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AP_HAL: move IMU line parsing up into hwdef.py, use it for Linux HAL

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This commit is contained in:
Peter Barker 2025-02-20 19:23:52 +11:00 committed by Peter Barker
parent f93e637c2c
commit 8fb665914e
2 changed files with 82 additions and 28 deletions
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28
libraries/AP_HAL/board/linux.h
View File

@ -26,59 +26,44 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
// nothing to do here // nothing to do here
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
#else
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
#endif
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607) #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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
// nothing to do here // nothing to do here
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607) #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_NAVIO #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180) #define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180)
#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2 #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
// nothing to do here // nothing to do here
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE) #define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2 #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "icm20602", ROTATION_ROLL_180_YAW_270)
#define HAL_MAG_PROBE1 PROBE_MAG_SPI(MMC5XX3, "mmc5983", false, ROTATION_YAW_180) #define HAL_MAG_PROBE1 PROBE_MAG_SPI(MMC5XX3, "mmc5983", false, ROTATION_YAW_180)
#define HAL_MAG_PROBE2 PROBE_MAG_I2C(AK09916, 1, 0X0c, false, ROTATION_YAW_270) #define HAL_MAG_PROBE2 PROBE_MAG_I2C(AK09916, 1, 0X0c, false, ROTATION_YAW_270)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2 #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
@ -86,42 +71,31 @@
#define HAL_BARO_EXTERNAL_BUS_DEFAULT 6 #define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
#define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE) #define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE)
#define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE) #define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
#define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90) #define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3 #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
// only external compasses // only external compasses
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
@ -130,11 +104,9 @@
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90) #define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77) #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_PROBE_EXTERNAL_I2C_COMPASSES

82
libraries/AP_HAL/hwdef/scripts/hwdef.py
View File

@ -41,6 +41,9 @@ class HWDef:
# boolean indicating whether we have read and processed self.hwdef # boolean indicating whether we have read and processed self.hwdef
self.processed_hwdefs = False self.processed_hwdefs = False
# sensor lists
self.imu_list = []
def is_int(self, str): def is_int(self, str):
'''check if a string is an integer''' '''check if a string is an integer'''
try: try:
@ -194,6 +197,9 @@ class HWDef:
if a[0] == 'define': if a[0] == 'define':
return self.process_line_define(line, depth, a) return self.process_line_define(line, depth, a)
elif a[0] == 'IMU':
self.imu_list.append(a[1:])
def process_line_undef(self, line, depth, a): def process_line_undef(self, line, depth, a):
for u in a[1:]: for u in a[1:]:
self.progress("Removing %s" % u) self.progress("Removing %s" % u)
@ -203,6 +209,8 @@ class HWDef:
for line in self.alllines[:]: for line in self.alllines[:]:
if line.startswith('define') and u == line.split()[1]: if line.startswith('define') and u == line.split()[1]:
self.alllines.remove(line) self.alllines.remove(line)
if u == 'IMU':
self.imu_list = []
def process_line_env(self, line, depth, a): def process_line_env(self, line, depth, a):
self.progress("Adding environment %s" % ' '.join(a[1:])) self.progress("Adding environment %s" % ' '.join(a[1:]))
@ -224,3 +232,77 @@ class HWDef:
# raise ValueError(msg) # raise ValueError(msg)
self.intdefines[name] = intvalue self.intdefines[name] = intvalue
def parse_spi_device(self, dev):
'''parse a SPI:xxx device item'''
a = dev.split(':')
if len(a) != 2:
self.error("Bad SPI device: %s" % dev)
return 'hal.spi->get_device("%s")' % a[1]
def parse_i2c_device(self, dev):
'''parse a I2C:xxx:xxx device item'''
a = dev.split(':')
if len(a) != 3:
self.error("Bad I2C device: %s" % dev)
busaddr = int(a[2], base=0)
if a[1] == 'ALL_EXTERNAL':
return ('FOREACH_I2C_EXTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
elif a[1] == 'ALL_INTERNAL':
return ('FOREACH_I2C_INTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
elif a[1] == 'ALL':
return ('FOREACH_I2C(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
busnum = int(a[1])
return ('', 'GET_I2C_DEVICE(%u,0x%02x)' % (busnum, busaddr))
def seen_str(self, dev):
'''return string representation of device for checking for duplicates'''
ret = dev[:2]
if dev[-1].startswith("BOARD_MATCH("):
ret.append(dev[-1])
return str(ret)
def write_IMU_config(self, f):
'''write IMU config defines'''
devlist = []
wrapper = ''
seen = set()
for dev in self.imu_list:
if self.seen_str(dev) in seen:
self.error("Duplicate IMU: %s" % self.seen_str(dev))
seen.add(self.seen_str(dev))
driver = dev[0]
# get instance number if mentioned
instance = -1
aux_devid = -1
if dev[-1].startswith("INSTANCE:"):
instance = int(dev[-1][9:])
dev = dev[:-1]
if dev[-1].startswith("AUX:"):
aux_devid = int(dev[-1][4:])
dev = dev[:-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_INS_PROBE%u' % n)
if aux_devid != -1:
f.write('#define HAL_INS_PROBE%u %s ADD_BACKEND_AUX(AP_InertialSensor_%s::probe(*this,%s),%d)\n' %
(n, wrapper, driver, ','.join(dev[1:]), aux_devid))
elif instance != -1:
f.write('#define HAL_INS_PROBE%u %s ADD_BACKEND_INSTANCE(AP_InertialSensor_%s::probe(*this,%s),%d)\n' %
(n, wrapper, driver, ','.join(dev[1:]), instance))
elif dev[-1].startswith("BOARD_MATCH("):
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_BOARD_MATCH(%s, AP_InertialSensor_%s::probe(*this,%s))\n'
% (n, wrapper, dev[-1], driver, ','.join(dev[1:-1])))
else:
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND(AP_InertialSensor_%s::probe(*this,%s))\n'
% (n, wrapper, driver, ','.join(dev[1:])))
if len(devlist) > 0:
if len(devlist) < 3:
self.write_defaulting_define(f, 'INS_MAX_INSTANCES', len(devlist))
f.write('#define HAL_INS_PROBE_LIST %s\n\n' % ';'.join(devlist))