From 34735b30df186bffbc20e16f283e6fe8b9897e6e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 21 Feb 2025 21:05:31 +1100
Subject: [PATCH] AP_HAL: move parsing of BARO lines up to AP_HAL hwdef.py

---
 libraries/AP_HAL/board/linux.h          |  1 -
 libraries/AP_HAL/hwdef/scripts/hwdef.py | 35 +++++++++++++++++++++++++
 2 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 3ff6065992..18caa82e8c 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -26,7 +26,6 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
     // nothing to do here
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
diff --git a/libraries/AP_HAL/hwdef/scripts/hwdef.py b/libraries/AP_HAL/hwdef/scripts/hwdef.py
index 2b1e417e73..6e714f5cd8 100644
--- a/libraries/AP_HAL/hwdef/scripts/hwdef.py
+++ b/libraries/AP_HAL/hwdef/scripts/hwdef.py
@@ -44,6 +44,7 @@ class HWDef:
         # sensor lists
         self.imu_list = []
         self.compass_list = []
+        self.baro_list = []
 
     def is_int(self, str):
         '''check if a string is an integer'''
@@ -204,6 +205,9 @@ class HWDef:
         elif a[0] == 'COMPASS':
             self.compass_list.append(a[1:])
 
+        elif a[0] == 'BARO':
+            self.baro_list.append(a[1:])
+
     def process_line_undef(self, line, depth, a):
         for u in a[1:]:
             self.progress("Removing %s" % u)
@@ -217,6 +221,8 @@ class HWDef:
                 self.imu_list = []
             if u == 'COMPASS':
                 self.compass_list = []
+            if u == 'BARO':
+                self.baro_list = []
 
     def process_line_env(self, line, depth, a):
         self.progress("Adding environment %s" % ' '.join(a[1:]))
@@ -340,3 +346,32 @@ class HWDef:
                 % (n, wrapper, driver, driver, probe, ','.join(dev[1:])))
         if len(devlist) > 0:
             f.write('#define HAL_MAG_PROBE_LIST %s\n\n' % ';'.join(devlist))
+
+    def write_BARO_config(self, f):
+        '''write barometer config defines'''
+        devlist = []
+        seen = set()
+        for dev in self.baro_list:
+            if self.seen_str(dev) in seen:
+                self.error("Duplicate BARO: %s" % self.seen_str(dev))
+            seen.add(self.seen_str(dev))
+            driver = dev[0]
+            probe = 'probe'
+            wrapper = ''
+            a = driver.split(':')
+            driver = a[0]
+            if len(a) > 1 and a[1].startswith('probe'):
+                probe = a[1]
+            for i in range(1, len(dev)):
+                if dev[i].startswith("SPI:"):
+                    dev[i] = self.parse_spi_device(dev[i])
+                elif dev[i].startswith("I2C:"):
+                    (wrapper, dev[i]) = self.parse_i2c_device(dev[i])
+            n = len(devlist)+1
+            devlist.append('HAL_BARO_PROBE%u' % n)
+            args = ['*this'] + dev[1:]
+            f.write(
+                '#define HAL_BARO_PROBE%u %s ADD_BACKEND(AP_Baro_%s::%s(%s))\n'
+                % (n, wrapper, driver, probe, ','.join(args)))
+        if len(devlist) > 0:
+            f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist))