.pal_modeline(), p.port, p.pin, str(p)))
|
||||
f.write('}\n\n')
|
||||
|
||||
|
||||
def write_hwdef_header(outfilename):
|
||||
'''write hwdef header file'''
|
||||
print("Writing hwdef setup in %s" % outfilename)
|
||||
|
|
@ -1541,9 +1574,9 @@ def write_hwdef_header(outfilename):
|
|||
setup_apj_IDs()
|
||||
|
||||
dma_unassigned = dma_resolver.write_dma_header(f, periph_list, mcu_type,
|
||||
dma_exclude=get_dma_exclude(periph_list),
|
||||
dma_priority=get_config('DMA_PRIORITY',default='TIM* SPI*', spaces=True),
|
||||
dma_noshare=get_config('DMA_NOSHARE',default='', spaces=True))
|
||||
dma_exclude=get_dma_exclude(periph_list),
|
||||
dma_priority=get_config('DMA_PRIORITY', default='TIM* SPI*', spaces=True),
|
||||
dma_noshare=get_config('DMA_NOSHARE', default='', spaces=True))
|
||||
|
||||
if not args.bootloader:
|
||||
write_PWM_config(f)
|
||||
|
|
@ -1650,6 +1683,7 @@ def write_hwdef_header(outfilename):
|
|||
if fnmatch.fnmatch(d, r):
|
||||
error("Missing required DMA for %s" % d)
|
||||
|
||||
|
||||
def build_peripheral_list():
|
||||
'''build a list of peripherals for DMA resolver to work on'''
|
||||
peripherals = []
|
||||
|
|
@ -1665,9 +1699,9 @@ def build_peripheral_list():
|
|||
prx = type + "_RX"
|
||||
if prefix in ['SPI', 'I2C']:
|
||||
# in DMA map I2C and SPI has RX and TX suffix
|
||||
if not ptx in bylabel:
|
||||
if ptx not in bylabel:
|
||||
bylabel[ptx] = p
|
||||
if not prx in bylabel:
|
||||
if prx not in bylabel:
|
||||
bylabel[prx] = p
|
||||
if prx in bylabel:
|
||||
peripherals.append(prx)
|
||||
|
|
@ -1688,7 +1722,7 @@ def build_peripheral_list():
|
|||
elif not p.has_extra('ALARM') and not p.has_extra('RCININT'):
|
||||
# get the TIMn_UP DMA channels for DShot
|
||||
label = type + '_UP'
|
||||
if not label in peripherals and not p.has_extra('NODMA'):
|
||||
if label not in peripherals and not p.has_extra('NODMA'):
|
||||
peripherals.append(label)
|
||||
done.add(type)
|
||||
return peripherals
|
||||
|
|
@ -1707,10 +1741,12 @@ def write_env_py(filename):
|
|||
env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(build_flags)
|
||||
pickle.dump(env_vars, open(filename, "wb"))
|
||||
|
||||
|
||||
def romfs_add(romfs_filename, filename):
|
||||
'''add a file to ROMFS'''
|
||||
romfs[romfs_filename] = filename
|
||||
|
||||
|
||||
def romfs_wildcard(pattern):
|
||||
'''add a set of files to ROMFS by wildcard'''
|
||||
base_path = os.path.join(os.path.dirname(__file__), '..', '..', '..', '..')
|
||||
|
|
@ -1718,7 +1754,8 @@ def romfs_wildcard(pattern):
|
|||
for f in os.listdir(os.path.join(base_path, pattern_dir)):
|
||||
if fnmatch.fnmatch(f, pattern):
|
||||
romfs[f] = os.path.join(pattern_dir, f)
|
||||
|
||||
|
||||
|
||||
def process_line(line):
|
||||
'''process one line of pin definition file'''
|
||||
global allpins, imu_list, compass_list, baro_list
|
||||
|
|
@ -1749,7 +1786,7 @@ def process_line(line):
|
|||
if alt != 0:
|
||||
if mcu_series.startswith("STM32F1"):
|
||||
error("Alt config not allowed for F1 MCU")
|
||||
if not alt in altmap:
|
||||
if alt not in altmap:
|
||||
altmap[alt] = {}
|
||||
if p.portpin in altmap[alt]:
|
||||
error("Pin %s ALT(%u) redefined" % (p.portpin, alt))
|
||||
|
|
@ -1767,7 +1804,7 @@ def process_line(line):
|
|||
# add to set of pins for primary config
|
||||
portmap[port][pin] = p
|
||||
allpins.append(p)
|
||||
if not type in bytype:
|
||||
if type not in bytype:
|
||||
bytype[type] = []
|
||||
bytype[type].append(p)
|
||||
bylabel[label] = p
|
||||
|
|
@ -1784,15 +1821,15 @@ def process_line(line):
|
|||
elif a[0] == 'BARO':
|
||||
baro_list.append(a[1:])
|
||||
elif a[0] == 'ROMFS':
|
||||
romfs_add(a[1],a[2])
|
||||
romfs_add(a[1], a[2])
|
||||
elif a[0] == 'ROMFS_WILDCARD':
|
||||
romfs_wildcard(a[1])
|
||||
elif a[0] == 'undef':
|
||||
print("Removing %s" % a[1])
|
||||
config.pop(a[1], '')
|
||||
bytype.pop(a[1],'')
|
||||
bylabel.pop(a[1],'')
|
||||
#also remove all occurences of defines in previous lines if any
|
||||
bytype.pop(a[1], '')
|
||||
bylabel.pop(a[1], '')
|
||||
# also remove all occurences of defines in previous lines if any
|
||||
for line in alllines[:]:
|
||||
if line.startswith('define') and a[1] == line.split()[1]:
|
||||
alllines.remove(line)
|
||||
|
|
@ -1849,7 +1886,7 @@ outdir = args.outdir
|
|||
if outdir is None:
|
||||
outdir = '/tmp'
|
||||
|
||||
if not "MCU" in config:
|
||||
if "MCU" not in config:
|
||||
error("Missing MCU type in config")
|
||||
|
||||
mcu_type = get_config('MCU', 1)
|
||||
|
|
|
|||
Loading…
Reference in New Issue