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https://github.com/ArduPilot/ardupilot
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AP_HAL: move IMU line parsing up into hwdef.py, use it for Linux HAL
This commit is contained in:
Peter Barker
Peter Barker
parent
f93e637c2c
commit
8fb665914e
@ -26,59 +26,44 @@
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
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#else
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
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#endif
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180)
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "icm20602", ROTATION_ROLL_180_YAW_270)
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#define HAL_MAG_PROBE1 PROBE_MAG_SPI(MMC5XX3, "mmc5983", false, ROTATION_YAW_180)
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#define HAL_MAG_PROBE2 PROBE_MAG_I2C(AK09916, 1, 0X0c, false, ROTATION_YAW_270)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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@ -86,42 +71,31 @@
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#define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
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#define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE)
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#define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
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#define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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// only external compasses
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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@ -130,11 +104,9 @@
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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@ -41,6 +41,9 @@ class HWDef:
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# boolean indicating whether we have read and processed self.hwdef
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self.processed_hwdefs = False
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# sensor lists
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self.imu_list = []
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def is_int(self, str):
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'''check if a string is an integer'''
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try:
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@ -194,6 +197,9 @@ class HWDef:
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if a[0] == 'define':
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return self.process_line_define(line, depth, a)
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elif a[0] == 'IMU':
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self.imu_list.append(a[1:])
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def process_line_undef(self, line, depth, a):
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for u in a[1:]:
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self.progress("Removing %s" % u)
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@ -203,6 +209,8 @@ class HWDef:
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for line in self.alllines[:]:
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if line.startswith('define') and u == line.split()[1]:
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self.alllines.remove(line)
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if u == 'IMU':
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self.imu_list = []
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def process_line_env(self, line, depth, a):
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self.progress("Adding environment %s" % ' '.join(a[1:]))
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@ -224,3 +232,77 @@ class HWDef:
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# raise ValueError(msg)
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self.intdefines[name] = intvalue
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def parse_spi_device(self, dev):
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'''parse a SPI:xxx device item'''
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a = dev.split(':')
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if len(a) != 2:
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self.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(self, 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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self.error("Bad I2C device: %s" % dev)
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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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return ('FOREACH_I2C_INTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
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elif a[1] == 'ALL':
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return ('FOREACH_I2C(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr))
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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(self, dev):
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'''return string representation of device for checking for duplicates'''
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ret = dev[:2]
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if dev[-1].startswith("BOARD_MATCH("):
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ret.append(dev[-1])
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return str(ret)
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def write_IMU_config(self, f):
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'''write IMU config defines'''
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devlist = []
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wrapper = ''
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seen = set()
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for dev in self.imu_list:
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if self.seen_str(dev) in seen:
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self.error("Duplicate IMU: %s" % self.seen_str(dev))
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seen.add(self.seen_str(dev))
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driver = dev[0]
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# get instance number if mentioned
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instance = -1
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aux_devid = -1
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if dev[-1].startswith("INSTANCE:"):
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instance = int(dev[-1][9:])
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dev = dev[:-1]
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if dev[-1].startswith("AUX:"):
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aux_devid = int(dev[-1][4:])
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dev = dev[:-1]
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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] = self.parse_spi_device(dev[i])
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elif dev[i].startswith("I2C:"):
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(wrapper, dev[i]) = self.parse_i2c_device(dev[i])
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n = len(devlist)+1
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devlist.append('HAL_INS_PROBE%u' % n)
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if aux_devid != -1:
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f.write('#define HAL_INS_PROBE%u %s ADD_BACKEND_AUX(AP_InertialSensor_%s::probe(*this,%s),%d)\n' %
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(n, wrapper, driver, ','.join(dev[1:]), aux_devid))
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elif instance != -1:
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f.write('#define HAL_INS_PROBE%u %s ADD_BACKEND_INSTANCE(AP_InertialSensor_%s::probe(*this,%s),%d)\n' %
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(n, wrapper, driver, ','.join(dev[1:]), instance))
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elif dev[-1].startswith("BOARD_MATCH("):
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f.write(
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'#define HAL_INS_PROBE%u %s ADD_BACKEND_BOARD_MATCH(%s, AP_InertialSensor_%s::probe(*this,%s))\n'
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% (n, wrapper, dev[-1], driver, ','.join(dev[1:-1])))
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else:
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f.write(
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'#define HAL_INS_PROBE%u %s ADD_BACKEND(AP_InertialSensor_%s::probe(*this,%s))\n'
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% (n, wrapper, driver, ','.join(dev[1:])))
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if len(devlist) > 0:
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if len(devlist) < 3:
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self.write_defaulting_define(f, 'INS_MAX_INSTANCES', len(devlist))
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f.write('#define HAL_INS_PROBE_LIST %s\n\n' % ';'.join(devlist))
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